{"subtask_index": 0, "subtask": "Grasp the cake placed into the plate with the left gripper"}
{"subtask_index": 1, "subtask": "Grasp the apple with the right gripper"}
{"subtask_index": 2, "subtask": "End"}
{"subtask_index": 3, "subtask": "Place the cake on the table with the left gripper"}
{"subtask_index": 4, "subtask": "Place the apple into the plate with the right gripper"}
{"subtask_index": 5, "subtask": "null"}