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ETHRC
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towel_base_with_rewards

Tasks:

Robotics

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MichaelRazum commited on Dec 23, 2025

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+Original dataset: ETHRC/towel_base
+Total frames: 191019
+Number of episodes: 315
+Reward range: [0.000000, 4.998220]
+Subtasks:
+  0. Grasp right corner
+  1. Grasp left corner
+  2. Fold towel horizontally
+  3. Grasp right edge
+  4. Fold towel vertically
+Boundaries (marking END of subtasks):
+  Episode 0:
+    Frame 96 (global 96): END of 'Grasp right corner'
+    Frame 122 (global 122): END of 'Grasp left corner'
+    Frame 208 (global 208): END of 'Fold towel horizontally'
+    Frame 240 (global 240): END of 'Grasp right edge'
+  Episode 1:
+    Frame 88 (global 558): END of 'Grasp right corner'
+    Frame 123 (global 593): END of 'Grasp left corner'
+    Frame 239 (global 709): END of 'Fold towel horizontally'
+    Frame 274 (global 744): END of 'Grasp right edge'
+  Episode 2:
+    Frame 107 (global 1161): END of 'Grasp right corner'
+    Frame 145 (global 1199): END of 'Grasp left corner'
+    Frame 251 (global 1305): END of 'Fold towel horizontally'
+    Frame 288 (global 1342): END of 'Grasp right edge'
+  Episode 3:
+    Frame 89 (global 1712): END of 'Grasp right corner'
+    Frame 134 (global 1757): END of 'Grasp left corner'
+    Frame 298 (global 1921): END of 'Fold towel horizontally'
+    Frame 338 (global 1961): END of 'Grasp right edge'
+  Episode 4:
+    Frame 91 (global 2383): END of 'Grasp right corner'
+    Frame 122 (global 2414): END of 'Grasp left corner'
+    Frame 221 (global 2513): END of 'Fold towel horizontally'
+    Frame 256 (global 2548): END of 'Grasp right edge'
+  Episode 5:
+    Frame 82 (global 2872): END of 'Grasp right corner'
+    Frame 119 (global 2909): END of 'Grasp left corner'
+    Frame 220 (global 3010): END of 'Fold towel horizontally'
+    Frame 257 (global 3047): END of 'Grasp right edge'
+  Episode 6:
+    Frame 92 (global 3393): END of 'Grasp right corner'
+    Frame 132 (global 3433): END of 'Grasp left corner'
+    Frame 258 (global 3559): END of 'Fold towel horizontally'
+    Frame 310 (global 3611): END of 'Grasp right edge'
+  Episode 7:
+    Frame 95 (global 3981): END of 'Grasp right corner'
+    Frame 134 (global 4020): END of 'Grasp left corner'
+    Frame 256 (global 4142): END of 'Fold towel horizontally'
+    Frame 293 (global 4179): END of 'Grasp right edge'
+  Episode 8:
+    Frame 90 (global 4541): END of 'Grasp right corner'
+    Frame 132 (global 4583): END of 'Grasp left corner'
+    Frame 263 (global 4714): END of 'Fold towel horizontally'
+    Frame 310 (global 4761): END of 'Grasp right edge'
+  Episode 9:
+    Frame 104 (global 5158): END of 'Grasp right corner'
+    Frame 145 (global 5199): END of 'Grasp left corner'
+    Frame 258 (global 5312): END of 'Fold towel horizontally'
+    Frame 296 (global 5350): END of 'Grasp right edge'
+  Episode 10:
+    Frame 95 (global 5752): END of 'Grasp right corner'
+    Frame 138 (global 5795): END of 'Grasp left corner'
+    Frame 284 (global 5941): END of 'Fold towel horizontally'
+    Frame 331 (global 5988): END of 'Grasp right edge'
+  Episode 11:
+    Frame 101 (global 6372): END of 'Grasp right corner'
+    Frame 142 (global 6413): END of 'Grasp left corner'
+    Frame 282 (global 6553): END of 'Fold towel horizontally'
+    Frame 323 (global 6594): END of 'Grasp right edge'
+  Episode 12:
+    Frame 96 (global 6949): END of 'Grasp right corner'
+    Frame 140 (global 6993): END of 'Grasp left corner'
+    Frame 265 (global 7118): END of 'Fold towel horizontally'
+    Frame 310 (global 7163): END of 'Grasp right edge'
+  Episode 13:
+    Frame 98 (global 7554): END of 'Grasp right corner'
+    Frame 137 (global 7593): END of 'Grasp left corner'
+    Frame 264 (global 7720): END of 'Fold towel horizontally'
+    Frame 303 (global 7759): END of 'Grasp right edge'
+  Episode 14:
+    Frame 94 (global 8164): END of 'Grasp right corner'
+    Frame 127 (global 8197): END of 'Grasp left corner'
+    Frame 240 (global 8310): END of 'Fold towel horizontally'
+    Frame 282 (global 8352): END of 'Grasp right edge'
+  Episode 15:
+    Frame 99 (global 8813): END of 'Grasp right corner'
+    Frame 143 (global 8857): END of 'Grasp left corner'
+    Frame 286 (global 9000): END of 'Fold towel horizontally'
+    Frame 320 (global 9034): END of 'Grasp right edge'
+  Episode 16:
+    Frame 101 (global 9403): END of 'Grasp right corner'
+    Frame 137 (global 9439): END of 'Grasp left corner'
+    Frame 268 (global 9570): END of 'Fold towel horizontally'
+    Frame 303 (global 9605): END of 'Grasp right edge'
+  Episode 17:
+    Frame 81 (global 9985): END of 'Grasp right corner'
+    Frame 117 (global 10021): END of 'Grasp left corner'
+    Frame 272 (global 10176): END of 'Fold towel horizontally'
+    Frame 308 (global 10212): END of 'Grasp right edge'
+  Episode 18:
+    Frame 82 (global 10588): END of 'Grasp right corner'
+    Frame 116 (global 10622): END of 'Grasp left corner'
+    Frame 258 (global 10764): END of 'Fold towel horizontally'
+    Frame 296 (global 10802): END of 'Grasp right edge'
+  Episode 19:
+    Frame 93 (global 11177): END of 'Grasp right corner'
+    Frame 129 (global 11213): END of 'Grasp left corner'
+    Frame 287 (global 11371): END of 'Fold towel horizontally'
+    Frame 322 (global 11406): END of 'Grasp right edge'
+  Episode 20:
+    Frame 82 (global 11787): END of 'Grasp right corner'
+    Frame 117 (global 11822): END of 'Grasp left corner'
+    Frame 243 (global 11948): END of 'Fold towel horizontally'
+    Frame 284 (global 11989): END of 'Grasp right edge'
+  Episode 21:
+    Frame 84 (global 12375): END of 'Grasp right corner'
+    Frame 124 (global 12415): END of 'Grasp left corner'
+    Frame 238 (global 12529): END of 'Fold towel horizontally'
+    Frame 271 (global 12562): END of 'Grasp right edge'
+  Episode 22:
+    Frame 96 (global 12933): END of 'Grasp right corner'
+    Frame 127 (global 12964): END of 'Grasp left corner'
+    Frame 259 (global 13096): END of 'Fold towel horizontally'
+    Frame 294 (global 13131): END of 'Grasp right edge'
+  Episode 23:
+    Frame 101 (global 13533): END of 'Grasp right corner'
+    Frame 140 (global 13572): END of 'Grasp left corner'
+    Frame 256 (global 13688): END of 'Fold towel horizontally'
+    Frame 288 (global 13720): END of 'Grasp right edge'
+  Episode 24:
+    Frame 101 (global 14087): END of 'Grasp right corner'
+    Frame 138 (global 14124): END of 'Grasp left corner'
+    Frame 259 (global 14245): END of 'Fold towel horizontally'
+    Frame 299 (global 14285): END of 'Grasp right edge'
+  Episode 25:
+    Frame 95 (global 14668): END of 'Grasp right corner'
+    Frame 134 (global 14707): END of 'Grasp left corner'
+    Frame 260 (global 14833): END of 'Fold towel horizontally'
+    Frame 295 (global 14868): END of 'Grasp right edge'
+  Episode 26:
+    Frame 99 (global 15237): END of 'Grasp right corner'
+    Frame 146 (global 15284): END of 'Grasp left corner'
+    Frame 253 (global 15391): END of 'Fold towel horizontally'
+    Frame 298 (global 15436): END of 'Grasp right edge'
+  Episode 27:
+    Frame 98 (global 15808): END of 'Grasp right corner'
+    Frame 139 (global 15849): END of 'Grasp left corner'
+    Frame 251 (global 15961): END of 'Fold towel horizontally'
+    Frame 278 (global 15988): END of 'Grasp right edge'
+  Episode 28:
+    Frame 85 (global 16325): END of 'Grasp right corner'
+    Frame 121 (global 16361): END of 'Grasp left corner'
+    Frame 251 (global 16491): END of 'Fold towel horizontally'
+    Frame 284 (global 16524): END of 'Grasp right edge'
+  Episode 29:
+    Frame 88 (global 16934): END of 'Grasp right corner'
+    Frame 127 (global 16973): END of 'Grasp left corner'
+    Frame 235 (global 17081): END of 'Fold towel horizontally'
+    Frame 261 (global 17107): END of 'Grasp right edge'
+  Episode 30:
+    Frame 90 (global 17449): END of 'Grasp right corner'
+    Frame 130 (global 17489): END of 'Grasp left corner'
+    Frame 237 (global 17596): END of 'Fold towel horizontally'
+    Frame 269 (global 17628): END of 'Grasp right edge'
+  Episode 31:
+    Frame 105 (global 18035): END of 'Grasp right corner'
+    Frame 143 (global 18073): END of 'Grasp left corner'
+    Frame 282 (global 18212): END of 'Fold towel horizontally'
+    Frame 315 (global 18245): END of 'Grasp right edge'
+  Episode 32:
+    Frame 94 (global 18629): END of 'Grasp right corner'
+    Frame 134 (global 18669): END of 'Grasp left corner'
+    Frame 241 (global 18776): END of 'Fold towel horizontally'
+    Frame 282 (global 18817): END of 'Grasp right edge'
+  Episode 33:
+    Frame 88 (global 19194): END of 'Grasp right corner'
+    Frame 133 (global 19239): END of 'Grasp left corner'
+    Frame 295 (global 19401): END of 'Fold towel horizontally'
+    Frame 329 (global 19435): END of 'Grasp right edge'
+  Episode 34: No boundaries
+  Episode 35:
+    Frame 168 (global 19897): END of 'Grasp right corner'
+    Frame 218 (global 19947): END of 'Grasp left corner'
+    Frame 367 (global 20096): END of 'Fold towel horizontally'
+    Frame 410 (global 20139): END of 'Grasp right edge'
+  Episode 36:
+    Frame 99 (global 20655): END of 'Grasp right corner'
+    Frame 131 (global 20687): END of 'Grasp left corner'
+    Frame 274 (global 20830): END of 'Fold towel horizontally'
+    Frame 326 (global 20882): END of 'Grasp right edge'
+  Episode 37:
+    Frame 200 (global 21440): END of 'Grasp right corner'
+    Frame 286 (global 21526): END of 'Grasp left corner'
+    Frame 447 (global 21687): END of 'Fold towel horizontally'
+    Frame 547 (global 21787): END of 'Grasp right edge'
+  Episode 38:
+    Frame 241 (global 22378): END of 'Grasp right corner'
