| {"task_index": 0, "task": "Apply gentle horizontal pressure with the paper towel against the target surface while maintaining contact"} | |
| {"task_index": 1, "task": "Close gripper to grasp another piece of fabric"} | |
| {"task_index": 2, "task": "Close gripper to grasp the object"} | |
| {"task_index": 3, "task": "Close gripper to grasp the paper towel"} | |
| {"task_index": 4, "task": "Lift the fabric upward and transport it toward the headrest while holding it"} | |
| {"task_index": 5, "task": "Lift upward and transport slightly backward while holding the paper towel"} | |
| {"task_index": 6, "task": "Maintain grasp and lift vertically upward"} | |
| {"task_index": 7, "task": "Move back toward the table while holding nothing"} | |
| {"task_index": 8, "task": "Move downward and forward to approach the object while holding nothing"} | |
| {"task_index": 9, "task": "Move downward and slightly forward while holding nothing to approach the paper towel"} | |
| {"task_index": 10, "task": "Open gripper to place the fabric on the headrest"} | |
| {"task_index": 11, "task": "Open gripper to release the fabric onto the headrest"} | |
| {"task_index": 12, "task": "Retract arm slightly while holding nothing"} | |
| {"task_index": 13, "task": "Transport horizontally toward the target while reorienting the paper towel to align for wiping"} | |
| {"task_index": 14, "task": "Transport the fabric to the right while rotating wrist to adjust its orientation"} | |
| {"task_index": 15, "task": "Transport the object slightly backward while rotating wrist to align orientation"} | |