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+c6_p009_e004,3,True,0.0794363021850586,0.4500007629394531,-0.007334256947115154,-0.010553965202418521,0.11999091306495302,plate_96_clear,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.23406598194688072,1379.50531572666,rect,-0.4867215357395771,0.04049540013424613,2.8578026993593446,10270.89316781598,5540.466562906038,disk,-1.0162332152369653,-0.7538337592589377,2.6157154188008818,7583.036221669462,4437.484681031692,0.05299532040953636,-0.0027910072822123766,-0.02838118188083172,-0.2719266712665558,0.6569519639015198,0.6485496163368225,-0.27175983786582947,0.05603742226958275,0.6027023196220398,1.9275362491607666,0.03558482974767685,-0.00020159092673566192,0.28466570377349854,0.957966148853302,1141,1,,2.076869249343872,0.2501767599328096,0.0,0.007311394438147545,0.5503943908851884,12,release,0.042354702949523926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p009_e005,2,True,-0.043633460998535156,0.4500999450683594,0.00695475791232996,0.011977057784136162,-6.32133747182408,plate_384_black,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.15528594481587116,1379.50531572666,rect,-0.06062463289414788,-0.24274717627475106,2.7859941488866533,14964.616499849848,5825.950124606039,disk,0.320688304817927,1.5796441439318405,2.1179547065943174,5234.907590330422,6658.8153544648885,0.049392975866794586,0.00014310773985926062,-0.03228696808218956,-0.2630371153354645,0.6586627960205078,0.6485780477523804,-0.2762630879878998,0.06463684141635895,0.596729040145874,1.9487625360488892,0.05170609802007675,0.00955592468380928,0.28429338335990906,0.9572943449020386,1269,1,,2.091747760772705,0.2954258966032592,0.0,0.007423656526952982,0.5516154452324665,12,release,0.0421292781829834,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p009_e020,0,True,0.0022954940795898438,0.4500007629394531,-0.0047264631372352425,-0.006839715417299325,11.322941165033711,pcr_96_blue,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.18105711365914917,1551.5357638208156,rect,-0.07979195805842132,0.03741618559929416,2.8924966882360548,9826.507471280134,5877.119689651137,sphere,-0.7088122889875808,0.2859051433606037,2.2525975362028254,2080.6033950862648,4422.432769146309,0.04960881173610687,-0.0004710313805844635,-0.028316181153059006,-0.27516672015190125,0.6490515470504761,0.6513087749481201,-0.2807350754737854,0.06347102671861649,0.5850496292114258,1.9272055625915527,0.0382390096783638,0.02746172994375229,0.26131418347358704,0.9641050696372986,1226,1,,2.0852339267730713,0.28424914748157687,0.0,0.0068954890593886375,0.5766721044045677,12,release,0.042281150817871094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p009_e021,3,True,0.098785400390625,0.45000171661376953,0.011487357205331051,-0.003767853797030246,8.155208081632964,plate_48_clear,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.19800365475179207,1551.5357638208156,rect,-0.5989539780856705,0.05634697895527008,2.919159392580822,12611.985743680414,4139.143990619027,sphere,1.7711778414660748,-0.14185765854329624,1.7252640045565537,5814.207426661884,4691.800995503371,0.04818502441048622,-4.820041431230493e-05,-0.029505876824259758,-0.2830875813961029,0.6472904682159424,0.6528061628341675,-0.27335068583488464,0.05487498268485069,0.5954566597938538,1.9330936670303345,0.04230641573667526,-0.005578401032835245,0.2817310094833374,0.9585440158843994,1210,1,,2.1257779598236084,0.29926612745600617,0.0,0.007290500681847334,0.5371900826446281,12,release,0.04226994514465332,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p009_e022,1,True,-0.008305549621582031,0.447357177734375,-0.004235434650919801,-0.0012114883030017395,-3.6911290873947564,plate_12_clear,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.17890474031639514,1551.5357638208156,rect,-0.420033161446405,0.012049710215346732,3.0219204367675014,4500.798119399024,5661.588170530128,disk,0.003852540986563291,-0.39449377317658074,2.661244034766933,7721.795068951212,7049