+    Frame 329 (global 22466): END of 'Grasp left corner'
+    Frame 541 (global 22678): END of 'Fold towel horizontally'
+    Frame 630 (global 22767): END of 'Grasp right edge'
+  Episode 39:
+    Frame 233 (global 23535): END of 'Grasp right corner'
+    Frame 323 (global 23625): END of 'Grasp left corner'
+    Frame 586 (global 23888): END of 'Fold towel horizontally'
+    Frame 686 (global 23988): END of 'Grasp right edge'
+  Episode 40:
+    Frame 227 (global 24653): END of 'Grasp right corner'
+    Frame 303 (global 24729): END of 'Grasp left corner'
+    Frame 497 (global 24923): END of 'Fold towel horizontally'
+    Frame 580 (global 25006): END of 'Grasp right edge'
+  Episode 41:
+    Frame 175 (global 25729): END of 'Grasp right corner'
+    Frame 272 (global 25826): END of 'Grasp left corner'
+    Frame 532 (global 26086): END of 'Fold towel horizontally'
+    Frame 721 (global 26275): END of 'Grasp right edge'
+  Episode 42:
+    Frame 163 (global 27001): END of 'Grasp right corner'
+    Frame 249 (global 27087): END of 'Grasp left corner'
+    Frame 427 (global 27265): END of 'Fold towel horizontally'
+    Frame 521 (global 27359): END of 'Grasp right edge'
+  Episode 43:
+    Frame 172 (global 28010): END of 'Grasp right corner'
+    Frame 265 (global 28103): END of 'Grasp left corner'
+    Frame 426 (global 28264): END of 'Fold towel horizontally'
+    Frame 510 (global 28348): END of 'Grasp right edge'
+  Episode 44:
+    Frame 234 (global 29061): END of 'Grasp right corner'
+    Frame 377 (global 29204): END of 'Grasp left corner'
+    Frame 540 (global 29367): END of 'Fold towel horizontally'
+    Frame 680 (global 29507): END of 'Grasp right edge'
+  Episode 45:
+    Frame 201 (global 30158): END of 'Grasp right corner'
+    Frame 317 (global 30274): END of 'Grasp left corner'
+    Frame 490 (global 30447): END of 'Fold towel horizontally'
+    Frame 622 (global 30579): END of 'Grasp right edge'
+  Episode 46:
+    Frame 187 (global 31207): END of 'Grasp right corner'
+    Frame 279 (global 31299): END of 'Grasp left corner'
+    Frame 440 (global 31460): END of 'Fold towel horizontally'
+    Frame 533 (global 31553): END of 'Grasp right edge'
+  Episode 47:
+    Frame 176 (global 32189): END of 'Grasp right corner'
+    Frame 266 (global 32279): END of 'Grasp left corner'
+    Frame 409 (global 32422): END of 'Fold towel horizontally'
+    Frame 483 (global 32496): END of 'Grasp right edge'
+  Episode 48:
+    Frame 136 (global 33066): END of 'Grasp right corner'
+    Frame 202 (global 33132): END of 'Grasp left corner'
+    Frame 343 (global 33273): END of 'Fold towel horizontally'
+    Frame 396 (global 33326): END of 'Grasp right edge'
+  Episode 49:
+    Frame 119 (global 33880): END of 'Grasp right corner'
+    Frame 199 (global 33960): END of 'Grasp left corner'
+    Frame 272 (global 34033): END of 'Fold towel horizontally'
+    Frame 402 (global 34163): END of 'Grasp right edge'
+  Episode 50:
+    Frame 164 (global 34866): END of 'Grasp right corner'
+    Frame 251 (global 34953): END of 'Grasp left corner'
+    Frame 367 (global 35069): END of 'Fold towel horizontally'
+    Frame 477 (global 35179): END of 'Grasp right edge'
+  Episode 51:
+    Frame 147 (global 35710): END of 'Grasp right corner'
+    Frame 228 (global 35791): END of 'Grasp left corner'
+    Frame 348 (global 35911): END of 'Fold towel horizontally'
+    Frame 402 (global 35965): END of 'Grasp right edge'
+  Episode 52:
+    Frame 178 (global 36499): END of 'Grasp right corner'
+    Frame 267 (global 36588): END of 'Grasp left corner'
+    Frame 349 (global 36670): END of 'Fold towel horizontally'
+    Frame 405 (global 36726): END of 'Grasp right edge'
+  Episode 53:
+    Frame 80 (global 37127): END of 'Grasp right corner'
+    Frame 97 (global 37144): END of 'Grasp left corner'
+    Frame 203 (global 37250): END of 'Fold towel horizontally'
+    Frame 218 (global 37265): END of 'Grasp right edge'
+  Episode 54:
+    Frame 96 (global 37579): END of 'Grasp right corner'
+    Frame 142 (global 37625): END of 'Grasp left corner'
+    Frame 248 (global 37731): END of 'Fold towel horizontally'
+    Frame 278 (global 37761): END of 'Grasp right edge'
+  Episode 55:
+    Frame 179 (global 38263): END of 'Grasp right corner'
+    Frame 227 (global 38311): END of 'Grasp left corner'
+    Frame 352 (global 38436): END of 'Fold towel horizontally'
+    Frame 384 (global 38468): END of 'Grasp right edge'
+  Episode 56:
+    Frame 84 (global 38888): END of 'Grasp right corner'
+    Frame 128 (global 38932): END of 'Grasp left corner'
+    Frame 231 (global 39035): END of 'Fold towel horizontally'
+    Frame 261 (global 39065): END of 'Grasp right edge'
+  Episode 57:
+    Frame 82 (global 39503): END of 'Grasp right corner'
+    Frame 134 (global 39555): END of 'Grasp left corner'
+    Frame 236 (global 39657): END of 'Fold towel horizontally'
+    Frame 268 (global 39689): END of 'Grasp right edge'
+  Episode 58:
+    Frame 126 (global 40122): END of 'Grasp right corner'
+    Frame 201 (global 40197): END of 'Grasp left corner'
+    Frame 327 (global 40323): END of 'Fold towel horizontally'
+    Frame 420 (global 40416): END of 'Grasp right edge'
+  Episode 59: No boundaries
+  Episode 60:
+    Frame 105 (global 40925): END of 'Grasp right corner'
+    Frame 154 (global 40974): END of 'Grasp left corner'
+    Frame 258 (global 41078): END of 'Fold towel horizontally'
+    Frame 295 (global 41115): END of 'Grasp right edge'
+  Episode 61:
+    Frame 91 (global 41444): END of 'Grasp right corner'
+    Frame 133 (global 41486): END of 'Grasp left corner'
+    Frame 231 (global 41584): END of 'Fold towel horizontally'
+    Frame 262 (global 41615): END of 'Grasp right edge'
+  Episode 62:
+    Frame 84 (global 41933): END of 'Grasp right corner'
+    Frame 124 (global 41973): END of 'Grasp left corner'
+    Frame 209 (global 42058): END of 'Fold towel horizontally'
+    Frame 239 (global 42088): END of 'Grasp right edge'
+  Episode 63:
+    Frame 87 (global 42445): END of 'Grasp right corner'
+    Frame 119 (global 42477): END of 'Grasp left corner'
+    Frame 224 (global 42582): END of 'Fold towel horizontally'
+    Frame 261 (global 42619): END of 'Grasp right edge'
+  Episode 64:
+    Frame 102 (global 43116): END of 'Grasp right corner'
+    Frame 145 (global 43159): END of 'Grasp left corner'
+    Frame 252 (global 43266): END of 'Fold towel horizontally'
+    Frame 289 (global 43303): END of 'Grasp right edge'
+  Episode 65:
+    Frame 93 (global 43710): END of 'Grasp right corner'
+    Frame 138 (global 43755): END of 'Grasp left corner'
+    Frame 233 (global 43850): END of 'Fold towel horizontally'
+    Frame 264 (global 43881): END of 'Grasp right edge'
+  Episode 66:
+    Frame 91 (global 44279): END of 'Grasp right corner'
+    Frame 132 (global 44320): END of 'Grasp left corner'
+    Frame 254 (global 44442): END of 'Fold towel horizontally'
+    Frame 286 (global 44474): END of 'Grasp right edge'
+  Episode 67:
+    Frame 82 (global 44823): END of 'Grasp right corner'
+    Frame 118 (global 44859): END of 'Grasp left corner'
+    Frame 217 (global 44958): END of 'Fold towel horizontally'
+    Frame 247 (global 44988): END of 'Grasp right edge'
+  Episode 68:
+    Frame 87 (global 45338): END of 'Grasp right corner'
+    Frame 123 (global 45374): END of 'Grasp left corner'
+    Frame 215 (global 45466): END of 'Fold towel horizontally'
+    Frame 252 (global 45503): END of 'Grasp right edge'
+  Episode 69:
+    Frame 82 (global 45901): END of 'Grasp right corner'
+    Frame 121 (global 45940): END of 'Grasp left corner'
+    Frame 219 (global 46038): END of 'Fold towel horizontally'
+    Frame 334 (global 46153): END of 'Grasp right edge'
+  Episode 70:
+    Frame 91 (global 46518): END of 'Grasp right corner'
+    Frame 126 (global 46553): END of 'Grasp left corner'
+    Frame 239 (global 46666): END of 'Fold towel horizontally'
+    Frame 264 (global 46691): END of 'Grasp right edge'
+  Episode 71:
+    Frame 94 (global 47085): END of 'Grasp right corner'
+    Frame 132 (global 47123): END of 'Grasp left corner'
+    Frame 238 (global 47229): END of 'Fold towel horizontally'
+    Frame 270 (global 47261): END of 'Grasp right edge'
+  Episode 72:
+    Frame 109 (global 47673): END of 'Grasp right corner'
+    Frame 147 (global 47711): END of 'Grasp left corner'
+    Frame 265 (global 47829): END of 'Fold towel horizontally'
+    Frame 298 (global 47862): END of 'Grasp right edge'
+  Episode 73:
+    Frame 99 (global 48259): END of 'Grasp right corner'
+    Frame 135 (global 48295): END of 'Grasp left corner'
+    Frame 253 (global 48413): END of 'Fold towel horizontally'
+    Frame 286 (global 48446): END of 'Grasp right edge'
+  Episode 74:
+    Frame 87 (global 48803): END of 'Grasp right corner'
+    Frame 123 (global 48839): END of 'Grasp left corner'
+    Frame 222 (global 48938): END of 'Fold towel horizontally'
+    Frame 251 (global 48967): END of 'Grasp right edge'
+  Episode 75:
+    Frame 93 (global 49333): END of 'Grasp right corner'
+    Frame 129 (global 49369): END of 'Grasp left corner'
+    Frame 231 (global 49471): END of 'Fold towel horizontally'
+    Frame 262 (global 49502): END of 'Grasp right edge'
+  Episode 76:
+    Frame 111 (global 49890): END of 'Grasp right corner'
+    Frame 153 (global 49932): END of 'Grasp left corner'
+    Frame 261 (global 50040): END of 'Fold towel horizontally'
+    Frame 301 (global 50080): END of 'Grasp right edge'
+  Episode 77:
+    Frame 102 (global 50503): END of 'Grasp right corner'
+    Frame 150 (global 50551): END of 'Grasp left corner'
+    Frame 262 (global 50663): END of 'Fold towel horizontally'
+    Frame 298 (global 50699): END of 'Grasp right edge'
+  Episode 78:
+    Frame 103 (global 51134): END of 'Grasp right corner'
+    Frame 148 (global 51179): END of 'Grasp left corner'
