{"subtask_index": 0, "subtask": "pick up the yellow bread on the yellow plate."}
{"subtask_index": 1, "subtask": "Place the yellow bread on the table."}
{"subtask_index": 2, "subtask": "Place the picked object on the yellow plate."}
{"subtask_index": 3, "subtask": "Grasp the yellow bread on the table."}
{"subtask_index": 4, "subtask": "null."}