{"subtask_index": 0, "subtask": "Pull the zipper with right gripper."}
{"subtask_index": 1, "subtask": "Pull open the zipper with your left gripper."}
{"subtask_index": 2, "subtask": "Grasp the bag with left gripper."}
{"subtask_index": 3, "subtask": "grasp the bag with your right gripper."}
{"subtask_index": 4, "subtask": "End."}
{"subtask_index": 5, "subtask": "Zip up the bag with your left gripper."}
{"subtask_index": 6, "subtask": "Zip up the bag with your right gripper."}
{"subtask_index": 7, "subtask": "end."}
{"subtask_index": 8, "subtask": "Grasp the bag with right gripper."}
{"subtask_index": 9, "subtask": "Pull the zipper with left gripper."}
{"subtask_index": 10, "subtask": "pick up the zipper with your left gripper."}
{"subtask_index": 11, "subtask": "Discard."}
{"subtask_index": 12, "subtask": "Pull open the zipper with your right gripper."}
{"subtask_index": 13, "subtask": "grasp the bag with your left gripper."}
{"subtask_index": 14, "subtask": "null."}