{"subtask_index": 0, "subtask": "Place the beer mug on the white basket with the right gripper"}
{"subtask_index": 1, "subtask": "Place the bagged cookies on the white basket with the left gripper"}
{"subtask_index": 2, "subtask": "Grasp the bagged cookies with the left gripper"}
{"subtask_index": 3, "subtask": "End"}
{"subtask_index": 4, "subtask": "Grasp the beer mug with the right gripper"}
{"subtask_index": 5, "subtask": "null"}