subtask: Grasp the glass of shrimp with the left gripper


subtask: Pick up blue cup filled with coffee beans with left gripper


subtask: Place blue cup with coffee beans on the table with left gripper


subtask: Pour the shrimp into the green bowl with the left gripper


subtask: Pour the coffee beans into the pink bowl with the left gripper


subtask: Pour the coffee beans into the pink bowl with the right gripper


subtask: Pour the shrimp into the green bowl with the right gripper


subtask: Pick up blue cup filled with shrimp with left gripper


subtask: Place blue cup with shrimp on the table with left gripper


subtask: Pick up blue cup filled with coffee beans with right gripper


subtask: Grasp the glass of coffee beans with the left gripper


subtask: Pour the shrimp into the pink bowl with left gripper


subtask: Pour the coffee beans into the green bowl with the left gripper


subtask: Pour the coffee beans into the pink bowl with left gripper


subtask: Grasp the glass of coffee beans with the right gripper


subtask: Pour the coffee beans into the green plate with the right gripper


subtask: Pour the shrimp into the pink bowl with the right gripper


subtask: Grasp the glass of shrimp with the right gripper


subtask: Pour the coffee beans into the green plate with the left gripper


subtask: Place blue cup with coffee powder on the table with left gripper


subtask: Place the glass cup with the right gripper


subtask: Place blue cup with coffee beans on the table with right gripper


subtask: Pour the coffee beans into the green bowl with the right gripper


subtask: Place blue cup with shrimp on the table with right gripper


subtask: Pick up blue cup filled with shrimp with right gripper


subtask: Pour the shrimp into the pink bowl with right gripper


subtask: Pour the shrimp into the pink bowl with the left gripper


subtask: Pour the shrimp into the blue basin with left gripper


subtask: Pour the coffee beans into the blue basin with right gripper


subtask: Pour the shrimp into the blue basin with right gripper


subtask: Place the glass cup with the left gripper