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double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/std","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/count","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/q01","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/q10","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/q50","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/q90","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/frame_index/q99","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/min","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/max","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/mean","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/std","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/count","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/q01","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/q10","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/q50","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/q90","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/episode_index/q99","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/min","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/max","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/mean","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/std","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/count","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/q01","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/q10","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/q50","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/q90","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/index/q99","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/min","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/max","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/mean","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/std","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/count","type":"list<element: int64>","nullable":true,"metadata":null,"children":[{"name":"element","type":"int64","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/q01","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/q10","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/q50","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/q90","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"stats/task_index/q99","type":"list<element: double>","nullable":true,"metadata":null,"children":[{"name":"element","type":"double","nullable":true,"metadata":null,"children":null}]},{"name":"meta/episodes/chunk_index","type":"int64","nullable":true,"metadata":null,"children":null},{"name":"meta/episodes/file_index","type":"int64","nullable":true,"metadata":null,"children":null}],"parquet":"required group field_id=-1 schema {\n  optional int64 field_id=-1 episode_index;\n  optional group field_id=-1 tasks (List) {\n    repeated group field_id=-1 list {\n      optional binary field_id=-1 element (String);\n    }\n  }\n  optional int64 field_id=-1 length;\n  optional int64 field_id=-1 data/chunk_index;\n  optional int64 field_id=-1 data/file_index;\n  optional int64 field_id=-1 dataset_from_index;\n  optional int64 field_id=-1 dataset_to_index;\n  optional int64 field_id=-1 videos/observation.images.head/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.head/file_index;\n  optional double field_id=-1 videos/observation.images.head/from_timestamp;\n  optional double field_id=-1 videos/observation.images.head/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.head_center_fisheye/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.head_center_fisheye/file_index;\n  optional double field_id=-1 videos/observation.images.head_center_fisheye/from_timestamp;\n  optional double field_id=-1 videos/observation.images.head_center_fisheye/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.head_left_fisheye/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.head_left_fisheye/file_index;\n  optional double field_id=-1 videos/observation.images.head_left_fisheye/from_timestamp;\n  optional double field_id=-1 videos/observation.images.head_left_fisheye/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.head_right_fisheye/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.head_right_fisheye/file_index;\n  optional double field_id=-1 videos/observation.images.head_right_fisheye/from_timestamp;\n  optional double field_id=-1 videos/observation.images.head_right_fisheye/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.hand_left/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.hand_left/file_index;\n  optional double field_id=-1 videos/observation.images.hand_left/from_timestamp;\n  optional double field_id=-1 videos/observation.images.hand_left/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.hand_right/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.hand_right/file_index;\n  optional double field_id=-1 videos/observation.images.hand_right/from_timestamp;\n  optional double field_id=-1 videos/observation.images.hand_right/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.back_left_fisheye/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.back_left_fisheye/file_index;\n  optional double field_id=-1 videos/observation.images.back_left_fisheye/from_timestamp;\n  optional double field_id=-1 videos/observation.images.back_left_fisheye/to_timestamp;\n  optional int64 field_id=-1 videos/observation.images.back_right_fisheye/chunk_index;\n  optional int64 field_id=-1 videos/observation.images.back_right_fisheye/file_index;\n  optional double field_id=-1 videos/observation.images.back_right_fisheye/from_timestamp;\n  optional double field_id=-1 videos/observation.images.back_right_fisheye/to_timestamp;\n  optional group field_id=-1 action_config (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element {\n        optional binary field_id=-1 action_text (String);\n        optional int64 field_id=-1 end_frame;\n        optional binary field_id=-1 skill (String);\n        optional int64 field_id=-1 start_frame;\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_center_fisheye/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_left_fisheye/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.head_right_fisheye/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_left/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.hand_right/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_left_fisheye/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/min (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/max (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/mean (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/std (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/q01 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/q10 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/q50 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/q90 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.images.back_right_fisheye/q99 (List) {\n    repeated group field_id=-1 list {\n      optional group field_id=-1 element (List) {\n        repeated group field_id=-1 list {\n          optional group field_id=-1 element (List) {\n            repeated group field_id=-1 list {\n              optional double field_id=-1 element;\n            }\n          }\n        }\n      }\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.effector.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.orientation/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.end.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.head.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.current_value/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.joint.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.orientation/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.robot.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/observation.states.waist.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.effector.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.orientation/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.end.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.head.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.joint.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.robot.velocity/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/actions.waist.position/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/min (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/max (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/timestamp/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/min (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/max (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/q10 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/q50 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/q90 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/frame_index/q99 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/min (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/max (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/mean (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/std (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/count (List) {\n    repeated group field_id=-1 list {\n      optional int64 field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 stats/episode_index/q01 (List) {\n    repeated group field_id=-1 list {\n      optional double field_id=-1 element;\n    }\n  }\n  optional group field_id=-1 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[1,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,0,1460,2764,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,0,0,48.666666666666664,92.13333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":243,"skill":"Pick","start_frame":17},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":773,"skill":"Wipe","start_frame":243},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":920,"skill":"Place","start_frame":773},{"action_text":"Lower the cup held in the left 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[2,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1293,0,0,2764,4057,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,0,0,92.13333333333334,135.23333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":356,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":752,"skill":"Wipe","start_frame":356},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":906,"skill":"Place","start_frame":752},{"action_text":"Lower the cup held in the left 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[3,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1297,0,0,4057,5354,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,0,0,135.23333333333332,178.46666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":25},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":790,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":963,"skill":"Place","start_frame":790},{"action_text":"Lower the cup held in the left 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[4,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1292,0,0,5354,6646,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,0,0,178.46666666666667,221.53333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":330,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":771,"skill":"Wipe","start_frame":330},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":903,"skill":"Place","start_frame":771},{"action_text":"Lower the cup held in the left 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[5,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,0,6646,7914,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,0,0,221.53333333333333,263.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":282,"skill":"Pick","start_frame":27},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":658,"skill":"Wipe","start_frame":282},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":806,"skill":"Place","start_frame":658},{"action_text":"Lower the cup held in the left 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[6,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1393,0,0,7914,9307,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,0,0,263.8,310.23333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":310,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":849,"skill":"Wipe","start_frame":310},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1024,"skill":"Place","start_frame":849},{"action_text":"Lower the cup held in the left 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[7,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,0,9307,10572,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,0,0,310.23333333333335,352.40000000000003,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":216,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":731,"skill":"Wipe","start_frame":216},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":836,"skill":"Place","start_frame":731},{"action_text":"Lower the cup held in the left 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[8,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,10572,11835,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,0,0,352.4,394.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":278,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":736,"skill":"Wipe","start_frame":278},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":891,"skill":"Place","start_frame":736},{"action_text":"Lower the cup held in the left 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[9,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,0,11835,13112,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,0,0,394.5,437.06666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":331,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":781,"skill":"Wipe","start_frame":331},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":873,"skill":"Place","start_frame":781},{"action_text":"Lower the cup held in the left 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[10,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1318,0,0,13112,14430,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,0,0,437.06666666666666,481.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":341,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":855,"skill":"Wipe","start_frame":341},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1062,"skill":"Place","start_frame":855},{"action_text":"Lower the cup held in the left 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[11,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,14430,15693,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,0,0,481.0,523.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":349,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":830,"skill":"Wipe","start_frame":349},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":947,"skill":"Place","start_frame":830},{"action_text":"Lower the cup held in the left 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[12,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,15693,16959,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,0,0,523.1,565.3000000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":323,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":757,"skill":"Wipe","start_frame":323},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":916,"skill":"Place","start_frame":757},{"action_text":"Lower the cup held in the left 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[13,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,0,16959,18229,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,0,0,565.3,607.6333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":292,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":753,"skill":"Wipe","start_frame":292},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":911,"skill":"Place","start_frame":753},{"action_text":"Lower the cup held in the left 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[14,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1276,0,0,18229,19505,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,0,0,607.6333333333333,650.1666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":342,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":777,"skill":"Wipe","start_frame":342},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":942,"skill":"Place","start_frame":777},{"action_text":"Lower the cup held in the left 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[15,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1301,0,0,19505,20806,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,0,0,650.1666666666666,693.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":327,"skill":"Pick","start_frame":59},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":698,"skill":"Wipe","start_frame":327},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":859,"skill":"Place","start_frame":698},{"action_text":"Lower the cup held in the left 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[16,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,0,20806,22110,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,0,0,693.5333333333333,737.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":341,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":865,"skill":"Wipe","start_frame":341},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1003,"skill":"Place","start_frame":865},{"action_text":"Lower the cup held in the left 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[17,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,0,22110,23405,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,0,0,737.0,780.1666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":296,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":744,"skill":"Wipe","start_frame":296},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":861,"skill":"Place","start_frame":744},{"action_text":"Lower the cup held in the left 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[18,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,0,23405,24682,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,0,0,780.1666666666666,822.7333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":332,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":796,"skill":"Wipe","start_frame":332},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":930,"skill":"Place","start_frame":796},{"action_text":"Lower the cup held in the left 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[19,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,0,24682,25991,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,0,0,822.7333333333333,866.3666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":321,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":811,"skill":"Wipe","start_frame":321},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":890,"skill":"Place","start_frame":811},{"action_text":"Lower the cup held in the left 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[20,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1442,0,0,25991,27433,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,0,0,866.3666666666667,914.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":366,"skill":"Pick","start_frame":42},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":866,"skill":"Wipe","start_frame":366},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":985,"skill":"Place","start_frame":866},{"action_text":"Lower the cup held in the left 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[21,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,27433,28696,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,0,0,914.4333333333333,956.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":343,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":798,"skill":"Wipe","start_frame":343},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":955,"skill":"Place","start_frame":798},{"action_text":"Lower the cup held in the left 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[22,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,0,28696,29991,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,0,0,956.5333333333333,999.6999999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":51},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":733,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":855,"skill":"Place","start_frame":733},{"action_text":"Lower the cup held in the left 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[23,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,29991,31255,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,0,0,999.7,1041.8333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":316,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":733,"skill":"Wipe","start_frame":316},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":855,"skill":"Place","start_frame":733},{"action_text":"Lower the cup held in the left 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[24,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1332,0,0,31255,32587,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,0,0,1041.8333333333333,1086.2333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":318,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":710,"skill":"Wipe","start_frame":318},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":850,"skill":"Place","start_frame":710},{"action_text":"Lower the cup held in the left 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[25,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,0,32587,33857,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,0,0,1086.2333333333333,1128.5666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":292,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":745,"skill":"Wipe","start_frame":292},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":888,"skill":"Place","start_frame":745},{"action_text":"Lower the cup held in the left 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[26,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1297,0,0,33857,35154,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,0,0,1128.5666666666666,1171.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":308,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":889,"skill":"Wipe","start_frame":308},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1042,"skill":"Place","start_frame":889},{"action_text":"Lower the cup held in the left 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[27,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1389,0,0,35154,36543,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,0,0,1171.8,1218.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":397,"skill":"Pick","start_frame":41},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":887,"skill":"Wipe","start_frame":397},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1049,"skill":"Place","start_frame":887},{"action_text":"Lower the cup held in the left 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[28,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1276,0,0,36543,37819,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,0,0,1218.1,1260.6333333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":322,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":777,"skill":"Wipe","start_frame":322},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":923,"skill":"Place","start_frame":777},{"action_text":"Lower the cup held in the left 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[29,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1294,0,0,37819,39113,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,0,0,1260.6333333333334,1303.7666666666669,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":342,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":869,"skill":"Wipe","start_frame":342},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1053,"skill":"Place","start_frame":869},{"action_text":"Lower the cup held in the left 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[30,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,0,39113,40381,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,0,0,1303.7666666666667,1346.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":317,"skill":"Pick","start_frame":10},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":818,"skill":"Wipe","start_frame":317},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":970,"skill":"Place","start_frame":818},{"action_text":"Lower the cup held in the left 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[31,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1305,0,0,40381,41686,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,0,0,1346.0333333333333,1389.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":353,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":903,"skill":"Wipe","start_frame":353},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1073,"skill":"Place","start_frame":903},{"action_text":"Lower the cup held in the left 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[32,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1305,0,0,41686,42991,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,0,0,1389.5333333333333,1433.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":328,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":879,"skill":"Wipe","start_frame":328},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1033,"skill":"Place","start_frame":879},{"action_text":"Lower the cup held in the left 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[33,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,42991,44260,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,0,0,1433.0333333333333,1475.3333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":362,"skill":"Pick","start_frame":16},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":802,"skill":"Wipe","start_frame":362},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":953,"skill":"Place","start_frame":802},{"action_text":"Lower the cup held in the left 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[34,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1303,0,0,44260,45563,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,0,0,1475.3333333333333,1518.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":379,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":866,"skill":"Wipe","start_frame":379},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1038,"skill":"Place","start_frame":866},{"action_text":"Lower the cup held in the left 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[35,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,0,45563,46872,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,0,0,1518.7666666666667,1562.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":352,"skill":"Pick","start_frame":48},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":738,"skill":"Wipe","start_frame":352},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":910,"skill":"Place","start_frame":738},{"action_text":"Lower the cup held in the left 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[36,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,0,46872,48159,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,0,0,1562.4,1605.3000000000002,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":777,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":951,"skill":"Place","start_frame":777},{"action_text":"Lower the cup held in the left 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[37,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1331,0,0,48159,49490,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,0,0,1605.3,1649.6666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":372,"skill":"Pick","start_frame":59},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":792,"skill":"Wipe","start_frame":372},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":922,"skill":"Place","start_frame":792},{"action_text":"Lower the cup held in the left 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[38,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,0,49490,50758,0,1,0.0,42.266666666666666,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,0,0,1649.6666666666667,1691.9333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":331,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":768,"skill":"Wipe","start_frame":331},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":909,"skill":"Place","start_frame":768},{"action_text":"Lower the cup held in the left 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[39,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1308,0,0,50758,52066,0,1,42.266666666666666,85.86666666666667,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,0,0,1691.9333333333334,1735.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":320,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":830,"skill":"Wipe","start_frame":320},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":953,"skill":"Place","start_frame":830},{"action_text":"Lower the cup held in the left 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[40,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1316,0,0,52066,53382,0,1,85.86666666666666,129.73333333333332,0,0,1735.5333333333333,1779.3999999999999,0,0,1735.5333333333333,1779.3999999999999,0,0,1735.5333333333333,1779.3999999999999,0,1,0.0,43.86666666666667,0,0,1735.5333333333333,1779.3999999999999,0,0,1735.5333333333333,1779.3999999999999,0,0,1735.5333333333333,1779.3999999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":329,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":768,"skill":"Wipe","start_frame":329},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":915,"skill":"Place","start_frame":768},{"action_text":"Lower the cup held in the left 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[41,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,0,53382,54653,0,1,129.73333333333332,172.1,0,0,1779.4,1821.7666666666667,0,0,1779.4,1821.7666666666667,0,0,1779.4,1821.7666666666667,0,1,43.86666666666667,86.23333333333333,0,0,1779.4,1821.7666666666667,0,0,1779.4,1821.7666666666667,0,0,1779.4,1821.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":376,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":771,"skill":"Wipe","start_frame":376},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":932,"skill":"Place","start_frame":771},{"action_text":"Lower the cup held in the left 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[42,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,0,54653,55959,0,1,172.1,215.63333333333333,0,0,1821.7666666666667,1865.3,0,0,1821.7666666666667,1865.3,0,0,1821.7666666666667,1865.3,0,1,86.23333333333333,129.76666666666665,0,0,1821.7666666666667,1865.3,0,0,1821.7666666666667,1865.3,0,0,1821.7666666666667,1865.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":365,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":930,"skill":"Wipe","start_frame":365},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1066,"skill":"Place","start_frame":930},{"action_text":"Lower the cup held in the left 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[43,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,0,55959,57265,0,1,215.63333333333333,259.16666666666663,0,0,1865.3,1908.8333333333333,0,0,1865.3,1908.8333333333333,0,0,1865.3,1908.8333333333333,0,1,129.76666666666668,173.3,0,0,1865.3,1908.8333333333333,0,0,1865.3,1908.8333333333333,0,0,1865.3,1908.8333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":287,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":719,"skill":"Wipe","start_frame":287},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":844,"skill":"Place","start_frame":719},{"action_text":"Lower the cup held in the left 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[44,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,57265,58528,0,1,259.1666666666667,301.2666666666667,0,0,1908.8333333333333,1950.9333333333332,0,0,1908.8333333333333,1950.9333333333332,0,0,1908.8333333333333,1950.9333333333332,0,1,173.3,215.4,0,1,0.0,42.1,0,0,1908.8333333333333,1950.9333333333332,0,0,1908.8333333333333,1950.9333333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":325,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":813,"skill":"Wipe","start_frame":325},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":978,"skill":"Place","start_frame":813},{"action_text":"Lower the cup held in the left 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[45,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,0,58528,59837,0,1,301.26666666666665,344.9,0,0,1950.9333333333334,1994.5666666666668,0,0,1950.9333333333334,1994.5666666666668,0,0,1950.9333333333334,1994.5666666666668,0,1,215.4,259.03333333333336,0,1,42.1,85.73333333333333,0,0,1950.9333333333334,1994.5666666666668,0,0,1950.9333333333334,1994.5666666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":761,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":894,"skill":"Place","start_frame":761},{"action_text":"Lower the cup held in the left 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[46,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1416,0,0,59837,61253,0,1,344.9,392.09999999999997,0,0,1994.5666666666666,2041.7666666666667,0,0,1994.5666666666666,2041.7666666666667,0,0,1994.5666666666666,2041.7666666666667,0,1,259.03333333333336,306.23333333333335,0,1,85.73333333333333,132.93333333333334,0,0,1994.5666666666666,2041.7666666666667,0,0,1994.5666666666666,2041.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":338,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1017,"skill":"Wipe","start_frame":338},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1136,"skill":"Place","start_frame":1017},{"action_text":"Lower the cup held in the left 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[47,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,0,61253,62541,0,1,392.1,435.03333333333336,0,0,2041.7666666666667,2084.7,0,0,2041.7666666666667,2084.7,0,0,2041.7666666666667,2084.7,0,1,306.23333333333335,349.1666666666667,0,1,132.93333333333334,175.86666666666667,0,0,2041.7666666666667,2084.7,0,0,2041.7666666666667,2084.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":330,"skill":"Pick","start_frame":26},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":817,"skill":"Wipe","start_frame":330},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":953,"skill":"Place","start_frame":817},{"action_text":"Lower the cup held in the left 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[48,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,0,62541,63850,0,1,435.03333333333336,478.6666666666667,0,0,2084.7,2128.333333333333,0,0,2084.7,2128.333333333333,0,0,2084.7,2128.333333333333,0,1,349.1666666666667,392.8,0,1,175.86666666666667,219.5,0,0,2084.7,2128.333333333333,0,0,2084.7,2128.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":301,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":826,"skill":"Wipe","start_frame":301},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":927,"skill":"Place","start_frame":826},{"action_text":"Lower the cup held in the left 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[49,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1247,0,0,63850,65097,0,1,478.6666666666667,520.2333333333333,0,0,2128.3333333333335,2169.9,0,0,2128.3333333333335,2169.9,0,0,2128.3333333333335,2169.9,0,1,392.8,434.3666666666667,0,1,219.5,261.06666666666666,0,0,2128.3333333333335,2169.9,0,0,2128.3333333333335,2169.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":297,"skill":"Pick","start_frame":3},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":714,"skill":"Wipe","start_frame":297},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":837,"skill":"Place","start_frame":714},{"action_text":"Lower the cup held in the left 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[50,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,65097,66361,0,1,520.2333333333333,562.3666666666667,0,0,2169.9,2212.0333333333333,0,0,2169.9,2212.0333333333333,0,0,2169.9,2212.0333333333333,0,1,434.3666666666667,476.5,0,1,261.06666666666666,303.2,0,0,2169.9,2212.0333333333333,0,0,2169.9,2212.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":313,"skill":"Pick","start_frame":11},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":751,"skill":"Wipe","start_frame":313},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":898,"skill":"Place","start_frame":751},{"action_text":"Lower the cup held in the left 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[51,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,0,66361,67626,0,1,562.3666666666667,604.5333333333333,0,0,2212.0333333333333,2254.2,0,0,2212.0333333333333,2254.2,0,0,2212.0333333333333,2254.2,0,1,476.5,518.6666666666666,0,1,303.2,345.3666666666667,0,0,2212.0333333333333,2254.2,0,0,2212.0333333333333,2254.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":761,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":886,"skill":"Place","start_frame":761},{"action_text":"Lower the cup held in the left 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[52,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1300,0,0,67626,68926,0,1,604.5333333333333,647.8666666666667,0,0,2254.2,2297.5333333333333,0,0,2254.2,2297.5333333333333,0,0,2254.2,2297.5333333333333,0,1,518.6666666666666,562.0,0,1,345.3666666666667,388.7,0,0,2254.2,2297.5333333333333,0,0,2254.2,2297.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":769,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":896,"skill":"Place","start_frame":769},{"action_text":"Lower the cup held in the left 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[53,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,68926,70192,0,1,647.8666666666667,690.0666666666667,0,0,2297.5333333333333,2339.733333333333,0,0,2297.5333333333333,2339.733333333333,0,0,2297.5333333333333,2339.733333333333,0,1,562.0,604.2,0,1,388.7,430.9,0,0,2297.5333333333333,2339.733333333333,0,0,2297.5333333333333,2339.733333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":379,"skill":"Pick","start_frame":16},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":790,"skill":"Wipe","start_frame":379},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":922,"skill":"Place","start_frame":790},{"action_text":"Lower the cup held in the left 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[54,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1385,0,0,70192,71577,0,1,690.0666666666667,736.2333333333333,0,0,2339.733333333333,2385.8999999999996,0,0,2339.733333333333,2385.8999999999996,0,0,2339.733333333333,2385.8999999999996,0,1,604.2,650.3666666666667,0,1,430.9,477.06666666666666,0,0,2339.733333333333,2385.8999999999996,0,0,2339.733333333333,2385.8999999999996,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":297,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":724,"skill":"Wipe","start_frame":297},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":830,"skill":"Place","start_frame":724},{"action_text":"Lower the cup held in the left 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[55,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,71577,72846,0,1,736.2333333333333,778.5333333333333,0,0,2385.9,2428.2000000000003,0,0,2385.9,2428.2000000000003,0,0,2385.9,2428.2000000000003,0,1,650.3666666666667,692.6666666666666,0,1,477.06666666666666,519.3666666666667,0,0,2385.9,2428.2000000000003,0,0,2385.9,2428.2000000000003,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":26},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":720,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":831,"skill":"Place","start_frame":720},{"action_text":"Lower the cup held in the left 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[56,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1367,0,0,72846,74213,0,1,778.5333333333333,824.1,0,0,2428.2,2473.7666666666664,0,0,2428.2,2473.7666666666664,0,0,2428.2,2473.7666666666664,0,1,692.6666666666666,738.2333333333333,0,1,519.3666666666667,564.9333333333334,0,0,2428.2,2473.7666666666664,0,0,2428.2,2473.7666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":321,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":796,"skill":"Wipe","start_frame":321},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":914,"skill":"Place","start_frame":796},{"action_text":"Lower the cup held in the left 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[57,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1261,0,0,74213,75474,0,1,824.1,866.1333333333333,0,0,2473.766666666667,2515.8,0,0,2473.766666666667,2515.8,0,0,2473.766666666667,2515.8,0,1,738.2333333333333,780.2666666666667,0,1,564.9333333333333,606.9666666666666,0,0,2473.766666666667,2515.8,0,0,2473.766666666667,2515.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":309,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":749,"skill":"Wipe","start_frame":309},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":896,"skill":"Place","start_frame":749},{"action_text":"Lower the cup held in the left 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[58,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1356,0,0,75474,76830,0,1,866.1333333333333,911.3333333333334,0,0,2515.8,2561.0,0,0,2515.8,2561.0,0,0,2515.8,2561.0,0,1,780.2666666666667,825.4666666666667,0,1,606.9666666666667,652.1666666666667,0,0,2515.8,2561.0,0,0,2515.8,2561.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":62},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":790,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":936,"skill":"Place","start_frame":790},{"action_text":"Lower the cup held in the left 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[59,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,0,76830,78118,0,1,911.3333333333334,954.2666666666667,0,0,2561.0,2603.9333333333334,0,0,2561.0,2603.9333333333334,0,0,2561.0,2603.9333333333334,0,1,825.4666666666667,868.4,0,1,652.1666666666666,695.0999999999999,0,0,2561.0,2603.9333333333334,0,0,2561.0,2603.9333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":696,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":817,"skill":"Place","start_frame":696},{"action_text":"Lower the cup held in the left 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[60,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1299,0,0,78118,79417,0,1,954.2666666666667,997.5666666666666,0,0,2603.9333333333334,2647.2333333333336,0,0,2603.9333333333334,2647.2333333333336,0,0,2603.9333333333334,2647.2333333333336,0,1,868.4,911.6999999999999,0,1,695.1,738.4,0,0,2603.9333333333334,2647.2333333333336,0,0,2603.9333333333334,2647.2333333333336,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":290,"skill":"Pick","start_frame":40},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":798,"skill":"Wipe","start_frame":290},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":907,"skill":"Place","start_frame":798},{"action_text":"Lower the cup held in the left 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[61,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,0,79417,80690,0,1,997.5666666666667,1040.0,0,0,2647.233333333333,2689.6666666666665,0,0,2647.233333333333,2689.6666666666665,0,0,2647.233333333333,2689.6666666666665,0,1,911.7,954.1333333333333,0,1,738.4,780.8333333333333,0,0,2647.233333333333,2689.6666666666665,0,0,2647.233333333333,2689.6666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":661,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":798,"skill":"Place","start_frame":661},{"action_text":"Lower the cup held in the left 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[62,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,0,80690,81978,0,1,1040.0,1082.9333333333334,0,0,2689.6666666666665,2732.6,0,0,2689.6666666666665,2732.6,0,0,2689.6666666666665,2732.6,0,1,954.1333333333333,997.0666666666666,0,1,780.8333333333334,823.7666666666667,0,0,2689.6666666666665,2732.6,0,0,2689.6666666666665,2732.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":204,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":657,"skill":"Wipe","start_frame":204},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":749,"skill":"Place","start_frame":657},{"action_text":"Lower the cup held in the left 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[63,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1301,0,0,81978,83279,0,1,1082.9333333333334,1126.3,0,0,2732.6,2775.9666666666667,0,0,2732.6,2775.9666666666667,0,0,2732.6,2775.9666666666667,0,1,997.0666666666667,1040.4333333333334,0,1,823.7666666666667,867.1333333333333,0,0,2732.6,2775.9666666666667,0,0,2732.6,2775.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":312,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":687,"skill":"Wipe","start_frame":312},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":794,"skill":"Place","start_frame":687},{"action_text":"Lower the cup held in the left 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[64,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,83279,84548,0,1,1126.3,1168.6,0,0,2775.9666666666667,2818.266666666667,0,0,2775.9666666666667,2818.266666666667,0,0,2775.9666666666667,2818.266666666667,0,1,1040.4333333333334,1082.7333333333333,0,1,867.1333333333333,909.4333333333333,0,0,2775.9666666666667,2818.266666666667,0,0,2775.9666666666667,2818.266666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":330,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":710,"skill":"Wipe","start_frame":330},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":837,"skill":"Place","start_frame":710},{"action_text":"Lower the cup held in the left 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[65,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,84548,85814,0,1,1168.6,1210.8,0,0,2818.266666666667,2860.4666666666667,0,0,2818.266666666667,2860.4666666666667,0,0,2818.266666666667,2860.4666666666667,0,1,1082.7333333333333,1124.9333333333334,0,1,909.4333333333333,951.6333333333333,0,0,2818.266666666667,2860.4666666666667,0,0,2818.266666666667,2860.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":342,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":733,"skill":"Wipe","start_frame":342},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":890,"skill":"Place","start_frame":733},{"action_text":"Lower the cup held in the left 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[66,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1321,0,0,85814,87135,0,1,1210.8,1254.8333333333333,0,0,2860.4666666666667,2904.5,0,0,2860.4666666666667,2904.5,0,0,2860.4666666666667,2904.5,0,1,1124.9333333333334,1168.9666666666667,0,1,951.6333333333333,995.6666666666666,0,0,2860.4666666666667,2904.5,0,0,2860.4666666666667,2904.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":45},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":877,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":991,"skill":"Place","start_frame":877},{"action_text":"Lower the cup held in the left 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[67,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,87135,88404,0,1,1254.8333333333333,1297.1333333333332,0,0,2904.5,2946.8,0,0,2904.5,2946.8,0,0,2904.5,2946.8,0,1,1168.9666666666667,1211.2666666666667,0,1,995.6666666666666,1037.9666666666667,0,0,2904.5,2946.8,0,0,2904.5,2946.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":337,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":796,"skill":"Wipe","start_frame":337},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":929,"skill":"Place","start_frame":796},{"action_text":"Lower the cup held in the left 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[68,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1329,0,0,88404,89733,0,1,1297.1333333333334,1341.4333333333334,0,0,2946.8,2991.1000000000004,0,0,2946.8,2991.1000000000004,0,0,2946.8,2991.1000000000004,0,1,1211.2666666666667,1255.5666666666666,0,1,1037.9666666666667,1082.2666666666667,0,0,2946.8,2991.1000000000004,0,0,2946.8,2991.1000000000004,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":273,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":631,"skill":"Wipe","start_frame":273},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":772,"skill":"Place","start_frame":631},{"action_text":"Lower the cup held in the left 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[69,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1300,0,0,89733,91033,0,1,1341.4333333333334,1384.7666666666667,0,0,2991.1,3034.4333333333334,0,0,2991.1,3034.4333333333334,0,0,2991.1,3034.4333333333334,0,1,1255.5666666666666,1298.8999999999999,0,1,1082.2666666666667,1125.6,0,0,2991.1,3034.4333333333334,0,0,2991.1,3034.