+    Frame 250 (global 51281): END of 'Fold towel horizontally'
+    Frame 287 (global 51318): END of 'Grasp right edge'
+  Episode 79:
+    Frame 88 (global 51724): END of 'Grasp right corner'
+    Frame 126 (global 51762): END of 'Grasp left corner'
+    Frame 254 (global 51890): END of 'Fold towel horizontally'
+    Frame 302 (global 51938): END of 'Grasp right edge'
+  Episode 80:
+    Frame 108 (global 52332): END of 'Grasp right corner'
+    Frame 147 (global 52371): END of 'Grasp left corner'
+    Frame 243 (global 52467): END of 'Fold towel horizontally'
+    Frame 278 (global 52502): END of 'Grasp right edge'
+  Episode 81:
+    Frame 88 (global 52886): END of 'Grasp right corner'
+    Frame 133 (global 52931): END of 'Grasp left corner'
+    Frame 242 (global 53040): END of 'Fold towel horizontally'
+    Frame 280 (global 53078): END of 'Grasp right edge'
+  Episode 82:
+    Frame 82 (global 53453): END of 'Grasp right corner'
+    Frame 122 (global 53493): END of 'Grasp left corner'
+    Frame 230 (global 53601): END of 'Fold towel horizontally'
+    Frame 264 (global 53635): END of 'Grasp right edge'
+  Episode 83:
+    Frame 100 (global 54006): END of 'Grasp right corner'
+    Frame 134 (global 54040): END of 'Grasp left corner'
+    Frame 248 (global 54154): END of 'Fold towel horizontally'
+    Frame 282 (global 54188): END of 'Grasp right edge'
+  Episode 84:
+    Frame 93 (global 54549): END of 'Grasp right corner'
+    Frame 144 (global 54600): END of 'Grasp left corner'
+    Frame 261 (global 54717): END of 'Fold towel horizontally'
+    Frame 293 (global 54749): END of 'Grasp right edge'
+  Episode 85:
+    Frame 98 (global 55120): END of 'Grasp right corner'
+    Frame 139 (global 55161): END of 'Grasp left corner'
+    Frame 259 (global 55281): END of 'Fold towel horizontally'
+    Frame 296 (global 55318): END of 'Grasp right edge'
+  Episode 86:
+    Frame 97 (global 55693): END of 'Grasp right corner'
+    Frame 133 (global 55729): END of 'Grasp left corner'
+    Frame 252 (global 55848): END of 'Fold towel horizontally'
+    Frame 284 (global 55880): END of 'Grasp right edge'
+  Episode 87:
+    Frame 97 (global 56295): END of 'Grasp right corner'
+    Frame 137 (global 56335): END of 'Grasp left corner'
+    Frame 254 (global 56452): END of 'Fold towel horizontally'
+    Frame 289 (global 56487): END of 'Grasp right edge'
+  Episode 88:
+    Frame 102 (global 56865): END of 'Grasp right corner'
+    Frame 140 (global 56903): END of 'Grasp left corner'
+    Frame 316 (global 57079): END of 'Fold towel horizontally'
+    Frame 356 (global 57119): END of 'Grasp right edge'
+  Episode 89:
+    Frame 110 (global 57507): END of 'Grasp right corner'
+    Frame 160 (global 57557): END of 'Grasp left corner'
+    Frame 310 (global 57707): END of 'Fold towel horizontally'
+    Frame 348 (global 57745): END of 'Grasp right edge'
+  Episode 90:
+    Frame 120 (global 58155): END of 'Grasp right corner'
+    Frame 164 (global 58199): END of 'Grasp left corner'
+    Frame 317 (global 58352): END of 'Fold towel horizontally'
+    Frame 354 (global 58389): END of 'Grasp right edge'
+  Episode 91:
+    Frame 195 (global 58866): END of 'Grasp right corner'
+    Frame 237 (global 58908): END of 'Grasp left corner'
+    Frame 374 (global 59045): END of 'Fold towel horizontally'
+    Frame 403 (global 59074): END of 'Grasp right edge'
+  Episode 92:
+    Frame 98 (global 59437): END of 'Grasp right corner'
+    Frame 138 (global 59477): END of 'Grasp left corner'
+    Frame 289 (global 59628): END of 'Fold towel horizontally'
+    Frame 335 (global 59674): END of 'Grasp right edge'
+  Episode 93:
+    Frame 93 (global 60115): END of 'Grasp right corner'
+    Frame 133 (global 60155): END of 'Grasp left corner'
+    Frame 248 (global 60270): END of 'Fold towel horizontally'
+    Frame 282 (global 60304): END of 'Grasp right edge'
+  Episode 94:
+    Frame 111 (global 60682): END of 'Grasp right corner'
+    Frame 153 (global 60724): END of 'Grasp left corner'
+    Frame 275 (global 60846): END of 'Fold towel horizontally'
+    Frame 314 (global 60885): END of 'Grasp right edge'
+  Episode 95:
+    Frame 93 (global 61243): END of 'Grasp right corner'
+    Frame 131 (global 61281): END of 'Grasp left corner'
+    Frame 245 (global 61395): END of 'Fold towel horizontally'
+    Frame 277 (global 61427): END of 'Grasp right edge'
+  Episode 96:
+    Frame 113 (global 61773): END of 'Grasp right corner'
+    Frame 156 (global 61816): END of 'Grasp left corner'
+    Frame 291 (global 61951): END of 'Fold towel horizontally'
+    Frame 326 (global 61986): END of 'Grasp right edge'
+  Episode 97:
+    Frame 100 (global 62369): END of 'Grasp right corner'
+    Frame 146 (global 62415): END of 'Grasp left corner'
+    Frame 312 (global 62581): END of 'Fold towel horizontally'
+    Frame 343 (global 62612): END of 'Grasp right edge'
+  Episode 98:
+    Frame 88 (global 62968): END of 'Grasp right corner'
+    Frame 138 (global 63018): END of 'Grasp left corner'
+    Frame 277 (global 63157): END of 'Fold towel horizontally'
+    Frame 313 (global 63193): END of 'Grasp right edge'
+  Episode 99:
+    Frame 105 (global 63588): END of 'Grasp right corner'
+    Frame 139 (global 63622): END of 'Grasp left corner'
+    Frame 281 (global 63764): END of 'Fold towel horizontally'
+    Frame 319 (global 63802): END of 'Grasp right edge'
+  Episode 100:
+    Frame 97 (global 64188): END of 'Grasp right corner'
+    Frame 140 (global 64231): END of 'Grasp left corner'
+    Frame 299 (global 64390): END of 'Fold towel horizontally'
+    Frame 332 (global 64423): END of 'Grasp right edge'
+  Episode 101:
+    Frame 108 (global 64824): END of 'Grasp right corner'
+    Frame 153 (global 64869): END of 'Grasp left corner'
+    Frame 275 (global 64991): END of 'Fold towel horizontally'
+    Frame 318 (global 65034): END of 'Grasp right edge'
+  Episode 102:
+    Frame 116 (global 65461): END of 'Grasp right corner'
+    Frame 156 (global 65501): END of 'Grasp left corner'
+    Frame 324 (global 65669): END of 'Fold towel horizontally'
+    Frame 360 (global 65705): END of 'Grasp right edge'
+  Episode 103:
+    Frame 117 (global 66131): END of 'Grasp right corner'
+    Frame 150 (global 66164): END of 'Grasp left corner'
+    Frame 286 (global 66300): END of 'Fold towel horizontally'
+    Frame 318 (global 66332): END of 'Grasp right edge'
+  Episode 104:
+    Frame 165 (global 66787): END of 'Grasp right corner'
+    Frame 208 (global 66830): END of 'Grasp left corner'
+    Frame 367 (global 66989): END of 'Fold towel horizontally'
+    Frame 400 (global 67022): END of 'Grasp right edge'
+  Episode 105:
+    Frame 111 (global 67469): END of 'Grasp right corner'
+    Frame 157 (global 67515): END of 'Grasp left corner'
+    Frame 310 (global 67668): END of 'Fold towel horizontally'
+    Frame 340 (global 67698): END of 'Grasp right edge'
+  Episode 106:
+    Frame 360 (global 68377): END of 'Grasp right corner'
+    Frame 404 (global 68421): END of 'Grasp left corner'
+    Frame 535 (global 68552): END of 'Fold towel horizontally'
+    Frame 567 (global 68584): END of 'Grasp right edge'
+  Episode 107:
+    Frame 131 (global 68987): END of 'Grasp right corner'
+    Frame 178 (global 69034): END of 'Grasp left corner'
+    Frame 364 (global 69220): END of 'Fold towel horizontally'
+    Frame 405 (global 69261): END of 'Grasp right edge'
+  Episode 108:
+    Frame 123 (global 69883): END of 'Grasp right corner'
+    Frame 173 (global 69933): END of 'Grasp left corner'
+    Frame 408 (global 70168): END of 'Fold towel horizontally'
+    Frame 440 (global 70200): END of 'Grasp right edge'
+  Episode 109:
+    Frame 93 (global 70574): END of 'Grasp right corner'
+    Frame 134 (global 70615): END of 'Grasp left corner'
+    Frame 269 (global 70750): END of 'Fold towel horizontally'
+    Frame 294 (global 70775): END of 'Grasp right edge'
+  Episode 110:
+    Frame 111 (global 71164): END of 'Grasp right corner'
+    Frame 150 (global 71203): END of 'Grasp left corner'
+    Frame 273 (global 71326): END of 'Fold towel horizontally'
+    Frame 300 (global 71353): END of 'Grasp right edge'
+  Episode 111:
+    Frame 140 (global 71775): END of 'Grasp right corner'
+    Frame 176 (global 71811): END of 'Grasp left corner'
+    Frame 303 (global 71938): END of 'Fold towel horizontally'
+    Frame 332 (global 71967): END of 'Grasp right edge'
+  Episode 112:
+    Frame 124 (global 72346): END of 'Grasp right corner'
+    Frame 163 (global 72385): END of 'Grasp left corner'
+    Frame 301 (global 72523): END of 'Fold towel horizontally'
+    Frame 336 (global 72558): END of 'Grasp right edge'
+  Episode 113:
+    Frame 112 (global 72949): END of 'Grasp right corner'
+    Frame 153 (global 72990): END of 'Grasp left corner'
+    Frame 292 (global 73129): END of 'Fold towel horizontally'
+    Frame 326 (global 73163): END of 'Grasp right edge'
+  Episode 114:
+    Frame 106 (global 73618): END of 'Grasp right corner'
+    Frame 185 (global 73697): END of 'Grasp left corner'
+    Frame 314 (global 73826): END of 'Fold towel horizontally'
+    Frame 350 (global 73862): END of 'Grasp right edge'
+  Episode 115:
+    Frame 116 (global 74229): END of 'Grasp right corner'
+    Frame 156 (global 74269): END of 'Grasp left corner'
+    Frame 288 (global 74401): END of 'Fold towel horizontally'
+    Frame 325 (global 74438): END of 'Grasp right edge'
+  Episode 116:
+    Frame 117 (global 74816): END of 'Grasp right corner'
+    Frame 159 (global 74858): END of 'Grasp left corner'
+    Frame 301 (global 75000): END of 'Fold towel horizontally'
+    Frame 327 (global 75026): END of 'Grasp right edge'
+  Episode 117:
+    Frame 120 (global 75464): END of 'Grasp right corner'
+    Frame 160 (global 75504): END of 'Grasp left corner'
+    Frame 282 (global 75626): END of 'Fold towel horizontally'
