{"subtask_index": 0, "subtask": "End"}
{"subtask_index": 1, "subtask": "Abnormal"}
{"subtask_index": 2, "subtask": "Lay the book down with the right gripper"}
{"subtask_index": 3, "subtask": "Hold the book with the right gripper"}
{"subtask_index": 4, "subtask": "null"}