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":76},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":891,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":992,"skill":"Place","start_frame":891},{"action_text":"Lower the cup held in the left 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[70,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,0,91033,92303,0,1,1384.7666666666667,1427.1,0,0,3034.4333333333334,3076.766666666667,0,0,3034.4333333333334,3076.766666666667,0,0,3034.4333333333334,3076.766666666667,0,1,1298.9,1341.2333333333333,0,1,1125.6,1167.9333333333332,0,0,3034.4333333333334,3076.766666666667,0,0,3034.4333333333334,3076.766666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":308,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":783,"skill":"Wipe","start_frame":308},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":903,"skill":"Place","start_frame":783},{"action_text":"Lower the cup held in the left 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[71,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,0,92303,93570,0,1,1427.1,1469.3333333333333,0,0,3076.766666666667,3119.0,0,0,3076.766666666667,3119.0,0,0,3076.766666666667,3119.0,0,1,1341.2333333333333,1383.4666666666667,0,1,1167.9333333333334,1210.1666666666667,0,0,3076.766666666667,3119.0,0,0,3076.766666666667,3119.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":359,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":724,"skill":"Wipe","start_frame":359},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":863,"skill":"Place","start_frame":724},{"action_text":"Lower the cup held in the left 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[72,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,0,93570,94872,0,1,1469.3333333333333,1512.7333333333333,0,0,3119.0,3162.4,0,0,3119.0,3162.4,0,0,3119.0,3162.4,0,1,1383.4666666666667,1426.8666666666668,0,1,1210.1666666666667,1253.5666666666668,0,0,3119.0,3162.4,0,0,3119.0,3162.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":253,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":643,"skill":"Wipe","start_frame":253},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":755,"skill":"Place","start_frame":643},{"action_text":"Lower the cup held in the left 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[73,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,0,94872,96159,0,1,1512.7333333333333,1555.6333333333334,0,0,3162.4,3205.3,0,0,3162.4,3205.3,0,0,3162.4,3205.3,0,1,1426.8666666666666,1469.7666666666667,0,1,1253.5666666666666,1296.4666666666667,0,0,3162.4,3205.3,0,0,3162.4,3205.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":836,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1016,"skill":"Place","start_frame":836},{"action_text":"Lower the cup held in the left 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[74,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,96159,97423,0,1,1555.6333333333334,1597.7666666666669,0,0,3205.3,3247.4333333333334,0,0,3205.3,3247.4333333333334,0,0,3205.3,3247.4333333333334,0,1,1469.7666666666667,1511.9,0,1,1296.4666666666667,1338.6000000000001,0,0,3205.3,3247.4333333333334,0,0,3205.3,3247.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":391,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":789,"skill":"Wipe","start_frame":391},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":929,"skill":"Place","start_frame":789},{"action_text":"Lower the cup held in the left 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[75,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,0,97423,98696,0,1,1597.7666666666667,1640.2,0,0,3247.4333333333334,3289.866666666667,0,0,3247.4333333333334,3289.866666666667,0,0,3247.4333333333334,3289.866666666667,0,1,1511.9,1554.3333333333335,0,1,1338.6,1381.0333333333333,0,0,3247.4333333333334,3289.866666666667,0,0,3247.4333333333334,3289.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":301,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":724,"skill":"Wipe","start_frame":301},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":864,"skill":"Place","start_frame":724},{"action_text":"Lower the cup held in the left 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[76,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1354,0,0,98696,100050,0,1,1640.2,1685.3333333333335,0,0,3289.866666666667,3335.0,0,0,3289.866666666667,3335.0,0,0,3289.866666666667,3335.0,0,1,1554.3333333333333,1599.4666666666667,0,1,1381.0333333333333,1426.1666666666667,0,0,3289.866666666667,3335.0,0,0,3289.866666666667,3335.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":732,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":887,"skill":"Place","start_frame":732},{"action_text":"Lower the cup held in the left 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[77,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1332,0,0,100050,101382,0,2,0.0,44.4,0,0,3335.0,3379.4,0,0,3335.0,3379.4,0,0,3335.0,3379.4,0,1,1599.4666666666667,1643.8666666666668,0,1,1426.1666666666667,1470.5666666666668,0,0,3335.0,3379.4,0,0,3335.0,3379.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":355,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":859,"skill":"Wipe","start_frame":355},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1024,"skill":"Place","start_frame":859},{"action_text":"Lower the cup held in the left 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[78,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1297,0,0,101382,102679,0,2,44.4,87.63333333333333,0,0,3379.4,3422.633333333333,0,0,3379.4,3422.633333333333,0,0,3379.4,3422.633333333333,0,1,1643.8666666666666,1687.1,0,1,1470.5666666666666,1513.8,0,0,3379.4,3422.633333333333,0,0,3379.4,3422.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":379,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":925,"skill":"Wipe","start_frame":379},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1083,"skill":"Place","start_frame":925},{"action_text":"Lower the cup held in the left 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[79,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1276,0,0,102679,103955,0,2,87.63333333333334,130.16666666666669,0,0,3422.633333333333,3465.1666666666665,0,0,3422.633333333333,3465.1666666666665,0,0,3422.633333333333,3465.1666666666665,0,1,1687.1,1729.6333333333332,0,1,1513.8,1556.3333333333333,0,0,3422.633333333333,3465.1666666666665,0,0,3422.633333333333,3465.1666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":366,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":814,"skill":"Wipe","start_frame":366},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":959,"skill":"Place","start_frame":814},{"action_text":"Lower the cup held in the left 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[80,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,0,103955,105222,0,2,130.16666666666666,172.39999999999998,0,0,3465.1666666666665,3507.3999999999996,0,0,3465.1666666666665,3507.3999999999996,0,0,3465.1666666666665,3507.3999999999996,0,1,1729.6333333333334,1771.8666666666668,0,1,1556.3333333333333,1598.5666666666666,0,0,3465.1666666666665,3507.3999999999996,0,0,3465.1666666666665,3507.3999999999996,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":334,"skill":"Pick","start_frame":14},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":781,"skill":"Wipe","start_frame":334},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":931,"skill":"Place","start_frame":781},{"action_text":"Lower the cup held in the left 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[81,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1246,0,0,105222,106468,0,2,172.4,213.93333333333334,0,0,3507.4,3548.9333333333334,0,0,3507.4,3548.9333333333334,0,0,3507.4,3548.9333333333334,0,1,1771.8666666666666,1813.3999999999999,0,1,1598.5666666666666,1640.1,0,0,3507.4,3548.9333333333334,0,0,3507.4,3548.9333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":295,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":780,"skill":"Wipe","start_frame":295},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":936,"skill":"Place","start_frame":780},{"action_text":"Lower the cup held in the left 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[82,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1332,0,0,106468,107800,0,2,213.93333333333334,258.3333333333333,0,0,3548.9333333333334,3593.3333333333335,0,0,3548.9333333333334,3593.3333333333335,0,0,3548.9333333333334,3593.3333333333335,0,1,1813.4,1857.8000000000002,0,1,1640.1,1684.5,0,0,3548.9333333333334,3593.3333333333335,0,0,3548.9333333333334,3593.3333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":894,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1085,"skill":"Place","start_frame":894},{"action_text":"Lower the cup held in the left 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[83,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,0,107800,109071,0,2,258.3333333333333,300.7,0,0,3593.3333333333335,3635.7000000000003,0,0,3593.3333333333335,3635.7000000000003,0,0,3593.3333333333335,3635.7000000000003,0,1,1857.8,1900.1666666666665,0,1,1684.5,1726.8666666666666,0,0,3593.3333333333335,3635.7000000000003,0,0,3593.3333333333335,3635.7000000000003,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":290,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":784,"skill":"Wipe","start_frame":290},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":947,"skill":"Place","start_frame":784},{"action_text":"Lower the cup held in the left 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[84,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1293,0,0,109071,110364,0,2,300.7,343.8,0,0,3635.7,3678.7999999999997,0,0,3635.7,3678.7999999999997,0,0,3635.7,3678.7999999999997,0,1,1900.1666666666667,1943.2666666666667,0,1,1726.8666666666666,1769.9666666666665,0,0,3635.7,3678.7999999999997,0,0,3635.7,3678.7999999999997,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":46},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":676,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":809,"skill":"Place","start_frame":676},{"action_text":"Lower the cup held in the left 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[85,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1308,0,0,110364,111672,0,2,343.8,387.40000000000003,0,0,3678.8,3722.4,0,0,3678.8,3722.4,0,0,3678.8,3722.4,0,1,1943.2666666666667,1986.8666666666666,0,1,1769.9666666666667,1813.5666666666666,0,0,3678.8,3722.4,0,0,3678.8,3722.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":712,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":860,"skill":"Place","start_frame":712},{"action_text":"Lower the cup held in the left 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[86,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1314,0,0,111672,112986,0,2,387.4,431.2,0,0,3722.4,3766.2000000000003,0,0,3722.4,3766.2000000000003,0,0,3722.4,3766.2000000000003,0,2,0.0,43.8,0,1,1813.5666666666666,1857.3666666666666,0,0,3722.4,3766.2000000000003,0,0,3722.4,3766.2000000000003,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":45},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":805,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":927,"skill":"Place","start_frame":805},{"action_text":"Lower the cup held in the left 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[87,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,112986,114252,0,2,431.2,473.4,0,0,3766.2,3808.3999999999996,0,0,3766.2,3808.3999999999996,0,0,3766.2,3808.3999999999996,0,2,43.8,86.0,0,1,1857.3666666666666,1899.5666666666666,0,0,3766.2,3808.3999999999996,0,0,3766.2,3808.3999999999996,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":292,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":794,"skill":"Wipe","start_frame":292},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":927,"skill":"Place","start_frame":794},{"action_text":"Lower the cup held in the left 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[88,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1261,0,0,114252,115513,0,2,473.4,515.4333333333333,0,0,3808.4,3850.4333333333334,0,0,3808.4,3850.4333333333334,0,0,3808.4,3850.4333333333334,0,2,86.0,128.03333333333333,0,1,1899.5666666666666,1941.6,0,0,3808.4,3850.4333333333334,0,0,3808.4,3850.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":842,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":991,"skill":"Place","start_frame":842},{"action_text":"Lower the cup held in the left 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[89,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1310,0,0,115513,116823,0,2,515.4333333333333,559.0999999999999,0,0,3850.4333333333334,3894.1,0,0,3850.4333333333334,3894.1,0,0,3850.4333333333334,3894.1,0,2,128.03333333333333,171.7,0,1,1941.6,1985.2666666666667,0,0,3850.4333333333334,3894.1,0,0,3850.4333333333334,3894.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":283,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":722,"skill":"Wipe","start_frame":283},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":858,"skill":"Place","start_frame":722},{"action_text":"Lower the cup held in the left 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[90,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1300,0,0,116823,118123,0,2,559.1,602.4333333333334,0,0,3894.1,3937.4333333333334,0,0,3894.1,3937.4333333333334,0,0,3894.1,3937.4333333333334,0,2,171.7,215.03333333333333,0,1,1985.2666666666667,2028.6,0,0,3894.1,3937.4333333333334,0,0,3894.1,3937.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":261,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":673,"skill":"Wipe","start_frame":261},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":815,"skill":"Place","start_frame":673},{"action_text":"Lower the cup held in the left 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[91,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,118123,119389,0,2,602.4333333333333,644.6333333333333,0,0,3937.4333333333334,3979.633333333333,0,0,3937.4333333333334,3979.633333333333,0,0,3937.4333333333334,3979.633333333333,0,2,215.03333333333333,257.23333333333335,0,1,2028.6,2070.7999999999997,0,0,3937.4333333333334,3979.633333333333,0,0,3937.4333333333334,3979.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":760,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":906,"skill":"Place","start_frame":760},{"action_text":"Lower the cup held in the left 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[92,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1315,0,0,119389,120704,0,2,644.6333333333333,688.4666666666667,0,0,3979.633333333333,4023.4666666666667,0,0,3979.633333333333,4023.4666666666667,0,0,3979.633333333333,4023.4666666666667,0,2,257.23333333333335,301.06666666666666,0,1,2070.8,2114.6333333333337,0,0,3979.633333333333,4023.4666666666667,0,0,3979.633333333333,4023.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":214,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":576,"skill":"Wipe","start_frame":214},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":723,"skill":"Place","start_frame":576},{"action_text":"Lower the cup held in the left 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[93,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1350,0,0,120704,122054,0,2,688.4666666666667,733.4666666666667,0,0,4023.4666666666667,4068.4666666666667,0,0,4023.4666666666667,4068.4666666666667,0,0,4023.4666666666667,4068.4666666666667,0,2,301.06666666666666,346.06666666666666,0,2,0.0,45.0,0,0,4023.4666666666667,4068.4666666666667,0,0,4023.4666666666667,4068.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":274,"skill":"Pick","start_frame":67},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":697,"skill":"Wipe","start_frame":274},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":826,"skill":"Place","start_frame":697},{"action_text":"Lower the cup held in the left 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[94,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,0,122054,123337,0,2,733.4666666666667,776.2333333333333,0,0,4068.4666666666667,4111.233333333334,0,0,4068.4666666666667,4111.233333333334,0,0,4068.4666666666667,4111.233333333334,0,2,346.06666666666666,388.8333333333333,0,2,45.0,87.76666666666667,0,0,4068.4666666666667,4111.233333333334,0,0,4068.4666666666667,4111.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":303,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":822,"skill":"Wipe","start_frame":303},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":987,"skill":"Place","start_frame":822},{"action_text":"Lower the cup held in the left 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[95,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1315,0,0,123337,124652,0,2,776.2333333333333,820.0666666666667,0,0,4111.233333333334,4155.066666666667,0,0,4111.233333333334,4155.066666666667,0,0,4111.233333333334,4155.066666666667,0,2,388.8333333333333,432.66666666666663,0,2,87.76666666666667,131.6,0,0,4111.233333333334,4155.066666666667,0,0,4111.233333333334,4155.066666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":262,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":673,"skill":"Wipe","start_frame":262},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":793,"skill":"Place","start_frame":673},{"action_text":"Lower the cup held in the left 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[96,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,0,124652,125908,0,2,820.0666666666667,861.9333333333334,0,0,4155.066666666667,4196.933333333333,0,0,4155.066666666667,4196.933333333333,0,0,4155.066666666667,4196.933333333333,0,2,432.6666666666667,474.53333333333336,0,2,131.6,173.46666666666667,0,0,4155.066666666667,4196.933333333333,0,0,4155.066666666667,4196.933333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":274,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":697,"skill":"Wipe","start_frame":274},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":834,"skill":"Place","start_frame":697},{"action_text":"Lower the cup held in the left 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[97,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1569,0,0,125908,127477,0,2,861.9333333333333,914.2333333333332,0,0,4196.933333333333,4249.233333333334,0,0,4196.933333333333,4249.233333333334,0,0,4196.933333333333,4249.233333333334,0,2,474.53333333333336,526.8333333333334,0,2,173.46666666666667,225.76666666666665,0,0,4196.933333333333,4249.233333333334,0,0,4196.933333333333,4249.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":243,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":639,"skill":"Wipe","start_frame":243},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":755,"skill":"Place","start_frame":639},{"action_text":"Lower the cup held in the left 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[98,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1315,0,0,127477,128792,0,2,914.2333333333333,958.0666666666667,0,0,4249.233333333334,4293.066666666667,0,0,4249.233333333334,4293.066666666667,0,0,4249.233333333334,4293.066666666667,0,2,526.8333333333334,570.6666666666667,0,2,225.76666666666668,269.6,0,0,4249.233333333334,4293.066666666667,0,0,4249.233333333334,4293.066666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":267,"skill":"Pick","start_frame":27},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":592,"skill":"Wipe","start_frame":267},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":696,"skill":"Place","start_frame":592},{"action_text":"Lower the cup held in the left 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[99,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1284,0,0,128792,130076,0,2,958.0666666666667,1000.8666666666667,0,0,4293.066666666667,4335.866666666667,0,0,4293.066666666667,4335.866666666667,0,0,4293.066666666667,4335.866666666667,0,2,570.6666666666666,613.4666666666666,0,2,269.6,312.40000000000003,0,0,4293.066666666667,4335.866666666667,0,0,4293.066666666667,4335.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":243,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":624,"skill":"Wipe","start_frame":243},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":766,"skill":"Place","start_frame":624},{"action_text":"Lower the cup held in the left 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[100,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,0,130076,131363,0,2,1000.8666666666667,1043.7666666666667,0,0,4335.866666666667,4378.766666666666,0,0,4335.866666666667,4378.766666666666,0,0,4335.866666666667,4378.766666666666,0,2,613.4666666666667,656.3666666666667,0,2,312.4,355.29999999999995,0,0,4335.866666666667,4378.766666666666,0,0,4335.866666666667,4378.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":810,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":962,"skill":"Place","start_frame":810},{"action_text":"Lower the cup held in the left 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[101,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1369,0,0,131363,132732,0,2,1043.7666666666667,1089.4,0,0,4378.766666666666,4424.4,0,0,4378.766666666666,4424.4,0,0,4378.766666666666,4424.4,0,2,656.3666666666667,702.0,0,2,355.3,400.93333333333334,0,0,4378.766666666666,4424.4,0,0,4378.766666666666,4424.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":261,"skill":"Pick","start_frame":57},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":702,"skill":"Wipe","start_frame":261},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":822,"skill":"Place","start_frame":702},{"action_text":"Lower the cup held in the left 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[102,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,132732,133996,0,2,1089.4,1131.5333333333335,0,0,4424.4,4466.533333333333,0,0,4424.4,4466.533333333333,0,0,4424.4,4466.533333333333,0,2,702.0,744.1333333333333,0,2,400.93333333333334,443.06666666666666,0,0,4424.4,4466.533333333333,0,0,4424.4,4466.533333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":289,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":677,"skill":"Wipe","start_frame":289},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":820,"skill":"Place","start_frame":677},{"action_text":"Lower the cup held in the left 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[103,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1330,0,0,133996,135326,0,2,1131.5333333333333,1175.8666666666666,0,0,4466.533333333334,4510.866666666667,0,0,4466.533333333334,4510.866666666667,0,0,4466.533333333334,4510.866666666667,0,2,744.1333333333333,788.4666666666667,0,2,443.06666666666666,487.4,0,0,4466.533333333334,4510.866666666667,0,0,4466.533333333334,4510.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":245,"skill":"Pick","start_frame":25},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":665,"skill":"Wipe","start_frame":245},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":787,"skill":"Place","start_frame":665},{"action_text":"Lower the cup held in the left 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[104,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,135326,136595,0,2,1175.8666666666666,1218.1666666666665,0,0,4510.866666666667,4553.166666666667,0,0,4510.866666666667,4553.166666666667,0,0,4510.866666666667,4553.166666666667,0,2,788.4666666666667,830.7666666666667,0,2,487.4,529.6999999999999,0,0,4510.866666666667,4553.166666666667,0,0,4510.866666666667,4553.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":317,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":797,"skill":"Wipe","start_frame":317},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":952,"skill":"Place","start_frame":797},{"action_text":"Lower the cup held in the left 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[105,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1301,0,0,136595,137896,0,2,1218.1666666666667,1261.5333333333333,0,0,4553.166666666667,4596.533333333334,0,0,4553.166666666667,4596.533333333334,0,0,4553.166666666667,4596.533333333334,0,2,830.7666666666667,874.1333333333333,0,2,529.7,573.0666666666667,0,0,4553.166666666667,4596.533333333334,0,0,4553.166666666667,4596.533333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":111,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":768,"skill":"Wipe","start_frame":111},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":951,"skill":"Place","start_frame":768},{"action_text":"Lower the cup held in the left 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[106,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,0,137896,139176,0,2,1261.5333333333333,1304.2,0,0,4596.533333333334,4639.200000000001,0,0,4596.533333333334,4639.200000000001,0,0,4596.533333333334,4639.200000000001,0,2,874.1333333333333,916.8,0,2,573.0666666666667,615.7333333333333,0,0,4596.533333333334,4639.200000000001,0,0,4596.533333333334,4639.200000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":331,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":799,"skill":"Wipe","start_frame":331},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":963,"skill":"Place","start_frame":799},{"action_text":"Lower the cup held in the left 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[107,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1251,0,0,139176,140427,0,2,1304.2,1345.9,0,0,4639.2,4680.9,0,0,4639.2,4680.9,0,0,4639.2,4680.9,0,2,916.8,958.5,0,2,615.7333333333333,657.4333333333334,0,0,4639.2,4680.9,0,0,4639.2,4680.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":256,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":646,"skill":"Wipe","start_frame":256},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":803,"skill":"Place","start_frame":646},{"action_text":"Lower the cup held in the left 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[108,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1296,0,0,140427,141723,0,2,1345.9,1389.1000000000001,0,0,4680.9,4724.099999999999,0,0,4680.9,4724.099999999999,0,0,4680.9,4724.099999999999,0,2,958.5,1001.7,0,2,657.4333333333333,700.6333333333333,0,0,4680.9,4724.099999999999,0,0,4680.9,4724.099999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":235,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":640,"skill":"Wipe","start_frame":235},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":775,"skill":"Place","start_frame":640},{"action_text":"Lower the cup held in the left 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[109,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,0,141723,142996,0,2,1389.1,1431.5333333333333,0,0,4724.1,4766.533333333334,0,0,4724.1,4766.533333333334,0,0,4724.1,4766.533333333334,0,2,1001.7,1044.1333333333334,0,2,700.6333333333333,743.0666666666666,0,0,4724.1,4766.533333333334,0,0,4724.1,4766.533333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":292,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":743,"skill":"Wipe","start_frame":292},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":916,"skill":"Place","start_frame":743},{"action_text":"Lower the cup held in the left 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[110,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1311,0,0,142996,144307,0,2,1431.5333333333333,1475.2333333333333,0,0,4766.533333333334,4810.233333333334,0,0,4766.533333333334,4810.233333333334,0,0,4766.533333333334,4810.233333333334,0,2,1044.1333333333334,1087.8333333333335,0,2,743.0666666666667,786.7666666666668,0,0,4766.533333333334,4810.233333333334,0,0,4766.533333333334,4810.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":238,"skill":"Pick","start_frame":42},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":780,"skill":"Wipe","start_frame":238},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":883,"skill":"Place","start_frame":780},{"action_text":"Lower the cup held in the left 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[111,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,0,144307,145587,0,2,1475.2333333333333,1517.9,0,0,4810.233333333334,4852.900000000001,0,0,4810.233333333334,4852.900000000001,0,0,4810.233333333334,4852.900000000001,0,2,1087.8333333333333,1130.5,0,2,786.7666666666667,829.4333333333333,0,0,4810.233333333334,4852.900000000001,0,0,4810.233333333334,4852.900000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":698,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":856,"skill":"Place","start_frame":698},{"action_text":"Lower the cup held in the left 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[112,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1319,0,0,145587,146906,0,2,1517.9,1561.8666666666668,0,0,4852.9,4896.866666666666,0,0,4852.9,4896.866666666666,0,0,4852.9,4896.866666666666,0,2,1130.5,1174.4666666666667,0,2,829.4333333333333,873.4,0,0,4852.9,4896.866666666666,0,0,4852.9,4896.866666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":264,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":665,"skill":"Wipe","start_frame":264},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":835,"skill":"Place","start_frame":665},{"action_text":"Lower the cup held in the left 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[113,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,0,146906,148173,0,2,1561.8666666666666,1604.1,0,0,4896.866666666667,4939.1,0,0,4896.866666666667,4939.1,0,0,4896.866666666667,4939.1,0,2,1174.4666666666667,1216.7,0,2,873.4,915.6333333333333,0,0,4896.866666666667,4939.1,0,0,4896.866666666667,4939.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":330,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":786,"skill":"Wipe","start_frame":330},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":912,"skill":"Place","start_frame":786},{"action_text":"Lower the cup held in the left 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[114,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,0,148173,149453,0,2,1604.1,1646.7666666666667,0,0,4939.1,4981.766666666667,0,0,4939.1,4981.766666666667,0,0,4939.1,4981.766666666667,0,2,1216.7,1259.3666666666668,0,2,915.6333333333333,958.3,0,0,4939.1,4981.766666666667,0,0,4939.1,4981.766666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":677,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":801,"skill":"Place","start_frame":677},{"action_text":"Lower the cup held in the left 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[115,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1315,0,0,149453,150768,0,2,1646.7666666666667,1690.6,0,0,4981.766666666666,5025.599999999999,0,0,4981.766666666666,5025.599999999999,0,0,4981.766666666666,5025.599999999999,0,2,1259.3666666666666,1303.1999999999998,0,2,958.3,1002.1333333333333,0,0,4981.766666666666,5025.599999999999,0,0,4981.766666666666,5025.599999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":247,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":708,"skill":"Wipe","start_frame":247},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":846,"skill":"Place","start_frame":708},{"action_text":"Lower the cup held in the left 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[116,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,0,150768,152039,0,2,1690.6,1732.9666666666665,0,0,5025.6,5067.966666666667,0,0,5025.6,5067.966666666667,0,0,5025.6,5067.966666666667,0,2,1303.2,1345.5666666666666,0,2,1002.1333333333333,1044.5,0,0,5025.6,5067.966666666667,0,0,5025.6,5067.966666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":273,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":819,"skill":"Wipe","start_frame":273},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":990,"skill":"Place","start_frame":819},{"action_text":"Lower the cup held in the left 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[117,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,0,152039,153310,0,2,1732.9666666666667,1775.3333333333333,0,0,5067.966666666666,5110.333333333333,0,0,5067.966666666666,5110.333333333333,0,0,5067.966666666666,5110.333333333333,0,2,1345.5666666666666,1387.9333333333332,0,2,1044.5,1086.8666666666666,0,0,5067.966666666666,5110.333333333333,0,0,5067.966666666666,5110.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":587,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":726,"skill":"Place","start_frame":587},{"action_text":"Lower the cup held in the left 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[118,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1290,0,0,153310,154600,0,2,1775.3333333333333,1818.3333333333333,0,0,5110.333333333333,5153.333333333333,0,0,5110.333333333333,5153.333333333333,0,0,5110.333333333333,5153.333333333333,0,2,1387.9333333333334,1430.9333333333334,0,2,1086.8666666666666,1129.8666666666666,0,0,5110.333333333333,5153.333333333333,0,0,5110.333333333333,5153.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":892,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":992,"skill":"Place","start_frame":892},{"action_text":"Lower the cup held in the left 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[119,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,0,154600,155870,0,2,1818.3333333333333,1860.6666666666665,0,0,5153.333333333333,5195.666666666666,0,0,5153.333333333333,5195.666666666666,0,0,5153.333333333333,5195.666666666666,0,2,1430.9333333333334,1473.2666666666667,0,2,1129.8666666666666,1172.1999999999998,0,0,5153.333333333333,5195.666666666666,0,0,5153.333333333333,5195.666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":235,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":609,"skill":"Wipe","start_frame":235},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":748,"skill":"Place","start_frame":609},{"action_text":"Lower the cup held in the left 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[120,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,0,155870,157137,0,2,1860.6666666666667,1902.9,0,0,5195.666666666667,5237.900000000001,0,0,5195.666666666667,5237.900000000001,0,0,5195.666666666667,5237.900000000001,0,2,1473.2666666666667,1515.5,0,2,1172.2,1214.4333333333334,0,0,5195.666666666667,5237.900000000001,0,0,5195.666666666667,5237.900000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":746,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":865,"skill":"Place","start_frame":746},{"action_text":"Lower the cup held in the left 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[121,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1307,0,0,157137,158444,0,3,0.0,43.56666666666667,0,0,5237.9,5281.466666666666,0,0,5237.9,5281.466666666666,0,0,5237.9,5281.466666666666,0,2,1515.5,1559.0666666666666,0,2,1214.4333333333334,1258.0,0,0,5237.9,5281.466666666666,0,0,5237.9,5281.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":214,"skill":"Pick","start_frame":7},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":808,"skill":"Wipe","start_frame":214},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":904,"skill":"Place","start_frame":808},{"action_text":"Lower the cup held in the left 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[122,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1261,0,0,158444,159705,0,3,43.56666666666667,85.6,0,0,5281.466666666666,5323.5,0,0,5281.466666666666,5323.5,0,0,5281.466666666666,5323.5,0,2,1559.0666666666666,1601.1,0,2,1258.0,1300.0333333333333,0,0,5281.466666666666,5323.5,0,0,5281.466666666666,5323.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":267,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":664,"skill":"Wipe","start_frame":267},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":797,"skill":"Place","start_frame":664},{"action_text":"Lower the cup held in the left 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[123,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,0,159705,160980,0,3,85.6,128.1,0,0,5323.5,5366.0,0,0,5323.5,5366.0,0,0,5323.5,5366.0,0,2,1601.1,1643.6,0,2,1300.0333333333333,1342.5333333333333,0,0,5323.5,5366.0,0,0,5323.5,5366.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":233,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":631,"skill":"Wipe","start_frame":233},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":754,"skill":"Place","start_frame":631},{"action_text":"Lower the cup held in the left 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[124,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1314,0,0,160980,162294,0,3,128.1,171.89999999999998,0,0,5366.0,5409.8,0,0,5366.0,5409.8,0,0,5366.0,5409.8,0,2,1643.6,1687.3999999999999,0,2,1342.5333333333333,1386.3333333333333,0,0,5366.0,5409.8,0,0,5366.0,5409.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":245,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":874,"skill":"Wipe","start_frame":245},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":991,"skill":"Place","start_frame":874},{"action_text":"Lower the cup held in the left 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[125,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1483,0,0,162294,163777,0,3,171.9,221.33333333333334,0,0,5409.8,5459.233333333334,0,0,5409.8,5459.233333333334,0,0,5409.8,5459.233333333334,0,2,1687.4,1736.8333333333335,0,2,1386.3333333333333,1435.7666666666667,0,0,5409.8,5459.233333333334,0,0,5409.8,5459.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":320,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1043,"skill":"Wipe","start_frame":320},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1182,"skill":"Place","start_frame":1043},{"action_text":"Lower the cup held in the left 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[126,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1296,0,0,163777,165073,0,3,221.33333333333334,264.53333333333336,0,0,5459.233333333334,5502.433333333333,0,0,5459.233333333334,5502.433333333333,0,0,5459.233333333334,5502.433333333333,0,2,1736.8333333333333,1780.0333333333333,0,2,1435.7666666666667,1478.9666666666667,0,0,5459.233333333334,5502.433333333333,0,0,5459.233333333334,5502.433333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":209,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":715,"skill":"Wipe","start_frame":209},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":850,"skill":"Place","start_frame":715},{"action_text":"Lower the cup held in the left 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[127,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,0,165073,166342,0,3,264.53333333333336,306.83333333333337,0,0,5502.433333333333,5544.733333333334,0,0,5502.433333333333,5544.733333333334,0,0,5502.433333333333,5544.733333333334,0,2,1780.0333333333333,1822.3333333333333,0,2,1478.9666666666667,1521.2666666666667,0,0,5502.433333333333,5544.733333333334,0,0,5502.433333333333,5544.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":262,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":688,"skill":"Wipe","start_frame":262},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":829,"skill":"Place","start_frame":688},{"action_text":"Lower the cup held in the left 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[128,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,0,166342,167619,0,3,306.8333333333333,349.4,0,0,5544.733333333334,5587.3,0,0,5544.733333333334,5587.3,0,0,5544.733333333334,5587.3,0,2,1822.3333333333333,1864.8999999999999,0,2,1521.2666666666667,1563.8333333333333,0,0,5544.733333333334,5587.3,0,0,5544.733333333334,5587.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":752,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":943,"skill":"Place","start_frame":752},{"action_text":"Lower the cup held in the left 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[129,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1299,0,0,167619,168918,0,3,349.4,392.7,0,0,5587.3,5630.6,0,0,5587.3,5630.6,0,0,5587.3,5630.6,0,2,1864.9,1908.2,0,2,1563.8333333333333,1607.1333333333332,0,0,5587.3,5630.6,0,0,5587.3,5630.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":284,"skill":"Pick","start_frame":54},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":742,"skill":"Wipe","start_frame":284},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":841,"skill":"Place","start_frame":742},{"action_text":"Lower the cup held in the left 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[130,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,168918,170182,0,3,392.7,434.8333333333333,0,0,5630.6,5672.733333333334,0,0,5630.6,5672.733333333334,0,0,5630.6,5672.733333333334,0,2,1908.2,1950.3333333333335,0,2,1607.1333333333334,1649.2666666666669,0,0,5630.6,5672.733333333334,0,0,5630.6,5672.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":269,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":841,"skill":"Wipe","start_frame":269},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":946,"skill":"Place","start_frame":841},{"action_text":"Lower the cup held in the left 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[131,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,0,170182,171486,0,3,434.8333333333333,478.29999999999995,0,0,5672.733333333334,5716.2,0,0,5672.733333333334,5716.2,0,0,5672.733333333334,5716.2,0,2,1950.3333333333333,1993.8,0,2,1649.2666666666667,1692.7333333333333,0,0,5672.733333333334,5716.2,0,0,5672.733333333334,5716.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":647,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":758,"skill":"Place","start_frame":647},{"action_text":"Lower the cup held in the left 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[132,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,0,171486,172752,0,3,478.3,520.5,0,0,5716.2,5758.4,0,0,5716.2,5758.4,0,0,5716.2,5758.4,0,2,1993.8,2036.0,0,2,1692.7333333333333,1734.9333333333334,0,0,5716.2,5758.4,0,0,5716.2,5758.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":757,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":948,"skill":"Place","start_frame":757},{"action_text":"Lower the cup held in the left 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[133,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,172752,174015,0,3,520.5,562.6,0,0,5758.4,5800.5,0,0,5758.4,5800.5,0,0,5758.4,5800.5,0,2,2036.0,2078.1,0,2,1734.9333333333334,1777.0333333333333,0,0,5758.4,5800.5,0,0,5758.4,5800.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":290,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":758,"skill":"Wipe","start_frame":290},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":918,"skill":"Place","start_frame":758},{"action_text":"Lower the cup held in the left 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[134,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,0,174015,175275,0,3,562.6,604.6,0,0,5800.5,5842.5,0,0,5800.5,5842.5,0,0,5800.5,5842.5,0,2,2078.1,2120.1,0,2,1777.0333333333333,1819.0333333333333,0,0,5800.5,5842.5,0,0,5800.5,5842.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":278,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":804,"skill":"Wipe","start_frame":278},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":956,"skill":"Place","start_frame":804},{"action_text":"Lower the cup held in the left 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[135,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,175275,176539,0,3,604.6,646.7333333333333,0,0,5842.5,5884.633333333333,0,0,5842.5,5884.633333333333,0,0,5842.5,5884.633333333333,0,3,0.0,42.13333333333333,0,2,1819.0333333333333,1861.1666666666667,0,0,5842.5,5884.633333333333,0,0,5842.5,5884.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":282,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":672,"skill":"Wipe","start_frame":282},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":783,"skill":"Place","start_frame":672},{"action_text":"Lower the cup held in the left 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[136,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1357,0,0,176539,177896,0,3,646.7333333333333,691.9666666666667,0,0,5884.633333333333,5929.866666666667,0,0,5884.633333333333,5929.866666666667,0,0,5884.633333333333,5929.866666666667,0,3,42.13333333333333,87.36666666666667,0,2,1861.1666666666667,1906.4,0,0,5884.633333333333,5929.866666666667,0,0,5884.633333333333,5929.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":239,"skill":"Pick","start_frame":15},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":715,"skill":"Wipe","start_frame":239},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":839,"skill":"Place","start_frame":715},{"action_text":"Lower the cup held in the left 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[137,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,0,177896,179161,0,3,691.9666666666667,734.1333333333333,0,0,5929.866666666667,5972.033333333334,0,0,5929.866666666667,5972.033333333334,0,0,5929.866666666667,5972.033333333334,0,3,87.36666666666666,129.53333333333333,0,2,1906.4,1948.5666666666668,0,0,5929.866666666667,5972.033333333334,0,0,5929.866666666667,5972.033333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":791,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":957,"skill":"Place","start_frame":791},{"action_text":"Lower the cup held in the left 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[138,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1299,0,0,179161,180460,0,3,734.1333333333333,777.4333333333333,0,0,5972.033333333334,6015.333333333334,0,0,5972.033333333334,6015.333333333334,0,0,5972.033333333334,6015.333333333334,0,3,129.53333333333333,172.83333333333331,0,2,1948.5666666666666,1991.8666666666666,0,0,5972.033333333334,6015.333333333334,0,0,5972.033333333334,6015.333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":274,"skill":"Pick","start_frame":49},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":679,"skill":"Wipe","start_frame":274},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":803,"skill":"Place","start_frame":679},{"action_text":"Lower the cup held in the left 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[139,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,180460,181724,0,3,777.4333333333333,819.5666666666666,0,0,6015.333333333333,6057.466666666666,0,0,6015.333333333333,6057.466666666666,0,0,6015.333333333333,6057.466666666666,0,3,172.83333333333334,214.96666666666667,0,2,1991.8666666666666,2034.0,0,0,6015.333333333333,6057.466666666666,0,0,6015.333333333333,6057.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":282,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":823,"skill":"Wipe","start_frame":282},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1019,"skill":"Place","start_frame":823},{"action_text":"Lower the cup held in the left 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[140,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1308,0,0,181724,183032,0,3,819.5666666666667,863.1666666666667,0,0,6057.466666666666,6101.066666666667,0,0,6057.466666666666,6101.066666666667,0,0,6057.466666666666,6101.066666666667,0,3,214.96666666666667,258.56666666666666,0,2,2034.0,2077.6,0,0,6057.466666666666,6101.066666666667,0,0,6057.466666666666,6101.066666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":239,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":881,"skill":"Wipe","start_frame":239},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":988,"skill":"Place","start_frame":881},{"action_text":"Lower the cup held in the left 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[141,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,0,183032,184292,0,3,863.1666666666666,905.1666666666666,0,0,6101.066666666667,6143.066666666667,0,0,6101.066666666667,6143.066666666667,0,0,6101.066666666667,6143.066666666667,0,3,258.56666666666666,300.56666666666666,0,3,0.0,42.0,0,0,6101.066666666667,6143.066666666667,0,0,6101.066666666667,6143.066666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":720,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":908,"skill":"Place","start_frame":720},{"action_text":"Lower the cup held in the left 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[142,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1329,0,0,184292,185621,0,3,905.1666666666666,949.4666666666666,0,0,6143.066666666667,6187.366666666667,0,0,6143.066666666667,6187.366666666667,0,0,6143.066666666667,6187.366666666667,0,3,300.56666666666666,344.8666666666667,0,3,42.0,86.3,0,0,6143.066666666667,6187.366666666667,0,0,6143.066666666667,6187.