{"subtask_index": 0, "subtask": "End"}
{"subtask_index": 1, "subtask": "Grasp the cake with the right gripper"}
{"subtask_index": 2, "subtask": "Open the lid of the box with the left gripper"}
{"subtask_index": 3, "subtask": "Place the cake into the box with the right gripper"}
{"subtask_index": 4, "subtask": "null"}