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


task: Close gripper to grasp another piece of fabric


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


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


task: Maintain grasp and lift vertically upward


task: Move back toward the table while holding nothing


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


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


task: Open gripper to place the fabric on the headrest


task: Open gripper to release the fabric onto the headrest


task: Retract arm slightly while holding nothing


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


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


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