+    Frame 311 (global 75655): END of 'Grasp right edge'
+  Episode 118:
+    Frame 137 (global 76046): END of 'Grasp right corner'
+    Frame 183 (global 76092): END of 'Grasp left corner'
+    Frame 334 (global 76243): END of 'Fold towel horizontally'
+    Frame 367 (global 76276): END of 'Grasp right edge'
+  Episode 119:
+    Frame 151 (global 76718): END of 'Grasp right corner'
+    Frame 195 (global 76762): END of 'Grasp left corner'
+    Frame 334 (global 76901): END of 'Fold towel horizontally'
+    Frame 373 (global 76940): END of 'Grasp right edge'
+  Episode 120:
+    Frame 116 (global 77429): END of 'Grasp right corner'
+    Frame 157 (global 77470): END of 'Grasp left corner'
+    Frame 298 (global 77611): END of 'Fold towel horizontally'
+    Frame 336 (global 77649): END of 'Grasp right edge'
+  Episode 121:
+    Frame 128 (global 78118): END of 'Grasp right corner'
+    Frame 186 (global 78176): END of 'Grasp left corner'
+    Frame 339 (global 78329): END of 'Fold towel horizontally'
+    Frame 383 (global 78373): END of 'Grasp right edge'
+  Episode 122:
+    Frame 99 (global 78741): END of 'Grasp right corner'
+    Frame 137 (global 78779): END of 'Grasp left corner'
+    Frame 286 (global 78928): END of 'Fold towel horizontally'
+    Frame 317 (global 78959): END of 'Grasp right edge'
+  Episode 123:
+    Frame 104 (global 79327): END of 'Grasp right corner'
+    Frame 145 (global 79368): END of 'Grasp left corner'
+    Frame 274 (global 79497): END of 'Fold towel horizontally'
+    Frame 307 (global 79530): END of 'Grasp right edge'
+  Episode 124:
+    Frame 119 (global 79955): END of 'Grasp right corner'
+    Frame 161 (global 79997): END of 'Grasp left corner'
+    Frame 313 (global 80149): END of 'Fold towel horizontally'
+    Frame 343 (global 80179): END of 'Grasp right edge'
+  Episode 125:
+    Frame 103 (global 80578): END of 'Grasp right corner'
+    Frame 143 (global 80618): END of 'Grasp left corner'
+    Frame 281 (global 80756): END of 'Fold towel horizontally'
+    Frame 319 (global 80794): END of 'Grasp right edge'
+  Episode 126:
+    Frame 93 (global 81181): END of 'Grasp right corner'
+    Frame 144 (global 81232): END of 'Grasp left corner'
+    Frame 265 (global 81353): END of 'Fold towel horizontally'
+    Frame 298 (global 81386): END of 'Grasp right edge'
+  Episode 127:
+    Frame 107 (global 81798): END of 'Grasp right corner'
+    Frame 160 (global 81851): END of 'Grasp left corner'
+    Frame 303 (global 81994): END of 'Fold towel horizontally'
+    Frame 332 (global 82023): END of 'Grasp right edge'
+  Episode 128:
+    Frame 90 (global 82333): END of 'Grasp right corner'
+    Frame 136 (global 82379): END of 'Grasp left corner'
+    Frame 299 (global 82542): END of 'Fold towel horizontally'
+    Frame 330 (global 82573): END of 'Grasp right edge'
+  Episode 129:
+    Frame 93 (global 82963): END of 'Grasp right corner'
+    Frame 133 (global 83003): END of 'Grasp left corner'
+    Frame 259 (global 83129): END of 'Fold towel horizontally'
+    Frame 284 (global 83154): END of 'Grasp right edge'
+  Episode 130:
+    Frame 94 (global 83485): END of 'Grasp right corner'
+    Frame 135 (global 83526): END of 'Grasp left corner'
+    Frame 243 (global 83634): END of 'Fold towel horizontally'
+    Frame 273 (global 83664): END of 'Grasp right edge'
+  Episode 131:
+    Frame 104 (global 84023): END of 'Grasp right corner'
+    Frame 152 (global 84071): END of 'Grasp left corner'
+    Frame 274 (global 84193): END of 'Fold towel horizontally'
+    Frame 302 (global 84221): END of 'Grasp right edge'
+  Episode 132:
+    Frame 107 (global 84536): END of 'Grasp right corner'
+    Frame 148 (global 84577): END of 'Grasp left corner'
+    Frame 251 (global 84680): END of 'Fold towel horizontally'
+    Frame 277 (global 84706): END of 'Grasp right edge'
+  Episode 133:
+    Frame 100 (global 85049): END of 'Grasp right corner'
+    Frame 131 (global 85080): END of 'Grasp left corner'
+    Frame 271 (global 85220): END of 'Fold towel horizontally'
+    Frame 306 (global 85255): END of 'Grasp right edge'
+  Episode 134:
+    Frame 125 (global 85670): END of 'Grasp right corner'
+    Frame 162 (global 85707): END of 'Grasp left corner'
+    Frame 272 (global 85817): END of 'Fold towel horizontally'
+    Frame 296 (global 85841): END of 'Grasp right edge'
+  Episode 135:
+    Frame 92 (global 86226): END of 'Grasp right corner'
+    Frame 128 (global 86262): END of 'Grasp left corner'
+    Frame 242 (global 86376): END of 'Fold towel horizontally'
+    Frame 282 (global 86416): END of 'Grasp right edge'
+  Episode 136:
+    Frame 105 (global 86773): END of 'Grasp right corner'
+    Frame 153 (global 86821): END of 'Grasp left corner'
+    Frame 264 (global 86932): END of 'Fold towel horizontally'
+    Frame 294 (global 86962): END of 'Grasp right edge'
+  Episode 137:
+    Frame 83 (global 87342): END of 'Grasp right corner'
+    Frame 117 (global 87376): END of 'Grasp left corner'
+    Frame 248 (global 87507): END of 'Fold towel horizontally'
+    Frame 277 (global 87536): END of 'Grasp right edge'
+  Episode 138:
+    Frame 85 (global 87865): END of 'Grasp right corner'
+    Frame 122 (global 87902): END of 'Grasp left corner'
+    Frame 236 (global 88016): END of 'Fold towel horizontally'
+    Frame 262 (global 88042): END of 'Grasp right edge'
+  Episode 139:
+    Frame 98 (global 88402): END of 'Grasp right corner'
+    Frame 144 (global 88448): END of 'Grasp left corner'
+    Frame 292 (global 88596): END of 'Fold towel horizontally'
+    Frame 317 (global 88621): END of 'Grasp right edge'
+  Episode 140:
+    Frame 99 (global 89011): END of 'Grasp right corner'
+    Frame 136 (global 89048): END of 'Grasp left corner'
+    Frame 260 (global 89172): END of 'Fold towel horizontally'
+    Frame 295 (global 89207): END of 'Grasp right edge'
+  Episode 141:
+    Frame 80 (global 89562): END of 'Grasp right corner'
+    Frame 113 (global 89595): END of 'Grasp left corner'
+    Frame 234 (global 89716): END of 'Fold towel horizontally'
+    Frame 268 (global 89750): END of 'Grasp right edge'
+  Episode 142:
+    Frame 92 (global 90091): END of 'Grasp right corner'
+    Frame 129 (global 90128): END of 'Grasp left corner'
+    Frame 259 (global 90258): END of 'Fold towel horizontally'
+    Frame 289 (global 90288): END of 'Grasp right edge'
+  Episode 143:
+    Frame 118 (global 90637): END of 'Grasp right corner'
+    Frame 158 (global 90677): END of 'Grasp left corner'
+    Frame 316 (global 90835): END of 'Fold towel horizontally'
+    Frame 353 (global 90872): END of 'Grasp right edge'
+  Episode 144:
+    Frame 110 (global 91269): END of 'Grasp right corner'
+    Frame 144 (global 91303): END of 'Grasp left corner'
+    Frame 285 (global 91444): END of 'Fold towel horizontally'
+    Frame 320 (global 91479): END of 'Grasp right edge'
+  Episode 145:
+    Frame 101 (global 91852): END of 'Grasp right corner'
+    Frame 182 (global 91933): END of 'Grasp left corner'
+    Frame 318 (global 92069): END of 'Fold towel horizontally'
+    Frame 347 (global 92098): END of 'Grasp right edge'
+  Episode 146:
+    Frame 109 (global 92483): END of 'Grasp right corner'
+    Frame 149 (global 92523): END of 'Grasp left corner'
+    Frame 342 (global 92716): END of 'Fold towel horizontally'
+    Frame 377 (global 92751): END of 'Grasp right edge'
+  Episode 147:
+    Frame 98 (global 93101): END of 'Grasp right corner'
+    Frame 138 (global 93141): END of 'Grasp left corner'
+    Frame 281 (global 93284): END of 'Fold towel horizontally'
+    Frame 314 (global 93317): END of 'Grasp right edge'
+  Episode 148:
+    Frame 108 (global 93686): END of 'Grasp right corner'
+    Frame 138 (global 93716): END of 'Grasp left corner'
+    Frame 317 (global 93895): END of 'Fold towel horizontally'
+    Frame 351 (global 93929): END of 'Grasp right edge'
+  Episode 149:
+    Frame 97 (global 94254): END of 'Grasp right corner'
+    Frame 140 (global 94297): END of 'Grasp left corner'
+    Frame 529 (global 94686): END of 'Fold towel horizontally'
+    Frame 591 (global 94748): END of 'Grasp right edge'
+  Episode 150:
+    Frame 110 (global 95146): END of 'Grasp right corner'
+    Frame 153 (global 95189): END of 'Grasp left corner'
+    Frame 304 (global 95340): END of 'Fold towel horizontally'
+    Frame 334 (global 95370): END of 'Grasp right edge'
+  Episode 151:
+    Frame 90 (global 95717): END of 'Grasp right corner'
+    Frame 129 (global 95756): END of 'Grasp left corner'
+    Frame 437 (global 96064): END of 'Fold towel horizontally'
+    Frame 479 (global 96106): END of 'Grasp right edge'
+  Episode 152:
+    Frame 101 (global 96575): END of 'Grasp right corner'
+    Frame 138 (global 96612): END of 'Grasp left corner'
+    Frame 288 (global 96762): END of 'Fold towel horizontally'
+    Frame 320 (global 96794): END of 'Grasp right edge'
+  Episode 153:
+    Frame 114 (global 97134): END of 'Grasp right corner'
+    Frame 150 (global 97170): END of 'Grasp left corner'
+    Frame 284 (global 97304): END of 'Fold towel horizontally'
+    Frame 320 (global 97340): END of 'Grasp right edge'
+  Episode 154:
+    Frame 106 (global 97723): END of 'Grasp right corner'
+    Frame 145 (global 97762): END of 'Grasp left corner'
+    Frame 299 (global 97916): END of 'Fold towel horizontally'
+    Frame 337 (global 97954): END of 'Grasp right edge'
+  Episode 155:
+    Frame 116 (global 98353): END of 'Grasp right corner'
+    Frame 151 (global 98388): END of 'Grasp left corner'
+    Frame 297 (global 98534): END of 'Fold towel horizontally'
+    Frame 334 (global 98571): END of 'Grasp right edge'
+  Episode 156:
+    Frame 118 (global 98965): END of 'Grasp right corner'
+    Frame 160 (global 99007): END of 'Grasp left corner'
+    Frame 308 (global 99155): END of 'Fold towel horizontally'
+    Frame 353 (global 99200): END of 'Grasp right edge'
+  Episode 157:
