• finish : sm_cleaning_learning , sm_cleaning_wam
• start : sm_cleaning_learning , sm_cleaning_wam
• time_extra_learn : sm_cleaning_learning
• time_learning : sm_cleaning_learning
• time_moving : sm_cleaning_learning
• time_perception : sm_cleaning_learning
• time_planning : sm_cleaning_learning
• time_state : sm_cleaning_learning
• total_time : sm_cleaning_wam , sm_cleaning_learning