{"subtask_index": 0, "subtask": "Place the pen cap on the table with the right gripper"}
{"subtask_index": 1, "subtask": "Grasp the pen tightly with the left gripper"}
{"subtask_index": 2, "subtask": "End"}
{"subtask_index": 3, "subtask": "Place the pen on the table with the left gripper"}
{"subtask_index": 4, "subtask": "Remove the pen cap with the right gripper"}
{"subtask_index": 5, "subtask": "Lift the pen with the left gripper"}
{"subtask_index": 6, "subtask": "null"}