+    Frame 113 (global 99583): END of 'Grasp right corner'
+    Frame 153 (global 99623): END of 'Grasp left corner'
+    Frame 285 (global 99755): END of 'Fold towel horizontally'
+    Frame 318 (global 99788): END of 'Grasp right edge'
+  Episode 158:
+    Frame 99 (global 100149): END of 'Grasp right corner'
+    Frame 139 (global 100189): END of 'Grasp left corner'
+    Frame 302 (global 100352): END of 'Fold towel horizontally'
+    Frame 336 (global 100386): END of 'Grasp right edge'
+  Episode 159:
+    Frame 95 (global 100773): END of 'Grasp right corner'
+    Frame 137 (global 100815): END of 'Grasp left corner'
+    Frame 282 (global 100960): END of 'Fold towel horizontally'
+    Frame 324 (global 101002): END of 'Grasp right edge'
+  Episode 160:
+    Frame 124 (global 101416): END of 'Grasp right corner'
+    Frame 157 (global 101449): END of 'Grasp left corner'
+    Frame 281 (global 101573): END of 'Fold towel horizontally'
+    Frame 316 (global 101608): END of 'Grasp right edge'
+  Episode 161:
+    Frame 106 (global 101965): END of 'Grasp right corner'
+    Frame 144 (global 102003): END of 'Grasp left corner'
+    Frame 289 (global 102148): END of 'Fold towel horizontally'
+    Frame 332 (global 102191): END of 'Grasp right edge'
+  Episode 162:
+    Frame 113 (global 102574): END of 'Grasp right corner'
+    Frame 149 (global 102610): END of 'Grasp left corner'
+    Frame 270 (global 102731): END of 'Fold towel horizontally'
+    Frame 305 (global 102766): END of 'Grasp right edge'
+  Episode 163:
+    Frame 135 (global 103155): END of 'Grasp right corner'
+    Frame 189 (global 103209): END of 'Grasp left corner'
+    Frame 372 (global 103392): END of 'Fold towel horizontally'
+    Frame 414 (global 103434): END of 'Grasp right edge'
+  Episode 164:
+    Frame 119 (global 103839): END of 'Grasp right corner'
+    Frame 168 (global 103888): END of 'Grasp left corner'
+    Frame 372 (global 104092): END of 'Fold towel horizontally'
+    Frame 411 (global 104131): END of 'Grasp right edge'
+  Episode 165:
+    Frame 106 (global 104517): END of 'Grasp right corner'
+    Frame 154 (global 104565): END of 'Grasp left corner'
+    Frame 311 (global 104722): END of 'Fold towel horizontally'
+    Frame 352 (global 104763): END of 'Grasp right edge'
+  Episode 166:
+    Frame 122 (global 105147): END of 'Grasp right corner'
+    Frame 168 (global 105193): END of 'Grasp left corner'
+    Frame 328 (global 105353): END of 'Fold towel horizontally'
+    Frame 362 (global 105387): END of 'Grasp right edge'
+  Episode 167:
+    Frame 106 (global 105760): END of 'Grasp right corner'
+    Frame 148 (global 105802): END of 'Grasp left corner'
+    Frame 277 (global 105931): END of 'Fold towel horizontally'
+    Frame 317 (global 105971): END of 'Grasp right edge'
+  Episode 168:
+    Frame 118 (global 106435): END of 'Grasp right corner'
+    Frame 158 (global 106475): END of 'Grasp left corner'
+    Frame 283 (global 106600): END of 'Fold towel horizontally'
+    Frame 324 (global 106641): END of 'Grasp right edge'
+  Episode 169:
+    Frame 134 (global 107008): END of 'Grasp right corner'
+    Frame 178 (global 107052): END of 'Grasp left corner'
+    Frame 319 (global 107193): END of 'Fold towel horizontally'
+    Frame 359 (global 107233): END of 'Grasp right edge'
+  Episode 170:
+    Frame 133 (global 107627): END of 'Grasp right corner'
+    Frame 169 (global 107663): END of 'Grasp left corner'
+    Frame 305 (global 107799): END of 'Fold towel horizontally'
+    Frame 342 (global 107836): END of 'Grasp right edge'
+  Episode 171:
+    Frame 136 (global 108219): END of 'Grasp right corner'
+    Frame 177 (global 108260): END of 'Grasp left corner'
+    Frame 302 (global 108385): END of 'Fold towel horizontally'
+    Frame 336 (global 108419): END of 'Grasp right edge'
+  Episode 172:
+    Frame 134 (global 108795): END of 'Grasp right corner'
+    Frame 169 (global 108830): END of 'Grasp left corner'
+    Frame 289 (global 108950): END of 'Fold towel horizontally'
+    Frame 333 (global 108994): END of 'Grasp right edge'
+  Episode 173:
+    Frame 116 (global 109359): END of 'Grasp right corner'
+    Frame 158 (global 109401): END of 'Grasp left corner'
+    Frame 286 (global 109529): END of 'Fold towel horizontally'
+    Frame 327 (global 109570): END of 'Grasp right edge'
+  Episode 174:
+    Frame 124 (global 109949): END of 'Grasp right corner'
+    Frame 165 (global 109990): END of 'Grasp left corner'
+    Frame 331 (global 110156): END of 'Fold towel horizontally'
+    Frame 371 (global 110196): END of 'Grasp right edge'
+  Episode 175:
+    Frame 129 (global 110549): END of 'Grasp right corner'
+    Frame 167 (global 110587): END of 'Grasp left corner'
+    Frame 272 (global 110692): END of 'Fold towel horizontally'
+    Frame 306 (global 110726): END of 'Grasp right edge'
+  Episode 176:
+    Frame 116 (global 111090): END of 'Grasp right corner'
+    Frame 171 (global 111145): END of 'Grasp left corner'
+    Frame 289 (global 111263): END of 'Fold towel horizontally'
+    Frame 326 (global 111300): END of 'Grasp right edge'
+  Episode 177:
+    Frame 106 (global 111677): END of 'Grasp right corner'
+    Frame 152 (global 111723): END of 'Grasp left corner'
+    Frame 294 (global 111865): END of 'Fold towel horizontally'
+    Frame 332 (global 111903): END of 'Grasp right edge'
+  Episode 178: No boundaries
+  Episode 179:
+    Frame 113 (global 113416): END of 'Grasp right corner'
+    Frame 149 (global 113452): END of 'Grasp left corner'
+    Frame 258 (global 113561): END of 'Fold towel horizontally'
+    Frame 290 (global 113593): END of 'Grasp right edge'
+  Episode 180:
+    Frame 105 (global 113936): END of 'Grasp right corner'
+    Frame 145 (global 113976): END of 'Grasp left corner'
+    Frame 273 (global 114104): END of 'Fold towel horizontally'
+    Frame 307 (global 114138): END of 'Grasp right edge'
+  Episode 181:
+    Frame 104 (global 114477): END of 'Grasp right corner'
+    Frame 137 (global 114510): END of 'Grasp left corner'
+    Frame 248 (global 114621): END of 'Fold towel horizontally'
+    Frame 279 (global 114652): END of 'Grasp right edge'
+  Episode 182:
+    Frame 116 (global 114981): END of 'Grasp right corner'
+    Frame 246 (global 115111): END of 'Grasp left corner'
+    Frame 347 (global 115212): END of 'Fold towel horizontally'
+    Frame 380 (global 115245): END of 'Grasp right edge'
+  Episode 183:
+    Frame 129 (global 115634): END of 'Grasp right corner'
+    Frame 188 (global 115693): END of 'Grasp left corner'
+    Frame 327 (global 115832): END of 'Fold towel horizontally'
+    Frame 363 (global 115868): END of 'Grasp right edge'
+  Episode 184:
+    Frame 116 (global 116234): END of 'Grasp right corner'
+    Frame 164 (global 116282): END of 'Grasp left corner'
+    Frame 303 (global 116421): END of 'Fold towel horizontally'
+    Frame 339 (global 116457): END of 'Grasp right edge'
+  Episode 185:
+    Frame 103 (global 116803): END of 'Grasp right corner'
+    Frame 140 (global 116840): END of 'Grasp left corner'
+    Frame 247 (global 116947): END of 'Fold towel horizontally'
+    Frame 278 (global 116978): END of 'Grasp right edge'
+  Episode 186:
+    Frame 103 (global 117311): END of 'Grasp right corner'
+    Frame 148 (global 117356): END of 'Grasp left corner'
+    Frame 275 (global 117483): END of 'Fold towel horizontally'
+    Frame 308 (global 117516): END of 'Grasp right edge'
+  Episode 187:
+    Frame 120 (global 117868): END of 'Grasp right corner'
+    Frame 161 (global 117909): END of 'Grasp left corner'
+    Frame 285 (global 118033): END of 'Fold towel horizontally'
+    Frame 317 (global 118065): END of 'Grasp right edge'
+  Episode 188:
+    Frame 183 (global 118496): END of 'Grasp right corner'
+    Frame 219 (global 118532): END of 'Grasp left corner'
+    Frame 341 (global 118654): END of 'Fold towel horizontally'
+    Frame 377 (global 118690): END of 'Grasp right edge'
+  Episode 189:
+    Frame 97 (global 119014): END of 'Grasp right corner'
+    Frame 157 (global 119074): END of 'Grasp left corner'
+    Frame 289 (global 119206): END of 'Fold towel horizontally'
+    Frame 328 (global 119245): END of 'Grasp right edge'
+  Episode 190:
+    Frame 96 (global 119566): END of 'Grasp right corner'
+    Frame 138 (global 119608): END of 'Grasp left corner'
+    Frame 265 (global 119735): END of 'Fold towel horizontally'
+    Frame 293 (global 119763): END of 'Grasp right edge'
+  Episode 191:
+    Frame 110 (global 120155): END of 'Grasp right corner'
+    Frame 150 (global 120195): END of 'Grasp left corner'
+    Frame 269 (global 120314): END of 'Fold towel horizontally'
+    Frame 302 (global 120347): END of 'Grasp right edge'
+  Episode 192:
+    Frame 107 (global 120679): END of 'Grasp right corner'
+    Frame 153 (global 120725): END of 'Grasp left corner'
+    Frame 264 (global 120836): END of 'Fold towel horizontally'
+    Frame 297 (global 120869): END of 'Grasp right edge'
+  Episode 193:
+    Frame 120 (global 121218): END of 'Grasp right corner'
+    Frame 169 (global 121267): END of 'Grasp left corner'
+    Frame 272 (global 121370): END of 'Fold towel horizontally'
+    Frame 310 (global 121408): END of 'Grasp right edge'
+  Episode 194:
+    Frame 113 (global 121802): END of 'Grasp right corner'
+    Frame 151 (global 121840): END of 'Grasp left corner'
+    Frame 276 (global 121965): END of 'Fold towel horizontally'
+    Frame 311 (global 122000): END of 'Grasp right edge'
+  Episode 195:
+    Frame 104 (global 122344): END of 'Grasp right corner'
+    Frame 143 (global 122383): END of 'Grasp left corner'
+    Frame 262 (global 122502): END of 'Fold towel horizontally'
+    Frame 303 (global 122543): END of 'Grasp right edge'
+  Episode 196:
+    Frame 97 (global 122872): END of 'Grasp right corner'
+    Frame 140 (global 122915): END of 'Grasp left corner'
+    Frame 315 (global 123090): END of 'Fold towel horizontally'
+    Frame 346 (global 123121): END of 'Grasp right edge'
+  Episode 197:
+    Frame 111 (global 123472): END of 'Grasp right corner'
+    Frame 160 (global 123521): END of 'Grasp left corner'
+    Frame 321 (global 123682): END of 'Fold towel horizontally'
+    Frame 355 (global 123716): END of 'Grasp right edge'
+  Episode 198:
+    Frame 104 (global 124061): END of 'Grasp right corner'
+    Frame 148 (global 124105): END of 'Grasp left corner'
+    Frame 270 (global 124227): END of 'Fold towel horizontally'
+    Frame 307 (global 124264): END of 'Grasp right edge'
+  Episode 199: No boundaries
+  Episode 200:
+    Frame 113 (global 124684): END of 'Grasp right corner'
+    Frame 156 (global 124727): END of 'Grasp left corner'
+    Frame 298 (global 124869): END of 'Fold towel horizontally'
+    Frame 335 (global 124906): END of 'Grasp right edge'
+  Episode 201:
+    Frame 118 (global 125247): END of 'Grasp right corner'
+    Frame 166 (global 125295): END of 'Grasp left corner'
+    Frame 304 (global 125433): END of 'Fold towel horizontally'
+    Frame 338 (global 125467): END of 'Grasp right edge'
+  Episode 202:
+    Frame 137 (global 125856): END of 'Grasp right corner'
+    Frame 182 (global 125901): END of 'Grasp left corner'
+    Frame 312 (global 126031): END of 'Fold towel horizontally'
+    Frame 353 (global 126072): END of 'Grasp right edge'
+  Episode 203:
+    Frame 104 (global 126401): END of 'Grasp right corner'
+    Frame 149 (global 126446): END of 'Grasp left corner'
+    Frame 270 (global 126567): END of 'Fold towel horizontally'
+    Frame 307 (global 126604): END of 'Grasp right edge'
+  Episode 204:
+    Frame 106 (global 126922): END of 'Grasp right corner'
+    Frame 156 (global 126972): END of 'Grasp left corner'
+    Frame 268 (global 127084): END of 'Fold towel horizontally'
+    Frame 304 (global 127120): END of 'Grasp right edge'
+  Episode 205:
+    Frame 106 (global 127448): END of 'Grasp right corner'
+    Frame 148 (global 127490): END of 'Grasp left corner'
+    Frame 280 (global 127622): END of 'Fold towel horizontally'
+    Frame 313 (global 127655): END of 'Grasp right edge'
+  Episode 206:
+    Frame 113 (global 128002): END of 'Grasp right corner'
+    Frame 145 (global 128034): END of 'Grasp left corner'
+    Frame 283 (global 128172): END of 'Fold towel horizontally'
+    Frame 323 (global 128212): END of 'Grasp right edge'
+  Episode 207:
+    Frame 105 (global 128570): END of 'Grasp right corner'
+    Frame 149 (global 128614): END of 'Grasp left corner'
+    Frame 248 (global 128713): END of 'Fold towel horizontally'
+    Frame 280 (global 128745): END of 'Grasp right edge'
+  Episode 208:
+    Frame 107 (global 129086): END of 'Grasp right corner'
+    Frame 168 (global 129147): END of 'Grasp left corner'
+    Frame 270 (global 129249): END of 'Fold towel horizontally'
+    Frame 306 (global 129285): END of 'Grasp right edge'
+  Episode 209:
+    Frame 113 (global 129725): END of 'Grasp right corner'
+    Frame 154 (global 129766): END of 'Grasp left corner'
+    Frame 283 (global 129895): END of 'Fold towel horizontally'
+    Frame 321 (global 129933): END of 'Grasp right edge'
+  Episode 210:
+    Frame 122 (global 130289): END of 'Grasp right corner'
+    Frame 159 (global 130326): END of 'Grasp left corner'
+    Frame 285 (global 130452): END of 'Fold towel horizontally'
+    Frame 316 (global 130483): END of 'Grasp right edge'
+  Episode 211:
+    Frame 106 (global 130813): END of 'Grasp right corner'
+    Frame 164 (global 130871): END of 'Grasp left corner'
+    Frame 293 (global 131000): END of 'Fold towel horizontally'
+    Frame 328 (global 131035): END of 'Grasp right edge'
+  Episode 212:
+    Frame 108 (global 131444): END of 'Grasp right corner'
+    Frame 151 (global 131487): END of 'Grasp left corner'
+    Frame 288 (global 131624): END of 'Fold towel horizontally'
+    Frame 327 (global 131663): END of 'Grasp right edge'
+  Episode 213:
+    Frame 115 (global 132005): END of 'Grasp right corner'
+    Frame 158 (global 132048): END of 'Grasp left corner'
+    Frame 282 (global 132172): END of 'Fold towel horizontally'
+    Frame 316 (global 132206): END of 'Grasp right edge'
+  Episode 214:
+    Frame 116 (global 132556): END of 'Grasp right corner'
+    Frame 156 (global 132596): END of 'Grasp left corner'
+    Frame 285 (global 132725): END of 'Fold towel horizontally'
+    Frame 323 (global 132763): END of 'Grasp right edge'
+  Episode 215:
+    Frame 104 (global 133099): END of 'Grasp right corner'
+    Frame 138 (global 133133): END of 'Grasp left corner'
+    Frame 270 (global 133265): END of 'Fold towel horizontally'
+    Frame 307 (global 133302): END of 'Grasp right edge'
+  Episode 216:
+    Frame 116 (global 133661): END of 'Grasp right corner'
+    Frame 164 (global 133709): END of 'Grasp left corner'
+    Frame 332 (global 133877): END of 'Fold towel horizontally'
+    Frame 370 (global 133915): END of 'Grasp right edge'
+  Episode 217:
+    Frame 112 (global 134273): END of 'Grasp right corner'
+    Frame 148 (global 134309): END of 'Grasp left corner'
+    Frame 305 (global 134466): END of 'Fold towel horizontally'
+    Frame 340 (global 134501): END of 'Grasp right edge'
+  Episode 218:
+    Frame 108 (global 134863): END of 'Grasp right corner'
+    Frame 151 (global 134906): END of 'Grasp left corner'
+    Frame 273 (global 135028): END of 'Fold towel horizontally'
+    Frame 308 (global 135063): END of 'Grasp right edge'
+  Episode 219:
+    Frame 108 (global 135447): END of 'Grasp right corner'
+    Frame 150 (global 135489): END of 'Grasp left corner'
+    Frame 284 (global 135623): END of 'Fold towel horizontally'
+    Frame 310 (global 135649): END of 'Grasp right edge'
+  Episode 220:
+    Frame 107 (global 135979): END of 'Grasp right corner'
+    Frame 153 (global 136025): END of 'Grasp left corner'
+    Frame 269 (global 136141): END of 'Fold towel horizontally'
+    Frame 303 (global 136175): END of 'Grasp right edge'
+  Episode 221:
+    Frame 158 (global 136553): END of 'Grasp right corner'
+    Frame 204 (global 136599): END of 'Grasp left corner'
+    Frame 477 (global 136872): END of 'Fold towel horizontally'
+    Frame 514 (global 136909): END of 'Grasp right edge'
+  Episode 222:
+    Frame 99 (global 137295): END of 'Grasp right corner'
+    Frame 142 (global 137338): END of 'Grasp left corner'
+    Frame 426 (global 137622): END of 'Fold towel horizontally'
+    Frame 460 (global 137656): END of 'Grasp right edge'
+  Episode 223:
+    Frame 99 (global 138025): END of 'Grasp right corner'
+    Frame 145 (global 138071): END of 'Grasp left corner'
+    Frame 321 (global 138247): END of 'Fold towel horizontally'
+    Frame 369 (global 138295): END of 'Grasp right edge'
+  Episode 224:
+    Frame 101 (global 138654): END of 'Grasp right corner'
+    Frame 143 (global 138696): END of 'Grasp left corner'
+    Frame 287 (global 138840): END of 'Fold towel horizontally'
+    Frame 324 (global 138877): END of 'Grasp right edge'
+  Episode 225:
+    Frame 98 (global 139220): END of 'Grasp right corner'
+    Frame 133 (global 139255): END of 'Grasp left corner'
+    Frame 280 (global 139402): END of 'Fold towel horizontally'
+    Frame 317 (global 139439): END of 'Grasp right edge'
+  Episode 226:
+    Frame 107 (global 139873): END of 'Grasp right corner'
+    Frame 149 (global 139915): END of 'Grasp left corner'
+    Frame 288 (global 140054): END of 'Fold towel horizontally'
+    Frame 321 (global 140087): END of 'Grasp right edge'
+  Episode 227:
+    Frame 94 (global 140407): END of 'Grasp right corner'
+    Frame 142 (global 140455): END of 'Grasp left corner'
+    Frame 321 (global 140634): END of 'Fold towel horizontally'
+    Frame 356 (global 140669): END of 'Grasp right edge'
+  Episode 228:
+    Frame 106 (global 141133): END of 'Grasp right corner'
+    Frame 142 (global 141169): END of 'Grasp left corner'
+    Frame 267 (global 141294): END of 'Fold towel horizontally'
+    Frame 296 (global 141323): END of 'Grasp right edge'
+  Episode 229:
+    Frame 111 (global 141699): END of 'Grasp right corner'
+    Frame 150 (global 141738): END of 'Grasp left corner'
+    Frame 289 (global 141877): END of 'Fold towel horizontally'
+    Frame 320 (global 141908): END of 'Grasp right edge'
+  Episode 230:
+    Frame 104 (global 142236): END of 'Grasp right corner'
+    Frame 147 (global 142279): END of 'Grasp left corner'
+    Frame 272 (global 142404): END of 'Fold towel horizontally'
+    Frame 308 (global 142440): END of 'Grasp right edge'
+  Episode 231:
+    Frame 132 (global 142859): END of 'Grasp right corner'
+    Frame 176 (global 142903): END of 'Grasp left corner'
+    Frame 304 (global 143031): END of 'Fold towel horizontally'
+    Frame 340 (global 143067): END of 'Grasp right edge'
+  Episode 232:
+    Frame 113 (global 143400): END of 'Grasp right corner'
+    Frame 160 (global 143447): END of 'Grasp left corner'
+    Frame 267 (global 143554): END of 'Fold towel horizontally'
+    Frame 297 (global 143584): END of 'Grasp right edge'
+  Episode 233:
+    Frame 100 (global 143987): END of 'Grasp right corner'
+    Frame 135 (global 144022): END of 'Grasp left corner'
+    Frame 284 (global 144171): END of 'Fold towel horizontally'
+    Frame 316 (global 144203): END of 'Grasp right edge'
+  Episode 234:
+    Frame 104 (global 144547): END of 'Grasp right corner'
+    Frame 140 (global 144583): END of 'Grasp left corner'
+    Frame 266 (global 144709): END of 'Fold towel horizontally'
+    Frame 301 (global 144744): END of 'Grasp right edge'
+  Episode 235:
+    Frame 108 (global 145155): END of 'Grasp right corner'
+    Frame 145 (global 145192): END of 'Grasp left corner'
+    Frame 274 (global 145321): END of 'Fold towel horizontally'
+    Frame 305 (global 145352): END of 'Grasp right edge'