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":46},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":907,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1032,"skill":"Place","start_frame":907},{"action_text":"Lower the cup held in the left 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[143,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1297,0,0,185621,186918,0,3,949.4666666666667,992.7,0,0,6187.366666666667,6230.6,0,0,6187.366666666667,6230.6,0,0,6187.366666666667,6230.6,0,3,344.8666666666667,388.1,0,3,86.3,129.53333333333333,0,0,6187.366666666667,6230.6,0,0,6187.366666666667,6230.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":244,"skill":"Pick","start_frame":15},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":683,"skill":"Wipe","start_frame":244},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":818,"skill":"Place","start_frame":683},{"action_text":"Lower the cup held in the left 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[144,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1414,0,0,186918,188332,0,3,992.7,1039.8333333333335,0,0,6230.6,6277.733333333334,0,0,6230.6,6277.733333333334,0,0,6230.6,6277.733333333334,0,3,388.1,435.23333333333335,0,3,129.53333333333333,176.66666666666666,0,0,6230.6,6277.733333333334,0,0,6230.6,6277.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":287,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1041,"skill":"Wipe","start_frame":287},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1193,"skill":"Place","start_frame":1041},{"action_text":"Lower the cup held in the left 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[145,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,0,188332,189636,0,3,1039.8333333333333,1083.3,0,0,6277.733333333334,6321.2,0,0,6277.733333333334,6321.2,0,0,6277.733333333334,6321.2,0,3,435.23333333333335,478.70000000000005,0,3,176.66666666666666,220.13333333333333,0,0,6277.733333333334,6321.2,0,0,6277.733333333334,6321.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":708,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":870,"skill":"Place","start_frame":708},{"action_text":"Lower the cup held in the left 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[146,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1341,0,0,189636,190977,0,3,1083.3,1128.0,0,0,6321.2,6365.9,0,0,6321.2,6365.9,0,0,6321.2,6365.9,0,3,478.7,523.4,0,3,220.13333333333333,264.8333333333333,0,0,6321.2,6365.9,0,0,6321.2,6365.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":276,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":989,"skill":"Wipe","start_frame":276},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1116,"skill":"Place","start_frame":989},{"action_text":"Lower the cup held in the left 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[147,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,0,190977,192240,0,3,1128.0,1170.1,0,0,6365.9,6408.0,0,0,6365.9,6408.0,0,0,6365.9,6408.0,0,3,523.4,565.5,0,3,264.8333333333333,306.93333333333334,0,0,6365.9,6408.0,0,0,6365.9,6408.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":731,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":885,"skill":"Place","start_frame":731},{"action_text":"Lower the cup held in the left 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[148,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,0,192240,193544,0,3,1170.1,1213.5666666666666,0,0,6408.0,6451.466666666666,0,0,6408.0,6451.466666666666,0,0,6408.0,6451.466666666666,0,3,565.5,608.9666666666667,0,3,306.93333333333334,350.4,0,0,6408.0,6451.466666666666,0,0,6408.0,6451.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":283,"skill":"Pick","start_frame":58},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":783,"skill":"Wipe","start_frame":283},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":889,"skill":"Place","start_frame":783},{"action_text":"Lower the cup held in the left 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[149,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,0,193544,194827,0,3,1213.5666666666666,1256.3333333333333,0,0,6451.466666666666,6494.233333333333,0,0,6451.466666666666,6494.233333333333,0,0,6451.466666666666,6494.233333333333,0,3,608.9666666666667,651.7333333333333,0,3,350.4,393.16666666666663,0,0,6451.466666666666,6494.233333333333,0,0,6451.466666666666,6494.233333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":256,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":659,"skill":"Wipe","start_frame":256},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":796,"skill":"Place","start_frame":659},{"action_text":"Lower the cup held in the left 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[150,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,0,194827,196091,0,3,1256.3333333333333,1298.4666666666667,0,0,6494.233333333334,6536.366666666667,0,0,6494.233333333334,6536.366666666667,0,0,6494.233333333334,6536.366666666667,0,3,651.7333333333333,693.8666666666667,0,3,393.1666666666667,435.3,0,0,6494.233333333334,6536.366666666667,0,0,6494.233333333334,6536.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":322,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":744,"skill":"Wipe","start_frame":322},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":885,"skill":"Place","start_frame":744},{"action_text":"Lower the cup held in the left 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[151,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1299,0,0,196091,197390,0,3,1298.4666666666667,1341.7666666666667,0,0,6536.366666666667,6579.666666666667,0,0,6536.366666666667,6579.666666666667,0,0,6536.366666666667,6579.666666666667,0,3,693.8666666666667,737.1666666666666,0,3,435.3,478.6,0,0,6536.366666666667,6579.666666666667,0,0,6536.366666666667,6579.666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":226,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":724,"skill":"Wipe","start_frame":226},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":832,"skill":"Place","start_frame":724},{"action_text":"Lower the cup held in the left 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[152,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1292,0,0,197390,198682,0,3,1341.7666666666667,1384.8333333333333,0,0,6579.666666666667,6622.733333333334,0,0,6579.666666666667,6622.733333333334,0,0,6579.666666666667,6622.733333333334,0,3,737.1666666666666,780.2333333333333,0,3,478.6,521.6666666666667,0,0,6579.666666666667,6622.733333333334,0,0,6579.666666666667,6622.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":297,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":743,"skill":"Wipe","start_frame":297},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":882,"skill":"Place","start_frame":743},{"action_text":"Lower the cup held in the left 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[153,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1259,0,0,198682,199941,0,3,1384.8333333333333,1426.8,0,0,6622.733333333334,6664.7,0,0,6622.733333333334,6664.7,0,0,6622.733333333334,6664.7,0,3,780.2333333333333,822.2,0,3,521.6666666666666,563.6333333333333,0,0,6622.733333333334,6664.7,0,0,6622.733333333334,6664.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":307,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":824,"skill":"Wipe","start_frame":307},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":968,"skill":"Place","start_frame":824},{"action_text":"Lower the cup held in the left 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[154,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1321,0,0,199941,201262,0,3,1426.8,1470.8333333333333,0,0,6664.7,6708.733333333334,0,0,6664.7,6708.733333333334,0,0,6664.7,6708.733333333334,0,3,822.2,866.2333333333333,0,3,563.6333333333333,607.6666666666666,0,0,6664.7,6708.733333333334,0,0,6664.7,6708.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":270,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":697,"skill":"Wipe","start_frame":270},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":835,"skill":"Place","start_frame":697},{"action_text":"Lower the cup held in the left 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[155,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1285,0,0,201262,202547,0,3,1470.8333333333333,1513.6666666666665,0,0,6708.733333333334,6751.566666666667,0,0,6708.733333333334,6751.566666666667,0,0,6708.733333333334,6751.566666666667,0,3,866.2333333333333,909.0666666666667,0,3,607.6666666666666,650.5,0,0,6708.733333333334,6751.566666666667,0,0,6708.733333333334,6751.566666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":243,"skill":"Pick","start_frame":16},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":665,"skill":"Wipe","start_frame":243},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":781,"skill":"Place","start_frame":665},{"action_text":"Lower the cup held in the left 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[156,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1435,0,0,202547,203982,0,3,1513.6666666666667,1561.5,0,0,6751.566666666667,6799.4,0,0,6751.566666666667,6799.4,0,0,6751.566666666667,6799.4,0,3,909.0666666666667,956.9000000000001,0,3,650.5,698.3333333333334,0,0,6751.566666666667,6799.4,0,0,6751.566666666667,6799.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":251,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":599,"skill":"Wipe","start_frame":251},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":719,"skill":"Place","start_frame":599},{"action_text":"Lower the cup held in the left 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[157,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,1,203982,205251,0,3,1561.5,1603.8,0,0,6799.4,6841.7,0,0,6799.4,6841.7,0,0,6799.4,6841.7,0,3,956.9,999.1999999999999,0,3,698.3333333333334,740.6333333333333,0,0,6799.4,6841.7,0,0,6799.4,6841.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":272,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":754,"skill":"Wipe","start_frame":272},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":892,"skill":"Place","start_frame":754},{"action_text":"Lower the cup held in the left 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[158,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1329,0,1,205251,206580,0,3,1603.8,1648.1,0,0,6841.7,6886.0,0,0,6841.7,6886.0,0,0,6841.7,6886.0,0,3,999.2,1043.5,0,3,740.6333333333333,784.9333333333333,0,0,6841.7,6886.0,0,0,6841.7,6886.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":245,"skill":"Pick","start_frame":39},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":594,"skill":"Wipe","start_frame":245},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":737,"skill":"Place","start_frame":594},{"action_text":"Lower the cup held in the left 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[159,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,206580,207843,0,3,1648.1,1690.1999999999998,0,0,6886.0,6928.1,0,0,6886.0,6928.1,0,0,6886.0,6928.1,0,3,1043.5,1085.6,0,3,784.9333333333333,827.0333333333333,0,0,6886.0,6928.1,0,0,6886.0,6928.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":252,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":607,"skill":"Wipe","start_frame":252},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":753,"skill":"Place","start_frame":607},{"action_text":"Lower the cup held in the left 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[160,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1326,0,1,207843,209169,0,4,0.0,44.2,0,0,6928.1,6972.3,0,0,6928.1,6972.3,0,0,6928.1,6972.3,0,3,1085.6,1129.8,0,3,827.0333333333333,871.2333333333333,0,0,6928.1,6972.3,0,0,6928.1,6972.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":205,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":525,"skill":"Wipe","start_frame":205},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":665,"skill":"Place","start_frame":525},{"action_text":"Lower the cup held in the left 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[161,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,1,209169,210447,0,4,44.2,86.80000000000001,0,0,6972.3,7014.900000000001,0,0,6972.3,7014.900000000001,0,0,6972.3,7014.900000000001,0,3,1129.8,1172.3999999999999,0,3,871.2333333333333,913.8333333333334,0,0,6972.3,7014.900000000001,0,0,6972.3,7014.900000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":764,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":882,"skill":"Place","start_frame":764},{"action_text":"Lower the cup held in the left 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[162,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,210447,211713,0,4,86.8,129.0,0,0,7014.9,7057.099999999999,0,0,7014.9,7057.099999999999,0,0,7014.9,7057.099999999999,0,3,1172.4,1214.6000000000001,0,3,913.8333333333334,956.0333333333334,0,0,7014.9,7057.099999999999,0,0,7014.9,7057.099999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":328,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":778,"skill":"Wipe","start_frame":328},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":940,"skill":"Place","start_frame":778},{"action_text":"Lower the cup held in the left 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[163,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1320,0,1,211713,213033,0,4,129.0,173.0,0,0,7057.1,7101.1,0,0,7057.1,7101.1,0,0,7057.1,7101.1,0,3,1214.6,1258.6,0,3,956.0333333333333,1000.0333333333333,0,0,7057.1,7101.1,0,0,7057.1,7101.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":273,"skill":"Pick","start_frame":44},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":648,"skill":"Wipe","start_frame":273},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":796,"skill":"Place","start_frame":648},{"action_text":"Lower the cup held in the left 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[164,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,1,213033,214321,0,4,173.0,215.93333333333334,0,0,7101.1,7144.033333333334,0,0,7101.1,7144.033333333334,0,0,7101.1,7144.033333333334,0,3,1258.6,1301.5333333333333,0,3,1000.0333333333333,1042.9666666666667,0,0,7101.1,7144.033333333334,0,0,7101.1,7144.033333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":299,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":755,"skill":"Wipe","start_frame":299},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":866,"skill":"Place","start_frame":755},{"action_text":"Lower the cup held in the left 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[165,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1262,0,1,214321,215583,0,4,215.93333333333334,258.0,0,0,7144.033333333334,7186.1,0,0,7144.033333333334,7186.1,0,0,7144.033333333334,7186.1,0,3,1301.5333333333333,1343.6,0,3,1042.9666666666667,1085.0333333333333,0,0,7144.033333333334,7186.1,0,0,7144.033333333334,7186.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":745,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":850,"skill":"Place","start_frame":745},{"action_text":"Lower the cup held in the left 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[166,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,215583,216846,0,4,258.0,300.1,0,0,7186.1,7228.200000000001,0,0,7186.1,7228.200000000001,0,0,7186.1,7228.200000000001,0,3,1343.6,1385.6999999999998,0,3,1085.0333333333333,1127.1333333333332,0,0,7186.1,7228.200000000001,0,0,7186.1,7228.200000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":694,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":797,"skill":"Place","start_frame":694},{"action_text":"Lower the cup held in the left 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[167,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1472,0,1,216846,218318,0,4,300.1,349.1666666666667,0,0,7228.2,7277.266666666666,0,0,7228.2,7277.266666666666,0,0,7228.2,7277.266666666666,0,3,1385.7,1434.7666666666667,0,3,1127.1333333333334,1176.2,0,0,7228.2,7277.266666666666,0,0,7228.2,7277.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":232,"skill":"Pick","start_frame":26},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":686,"skill":"Wipe","start_frame":232},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":813,"skill":"Place","start_frame":686},{"action_text":"Lower the cup held in the left 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[168,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,1,218318,219586,0,4,349.1666666666667,391.43333333333334,0,0,7277.266666666666,7319.533333333333,0,0,7277.266666666666,7319.533333333333,0,0,7277.266666666666,7319.533333333333,0,3,1434.7666666666667,1477.0333333333333,0,3,1176.2,1218.4666666666667,0,0,7277.266666666666,7319.533333333333,0,0,7277.266666666666,7319.533333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":716,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":859,"skill":"Place","start_frame":716},{"action_text":"Lower the cup held in the left 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[169,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,1,219586,220866,0,4,391.43333333333334,434.1,0,0,7319.533333333334,7362.200000000001,0,0,7319.533333333334,7362.200000000001,0,0,7319.533333333334,7362.200000000001,0,3,1477.0333333333333,1519.7,0,3,1218.4666666666667,1261.1333333333334,0,0,7319.533333333334,7362.200000000001,0,0,7319.533333333334,7362.200000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":45},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":705,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":828,"skill":"Place","start_frame":705},{"action_text":"Lower the cup held in the left 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[170,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,220866,222129,0,4,434.1,476.20000000000005,0,0,7362.2,7404.3,0,0,7362.2,7404.3,0,0,7362.2,7404.3,0,3,1519.7,1561.8,0,3,1261.1333333333334,1303.2333333333333,0,0,7362.2,7404.3,0,0,7362.2,7404.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":269,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":638,"skill":"Wipe","start_frame":269},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":825,"skill":"Place","start_frame":638},{"action_text":"Lower the cup held in the left 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[171,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,1,222129,223424,0,4,476.2,519.3666666666667,0,0,7404.3,7447.466666666667,0,0,7404.3,7447.466666666667,0,0,7404.3,7447.466666666667,0,3,1561.8,1604.9666666666667,0,3,1303.2333333333333,1346.4,0,0,7404.3,7447.466666666667,0,0,7404.3,7447.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":253,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":657,"skill":"Wipe","start_frame":253},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":786,"skill":"Place","start_frame":657},{"action_text":"Lower the cup held in the left 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[172,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,1,223424,224706,0,4,519.3666666666667,562.1,0,0,7447.466666666666,7490.2,0,0,7447.466666666666,7490.2,0,0,7447.466666666666,7490.2,0,3,1604.9666666666667,1647.7,0,3,1346.4,1389.1333333333334,0,0,7447.466666666666,7490.2,0,0,7447.466666666666,7490.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":247,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":594,"skill":"Wipe","start_frame":247},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":727,"skill":"Place","start_frame":594},{"action_text":"Lower the cup held in the left 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[173,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,1,224706,225971,0,4,562.1,604.2666666666667,0,0,7490.2,7532.366666666667,0,0,7490.2,7532.366666666667,0,0,7490.2,7532.366666666667,0,3,1647.7,1689.8666666666668,0,3,1389.1333333333334,1431.3000000000002,0,0,7490.2,7532.366666666667,0,0,7490.2,7532.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":783,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":939,"skill":"Place","start_frame":783},{"action_text":"Lower the cup held in the left 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[174,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,1,225971,227253,0,4,604.2666666666667,647.0,0,0,7532.366666666667,7575.1,0,0,7532.366666666667,7575.1,0,0,7532.366666666667,7575.1,0,3,1689.8666666666666,1732.6,0,3,1431.3,1474.0333333333333,0,0,7532.366666666667,7575.1,0,0,7532.366666666667,7575.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":296,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":620,"skill":"Wipe","start_frame":296},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":732,"skill":"Place","start_frame":620},{"action_text":"Lower the cup held in the left 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[175,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,1,227253,228521,0,4,647.0,689.2666666666667,0,0,7575.1,7617.366666666667,0,0,7575.1,7617.366666666667,0,0,7575.1,7617.366666666667,0,3,1732.6,1774.8666666666666,0,3,1474.0333333333333,1516.3,0,0,7575.1,7617.366666666667,0,0,7575.1,7617.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":327,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":859,"skill":"Wipe","start_frame":327},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1007,"skill":"Place","start_frame":859},{"action_text":"Lower the cup held in the left 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[176,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1284,0,1,228521,229805,0,4,689.2666666666667,732.0666666666666,0,0,7617.366666666667,7660.166666666667,0,0,7617.366666666667,7660.166666666667,0,0,7617.366666666667,7660.166666666667,0,3,1774.8666666666666,1817.6666666666665,0,3,1516.3,1559.1,0,0,7617.366666666667,7660.166666666667,0,0,7617.366666666667,7660.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":235,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":686,"skill":"Wipe","start_frame":235},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":828,"skill":"Place","start_frame":686},{"action_text":"Lower the cup held in the left 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[177,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1294,0,1,229805,231099,0,4,732.0666666666667,775.2,0,0,7660.166666666667,7703.3,0,0,7660.166666666667,7703.3,0,0,7660.166666666667,7703.3,0,3,1817.6666666666667,1860.8000000000002,0,3,1559.1,1602.2333333333333,0,0,7660.166666666667,7703.3,0,0,7660.166666666667,7703.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":261,"skill":"Pick","start_frame":16},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":598,"skill":"Wipe","start_frame":261},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":736,"skill":"Place","start_frame":598},{"action_text":"Lower the cup held in the left 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[178,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,231099,232365,0,4,775.2,817.4000000000001,0,0,7703.3,7745.5,0,0,7703.3,7745.5,0,0,7703.3,7745.5,0,3,1860.8,1903.0,0,3,1602.2333333333333,1644.4333333333334,0,0,7703.3,7745.5,0,0,7703.3,7745.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":260,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":691,"skill":"Wipe","start_frame":260},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":877,"skill":"Place","start_frame":691},{"action_text":"Lower the cup held in the left 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[179,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,1,232365,233653,0,4,817.4,860.3333333333333,0,0,7745.5,7788.433333333333,0,0,7745.5,7788.433333333333,0,0,7745.5,7788.433333333333,0,3,1903.0,1945.9333333333334,0,3,1644.4333333333334,1687.3666666666668,0,0,7745.5,7788.433333333333,0,0,7745.5,7788.433333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":242,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":552,"skill":"Wipe","start_frame":242},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":657,"skill":"Place","start_frame":552},{"action_text":"Lower the cup held in the left 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[180,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,233653,234916,0,4,860.3333333333334,902.4333333333334,0,0,7788.433333333333,7830.533333333334,0,0,7788.433333333333,7830.533333333334,0,0,7788.433333333333,7830.533333333334,0,3,1945.9333333333334,1988.0333333333333,0,3,1687.3666666666666,1729.4666666666665,0,0,7788.433333333333,7830.533333333334,0,0,7788.433333333333,7830.533333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":692,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":838,"skill":"Place","start_frame":692},{"action_text":"Lower the cup held in the left 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[181,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1317,0,1,234916,236233,0,4,902.4333333333333,946.3333333333333,0,0,7830.533333333334,7874.433333333333,0,0,7830.533333333334,7874.433333333333,0,0,7830.533333333334,7874.433333333333,0,3,1988.0333333333333,2031.9333333333334,0,3,1729.4666666666667,1773.3666666666668,0,0,7830.533333333334,7874.433333333333,0,0,7830.533333333334,7874.433333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":568,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":695,"skill":"Place","start_frame":568},{"action_text":"Lower the cup held in the left 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[182,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,1,236233,237497,0,4,946.3333333333334,988.4666666666667,0,0,7874.433333333333,7916.566666666667,0,0,7874.433333333333,7916.566666666667,0,0,7874.433333333333,7916.566666666667,0,3,2031.9333333333334,2074.0666666666666,0,3,1773.3666666666666,1815.5,0,0,7874.433333333333,7916.566666666667,0,0,7874.433333333333,7916.566666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":247,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":722,"skill":"Wipe","start_frame":247},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":847,"skill":"Place","start_frame":722},{"action_text":"Lower the cup held in the left 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[183,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,1,237497,238769,0,4,988.4666666666667,1030.8666666666668,0,0,7916.566666666667,7958.966666666666,0,0,7916.566666666667,7958.966666666666,0,0,7916.566666666667,7958.966666666666,0,3,2074.0666666666666,2116.4666666666667,0,3,1815.5,1857.9,0,0,7916.566666666667,7958.966666666666,0,0,7916.566666666667,7958.966666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":261,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":665,"skill":"Wipe","start_frame":261},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":784,"skill":"Place","start_frame":665},{"action_text":"Lower the cup held in the left 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[184,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,238769,240035,0,4,1030.8666666666666,1073.0666666666666,0,0,7958.966666666666,8001.166666666666,0,0,7958.966666666666,8001.166666666666,0,0,7958.966666666666,8001.166666666666,0,4,0.0,42.2,0,3,1857.9,1900.1000000000001,0,0,7958.966666666666,8001.166666666666,0,0,7958.966666666666,8001.166666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":667,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":792,"skill":"Place","start_frame":667},{"action_text":"Lower the cup held in the left 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[185,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,1,240035,241341,0,4,1073.0666666666666,1116.6,0,0,8001.166666666667,8044.700000000001,0,0,8001.166666666667,8044.700000000001,0,0,8001.166666666667,8044.700000000001,0,4,42.2,85.73333333333333,0,3,1900.1,1943.6333333333332,0,0,8001.166666666667,8044.700000000001,0,0,8001.166666666667,8044.700000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":285,"skill":"Pick","start_frame":45},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":670,"skill":"Wipe","start_frame":285},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":784,"skill":"Place","start_frame":670},{"action_text":"Lower the cup held in the left 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[186,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,1,241341,242608,0,4,1116.6,1158.8333333333333,0,0,8044.7,8086.933333333333,0,0,8044.7,8086.933333333333,0,0,8044.7,8086.933333333333,0,4,85.73333333333333,127.96666666666667,0,3,1943.6333333333334,1985.8666666666668,0,0,8044.7,8086.933333333333,0,0,8044.7,8086.933333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":272,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":791,"skill":"Wipe","start_frame":272},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":945,"skill":"Place","start_frame":791},{"action_text":"Lower the cup held in the left 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[187,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1317,0,1,242608,243925,0,4,1158.8333333333333,1202.7333333333333,0,0,8086.933333333333,8130.833333333333,0,0,8086.933333333333,8130.833333333333,0,0,8086.933333333333,8130.833333333333,0,4,127.96666666666667,171.86666666666667,0,3,1985.8666666666666,2029.7666666666667,0,0,8086.933333333333,8130.833333333333,0,0,8086.933333333333,8130.833333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":274,"skill":"Pick","start_frame":45},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":714,"skill":"Wipe","start_frame":274},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":824,"skill":"Place","start_frame":714},{"action_text":"Lower the cup held in the left 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[188,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1257,0,1,243925,245182,0,4,1202.7333333333333,1244.6333333333334,0,0,8130.833333333333,8172.733333333333,0,0,8130.833333333333,8172.733333333333,0,0,8130.833333333333,8172.733333333333,0,4,171.86666666666667,213.76666666666668,0,3,2029.7666666666667,2071.6666666666665,0,0,8130.833333333333,8172.733333333333,0,0,8130.833333333333,8172.733333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":230,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":630,"skill":"Wipe","start_frame":230},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":791,"skill":"Place","start_frame":630},{"action_text":"Lower the cup held in the left 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[189,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,1,245182,246446,0,4,1244.6333333333334,1286.7666666666669,0,0,8172.733333333334,8214.866666666667,0,0,8172.733333333334,8214.866666666667,0,0,8172.733333333334,8214.866666666667,0,4,213.76666666666668,255.9,0,4,0.0,42.13333333333333,0,0,8172.733333333334,8214.866666666667,0,0,8172.733333333334,8214.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":269,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":719,"skill":"Wipe","start_frame":269},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":874,"skill":"Place","start_frame":719},{"action_text":"Lower the cup held in the left 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[190,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1320,0,1,246446,247766,0,4,1286.7666666666667,1330.7666666666667,0,0,8214.866666666667,8258.866666666667,0,0,8214.866666666667,8258.866666666667,0,0,8214.866666666667,8258.866666666667,0,4,255.9,299.9,0,4,42.13333333333333,86.13333333333333,0,0,8214.866666666667,8258.866666666667,0,0,8214.866666666667,8258.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":551,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":650,"skill":"Place","start_frame":551},{"action_text":"Lower the cup held in the left 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[191,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,1,247766,249022,0,4,1330.7666666666667,1372.6333333333332,0,0,8258.866666666667,8300.733333333334,0,0,8258.866666666667,8300.733333333334,0,0,8258.866666666667,8300.733333333334,0,4,299.9,341.76666666666665,0,4,86.13333333333334,128.0,0,0,8258.866666666667,8300.733333333334,0,0,8258.866666666667,8300.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":663,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":795,"skill":"Place","start_frame":663},{"action_text":"Lower the cup held in the left 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[192,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,1,249022,250301,0,4,1372.6333333333334,1415.2666666666669,0,0,8300.733333333334,8343.366666666667,0,0,8300.733333333334,8343.366666666667,0,0,8300.733333333334,8343.366666666667,0,4,341.76666666666665,384.4,0,4,128.0,170.63333333333333,0,0,8300.733333333334,8343.366666666667,0,0,8300.733333333334,8343.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":278,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":649,"skill":"Wipe","start_frame":278},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":792,"skill":"Place","start_frame":649},{"action_text":"Lower the cup held in the left 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[193,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,250301,251564,0,4,1415.2666666666667,1457.3666666666666,0,0,8343.366666666667,8385.466666666667,0,0,8343.366666666667,8385.466666666667,0,0,8343.366666666667,8385.466666666667,0,4,384.4,426.5,0,4,170.63333333333333,212.73333333333332,0,0,8343.366666666667,8385.466666666667,0,0,8343.366666666667,8385.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":253,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":607,"skill":"Wipe","start_frame":253},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":731,"skill":"Place","start_frame":607},{"action_text":"Lower the cup held in the left 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[194,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,1,251564,252829,0,4,1457.3666666666666,1499.5333333333333,0,0,8385.466666666667,8427.633333333333,0,0,8385.466666666667,8427.633333333333,0,0,8385.466666666667,8427.633333333333,0,4,426.5,468.6666666666667,0,4,212.73333333333332,254.89999999999998,0,0,8385.466666666667,8427.633333333333,0,0,8385.466666666667,8427.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":257,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":726,"skill":"Wipe","start_frame":257},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":867,"skill":"Place","start_frame":726},{"action_text":"Lower the cup held in the left 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[195,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1314,0,1,252829,254143,0,4,1499.5333333333333,1543.3333333333333,0,0,8427.633333333333,8471.433333333332,0,0,8427.633333333333,8471.433333333332,0,0,8427.633333333333,8471.433333333332,0,4,468.6666666666667,512.4666666666667,0,4,254.9,298.7,0,0,8427.633333333333,8471.433333333332,0,0,8427.633333333333,8471.433333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":287,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":659,"skill":"Wipe","start_frame":287},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":799,"skill":"Place","start_frame":659},{"action_text":"Lower the cup held in the left 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[196,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,1,254143,255426,0,4,1543.3333333333333,1586.1,0,0,8471.433333333332,8514.199999999999,0,0,8471.433333333332,8514.199999999999,0,0,8471.433333333332,8514.199999999999,0,4,512.4666666666667,555.2333333333333,0,4,298.7,341.46666666666664,0,0,8471.433333333332,8514.199999999999,0,0,8471.433333333332,8514.199999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":44},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":754,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":879,"skill":"Place","start_frame":754},{"action_text":"Lower the cup held in the left 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[197,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,255426,256692,0,4,1586.1,1628.3,0,0,8514.2,8556.400000000001,0,0,8514.2,8556.400000000001,0,0,8514.2,8556.400000000001,0,4,555.2333333333333,597.4333333333334,0,4,341.46666666666664,383.66666666666663,0,0,8514.2,8556.400000000001,0,0,8514.2,8556.400000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":773,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":914,"skill":"Place","start_frame":773},{"action_text":"Lower the cup held in the left 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[198,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1262,0,1,256692,257954,0,4,1628.3,1670.3666666666666,0,0,8556.4,8598.466666666667,0,0,8556.4,8598.466666666667,0,0,8556.4,8598.466666666667,0,4,597.4333333333333,639.5,0,4,383.6666666666667,425.73333333333335,0,0,8556.4,8598.466666666667,0,0,8556.4,8598.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":593,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":711,"skill":"Place","start_frame":593},{"action_text":"Lower the cup held in the left 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[199,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1312,0,1,257954,259266,0,4,1670.3666666666666,1714.1,0,0,8598.466666666667,8642.2,0,0,8598.466666666667,8642.2,0,0,8598.466666666667,8642.2,0,4,639.5,683.2333333333333,0,4,425.73333333333335,469.4666666666667,0,0,8598.466666666667,8642.2,0,0,8598.466666666667,8642.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":258,"skill":"Pick","start_frame":47},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":621,"skill":"Wipe","start_frame":258},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":736,"skill":"Place","start_frame":621},{"action_text":"Lower the cup held in the left 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[200,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,1,259266,260531,0,5,0.0,42.166666666666664,0,0,8642.2,8684.366666666667,0,0,8642.2,8684.366666666667,0,0,8642.2,8684.366666666667,0,4,683.2333333333333,725.4,0,4,469.46666666666664,511.6333333333333,0,0,8642.2,8684.366666666667,0,0,8642.2,8684.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":615,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":754,"skill":"Place","start_frame":615},{"action_text":"Lower the cup held in the left 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[201,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,1,260531,261833,0,5,42.166666666666664,85.56666666666666,0,0,8684.366666666667,8727.766666666666,0,0,8684.366666666667,8727.766666666666,0,0,8684.366666666667,8727.766666666666,0,4,725.4,768.8,0,4,511.6333333333333,555.0333333333333,0,0,8684.366666666667,8727.766666666666,0,0,8684.366666666667,8727.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":279,"skill":"Pick","start_frame":41},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":674,"skill":"Wipe","start_frame":279},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":800,"skill":"Place","start_frame":674},{"action_text":"Lower the cup held in the left 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[202,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,1,261833,263096,0,5,85.56666666666666,127.66666666666666,0,0,8727.766666666666,8769.866666666667,0,0,8727.766666666666,8769.866666666667,0,0,8727.766666666666,8769.866666666667,0,4,768.8,810.9,0,4,555.0333333333333,597.1333333333333,0,0,8727.766666666666,8769.866666666667,0,1,0.0,42.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":643,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":805,"skill":"Place","start_frame":643},{"action_text":"Lower the cup held in the left 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[203,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1262,0,1,263096,264358,0,5,127.66666666666667,169.73333333333335,0,0,8769.866666666667,8811.933333333334,0,0,8769.866666666667,8811.933333333334,0,0,8769.866666666667,8811.933333333334,0,4,810.9,852.9666666666667,0,4,597.1333333333333,639.2,0,0,8769.866666666667,8811.933333333334,0,1,42.1,84.16666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":245,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":618,"skill":"Wipe","start_frame":245},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":767,"skill":"Place","start_frame":618},{"action_text":"Lower the cup held in the left 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[204,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,1,264358,265649,0,5,169.73333333333332,212.76666666666665,0,0,8811.933333333332,8854.966666666665,0,0,8811.933333333332,8854.966666666665,0,0,8811.933333333332,8854.966666666665,0,4,852.9666666666667,896.0,0,4,639.2,682.2333333333333,0,0,8811.933333333332,8854.966666666665,0,1,84.16666666666667,127.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":46},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":670,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":780,"skill":"Place","start_frame":670},{"action_text":"Lower the cup held in the left 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[205,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,265649,266915,0,5,212.76666666666668,254.9666666666667,0,0,8854.966666666667,8897.166666666668,0,0,8854.966666666667,8897.166666666668,0,0,8854.966666666667,8897.166666666668,0,4,896.0,938.2,0,4,682.2333333333333,724.4333333333334,0,0,8854.966666666667,8897.166666666668,0,1,127.2,169.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":244,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":641,"skill":"Wipe","start_frame":244},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":786,"skill":"Place","start_frame":641},{"action_text":"Lower the cup held in the left 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[206,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,1,266915,268198,0,5,254.96666666666667,297.73333333333335,0,0,8897.166666666666,8939.933333333332,0,0,8897.166666666666,8939.933333333332,0,0,8897.166666666666,8939.933333333332,0,4,938.2,980.9666666666667,0,4,724.4333333333333,767.1999999999999,0,0,8897.166666666666,8939.933333333332,0,1,169.4,212.16666666666669,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":247,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":581,"skill":"Wipe","start_frame":247},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":677,"skill":"Place","start_frame":581},{"action_text":"Lower the cup held in the left 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[207,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,1,268198,269458,0,5,297.73333333333335,339.73333333333335,0,0,8939.933333333332,8981.933333333332,0,0,8939.933333333332,8981.933333333332,0,0,8939.933333333332,8981.933333333332,0,4,980.9666666666667,1022.9666666666667,0,4,767.2,809.2,0,0,8939.933333333332,8981.933333333332,0,1,212.16666666666666,254.16666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":756,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":943,"skill":"Place","start_frame":756},{"action_text":"Lower the cup held in the left 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[208,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1285,0,1,269458,270743,0,5,339.73333333333335,382.56666666666666,0,0,8981.933333333332,9024.766666666666,0,0,8981.933333333332,9024.766666666666,0,0,8981.933333333332,9024.766666666666,0,4,1022.9666666666667,1065.8,0,4,809.2,852.0333333333334,0,0,8981.933333333332,9024.766666666666,0,1,254.16666666666666,297.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":215,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":567,"skill":"Wipe","start_frame":215},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":695,"skill":"Place","start_frame":567},{"action_text":"Lower the cup held in the left 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[209,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,1,270743,272008,0,5,382.56666666666666,424.73333333333335,0,0,9024.766666666666,9066.933333333332,0,0,9024.766666666666,9066.933333333332,0,0,9024.766666666666,9066.933333333332,0,4,1065.8,1107.9666666666667,0,4,852.0333333333333,894.1999999999999,0,0,9024.766666666666,9066.933333333332,0,1,297.0,339.1666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":254,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":636,"skill":"Wipe","start_frame":254},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":787,"skill":"Place","start_frame":636},{"action_text":"Lower the cup held in the left 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[210,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,1,272008,273295,0,5,424.73333333333335,467.6333333333333,0,0,9066.933333333332,9109.833333333332,0,0,9066.933333333332,9109.833333333332,0,0,9066.933333333332,9109.833333333332,0,4,1107.9666666666667,1150.8666666666668,0,4,894.2,937.1,0,0,9066.933333333332,9109.833333333332,0,1,339.1666666666667,382.06666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":229,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":560,"skill":"Wipe","start_frame":229},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":668,"skill":"Place","start_frame":560},{"action_text":"Lower the cup held in the left 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[211,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,1,273295,274561,0,5,467.6333333333333,509.8333333333333,0,0,9109.833333333334,9152.033333333335,0,0,9109.833333333334,9152.033333333335,0,0,9109.833333333334,9152.033333333335,0,4,1150.8666666666666,1193.0666666666666,0,4,937.1,979.3000000000001,0,0,9109.833333333334,9152.033333333335,0,1,382.06666666666666,424.26666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":630,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":782,"skill":"Place","start_frame":630},{"action_text":"Lower the cup held in the left 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[212,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1342,0,1,274561,275903,0,5,509.8333333333333,554.5666666666666,0,0,9152.033333333333,9196.766666666666,0,0,9152.033333333333,9196.766666666666,0,0,9152.033333333333,9196.766666666666,0,4,1193.0666666666666,1237.8,0,4,979.3,1024.0333333333333,0,0,9152.033333333333,9196.766666666666,0,1,424.26666666666665,469.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":242,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":605,"skill":"Wipe","start_frame":242},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":708,"skill":"Place","start_frame":605},{"action_text":"Lower the cup held in the left 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[213,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,1,275903,277170,0,5,554.5666666666667,596.8000000000001,0,0,9196.766666666666,9239.0,0,0,9196.766666666666,9239.0,0,0,9196.766666666666,9239.0,0,4,1237.8,1280.0333333333333,0,4,1024.0333333333333,1066.2666666666667,0,0,9196.766666666666,9239.0,0,1,469.0,511.23333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":273,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":712,"skill":"Wipe","start_frame":273},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":868,"skill":"Place","start_frame":712},{"action_text":"Lower the cup held in the left 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[214,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1305,0,1,277170,278475,0,5,596.8,640.3,0,0,9239.0,9282.5,0,0,9239.0,9282.5,0,0,9239.0,9282.5,0,4,1280.0333333333333,1323.5333333333333,0,4,1066.2666666666667,1109.7666666666667,0,0,9239.0,9282.5,0,1,511.23333333333335,554.7333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":260,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":611,"skill":"Wipe","start_frame":260},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":702,"skill":"Place","start_frame":611},{"action_text":"Lower the cup held in the left 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[215,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2607,0,1,278475,281082,0,5,640.3,727.1999999999999,0,0,9282.5,9369.4,0,0,9282.5,9369.4,0,0,9282.5,9369.4,0,4,1323.5333333333333,1410.4333333333334,0,4,1109.7666666666667,1196.6666666666667,0,0,9282.5,9369.4,0,1,554.7333333333333,641.6333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":363,"skill":"Pick","start_frame":25},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":2124,"skill":"Wipe","start_frame":363},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":2246,"skill":"Place","start_frame":2124},{"action_text":"Lower the cup held in the left 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[216,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1679,0,1,281082,282761,0,5,727.2,783.1666666666667,0,0,9369.4,9425.366666666667,0,0,9369.4,9425.366666666667,0,0,9369.4,9425.366666666667,0,4,1410.4333333333334,1466.4,0,4,1196.6666666666667,1252.6333333333334,0,0,9369.4,9425.366666666667,0,1,641.6333333333333,697.