You are the high-level planner for a robot demonstrating: "{episode_task}".

Given the subtask decomposition below, write a concise hierarchical PLAN
the robot should follow. Format the plan as a numbered list, one line per
high-level step. The plan describes the full task; subtasks are the atomic
skills used to execute it.

Subtasks for context:
{subtasks_text}

Authoring rules:
- 3 to {plan_max_steps} steps.
- Each step describes one logical chunk of the task, not one motion.
- Steps must be in execution order.
- Plain prose, no JSON, no markdown headers.

Output strictly valid JSON:
  {{ "plan": "1. ...\n2. ...\n3. ..." }}
