tick,step_idx,decision,left_contact_force,right_contact_force,left_contact_grasp,right_contact_grasp,left_contact_object,right_contact_object,left_holding,right_holding,left_empty_closed,right_empty_closed,left_commanded_closed,right_commanded_closed,left_holding_kin_raw,right_holding_kin_raw,left_empty_kin_raw,right_empty_kin_raw,contact_dt,contact_force_threshold,holding_source
0,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
1,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
2,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
3,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
4,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
5,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
6,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
7,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
8,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
9,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
10,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
11,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
12,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
13,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
14,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
15,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
16,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
17,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
18,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
19,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
20,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
21,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
22,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
23,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
24,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
25,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
26,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
27,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
28,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
29,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
30,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
31,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
32,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
33,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
34,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
35,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
36,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
37,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
38,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
39,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
40,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
41,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
42,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
43,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
44,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
45,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
46,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
47,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
48,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
49,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
50,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
51,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
52,0,next,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
53,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
54,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
55,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
56,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
57,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
58,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
59,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
60,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
61,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
62,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
63,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
64,1,continue,0.0,0.0,0,0,,,0,0,0,0,1,0,1,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
65,1,continue,0.0,0.0,0,0,,,0,0,0,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
66,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
67,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
68,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
69,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
70,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
71,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
72,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
73,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
74,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
75,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
76,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
77,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
78,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
79,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
80,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
81,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
82,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
83,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
84,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
85,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
86,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
87,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
88,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
89,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
90,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
91,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
92,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
93,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
94,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
95,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
96,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
97,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
98,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
99,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
100,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
101,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
102,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
103,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
104,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
105,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
106,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
107,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
108,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
109,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
110,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
111,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
112,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
113,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
114,1,continue,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
115,1,replan,0.0,0.0,0,0,,,0,0,1,0,1,0,0,0,1,0,0.004000000189989805,2.0,robotwin_gripper_contact
116,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
117,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
118,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
119,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
120,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
121,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
122,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
123,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
124,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
125,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
126,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
127,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
128,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
129,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
130,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
131,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
132,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
133,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
134,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
135,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
136,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
137,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
138,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
139,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
140,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
141,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
142,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
143,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
144,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
145,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
146,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
147,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
148,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
149,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
150,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
151,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
152,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
153,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
154,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
155,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
156,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
157,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
158,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
159,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
160,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
161,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
162,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
163,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
164,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
165,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
166,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
167,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
168,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
169,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
170,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
171,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
172,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
173,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
174,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
175,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
176,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
177,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
178,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
179,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
180,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
181,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
182,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
183,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
184,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
185,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
186,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
187,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
188,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
189,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
190,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
191,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
192,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
193,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
194,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
195,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
196,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
197,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
198,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
199,1,replan,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact