subtask: Grasp the blue build blocks with the right gripper


subtask: Place the blue build blocks on the red build block with the right gripper


subtask: Place the yellow build blocks on the orange build block with the right gripper


subtask: Place the red build blocks on the center of the table with the left gripper


subtask: Place the orange build blocks on the yellow build block with the right gripper


subtask: Grasp the blue build blocks with the left gripper


subtask: Grasp the red build blocks with the left gripper


subtask: Grasp the orange build blocks with the right gripper


subtask: Place the blue build blocks on the red build block with the left gripper


subtask: Grasp the yellow build blocks with the right gripper