{"subtask_index": 0, "subtask": "Grasp the umbrella with the left gripper"}
{"subtask_index": 1, "subtask": "End"}
{"subtask_index": 2, "subtask": "Grasp the bowl with the right gripper"}
{"subtask_index": 3, "subtask": "Grasp the bowl with the left gripper"}
{"subtask_index": 4, "subtask": "Place the cup into the white basket with the right gripper"}
{"subtask_index": 5, "subtask": "Static"}
{"subtask_index": 6, "subtask": "Place the umbrella into the white basket with the left gripper"}
{"subtask_index": 7, "subtask": "Place the bowl into the yellow basket with the left gripper"}
{"subtask_index": 8, "subtask": "Place the bowl into the  yellow basket with the right gripper"}
{"subtask_index": 9, "subtask": "Grasp the cup with the right gripper"}
{"subtask_index": 10, "subtask": "null"}