.6458431973315,0.050020501017570496,-0.0002628223446663469,-0.029942292720079422,-0.2945520579814911,0.6416485905647278,0.6530426144599915,-0.2739735543727875,0.025282301008701324,0.6043705344200134,1.967146635055542,0.05542825534939766,0.024376599118113518,0.27714747190475464,0.958917498588562,1304,1,,2.0915369987487793,0.3154469833124958,0.0,0.007318755611777306,0.5414110429447853,12,release,0.04263162612915039,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p009_e023,2,True,-0.016999244689941406,0.4499979019165039,-0.0006303366492746143,0.008366587947773289,-9.73550233185452,plate_1536_black,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.22029997180755873,1551.5357638208156,rect,-0.1806682565838577,-0.4625518768321249,2.831678380199508,5342.063866978446,5061.983807240512,disk,-0.4938335259884392,0.080963960068962,1.6964859779549009,8983.850630022367,6843.418847896744,0.052127204835414886,0.0038946683052927256,-0.028864964842796326,-0.28394556045532227,0.6376111507415771,0.6528855562210083,-0.2942233979701996,0.02627580426633358,0.5791328549385071,1.9287457466125488,0.04467400908470154,-0.0053738076239824295,0.2873407304286957,0.9567709565162659,1304,1,,2.067091941833496,0.2978746061890436,0.0,0.00736424932256341,0.5375766871165644,12,release,0.04295635223388672,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p009_e030,0,True,0.11616897583007812,0.4499988555908203,-0.0022125459725761114,0.0047798056945688545,-11.884478987103392,plate_6_clear,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.2628132228744896,1327.5938933751413,rect,0.8523567504772324,0.32921756524368095,2.7459258739245054,9872.989985259397,7168.681106080942,disk,1.2710318952527029,0.07594885163618526,1.9111953585804107,10643.989519027513,7071.295308879904,0.05356142297387123,0.002102198777720332,-0.031885433942079544,-0.273326575756073,0.6559544801712036,0.6406148672103882,-0.29091039299964905,0.03377799317240715,0.57167649269104,1.9302480220794678,0.05335850641131401,-0.00048219109885394573,0.2786669433116913,0.9589042663574219,1243,1,,2.0663704872131348,0.31326343160694403,0.0,0.007342036347836256,0.5108608205953339,12,release,0.04202580451965332,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p009_e031,3,True,-0.13933658599853516,0.45000267028808594,-0.00852094683408466,-0.004525435410668844,-10.59644962604716,plate_48_clear,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.28053734535644137,1327.5938933751413,rect,0.03143305517962525,-0.39852264875041504,3.148065870119827,14051.038817684199,6186.951134861261,disk,0.8954619852333212,0.9503186311885943,2.6051973821006777,2693.2471554165277,5834.4514459399015,0.04943886771798134,0.003028217935934663,-0.027662407606840134,-0.28196537494659424,0.6480897665023804,0.6441934704780579,-0.29238665103912354,0.028325019404292107,0.6023921370506287,1.9667736291885376,0.024701159447431564,0.016210176050662994,0.2663646936416626,0.9634193778038025,1291,1,,2.1156272888183594,0.2737185141471394,0.0,0.007342940662056208,0.49109217660728116,12,release,0.04215967655181885,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p010_e032,2,True,0.14170551300048828,0.44713687896728516,-0.01165453726375571,-0.012734375830690538,-1.5896130544039124,plate_24_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.27949953742062394,1161.7481256273936,rect,-0.26847424332607367,-0.10838763599896417,3.166888800519727,11755.68620844731,3656.9484114240827,disk,0.5170957234924032,-0.9517165816345939,1.7220903159079,9693.58563890303,7409.267927622035,0.05046507716178894,-0.0034137864131480455,-0.028723450377583504,-0.2782023251056671,0.6494128704071045,0.6576135754585266,-0.26155444979667664,0.07487911731004715,0.5840867757797241,1.9613161087036133,0.05685415863990784,0.02296663634479046,0.26952263712882996,0.9610399007797241,1174,1,,2.144796133041382,0.315331444288734,0.0,0.007322930730879307,0.5434412265758092,12,release,0.04273033142089844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False