[
    {
        "time": 0.0,
        "subtask": "pick up the ice cube from ice bowl"
    },
    {
        "time": 12.0,
        "subtask": "place the ice cube in glas cup"
    },
    {
        "time": 21.0,
        "subtask": "navigate to the fridge"
    },
    {
        "time": 27.0,
        "subtask": "open the fridge door"
    },
    {
        "time": 43.0,
        "subtask": "pick up the lemon wedge from the fridge"
    },
    {
        "time": 54.0,
        "subtask": "place the lemon wedge into the glass cup"
    }
]