Chad
I will PICK tomato2 since it's the next item in the recipe that is on my side of the table. Dave should WAIT because only one robot can PUT at a time and I need to place the tomato2 on the bread_slice1 which is not yet on the cutting_board.
PROCEED
Dave
Chad, you should PICK bread_slice1 instead, as it is the first item in the recipe and needs to be PUT on the cutting_board before we can add any other ingredients. After you PICK and PUT bread_slice1, I can proceed with the next steps.
PROCEED
Chad
Understood, Dave. I will PICK bread_slice1 as it is indeed the first item that needs to be placed on the cutting_board. Once I have done that, you can continue with the next steps.
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);
Action
Chad: PICK bread_slice1
Dave: WAIT
Chad
It seems there was a misunderstanding. I cannot reach bread_slice1 as it is not on my side of the table. I will PICK tomato2, which is the next item in the recipe that is on my side and can be placed on the bread_slice1 once it's on the cutting_board.
EXECUTE
NAME Chad ACTION PICK tomato2
NAME Dave ACTION WAIT
Action
Chad: PICK tomato2
Dave: WAIT
Chad
Dave, since I am currently holding tomato2, I will PUT it on the bread_slice1 once you have placed it on the cutting_board. Please PICK bread_slice1 and PUT it on the cutting_board so I can proceed with the next step.
PROCEED
Dave
EXECUTE
NAME Dave ACTION PICK bread_slice1
NAME Chad ACTION WAIT
Action
Dave: PICK bread_slice1
Chad: WAIT
Chad
Dave, now that you have PICKed bread_slice1, you need to PUT it on the cutting_board. After that, I will be able to PUT tomato2 on the bread_slice1.
EXECUTE
NAME Dave ACTION PUT bread_slice1 cutting_board
NAME Chad ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PUT bread_slice1 cutting_board
NAME Chad ACTION WAIT
Action
Dave: PUT bread_slice1 cutting_board
Chad: WAIT
Chad
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION WAIT
Dave
Chad, you are correct. Once you PUT tomato2 on bread_slice1, I will PICK cheese, which is the next ingredient in the recipe.
EXECUTE
NAME Chad ACTION PUT tomato2 bread_slice1
NAME Dave ACTION PICK cheese
Action
Chad: PUT tomato2 bread_slice1
Dave: PICK cheese
Chad
Dave has already PICKed cheese, which is the correct next item according to the recipe. My next step should be to PICK beef_patty2, as it is the next ingredient on my side that needs to be stacked on the sandwich.
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PUT cheese tomato2
NAME Chad ACTION WAIT
Action
Dave: PUT cheese tomato2
Chad: WAIT
Chad
Dave has already PUT the cheese on top of the tomato2, which is on the bread_slice1 on the cutting_board. The next item in the recipe is beef_patty2, which is on my side of the table. I will PICK beef_patty2 and wait for Dave to PUT the cheese on the tomato2 before I can PUT the beef_patty2 on the cheese.
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION WAIT
Dave
Chad, you have already PICKed beef_patty2 in the previous round, so you should be ready to PUT it on the cheese. I will PICK ham, which is the next ingredient on my side of the table and the next item in the recipe after beef_patty2.
EXECUTE
NAME Dave ACTION PICK ham
NAME Chad ACTION PUT beef_patty2 cheese
Feedback
This previous response from [Dave] failed to parse!: 'Chad, you have already PICKed beef_patty2 in the previous round, so you should be ready to PUT it on the cheese. I will PICK ham, which is the next ingredient on my side of the table and the next item in the recipe after beef_patty2.
EXECUTE
NAME Dave ACTION PICK ham
NAME Chad ACTION PUT beef_patty2 cheese'
Object beef_patty2 cannot be PUT down, robot Chad is not in contact with it. Re-format to strictly follow [Action Output Instruction]!
Action
Chad, you have already PICKed beef_patty2 in the previous round, so you should be ready to PUT it on the cheese. I will PICK ham, which is the next ingredient on my side of the table and the next item in the recipe after beef_patty2.
EXECUTE
NAME Dave ACTION PICK ham
NAME Chad ACTION PUT beef_patty2 cheese
Chad
Dave, I have not yet PICKed beef_patty2. I will PICK it now and wait for your next action.
EXECUTE
NAME Chad ACTION PICK beef_patty2
NAME Dave ACTION WAIT
Action
Chad: PICK beef_patty2
Dave: WAIT
Chad
Dave, since I am currently holding beef_patty2, I will PUT it on the cheese. After that, you can proceed with PICKing cucumber1, which is the next ingredient in the recipe on my side of the table.
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION WAIT
Dave
Chad, you are correct. After you PUT beef_patty2 on the cheese, I will PICK ham, which is the next ingredient on my side of the table and the next item in the recipe.
