{"subtask_index": 0, "subtask": "Use the right gripper to touch the topmost layer of the storage cabinet"}
{"subtask_index": 1, "subtask": "Push the top drawer closed"}
{"subtask_index": 2, "subtask": "Use the right gripper to contact the middle shelf of the cabinet"}
{"subtask_index": 3, "subtask": "End"}
{"subtask_index": 4, "subtask": "Push the middle drawer closed"}
{"subtask_index": 5, "subtask": "null"}