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":326,"skill":"Pick","start_frame":27},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1093,"skill":"Wipe","start_frame":326},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1246,"skill":"Place","start_frame":1093},{"action_text":"Lower the cup held in the left 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[217,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2788,0,1,282761,285549,0,5,783.1666666666666,876.0999999999999,0,0,9425.366666666667,9518.3,0,0,9425.366666666667,9518.3,0,0,9425.366666666667,9518.3,0,4,1466.4,1559.3333333333335,0,4,1252.6333333333334,1345.5666666666668,0,0,9425.366666666667,9518.3,0,1,697.6,790.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":484,"skill":"Pick","start_frame":17},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":2264,"skill":"Wipe","start_frame":484},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":2419,"skill":"Place","start_frame":2264},{"action_text":"Lower the cup held in the left 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[218,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1561,0,1,285549,287110,0,5,876.1,928.1333333333333,0,0,9518.3,9570.333333333332,0,0,9518.3,9570.333333333332,0,0,9518.3,9570.333333333332,0,4,1559.3333333333333,1611.3666666666666,0,4,1345.5666666666666,1397.6,0,0,9518.3,9570.333333333332,0,1,790.5333333333333,842.5666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":348,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":981,"skill":"Wipe","start_frame":348},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1089,"skill":"Place","start_frame":981},{"action_text":"Lower the cup held in the left 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[219,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1635,0,1,287110,288745,0,5,928.1333333333333,982.6333333333333,0,0,9570.333333333334,9624.833333333334,0,0,9570.333333333334,9624.833333333334,0,0,9570.333333333334,9624.833333333334,0,4,1611.3666666666666,1665.8666666666666,0,4,1397.6,1452.1,0,0,9570.333333333334,9624.833333333334,0,1,842.5666666666667,897.0666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":344,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":829,"skill":"Wipe","start_frame":344},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":955,"skill":"Place","start_frame":829},{"action_text":"Lower the cup held in the left 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[220,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1708,0,1,288745,290453,0,5,982.6333333333333,1039.5666666666666,0,0,9624.833333333334,9681.766666666666,0,0,9624.833333333334,9681.766666666666,0,0,9624.833333333334,9681.766666666666,0,4,1665.8666666666666,1722.8,0,4,1452.1,1509.0333333333333,0,0,9624.833333333334,9681.766666666666,0,1,897.0666666666667,954.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":355,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1110,"skill":"Wipe","start_frame":355},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1252,"skill":"Place","start_frame":1110},{"action_text":"Lower the cup held in the left 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[221,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1505,0,1,290453,291958,0,5,1039.5666666666666,1089.7333333333333,0,0,9681.766666666666,9731.933333333332,0,0,9681.766666666666,9731.933333333332,0,0,9681.766666666666,9731.933333333332,0,4,1722.8,1772.9666666666667,0,4,1509.0333333333333,1559.2,0,0,9681.766666666666,9731.933333333332,0,1,954.0,1004.1666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":334,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":991,"skill":"Wipe","start_frame":334},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1125,"skill":"Place","start_frame":991},{"action_text":"Lower the cup held in the left 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[222,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1767,0,1,291958,293725,0,5,1089.7333333333333,1148.6333333333334,0,0,9731.933333333332,9790.833333333332,0,0,9731.933333333332,9790.833333333332,0,0,9731.933333333332,9790.833333333332,0,4,1772.9666666666667,1831.8666666666668,0,4,1559.2,1618.1000000000001,0,0,9731.933333333332,9790.833333333332,0,1,1004.1666666666666,1063.0666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":328,"skill":"Pick","start_frame":15},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1254,"skill":"Wipe","start_frame":328},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1413,"skill":"Place","start_frame":1254},{"action_text":"Lower the cup held in the left 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[223,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1293,0,1,293725,295018,0,5,1148.6333333333334,1191.7333333333333,0,0,9790.833333333334,9833.933333333334,0,0,9790.833333333334,9833.933333333334,0,0,9790.833333333334,9833.933333333334,0,4,1831.8666666666666,1874.9666666666665,0,4,1618.1,1661.1999999999998,0,0,9790.833333333334,9833.933333333334,0,1,1063.0666666666666,1106.1666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":345,"skill":"Pick","start_frame":52},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":806,"skill":"Wipe","start_frame":345},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":994,"skill":"Place","start_frame":806},{"action_text":"Lower the cup held in the left 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[224,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1346,0,1,295018,296364,0,5,1191.7333333333333,1236.6,0,0,9833.933333333332,9878.8,0,0,9833.933333333332,9878.8,0,0,9833.933333333332,9878.8,0,4,1874.9666666666667,1919.8333333333333,0,4,1661.2,1706.0666666666666,0,0,9833.933333333332,9878.8,0,1,1106.1666666666667,1151.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":26},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":939,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1103,"skill":"Place","start_frame":939},{"action_text":"Lower the cup held in the left 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[225,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1462,0,1,296364,297826,0,5,1236.6,1285.3333333333333,0,0,9878.8,9927.533333333333,0,0,9878.8,9927.533333333333,0,0,9878.8,9927.533333333333,0,4,1919.8333333333333,1968.5666666666666,0,4,1706.0666666666666,1754.8,0,0,9878.8,9927.533333333333,0,1,1151.0333333333333,1199.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":376,"skill":"Pick","start_frame":77},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":946,"skill":"Wipe","start_frame":376},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1129,"skill":"Place","start_frame":946},{"action_text":"Lower the cup held in the left 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[226,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1324,0,1,297826,299150,0,5,1285.3333333333333,1329.4666666666667,0,0,9927.533333333333,9971.666666666666,0,0,9927.533333333333,9971.666666666666,0,0,9927.533333333333,9971.666666666666,0,4,1968.5666666666666,2012.7,0,4,1754.8,1798.9333333333334,0,0,9927.533333333333,9971.666666666666,0,1,1199.7666666666667,1243.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":301,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":819,"skill":"Wipe","start_frame":301},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1016,"skill":"Place","start_frame":819},{"action_text":"Lower the cup held in the left 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[227,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1473,0,1,299150,300623,0,5,1329.4666666666667,1378.5666666666666,0,0,9971.666666666666,10020.766666666666,0,0,9971.666666666666,10020.766666666666,0,0,9971.666666666666,10020.766666666666,0,4,2012.7,2061.8,0,4,1798.9333333333334,1848.0333333333333,0,0,9971.666666666666,10020.766666666666,0,1,1243.9,1293.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":285,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1043,"skill":"Wipe","start_frame":285},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1195,"skill":"Place","start_frame":1043},{"action_text":"Lower the cup held in the left 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[228,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1722,0,1,300623,302345,0,5,1378.5666666666666,1435.9666666666667,0,0,10020.766666666666,10078.166666666666,0,0,10020.766666666666,10078.166666666666,0,0,10020.766666666666,10078.166666666666,0,4,2061.8,2119.2000000000003,0,4,1848.0333333333333,1905.4333333333334,0,0,10020.766666666666,10078.166666666666,0,1,1293.0,1350.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":324,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1160,"skill":"Wipe","start_frame":324},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1288,"skill":"Place","start_frame":1160},{"action_text":"Lower the cup held in the left 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[229,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2080,0,1,302345,304425,0,5,1435.9666666666667,1505.3,0,0,10078.166666666666,10147.5,0,0,10078.166666666666,10147.5,0,0,10078.166666666666,10147.5,0,4,2119.2,2188.5333333333333,0,4,1905.4333333333334,1974.7666666666667,0,0,10078.166666666666,10147.5,0,1,1350.4,1419.7333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":342,"skill":"Pick","start_frame":49},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1677,"skill":"Wipe","start_frame":342},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1816,"skill":"Place","start_frame":1677},{"action_text":"Lower the cup held in the left 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[230,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2030,0,1,304425,306455,0,5,1505.3,1572.9666666666667,0,0,10147.5,10215.166666666666,0,0,10147.5,10215.166666666666,0,0,10147.5,10215.166666666666,0,4,2188.5333333333333,2256.2,0,4,1974.7666666666667,2042.4333333333334,0,0,10147.5,10215.166666666666,0,1,1419.7333333333333,1487.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1556,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1721,"skill":"Place","start_frame":1556},{"action_text":"Lower the cup held in the left 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[231,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1536,0,1,306455,307991,0,5,1572.9666666666667,1624.1666666666667,0,0,10215.166666666666,10266.366666666667,0,0,10215.166666666666,10266.366666666667,0,0,10215.166666666666,10266.366666666667,0,5,0.0,51.2,0,4,2042.4333333333334,2093.633333333333,0,0,10215.166666666666,10266.366666666667,0,1,1487.4,1538.6000000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":321,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1077,"skill":"Wipe","start_frame":321},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1243,"skill":"Place","start_frame":1077},{"action_text":"Lower the cup held in the left 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[232,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1780,0,1,307991,309771,0,5,1624.1666666666667,1683.5,0,0,10266.366666666667,10325.7,0,0,10266.366666666667,10325.7,0,0,10266.366666666667,10325.7,0,5,51.2,110.53333333333333,0,4,2093.633333333333,2152.9666666666667,0,0,10266.366666666667,10325.7,0,1,1538.6,1597.9333333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":39},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1134,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1342,"skill":"Place","start_frame":1134},{"action_text":"Lower the cup held in the left 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[233,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1536,0,1,309771,311307,0,5,1683.5,1734.7,0,0,10325.7,10376.900000000001,0,0,10325.7,10376.900000000001,0,0,10325.7,10376.900000000001,0,5,110.53333333333333,161.73333333333335,0,4,2152.9666666666667,2204.1666666666665,0,0,10325.7,10376.900000000001,0,1,1597.9333333333334,1649.1333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":319,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1075,"skill":"Wipe","start_frame":319},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1258,"skill":"Place","start_frame":1075},{"action_text":"Lower the cup held in the left 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[234,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1636,0,1,311307,312943,0,5,1734.7,1789.2333333333333,0,0,10376.9,10431.433333333332,0,0,10376.9,10431.433333333332,0,0,10376.9,10431.433333333332,0,5,161.73333333333332,216.26666666666665,0,4,2204.1666666666665,2258.7,0,0,10376.9,10431.433333333332,0,1,1649.1333333333334,1703.6666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":34},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1224,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1399,"skill":"Place","start_frame":1224},{"action_text":"Lower the cup held in the left 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[235,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1669,0,1,312943,314612,0,5,1789.2333333333333,1844.8666666666668,0,0,10431.433333333332,10487.066666666666,0,0,10431.433333333332,10487.066666666666,0,0,10431.433333333332,10487.066666666666,0,5,216.26666666666668,271.90000000000003,0,4,2258.7,2314.333333333333,0,0,10431.433333333332,10487.066666666666,0,1,1703.6666666666667,1759.3000000000002,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":44},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1257,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1365,"skill":"Place","start_frame":1257},{"action_text":"Lower the cup held in the left 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[236,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1595,0,1,314612,316207,0,5,1844.8666666666666,1898.0333333333333,0,0,10487.066666666668,10540.233333333334,0,0,10487.066666666668,10540.233333333334,0,0,10487.066666666668,10540.233333333334,0,5,271.9,325.06666666666666,0,4,2314.3333333333335,2367.5,0,0,10487.066666666668,10540.233333333334,0,1,1759.3,1812.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":40},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1157,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1290,"skill":"Place","start_frame":1157},{"action_text":"Lower the cup held in the left 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[237,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1772,0,1,316207,317979,0,5,1898.0333333333333,1957.1,0,0,10540.233333333334,10599.300000000001,0,0,10540.233333333334,10599.300000000001,0,0,10540.233333333334,10599.300000000001,0,5,325.06666666666666,384.1333333333333,0,4,2367.5,2426.5666666666666,0,0,10540.233333333334,10599.300000000001,0,1,1812.4666666666667,1871.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":301,"skill":"Pick","start_frame":17},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1413,"skill":"Wipe","start_frame":301},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1541,"skill":"Place","start_frame":1413},{"action_text":"Lower the cup held in the left 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[238,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1480,0,1,317979,319459,0,5,1957.1,2006.4333333333332,0,0,10599.3,10648.633333333333,0,0,10599.3,10648.633333333333,0,0,10599.3,10648.633333333333,0,5,384.1333333333333,433.46666666666664,0,5,0.0,49.333333333333336,0,0,10599.3,10648.633333333333,0,1,1871.5333333333333,1920.8666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":306,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1033,"skill":"Wipe","start_frame":306},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1218,"skill":"Place","start_frame":1033},{"action_text":"Lower the cup held in the left 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[239,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1786,0,1,319459,321245,0,5,2006.4333333333334,2065.9666666666667,0,0,10648.633333333333,10708.166666666666,0,0,10648.633333333333,10708.166666666666,0,0,10648.633333333333,10708.166666666666,0,5,433.46666666666664,493.0,0,5,49.333333333333336,108.86666666666667,0,0,10648.633333333333,10708.166666666666,0,1,1920.8666666666666,1980.3999999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1349,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1527,"skill":"Place","start_frame":1349},{"action_text":"Lower the cup held in the left 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[240,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1571,0,1,321245,322816,0,6,0.0,52.36666666666667,0,0,10708.166666666666,10760.533333333333,0,0,10708.166666666666,10760.533333333333,0,0,10708.166666666666,10760.533333333333,0,5,493.0,545.3666666666667,0,5,108.86666666666666,161.23333333333332,0,0,10708.166666666666,10760.533333333333,0,1,1980.4,2032.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":329,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1185,"skill":"Wipe","start_frame":329},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1338,"skill":"Place","start_frame":1185},{"action_text":"Lower the cup held in the left 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[241,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1583,0,1,322816,324399,0,6,52.36666666666667,105.13333333333333,0,0,10760.533333333333,10813.3,0,0,10760.533333333333,10813.3,0,0,10760.533333333333,10813.3,0,5,545.3666666666667,598.1333333333333,0,5,161.23333333333332,214.0,0,0,10760.533333333333,10813.3,0,1,2032.7666666666667,2085.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1075,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1268,"skill":"Place","start_frame":1075},{"action_text":"Lower the cup held in the left 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[242,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1363,0,1,324399,325762,0,6,105.13333333333334,150.56666666666666,0,0,10813.3,10858.733333333332,0,0,10813.3,10858.733333333332,0,0,10813.3,10858.733333333332,0,5,598.1333333333333,643.5666666666666,0,5,214.0,259.43333333333334,0,0,10813.3,10858.733333333332,0,1,2085.5333333333333,2130.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":313,"skill":"Pick","start_frame":48},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":948,"skill":"Wipe","start_frame":313},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1082,"skill":"Place","start_frame":948},{"action_text":"Lower the cup held in the left 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[243,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,1,325762,327027,0,6,150.56666666666666,192.73333333333332,0,0,10858.733333333334,10900.9,0,0,10858.733333333334,10900.9,0,0,10858.733333333334,10900.9,0,5,643.5666666666667,685.7333333333333,0,5,259.43333333333334,301.6,0,0,10858.733333333334,10900.9,0,1,2130.9666666666667,2173.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":251,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":768,"skill":"Wipe","start_frame":251},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":937,"skill":"Place","start_frame":768},{"action_text":"Lower the cup held in the left 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[244,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,1,327027,328310,0,6,192.73333333333332,235.5,0,0,10900.9,10943.666666666666,0,0,10900.9,10943.666666666666,0,0,10900.9,10943.666666666666,0,5,685.7333333333333,728.5,0,5,301.6,344.3666666666667,0,0,10900.9,10943.666666666666,0,1,2173.133333333333,2215.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":303,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":747,"skill":"Wipe","start_frame":303},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":902,"skill":"Place","start_frame":747},{"action_text":"Lower the cup held in the left 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[245,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,1,328310,329582,0,6,235.5,277.9,0,0,10943.666666666666,10986.066666666666,0,0,10943.666666666666,10986.066666666666,0,0,10943.666666666666,10986.066666666666,0,5,728.5,770.9,0,5,344.3666666666667,386.76666666666665,0,0,10943.666666666666,10986.066666666666,0,1,2215.9,2258.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":277,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":820,"skill":"Wipe","start_frame":277},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":962,"skill":"Place","start_frame":820},{"action_text":"Lower the cup held in the left 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[246,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1522,0,1,329582,331104,0,6,277.9,328.6333333333333,0,0,10986.066666666668,11036.800000000001,0,0,10986.066666666668,11036.800000000001,0,0,10986.066666666668,11036.800000000001,0,5,770.9,821.6333333333333,0,5,386.76666666666665,437.5,0,0,10986.066666666668,11036.800000000001,0,1,2258.3,2309.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":360,"skill":"Pick","start_frame":40},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1047,"skill":"Wipe","start_frame":360},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1210,"skill":"Place","start_frame":1047},{"action_text":"Lower the cup held in the left 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[247,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1582,0,1,331104,332686,0,6,328.6333333333333,381.3666666666667,0,0,11036.8,11089.533333333333,0,0,11036.8,11089.533333333333,0,0,11036.8,11089.533333333333,0,5,821.6333333333333,874.3666666666667,0,5,437.5,490.23333333333335,0,0,11036.8,11089.533333333333,0,1,2309.0333333333333,2361.7666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1117,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1248,"skill":"Place","start_frame":1117},{"action_text":"Lower the cup held in the left 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[248,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,1,332686,333957,0,6,381.3666666666667,423.73333333333335,0,0,11089.533333333333,11131.9,0,0,11089.533333333333,11131.9,0,0,11089.533333333333,11131.9,0,5,874.3666666666667,916.7333333333333,0,5,490.23333333333335,532.6,0,0,11089.533333333333,11131.9,0,1,2361.766666666667,2404.1333333333337,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":295,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":814,"skill":"Wipe","start_frame":295},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1008,"skill":"Place","start_frame":814},{"action_text":"Lower the cup held in the left 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[249,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1356,0,1,333957,335313,0,6,423.73333333333335,468.93333333333334,0,0,11131.9,11177.1,0,0,11131.9,11177.1,0,0,11131.9,11177.1,0,5,916.7333333333333,961.9333333333334,0,5,532.6,577.8000000000001,0,0,11131.9,11177.1,0,1,2404.133333333333,2449.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":348,"skill":"Pick","start_frame":16},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":963,"skill":"Wipe","start_frame":348},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1093,"skill":"Place","start_frame":963},{"action_text":"Lower the cup held in the left 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[250,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1495,0,1,335313,336808,0,6,468.93333333333334,518.7666666666667,0,0,11177.1,11226.933333333334,0,0,11177.1,11226.933333333334,0,0,11177.1,11226.933333333334,0,5,961.9333333333333,1011.7666666666667,0,5,577.8,627.6333333333333,0,0,11177.1,11226.933333333334,0,1,2449.3333333333335,2499.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":346,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1088,"skill":"Wipe","start_frame":346},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1226,"skill":"Place","start_frame":1088},{"action_text":"Lower the cup held in the left 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[256,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1903,0,1,344609,346512,0,6,778.8,842.2333333333332,0,0,11486.966666666667,11550.4,0,0,11486.966666666667,11550.4,0,0,11486.966666666667,11550.4,0,5,1271.8,1335.2333333333333,0,5,887.6666666666666,951.0999999999999,0,0,11486.966666666667,11550.4,0,1,2759.2,2822.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":379,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1274,"skill":"Wipe","start_frame":379},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1449,"skill":"Place","start_frame":1274},{"action_text":"Lower the cup held in the left 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[261,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,1,352925,354189,0,6,1056.0,1098.1333333333334,0,0,11764.166666666666,11806.3,0,0,11764.166666666666,11806.3,0,0,11764.166666666666,11806.3,0,5,1549.0,1591.1333333333334,0,5,1164.8666666666666,1207.0,0,0,11764.166666666666,11806.3,0,1,3036.4,3078.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":290,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":824,"skill":"Wipe","start_frame":290},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":974,"skill":"Place","start_frame":824},{"action_text":"Lower the cup held in the left 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[268,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1312,0,1,362844,364156,0,6,1386.6333333333334,1430.3666666666668,0,0,12094.8,12138.533333333333,0,0,12094.8,12138.533333333333,0,0,12094.8,12138.533333333333,0,5,1879.6333333333334,1923.3666666666668,0,5,1495.5,1539.2333333333333,0,0,12094.8,12138.533333333333,0,1,3367.0333333333333,3410.7666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":276,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":814,"skill":"Wipe","start_frame":276},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":988,"skill":"Place","start_frame":814},{"action_text":"Lower the cup held in the left 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[273,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2290,0,1,369837,372127,0,6,1619.7333333333333,1696.0666666666666,0,0,12327.9,12404.233333333334,0,0,12327.9,12404.233333333334,0,0,12327.9,12404.233333333334,0,5,2112.733333333333,2189.0666666666666,0,5,1728.6,1804.9333333333332,0,0,12327.9,12404.233333333334,0,1,3600.133333333333,3676.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":351,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1850,"skill":"Wipe","start_frame":351},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":2053,"skill":"Place","start_frame":1850},{"action_text":"Lower the cup held in the left 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[278,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1622,0,1,377434,379056,0,6,1872.9666666666667,1927.0333333333333,0,0,12581.133333333333,12635.2,0,0,12581.133333333333,12635.2,0,0,12581.133333333333,12635.2,0,5,2365.9666666666667,2420.0333333333333,0,5,1981.8333333333333,2035.8999999999999,0,0,12581.133333333333,12635.2,0,1,3853.366666666667,3907.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":293,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1094,"skill":"Wipe","start_frame":293},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1290,"skill":"Place","start_frame":1094},{"action_text":"Lower the cup held in the left 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[285,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1303,0,1,387926,389229,0,7,295.6666666666667,339.1,0,0,12930.866666666667,12974.3,0,0,12930.866666666667,12974.3,0,0,12930.866666666667,12974.3,0,6,295.6666666666667,339.1,0,5,2331.5666666666666,2375.0,0,0,12930.866666666667,12974.3,0,1,4203.1,4246.533333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":244,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":778,"skill":"Wipe","start_frame":244},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":931,"skill":"Place","start_frame":778},{"action_text":"Lower the cup held in the left 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[290,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1589,0,1,395482,397071,0,7,547.5333333333333,600.5,0,0,13182.733333333334,13235.7,0,0,13182.733333333334,13235.7,0,0,13182.733333333334,13235.7,0,6,547.5333333333333,600.5,0,5,2583.4333333333334,2636.4,0,0,13182.733333333334,13235.7,0,1,4454.966666666666,4507.9333333333325,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":319,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1139,"skill":"Wipe","start_frame":319},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1309,"skill":"Place","start_frame":1139},{"action_text":"Lower the cup held in the left 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[293,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,1,400303,401591,0,7,708.2333333333333,751.1666666666666,0,0,13343.433333333332,13386.366666666665,0,0,13343.433333333332,13386.366666666665,0,0,13343.433333333332,13386.366666666665,0,6,708.2333333333333,751.1666666666666,0,6,64.1,107.03333333333333,0,0,13343.433333333332,13386.366666666665,0,1,4615.666666666667,4658.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":247,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":774,"skill":"Wipe","start_frame":247},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":957,"skill":"Place","start_frame":774},{"action_text":"Lower the cup held in the left 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[302,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1485,0,2,412703,414188,0,7,1121.5666666666666,1171.0666666666666,0,0,13756.766666666666,13806.266666666666,0,0,13756.766666666666,13806.266666666666,0,0,13756.766666666666,13806.266666666666,0,6,1121.5666666666666,1171.0666666666666,0,6,477.43333333333334,526.9333333333334,0,0,13756.766666666666,13806.266666666666,0,1,5029.0,5078.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":291,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1055,"skill":"Wipe","start_frame":291},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1201,"skill":"Place","start_frame":1055},{"action_text":"Lower the cup held in the left 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[304,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1351,0,2,415679,417030,0,7,1220.7666666666667,1265.8,0,0,13855.966666666667,13901.0,0,0,13855.966666666667,13901.0,0,0,13855.966666666667,13901.0,0,6,1220.7666666666667,1265.8,0,6,576.6333333333333,621.6666666666666,0,0,13855.966666666667,13901.0,0,1,5128.2,5173.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":374,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":919,"skill":"Wipe","start_frame":374},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1123,"skill":"Place","start_frame":919},{"action_text":"Lower the cup held in the left 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[309,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1454,0,2,422634,424088,0,7,1452.6,1501.0666666666666,0,0,14087.8,14136.266666666666,0,0,14087.8,14136.266666666666,0,0,14087.8,14136.266666666666,0,6,1452.6,1501.0666666666666,0,6,808.4666666666667,856.9333333333334,0,0,14087.8,14136.266666666666,0,1,5360.033333333334,5408.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":308,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":923,"skill":"Wipe","start_frame":308},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1098,"skill":"Place","start_frame":923},{"action_text":"Lower the cup held in the left 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[314,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1365,0,2,429941,431306,0,7,1696.1666666666667,1741.6666666666667,0,0,14331.366666666667,14376.866666666667,0,0,14331.366666666667,14376.866666666667,0,0,14331.366666666667,14376.866666666667,0,6,1696.1666666666667,1741.6666666666667,0,6,1052.0333333333333,1097.5333333333333,0,0,14331.366666666667,14376.866666666667,0,1,5603.6,5649.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":27},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":936,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1104,"skill":"Place","start_frame":936},{"action_text":"Lower the cup held in the left 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[321,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1612,0,2,439882,441494,0,8,242.3,296.03333333333336,0,0,14662.733333333334,14716.466666666667,0,0,14662.733333333334,14716.466666666667,0,0,14662.733333333334,14716.466666666667,0,6,2027.5333333333333,2081.2666666666664,0,6,1383.4,1437.1333333333334,0,0,14662.733333333334,14716.466666666667,0,1,5934.966666666666,5988.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":381,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1055,"skill":"Wipe","start_frame":381},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1299,"skill":"Place","start_frame":1055},{"action_text":"Lower the cup held in the left 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[326,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1610,0,2,447580,449190,0,8,498.9,552.5666666666666,0,0,14919.333333333334,14973.0,0,1,51.733333333333334,105.4,0,0,14919.333333333334,14973.0,0,6,2284.133333333333,2337.7999999999997,0,6,1640.0,1693.6666666666667,0,0,14919.333333333334,14973.0,0,1,6191.566666666667,6245.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":347,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1016,"skill":"Wipe","start_frame":347},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1240,"skill":"Place","start_frame":1016},{"action_text":"Lower the cup held in the left 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[331,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1696,0,2,455283,456979,0,8,755.6666666666666,812.1999999999999,0,0,15176.1,15232.633333333333,0,1,308.5,365.0333333333333,0,1,52.3,108.83333333333333,0,7,156.56666666666666,213.1,0,6,1896.7666666666667,1953.3,0,0,15176.1,15232.633333333333,0,1,6448.333333333333,6504.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":284,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1248,"skill":"Wipe","start_frame":284},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1436,"skill":"Place","start_frame":1248},{"action_text":"Lower the cup held in the left 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[336,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1901,0,2,462850,464751,0,8,1007.9,1071.2666666666667,0,0,15428.333333333334,15491.7,0,1,560.7333333333333,624.1,0,1,304.53333333333336,367.90000000000003,0,7,408.8,472.1666666666667,0,6,2149.0,2212.366666666667,0,0,15428.333333333334,15491.7,0,1,6700.566666666667,6763.933333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":440,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1329,"skill":"Wipe","start_frame":440},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1512,"skill":"Place","start_frame":1329},{"action_text":"Lower the cup held in the left 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[343,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1484,0,2,473424,474908,0,8,1360.3666666666666,1409.8333333333333,0,1,246.43333333333334,295.9,0,1,913.2,962.6666666666667,0,1,657.0,706.4666666666667,0,7,761.2666666666667,810.7333333333333,0,6,2501.4666666666667,2550.9333333333334,0,0,15780.8,15830.266666666666,0,1,7053.033333333334,7102.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":351,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1002,"skill":"Wipe","start_frame":351},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1196,"skill":"Place","start_frame":1002},{"action_text":"Lower the cup held in the left 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[348,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2019,0,2,481192,483211,0,8,1619.3,1686.6,0,1,505.3666666666667,572.6666666666666,0,1,1172.1333333333334,1239.4333333333334,0,1,915.9333333333333,983.2333333333332,0,7,1020.2,1087.5,0,6,2760.4,2827.7000000000003,0,0,16039.733333333334,16107.033333333333,0,1,7311.966666666666,7379.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":477,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1396,"skill":"Wipe","start_frame":477},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1694,"skill":"Place","start_frame":1396},{"action_text":"Lower the cup held in the left 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[353,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1409,0,2,489097,490506,0,8,1882.8,1929.7666666666667,0,1,768.8666666666667,815.8333333333334,0,1,1435.6333333333334,1482.6000000000001,0,1,1179.4333333333334,1226.4,0,7,1283.7,1330.6666666666667,0,7,196.2,243.16666666666666,0,0,16303.233333333334,16350.2,0,1,7575.466666666666,7622.4333333333325,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":322,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1016,"skill":"Wipe","start_frame":322},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1123,"skill":"Place","start_frame":1016},{"action_text":"Lower the cup held in the left 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[360,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1553,0,2,499013,500566,0,9,182.36666666666667,234.13333333333333,0,1,1099.4,1151.1666666666667,0,1,1766.1666666666667,1817.9333333333334,0,1,1509.9666666666667,1561.7333333333333,0,7,1614.2333333333333,1666.0,0,7,526.7333333333333,578.5,0,0,16633.766666666666,16685.533333333333,0,1,7906.0,7957.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":341,"skill":"Pick","start_frame":25},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1095,"skill":"Wipe","start_frame":341},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1280,"skill":"Place","start_frame":1095},{"action_text":"Lower the cup held in the left 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[362,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,2,501892,503173,0,9,278.3333333333333,321.0333333333333,0,1,1195.3666666666666,1238.0666666666666,0,1,1862.1333333333334,1904.8333333333335,0,1,1605.9333333333334,1648.6333333333334,0,7,1710.2,1752.9,0,7,622.7,665.4000000000001,0,0,16729.733333333334,16772.433333333334,0,1,8001.966666666666,8044.666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":309,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":769,"skill":"Wipe","start_frame":309},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":909,"skill":"Place","start_frame":769},{"action_text":"Lower the cup held in the left 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[372,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,2,515856,517134,0,9,743.8,786.4,0,1,1660.8333333333333,1703.4333333333332,0,1,2327.6,2370.2,0,1,2071.4,2114.0,0,7,2175.6666666666665,2218.2666666666664,0,7,1088.1666666666667,1130.7666666666667,0,0,17195.2,17237.8,0,1,8467.433333333332,8510.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":255,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":822,"skill":"Wipe","start_frame":255},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1013,"skill":"Place","start_frame":822},{"action_text":"Lower the cup held in the left 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[377,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1284,0,2,522750,524034,0,9,973.6,1016.4,0,1,1890.6333333333334,1933.4333333333334,0,1,2557.4,2600.2000000000003,0,1,2301.2,2344.0,0,8,42.43333333333333,85.23333333333332,0,7,1317.9666666666667,1360.7666666666667,0,0,17425.0,17467.8,0,1,8697.233333333334,8740.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":766,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":903,"skill":"Place","start_frame":766},{"action_text":"Lower the cup held in the left 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[379,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1740,0,2,525345,527085,0,9,1060.1,1118.1,0,1,1977.1333333333334,2035.1333333333334,0,1,2643.9,2701.9,0,1,2387.7,2445.7,0,8,128.93333333333334,186.93333333333334,0,7,1404.4666666666667,1462.4666666666667,0,0,17511.5,17569.5,0,1,8783.733333333334,8841.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":328,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1122,"skill":"Wipe","start_frame":328},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1432,"skill":"Place","start_frame":1122},{"action_text":"Lower the cup held in the left 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[384,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1710,0,2,532409,534119,0,9,1295.5666666666666,1352.5666666666666,0,1,2212.6,2269.6,0,1,2879.366666666667,2936.366666666667,0,1,2623.1666666666665,2680.1666666666665,0,8,364.4,421.4,0,7,1639.9333333333334,1696.9333333333334,0,1,0.0,57.0,0,1,9019.2,9076.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":326,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1102,"skill":"Wipe","start_frame":326},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1356,"skill":"Place","start_frame":1102},{"action_text":"Lower the cup held in the left 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[389,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,2,539412,540689,0,9,1529.0,1571.5666666666666,0,1,2446.0333333333333,2488.6,0,1,3112.8,3155.366666666667,0,1,2856.6,2899.1666666666665,0,8,597.8333333333334,640.4000000000001,0,7,1873.3666666666666,1915.9333333333332,0,1,233.43333333333334,276.0,0,1,9252.633333333333,9295.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":823,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1029,"skill":"Place","start_frame":823},{"action_text":"Lower the cup held in the left 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[396,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,2,548510,549789,0,9,1832.2666666666667,1874.9,0,1,2749.3,2791.9333333333334,0,1,3416.0666666666666,3458.7,0,1,3159.866666666667,3202.5,0,8,901.1,943.7333333333333,0,7,2176.633333333333,2219.2666666666664,0,1,536.7,579.3333333333334,0,1,9555.9,9598.533333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":235,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":687,"skill":"Wipe","start_frame":235},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":803,"skill":"Place","start_frame":687},{"action_text":"Lower the cup held in the left 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[401,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1286,0,2,554916,556202,0,10,42.5,85.36666666666667,0,1,2962.8333333333335,3005.7000000000003,0,1,3629.6,3672.4666666666667,0,1,3373.4,3416.266666666667,0,8,1114.6333333333334,1157.5,0,7,2390.1666666666665,2433.0333333333333,0,1,750.2333333333333,793.1,0,1,9769.433333333332,9812.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":238,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":666,"skill":"Wipe","start_frame":238},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":752,"skill":"Place","start_frame":666},{"action_text":"Lower the cup held in the left 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[405,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,2,560063,561330,0,10,214.06666666666666,256.3,0,1,3134.4,3176.633333333333,0,1,3801.1666666666665,3843.3999999999996,0,1,3544.9666666666667,3587.2,0,8,1286.2,1328.4333333333334,0,7,2561.733333333333,2603.9666666666662,0,1,921.8,964.0333333333333,0,1,9941.0,9983.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":236,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":658,"skill":"Wipe","start_frame":236},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":791,"skill":"Place","start_frame":658},{"action_text":"Lower the cup held in the left 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[413,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1379,0,2,570350,571729,0,10,556.9666666666667,602.9333333333334,0,1,3477.3,3523.266666666667,0,1,4144.066666666667,4190.033333333333,0,1,3887.866666666667,3933.8333333333335,0,8,1629.1,1675.0666666666666,0,8,300.6666666666667,346.6333333333333,0,1,1264.7,1310.6666666666667,0,1,10283.9,10329.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":229,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":644,"skill":"Wipe","start_frame":229},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":753,"skill":"Place","start_frame":644},{"action_text":"Lower the cup held in the left 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[418,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1274,0,2,577055,578329,0,10,780.4666666666667,822.9333333333334,0,1,3700.8,3743.266666666667,0,1,4367.566666666667,4410.033333333333,0,1,4111.366666666667,4153.833333333333,0,8,1852.6,1895.0666666666666,0,8,524.1666666666666,566.6333333333333,0,1,1488.2,1530.6666666666667,0,1,10507.4,10549.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":221,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":674,"skill":"Wipe","start_frame":221},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":787,"skill":"Place","start_frame":674},{"action_text":"Lower the cup held in the left 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[422,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,2,582198,583481,0,10,951.9,994.6666666666666,0,1,3872.233333333333,3915.0,0,1,4539.0,4581.766666666666,0,1,4282.8,4325.566666666667,0,8,2024.0333333333333,2066.8,0,8,695.6,738.3666666666667,0,1,1659.6333333333334,1702.4,0,1,10678.833333333334,10721.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":205,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":637,"skill":"Wipe","start_frame":205},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":759,"skill":"Place","start_frame":637},{"action_text":"Lower the cup held in the left 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[430,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1289,0,2,592529,593818,0,10,1296.2666666666667,1339.2333333333333,0,1,4216.6,4259.566666666667,0,1,4883.366666666667,4926.333333333333,0,1,4627.166666666667,4670.133333333333,0,8,2368.4,2411.366666666667,0,8,1039.9666666666667,1082.9333333333334,0,1,2004.0,2046.9666666666667,0,1,11023.2,11066.166666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":203,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":736,"skill":"Wipe","start_frame":203},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":860,"skill":"Place","start_frame":736},{"action_text":"Lower the cup held in the left 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[435,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,2,598990,600292,0,10,1511.6333333333334,1555.0333333333335,0,1,4431.966666666666,4475.366666666666,0,1,5098.733333333334,5142.133333333333,0,1,4842.533333333334,4885.933333333333,0,8,2583.766666666667,2627.166666666667,0,8,1255.3333333333333,1298.7333333333333,0,1,2219.366666666667,2262.766666666667,0,1,11238.566666666668,11281.966666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":769,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":887,"skill":"Place","start_frame":769},{"action_text":"Lower the cup held in the left 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[439,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1289,0,2,604135,605424,0,10,1683.1333333333334,1726.1000000000001,0,1,4603.466666666666,4646.4333333333325,0,1,5270.233333333334,5313.2,0,1,5014.033333333334,5057.0,0,9,42.86666666666667,85.83333333333334,0,8,1426.8333333333333,1469.8,0,1,2390.866666666667,2433.8333333333335,0,1,11410.066666666668,11453.033333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":207,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":677,"skill":"Wipe","start_frame":207},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":813,"skill":"Place","start_frame":677},{"action_text":"Lower the cup held in the left 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[447,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,3,614466,615768,0,10,2027.5,2070.9,0,1,4947.833333333333,4991.233333333333,0,1,5614.6,5658.0,0,1,5358.4,5401.799999999999,0,9,387.23333333333335,430.6333333333333,0,8,1771.2,1814.6000000000001,0,1,2735.233333333333,2778.633333333333,0,1,11754.433333333332,11797.833333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":202,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":557,"skill":"Wipe","start_frame":202},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":654,"skill":"Place","start_frame":557},{"action_text":"Lower the cup held in the left 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[448,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1316,0,3,615768,617084,0,10,2070.9,2114.766666666667,0,1,4991.233333333334,5035.1,0,1,5658.0,5701.866666666667,0,1,5401.8,5445.666666666667,0,9,430.6333333333333,474.5,0,8,1814.6,1858.4666666666665,0,1,2778.633333333333,2822.5,0,1,11797.833333333334,11841.