+  Episode 236:
+    Frame 104 (global 145705): END of 'Grasp right corner'
+    Frame 138 (global 145739): END of 'Grasp left corner'
+    Frame 257 (global 145858): END of 'Fold towel horizontally'
+    Frame 289 (global 145890): END of 'Grasp right edge'
+  Episode 237:
+    Frame 103 (global 146269): END of 'Grasp right corner'
+    Frame 144 (global 146310): END of 'Grasp left corner'
+    Frame 262 (global 146428): END of 'Fold towel horizontally'
+    Frame 296 (global 146462): END of 'Grasp right edge'
+  Episode 238:
+    Frame 125 (global 146852): END of 'Grasp right corner'
+    Frame 157 (global 146884): END of 'Grasp left corner'
+    Frame 302 (global 147029): END of 'Fold towel horizontally'
+    Frame 336 (global 147063): END of 'Grasp right edge'
+  Episode 239:
+    Frame 110 (global 147393): END of 'Grasp right corner'
+    Frame 144 (global 147427): END of 'Grasp left corner'
+    Frame 263 (global 147546): END of 'Fold towel horizontally'
+    Frame 298 (global 147581): END of 'Grasp right edge'
+  Episode 240:
+    Frame 110 (global 147911): END of 'Grasp right corner'
+    Frame 143 (global 147944): END of 'Grasp left corner'
+    Frame 292 (global 148093): END of 'Fold towel horizontally'
+    Frame 325 (global 148126): END of 'Grasp right edge'
+  Episode 241:
+    Frame 135 (global 148546): END of 'Grasp right corner'
+    Frame 183 (global 148594): END of 'Grasp left corner'
+    Frame 327 (global 148738): END of 'Fold towel horizontally'
+    Frame 367 (global 148778): END of 'Grasp right edge'
+  Episode 242:
+    Frame 110 (global 149146): END of 'Grasp right corner'
+    Frame 153 (global 149189): END of 'Grasp left corner'
+    Frame 276 (global 149312): END of 'Fold towel horizontally'
+    Frame 308 (global 149344): END of 'Grasp right edge'
+  Episode 243:
+    Frame 93 (global 149648): END of 'Grasp right corner'
+    Frame 127 (global 149682): END of 'Grasp left corner'
+    Frame 258 (global 149813): END of 'Fold towel horizontally'
+    Frame 291 (global 149846): END of 'Grasp right edge'
+  Episode 244:
+    Frame 99 (global 150184): END of 'Grasp right corner'
+    Frame 135 (global 150220): END of 'Grasp left corner'
+    Frame 291 (global 150376): END of 'Fold towel horizontally'
+    Frame 327 (global 150412): END of 'Grasp right edge'
+  Episode 245:
+    Frame 122 (global 150813): END of 'Grasp right corner'
+    Frame 168 (global 150859): END of 'Grasp left corner'
+    Frame 275 (global 150966): END of 'Fold towel horizontally'
+    Frame 303 (global 150994): END of 'Grasp right edge'
+  Episode 246:
+    Frame 140 (global 151372): END of 'Grasp right corner'
+    Frame 172 (global 151404): END of 'Grasp left corner'
+    Frame 285 (global 151517): END of 'Fold towel horizontally'
+    Frame 316 (global 151548): END of 'Grasp right edge'
+  Episode 247:
+    Frame 145 (global 152025): END of 'Grasp right corner'
+    Frame 184 (global 152064): END of 'Grasp left corner'
+    Frame 323 (global 152203): END of 'Fold towel horizontally'
+    Frame 359 (global 152239): END of 'Grasp right edge'
+  Episode 248:
+    Frame 110 (global 152629): END of 'Grasp right corner'
+    Frame 150 (global 152669): END of 'Grasp left corner'
+    Frame 290 (global 152809): END of 'Fold towel horizontally'
+    Frame 324 (global 152843): END of 'Grasp right edge'
+  Episode 249:
+    Frame 98 (global 153216): END of 'Grasp right corner'
+    Frame 142 (global 153260): END of 'Grasp left corner'
+    Frame 273 (global 153391): END of 'Fold towel horizontally'
+    Frame 303 (global 153421): END of 'Grasp right edge'
+  Episode 250:
+    Frame 104 (global 153748): END of 'Grasp right corner'
+    Frame 145 (global 153789): END of 'Grasp left corner'
+    Frame 284 (global 153928): END of 'Fold towel horizontally'
+    Frame 322 (global 153966): END of 'Grasp right edge'
+  Episode 251: No boundaries
+  Episode 252:
+    Frame 108 (global 154626): END of 'Grasp right corner'
+    Frame 142 (global 154660): END of 'Grasp left corner'
+    Frame 244 (global 154762): END of 'Fold towel horizontally'
+    Frame 274 (global 154792): END of 'Grasp right edge'
+  Episode 253:
+    Frame 101 (global 155113): END of 'Grasp right corner'
+    Frame 130 (global 155142): END of 'Grasp left corner'
+    Frame 254 (global 155266): END of 'Fold towel horizontally'
+    Frame 286 (global 155298): END of 'Grasp right edge'
+  Episode 254:
+    Frame 123 (global 155629): END of 'Grasp right corner'
+    Frame 156 (global 155662): END of 'Grasp left corner'
+    Frame 283 (global 155789): END of 'Fold towel horizontally'
+    Frame 314 (global 155820): END of 'Grasp right edge'
+  Episode 255:
+    Frame 97 (global 156137): END of 'Grasp right corner'
+    Frame 126 (global 156166): END of 'Grasp left corner'
+    Frame 260 (global 156300): END of 'Fold towel horizontally'
+    Frame 297 (global 156337): END of 'Grasp right edge'
+  Episode 256:
+    Frame 97 (global 156656): END of 'Grasp right corner'
+    Frame 128 (global 156687): END of 'Grasp left corner'
+    Frame 250 (global 156809): END of 'Fold towel horizontally'
+    Frame 283 (global 156842): END of 'Grasp right edge'
+  Episode 257:
+    Frame 90 (global 157182): END of 'Grasp right corner'
+    Frame 119 (global 157211): END of 'Grasp left corner'
+    Frame 241 (global 157333): END of 'Fold towel horizontally'
+    Frame 271 (global 157363): END of 'Grasp right edge'
+  Episode 258:
+    Frame 104 (global 157695): END of 'Grasp right corner'
+    Frame 140 (global 157731): END of 'Grasp left corner'
+    Frame 255 (global 157846): END of 'Fold towel horizontally'
+    Frame 288 (global 157879): END of 'Grasp right edge'
+  Episode 259:
+    Frame 116 (global 158218): END of 'Grasp right corner'
+    Frame 156 (global 158258): END of 'Grasp left corner'
+    Frame 281 (global 158383): END of 'Fold towel horizontally'
+    Frame 307 (global 158409): END of 'Grasp right edge'
+  Episode 260:
+    Frame 108 (global 158749): END of 'Grasp right corner'
+    Frame 143 (global 158784): END of 'Grasp left corner'
+    Frame 256 (global 158897): END of 'Fold towel horizontally'
+    Frame 287 (global 158928): END of 'Grasp right edge'
+  Episode 261:
+    Frame 113 (global 159275): END of 'Grasp right corner'
+    Frame 145 (global 159307): END of 'Grasp left corner'
+    Frame 266 (global 159428): END of 'Fold towel horizontally'
+    Frame 295 (global 159457): END of 'Grasp right edge'
+  Episode 262:
+    Frame 118 (global 159801): END of 'Grasp right corner'
+    Frame 163 (global 159846): END of 'Grasp left corner'
+    Frame 288 (global 159971): END of 'Fold towel horizontally'
+    Frame 319 (global 160002): END of 'Grasp right edge'
+  Episode 263:
+    Frame 107 (global 160336): END of 'Grasp right corner'
+    Frame 149 (global 160378): END of 'Grasp left corner'
+    Frame 263 (global 160492): END of 'Fold towel horizontally'
+    Frame 294 (global 160523): END of 'Grasp right edge'
+  Episode 264:
+    Frame 98 (global 160883): END of 'Grasp right corner'
+    Frame 130 (global 160915): END of 'Grasp left corner'
+    Frame 239 (global 161024): END of 'Fold towel horizontally'
+    Frame 269 (global 161054): END of 'Grasp right edge'
+  Episode 265:
+    Frame 110 (global 161383): END of 'Grasp right corner'
+    Frame 146 (global 161419): END of 'Grasp left corner'
+    Frame 299 (global 161572): END of 'Fold towel horizontally'
+    Frame 337 (global 161610): END of 'Grasp right edge'
+  Episode 266:
+    Frame 122 (global 161972): END of 'Grasp right corner'
+    Frame 169 (global 162019): END of 'Grasp left corner'
+    Frame 307 (global 162157): END of 'Fold towel horizontally'
+    Frame 343 (global 162193): END of 'Grasp right edge'
+  Episode 267:
+    Frame 125 (global 162618): END of 'Grasp right corner'
+    Frame 170 (global 162663): END of 'Grasp left corner'
+    Frame 310 (global 162803): END of 'Fold towel horizontally'
+    Frame 345 (global 162838): END of 'Grasp right edge'
+  Episode 268:
+    Frame 114 (global 163210): END of 'Grasp right corner'
+    Frame 155 (global 163251): END of 'Grasp left corner'
+    Frame 283 (global 163379): END of 'Fold towel horizontally'
+    Frame 316 (global 163412): END of 'Grasp right edge'
+  Episode 269:
+    Frame 111 (global 163819): END of 'Grasp right corner'
+    Frame 161 (global 163869): END of 'Grasp left corner'
+    Frame 331 (global 164039): END of 'Fold towel horizontally'
+    Frame 369 (global 164077): END of 'Grasp right edge'
+  Episode 270:
+    Frame 138 (global 164481): END of 'Grasp right corner'
+    Frame 182 (global 164525): END of 'Grasp left corner'
+    Frame 310 (global 164653): END of 'Fold towel horizontally'
+    Frame 340 (global 164683): END of 'Grasp right edge'
+  Episode 271:
+    Frame 117 (global 165124): END of 'Grasp right corner'
+    Frame 180 (global 165187): END of 'Grasp left corner'
+    Frame 323 (global 165330): END of 'Fold towel horizontally'
+    Frame 360 (global 165367): END of 'Grasp right edge'
+  Episode 272:
+    Frame 119 (global 165780): END of 'Grasp right corner'
+    Frame 161 (global 165822): END of 'Grasp left corner'
+    Frame 279 (global 165940): END of 'Fold towel horizontally'
+    Frame 307 (global 165968): END of 'Grasp right edge'
+  Episode 273:
+    Frame 92 (global 166343): END of 'Grasp right corner'
+    Frame 132 (global 166383): END of 'Grasp left corner'
+    Frame 251 (global 166502): END of 'Fold towel horizontally'
+    Frame 281 (global 166532): END of 'Grasp right edge'
+  Episode 274:
+    Frame 101 (global 166894): END of 'Grasp right corner'
+    Frame 153 (global 166946): END of 'Grasp left corner'
+    Frame 287 (global 167080): END of 'Fold towel horizontally'
+    Frame 316 (global 167109): END of 'Grasp right edge'
+  Episode 275:
+    Frame 116 (global 167622): END of 'Grasp right corner'
