{"subtask_index": 0, "subtask": "Place the blue block on top of the red block with the left gripper"}
{"subtask_index": 1, "subtask": "End"}
{"subtask_index": 2, "subtask": "Grasp the green block with the right gripper"}
{"subtask_index": 3, "subtask": "Grasp the blue block with the left gripper"}
{"subtask_index": 4, "subtask": "Place the green block on top of the yellow block with the right gripper"}
{"subtask_index": 5, "subtask": "null"}