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":212,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":531,"skill":"Wipe","start_frame":212},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":618,"skill":"Place","start_frame":531},{"action_text":"Lower the cup held in the left 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[456,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,3,626038,627317,0,11,256.26666666666665,298.9,0,1,5333.566666666667,5376.2,0,1,6000.333333333333,6042.966666666666,0,1,5744.133333333333,5786.766666666666,0,9,772.9666666666667,815.6,0,8,2156.9333333333334,2199.5666666666666,0,1,3120.9666666666667,3163.6,0,1,12140.166666666666,12182.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":214,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":560,"skill":"Wipe","start_frame":214},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":652,"skill":"Place","start_frame":560},{"action_text":"Lower the cup held in the left 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[459,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,3,629883,631174,0,11,384.43333333333334,427.4666666666667,0,1,5461.733333333334,5504.766666666667,0,1,6128.5,6171.533333333334,0,1,5872.3,5915.333333333334,0,9,901.1333333333333,944.1666666666666,0,8,2285.1,2328.133333333333,0,1,3249.133333333333,3292.1666666666665,0,1,12268.333333333334,12311.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":210,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":557,"skill":"Wipe","start_frame":210},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":650,"skill":"Place","start_frame":557},{"action_text":"Lower the cup held in the left 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[465,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1304,0,3,637678,638982,0,11,644.2666666666667,687.7333333333333,0,1,5721.566666666667,5765.033333333333,0,1,6388.333333333333,6431.799999999999,0,1,6132.133333333333,6175.599999999999,0,9,1160.9666666666667,1204.4333333333334,0,9,0.0,43.46666666666667,0,1,3508.9666666666667,3552.4333333333334,0,1,12528.166666666666,12571.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":306,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":745,"skill":"Wipe","start_frame":306},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":885,"skill":"Place","start_frame":745},{"action_text":"Lower the cup held in the left 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[471,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1284,0,3,645452,646736,0,11,903.4,946.1999999999999,0,1,5980.7,6023.5,0,1,6647.466666666666,6690.266666666666,0,1,6391.266666666666,6434.066666666667,0,9,1420.1,1462.8999999999999,0,9,259.1333333333333,301.93333333333334,0,1,3768.1,3810.9,0,1,12787.3,12830.099999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":268,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":602,"skill":"Wipe","start_frame":268},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":742,"skill":"Place","start_frame":602},{"action_text":"Lower the cup held in the left 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[477,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,3,653187,654474,0,11,1161.2333333333333,1204.1333333333334,0,1,6238.533333333334,6281.433333333333,0,1,6905.3,6948.2,0,1,6649.1,6692.0,0,9,1677.9333333333334,1720.8333333333335,0,9,516.9666666666667,559.8666666666667,0,1,4025.9333333333334,4068.8333333333335,0,1,13045.133333333333,13088.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":231,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":601,"skill":"Wipe","start_frame":231},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":749,"skill":"Place","start_frame":601},{"action_text":"Lower the cup held in the left 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[482,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,3,659639,660917,0,11,1376.3,1418.8999999999999,0,1,6453.6,6496.200000000001,0,1,7120.366666666667,7162.966666666667,0,1,6864.166666666667,6906.766666666667,0,9,1893.0,1935.6,0,9,732.0333333333333,774.6333333333333,0,1,4241.0,4283.6,0,1,13260.2,13302.800000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":218,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":561,"skill":"Wipe","start_frame":218},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":705,"skill":"Place","start_frame":561},{"action_text":"Lower the cup held in the left 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[488,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1490,0,3,667856,669346,0,12,231.3,280.9666666666667,0,1,6727.5,6777.166666666667,0,1,7394.266666666666,7443.933333333333,0,1,7138.066666666667,7187.733333333334,0,10,0.0,49.666666666666664,0,9,1005.9333333333333,1055.6,0,1,4514.9,4564.566666666667,0,1,13534.1,13583.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":337,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1021,"skill":"Wipe","start_frame":337},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1163,"skill":"Place","start_frame":1021},{"action_text":"Lower the cup held in the left 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[494,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1297,0,3,676068,677365,0,12,505.03333333333336,548.2666666666667,0,1,7001.233333333334,7044.466666666667,0,1,7668.0,7711.233333333334,0,1,7411.8,7455.033333333334,0,10,273.73333333333335,316.9666666666667,0,9,1279.6666666666667,1322.9,0,1,4788.633333333333,4831.866666666667,0,1,13807.833333333334,13851.066666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":832,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":958,"skill":"Place","start_frame":832},{"action_text":"Lower the cup held in the left 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[499,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1370,0,3,683027,684397,0,12,737.0,782.6666666666666,0,1,7233.2,7278.866666666667,0,1,7899.966666666666,7945.633333333333,0,1,7643.766666666666,7689.433333333333,0,10,505.7,551.3666666666667,0,9,1511.6333333333334,1557.3000000000002,0,1,5020.6,5066.266666666667,0,2,100.36666666666666,146.03333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":346,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":939,"skill":"Wipe","start_frame":346},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1086,"skill":"Place","start_frame":939},{"action_text":"Lower the cup held in the left 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[505,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1404,0,3,691138,692542,0,12,1007.3666666666667,1054.1666666666667,0,1,7503.566666666667,7550.366666666667,0,1,8170.333333333333,8217.133333333333,0,1,7914.133333333333,7960.933333333333,0,10,776.0666666666667,822.8666666666667,0,9,1782.0,1828.8,0,1,5290.966666666666,5337.766666666666,0,2,370.73333333333335,417.53333333333336,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":277,"skill":"Pick","start_frame":46},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1050,"skill":"Wipe","start_frame":277},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1212,"skill":"Place","start_frame":1050},{"action_text":"Lower the cup held in the left 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[508,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1337,0,3,695105,696442,0,12,1139.6,1184.1666666666665,0,1,7635.8,7680.366666666667,0,1,8302.566666666668,8347.133333333335,0,1,8046.366666666667,8090.933333333333,0,10,908.3,952.8666666666667,0,9,1914.2333333333333,1958.8,0,1,5423.2,5467.766666666666,0,2,502.96666666666664,547.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":260,"skill":"Pick","start_frame":17},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":945,"skill":"Wipe","start_frame":260},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1123,"skill":"Place","start_frame":945},{"action_text":"Lower the cup held in the left 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[517,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1545,0,3,707309,708854,0,12,1546.4,1597.9,0,1,8042.6,8094.1,0,1,8709.366666666667,8760.866666666667,0,1,8453.166666666666,8504.666666666666,0,10,1315.1,1366.6,0,10,221.9,273.4,0,1,5830.0,5881.5,0,2,909.7666666666667,961.2666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":368,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1130,"skill":"Wipe","start_frame":368},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1292,"skill":"Place","start_frame":1130},{"action_text":"Lower the cup held in the left 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[518,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1319,0,3,708854,710173,0,12,1597.9,1641.8666666666668,0,1,8094.1,8138.066666666667,0,1,8760.866666666667,8804.833333333334,0,1,8504.666666666666,8548.633333333333,0,10,1366.6,1410.5666666666666,0,10,273.4,317.3666666666667,0,1,5881.5,5925.466666666666,0,2,961.2666666666667,1005.2333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":258,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":953,"skill":"Wipe","start_frame":258},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1103,"skill":"Place","start_frame":953},{"action_text":"Lower the cup held in the left 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[525,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1375,0,3,718497,719872,0,13,0.0,45.833333333333336,0,1,8415.533333333333,8461.366666666667,0,1,9082.3,9128.133333333333,0,1,8826.1,8871.933333333334,0,10,1688.0333333333333,1733.8666666666666,0,10,594.8333333333334,640.6666666666667,0,1,6202.933333333333,6248.766666666666,0,2,1282.7,1328.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":359,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":998,"skill":"Wipe","start_frame":359},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1099,"skill":"Place","start_frame":998},{"action_text":"Lower the cup held in the left 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[529,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1612,0,3,723864,725476,0,13,178.9,232.63333333333333,0,1,8594.433333333332,8648.166666666666,0,1,9261.2,9314.933333333334,0,1,9005.0,9058.733333333334,0,11,44.266666666666666,98.0,0,10,773.7333333333333,827.4666666666667,0,1,6381.833333333333,6435.566666666667,0,2,1461.6,1515.3333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":448,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1192,"skill":"Wipe","start_frame":448},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1282,"skill":"Place","start_frame":1192},{"action_text":"Lower the cup held in the left 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[535,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1298,0,3,731969,733267,0,13,449.06666666666666,492.3333333333333,0,1,8864.6,8907.866666666667,0,1,9531.366666666667,9574.633333333333,0,1,9275.166666666666,9318.433333333332,0,11,314.43333333333334,357.7,0,10,1043.9,1087.1666666666667,0,1,6652.0,6695.266666666666,0,2,1731.7666666666667,1775.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":410,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":881,"skill":"Wipe","start_frame":410},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":975,"skill":"Place","start_frame":881},{"action_text":"Lower the cup held in the left 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[542,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1345,0,3,741225,742570,0,13,757.6,802.4333333333334,0,1,9173.133333333333,9217.966666666667,0,1,9839.9,9884.733333333334,0,1,9583.7,9628.533333333335,0,11,622.9666666666667,667.8000000000001,0,10,1352.4333333333334,1397.2666666666667,0,1,6960.533333333334,7005.366666666667,0,2,2040.3,2085.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":313,"skill":"Pick","start_frame":15},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":908,"skill":"Wipe","start_frame":313},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1082,"skill":"Place","start_frame":908},{"action_text":"Lower the cup held in the left 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[547,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,3,747866,749138,0,13,978.9666666666667,1021.3666666666667,0,1,9394.5,9436.9,0,1,10061.266666666666,10103.666666666666,0,1,9805.066666666668,9847.466666666667,0,11,844.3333333333334,886.7333333333333,0,10,1573.8,1616.2,0,1,7181.9,7224.299999999999,0,2,2261.6666666666665,2304.0666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":311,"skill":"Pick","start_frame":52},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":652,"skill":"Wipe","start_frame":311},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":824,"skill":"Place","start_frame":652},{"action_text":"Lower the cup held in the left 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[552,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2022,0,3,754265,756287,0,13,1192.2666666666667,1259.6666666666667,0,1,9607.8,9675.199999999999,0,1,10274.566666666668,10341.966666666667,0,1,10018.366666666667,10085.766666666666,0,11,1057.6333333333334,1125.0333333333335,0,10,1787.1,1854.5,0,1,7395.2,7462.599999999999,0,2,2474.9666666666667,2542.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":498,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1371,"skill":"Wipe","start_frame":498},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1480,"skill":"Place","start_frame":1371},{"action_text":"Lower the cup held in the left 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[559,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,3,764847,766125,0,14,157.43333333333334,200.03333333333333,0,1,9960.533333333333,10003.133333333333,0,1,10627.3,10669.9,0,1,10371.1,10413.7,0,11,1410.3666666666666,1452.9666666666665,0,10,2139.8333333333335,2182.4333333333334,0,1,7747.933333333333,7790.533333333334,0,2,2827.7,2870.2999999999997,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":319,"skill":"Pick","start_frame":67},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":624,"skill":"Wipe","start_frame":319},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":733,"skill":"Place","start_frame":624},{"action_text":"Lower the cup held in the left 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[564,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1905,0,3,771511,773416,0,14,379.56666666666666,443.06666666666666,0,1,10182.666666666666,10246.166666666666,0,1,10849.433333333332,10912.933333333332,0,1,10593.233333333334,10656.733333333334,0,11,1632.5,1696.0,0,11,179.53333333333333,243.03333333333333,0,1,7970.066666666667,8033.566666666667,0,2,3049.8333333333335,3113.3333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":483,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1295,"skill":"Wipe","start_frame":483},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1445,"skill":"Place","start_frame":1295},{"action_text":"Lower the cup held in the left 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[568,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1711,0,3,778269,779980,0,14,604.8333333333334,661.8666666666667,0,1,10407.933333333332,10464.966666666665,0,1,11074.7,11131.733333333334,0,1,10818.5,10875.533333333333,0,12,51.06666666666667,108.1,0,11,404.8,461.83333333333337,0,1,8195.333333333334,8252.366666666667,0,2,3275.1,3332.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":389,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1099,"skill":"Wipe","start_frame":389},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1294,"skill":"Place","start_frame":1099},{"action_text":"Lower the cup held in the left 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[575,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,3,788000,789266,0,14,929.2,971.4000000000001,0,1,10732.3,10774.5,0,1,11399.066666666668,11441.266666666668,0,1,11142.866666666667,11185.066666666668,0,12,375.43333333333334,417.6333333333333,0,11,729.1666666666666,771.3666666666667,0,1,8519.7,8561.900000000001,0,2,3599.4666666666667,3641.6666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":312,"skill":"Pick","start_frame":65},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":694,"skill":"Wipe","start_frame":312},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":838,"skill":"Place","start_frame":694},{"action_text":"Lower the cup held in the left 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[581,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1522,0,3,797520,799042,0,14,1246.5333333333333,1297.2666666666667,0,1,11049.633333333333,11100.366666666667,0,1,11716.4,11767.133333333333,0,1,11460.2,11510.933333333334,0,12,692.7666666666667,743.5,0,11,1046.5,1097.2333333333333,0,1,8837.033333333333,8887.766666666666,0,2,3916.8,3967.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":438,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":999,"skill":"Wipe","start_frame":438},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1141,"skill":"Place","start_frame":999},{"action_text":"Lower the cup held in the left 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[585,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1331,0,3,804175,805506,0,14,1468.3666666666666,1512.7333333333331,0,1,11271.466666666667,11315.833333333334,0,1,11938.233333333334,11982.6,0,1,11682.033333333333,11726.4,0,12,914.6,958.9666666666667,0,11,1268.3333333333333,1312.6999999999998,0,1,9058.866666666667,9103.233333333334,0,2,4138.633333333333,4183.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":350,"skill":"Pick","start_frame":55},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":796,"skill":"Wipe","start_frame":350},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":957,"skill":"Place","start_frame":796},{"action_text":"Lower the cup held in the left 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[588,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2425,0,3,808191,810616,0,15,46.43333333333333,127.26666666666665,0,1,11405.333333333334,11486.166666666668,0,1,12072.1,12152.933333333334,0,1,11815.9,11896.733333333334,0,12,1048.4666666666667,1129.3,0,11,1402.2,1483.0333333333333,0,1,9192.733333333334,9273.566666666668,0,2,4272.5,4353.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":519,"skill":"Pick","start_frame":175},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1724,"skill":"Wipe","start_frame":519},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1986,"skill":"Place","start_frame":1724},{"action_text":"Lower the cup held in the left 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[593,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2427,0,4,816902,819329,0,15,336.8,417.70000000000005,0,1,11695.7,11776.6,0,1,12362.466666666667,12443.366666666667,0,1,12106.266666666666,12187.166666666666,0,12,1338.8333333333333,1419.7333333333333,0,11,1692.5666666666666,1773.4666666666667,0,1,9483.1,9564.0,0,2,4562.866666666667,4643.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":357,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1699,"skill":"Wipe","start_frame":357},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1830,"skill":"Place","start_frame":1699},{"action_text":"Lower the cup held in the left 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[602,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,4,831614,832877,0,15,827.2,869.3000000000001,0,1,12186.1,12228.2,0,1,12852.866666666667,12894.966666666667,0,1,12596.666666666666,12638.766666666666,0,12,1829.2333333333333,1871.3333333333333,0,11,2182.9666666666667,2225.0666666666666,0,1,9973.5,10015.6,0,2,5053.266666666666,5095.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":357,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":822,"skill":"Wipe","start_frame":357},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":968,"skill":"Place","start_frame":822},{"action_text":"Lower the cup held in the left 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[605,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,4,836032,837300,0,15,974.4666666666667,1016.7333333333333,0,1,12333.366666666667,12375.633333333333,0,1,13000.133333333333,13042.4,0,1,12743.933333333332,12786.199999999999,0,12,1976.5,2018.7666666666667,0,11,2330.233333333333,2372.5,0,1,10120.766666666666,10163.033333333333,0,2,5200.533333333334,5242.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":335,"skill":"Pick","start_frame":51},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":688,"skill":"Wipe","start_frame":335},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":827,"skill":"Place","start_frame":688},{"action_text":"Lower the cup held in the left 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[611,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1499,0,4,844492,845991,0,15,1256.4666666666667,1306.4333333333334,0,1,12615.366666666667,12665.333333333334,0,1,13282.133333333333,13332.1,0,1,13025.933333333332,13075.9,0,13,239.73333333333332,289.7,0,12,153.0,202.96666666666667,0,1,10402.766666666666,10452.733333333334,0,2,5482.533333333334,5532.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":265,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":989,"skill":"Wipe","start_frame":265},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1160,"skill":"Place","start_frame":989},{"action_text":"Lower the cup held in the left 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[616,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1357,0,4,852046,853403,0,15,1508.2666666666667,1553.5,0,1,12867.166666666666,12912.4,0,2,42.53333333333333,87.76666666666667,0,1,13277.733333333334,13322.966666666667,0,13,491.53333333333336,536.7666666666667,0,12,404.8,450.03333333333336,0,1,10654.566666666668,10699.800000000001,0,2,5734.333333333333,5779.566666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":366,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":926,"skill":"Wipe","start_frame":366},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1112,"skill":"Place","start_frame":926},{"action_text":"Lower the cup held in the left 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[622,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,4,859963,861272,0,16,175.7,219.33333333333331,0,1,13131.066666666668,13174.7,0,2,306.43333333333334,350.06666666666666,0,1,13541.633333333333,13585.266666666666,0,13,755.4333333333333,799.0666666666666,0,12,668.7,712.3333333333334,0,1,10918.466666666667,10962.1,0,2,5998.233333333334,6041.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":351,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":852,"skill":"Wipe","start_frame":351},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1005,"skill":"Place","start_frame":852},{"action_text":"Lower the cup held in the left 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[628,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1746,0,4,867665,869411,0,16,432.43333333333334,490.6333333333333,0,2,43.233333333333334,101.43333333333334,0,2,563.1666666666666,621.3666666666667,0,1,13798.366666666667,13856.566666666668,0,13,1012.1666666666666,1070.3666666666666,0,12,925.4333333333333,983.6333333333333,0,1,11175.2,11233.400000000001,0,2,6254.966666666666,6313.166666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":376,"skill":"Pick","start_frame":4},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1328,"skill":"Wipe","start_frame":376},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1478,"skill":"Place","start_frame":1328},{"action_text":"Lower the cup held in the left 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[634,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1473,0,4,876689,878162,0,16,733.2333333333333,782.3333333333334,0,2,344.03333333333336,393.1333333333334,0,2,863.9666666666667,913.0666666666667,0,1,14099.166666666666,14148.266666666666,0,13,1312.9666666666667,1362.0666666666666,0,12,1226.2333333333333,1275.3333333333333,0,1,11476.0,11525.1,0,2,6555.766666666666,6604.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":372,"skill":"Pick","start_frame":55},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1047,"skill":"Wipe","start_frame":372},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1193,"skill":"Place","start_frame":1047},{"action_text":"Lower the cup held in the left 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[639,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,4,884163,885445,0,16,982.3666666666667,1025.1,0,2,593.1666666666666,635.9,0,2,1113.1,1155.8333333333333,0,1,14348.3,14391.033333333333,0,13,1562.1,1604.8333333333333,0,12,1475.3666666666666,1518.1,0,1,11725.133333333333,11767.866666666667,0,2,6804.9,6847.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":359,"skill":"Pick","start_frame":109},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":786,"skill":"Wipe","start_frame":359},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":939,"skill":"Place","start_frame":786},{"action_text":"Lower the cup held in the left 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[645,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,4,892440,893727,0,16,1258.2666666666667,1301.1666666666667,0,2,869.0666666666667,911.9666666666667,0,2,1389.0,1431.9,0,1,14624.2,14667.1,0,13,1838.0,1880.9,0,12,1751.2666666666667,1794.1666666666667,0,1,12001.033333333333,12043.933333333332,0,2,7080.8,7123.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":321,"skill":"Pick","start_frame":58},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":655,"skill":"Wipe","start_frame":321},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":828,"skill":"Place","start_frame":655},{"action_text":"Lower the cup held in the left 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[651,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1416,0,4,901285,902701,0,16,1553.1,1600.3,0,2,1163.9,1211.1000000000001,0,2,1683.8333333333333,1731.0333333333333,0,2,66.93333333333334,114.13333333333334,0,14,157.7,204.89999999999998,0,12,2046.1,2093.2999999999997,0,1,12295.866666666667,12343.066666666668,0,2,7375.633333333333,7422.833333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":424,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1035,"skill":"Wipe","start_frame":424},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1163,"skill":"Place","start_frame":1035},{"action_text":"Lower the cup held in the left 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[656,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,4,908073,909351,0,16,1779.3666666666666,1821.9666666666665,0,2,1390.1666666666667,1432.7666666666667,0,2,1910.1,1952.6999999999998,0,2,293.2,335.8,0,14,383.96666666666664,426.56666666666666,0,12,2272.366666666667,2314.9666666666667,0,1,12522.133333333333,12564.733333333334,0,2,7601.9,7644.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":70},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":736,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":889,"skill":"Place","start_frame":736},{"action_text":"Lower the cup held in the left 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[660,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,4,913459,914736,0,16,1958.9,2001.4666666666667,0,2,1569.7,1612.2666666666667,0,2,2089.633333333333,2132.2,0,2,472.73333333333335,515.3000000000001,0,14,563.5,606.0666666666667,0,12,2451.9,2494.4666666666667,0,1,12701.666666666666,12744.233333333334,0,2,7781.433333333333,7824.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":356,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":723,"skill":"Wipe","start_frame":356},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":894,"skill":"Place","start_frame":723},{"action_text":"Lower the cup held in the left 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[663,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1293,0,4,917633,918926,0,17,96.56666666666666,139.66666666666666,0,2,1708.8333333333333,1751.9333333333332,0,2,2228.766666666667,2271.866666666667,0,2,611.8666666666667,654.9666666666667,0,14,702.6333333333333,745.7333333333333,0,12,2591.0333333333333,2634.133333333333,0,1,12840.8,12883.9,0,2,7920.566666666667,7963.666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":343,"skill":"Pick","start_frame":76},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":675,"skill":"Wipe","start_frame":343},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":874,"skill":"Place","start_frame":675},{"action_text":"Lower the cup held in the left 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[671,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1372,0,4,928054,929426,0,17,443.93333333333334,489.6666666666667,0,2,2056.2,2101.933333333333,0,2,2576.133333333333,2621.8666666666663,0,2,959.2333333333333,1004.9666666666667,0,14,1050.0,1095.7333333333333,0,13,131.7,177.43333333333334,0,1,13188.166666666666,13233.9,0,2,8267.933333333332,8313.666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":453,"skill":"Pick","start_frame":209},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":869,"skill":"Wipe","start_frame":453},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1071,"skill":"Place","start_frame":869},{"action_text":"Lower the cup held in the left 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[675,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,4,933293,934575,0,17,618.5666666666667,661.3000000000001,0,2,2230.8333333333335,2273.5666666666666,0,2,2750.766666666667,2793.5,0,2,1133.8666666666666,1176.6,0,14,1224.6333333333334,1267.3666666666668,0,13,306.3333333333333,349.06666666666666,0,1,13362.8,13405.533333333333,0,2,8442.566666666668,8485.300000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":334,"skill":"Pick","start_frame":53},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":628,"skill":"Wipe","start_frame":334},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":797,"skill":"Place","start_frame":628},{"action_text":"Lower the cup held in the left 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[680,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,4,939773,941033,0,17,834.5666666666667,876.5666666666667,0,2,2446.8333333333335,2488.8333333333335,0,2,2966.766666666667,3008.766666666667,0,2,1349.8666666666666,1391.8666666666666,0,14,1440.6333333333334,1482.6333333333334,0,13,522.3333333333334,564.3333333333334,0,1,13578.8,13620.8,0,2,8658.566666666668,8700.566666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":49},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":667,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":826,"skill":"Place","start_frame":667},{"action_text":"Lower the cup held in the left 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[688,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,4,950156,951435,0,17,1180.6666666666667,1223.3000000000002,0,2,2792.9333333333334,2835.5666666666666,0,2,3312.866666666667,3355.5,0,2,1695.9666666666667,1738.6000000000001,0,14,1786.7333333333333,1829.3666666666668,0,13,868.4333333333333,911.0666666666666,0,1,13924.9,13967.533333333333,0,2,9004.666666666666,9047.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":319,"skill":"Pick","start_frame":48},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":588,"skill":"Wipe","start_frame":319},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":743,"skill":"Place","start_frame":588},{"action_text":"Lower the cup held in the left 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[692,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1292,0,4,955386,956678,0,17,1355.0,1398.0666666666666,0,2,2967.266666666667,3010.3333333333335,0,2,3487.2,3530.2666666666664,0,2,1870.3,1913.3666666666666,0,14,1961.0666666666666,2004.1333333333332,0,13,1042.7666666666667,1085.8333333333333,0,1,14099.233333333334,14142.300000000001,0,2,9179.0,9222.066666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":325,"skill":"Pick","start_frame":55},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":622,"skill":"Wipe","start_frame":325},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":759,"skill":"Place","start_frame":622},{"action_text":"Lower the cup held in the left 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[697,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1284,0,4,961808,963092,0,17,1569.0666666666666,1611.8666666666666,0,2,3181.3333333333335,3224.1333333333337,0,2,3701.266666666667,3744.066666666667,0,2,2084.366666666667,2127.166666666667,0,15,85.56666666666666,128.36666666666667,0,13,1256.8333333333333,1299.6333333333332,0,1,14313.3,14356.099999999999,0,2,9393.066666666668,9435.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":815,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":960,"skill":"Place","start_frame":815},{"action_text":"Lower the cup held in the left 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[703,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,4,969692,970973,0,17,1831.8666666666666,1874.5666666666666,0,2,3444.133333333333,3486.833333333333,0,2,3964.0666666666666,4006.7666666666664,0,2,2347.1666666666665,2389.8666666666663,0,15,348.3666666666667,391.06666666666666,0,13,1519.6333333333334,1562.3333333333335,0,1,14576.1,14618.800000000001,0,2,9655.866666666667,9698.566666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":310,"skill":"Pick","start_frame":88},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":564,"skill":"Wipe","start_frame":310},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":731,"skill":"Place","start_frame":564},{"action_text":"Lower the cup held in the left 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[709,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1265,0,4,977528,978793,0,18,133.0,175.16666666666666,0,2,3705.3333333333335,3747.5,0,2,4225.266666666666,4267.433333333333,0,2,2608.366666666667,2650.5333333333333,0,15,609.5666666666667,651.7333333333333,0,13,1780.8333333333333,1823.0,0,1,14837.3,14879.466666666665,0,2,9917.066666666668,9959.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":321,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":876,"skill":"Wipe","start_frame":321},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":979,"skill":"Place","start_frame":876},{"action_text":"Lower the cup held in the left 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[714,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,4,983945,985218,0,18,346.9,389.3333333333333,0,2,3919.233333333333,3961.6666666666665,0,2,4439.166666666667,4481.6,0,2,2822.266666666667,2864.7000000000003,0,15,823.4666666666667,865.9,0,13,1994.7333333333333,2037.1666666666667,0,1,15051.2,15093.633333333333,0,2,10130.966666666667,10173.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":289,"skill":"Pick","start_frame":54},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":584,"skill":"Wipe","start_frame":289},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":765,"skill":"Place","start_frame":584},{"action_text":"Lower the cup held in the left 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[721,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,4,992887,994178,0,18,644.9666666666667,688.0,0,2,4217.3,4260.333333333334,0,2,4737.233333333334,4780.266666666667,0,2,3120.3333333333335,3163.366666666667,0,15,1121.5333333333333,1164.5666666666666,0,13,2292.8,2335.8333333333335,0,1,15349.266666666666,15392.3,0,2,10429.033333333333,10472.066666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":327,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":909,"skill":"Wipe","start_frame":327},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1040,"skill":"Place","start_frame":909},{"action_text":"Lower the cup held in the left 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[726,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1318,0,4,999514,1000832,0,18,865.8666666666667,909.8,0,2,4438.2,4482.133333333333,0,2,4958.133333333333,5002.066666666667,0,2,3341.233333333333,3385.1666666666665,0,15,1342.4333333333334,1386.3666666666668,0,13,2513.7,2557.633333333333,0,1,15570.166666666666,15614.099999999999,0,2,10649.933333333332,10693.866666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":285,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":723,"skill":"Wipe","start_frame":285},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":871,"skill":"Place","start_frame":723},{"action_text":"Lower the cup held in the left 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[731,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,4,1005974,1007253,0,18,1081.2,1123.8333333333335,0,2,4653.533333333334,4696.166666666667,0,2,5173.466666666666,5216.099999999999,0,2,3556.5666666666666,3599.2,0,15,1557.7666666666667,1600.4,0,14,0.0,42.63333333333333,0,1,15785.5,15828.133333333333,0,2,10865.266666666666,10907.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":267,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":625,"skill":"Wipe","start_frame":267},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":769,"skill":"Place","start_frame":625},{"action_text":"Lower the cup held in the left 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[733,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,4,1008540,1009818,0,18,1166.7333333333333,1209.3333333333333,0,2,4739.066666666667,4781.666666666667,0,2,5259.0,5301.6,0,2,3642.1,3684.7,0,15,1643.3,1685.8999999999999,0,14,85.53333333333333,128.13333333333333,0,1,15871.033333333333,15913.633333333333,0,2,10950.8,10993.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":234,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":692,"skill":"Wipe","start_frame":234},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":841,"skill":"Place","start_frame":692},{"action_text":"Lower the cup held in the left 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[738,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1261,0,4,1014907,1016168,0,18,1378.9666666666667,1421.0,0,2,4951.3,4993.333333333334,0,2,5471.233333333334,5513.266666666667,0,2,3854.3333333333335,3896.366666666667,0,15,1855.5333333333333,1897.5666666666666,0,14,297.76666666666665,339.79999999999995,0,1,16083.266666666666,16125.3,0,2,11163.033333333333,11205.066666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":800,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":908,"skill":"Place","start_frame":800},{"action_text":"Lower the cup held in the left 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[746,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,5,1025194,1026476,0,19,44.03333333333333,86.76666666666667,0,2,5294.2,5336.933333333333,0,2,5814.133333333333,5856.866666666667,0,2,4197.233333333334,4239.966666666667,0,16,300.8666666666667,343.6,0,14,640.6666666666666,683.4,0,1,16426.166666666668,16468.9,0,2,11505.933333333332,11548.666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":276,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":681,"skill":"Wipe","start_frame":276},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":852,"skill":"Place","start_frame":681},{"action_text":"Lower the cup held in the left 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[750,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,5,1030486,1031753,0,19,220.43333333333334,262.6666666666667,0,2,5470.6,5512.833333333334,0,2,5990.533333333334,6032.766666666667,0,2,4373.633333333333,4415.866666666667,0,16,477.26666666666665,519.5,0,14,817.0666666666667,859.3000000000001,0,1,16602.566666666666,16644.8,0,2,11682.333333333334,11724.566666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":252,"skill":"Pick","start_frame":11},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":743,"skill":"Wipe","start_frame":252},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":905,"skill":"Place","start_frame":743},{"action_text":"Lower the cup held in the left 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[755,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,5,1037203,1038498,0,19,444.3333333333333,487.5,0,2,5694.5,5737.666666666667,0,2,6214.433333333333,6257.6,0,2,4597.533333333334,4640.700000000001,0,16,701.1666666666666,744.3333333333333,0,14,1040.9666666666667,1084.1333333333334,0,1,16826.466666666667,16869.633333333335,0,2,11906.233333333334,11949.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":303,"skill":"Pick","start_frame":74},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":652,"skill":"Wipe","start_frame":303},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":796,"skill":"Place","start_frame":652},{"action_text":"Lower the cup held in the left 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[763,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,5,1047567,1048827,0,19,789.8,831.8,0,2,6039.966666666666,6081.966666666666,0,2,6559.9,6601.9,0,2,4943.0,4985.0,0,16,1046.6333333333334,1088.6333333333334,0,14,1386.4333333333334,1428.4333333333334,0,1,17171.933333333334,17213.933333333334,0,3,171.7,213.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":257,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":793,"skill":"Wipe","start_frame":257},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":877,"skill":"Place","start_frame":793},{"action_text":"Lower the cup held in the left 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[767,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,5,1052653,1053934,0,19,959.3333333333334,1002.0333333333334,0,2,6209.5,6252.2,0,2,6729.433333333333,6772.133333333333,0,2,5112.533333333334,5155.233333333334,0,16,1216.1666666666667,1258.8666666666668,0,14,1555.9666666666667,1598.6666666666667,0,1,17341.466666666667,17384.166666666668,0,3,341.23333333333335,383.93333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":205,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":731,"skill":"Wipe","start_frame":205},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":925,"skill":"Place","start_frame":731},{"action_text":"Lower the cup held in the left 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[772,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,5,1059084,1060367,0,19,1173.7,1216.4666666666667,0,2,6423.866666666667,6466.633333333333,0,2,6943.8,6986.566666666667,0,2,5326.9,5369.666666666666,0,16,1430.5333333333333,1473.3,0,14,1770.3333333333333,1813.1,0,1,17555.833333333332,17598.6,0,3,555.6,598.3666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":661,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":817,"skill":"Place","start_frame":661},{"action_text":"Lower the cup held in the left 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[779,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1300,0,5,1068211,1069511,0,19,1477.9333333333334,1521.2666666666667,0,2,6728.1,6771.433333333333,0,2,7248.033333333334,7291.366666666667,0,2,5631.133333333333,5674.466666666666,0,16,1734.7666666666667,1778.1,0,14,2074.5666666666666,2117.9,0,1,17860.066666666666,17903.399999999998,0,3,859.8333333333334,903.1666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":262,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":726,"skill":"Wipe","start_frame":262},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":913,"skill":"Place","start_frame":726},{"action_text":"Lower the cup held in the left 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[784,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,5,1074851,1076146,0,20,85.4,128.56666666666666,0,2,6949.433333333333,6992.6,0,2,7469.366666666667,7512.533333333334,0,2,5852.466666666666,5895.633333333333,0,17,127.7,170.86666666666667,0,14,2295.9,2339.0666666666666,0,1,18081.4,18124.56666666667,0,3,1081.1666666666667,1124.3333333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":264,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":715,"skill":"Wipe","start_frame":264},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":849,"skill":"Place","start_frame":715},{"action_text":"Lower the cup held in the left 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[789,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,5,1081592,1082867,0,20,310.1,352.6,0,2,7174.133333333333,7216.633333333333,0,2,7694.066666666667,7736.566666666667,0,2,6077.166666666667,6119.666666666667,0,17,352.4,394.9,0,15,86.63333333333334,129.13333333333333,0,2,181.53333333333333,224.03333333333333,0,3,1305.8666666666666,1348.3666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":277,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":588,"skill":"Wipe","start_frame":277},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":726,"skill":"Place","start_frame":588},{"action_text":"Lower the cup held in the left 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[796,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,5,1090634,1091915,0,20,611.5,654.2,0,2,7475.533333333334,7518.233333333334,0,2,7995.466666666666,8038.166666666666,0,2,6378.566666666667,6421.266666666666,0,17,653.8,696.5,0,15,388.03333333333336,430.73333333333335,0,2,482.93333333333334,525.6333333333333,0,3,1607.2666666666667,1649.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":232,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":641,"skill":"Wipe","start_frame":232},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":771,"skill":"Place","start_frame":641},{"action_text":"Lower the cup held in the left 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[801,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1582,0,5,1097098,1098680,0,20,826.9666666666667,879.7,0,2,7691.0,7743.733333333334,0,2,8210.933333333332,8263.666666666666,0,2,6594.033333333334,6646.766666666667,0,17,869.2666666666667,922.0,0,15,603.5,656.2333333333333,0,2,698.4,751.1333333333333,0,3,1822.7333333333333,1875.4666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":399,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1262,"skill":"Wipe","start_frame":399},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1372,"skill":"Place","start_frame":1262},{"action_text":"Lower the cup held in the left 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[806,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,5,1103821,1105103,0,20,1051.0666666666666,1093.8,0,2,7915.1,7957.833333333334,0,2,8435.033333333333,8477.766666666666,0,2,6818.133333333333,6860.866666666667,0,17,1093.3666666666666,1136.1,0,15,827.6,870.3333333333334,0,2,922.5,965.2333333333333,0,3,2046.8333333333333,2089.5666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":220,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":771,"skill":"Wipe","start_frame":220},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":917,"skill":"Place","start_frame":771},{"action_text":"Lower the cup held in the left 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[808,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1296,0,5,1106404,1107700,0,20,1137.1666666666667,1180.3666666666668,0,2,8001.2,8044.4,0,2,8521.133333333333,8564.333333333334,0,2,6904.233333333334,6947.433333333333,0,17,1179.4666666666667,1222.6666666666667,0,15,913.7,956.9000000000001,0,2,1008.6,1051.8,0,3,2132.9333333333334,2176.