[
    {
        "time": 0.0,
        "subtask": "pick up the ice cube from ice bowl"
    },
    {
        "time": 12.0,
        "subtask": "place the ice cube in glas cup"
    },
    {
        "time": 24.0,
        "subtask": "navigate to the fridge"
    },
    {
        "time": 30.0,
        "subtask": "open both the fridge doors"
    },
    {
        "time": 56.0,
        "subtask": "pick up the lemon wedge from the fridge"
    },
    {
        "time": 65.0,
        "subtask": "place the lemon wedge into the glass cup"
    }
]