[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!
At the current round:
[Env State]
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);
At the current round:
[Env State]
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
At the current round:
[Env State]
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is holding bread_slice1

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent State]
Chad's gripper is holding tomato2
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is holding cheese

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent State]
Chad's gripper is holding beef_patty2
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
== Round#7 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is holding beef_patty2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side

beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: on right side
[Agent State]
Chad's gripper is empty
Dave's gripper is holding ham

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
== Round#7 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is holding beef_patty2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
[Feedback]:
None
== Round#8 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side

beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding ham
[Response]:
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION PUT ham beef_patty2
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
[Agent State]
Chad's gripper is holding cucumber1
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
== Round#7 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is holding beef_patty2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
[Feedback]:
None
== Round#8 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side

beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding ham
[Response]:
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION PUT ham beef_patty2
[Feedback]:
None
== Round#9 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
[Agent state]:
Chad's gripper is holding cucumber1
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION PICK bacon
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side

cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent State]
Chad's gripper is empty
Dave's gripper is holding bacon

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
== Round#7 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is holding beef_patty2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
[Feedback]:
None
== Round#8 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side

beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding ham
[Response]:
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION PUT ham beef_patty2
[Feedback]:
None
== Round#9 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
[Agent state]:
Chad's gripper is holding cucumber1
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION PICK bacon
[Feedback]:
None
== Round#10 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side

cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bacon
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty1
NAME Dave ACTION PUT bacon cucumber1
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: atop cucumber1
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2

cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent State]
Chad's gripper is holding beef_patty1
Dave's gripper is empty

[Action Options]
1) PICK <obj>, Only PICK if gripper is empty. PICK only the correct next item according to the recipe.
2) PUT <obj1> <obj2>. <obj1> can be one of the foods. <obj2> can be food, cutting_board, or table.
3) WAIT, do nothing.
Only one robot can PUT each round. You must PICK up an item before PUT.
[Action Output Instruction]
Think step-by-step about your plan and output your idea, and then output 'EXECUTE
', then give exactly one action per robot, put each on a new line.
Example#1: EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK cheese
Example#2: EXECUTE
NAME Chad ACTION PICK ham
NAME Dave ACTION PUT cheese cucumber
[Task Description]
Robot Chad and Dave need collaborate to make a [big_sandwich] as quickly as possible.
Robot Chad can only take the food on the right, and Dave can only take the food on the left.
Food items must be stacked following this order: bread_slice1, tomato2, cheese, beef_patty2, ham, cucumber1, bacon, beef_patty1, bread_slice2, where bread_slice1 must be PUT on cutting_board.
Please output the actions most suitable for robots Chad and Dave to complete this task.
Improve your plans if given [Environment Feedback].
Respond very concisely but informatively.
Propose exactly one action per robot at the **current** round, select from [Action Options].
End your response must strictly follow [Action Output Instruction]!

[History]
== Round#1 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
[Feedback]:
[Environment Feedback]:
- Previous Plan:
NAME Chad ACTION PICK bread_slice1
NAME Dave ACTION WAIT
- Goal Step Chad (-0.80, 0.61, 0.21); Dave (-0.59, 0.86, 0.44):
- Reachability failed: Out of reach: Chad (-0.80, 0.61, 0.21);

== Round#2 ==
[Env state]:
bread_slice1: on left side
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PICK bread_slice1
[Feedback]:
None
== Round#3 ==
[Env state]:
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bread_slice1
[Response]:
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice1 cutting_board
[Feedback]:
None
== Round#4 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: on right side
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
[Feedback]:
None
== Round#5 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: on left side
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side

cucumber1: on right side
[Agent state]:
Chad's gripper is holding tomato2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
[Feedback]:
None
== Round#6 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side

tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side
beef_patty2: on right side
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding cheese
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION PUT cheese tomato2
[Feedback]:
None
== Round#7 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: on left side
beef_patty1: on right side
cucumber2: on right side

tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is holding beef_patty2
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
[Feedback]:
None
== Round#8 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side

beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: on right side
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding ham
[Response]:
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION PUT ham beef_patty2
[Feedback]:
None
== Round#9 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: on left side
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
[Agent state]:
Chad's gripper is holding cucumber1
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION PICK bacon
[Feedback]:
None
== Round#10 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side

cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: on right side
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent state]:
Chad's gripper is empty
Dave's gripper is holding bacon
[Response]:
EXECUTE
NAME Chad ACTION PICK beef_patty1
NAME Dave ACTION PUT bacon cucumber1
[Feedback]:
None
== Round#11 ==
[Env state]:
bread_slice1: on cutting_board
bread_slice2: on left side
bacon: atop cucumber1
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2

cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent state]:
Chad's gripper is holding beef_patty1
Dave's gripper is empty
[Response]:
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION PICK bread_slice2
[Feedback]:
None
At the current round:
[Env State]
bread_slice1: on cutting_board

bacon: atop cucumber1
cheese: atop tomato2
tomato1: on left side
ham: atop beef_patty2
beef_patty1: atop bacon
cucumber2: on right side
beef_patty2: atop cheese
tomato2: atop bread_slice1
cucumber1: atop ham
[Agent State]
Chad's gripper is empty
Dave's gripper is holding bread_slice2