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":220,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":777,"skill":"Wipe","start_frame":220},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":919,"skill":"Place","start_frame":777},{"action_text":"Lower the cup held in the left 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[815,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1317,0,5,1116015,1117332,0,20,1457.5333333333333,1501.4333333333334,0,2,8321.566666666668,8365.466666666667,0,2,8841.5,8885.4,0,2,7224.6,7268.5,0,17,1499.8333333333333,1543.7333333333333,0,15,1234.0666666666666,1277.9666666666667,0,2,1328.9666666666667,1372.8666666666668,0,3,2453.3,2497.2000000000003,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":266,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":773,"skill":"Wipe","start_frame":266},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":927,"skill":"Place","start_frame":773},{"action_text":"Lower the cup held in the left 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[820,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1345,0,5,1122577,1123922,0,20,1676.2666666666667,1721.1,0,2,8540.3,8585.133333333333,0,2,9060.233333333334,9105.066666666668,0,2,7443.333333333333,7488.166666666666,0,17,1718.5666666666666,1763.3999999999999,0,15,1452.8,1497.6333333333332,0,2,1547.7,1592.5333333333333,0,3,2672.0333333333333,2716.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":924,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1056,"skill":"Place","start_frame":924},{"action_text":"Lower the cup held in the left 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[825,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1591,0,5,1129644,1131235,0,21,95.96666666666667,149.0,0,2,8775.866666666667,8828.9,0,2,9295.8,9348.833333333332,0,2,7678.9,7731.933333333333,0,18,0.0,53.03333333333333,0,15,1688.3666666666666,1741.3999999999999,0,2,1783.2666666666667,1836.3,0,3,2907.6,2960.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":376,"skill":"Pick","start_frame":10},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1200,"skill":"Wipe","start_frame":376},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1339,"skill":"Place","start_frame":1200},{"action_text":"Lower the cup held in the left 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[832,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1266,0,5,1139716,1140982,0,21,431.7,473.9,0,2,9111.6,9153.800000000001,0,2,9631.533333333333,9673.733333333334,0,2,8014.633333333333,8056.833333333333,0,18,335.73333333333335,377.93333333333334,0,15,2024.1,2066.2999999999997,0,2,2119.0,2161.2,0,3,3243.3333333333335,3285.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":260,"skill":"Pick","start_frame":47},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":547,"skill":"Wipe","start_frame":260},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":673,"skill":"Place","start_frame":547},{"action_text":"Lower the cup held in the left 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[837,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1680,0,5,1146204,1147884,0,21,647.9666666666667,703.9666666666667,0,2,9327.866666666667,9383.866666666667,0,2,9847.8,9903.8,0,2,8230.9,8286.9,0,18,552.0,608.0,0,15,2240.366666666667,2296.366666666667,0,2,2335.266666666667,2391.266666666667,0,3,3459.6,3515.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":386,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1340,"skill":"Wipe","start_frame":386},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1454,"skill":"Place","start_frame":1340},{"action_text":"Lower the cup held in the left 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[843,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1295,0,5,1154389,1155684,0,21,920.8,963.9666666666666,0,2,9600.7,9643.866666666667,0,2,10120.633333333333,10163.8,0,2,8503.733333333334,8546.9,0,18,824.8333333333334,868.0,0,16,216.83333333333334,260.0,0,2,2608.1,2651.2666666666664,0,3,3732.4333333333334,3775.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":269,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":675,"skill":"Wipe","start_frame":269},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":827,"skill":"Place","start_frame":675},{"action_text":"Lower the cup held in the left 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[849,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,5,1162975,1164239,0,21,1207.0,1249.1333333333334,0,2,9886.9,9929.033333333333,0,2,10406.833333333334,10448.966666666667,0,2,8789.933333333332,8832.066666666666,0,18,1111.0333333333333,1153.1666666666667,0,16,503.03333333333336,545.1666666666667,0,2,2894.3,2936.4333333333334,0,3,4018.633333333333,4060.7666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":759,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":887,"skill":"Place","start_frame":759},{"action_text":"Lower the cup held in the left 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[854,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1305,0,5,1169540,1170845,0,21,1425.8333333333333,1469.3333333333333,0,2,10105.733333333334,10149.233333333334,0,2,10625.666666666666,10669.166666666666,0,2,9008.766666666666,9052.266666666666,0,18,1329.8666666666666,1373.3666666666666,0,16,721.8666666666667,765.3666666666667,0,2,3113.133333333333,3156.633333333333,0,3,4237.466666666666,4280.966666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":788,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":910,"skill":"Place","start_frame":788},{"action_text":"Lower the cup held in the left 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[860,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,5,1177555,1178823,0,22,137.46666666666667,179.73333333333335,0,2,10372.9,10415.166666666666,0,2,10892.833333333334,10935.1,0,2,9275.933333333332,9318.199999999999,0,18,1597.0333333333333,1639.3,0,16,989.0333333333333,1031.3,0,2,3380.3,3422.566666666667,0,3,4504.633333333333,4546.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":284,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":578,"skill":"Wipe","start_frame":284},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":698,"skill":"Place","start_frame":578},{"action_text":"Lower the cup held in the left 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[866,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1303,0,5,1185204,1186507,0,22,392.43333333333334,435.8666666666667,0,2,10627.866666666667,10671.3,0,2,11147.8,11191.233333333332,0,2,9530.9,9574.333333333332,0,18,1852.0,1895.4333333333334,0,16,1244.0,1287.4333333333334,0,2,3635.266666666667,3678.7000000000003,0,3,4759.6,4803.033333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":742,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":852,"skill":"Place","start_frame":742},{"action_text":"Lower the cup held in the left 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[871,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1789,0,5,1191605,1193394,0,22,605.8,665.4333333333333,0,2,10841.233333333334,10900.866666666667,0,2,11361.166666666666,11420.8,0,2,9744.266666666666,9803.9,0,19,85.36666666666666,145.0,0,16,1457.3666666666666,1517.0,0,2,3848.633333333333,3908.2666666666664,0,3,4972.966666666666,5032.599999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":373,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1453,"skill":"Wipe","start_frame":373},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1559,"skill":"Place","start_frame":1453},{"action_text":"Lower the cup held in the left 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[875,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,5,1197220,1198476,0,22,792.9666666666667,834.8333333333334,0,2,11028.4,11070.266666666666,0,2,11548.333333333334,11590.2,0,2,9931.433333333332,9973.3,0,19,272.53333333333336,314.40000000000003,0,16,1644.5333333333333,1686.3999999999999,0,2,4035.8,4077.666666666667,0,3,5160.133333333333,5202.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":868,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":955,"skill":"Place","start_frame":868},{"action_text":"Lower the cup held in the left 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[878,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1263,0,5,1201037,1202300,0,22,920.2,962.3000000000001,0,2,11155.633333333333,11197.733333333334,0,2,11675.566666666668,11717.666666666668,0,2,10058.666666666666,10100.766666666666,0,19,399.76666666666665,441.8666666666667,0,16,1771.7666666666667,1813.8666666666666,0,2,4163.033333333334,4205.133333333334,0,3,5287.366666666667,5329.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":223,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":521,"skill":"Wipe","start_frame":223},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":648,"skill":"Place","start_frame":521},{"action_text":"Lower the cup held in the left 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[884,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1286,0,5,1208744,1210030,0,22,1177.1,1219.9666666666665,0,2,11412.533333333333,11455.4,0,2,11932.466666666667,11975.333333333334,0,2,10315.566666666668,10358.433333333334,0,19,656.6666666666666,699.5333333333333,0,16,2028.6666666666667,2071.5333333333333,0,2,4419.933333333333,4462.8,0,3,5544.266666666666,5587.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":255,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":610,"skill":"Wipe","start_frame":255},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":730,"skill":"Place","start_frame":610},{"action_text":"Lower the cup held in the left 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[892,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1427,0,5,1219277,1220704,0,22,1528.2,1575.7666666666667,0,2,11763.633333333333,11811.2,0,2,12283.566666666668,12331.133333333335,0,2,10666.666666666666,10714.233333333334,0,19,1007.7666666666667,1055.3333333333333,0,17,0.0,47.56666666666667,0,2,4771.033333333334,4818.6,0,3,5895.366666666667,5942.933333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":281,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":852,"skill":"Wipe","start_frame":281},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":913,"skill":"Place","start_frame":852},{"action_text":"Lower the cup held in the left 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[895,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1325,0,6,1223224,1224549,0,23,41.766666666666666,85.93333333333334,0,2,11895.2,11939.366666666667,0,2,12415.133333333333,12459.3,0,2,10798.233333333334,10842.4,0,19,1139.3333333333333,1183.5,0,17,131.56666666666666,175.73333333333332,0,2,4902.6,4946.766666666667,0,3,6026.933333333333,6071.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":233,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":965,"skill":"Wipe","start_frame":233},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1031,"skill":"Place","start_frame":965},{"action_text":"Lower the cup held in the left 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[901,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,6,1231569,1232841,0,23,319.93333333333334,362.3333333333333,0,2,12173.366666666667,12215.766666666666,0,2,12693.3,12735.699999999999,0,2,11076.4,11118.8,0,19,1417.5,1459.9,0,17,409.73333333333335,452.1333333333333,0,2,5180.766666666666,5223.166666666666,0,3,6305.1,6347.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":291,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":583,"skill":"Wipe","start_frame":291},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":731,"skill":"Place","start_frame":583},{"action_text":"Lower the cup held in the left 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[909,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,6,1241959,1243240,0,23,666.2666666666667,708.9666666666667,0,2,12519.7,12562.400000000001,0,2,13039.633333333333,13082.333333333334,0,2,11422.733333333334,11465.433333333334,0,20,176.1,218.8,0,17,756.0666666666667,798.7666666666668,0,2,5527.1,5569.8,0,3,6651.433333333333,6694.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":240,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":815,"skill":"Wipe","start_frame":240},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":853,"skill":"Place","start_frame":815},{"action_text":"Lower the cup held in the left 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[912,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1289,0,6,1245796,1247085,0,23,794.1666666666666,837.1333333333333,0,2,12647.6,12690.566666666668,0,2,13167.533333333333,13210.5,0,2,11550.633333333333,11593.6,0,20,304.0,346.9666666666667,0,17,883.9666666666667,926.9333333333334,0,2,5655.0,5697.966666666666,0,3,6779.333333333333,6822.299999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":337,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":645,"skill":"Wipe","start_frame":337},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":774,"skill":"Place","start_frame":645},{"action_text":"Lower the cup held in the left 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[918,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1292,0,6,1253566,1254858,0,23,1053.1666666666667,1096.2333333333333,0,2,12906.6,12949.666666666668,0,2,13426.533333333333,13469.6,0,2,11809.633333333333,11852.7,0,20,563.0,606.0666666666667,0,17,1142.9666666666667,1186.0333333333333,0,2,5914.0,5957.066666666667,0,3,7038.333333333333,7081.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":221,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":805,"skill":"Wipe","start_frame":221},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":885,"skill":"Place","start_frame":805},{"action_text":"Lower the cup held in the left 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[924,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1419,0,6,1261293,1262712,0,23,1310.7333333333333,1358.0333333333333,0,3,41.93333333333333,89.23333333333332,0,2,13684.1,13731.4,0,2,12067.2,12114.5,0,20,820.5666666666667,867.8666666666667,0,17,1400.5333333333333,1447.8333333333333,0,2,6171.566666666667,6218.866666666667,0,3,7295.9,7343.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":254,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":760,"skill":"Wipe","start_frame":254},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":924,"skill":"Place","start_frame":760},{"action_text":"Lower the cup held in the left 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[930,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,6,1269210,1270482,0,24,0.0,42.4,0,3,305.8333333333333,348.2333333333333,0,2,13948.0,13990.4,0,2,12331.1,12373.5,0,20,1084.4666666666667,1126.8666666666668,0,17,1664.4333333333334,1706.8333333333335,0,2,6435.466666666666,6477.866666666666,0,3,7559.8,7602.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":347,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":633,"skill":"Wipe","start_frame":347},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":804,"skill":"Place","start_frame":633},{"action_text":"Lower the cup held in the left 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[935,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,6,1275863,1277135,0,24,221.76666666666668,264.1666666666667,0,3,527.6,570.0,0,2,14169.766666666666,14212.166666666666,0,2,12552.866666666667,12595.266666666666,0,20,1306.2333333333333,1348.6333333333334,0,17,1886.2,1928.6000000000001,0,2,6657.233333333334,6699.633333333333,0,3,7781.566666666667,7823.966666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":333,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":709,"skill":"Wipe","start_frame":333},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":896,"skill":"Place","start_frame":709},{"action_text":"Lower the cup held in the left 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[941,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,6,1283579,1284854,0,24,478.96666666666664,521.4666666666667,0,3,784.8,827.3,0,3,87.06666666666666,129.56666666666666,0,3,87.06666666666666,129.56666666666666,0,20,1563.4333333333334,1605.9333333333334,0,17,2143.4,2185.9,0,2,6914.433333333333,6956.933333333333,0,3,8038.766666666666,8081.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":206,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":652,"skill":"Wipe","start_frame":206},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":778,"skill":"Place","start_frame":652},{"action_text":"Lower the cup held in the left 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[942,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1557,0,6,1284854,1286411,0,24,521.4666666666667,573.3666666666667,0,3,827.3,879.1999999999999,0,3,129.56666666666666,181.46666666666667,0,3,129.56666666666666,181.46666666666667,0,21,0.0,51.9,0,17,2185.9,2237.8,0,2,6956.933333333333,7008.833333333333,0,3,8081.266666666666,8133.166666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":347,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":920,"skill":"Wipe","start_frame":347},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1124,"skill":"Place","start_frame":920},{"action_text":"Lower the cup held in the left 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[952,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1489,0,6,1298567,1300056,0,24,978.5666666666667,1028.2,0,3,1284.4,1334.0333333333335,0,3,586.6666666666666,636.3,0,3,586.6666666666666,636.3,0,21,457.1,506.73333333333335,0,18,363.0,412.6333333333333,0,2,7414.033333333334,7463.666666666667,0,3,8538.366666666667,8588.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":315,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1084,"skill":"Wipe","start_frame":315},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1157,"skill":"Place","start_frame":1084},{"action_text":"Lower the cup held in the left 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[954,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1301,0,6,1301346,1302647,0,24,1071.2,1114.5666666666666,0,3,1377.0333333333333,1420.3999999999999,0,3,679.3,722.6666666666666,0,3,679.3,722.6666666666666,0,21,549.7333333333333,593.1,0,18,455.6333333333333,499.0,0,2,7506.666666666667,7550.033333333334,0,3,8631.0,8674.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":258,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":656,"skill":"Wipe","start_frame":258},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":754,"skill":"Place","start_frame":656},{"action_text":"Lower the cup held in the left 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[959,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,6,1308352,1309658,0,24,1304.7333333333333,1348.2666666666667,0,3,1610.5666666666666,1654.1,0,3,912.8333333333334,956.3666666666667,0,3,912.8333333333334,956.3666666666667,0,21,783.2666666666667,826.8,0,18,689.1666666666666,732.6999999999999,0,2,7740.2,7783.733333333334,0,3,8864.533333333333,8908.066666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":721,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":855,"skill":"Place","start_frame":721},{"action_text":"Lower the cup held in the left 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[963,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1418,0,6,1313940,1315358,0,24,1491.0,1538.2666666666667,0,3,1796.8333333333333,1844.1,0,3,1099.1,1146.3666666666666,0,3,1099.1,1146.3666666666666,0,21,969.5333333333333,1016.8,0,18,875.4333333333333,922.6999999999999,0,2,7926.466666666666,7973.733333333333,0,3,9050.8,9098.066666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":426,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":903,"skill":"Wipe","start_frame":426},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1111,"skill":"Place","start_frame":903},{"action_text":"Lower the cup held in the left 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[971,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,6,1324658,1325914,0,25,265.8,307.6666666666667,0,3,2154.1,2195.9666666666667,0,3,1456.3666666666666,1498.2333333333331,0,3,1456.3666666666666,1498.2333333333331,0,21,1326.8,1368.6666666666665,0,18,1232.7,1274.5666666666666,0,2,8283.733333333334,8325.6,0,3,9408.066666666668,9449.933333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":377,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":713,"skill":"Wipe","start_frame":377},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":899,"skill":"Place","start_frame":713},{"action_text":"Lower the cup held in the left 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[978,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1402,0,6,1334051,1335453,0,25,578.9,625.6333333333333,0,3,2467.2,2513.933333333333,0,3,1769.4666666666667,1816.2,0,3,1769.4666666666667,1816.2,0,21,1639.9,1686.6333333333334,0,18,1545.8,1592.5333333333333,0,2,8596.833333333334,8643.566666666668,0,3,9721.166666666666,9767.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":310,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":976,"skill":"Wipe","start_frame":310},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1122,"skill":"Place","start_frame":976},{"action_text":"Lower the cup held in the left 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[982,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1595,0,6,1340036,1341631,0,25,778.4,831.5666666666666,0,3,2666.7,2719.8666666666663,0,3,1968.9666666666667,2022.1333333333334,0,3,1968.9666666666667,2022.1333333333334,0,21,1839.4,1892.5666666666668,0,18,1745.3,1798.4666666666667,0,2,8796.333333333334,8849.5,0,3,9920.666666666666,9973.833333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":306,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1230,"skill":"Wipe","start_frame":306},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1274,"skill":"Place","start_frame":1230},{"action_text":"Lower the cup held in the left 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[988,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1808,0,6,1349821,1351629,0,25,1104.5666666666666,1164.8333333333333,0,3,2992.866666666667,3053.1333333333337,0,3,2295.133333333333,2355.4,0,3,2295.133333333333,2355.4,0,22,273.0,333.26666666666665,0,18,2071.4666666666667,2131.7333333333336,0,2,9122.5,9182.766666666666,0,3,10246.833333333334,10307.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":305,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1387,"skill":"Wipe","start_frame":305},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1480,"skill":"Place","start_frame":1387},{"action_text":"Lower the cup held in the left 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[995,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1382,0,6,1361056,1362438,0,25,1479.0666666666666,1525.1333333333332,0,3,3367.366666666667,3413.4333333333334,0,3,2669.633333333333,2715.7,0,3,2669.633333333333,2715.7,0,22,647.5,693.5666666666667,0,19,265.26666666666665,311.3333333333333,0,2,9497.0,9543.066666666668,0,3,10621.333333333334,10667.400000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":377,"skill":"Pick","start_frame":74},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":969,"skill":"Wipe","start_frame":377},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1050,"skill":"Place","start_frame":969},{"action_text":"Lower the cup held in the left 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[1000,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1274,0,6,1367579,1368853,0,26,171.36666666666667,213.83333333333334,0,3,3584.8,3627.266666666667,0,3,2887.0666666666666,2929.5333333333333,0,3,2887.0666666666666,2929.5333333333333,0,22,864.9333333333333,907.4,0,19,482.7,525.1666666666666,0,2,9714.433333333332,9756.9,0,3,10838.766666666666,10881.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":808,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":949,"skill":"Place","start_frame":808},{"action_text":"Lower the cup held in the left 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[1005,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1473,0,6,1374036,1375509,0,26,386.6,435.70000000000005,0,3,3800.0333333333333,3849.133333333333,0,3,3102.3,3151.4,0,3,3102.3,3151.4,0,22,1080.1666666666667,1129.2666666666667,0,19,697.9333333333333,747.0333333333333,0,2,9929.666666666666,9978.766666666666,0,3,11054.0,11103.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":282,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":964,"skill":"Wipe","start_frame":282},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1164,"skill":"Place","start_frame":964},{"action_text":"Lower the cup held in the left 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[1006,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1272,0,6,1375509,1376781,0,26,435.7,478.09999999999997,0,3,3849.133333333333,3891.5333333333333,0,3,3151.4,3193.8,0,3,3151.4,3193.8,0,22,1129.2666666666667,1171.6666666666667,0,19,747.0333333333333,789.4333333333333,0,2,9978.766666666666,10021.166666666666,0,3,11103.1,11145.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":262,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":795,"skill":"Wipe","start_frame":262},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":961,"skill":"Place","start_frame":795},{"action_text":"Lower the cup held in the left 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[1012,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2523,0,6,1384198,1386721,0,26,725.3333333333334,809.4333333333334,0,3,4138.766666666666,4222.866666666667,0,3,3441.0333333333333,3525.133333333333,0,3,3441.0333333333333,3525.133333333333,0,22,1418.9,1503.0,0,19,1036.6666666666667,1120.7666666666667,0,2,10268.4,10352.5,0,4,204.73333333333332,288.8333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":383,"skill":"Pick","start_frame":71},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1780,"skill":"Wipe","start_frame":383},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1941,"skill":"Place","start_frame":1780},{"action_text":"Lower the cup held in the left 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[1017,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1400,0,6,1392779,1394179,0,26,1011.3666666666667,1058.0333333333333,0,3,4424.8,4471.466666666667,0,3,3727.0666666666666,3773.733333333333,0,3,3727.0666666666666,3773.733333333333,0,22,1704.9333333333334,1751.6000000000001,0,19,1322.7,1369.3666666666668,0,2,10554.433333333332,10601.099999999999,0,4,490.76666666666665,537.4333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":316,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1040,"skill":"Wipe","start_frame":316},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1139,"skill":"Place","start_frame":1040},{"action_text":"Lower the cup held in the left 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[1027,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1260,0,6,1406326,1407586,0,26,1462.9333333333334,1504.9333333333334,0,3,4876.366666666667,4918.366666666667,0,3,4178.633333333333,4220.633333333333,0,3,4178.633333333333,4220.633333333333,0,23,225.36666666666667,267.3666666666667,0,19,1774.2666666666667,1816.2666666666667,0,2,11006.0,11048.0,0,4,942.3333333333334,984.3333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":362,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":896,"skill":"Wipe","start_frame":362},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":965,"skill":"Place","start_frame":896},{"action_text":"Lower the cup held in the left 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[1029,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,6,1408883,1410171,0,27,0.0,42.93333333333333,0,3,4961.6,5004.533333333334,0,3,4263.866666666667,4306.8,0,3,4263.866666666667,4306.8,0,23,310.6,353.53333333333336,0,19,1859.5,1902.4333333333334,0,2,11091.233333333334,11134.166666666666,0,4,1027.5666666666666,1070.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":333,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":927,"skill":"Wipe","start_frame":333},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1018,"skill":"Place","start_frame":927},{"action_text":"Lower the cup held in the left 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[1038,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1253,0,6,1420754,1422007,0,27,395.7,437.46666666666664,0,3,5357.3,5399.066666666667,0,3,4659.566666666667,4701.333333333333,0,3,4659.566666666667,4701.333333333333,0,23,706.3,748.0666666666666,0,20,171.06666666666666,212.83333333333331,0,2,11486.933333333332,11528.699999999999,0,4,1423.2666666666667,1465.0333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":778,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":863,"skill":"Place","start_frame":778},{"action_text":"Lower the cup held in the left 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[1041,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,6,1424632,1425899,0,27,524.9666666666667,567.2,0,3,5486.566666666667,5528.8,0,3,4788.833333333333,4831.066666666667,0,3,4788.833333333333,4831.066666666667,0,23,835.5666666666667,877.8000000000001,0,20,300.3333333333333,342.56666666666666,0,2,11616.2,11658.433333333334,0,4,1552.5333333333333,1594.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":324,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":810,"skill":"Wipe","start_frame":324},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":900,"skill":"Place","start_frame":810},{"action_text":"Lower the cup held in the left 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[1046,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1257,0,7,1431048,1432305,0,27,738.8333333333334,780.7333333333333,0,3,5700.433333333333,5742.333333333333,0,3,5002.7,5044.599999999999,0,3,5002.7,5044.599999999999,0,23,1049.4333333333334,1091.3333333333335,0,20,514.2,556.1,0,2,11830.066666666668,11871.966666666667,0,4,1766.4,1808.3000000000002,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":255,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":784,"skill":"Wipe","start_frame":255},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":881,"skill":"Place","start_frame":784},{"action_text":"Lower the cup held in the left 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[1049,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1318,0,7,1435031,1436349,0,27,871.6,915.5333333333333,0,3,5833.2,5877.133333333333,0,3,5135.466666666666,5179.4,0,3,5135.466666666666,5179.4,0,23,1182.2,1226.1333333333334,0,20,646.9666666666667,690.9,0,2,11962.833333333334,12006.766666666666,0,4,1899.1666666666667,1943.1000000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":381,"skill":"Pick","start_frame":68},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1044,"skill":"Wipe","start_frame":381},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1131,"skill":"Place","start_frame":1044},{"action_text":"Lower the cup held in the left 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[1058,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1359,0,7,1446630,1447989,0,27,1258.2333333333333,1303.5333333333333,0,3,6219.833333333333,6265.133333333333,0,3,5522.1,5567.400000000001,0,3,5522.1,5567.400000000001,0,23,1568.8333333333333,1614.1333333333332,0,20,1033.6,1078.8999999999999,0,2,12349.466666666667,12394.766666666666,0,4,2285.8,2331.1000000000004,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":357,"skill":"Pick","start_frame":63},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1034,"skill":"Wipe","start_frame":357},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1136,"skill":"Place","start_frame":1034},{"action_text":"Lower the cup held in the left 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[1063,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1451,0,7,1453253,1454704,0,28,44.166666666666664,92.53333333333333,0,3,6440.6,6488.966666666667,0,3,5742.866666666667,5791.233333333334,0,3,5742.866666666667,5791.233333333334,0,24,89.36666666666666,137.73333333333332,0,20,1254.3666666666666,1302.7333333333331,0,2,12570.233333333334,12618.6,0,4,2506.5666666666666,2554.9333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":333,"skill":"Pick","start_frame":56},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1092,"skill":"Wipe","start_frame":333},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1190,"skill":"Place","start_frame":1092},{"action_text":"Lower the cup held in the left 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[1070,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1348,0,7,1462621,1463969,0,28,356.43333333333334,401.3666666666667,0,3,6752.866666666667,6797.8,0,3,6055.133333333333,6100.066666666667,0,3,6055.133333333333,6100.066666666667,0,24,401.6333333333333,446.56666666666666,0,20,1566.6333333333334,1611.5666666666668,0,2,12882.5,12927.433333333332,0,4,2818.8333333333335,2863.766666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":798,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":988,"skill":"Place","start_frame":798},{"action_text":"Lower the cup held in the left 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[1075,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,7,1469456,1470712,0,28,584.2666666666667,626.1333333333333,0,3,6980.7,7022.566666666667,0,3,6282.966666666666,6324.833333333333,0,3,6282.966666666666,6324.833333333333,0,24,629.4666666666667,671.3333333333334,0,20,1794.4666666666667,1836.3333333333333,0,2,13110.333333333334,13152.2,0,4,3046.6666666666665,3088.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":241,"skill":"Pick","start_frame":12},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":601,"skill":"Wipe","start_frame":241},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":677,"skill":"Place","start_frame":601},{"action_text":"Lower the cup held in the left 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[1081,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1257,0,7,1477086,1478343,0,28,838.6,880.5,0,3,7235.033333333334,7276.933333333333,0,3,6537.3,6579.2,0,3,6537.3,6579.2,0,24,883.8,925.6999999999999,0,21,84.4,126.30000000000001,0,2,13364.666666666666,13406.566666666666,0,4,3301.0,3342.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":233,"skill":"Pick","start_frame":9},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":584,"skill":"Wipe","start_frame":233},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":677,"skill":"Place","start_frame":584},{"action_text":"Lower the cup held in the left 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[1082,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1360,0,7,1478343,1479703,0,28,880.5,925.8333333333334,0,3,7276.933333333333,7322.266666666666,0,3,6579.2,6624.533333333333,0,3,6579.2,6624.533333333333,0,24,925.7,971.0333333333334,0,21,126.3,171.63333333333333,0,2,13406.566666666668,13451.900000000001,0,4,3342.9,3388.2333333333336,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":252,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":938,"skill":"Wipe","start_frame":252},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1050,"skill":"Place","start_frame":938},{"action_text":"Lower the cup held in the left 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[1087,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,7,1485520,1486822,0,28,1119.7333333333333,1163.1333333333334,0,3,7516.166666666667,7559.566666666667,0,3,6818.433333333333,6861.833333333333,0,3,6818.433333333333,6861.833333333333,0,24,1164.9333333333334,1208.3333333333335,0,21,365.53333333333336,408.93333333333334,0,2,13645.8,13689.199999999999,0,4,3582.133333333333,3625.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":224,"skill":"Pick","start_frame":19},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":513,"skill":"Wipe","start_frame":224},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":599,"skill":"Place","start_frame":513},{"action_text":"Lower the cup held in the left 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[1092,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,7,1492421,1493702,0,28,1349.7666666666667,1392.4666666666667,0,3,7746.2,7788.9,0,3,7048.466666666666,7091.166666666666,0,3,7048.466666666666,7091.166666666666,0,24,1394.9666666666667,1437.6666666666667,0,21,595.5666666666667,638.2666666666668,0,2,13875.833333333334,13918.533333333335,0,4,3812.1666666666665,3854.8666666666663,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":316,"skill":"Pick","start_frame":59},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1004,"skill":"Wipe","start_frame":316},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1088,"skill":"Place","start_frame":1004},{"action_text":"Lower the cup held in the left 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[1099,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,7,1501466,1502743,0,29,258.8,301.3666666666667,0,3,8047.7,8090.266666666666,0,3,7349.966666666666,7392.533333333333,0,3,7349.966666666666,7392.533333333333,0,25,0.0,42.56666666666667,0,21,897.0666666666667,939.6333333333334,0,2,14177.333333333334,14219.900000000001,0,4,4113.666666666667,4156.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":228,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":661,"skill":"Wipe","start_frame":228},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":782,"skill":"Place","start_frame":661},{"action_text":"Lower the cup held in the left 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[1104,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,7,1507781,1509037,0,29,469.3,511.1666666666667,0,3,8258.2,8300.066666666668,0,3,7560.466666666666,7602.333333333333,0,3,7560.466666666666,7602.333333333333,0,25,210.5,252.36666666666667,0,21,1107.5666666666666,1149.4333333333332,0,2,14387.833333333334,14429.7,0,4,4324.166666666667,4366.033333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":244,"skill":"Pick","start_frame":9},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":680,"skill":"Wipe","start_frame":244},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":755,"skill":"Place","start_frame":680},{"action_text":"Lower the cup held in the left 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[1113,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,7,1520033,1521314,0,29,877.7,920.4000000000001,0,3,8666.6,8709.300000000001,0,3,7968.866666666667,8011.566666666667,0,3,7968.866666666667,8011.566666666667,0,25,618.9,661.6,0,21,1515.9666666666667,1558.6666666666667,0,2,14796.233333333334,14838.933333333334,0,4,4732.566666666667,4775.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":256,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":685,"skill":"Wipe","start_frame":256},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":812,"skill":"Place","start_frame":685},{"action_text":"Lower the cup held in the left 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[1116,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,7,1524514,1525793,0,29,1027.0666666666666,1069.7,0,3,8815.966666666667,8858.6,0,3,8118.233333333334,8160.866666666667,0,3,8118.233333333334,8160.866666666667,0,25,768.2666666666667,810.9,0,22,0.0,42.63333333333333,0,2,14945.6,14988.233333333334,0,4,4881.933333333333,4924.566666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":230,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":544,"skill":"Wipe","start_frame":230},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":689,"skill":"Place","start_frame":544},{"action_text":"Lower the cup held in the left 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[1121,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1258,0,7,1530849,1532107,0,29,1238.2333333333333,1280.1666666666667,0,3,9027.133333333333,9069.066666666666,0,3,8329.4,8371.333333333332,0,3,8329.4,8371.333333333332,0,25,979.4333333333333,1021.3666666666666,0,22,211.16666666666666,253.1,0,2,15156.766666666666,15198.699999999999,0,4,5093.1,5135.033333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":275,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":661,"skill":"Wipe","start_frame":275},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":743,"skill":"Place","start_frame":661},{"action_text":"Lower the cup held in the left 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[1124,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,7,1534616,1535891,0,30,83.63333333333334,126.13333333333334,0,3,9152.7,9195.2,0,3,8454.966666666667,8497.466666666667,0,3,8454.966666666667,8497.466666666667,0,25,1105.0,1147.5,0,22,336.73333333333335,379.23333333333335,0,2,15282.333333333334,15324.833333333334,0,4,5218.666666666667,5261.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":768,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":869,"skill":"Place","start_frame":768},{"action_text":"Lower the cup held in the left 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[1133,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,7,1546073,1547337,0,30,465.53333333333336,507.6666666666667,0,3,9534.6,9576.733333333334,0,3,8836.866666666667,8879.0,0,3,8836.866666666667,8879.0,0,25,1486.9,1529.0333333333335,0,22,718.6333333333333,760.7666666666667,0,2,15664.233333333334,15706.366666666667,0,4,5600.566666666667,5642.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":246,"skill":"Pick","start_frame":33},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":626,"skill":"Wipe","start_frame":246},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":709,"skill":"Place","start_frame":626},{"action_text":"Lower the cup held in the left 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[1139,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1256,0,7,1553640,1554896,0,30,717.7666666666667,759.6333333333333,0,3,9786.833333333334,9828.7,0,3,9089.1,9130.966666666667,0,3,9089.1,9130.966666666667,0,26,84.06666666666666,125.93333333333334,0,22,970.8666666666667,1012.7333333333333,0,2,15916.466666666667,15958.333333333334,0,4,5852.8,5894.666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":264,"skill":"Pick","start_frame":29},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":632,"skill":"Wipe","start_frame":264},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":706,"skill":"Place","start_frame":632},{"action_text":"Lower the cup held in the left 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[1145,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,7,1561980,1563286,0,30,995.7666666666667,1039.3,0,3,10064.833333333334,10108.366666666667,0,3,9367.1,9410.633333333333,0,3,9367.1,9410.633333333333,0,26,362.06666666666666,405.6,0,22,1248.8666666666666,1292.3999999999999,0,2,16194.466666666667,16238.0,0,4,6130.8,6174.333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":235,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":758,"skill":"Wipe","start_frame":235},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":869,"skill":"Place","start_frame":758},{"action_text":"Lower the cup held in the left 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[1150,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1254,0,7,1568521,1569775,0,30,1213.8,1255.6,0,3,10282.866666666667,10324.666666666666,0,3,9585.133333333333,9626.933333333332,0,3,9585.133333333333,9626.933333333332,0,26,580.1,621.9,0,22,1466.9,1508.7,0,2,16412.5,16454.3,0,4,6348.833333333333,6390.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":251,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":697,"skill":"Wipe","start_frame":251},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":794,"skill":"Place","start_frame":697},{"action_text":"Lower the cup held in the left 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[1156,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,7,1576125,1577398,0,31,211.66666666666666,254.1,0,3,10536.333333333334,10578.766666666666,0,3,9838.6,9881.033333333333,0,3,9838.6,9881.033333333333,0,26,833.5666666666667,876.0,0,23,41.86666666666667,84.3,0,2,16665.966666666667,16708.4,0,4,6602.3,6644.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":254,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":693,"skill":"Wipe","start_frame":254},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":816,"skill":"Place","start_frame":693},{"action_text":"Lower the cup held in the left 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[1157,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1333,0,7,1577398,1578731,0,31,254.1,298.5333333333333,0,3,10578.766666666666,10623.199999999999,0,3,9881.033333333333,9925.466666666665,0,3,9881.033333333333,9925.466666666665,0,26,876.0,920.4333333333333,0,23,84.3,128.73333333333332,0,2,16708.4,16752.833333333336,0,4,6644.733333333334,6689.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":342,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":992,"skill":"Wipe","start_frame":342},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1115,"skill":"Place","start_frame":992},{"action_text":"Lower the cup held in the left 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[1162,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1332,0,7,1583927,1585259,0,31,471.73333333333335,516.1333333333333,0,3,10796.4,10840.8,0,3,10098.666666666666,10143.066666666666,0,3,10098.666666666666,10143.066666666666,0,26,1093.6333333333334,1138.0333333333335,0,23,301.93333333333334,346.3333333333333,0,2,16926.033333333333,16970.433333333334,0,4,6862.366666666667,6906.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":333,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":854,"skill":"Wipe","start_frame":333},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":959,"skill":"Place","start_frame":854},{"action_text":"Lower the cup held in the left 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[1167,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1285,0,7,1591225,1592510,0,31,715.0,757.8333333333334,0,3,11039.666666666666,11082.5,0,3,10341.933333333332,10384.766666666666,0,3,10341.933333333332,10384.766666666666,0,26,1336.9,1379.7333333333333,0,23,545.2,588.0333333333334,0,2,17169.3,17212.13333333333,0,4,7105.633333333333,7148.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":249,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":790,"skill":"Wipe","start_frame":249},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":907,"skill":"Place","start_frame":790},{"action_text":"Lower the cup held in the left 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[1174,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1594,0,7,1601288,1602882,0,31,1050.4333333333334,1103.5666666666668,0,3,11375.1,11428.233333333334,0,3,10677.366666666667,10730.5,0,3,10677.366666666667,10730.5,0,26,1672.3333333333333,1725.4666666666667,0,23,880.6333333333333,933.7666666666667,0,2,17504.733333333334,17557.86666666667,0,4,7441.066666666667,7494.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":377,"skill":"Pick","start_frame":63},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1323,"skill":"Wipe","start_frame":377},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1420,"skill":"Place","start_frame":1323},{"action_text":"Lower the cup held in the left 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[1182,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1597,0,7,1612264,1613861,0,31,1416.3,1469.5333333333333,0,3,11740.966666666667,11794.2,0,3,11043.233333333334,11096.466666666667,0,3,11043.233333333334,11096.466666666667,0,27,141.93333333333334,195.16666666666669,0,23,1246.5,1299.7333333333333,0,2,17870.6,17923.833333333332,0,4,7806.933333333333,7860.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":603,"skill":"Pick","start_frame":26},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1260,"skill":"Wipe","start_frame":603},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1350,"skill":"Place","start_frame":1260},{"action_text":"Lower the cup held in the left 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[1186,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1411,0,7,1618344,1619755,0,32,56.233333333333334,103.26666666666667,0,4,149.43333333333334,196.46666666666667,0,3,11245.9,11292.933333333332,0,3,11245.9,11292.933333333332,0,27,344.6,391.6333333333333,0,23,1449.1666666666667,1496.2,0,2,18073.266666666666,18120.3,0,4,8009.6,8056.633333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":352,"skill":"Pick","start_frame":42},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":922,"skill":"Wipe","start_frame":352},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1001,"skill":"Place","start_frame":922},{"action_text":"Lower the cup held in the left 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[1191,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,7,1624862,1626143,0,32,273.5,316.2,0,4,366.7,409.4,0,3,11463.166666666666,11505.866666666667,0,3,11463.166666666666,11505.866666666667,0,27,561.8666666666667,604.5666666666667,0,23,1666.4333333333334,1709.1333333333334,0,2,18290.533333333333,18333.233333333334,0,4,8226.866666666667,8269.566666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":310,"skill":"Pick","start_frame":51},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":729,"skill":"Wipe","start_frame":310},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":824,"skill":"Place","start_frame":729},{"action_text":"Lower the cup held in the left 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[1199,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1362,0,8,1636607,1637969,0,32,665.0,710.4,0,4,758.2,803.6,0,3,11854.666666666666,11900.066666666666,0,3,11854.666666666666,11900.066666666666,0,27,953.3666666666667,998.7666666666667,0,23,2057.9333333333334,2103.3333333333335,0,2,18682.033333333333,18727.433333333334,0,4,8618.366666666667,8663.