Organizers with the Committee to Close the Camps and Free the Children conditions are too unsafe to remain in custody.
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"ICE continues to hold individuals, families, and even children, who are fleeing desperate situations and just exercising the human right to migrate," said AJ Napolis, an organizer for Committee to Close the Camps and Free the Children.
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Napolis added, "COVID-19 has made conditions even worse, with no opportunity to safely social distance, and Governor Newsom is sleeping on the job. We're tired of the inaction."
The rally and march started at noon at Embarcadero Plaza, 1 Market St. and ended at ICE offices, 630 Sansome St.
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Protesters accuse Governor Newsom of sleeping on the job - and held up a large puppet of Governor Newsom's likeness.
The San Francisco event is part of a statewide day of action by groups protesting ICE.
ABC7 News contributed to this report.