{"subtask_index": 0, "subtask": "Grasp the orange with the right gripper"}
{"subtask_index": 1, "subtask": "End"}
{"subtask_index": 2, "subtask": "Place the orange into the right compartment of the storage box with the right gripper"}
{"subtask_index": 3, "subtask": "Grasp the apple with the left gripper"}
{"subtask_index": 4, "subtask": "Place the  apple into the left compartment of the storage box with the left gripper"}
{"subtask_index": 5, "subtask": "null"}