{"subtask_index": 0, "subtask": "Grasp the glass of shrimp with the left gripper"}
{"subtask_index": 1, "subtask": "Pick up blue cup filled with coffee beans with left gripper"}
{"subtask_index": 2, "subtask": "Place blue cup with coffee beans on the table with left gripper"}
{"subtask_index": 3, "subtask": "Pour the shrimp into the green bowl with the left gripper"}
{"subtask_index": 4, "subtask": "Pour the coffee beans into the pink bowl with the left gripper"}
{"subtask_index": 5, "subtask": "Pour the coffee beans into the pink bowl with the right gripper"}
{"subtask_index": 6, "subtask": "Left gripper"}
{"subtask_index": 7, "subtask": "Pour the shrimp into the green bowl with the right gripper"}
{"subtask_index": 8, "subtask": "Pick up blue cup filled with shrimp with left gripper"}
{"subtask_index": 9, "subtask": "Place blue cup with shrimp on the table with left gripper"}
{"subtask_index": 10, "subtask": "Pick up blue cup filled with coffee beans with right gripper"}
{"subtask_index": 11, "subtask": "Grasp the glass of coffee beans with the left gripper"}
{"subtask_index": 12, "subtask": "Pour the shrimp into the pink bowl with left gripper"}
{"subtask_index": 13, "subtask": "Pour the coffee beans into the green bowl with the left gripper"}
{"subtask_index": 14, "subtask": "Pour the coffee beans into the pink bowl with left gripper"}
{"subtask_index": 15, "subtask": "Grasp the glass of coffee beans with the right gripper"}
{"subtask_index": 16, "subtask": "Pour the coffee beans into the green plate with the right gripper"}
{"subtask_index": 17, "subtask": "Pour the shrimp into the pink bowl with the right gripper"}
{"subtask_index": 18, "subtask": "Grasp the glass of shrimp with the right gripper"}
{"subtask_index": 19, "subtask": "Pour the coffee beans into the green plate with the left gripper"}
{"subtask_index": 20, "subtask": "Place blue cup with coffee powder on the table with left gripper"}
{"subtask_index": 21, "subtask": "Place the glass cup with the right gripper"}
{"subtask_index": 22, "subtask": "Place blue cup with coffee beans on the table with right gripper"}
{"subtask_index": 23, "subtask": "End"}
{"subtask_index": 24, "subtask": "Pour the coffee beans into the green bowl with the right gripper"}
{"subtask_index": 25, "subtask": "Place blue cup with shrimp on the table with right gripper"}
{"subtask_index": 26, "subtask": "Pick up blue cup filled with shrimp with right gripper"}
{"subtask_index": 27, "subtask": "Pour the shrimp into the pink bowl with right gripper"}
{"subtask_index": 28, "subtask": "Pour the shrimp into the pink bowl with the left gripper"}
{"subtask_index": 29, "subtask": "Pour the shrimp into the blue basin with left gripper"}
{"subtask_index": 30, "subtask": "Pour the coffee beans into the blue basin with right gripper"}
{"subtask_index": 31, "subtask": "Right gripper"}
{"subtask_index": 32, "subtask": "Pour the shrimp into the blue basin with right gripper"}
{"subtask_index": 33, "subtask": "Place the glass cup with the left gripper"}
{"subtask_index": 34, "subtask": "null"}