subtask: Place the orange in the light basket with left gripper


subtask: Pick up the facial cleanser with left gripper


subtask: Place the facial cleanser in the dark basket with left gripper


subtask: Place the XX into the basket on the left with the right gripper


subtask: Place the lime in the light basket with right gripper


subtask: Place the laundry detergent in the dark basket with right gripper


subtask: Place the orange in the light basket with right gripper


subtask: Place the XX into the basket on the right with the left gripper


subtask: Place the XX into the basket on the left with the left gripper


subtask: Place the XX into the basket on the right with the right gripper


subtask: Place the bread in the light basket with right gripper


subtask: Pick up the laundry detergent with right gripper


subtask: Pick up the laundry detergent with left gripper


subtask: Pick up the facial cleanser with right gripper


subtask: Place the brown cup in the dark basket with left gripper


subtask: Place the laundry detergent in the dark basket with left gripper


subtask: Place the lime in the light basket with left gripper