{"subtask_index": 0, "subtask": "Open the red drawer with right gripper"}
{"subtask_index": 1, "subtask": "Open the yellow drawer with left gripper"}
{"subtask_index": 2, "subtask": "Close the  red drawer with right gripper"}
{"subtask_index": 3, "subtask": "Close the  yellow drawer with left gripper"}
{"subtask_index": 4, "subtask": "Open the red drawer with the right gripper"}
{"subtask_index": 5, "subtask": "End"}
{"subtask_index": 6, "subtask": "Open the red drawer with the left gripper"}
{"subtask_index": 7, "subtask": "Open the red drawer with left gripper"}
{"subtask_index": 8, "subtask": "Right gripper"}
{"subtask_index": 9, "subtask": "Close the red drawer with the left gripper"}
{"subtask_index": 10, "subtask": "Close the red drawer with the right gripper"}
{"subtask_index": 11, "subtask": "Close the  red drawer with left gripper"}
{"subtask_index": 12, "subtask": "Left gripper"}
{"subtask_index": 13, "subtask": "null"}