0.000: (grasp-folded-garment towel-01 robot-01)  [100.000]
0.000: (grasp-unfolded-garment dish-towel-01 human-01)  [100.000]
100.001: (lift dish-towel-01 human-01)  [100.000]
100.001: (lift towel-01 robot-01)  [100.000]
200.002: (pile-garment towel-01 pile-01 dish-towel robot-01)  [100.000]
200.002: (fold-garment dish-towel-01 human-01)  [100.000]
300.003: (grasp-folded-garment dish-towel-01 robot-01)  [100.000]
300.003: (grasp-unfolded-garment towel-02 human-01)  [100.000]
400.004: (lift towel-02 human-01)  [100.000]
400.004: (lift dish-towel-01 robot-01)  [100.000]
500.005: (pile-garment dish-towel-01 pile-01 dish-towel robot-01)  [100.000]
500.005: (fold-garment towel-02 human-01)  [100.000]
600.006: (grasp-folded-garment towel-02 robot-01)  [100.000]
700.007: (lift towel-02 robot-01)  [100.000]
800.008: (pile-garment towel-02 pile-01 dish-towel robot-01)  [100.000]