{"subtask_index": 0, "subtask": "Static"}
{"subtask_index": 1, "subtask": "Grasp the spoon with the right gripper"}
{"subtask_index": 2, "subtask": "End"}
{"subtask_index": 3, "subtask": "Grasp the spoon with the left gripper"}
{"subtask_index": 4, "subtask": "Place the spoon into the basin with the right gripper"}
{"subtask_index": 5, "subtask": "Place the spoon into the basin with the left gripper"}
{"subtask_index": 6, "subtask": "null"}