tasks: Transport the fabric to the right while rotating wrist to adjust its orientation

subaction: transport + reorient


tasks: Open gripper to release the fabric onto the headrest

subaction: place


tasks: Move back toward the table while holding nothing

subaction: move


tasks: Close gripper to grasp another piece of fabric

subaction: grasp


tasks: Lift the fabric upward and transport it toward the headrest while holding it

subaction: lift + transport


tasks: Open gripper to place the fabric on the headrest


tasks: Retract arm slightly while holding nothing


tasks: Move downward and forward to approach the object while holding nothing


tasks: Maintain grasp and lift vertically upward

subaction: lift


tasks: Transport the object slightly backward while rotating wrist to align orientation


tasks: Move downward and slightly forward while holding nothing to approach the paper towel


tasks: Lift upward and transport slightly backward while holding the paper towel


tasks: Transport horizontally toward the target while reorienting the paper towel to align for wiping


tasks: Apply gentle horizontal pressure with the paper towel against the target surface while maintaining contact

subaction: push