+    Frame 154 (global 167660): END of 'Grasp left corner'
+    Frame 275 (global 167781): END of 'Fold towel horizontally'
+    Frame 306 (global 167812): END of 'Grasp right edge'
+  Episode 276:
+    Frame 113 (global 168206): END of 'Grasp right corner'
+    Frame 162 (global 168255): END of 'Grasp left corner'
+    Frame 301 (global 168394): END of 'Fold towel horizontally'
+    Frame 336 (global 168429): END of 'Grasp right edge'
+  Episode 277:
+    Frame 111 (global 168785): END of 'Grasp right corner'
+    Frame 146 (global 168820): END of 'Grasp left corner'
+    Frame 266 (global 168940): END of 'Fold towel horizontally'
+    Frame 304 (global 168978): END of 'Grasp right edge'
+  Episode 278:
+    Frame 115 (global 169425): END of 'Grasp right corner'
+    Frame 159 (global 169469): END of 'Grasp left corner'
+    Frame 292 (global 169602): END of 'Fold towel horizontally'
+    Frame 327 (global 169637): END of 'Grasp right edge'
+  Episode 279:
+    Frame 105 (global 170038): END of 'Grasp right corner'
+    Frame 144 (global 170077): END of 'Grasp left corner'
+    Frame 249 (global 170182): END of 'Fold towel horizontally'
+    Frame 280 (global 170213): END of 'Grasp right edge'
+  Episode 280:
+    Frame 110 (global 170616): END of 'Grasp right corner'
+    Frame 146 (global 170652): END of 'Grasp left corner'
+    Frame 255 (global 170761): END of 'Fold towel horizontally'
+    Frame 290 (global 170796): END of 'Grasp right edge'
+  Episode 281:
+    Frame 105 (global 171132): END of 'Grasp right corner'
+    Frame 147 (global 171174): END of 'Grasp left corner'
+    Frame 252 (global 171279): END of 'Fold towel horizontally'
+    Frame 279 (global 171306): END of 'Grasp right edge'
+  Episode 282:
+    Frame 118 (global 171672): END of 'Grasp right corner'
+    Frame 153 (global 171707): END of 'Grasp left corner'
+    Frame 287 (global 171841): END of 'Fold towel horizontally'
+    Frame 322 (global 171876): END of 'Grasp right edge'
+  Episode 283:
+    Frame 112 (global 172228): END of 'Grasp right corner'
+    Frame 150 (global 172266): END of 'Grasp left corner'
+    Frame 284 (global 172400): END of 'Fold towel horizontally'
+    Frame 318 (global 172434): END of 'Grasp right edge'
+  Episode 284:
+    Frame 105 (global 172798): END of 'Grasp right corner'
+    Frame 151 (global 172844): END of 'Grasp left corner'
+    Frame 318 (global 173011): END of 'Fold towel horizontally'
+    Frame 363 (global 173056): END of 'Grasp right edge'
+  Episode 285:
+    Frame 109 (global 173412): END of 'Grasp right corner'
+    Frame 146 (global 173449): END of 'Grasp left corner'
+    Frame 278 (global 173581): END of 'Fold towel horizontally'
+    Frame 311 (global 173614): END of 'Grasp right edge'
+  Episode 286:
+    Frame 123 (global 174093): END of 'Grasp right corner'
+    Frame 176 (global 174146): END of 'Grasp left corner'
+    Frame 466 (global 174436): END of 'Fold towel horizontally'
+    Frame 505 (global 174475): END of 'Grasp right edge'
+  Episode 287:
+    Frame 108 (global 174840): END of 'Grasp right corner'
+    Frame 163 (global 174895): END of 'Grasp left corner'
+    Frame 299 (global 175031): END of 'Fold towel horizontally'
+    Frame 332 (global 175064): END of 'Grasp right edge'
+  Episode 288:
+    Frame 105 (global 175390): END of 'Grasp right corner'
+    Frame 147 (global 175432): END of 'Grasp left corner'
+    Frame 258 (global 175543): END of 'Fold towel horizontally'
+    Frame 291 (global 175576): END of 'Grasp right edge'
+  Episode 289:
+    Frame 112 (global 176000): END of 'Grasp right corner'
+    Frame 171 (global 176059): END of 'Grasp left corner'
+    Frame 298 (global 176186): END of 'Fold towel horizontally'
+    Frame 331 (global 176219): END of 'Grasp right edge'
+  Episode 290:
+    Frame 119 (global 176602): END of 'Grasp right corner'
+    Frame 179 (global 176662): END of 'Grasp left corner'
+    Frame 311 (global 176794): END of 'Fold towel horizontally'
+    Frame 348 (global 176831): END of 'Grasp right edge'
+  Episode 291:
+    Frame 128 (global 177222): END of 'Grasp right corner'
+    Frame 174 (global 177268): END of 'Grasp left corner'
+    Frame 299 (global 177393): END of 'Fold towel horizontally'
+    Frame 340 (global 177434): END of 'Grasp right edge'
+  Episode 292:
+    Frame 101 (global 177798): END of 'Grasp right corner'
+    Frame 142 (global 177839): END of 'Grasp left corner'
+    Frame 263 (global 177960): END of 'Fold towel horizontally'
+    Frame 300 (global 177997): END of 'Grasp right edge'
+  Episode 293:
+    Frame 114 (global 178359): END of 'Grasp right corner'
+    Frame 163 (global 178408): END of 'Grasp left corner'
+    Frame 315 (global 178560): END of 'Fold towel horizontally'
+    Frame 351 (global 178596): END of 'Grasp right edge'
+  Episode 294:
+    Frame 139 (global 179006): END of 'Grasp right corner'
+    Frame 198 (global 179065): END of 'Grasp left corner'
+    Frame 335 (global 179202): END of 'Fold towel horizontally'
+    Frame 367 (global 179234): END of 'Grasp right edge'
+  Episode 295:
+    Frame 114 (global 179619): END of 'Grasp right corner'
+    Frame 151 (global 179656): END of 'Grasp left corner'
+    Frame 280 (global 179785): END of 'Fold towel horizontally'
+    Frame 316 (global 179821): END of 'Grasp right edge'
+  Episode 296:
+    Frame 103 (global 180171): END of 'Grasp right corner'
+    Frame 156 (global 180224): END of 'Grasp left corner'
+    Frame 263 (global 180331): END of 'Fold towel horizontally'
+    Frame 282 (global 180350): END of 'Grasp right edge'
+  Episode 297:
+    Frame 95 (global 180718): END of 'Grasp right corner'
+    Frame 135 (global 180758): END of 'Grasp left corner'
+    Frame 241 (global 180864): END of 'Fold towel horizontally'
+    Frame 268 (global 180891): END of 'Grasp right edge'
+  Episode 298:
+    Frame 114 (global 181249): END of 'Grasp right corner'
+    Frame 149 (global 181284): END of 'Grasp left corner'
+    Frame 266 (global 181401): END of 'Fold towel horizontally'
+    Frame 297 (global 181432): END of 'Grasp right edge'
+  Episode 299:
+    Frame 97 (global 181807): END of 'Grasp right corner'
+    Frame 143 (global 181853): END of 'Grasp left corner'
+    Frame 261 (global 181971): END of 'Fold towel horizontally'
+    Frame 293 (global 182003): END of 'Grasp right edge'
+  Episode 300:
+    Frame 101 (global 182338): END of 'Grasp right corner'
+    Frame 158 (global 182395): END of 'Grasp left corner'
+    Frame 289 (global 182526): END of 'Fold towel horizontally'
+    Frame 323 (global 182560): END of 'Grasp right edge'
+  Episode 301:
+    Frame 113 (global 182984): END of 'Grasp right corner'
+    Frame 161 (global 183032): END of 'Grasp left corner'
+    Frame 276 (global 183147): END of 'Fold towel horizontally'
+    Frame 324 (global 183195): END of 'Grasp right edge'
+  Episode 302:
+    Frame 109 (global 183599): END of 'Grasp right corner'
+    Frame 157 (global 183647): END of 'Grasp left corner'
+    Frame 293 (global 183783): END of 'Fold towel horizontally'
+    Frame 326 (global 183816): END of 'Grasp right edge'
+  Episode 303:
+    Frame 90 (global 184171): END of 'Grasp right corner'
+    Frame 144 (global 184225): END of 'Grasp left corner'
+    Frame 251 (global 184332): END of 'Fold towel horizontally'
+    Frame 276 (global 184357): END of 'Grasp right edge'
+  Episode 304:
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+    Frame 134 (global 184742): END of 'Grasp left corner'
+    Frame 228 (global 184836): END of 'Fold towel horizontally'
+    Frame 261 (global 184869): END of 'Grasp right edge'
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+    Frame 135 (global 185454): END of 'Grasp left corner'
+    Frame 255 (global 185574): END of 'Fold towel horizontally'
+    Frame 292 (global 185611): END of 'Grasp right edge'
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+    Frame 278 (global 186116): END of 'Fold towel horizontally'
+    Frame 306 (global 186144): END of 'Grasp right edge'
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+    Frame 147 (global 186547): END of 'Grasp left corner'
+    Frame 325 (global 186725): END of 'Fold towel horizontally'
+    Frame 350 (global 186750): END of 'Grasp right edge'
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+    Frame 142 (global 187133): END of 'Grasp left corner'
+    Frame 252 (global 187243): END of 'Fold towel horizontally'
+    Frame 286 (global 187277): END of 'Grasp right edge'
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+    Frame 158 (global 187673): END of 'Grasp left corner'
+    Frame 288 (global 187803): END of 'Fold towel horizontally'
+    Frame 323 (global 187838): END of 'Grasp right edge'
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+    Frame 140 (global 188273): END of 'Grasp left corner'
+    Frame 235 (global 188368): END of 'Fold towel horizontally'
+    Frame 267 (global 188400): END of 'Grasp right edge'
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+    Frame 161 (global 188783): END of 'Grasp left corner'
+    Frame 312 (global 188934): END of 'Fold towel horizontally'
+    Frame 351 (global 188973): END of 'Grasp right edge'
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+    Frame 134 (global 189408): END of 'Grasp left corner'
+    Frame 251 (global 189525): END of 'Fold towel horizontally'
+    Frame 284 (global 189558): END of 'Grasp right edge'
+  Episode 313:
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+    Frame 153 (global 189972): END of 'Grasp left corner'
+    Frame 266 (global 190085): END of 'Fold towel horizontally'
+    Frame 311 (global 190130): END of 'Grasp right edge'
+  Episode 314:
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+    Frame 235 (global 190613): END of 'Grasp left corner'
+    Frame 329 (global 190707): END of 'Fold towel horizontally'
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