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":405,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":883,"skill":"Wipe","start_frame":405},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1008,"skill":"Place","start_frame":883},{"action_text":"Lower the cup held in the left 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[1203,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1799,0,8,1642004,1643803,0,32,844.9,904.8666666666667,0,4,938.1,998.0666666666667,0,3,12034.566666666668,12094.533333333335,0,3,12034.566666666668,12094.533333333335,0,27,1133.2666666666667,1193.2333333333333,0,24,134.5,194.46666666666667,0,2,18861.933333333334,18921.9,0,4,8798.266666666666,8858.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":419,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1415,"skill":"Wipe","start_frame":419},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1523,"skill":"Place","start_frame":1415},{"action_text":"Lower the cup held in the left 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[1208,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,8,1649026,1650295,0,32,1078.9666666666667,1121.2666666666667,0,4,1172.1666666666667,1214.4666666666667,0,3,12268.633333333333,12310.933333333332,0,3,12268.633333333333,12310.933333333332,0,27,1367.3333333333333,1409.6333333333332,0,24,368.56666666666666,410.8666666666667,0,2,19096.0,19138.3,0,4,9032.333333333334,9074.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":361,"skill":"Pick","start_frame":64},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":916,"skill":"Wipe","start_frame":361},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1018,"skill":"Place","start_frame":916},{"action_text":"Lower the cup held in the left 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[1210,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1435,0,8,1651580,1653015,0,32,1164.1,1211.9333333333332,0,4,1257.3,1305.1333333333332,0,3,12353.766666666666,12401.6,0,3,12353.766666666666,12401.6,0,27,1452.4666666666667,1500.3,0,24,453.7,501.5333333333333,0,2,19181.133333333335,19228.966666666667,0,4,9117.466666666667,9165.300000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":505,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":977,"skill":"Wipe","start_frame":505},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1096,"skill":"Place","start_frame":977},{"action_text":"Lower the cup held in the left 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[1220,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,8,1665550,1666820,0,32,1629.7666666666667,1672.1,0,4,1722.9666666666667,1765.3,0,3,12819.433333333332,12861.766666666666,0,3,12819.433333333332,12861.766666666666,0,27,1918.1333333333334,1960.4666666666667,0,24,919.3666666666667,961.7,0,3,238.7,281.0333333333333,0,4,9583.133333333333,9625.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":368,"skill":"Pick","start_frame":81},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":801,"skill":"Wipe","start_frame":368},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":934,"skill":"Place","start_frame":801},{"action_text":"Lower the cup held in the left 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[1221,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1480,0,8,1666820,1668300,0,33,0.0,49.333333333333336,0,4,1765.3,1814.6333333333332,0,3,12861.766666666666,12911.1,0,3,12861.766666666666,12911.1,0,27,1960.4666666666667,2009.8,0,24,961.7,1011.0333333333334,0,3,281.03333333333336,330.3666666666667,0,4,9625.466666666667,9674.800000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":48},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1188,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1295,"skill":"Place","start_frame":1188},{"action_text":"Lower the cup held in the left 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[1227,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,8,1674829,1676104,0,33,266.96666666666664,309.46666666666664,0,4,2032.2666666666667,2074.7666666666664,0,3,13128.733333333334,13171.233333333334,0,3,13128.733333333334,13171.233333333334,0,27,2227.4333333333334,2269.9333333333334,0,24,1228.6666666666667,1271.1666666666667,0,3,548.0,590.5,0,4,9892.433333333332,9934.933333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":358,"skill":"Pick","start_frame":75},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":876,"skill":"Wipe","start_frame":358},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":977,"skill":"Place","start_frame":876},{"action_text":"Lower the cup held in the left 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[1232,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1287,0,8,1681200,1682487,0,33,479.3333333333333,522.2333333333333,0,4,2244.633333333333,2287.5333333333333,0,3,13341.1,13384.0,0,3,13341.1,13384.0,0,28,42.6,85.5,0,24,1441.0333333333333,1483.9333333333334,0,3,760.3666666666667,803.2666666666667,0,4,10104.8,10147.699999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":304,"skill":"Pick","start_frame":59},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":765,"skill":"Wipe","start_frame":304},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":873,"skill":"Place","start_frame":765},{"action_text":"Lower the cup held in the left 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[1242,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1701,0,8,1694805,1696506,0,33,932.8333333333334,989.5333333333334,0,4,2698.133333333333,2754.833333333333,0,3,13794.6,13851.300000000001,0,3,13794.6,13851.300000000001,0,28,496.1,552.8000000000001,0,24,1894.5333333333333,1951.2333333333333,0,3,1213.8666666666666,1270.5666666666666,0,4,10558.3,10615.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":402,"skill":"Pick","start_frame":52},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1310,"skill":"Wipe","start_frame":402},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1467,"skill":"Place","start_frame":1310},{"action_text":"Lower the cup held in the left 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[1244,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,8,1697864,1699143,0,33,1034.8,1077.4333333333334,0,4,2800.1,2842.733333333333,0,3,13896.566666666668,13939.2,0,3,13896.566666666668,13939.2,0,28,598.0666666666667,640.7,0,24,1996.5,2039.1333333333334,0,3,1315.8333333333333,1358.4666666666667,0,4,10660.266666666666,10702.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":642,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":742,"skill":"Place","start_frame":642},{"action_text":"Lower the cup held in the left 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[1250,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1288,0,8,1705961,1707249,0,33,1304.7,1347.6333333333334,0,4,3070.0,3112.9333333333334,0,4,129.76666666666668,172.70000000000002,0,4,227.26666666666668,270.2,0,28,867.9666666666667,910.9,0,24,2266.4,2309.3333333333335,0,3,1585.7333333333333,1628.6666666666667,0,4,10930.166666666666,10973.099999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":403,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":824,"skill":"Wipe","start_frame":403},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":937,"skill":"Place","start_frame":824},{"action_text":"Lower the cup held in the left 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[1253,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1313,0,8,1709972,1711285,0,33,1438.4,1482.1666666666667,0,4,3203.7,3247.4666666666667,0,4,263.46666666666664,307.2333333333333,0,4,360.96666666666664,404.7333333333333,0,28,1001.6666666666666,1045.4333333333334,0,24,2400.1,2443.866666666667,0,3,1719.4333333333334,1763.2,0,4,11063.866666666667,11107.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":319,"skill":"Pick","start_frame":56},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":811,"skill":"Wipe","start_frame":319},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":923,"skill":"Place","start_frame":811},{"action_text":"Lower the cup held in the left 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[1261,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1283,0,8,1721097,1722380,0,34,49.233333333333334,92.0,0,4,3574.5333333333333,3617.3,0,4,634.3,677.0666666666666,0,4,731.8,774.5666666666666,0,28,1372.5,1415.2666666666667,0,25,197.8,240.56666666666666,0,3,2090.266666666667,2133.0333333333338,0,4,11434.7,11477.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":397,"skill":"Pick","start_frame":138},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":895,"skill":"Wipe","start_frame":397},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1018,"skill":"Place","start_frame":895},{"action_text":"Lower the cup held in the left 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[1267,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1431,0,8,1730821,1732252,0,34,373.3666666666667,421.06666666666666,0,4,3898.6666666666665,3946.3666666666663,0,4,958.4333333333333,1006.1333333333333,0,4,1055.9333333333334,1103.6333333333334,0,28,1696.6333333333334,1744.3333333333335,0,25,521.9333333333333,569.6333333333333,0,3,2414.4,2462.1,0,4,11758.833333333334,11806.533333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":391,"skill":"Pick","start_frame":77},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":981,"skill":"Wipe","start_frame":391},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1101,"skill":"Place","start_frame":981},{"action_text":"Lower the cup held in the left 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[1270,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1599,0,8,1735838,1737437,0,34,540.6,593.9,0,4,4065.9,4119.2,0,4,1125.6666666666667,1178.9666666666667,0,4,1223.1666666666667,1276.4666666666667,0,28,1863.8666666666666,1917.1666666666665,0,25,689.1666666666666,742.4666666666666,0,3,2581.633333333333,2634.9333333333334,0,4,11926.066666666668,11979.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":393,"skill":"Pick","start_frame":72},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1182,"skill":"Wipe","start_frame":393},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1286,"skill":"Place","start_frame":1182},{"action_text":"Lower the cup held in the left 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[1278,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1511,0,8,1747348,1748859,0,34,924.2666666666667,974.6333333333333,0,4,4449.566666666667,4499.933333333333,0,4,1509.3333333333333,1559.6999999999998,0,4,1606.8333333333333,1657.1999999999998,0,28,2247.5333333333333,2297.9,0,25,1072.8333333333333,1123.1999999999998,0,3,2965.3,3015.666666666667,0,4,12309.733333333334,12360.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":451,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1007,"skill":"Wipe","start_frame":451},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1100,"skill":"Place","start_frame":1007},{"action_text":"Lower the cup held in the left 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[1285,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1734,0,8,1758592,1760326,0,34,1299.0666666666666,1356.8666666666666,0,4,4824.366666666667,4882.166666666667,0,4,1884.1333333333334,1941.9333333333334,0,4,1981.6333333333334,2039.4333333333334,0,29,174.6,232.39999999999998,0,25,1447.6333333333334,1505.4333333333334,0,3,3340.1,3397.9,0,4,12684.533333333333,12742.333333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":452,"skill":"Pick","start_frame":93},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1247,"skill":"Wipe","start_frame":452},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1346,"skill":"Place","start_frame":1247},{"action_text":"Lower the cup held in the left 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[1290,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1483,0,8,1766880,1768363,0,35,50.766666666666666,100.19999999999999,0,4,5100.633333333333,5150.066666666667,0,4,2160.4,2209.8333333333335,0,4,2257.9,2307.3333333333335,0,29,450.8666666666667,500.3,0,25,1723.9,1773.3333333333335,0,3,3616.366666666667,3665.8,0,4,12960.8,13010.233333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":306,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1047,"skill":"Wipe","start_frame":306},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1133,"skill":"Place","start_frame":1047},{"action_text":"Lower the cup held in the left 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[1291,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1440,0,8,1768363,1769803,0,35,100.2,148.2,0,4,5150.066666666667,5198.066666666667,0,4,2209.8333333333335,2257.8333333333335,0,4,2307.3333333333335,2355.3333333333335,0,29,500.3,548.3,0,25,1773.3333333333333,1821.3333333333333,0,3,3665.8,3713.8,0,4,13010.233333333334,13058.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":384,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":984,"skill":"Wipe","start_frame":384},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1058,"skill":"Place","start_frame":984},{"action_text":"Lower the cup held in the left 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[1296,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1465,0,8,1775294,1776759,0,35,331.23333333333335,380.06666666666666,0,4,5381.1,5429.933333333333,0,4,2440.866666666667,2489.7000000000003,0,4,2538.366666666667,2587.2000000000003,0,29,731.3333333333334,780.1666666666667,0,25,2004.3666666666666,2053.2,0,3,3896.8333333333335,3945.666666666667,0,4,13241.266666666666,13290.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":317,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1016,"skill":"Wipe","start_frame":317},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1101,"skill":"Place","start_frame":1016},{"action_text":"Lower the cup held in the left 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[1302,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1507,0,8,1783993,1785500,0,35,621.2,671.4333333333334,0,4,5671.066666666667,5721.3,0,4,2730.8333333333335,2781.0666666666666,0,4,2828.3333333333335,2878.5666666666666,0,29,1021.3,1071.5333333333333,0,26,241.13333333333333,291.3666666666667,0,3,4186.8,4237.033333333334,0,4,13531.233333333334,13581.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":352,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1053,"skill":"Wipe","start_frame":352},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1134,"skill":"Place","start_frame":1053},{"action_text":"Lower the cup held in the left 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[1308,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,8,1792140,1793413,0,35,892.7666666666667,935.1999999999999,0,4,5942.633333333333,5985.066666666667,0,4,3002.4,3044.8333333333335,0,4,3099.9,3142.3333333333335,0,29,1292.8666666666666,1335.3,0,26,512.7,555.1333333333333,0,3,4458.366666666667,4500.8,0,5,133.4,175.83333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":316,"skill":"Pick","start_frame":73},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":608,"skill":"Wipe","start_frame":316},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":712,"skill":"Place","start_frame":608},{"action_text":"Lower the cup held in the left 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[1313,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1552,0,8,1799796,1801348,0,35,1147.9666666666667,1199.7,0,4,6197.833333333333,6249.566666666667,0,4,3257.6,3309.333333333333,0,4,3355.1,3406.833333333333,0,29,1548.0666666666666,1599.8,0,26,767.9,819.6333333333333,0,3,4713.566666666667,4765.3,0,5,388.6,440.33333333333337,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":372,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1074,"skill":"Wipe","start_frame":372},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1190,"skill":"Place","start_frame":1074},{"action_text":"Lower the cup held in the left 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[1320,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,8,1809144,1810424,0,36,42.6,85.26666666666667,0,4,6509.433333333333,6552.1,0,4,3569.2,3611.8666666666663,0,4,3666.7,3709.3666666666663,0,29,1859.6666666666667,1902.3333333333335,0,26,1079.5,1122.1666666666667,0,3,5025.166666666667,5067.833333333334,0,5,700.2,742.8666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":337,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":877,"skill":"Wipe","start_frame":337},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":931,"skill":"Place","start_frame":877},{"action_text":"Lower the cup held in the left 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[1325,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1714,0,8,1815707,1817421,0,36,261.3666666666667,318.5,0,4,6728.2,6785.333333333333,0,4,3787.9666666666667,3845.1,0,4,3885.4666666666667,3942.6,0,29,2078.4333333333334,2135.5666666666666,0,26,1298.2666666666667,1355.4,0,3,5243.933333333333,5301.066666666667,0,5,918.9666666666667,976.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":303,"skill":"Pick","start_frame":90},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1297,"skill":"Wipe","start_frame":303},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1417,"skill":"Place","start_frame":1297},{"action_text":"Lower the cup held in the left 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[1330,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,8,1822851,1824130,0,36,499.5,542.1333333333333,0,4,6966.333333333333,7008.966666666666,0,4,4026.1,4068.733333333333,0,4,4123.6,4166.233333333334,0,30,42.666666666666664,85.3,0,26,1536.4,1579.0333333333335,0,3,5482.066666666667,5524.7,0,5,1157.1,1199.7333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":273,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":806,"skill":"Wipe","start_frame":273},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":871,"skill":"Place","start_frame":806},{"action_text":"Lower the cup held in the left 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[1337,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1365,0,8,1832452,1833817,0,36,819.5333333333333,865.0333333333333,0,4,7286.366666666667,7331.866666666667,0,4,4346.133333333333,4391.633333333333,0,4,4443.633333333333,4489.133333333333,0,30,362.7,408.2,0,27,0.0,45.5,0,3,5802.1,5847.6,0,5,1477.1333333333334,1522.6333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":332,"skill":"Pick","start_frame":66},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":742,"skill":"Wipe","start_frame":332},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":864,"skill":"Place","start_frame":742},{"action_text":"Lower the cup held in the left 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[1339,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1411,0,8,1835283,1836694,0,36,913.9,960.9333333333333,0,4,7380.733333333334,7427.766666666667,0,4,4440.5,4487.533333333334,0,4,4538.0,4585.033333333334,0,30,457.06666666666666,504.1,0,27,94.36666666666666,141.39999999999998,0,3,5896.466666666666,5943.5,0,5,1571.5,1618.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":415,"skill":"Pick","start_frame":47},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":936,"skill":"Wipe","start_frame":415},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1027,"skill":"Place","start_frame":936},{"action_text":"Lower the cup held in the left 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[1348,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,9,1847385,1848655,0,36,1317.3,1359.6333333333332,0,4,7784.133333333333,7826.466666666666,0,4,4843.9,4886.233333333333,0,4,4941.4,4983.733333333333,0,30,860.4666666666667,902.8000000000001,0,27,497.76666666666665,540.1,0,3,6299.866666666667,6342.2,0,5,1974.9,2017.2333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":288,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":700,"skill":"Wipe","start_frame":288},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":771,"skill":"Place","start_frame":700},{"action_text":"Lower the cup held in the left 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[1354,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1276,0,9,1855188,1856464,0,37,89.83333333333333,132.36666666666667,0,4,8044.233333333334,8086.766666666667,0,4,5104.0,5146.533333333334,0,4,5201.5,5244.033333333334,0,30,1120.5666666666666,1163.1,0,27,757.8666666666667,800.4,0,3,6559.966666666666,6602.5,0,5,2235.0,2277.5333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":340,"skill":"Pick","start_frame":57},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":698,"skill":"Wipe","start_frame":340},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":806,"skill":"Place","start_frame":698},{"action_text":"Lower the cup held in the left 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[1356,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,9,1857992,1859270,0,37,183.3,225.9,0,4,8137.7,8180.3,0,4,5197.466666666666,5240.066666666667,0,4,5294.966666666666,5337.566666666667,0,30,1214.0333333333333,1256.6333333333332,0,27,851.3333333333334,893.9333333333334,0,3,6653.433333333333,6696.033333333334,0,5,2328.4666666666667,2371.0666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":260,"skill":"Pick","start_frame":72},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":639,"skill":"Wipe","start_frame":260},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":777,"skill":"Place","start_frame":639},{"action_text":"Lower the cup held in the left 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[1361,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,9,1864522,1865831,0,37,400.96666666666664,444.59999999999997,0,4,8355.366666666667,8399.0,0,4,5415.133333333333,5458.766666666666,0,4,5512.633333333333,5556.266666666666,0,30,1431.7,1475.3333333333335,0,27,1069.0,1112.6333333333334,0,3,6871.1,6914.733333333334,0,5,2546.133333333333,2589.7666666666664,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":309,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":816,"skill":"Wipe","start_frame":309},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":922,"skill":"Place","start_frame":816},{"action_text":"Lower the cup held in the left 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[1366,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,9,1871423,1872691,0,37,631.0,673.2666666666667,0,4,8585.4,8627.666666666666,0,4,5645.166666666667,5687.433333333333,0,4,5742.666666666667,5784.933333333333,0,30,1661.7333333333333,1704.0,0,27,1299.0333333333333,1341.3,0,3,7101.133333333333,7143.4,0,5,2776.1666666666665,2818.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":360,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":737,"skill":"Wipe","start_frame":360},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":808,"skill":"Place","start_frame":737},{"action_text":"Lower the cup held in the left 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[1373,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1404,0,9,1880857,1882261,0,37,945.4666666666667,992.2666666666667,0,4,8899.866666666667,8946.666666666666,0,4,5959.633333333333,6006.433333333333,0,4,6057.133333333333,6103.933333333333,0,30,1976.2,2023.0,0,27,1613.5,1660.3,0,3,7415.6,7462.400000000001,0,5,3090.633333333333,3137.4333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":425,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":964,"skill":"Wipe","start_frame":425},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1059,"skill":"Place","start_frame":964},{"action_text":"Lower the cup held in the left 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[1378,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1376,0,9,1887753,1889129,0,37,1175.3333333333333,1221.1999999999998,0,4,9129.733333333334,9175.6,0,4,6189.5,6235.366666666667,0,4,6287.0,6332.866666666667,0,31,0.0,45.86666666666667,0,27,1843.3666666666666,1889.2333333333331,0,3,7645.466666666666,7691.333333333333,0,5,3320.5,3366.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":369,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1036,"skill":"Wipe","start_frame":369},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1108,"skill":"Place","start_frame":1036},{"action_text":"Lower the cup held in the left 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[1382,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1249,0,9,1893148,1894397,0,37,1355.1666666666667,1396.8000000000002,0,4,9309.566666666668,9351.2,0,4,6369.333333333333,6410.966666666666,0,4,6466.833333333333,6508.466666666666,0,31,179.83333333333334,221.46666666666667,0,28,133.96666666666667,175.6,0,3,7825.3,7866.933333333333,0,5,3500.3333333333335,3541.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":297,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":646,"skill":"Wipe","start_frame":297},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":725,"skill":"Place","start_frame":646},{"action_text":"Lower the cup held in the left 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[1389,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,9,1902713,1903986,0,38,181.23333333333332,223.66666666666666,0,4,9628.4,9670.833333333332,0,4,6688.166666666667,6730.6,0,4,6785.666666666667,6828.1,0,31,498.6666666666667,541.1,0,28,452.8,495.23333333333335,0,3,8144.133333333333,8186.566666666667,0,5,3819.1666666666665,3861.6,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":308,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":757,"skill":"Wipe","start_frame":308},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":844,"skill":"Place","start_frame":757},{"action_text":"Lower the cup held in the left 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[1395,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1345,0,9,1910388,1911733,0,38,437.06666666666666,481.9,0,4,9884.233333333334,9929.066666666668,0,4,6944.0,6988.833333333333,0,4,7041.5,7086.333333333333,0,31,754.5,799.3333333333334,0,28,708.6333333333333,753.4666666666667,0,3,8399.966666666667,8444.800000000001,0,5,4075.0,4119.833333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":360,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":707,"skill":"Wipe","start_frame":360},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":778,"skill":"Place","start_frame":707},{"action_text":"Lower the cup held in the left 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[1399,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,9,1915564,1916843,0,38,609.6,652.2333333333333,0,4,10056.766666666666,10099.4,0,4,7116.533333333334,7159.166666666667,0,4,7214.033333333334,7256.666666666667,0,31,927.0333333333333,969.6666666666666,0,28,881.1666666666666,923.8,0,3,8572.5,8615.133333333333,0,5,4247.533333333334,4290.166666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":277,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":692,"skill":"Wipe","start_frame":277},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":910,"skill":"Place","start_frame":692},{"action_text":"Lower the cup held in the left 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[1407,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,9,1925868,1927138,0,38,953.0666666666667,995.4000000000001,0,4,10400.233333333334,10442.566666666668,0,4,7460.0,7502.333333333333,0,4,7557.5,7599.833333333333,0,31,1270.5,1312.8333333333333,0,28,1224.6333333333334,1266.9666666666667,0,3,8915.966666666667,8958.300000000001,0,5,4591.0,4633.333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":231,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":598,"skill":"Wipe","start_frame":231},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":738,"skill":"Place","start_frame":598},{"action_text":"Lower the cup held in the left 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[1412,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,9,1932218,1933488,0,38,1164.7333333333333,1207.0666666666666,0,4,10611.9,10654.233333333334,0,4,7671.666666666667,7714.0,0,4,7769.166666666667,7811.5,0,31,1482.1666666666667,1524.5,0,28,1436.3,1478.6333333333332,0,3,9127.633333333333,9169.966666666667,0,5,4802.666666666667,4845.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":344,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":673,"skill":"Wipe","start_frame":344},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":739,"skill":"Place","start_frame":673},{"action_text":"Lower the cup held in the left 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[1416,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1360,0,9,1937430,1938790,0,38,1338.4666666666667,1383.8,0,4,10785.633333333333,10830.966666666667,0,4,7845.4,7890.733333333333,0,4,7942.9,7988.233333333333,0,31,1655.9,1701.2333333333333,0,28,1610.0333333333333,1655.3666666666666,0,3,9301.366666666667,9346.7,0,5,4976.4,5021.733333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":468,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":921,"skill":"Wipe","start_frame":468},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":988,"skill":"Place","start_frame":921},{"action_text":"Lower the cup held in the left 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[1424,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,9,1947752,1949032,0,39,85.33333333333333,128.0,0,4,11129.7,11172.366666666667,0,4,8189.466666666666,8232.133333333333,0,4,8286.966666666667,8329.633333333333,0,32,0.0,42.666666666666664,0,29,213.56666666666666,256.23333333333335,0,3,9645.433333333332,9688.099999999999,0,5,5320.466666666666,5363.133333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":193,"skill":"Pick","start_frame":38},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":611,"skill":"Wipe","start_frame":193},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":753,"skill":"Place","start_frame":611},{"action_text":"Lower the cup held in the left 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[1429,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1316,0,9,1954236,1955552,0,39,301.46666666666664,345.3333333333333,0,4,11345.833333333334,11389.7,0,4,8405.6,8449.466666666667,0,4,8503.1,8546.966666666667,0,32,216.13333333333333,260.0,0,29,429.7,473.56666666666666,0,3,9861.566666666668,9905.433333333334,0,5,5536.6,5580.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":423,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":991,"skill":"Wipe","start_frame":423},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1042,"skill":"Place","start_frame":991},{"action_text":"Lower the cup held in the left 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[1431,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1332,0,9,1956903,1958235,0,39,390.3666666666667,434.76666666666665,0,4,11434.733333333334,11479.133333333333,0,4,8494.5,8538.9,0,4,8592.0,8636.4,0,32,305.03333333333336,349.43333333333334,0,29,518.6,563.0,0,3,9950.466666666667,9994.866666666667,0,5,5625.5,5669.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":226,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":608,"skill":"Wipe","start_frame":226},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":674,"skill":"Place","start_frame":608},{"action_text":"Lower the cup held in the left 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[1436,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1273,0,9,1963475,1964748,0,39,609.4333333333333,651.8666666666666,0,4,11653.8,11696.233333333332,0,4,8713.566666666668,8756.0,0,4,8811.066666666668,8853.5,0,32,524.1,566.5333333333333,0,29,737.6666666666666,780.0999999999999,0,3,10169.533333333333,10211.966666666665,0,5,5844.566666666667,5887.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":400,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":858,"skill":"Wipe","start_frame":400},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":906,"skill":"Place","start_frame":858},{"action_text":"Lower the cup held in the left 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[1442,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,9,1971253,1972532,0,39,868.7,911.3333333333334,0,4,11913.066666666668,11955.7,0,4,8972.833333333334,9015.466666666667,0,4,9070.333333333334,9112.966666666667,0,32,783.3666666666667,826.0,0,29,996.9333333333333,1039.5666666666666,0,3,10428.8,10471.433333333332,0,5,6103.833333333333,6146.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":209,"skill":"Pick","start_frame":35},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":634,"skill":"Wipe","start_frame":209},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":821,"skill":"Place","start_frame":634},{"action_text":"Lower the cup held in the left 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[1448,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1279,0,9,1979113,1980392,0,39,1130.7,1173.3333333333335,0,4,12175.066666666668,12217.7,0,4,9234.833333333334,9277.466666666667,0,4,9332.333333333334,9374.966666666667,0,32,1045.3666666666666,1088.0,0,29,1258.9333333333334,1301.5666666666668,0,3,10690.8,10733.433333333332,0,5,6365.833333333333,6408.466666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":175,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":478,"skill":"Wipe","start_frame":175},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":643,"skill":"Place","start_frame":478},{"action_text":"Lower the cup held in the left 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[1453,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1310,0,9,1985697,1987007,0,39,1350.1666666666667,1393.8333333333335,0,4,12394.533333333333,12438.199999999999,0,4,9454.3,9497.966666666665,0,4,9551.8,9595.466666666665,0,32,1264.8333333333333,1308.5,0,29,1478.4,1522.0666666666668,0,3,10910.266666666666,10953.933333333332,0,5,6585.3,6628.966666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":397,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":908,"skill":"Wipe","start_frame":397},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":981,"skill":"Place","start_frame":908},{"action_text":"Lower the cup held in the left 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[1459,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1290,0,9,1993786,1995076,0,40,42.43333333333333,85.43333333333334,0,4,12664.166666666666,12707.166666666666,0,4,9723.933333333332,9766.933333333332,0,4,9821.433333333332,9864.433333333332,0,32,1534.4666666666667,1577.4666666666667,0,30,42.43333333333333,85.43333333333334,0,3,11179.9,11222.9,0,5,6854.933333333333,6897.933333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":420,"skill":"Pick","start_frame":34},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":878,"skill":"Wipe","start_frame":420},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":936,"skill":"Place","start_frame":878},{"action_text":"Lower the cup held in the left 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[1465,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,9,2001639,2002919,0,40,304.2,346.8666666666667,0,4,12925.933333333332,12968.599999999999,0,4,9985.7,10028.366666666667,0,4,10083.2,10125.866666666667,0,32,1796.2333333333333,1838.9,0,30,304.2,346.8666666666667,0,3,11441.666666666666,11484.333333333332,0,5,7116.7,7159.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":361,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":893,"skill":"Wipe","start_frame":361},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":949,"skill":"Place","start_frame":893},{"action_text":"Lower the cup held in the left 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[1470,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1518,0,9,2008896,2010414,0,40,546.1,596.7,0,4,13167.833333333334,13218.433333333334,0,4,10227.6,10278.2,0,4,10325.1,10375.7,0,33,51.53333333333333,102.13333333333333,0,30,546.1,596.7,0,3,11683.566666666668,11734.166666666668,0,5,7358.6,7409.200000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":352,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1111,"skill":"Wipe","start_frame":352},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1186,"skill":"Place","start_frame":1111},{"action_text":"Lower the cup held in the left 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[1474,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1302,0,9,2014372,2015674,0,40,728.6333333333333,772.0333333333333,0,4,13350.366666666667,13393.766666666666,0,4,10410.133333333333,10453.533333333333,0,4,10507.633333333333,10551.033333333333,0,33,234.06666666666666,277.46666666666664,0,30,728.6333333333333,772.0333333333333,0,3,11866.1,11909.5,0,5,7541.133333333333,7584.533333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":446,"skill":"Pick","start_frame":153},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":935,"skill":"Wipe","start_frame":446},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":998,"skill":"Place","start_frame":935},{"action_text":"Lower the cup held in the left 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[1482,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1360,0,9,2024836,2026196,0,40,1077.4333333333334,1122.7666666666667,0,4,13699.166666666666,13744.5,0,4,10758.933333333332,10804.266666666666,0,4,10856.433333333332,10901.766666666666,0,33,582.8666666666667,628.2,0,30,1077.4333333333334,1122.7666666666667,0,3,12214.9,12260.233333333334,0,5,7889.933333333333,7935.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":432,"skill":"Pick","start_frame":117},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":988,"skill":"Wipe","start_frame":432},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1056,"skill":"Place","start_frame":988},{"action_text":"Lower the cup held in the left 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[1485,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1292,0,9,2028983,2030275,0,40,1215.6666666666667,1258.7333333333333,0,4,13837.4,13880.466666666667,0,4,10897.166666666666,10940.233333333334,0,4,10994.666666666666,11037.733333333334,0,33,721.1,764.1666666666667,0,30,1215.6666666666667,1258.7333333333333,0,3,12353.133333333333,12396.2,0,5,8028.166666666667,8071.233333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":391,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":813,"skill":"Wipe","start_frame":391},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":878,"skill":"Place","start_frame":813},{"action_text":"Lower the cup held in the left 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[1494,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1316,0,9,2042413,2043729,0,41,82.66666666666667,126.53333333333333,0,4,14285.066666666668,14328.933333333334,0,4,11344.833333333334,11388.7,0,4,11442.333333333334,11486.2,0,33,1168.7666666666667,1212.6333333333332,0,30,1663.3333333333333,1707.1999999999998,0,3,12800.8,12844.666666666666,0,5,8475.833333333334,8519.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":463,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":910,"skill":"Wipe","start_frame":463},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1002,"skill":"Place","start_frame":910},{"action_text":"Lower the cup held in the left 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[1499,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1318,0,10,2049643,2050961,0,41,323.6666666666667,367.6,0,5,197.13333333333333,241.06666666666666,0,4,11585.833333333334,11629.766666666666,0,4,11683.333333333334,11727.266666666666,0,33,1409.7666666666667,1453.7,0,31,149.1,193.03333333333333,0,3,13041.8,13085.733333333332,0,5,8716.833333333334,8760.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":399,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":928,"skill":"Wipe","start_frame":399},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":987,"skill":"Place","start_frame":928},{"action_text":"Lower the cup held in the left 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[1502,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1409,0,10,2053709,2055118,0,41,459.2,506.16666666666663,0,5,332.6666666666667,379.6333333333333,0,4,11721.366666666667,11768.333333333334,0,4,11818.866666666667,11865.833333333334,0,33,1545.3,1592.2666666666667,0,31,284.6333333333333,331.6,0,3,13177.333333333334,13224.300000000001,0,5,8852.366666666667,8899.333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":369,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":913,"skill":"Wipe","start_frame":369},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":994,"skill":"Place","start_frame":913},{"action_text":"Lower the cup held in the left 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[1506,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1327,0,10,2059066,2060393,0,41,637.7666666666667,682.0,0,5,511.23333333333335,555.4666666666667,0,4,11899.933333333332,11944.166666666666,0,4,11997.433333333332,12041.666666666666,0,33,1723.8666666666666,1768.1,0,31,463.2,507.43333333333334,0,3,13355.9,13400.133333333333,0,5,9030.933333333332,9075.166666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":331,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":792,"skill":"Wipe","start_frame":331},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":862,"skill":"Place","start_frame":792},{"action_text":"Lower the cup held in the left 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[1511,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1459,0,10,2065530,2066989,0,41,853.2333333333333,901.8666666666667,0,5,726.7,775.3333333333334,0,4,12115.4,12164.033333333333,0,4,12212.9,12261.533333333333,0,34,84.76666666666667,133.4,0,31,678.6666666666666,727.3,0,3,13571.366666666667,13620.0,0,5,9246.4,9295.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":409,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1033,"skill":"Wipe","start_frame":409},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1109,"skill":"Place","start_frame":1033},{"action_text":"Lower the cup held in the left 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[1517,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,10,2073611,2074881,0,41,1122.6,1164.9333333333332,0,5,996.0666666666667,1038.4,0,4,12384.766666666666,12427.1,0,4,12482.266666666666,12524.6,0,34,354.1333333333333,396.46666666666664,0,31,948.0333333333333,990.3666666666667,0,3,13840.733333333334,13883.066666666668,0,5,9515.766666666666,9558.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":302,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":690,"skill":"Wipe","start_frame":302},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":734,"skill":"Place","start_frame":690},{"action_text":"Lower the cup held in the left 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[1523,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,10,2081300,2082564,0,41,1378.9,1421.0333333333335,0,5,1252.3666666666666,1294.5,0,4,12641.066666666668,12683.2,0,4,12738.566666666668,12780.7,0,34,610.4333333333333,652.5666666666666,0,31,1204.3333333333333,1246.4666666666667,0,3,14097.033333333333,14139.166666666666,0,5,9772.066666666668,9814.2,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":616,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":670,"skill":"Place","start_frame":616},{"action_text":"Lower the cup held in the left 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[1528,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,10,2087654,2088945,0,41,1590.7,1633.7333333333333,0,5,1464.1666666666667,1507.2,0,4,12852.866666666667,12895.9,0,4,12950.366666666667,12993.4,0,34,822.2333333333333,865.2666666666667,0,31,1416.1333333333334,1459.1666666666667,0,3,14308.833333333334,14351.866666666667,0,5,9983.866666666667,10026.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":335,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":917,"skill":"Wipe","start_frame":335},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":991,"skill":"Place","start_frame":917},{"action_text":"Lower the cup held in the left 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[1534,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1278,0,10,2095321,2096599,0,42,212.53333333333333,255.13333333333333,0,5,1719.7333333333333,1762.3333333333333,0,4,13108.433333333332,13151.033333333333,0,4,13205.933333333332,13248.533333333333,0,34,1077.8,1120.3999999999999,0,31,1671.7,1714.3,0,3,14564.4,14607.0,0,5,10239.433333333332,10282.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":253,"skill":"Pick","start_frame":27},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":562,"skill":"Wipe","start_frame":253},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":637,"skill":"Place","start_frame":562},{"action_text":"Lower the cup held in the left 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[1540,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1267,0,10,2102943,2104210,0,42,466.6,508.83333333333337,0,5,1973.8,2016.0333333333333,0,4,13362.5,13404.733333333334,0,4,13460.0,13502.233333333334,0,34,1331.8666666666666,1374.1,0,32,126.96666666666667,169.2,0,3,14818.466666666667,14860.7,0,5,10493.5,10535.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":355,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":805,"skill":"Wipe","start_frame":355},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":858,"skill":"Place","start_frame":805},{"action_text":"Lower the cup held in the left 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[1543,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,10,2106763,2108045,0,42,593.9333333333333,636.6666666666666,0,5,2101.133333333333,2143.8666666666663,0,4,13489.833333333334,13532.566666666668,0,4,13587.333333333334,13630.066666666668,0,34,1459.2,1501.9333333333334,0,32,254.3,297.03333333333336,0,3,14945.8,14988.533333333333,0,5,10620.833333333334,10663.566666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":286,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":609,"skill":"Wipe","start_frame":286},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":665,"skill":"Place","start_frame":609},{"action_text":"Lower the cup held in the left 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[1552,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,10,2118296,2119571,0,42,978.3666666666667,1020.8666666666667,0,5,2485.5666666666666,2528.0666666666666,0,4,13874.266666666666,13916.766666666666,0,4,13971.766666666666,14014.266666666666,0,34,1843.6333333333334,1886.1333333333334,0,32,638.7333333333333,681.2333333333333,0,3,15330.233333333334,15372.733333333334,0,5,11005.266666666666,11047.766666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":254,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":593,"skill":"Wipe","start_frame":254},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":687,"skill":"Place","start_frame":593},{"action_text":"Lower the cup held in the left 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[1557,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,10,2124773,2126053,0,42,1194.2666666666667,1236.9333333333334,0,5,2701.4666666666667,2744.133333333333,0,4,14090.166666666666,14132.833333333332,0,4,14187.666666666666,14230.333333333332,0,35,173.4,216.06666666666666,0,32,854.6333333333333,897.3,0,3,15546.133333333333,15588.8,0,5,11221.166666666666,11263.833333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":270,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":692,"skill":"Wipe","start_frame":270},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":822,"skill":"Place","start_frame":692},{"action_text":"Lower the cup held in the left 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[1560,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1275,0,10,2128620,2129895,0,42,1322.5,1365.0,0,5,2829.7,2872.2,0,4,14218.4,14260.9,0,4,14315.9,14358.4,0,35,301.6333333333333,344.1333333333333,0,32,982.8666666666667,1025.3666666666668,0,3,15674.366666666667,15716.866666666667,0,5,11349.4,11391.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":229,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":494,"skill":"Wipe","start_frame":229},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":553,"skill":"Place","start_frame":494},{"action_text":"Lower the cup held in the left 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[1569,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1268,0,10,2140240,2141508,0,43,132.56666666666666,174.83333333333331,0,5,3217.0333333333333,3259.3,0,5,132.56666666666666,174.83333333333331,0,4,14703.233333333334,14745.5,0,35,688.9666666666667,731.2333333333333,0,32,1370.2,1412.4666666666667,0,3,16061.7,16103.966666666667,0,5,11736.733333333334,11779.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":261,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":639,"skill":"Wipe","start_frame":261},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":735,"skill":"Place","start_frame":639},{"action_text":"Lower the cup held in the left 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[1574,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1276,0,10,2146660,2147936,0,43,346.56666666666666,389.1,0,5,3431.0333333333333,3473.5666666666666,0,5,346.56666666666666,389.1,0,4,14917.233333333334,14959.766666666666,0,35,902.9666666666667,945.5,0,32,1584.2,1626.7333333333333,0,3,16275.7,16318.233333333334,0,5,11950.733333333334,11993.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":278,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":666,"skill":"Wipe","start_frame":278},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":763,"skill":"Place","start_frame":666},{"action_text":"Lower the cup held in the left 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[1577,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1269,0,10,2150486,2151755,0,43,474.1,516.4,0,5,3558.5666666666666,3600.866666666667,0,5,474.1,516.4,0,4,15044.766666666666,15087.066666666666,0,35,1030.5,1072.8,0,33,0.0,42.3,0,3,16403.233333333334,16445.533333333333,0,5,12078.266666666666,12120.566666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":300,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":667,"skill":"Wipe","start_frame":300},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":724,"skill":"Place","start_frame":667},{"action_text":"Lower the cup held in the left 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[1581,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,10,2155722,2157002,0,43,648.6333333333333,691.3,0,5,3733.1,3775.7666666666664,0,5,648.6333333333333,691.3,0,4,15219.3,15261.966666666665,0,35,1205.0333333333333,1247.7,0,33,174.53333333333333,217.2,0,3,16577.766666666666,16620.433333333334,0,5,12252.8,12295.466666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":311,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":764,"skill":"Wipe","start_frame":311},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":841,"skill":"Place","start_frame":764},{"action_text":"Lower the cup held in the left 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[1586,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,10,2162126,2163403,0,43,862.1,904.6666666666667,0,5,3946.5666666666666,3989.133333333333,0,5,862.1,904.6666666666667,0,4,15432.766666666666,15475.333333333334,0,35,1418.5,1461.0666666666666,0,33,388.0,430.56666666666666,0,3,16791.233333333334,16833.8,0,5,12466.266666666666,12508.833333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":288,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":754,"skill":"Wipe","start_frame":288},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":809,"skill":"Place","start_frame":754},{"action_text":"Lower the cup held in the left 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[1592,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1282,0,10,2169946,2171228,0,43,1122.7666666666667,1165.5,0,5,4207.233333333334,4249.966666666667,0,5,1122.7666666666667,1165.5,0,4,15693.433333333332,15736.166666666666,0,35,1679.1666666666667,1721.9,0,33,648.6666666666666,691.4,0,3,17051.9,17094.633333333335,0,5,12726.933333333332,12769.666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":303,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":714,"skill":"Wipe","start_frame":303},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":780,"skill":"Place","start_frame":714},{"action_text":"Lower the cup held in the left 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[1593,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,10,2171228,2172508,0,43,1165.5,1208.1666666666667,0,5,4249.966666666666,4292.633333333333,0,5,1165.5,1208.1666666666667,0,4,15736.166666666666,15778.833333333332,0,35,1721.9,1764.5666666666668,0,33,691.4,734.0666666666666,0,3,17094.633333333335,17137.300000000003,0,5,12769.666666666666,12812.333333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":329,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":847,"skill":"Wipe","start_frame":329},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":921,"skill":"Place","start_frame":847},{"action_text":"Lower the cup held in the left 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[1594,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1264,0,10,2172508,2173772,0,43,1208.1666666666667,1250.3000000000002,0,5,4292.633333333333,4334.766666666666,0,5,1208.1666666666667,1250.3000000000002,0,4,15778.833333333334,15820.966666666667,0,35,1764.5666666666666,1806.7,0,33,734.0666666666667,776.2,0,3,17137.3,17179.433333333334,0,5,12812.333333333334,12854.466666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":318,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":772,"skill":"Wipe","start_frame":318},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":832,"skill":"Place","start_frame":772},{"action_text":"Lower the cup held in the left 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[1595,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1277,0,10,2173772,2175049,0,43,1250.3,1292.8666666666666,0,5,4334.766666666666,4377.333333333333,0,5,1250.3,1292.8666666666666,0,4,15820.966666666667,15863.533333333335,0,35,1806.7,1849.2666666666667,0,33,776.2,818.7666666666668,0,3,17179.433333333334,17222.0,0,5,12854.466666666667,12897.033333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":801,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":867,"skill":"Place","start_frame":801},{"action_text":"Lower the cup held in the left 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[1596,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1270,0,10,2175049,2176319,0,43,1292.8666666666666,1335.1999999999998,0,5,4377.333333333333,4419.666666666666,0,5,1292.8666666666666,1335.1999999999998,0,4,15863.533333333333,15905.866666666667,0,35,1849.2666666666667,1891.6,0,33,818.7666666666667,861.1,0,3,17222.0,17264.333333333332,0,5,12897.033333333333,12939.366666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":679,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":763,"skill":"Place","start_frame":679},{"action_text":"Lower the cup held in the left 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[1597,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,10,2176319,2177610,0,43,1335.2,1378.2333333333333,0,5,4419.666666666667,4462.700000000001,0,5,1335.2,1378.2333333333333,0,4,15905.866666666667,15948.9,0,36,0.0,43.03333333333333,0,33,861.1,904.1333333333333,0,3,17264.333333333332,17307.366666666665,0,5,12939.366666666667,12982.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":346,"skill":"Pick","start_frame":50},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":832,"skill":"Wipe","start_frame":346},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":908,"skill":"Place","start_frame":832},{"action_text":"Lower the cup held in the left 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[1598,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1306,0,10,2177610,2178916,0,43,1378.2333333333333,1421.7666666666667,0,5,4462.7,4506.233333333334,0,5,1378.2333333333333,1421.7666666666667,0,4,15948.9,15992.433333333332,0,36,43.03333333333333,86.56666666666666,0,33,904.1333333333333,947.6666666666666,0,3,17307.366666666665,17350.899999999998,0,5,12982.4,13025.933333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":895,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":970,"skill":"Place","start_frame":895},{"action_text":"Lower the cup held in the left 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[1599,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1281,0,10,2178916,2180197,0,43,1421.7666666666667,1464.4666666666667,0,5,4506.233333333334,4548.933333333333,0,5,1421.7666666666667,1464.4666666666667,0,4,15992.433333333332,16035.133333333333,0,36,86.56666666666666,129.26666666666665,0,33,947.6666666666666,990.3666666666667,0,3,17350.9,17393.600000000002,0,5,13025.933333333332,13068.633333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":283,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":760,"skill":"Wipe","start_frame":283},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":832,"skill":"Place","start_frame":760},{"action_text":"Lower the cup held in the left 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[1600,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1383,0,10,2180197,2181580,0,43,1464.4666666666667,1510.5666666666666,0,5,4548.933333333333,4595.033333333334,0,5,1464.4666666666667,1510.5666666666666,0,4,16035.133333333333,16081.233333333334,0,36,129.26666666666668,175.36666666666667,0,33,990.3666666666667,1036.4666666666667,0,3,17393.6,17439.699999999997,0,5,13068.633333333333,13114.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":327,"skill":"Pick","start_frame":55},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":781,"skill":"Wipe","start_frame":327},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":855,"skill":"Place","start_frame":781},{"action_text":"Lower the cup held in the left 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[1601,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1323,0,10,2181580,2182903,0,43,1510.5666666666666,1554.6666666666665,0,5,4595.033333333334,4639.133333333334,0,5,1510.5666666666666,1554.6666666666665,0,4,16081.233333333334,16125.333333333334,0,36,175.36666666666667,219.46666666666667,0,33,1036.4666666666667,1080.5666666666666,0,3,17439.7,17483.8,0,5,13114.733333333334,13158.833333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":363,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":892,"skill":"Wipe","start_frame":363},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":976,"skill":"Place","start_frame":892},{"action_text":"Lower the cup held in the left 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[1602,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1280,0,10,2182903,2184183,0,44,0.0,42.666666666666664,0,5,4639.133333333333,4681.8,0,5,1554.6666666666667,1597.3333333333335,0,4,16125.333333333334,16168.0,0,36,219.46666666666667,262.1333333333333,0,33,1080.5666666666666,1123.2333333333333,0,3,17483.8,17526.466666666667,0,5,13158.833333333334,13201.5,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":351,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":767,"skill":"Wipe","start_frame":351},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":815,"skill":"Place","start_frame":767},{"action_text":"Lower the cup held in the left 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[1603,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1271,0,10,2184183,2185454,0,44,42.666666666666664,85.03333333333333,0,5,4681.8,4724.166666666667,0,5,1597.3333333333333,1639.6999999999998,0,4,16168.0,16210.366666666667,0,36,262.1333333333333,304.5,0,33,1123.2333333333333,1165.6,0,3,17526.466666666667,17568.833333333332,0,5,13201.5,13243.866666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":306,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":764,"skill":"Wipe","start_frame":306},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":838,"skill":"Place","start_frame":764},{"action_text":"Lower the cup held in the left 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[1604,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1285,0,10,2185454,2186739,0,44,85.03333333333333,127.86666666666667,0,5,4724.166666666667,4767.0,0,5,1639.7,1682.5333333333333,0,4,16210.366666666667,16253.2,0,36,304.5,347.3333333333333,0,33,1165.6,1208.4333333333332,0,3,17568.833333333332,17611.666666666664,0,5,13243.866666666667,13286.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":336,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":740,"skill":"Wipe","start_frame":336},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":820,"skill":"Place","start_frame":740},{"action_text":"Lower the cup held in the left 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[1605,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1300,0,10,2186739,2188039,0,44,127.86666666666666,171.2,0,5,4767.0,4810.333333333333,0,5,1682.5333333333333,1725.8666666666666,0,4,16253.2,16296.533333333335,0,36,347.3333333333333,390.66666666666663,0,33,1208.4333333333334,1251.7666666666667,0,3,17611.666666666668,17655.0,0,5,13286.7,13330.033333333335,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":225,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":596,"skill":"Wipe","start_frame":225},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":749,"skill":"Place","start_frame":596},{"action_text":"Lower the cup held in the left 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[1606,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1887,0,10,2188039,2189926,0,44,171.2,234.1,0,5,4810.333333333333,4873.233333333333,0,5,1725.8666666666666,1788.7666666666667,0,4,16296.533333333333,16359.433333333332,0,36,390.6666666666667,453.56666666666666,0,33,1251.7666666666667,1314.6666666666667,0,3,17655.0,17717.9,0,5,13330.033333333333,13392.933333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":519,"skill":"Pick","start_frame":43},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1183,"skill":"Wipe","start_frame":519},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1357,"skill":"Place","start_frame":1183},{"action_text":"Lower the cup held in the left 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[1607,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1993,0,10,2189926,2191919,0,44,234.1,300.5333333333333,0,5,4873.233333333334,4939.666666666667,0,5,1788.7666666666667,1855.2,0,4,16359.433333333332,16425.866666666665,0,36,453.56666666666666,520.0,0,33,1314.6666666666667,1381.1000000000001,0,3,17717.9,17784.333333333336,0,5,13392.933333333332,13459.366666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":552,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1235,"skill":"Wipe","start_frame":552},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1427,"skill":"Place","start_frame":1235},{"action_text":"Lower the cup held in the left 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[1608,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1982,0,10,2191919,2193901,0,44,300.53333333333336,366.6,0,5,4939.666666666667,5005.733333333334,0,5,1855.2,1921.2666666666667,0,4,16425.866666666665,16491.93333333333,0,36,520.0,586.0666666666666,0,33,1381.1,1447.1666666666665,0,3,17784.333333333332,17850.399999999998,0,5,13459.366666666667,13525.433333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":518,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1105,"skill":"Wipe","start_frame":518},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1343,"skill":"Place","start_frame":1105},{"action_text":"Lower the cup held in the left 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[1609,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1735,0,10,2193901,2195636,0,44,366.6,424.43333333333334,0,5,5005.733333333334,5063.566666666667,0,5,1921.2666666666667,1979.1,0,5,0.0,57.833333333333336,0,36,586.0666666666667,643.9000000000001,0,33,1447.1666666666667,1505.0,0,3,17850.4,17908.233333333334,0,5,13525.433333333332,13583.266666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":448,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1123,"skill":"Wipe","start_frame":448},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1346,"skill":"Place","start_frame":1123},{"action_text":"Lower the cup held in the left 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[1610,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1874,0,10,2195636,2197510,0,44,424.43333333333334,486.9,0,5,5063.566666666667,5126.033333333333,0,5,1979.1,2041.5666666666666,0,5,57.833333333333336,120.30000000000001,0,36,643.9,706.3666666666667,0,33,1505.0,1567.4666666666667,0,4,0.0,62.46666666666667,0,5,13583.266666666666,13645.733333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":446,"skill":"Pick","start_frame":7},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1100,"skill":"Wipe","start_frame":446},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1392,"skill":"Place","start_frame":1100},{"action_text":"Lower the cup held in the left 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[1611,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1922,0,10,2197510,2199432,0,44,486.9,550.9666666666667,0,5,5126.033333333334,5190.1,0,5,2041.5666666666666,2105.633333333333,0,5,120.3,184.36666666666667,0,36,706.3666666666667,770.4333333333334,0,33,1567.4666666666667,1631.5333333333333,0,4,62.46666666666667,126.53333333333333,0,5,13645.733333333334,13709.800000000001,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":581,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1305,"skill":"Wipe","start_frame":581},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1527,"skill":"Place","start_frame":1305},{"action_text":"Lower the cup held in the left 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[1612,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1781,0,10,2199432,2201213,0,44,550.9666666666667,610.3333333333334,0,5,5190.1,5249.466666666667,0,5,2105.633333333333,2165.0,0,5,184.36666666666667,243.73333333333335,0,36,770.4333333333333,829.8,0,33,1631.5333333333333,1690.8999999999999,0,4,126.53333333333333,185.9,0,5,13709.8,13769.166666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":450,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1102,"skill":"Wipe","start_frame":450},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1334,"skill":"Place","start_frame":1102},{"action_text":"Lower the cup held in the left 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[1613,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1894,0,10,2201213,2203107,0,44,610.3333333333334,673.4666666666667,0,5,5249.466666666666,5312.599999999999,0,5,2165.0,2228.133333333333,0,5,243.73333333333332,306.8666666666667,0,36,829.8,892.9333333333333,0,33,1690.9,1754.0333333333335,0,4,185.9,249.03333333333333,0,5,13769.166666666666,13832.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":589,"skill":"Pick","start_frame":0},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1142,"skill":"Wipe","start_frame":589},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1373,"skill":"Place","start_frame":1142},{"action_text":"Lower the cup held in the left 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[1614,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1770,0,10,2203107,2204877,0,44,673.4666666666667,732.4666666666667,0,5,5312.6,5371.6,0,5,2228.133333333333,2287.133333333333,0,5,306.8666666666667,365.8666666666667,0,36,892.9333333333333,951.9333333333333,0,33,1754.0333333333333,1813.0333333333333,0,4,249.03333333333333,308.0333333333333,0,5,13832.3,13891.3,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":458,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1070,"skill":"Wipe","start_frame":458},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1270,"skill":"Place","start_frame":1070},{"action_text":"Lower the cup held in the left 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[1615,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1580,0,10,2204877,2206457,0,44,732.4666666666667,785.1333333333333,0,5,5371.6,5424.266666666667,0,5,2287.133333333333,2339.7999999999997,0,5,365.8666666666667,418.53333333333336,0,36,951.9333333333333,1004.5999999999999,0,33,1813.0333333333333,1865.7,0,4,308.03333333333336,360.70000000000005,0,5,13891.3,13943.966666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":314,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1090,"skill":"Wipe","start_frame":314},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1269,"skill":"Place","start_frame":1090},{"action_text":"Lower the cup held in the left 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[1616,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1564,0,10,2206457,2208021,0,44,785.1333333333333,837.2666666666667,0,5,5424.266666666666,5476.4,0,5,2339.8,2391.9333333333334,0,5,418.53333333333336,470.6666666666667,0,36,1004.6,1056.7333333333333,0,34,0.0,52.13333333333333,0,4,360.7,412.8333333333333,0,5,13943.966666666667,13996.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":354,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1090,"skill":"Wipe","start_frame":354},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1277,"skill":"Place","start_frame":1090},{"action_text":"Lower the cup held in the left 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[1617,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1548,0,10,2208021,2209569,0,44,837.2666666666667,888.8666666666667,0,5,5476.4,5528.0,0,5,2391.9333333333334,2443.5333333333333,0,5,470.6666666666667,522.2666666666667,0,36,1056.7333333333333,1108.3333333333333,0,34,52.13333333333333,103.73333333333333,0,4,412.8333333333333,464.43333333333334,0,5,13996.1,14047.7,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":291,"skill":"Pick","start_frame":14},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":777,"skill":"Wipe","start_frame":291},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":913,"skill":"Place","start_frame":777},{"action_text":"Lower the cup held in the left 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[1618,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1349,0,10,2209569,2210918,0,44,888.8666666666667,933.8333333333334,0,5,5528.0,5572.966666666666,0,5,2443.5333333333333,2488.5,0,5,522.2666666666667,567.2333333333333,0,36,1108.3333333333333,1153.3,0,34,103.73333333333333,148.7,0,4,464.43333333333334,509.4,0,5,14047.7,14092.666666666668,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":340,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":840,"skill":"Wipe","start_frame":340},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":990,"skill":"Place","start_frame":840},{"action_text":"Lower the cup held in the left 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[1619,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1456,0,10,2210918,2212374,0,44,933.8333333333334,982.3666666666667,0,5,5572.966666666666,5621.5,0,5,2488.5,2537.0333333333333,0,5,567.2333333333333,615.7666666666667,0,36,1153.3,1201.8333333333333,0,34,148.7,197.23333333333332,0,4,509.4,557.9333333333333,0,5,14092.666666666666,14141.199999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":364,"skill":"Pick","start_frame":34},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":981,"skill":"Wipe","start_frame":364},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1115,"skill":"Place","start_frame":981},{"action_text":"Lower the cup held in the left 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[1620,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1374,0,10,2212374,2213748,0,44,982.3666666666667,1028.1666666666667,0,5,5621.5,5667.3,0,5,2537.0333333333333,2582.8333333333335,0,5,615.7666666666667,661.5666666666666,0,36,1201.8333333333333,1247.6333333333332,0,34,197.23333333333332,243.0333333333333,0,4,557.9333333333333,603.7333333333332,0,5,14141.2,14187.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":294,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":980,"skill":"Wipe","start_frame":294},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1119,"skill":"Place","start_frame":980},{"action_text":"Lower the cup held in the left 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[1621,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1291,0,10,2213748,2215039,0,44,1028.1666666666667,1071.2,0,5,5667.3,5710.333333333334,0,5,2582.8333333333335,2625.866666666667,0,5,661.5666666666667,704.6,0,36,1247.6333333333334,1290.6666666666667,0,34,243.03333333333333,286.06666666666666,0,4,603.7333333333333,646.7666666666667,0,5,14187.0,14230.033333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":301,"skill":"Pick","start_frame":37},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":781,"skill":"Wipe","start_frame":301},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":916,"skill":"Place","start_frame":781},{"action_text":"Lower the cup held in the left 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[1622,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1318,0,10,2215039,2216357,0,44,1071.2,1115.1333333333334,0,5,5710.333333333333,5754.266666666666,0,5,2625.866666666667,2669.8,0,5,704.6,748.5333333333333,0,36,1290.6666666666667,1334.6000000000001,0,34,286.06666666666666,330.0,0,4,646.7666666666667,690.6999999999999,0,5,14230.033333333333,14273.966666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":263,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":741,"skill":"Wipe","start_frame":263},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":874,"skill":"Place","start_frame":741},{"action_text":"Lower the cup held in the left 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[1623,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1498,0,10,2216357,2217855,0,44,1115.1333333333334,1165.0666666666668,0,5,5754.266666666666,5804.2,0,5,2669.8,2719.7333333333336,0,5,748.5333333333333,798.4666666666666,0,36,1334.6,1384.5333333333333,0,34,330.0,379.93333333333334,0,4,690.7,740.6333333333333,0,5,14273.966666666667,14323.9,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":245,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":660,"skill":"Wipe","start_frame":245},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":797,"skill":"Place","start_frame":660},{"action_text":"Lower the cup held in the left 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[1624,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1351,0,10,2217855,2219206,0,44,1165.0666666666666,1210.1,0,5,5804.2,5849.233333333334,0,5,2719.733333333333,2764.7666666666664,0,5,798.4666666666667,843.5,0,36,1384.5333333333333,1429.5666666666666,0,34,379.93333333333334,424.9666666666667,0,4,740.6333333333333,785.6666666666666,0,5,14323.9,14368.933333333332,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":298,"skill":"Pick","start_frame":58},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":868,"skill":"Wipe","start_frame":298},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1024,"skill":"Place","start_frame":868},{"action_text":"Lower the cup held in the left 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[1625,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1805,0,10,2219206,2221011,0,44,1210.1,1270.2666666666667,0,5,5849.233333333334,5909.400000000001,0,5,2764.766666666667,2824.9333333333334,0,5,843.5,903.6666666666666,0,36,1429.5666666666666,1489.7333333333333,0,34,424.96666666666664,485.1333333333333,0,4,785.6666666666666,845.8333333333333,0,5,14368.933333333332,14429.099999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":614,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1243,"skill":"Wipe","start_frame":614},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1375,"skill":"Place","start_frame":1243},{"action_text":"Lower the cup held in the left 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[1626,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1299,0,10,2221011,2222310,0,44,1270.2666666666667,1313.5666666666666,0,5,5909.4,5952.7,0,5,2824.9333333333334,2868.2333333333336,0,5,903.6666666666666,946.9666666666666,0,36,1489.7333333333333,1533.0333333333333,0,34,485.1333333333333,528.4333333333333,0,4,845.8333333333334,889.1333333333333,0,5,14429.1,14472.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":333,"skill":"Pick","start_frame":30},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":969,"skill":"Wipe","start_frame":333},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1046,"skill":"Place","start_frame":969},{"action_text":"Lower the cup held in the left 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[1627,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1294,0,10,2222310,2223604,0,44,1313.5666666666666,1356.7,0,5,5952.7,5995.833333333333,0,5,2868.233333333333,2911.3666666666663,0,5,946.9666666666667,990.1,0,36,1533.0333333333333,1576.1666666666667,0,34,528.4333333333333,571.5666666666666,0,4,889.1333333333333,932.2666666666667,0,5,14472.4,14515.533333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":225,"skill":"Pick","start_frame":32},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":631,"skill":"Wipe","start_frame":225},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":765,"skill":"Place","start_frame":631},{"action_text":"Lower the cup held in the left 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[1628,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1496,0,10,2223604,2225100,0,44,1356.7,1406.5666666666666,0,5,5995.833333333333,6045.7,0,5,2911.366666666667,2961.2333333333336,0,5,990.1,1039.9666666666667,0,36,1576.1666666666667,1626.0333333333333,0,34,571.5666666666667,621.4333333333334,0,4,932.2666666666667,982.1333333333333,0,5,14515.533333333333,14565.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":250,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1010,"skill":"Wipe","start_frame":250},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1222,"skill":"Place","start_frame":1010},{"action_text":"Lower the cup held in the left 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[1629,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1998,0,10,2225100,2227098,0,44,1406.5666666666666,1473.1666666666665,0,5,6045.7,6112.3,0,5,2961.233333333333,3027.833333333333,0,5,1039.9666666666667,1106.5666666666666,0,36,1626.0333333333333,1692.6333333333332,0,34,621.4333333333333,688.0333333333333,0,4,982.1333333333333,1048.7333333333333,0,5,14565.4,14632.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":561,"skill":"Pick","start_frame":13},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1302,"skill":"Wipe","start_frame":561},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1462,"skill":"Place","start_frame":1302},{"action_text":"Lower the cup held in the left 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[1630,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1285,0,10,2227098,2228383,0,44,1473.1666666666667,1516.0,0,5,6112.3,6155.133333333333,0,5,3027.8333333333335,3070.666666666667,0,5,1106.5666666666666,1149.3999999999999,0,36,1692.6333333333334,1735.4666666666667,0,34,688.0333333333333,730.8666666666667,0,4,1048.7333333333333,1091.5666666666666,0,6,0.0,42.833333333333336,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":280,"skill":"Pick","start_frame":66},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":730,"skill":"Wipe","start_frame":280},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":830,"skill":"Place","start_frame":730},{"action_text":"Lower the cup held in the left 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[1631,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1347,0,10,2228383,2229730,0,44,1516.0,1560.9,0,5,6155.133333333333,6200.033333333333,0,5,3070.6666666666665,3115.5666666666666,0,5,1149.4,1194.3000000000002,0,36,1735.4666666666667,1780.3666666666668,0,34,730.8666666666667,775.7666666666667,0,4,1091.5666666666666,1136.4666666666667,0,6,42.833333333333336,87.73333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":251,"skill":"Pick","start_frame":50},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":893,"skill":"Wipe","start_frame":251},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1001,"skill":"Place","start_frame":893},{"action_text":"Lower the cup held in the left 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[1632,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1956,0,10,2229730,2231686,0,44,1560.9,1626.1000000000001,0,5,6200.033333333334,6265.233333333334,0,5,3115.5666666666666,3180.7666666666664,0,5,1194.3,1259.5,0,36,1780.3666666666666,1845.5666666666666,0,34,775.7666666666667,840.9666666666667,0,4,1136.4666666666667,1201.6666666666667,0,6,87.73333333333333,152.93333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":625,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1301,"skill":"Wipe","start_frame":625},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1532,"skill":"Place","start_frame":1301},{"action_text":"Lower the cup held in the left 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[1633,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1309,0,10,2231686,2232995,0,44,1626.1,1669.7333333333333,0,5,6265.233333333334,6308.866666666667,0,5,3180.766666666667,3224.4,0,5,1259.5,1303.1333333333334,0,36,1845.5666666666666,1889.2,0,34,840.9666666666667,884.6,0,4,1201.6666666666667,1245.3000000000002,0,6,152.93333333333334,196.56666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":231,"skill":"Pick","start_frame":25},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":696,"skill":"Wipe","start_frame":231},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":946,"skill":"Place","start_frame":696},{"action_text":"Lower the cup held in the left 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[1634,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1576,0,10,2232995,2234571,0,44,1669.7333333333333,1722.2666666666667,0,5,6308.866666666667,6361.400000000001,0,5,3224.4,3276.9333333333334,0,5,1303.1333333333334,1355.6666666666667,0,36,1889.2,1941.7333333333333,0,34,884.6,937.1333333333333,0,4,1245.3,1297.8333333333333,0,6,196.56666666666666,249.1,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":506,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1053,"skill":"Wipe","start_frame":506},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1293,"skill":"Place","start_frame":1053},{"action_text":"Lower the cup held in the left 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[1635,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1745,0,10,2234571,2236316,0,44,1722.2666666666667,1780.4333333333334,0,5,6361.4,6419.566666666667,0,5,3276.9333333333334,3335.1,0,5,1355.6666666666667,1413.8333333333335,0,36,1941.7333333333333,1999.9,0,34,937.1333333333333,995.3,0,4,1297.8333333333333,1356.0,0,6,249.1,307.26666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":574,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1162,"skill":"Wipe","start_frame":574},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1327,"skill":"Place","start_frame":1162},{"action_text":"Lower the cup held in the left 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[1636,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1955,0,10,2236316,2238271,0,44,1780.4333333333334,1845.6000000000001,0,5,6419.566666666667,6484.733333333334,0,5,3335.1,3400.2666666666664,0,5,1413.8333333333333,1479.0,0,36,1999.9,2065.0666666666666,0,34,995.3,1060.4666666666667,0,4,1356.0,1421.1666666666667,0,6,307.26666666666665,372.43333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":526,"skill":"Pick","start_frame":18},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1281,"skill":"Wipe","start_frame":526},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1463,"skill":"Place","start_frame":1281},{"action_text":"Lower the cup held in the left 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[1637,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1510,0,10,2238271,2239781,0,44,1845.6,1895.9333333333332,0,5,6484.733333333334,6535.066666666667,0,5,3400.266666666667,3450.6000000000004,0,5,1479.0,1529.3333333333333,0,36,2065.0666666666666,2115.4,0,34,1060.4666666666667,1110.8,0,4,1421.1666666666667,1471.5,0,6,372.43333333333334,422.76666666666665,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":454,"skill":"Pick","start_frame":54},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":995,"skill":"Wipe","start_frame":454},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1138,"skill":"Place","start_frame":995},{"action_text":"Lower the cup held in the left 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[1638,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1766,0,10,2239781,2241547,0,44,1895.9333333333334,1954.8,0,5,6535.066666666667,6593.933333333333,0,5,3450.6,3509.4666666666667,0,5,1529.3333333333333,1588.1999999999998,0,37,0.0,58.86666666666667,0,34,1110.8,1169.6666666666665,0,4,1471.5,1530.3666666666666,0,6,422.76666666666665,481.6333333333333,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":506,"skill":"Pick","start_frame":61},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1052,"skill":"Wipe","start_frame":506},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1299,"skill":"Place","start_frame":1052},{"action_text":"Lower the cup held in the left 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[1639,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1612,0,10,2241547,2243159,0,44,1954.8,2008.5333333333333,0,5,6593.933333333333,6647.666666666667,0,5,3509.4666666666667,3563.2,0,5,1588.2,1641.9333333333334,0,37,58.86666666666667,112.6,0,34,1169.6666666666667,1223.4,0,4,1530.3666666666666,1584.1,0,6,481.6333333333333,535.3666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":430,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1002,"skill":"Wipe","start_frame":430},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1153,"skill":"Place","start_frame":1002},{"action_text":"Lower the cup held in the left 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[1640,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2041,0,10,2243159,2245200,0,44,2008.5333333333333,2076.5666666666666,0,5,6647.666666666667,6715.700000000001,0,5,3563.2,3631.233333333333,0,5,1641.9333333333334,1709.9666666666667,0,37,112.6,180.63333333333333,0,34,1223.4,1291.4333333333334,0,4,1584.1,1652.1333333333332,0,6,535.3666666666667,603.4,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":586,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1263,"skill":"Wipe","start_frame":586},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1455,"skill":"Place","start_frame":1263},{"action_text":"Lower the cup held in the left 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[1641,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1619,0,10,2245200,2246819,0,45,0.0,53.96666666666667,0,5,6715.7,6769.666666666666,0,5,3631.233333333333,3685.2,0,5,1709.9666666666667,1763.9333333333334,0,37,180.63333333333333,234.6,0,34,1291.4333333333334,1345.4,0,4,1652.1333333333334,1706.1000000000001,0,6,603.4,657.3666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":399,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1111,"skill":"Wipe","start_frame":399},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1334,"skill":"Place","start_frame":1111},{"action_text":"Lower the cup held in the left 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[1642,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1729,0,10,2246819,2248548,0,45,53.96666666666667,111.6,0,5,6769.666666666667,6827.3,0,5,3685.2,3742.833333333333,0,5,1763.9333333333334,1821.5666666666668,0,37,234.6,292.23333333333335,0,34,1345.4,1403.0333333333335,0,4,1706.1,1763.7333333333333,0,6,657.3666666666667,715.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":447,"skill":"Pick","start_frame":36},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1037,"skill":"Wipe","start_frame":447},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1237,"skill":"Place","start_frame":1037},{"action_text":"Lower the cup held in the left 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[1643,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1760,0,11,2248548,2250308,0,45,111.6,170.26666666666665,0,5,6827.3,6885.966666666667,0,5,3742.8333333333335,3801.5,0,5,1821.5666666666666,1880.2333333333333,0,37,292.23333333333335,350.90000000000003,0,34,1403.0333333333333,1461.7,0,4,1763.7333333333333,1822.4,0,6,715.0,773.6666666666666,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":571,"skill":"Pick","start_frame":23},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1280,"skill":"Wipe","start_frame":571},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1432,"skill":"Place","start_frame":1280},{"action_text":"Lower the cup held in the left 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[1644,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1678,0,11,2250308,2251986,0,45,170.26666666666668,226.20000000000002,0,5,6885.966666666666,6941.9,0,5,3801.5,3857.4333333333334,0,5,1880.2333333333333,1936.1666666666667,0,37,350.9,406.8333333333333,0,34,1461.7,1517.6333333333334,0,4,1822.4,1878.3333333333335,0,6,773.6666666666666,829.5999999999999,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":455,"skill":"Pick","start_frame":12},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":955,"skill":"Wipe","start_frame":455},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1105,"skill":"Place","start_frame":955},{"action_text":"Lower the cup held in the left 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[1645,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1964,0,11,2251986,2253950,0,45,226.2,291.66666666666663,0,5,6941.9,7007.366666666666,0,5,3857.4333333333334,3922.9,0,5,1936.1666666666667,2001.6333333333334,0,37,406.8333333333333,472.29999999999995,0,34,1517.6333333333334,1583.1000000000001,0,4,1878.3333333333333,1943.8,0,6,829.6,895.0666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":610,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1198,"skill":"Wipe","start_frame":610},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1526,"skill":"Place","start_frame":1198},{"action_text":"Lower the cup held in the left 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[1646,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2072,0,11,2253950,2256022,0,45,291.6666666666667,360.73333333333335,0,5,7007.366666666667,7076.433333333333,0,5,3922.9,3991.9666666666667,0,5,2001.6333333333334,2070.7000000000003,0,37,472.3,541.3666666666667,0,34,1583.1,1652.1666666666665,0,4,1943.8,2012.8666666666666,0,6,895.0666666666667,964.1333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":642,"skill":"Pick","start_frame":24},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1245,"skill":"Wipe","start_frame":642},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1662,"skill":"Place","start_frame":1245},{"action_text":"Lower the cup held in the left 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[1647,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],1795,0,11,2256022,2257817,0,45,360.73333333333335,420.56666666666666,0,5,7076.433333333333,7136.266666666666,0,5,3991.9666666666667,4051.8,0,5,2070.7,2130.5333333333333,0,37,541.3666666666667,601.2,0,34,1652.1666666666667,1712.0,0,4,2012.8666666666666,2072.7,0,6,964.1333333333333,1023.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":446,"skill":"Pick","start_frame":31},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1130,"skill":"Wipe","start_frame":446},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1384,"skill":"Place","start_frame":1130},{"action_text":"Lower the cup held in the left 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[1648,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2071,0,11,2257817,2259888,0,45,420.56666666666666,489.6,0,5,7136.266666666666,7205.3,0,5,4051.8,4120.833333333334,0,5,2130.5333333333333,2199.5666666666666,0,37,601.2,670.2333333333333,0,34,1712.0,1781.0333333333333,0,4,2072.7,2141.733333333333,0,6,1023.9666666666667,1093.0,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":730,"skill":"Pick","start_frame":20},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1353,"skill":"Wipe","start_frame":730},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1758,"skill":"Place","start_frame":1353},{"action_text":"Lower the cup held in the left 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[1649,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2029,0,11,2259888,2261917,0,45,489.6,557.2333333333333,0,5,7205.3,7272.933333333333,0,5,4120.833333333333,4188.466666666666,0,5,2199.5666666666666,2267.2,0,37,670.2333333333333,737.8666666666667,0,34,1781.0333333333333,1848.6666666666667,0,4,2141.733333333333,2209.3666666666663,0,6,1093.0,1160.6333333333334,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":540,"skill":"Pick","start_frame":21},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1298,"skill":"Wipe","start_frame":540},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1637,"skill":"Place","start_frame":1298},{"action_text":"Lower the cup held in the left 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[1650,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2029,0,11,2261917,2263946,0,45,557.2333333333333,624.8666666666667,0,5,7272.933333333333,7340.566666666667,0,5,4188.466666666666,4256.099999999999,0,5,2267.2,2334.833333333333,0,37,737.8666666666667,805.5,0,34,1848.6666666666667,1916.3000000000002,0,4,2209.366666666667,2277.0,0,6,1160.6333333333334,1228.2666666666669,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":489,"skill":"Pick","start_frame":15},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1311,"skill":"Wipe","start_frame":489},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1608,"skill":"Place","start_frame":1311},{"action_text":"Lower the cup held in the left 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[1651,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2356,0,11,2263946,2266302,0,45,624.8666666666667,703.4,0,5,7340.566666666667,7419.1,0,5,4256.1,4334.633333333334,0,5,2334.8333333333335,2413.366666666667,0,37,805.5,884.0333333333333,0,34,1916.3,1994.8333333333333,0,4,2277.0,2355.5333333333333,0,6,1228.2666666666667,1306.8,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":560,"skill":"Pick","start_frame":34},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1673,"skill":"Wipe","start_frame":560},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1952,"skill":"Place","start_frame":1673},{"action_text":"Lower the cup held in the left 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[1652,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2009,0,11,2266302,2268311,0,45,703.4,770.3666666666667,0,5,7419.1,7486.066666666667,0,5,4334.633333333333,4401.599999999999,0,5,2413.366666666667,2480.3333333333335,0,37,884.0333333333333,951.0,0,34,1994.8333333333333,2061.7999999999997,0,4,2355.5333333333333,2422.5,0,6,1306.8,1373.7666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":556,"skill":"Pick","start_frame":28},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1376,"skill":"Wipe","start_frame":556},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1596,"skill":"Place","start_frame":1376},{"action_text":"Lower the cup held in the left 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[1653,["Pick up the item to wipe away the stain. | The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain."],2166,0,11,2268311,2270477,0,45,770.3666666666667,842.5666666666667,0,5,7486.066666666667,7558.266666666666,0,5,4401.6,4473.8,0,5,2480.3333333333335,2552.5333333333333,0,37,951.0,1023.2,0,34,2061.8,2134.0,0,4,2422.5,2494.7,0,6,1373.7666666666667,1445.9666666666667,[{"action_text":"Lift the cup on the table with the left arm.","end_frame":583,"skill":"Pick","start_frame":22},{"action_text":"Grasp the cloth on the table and wipe the stain.","end_frame":1508,"skill":"Wipe","start_frame":583},{"action_text":"Lower the right arm to put away the cleaned cloth.","end_frame":1776,"skill":"Place","start_frame":1508},{"action_text":"Lower the cup held in the left 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