EXECUTE
NAME Chad ACTION PUT beef_patty2 cheese
NAME Dave ACTION PICK ham
Action
Chad: PUT beef_patty2 cheese
Dave: PICK ham
Chad
Dave has already PICKed ham, which is the correct next item according to the recipe. Since my gripper is empty and the next item in the recipe on my side is cucumber1, I will PICK cucumber1.
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PUT ham beef_patty2
NAME Chad ACTION WAIT
Action
Dave: PUT ham beef_patty2
Chad: WAIT
Chad
Dave has already PUT ham on top of beef_patty2. The next item in the recipe on my side is cucumber1. I will PICK cucumber1 and wait for Dave's next action.
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION WAIT
Dave
Chad, you should PUT cucumber1 on the ham before I proceed with the next step. I will wait for your action.
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION WAIT
Feedback
This previous response from [Dave] failed to parse!: 'Chad, you should PUT cucumber1 on the ham before I proceed with the next step. I will wait for your action.
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION WAIT'
Object cucumber1 cannot be PUT down, robot Chad is not in contact with it. Re-format to strictly follow [Action Output Instruction]!
Action
Chad, you should PUT cucumber1 on the ham before I proceed with the next step. I will wait for your action.
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION WAIT
Chad
EXECUTE
NAME Chad ACTION PICK cucumber1
NAME Dave ACTION WAIT
Action
Chad: PICK cucumber1
Dave: WAIT
Chad
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION WAIT
Dave
Chad, you are correct to PUT cucumber1 on the ham. After that, I will PICK bacon, which is the next ingredient on my side of the table and the next item in the recipe.
EXECUTE
NAME Chad ACTION PUT cucumber1 ham
NAME Dave ACTION PICK bacon
Action
Chad: PUT cucumber1 ham
Dave: PICK bacon
Chad
Dave has PICKed bacon, which is the correct next item according to the recipe. Since my gripper is empty, I will PICK beef_patty1, which is the next ingredient on my side that needs to be stacked on the sandwich.
EXECUTE
NAME Chad ACTION PICK beef_patty1
NAME Dave ACTION WAIT
Dave
Chad, you are correct to PICK beef_patty1. I will PUT bacon on the cucumber1, which is the next step in the recipe.
EXECUTE
NAME Dave ACTION PUT bacon cucumber1
NAME Chad ACTION WAIT
Action
Dave: PUT bacon cucumber1
Chad: WAIT
Chad
Dave has PUT bacon on the cucumber1. Now, I will PUT beef_patty1 on the bacon as it is the next item in the recipe and it is on my side of the table.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PICK bread_slice2
NAME Chad ACTION WAIT
Action
Dave: PICK bread_slice2
Chad: WAIT
Chad
Dave has PICKed bread_slice2, which is the correct next item according to the recipe. Since my gripper is empty, I will PUT beef_patty1 on the bacon as it is the next item in the recipe and it is on my side of the table.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PUT bread_slice2 beef_patty1
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Dave ACTION PUT bread_slice2 beef_patty1
NAME Chad ACTION WAIT
Task Constraints:
faild, beef_patty1 is not on cutting_board
Action
Dave: PUT bread_slice2 beef_patty1
Chad: WAIT
Chad
Dave, there was an error because beef_patty1 was not yet on the cutting_board. I will PUT beef_patty1 on the bacon, and then you can PUT bread_slice2 on top of it to complete the sandwich.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Feedback
This previous response from [Chad] failed to parse!: 'Dave, there was an error because beef_patty1 was not yet on the cutting_board. I will PUT beef_patty1 on the bacon, and then you can PUT bread_slice2 on top of it to complete the sandwich.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT'
Object beef_patty1 cannot be PUT down, robot Chad is not in contact with it. Re-format to strictly follow [Action Output Instruction]!
Action
Dave, there was an error because beef_patty1 was not yet on the cutting_board. I will PUT beef_patty1 on the bacon, and then you can PUT bread_slice2 on top of it to complete the sandwich.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Chad
EXECUTE
NAME Chad ACTION PICK beef_patty1
NAME Dave ACTION WAIT
Action
Chad: PICK beef_patty1
Dave: WAIT
Chad
Dave has already PICKed bread_slice2, which is the correct final item according to the recipe. Since my gripper is holding beef_patty1, I will PUT beef_patty1 on the bacon as it is the next item in the recipe.
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Dave
EXECUTE
NAME Dave ACTION PUT bread_slice2 beef_patty1
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Dave ACTION PUT bread_slice2 beef_patty1
NAME Chad ACTION WAIT
Task Constraints:
faild, beef_patty1 is not on cutting_board
Action
Dave: PUT bread_slice2 beef_patty1
Chad: WAIT
Chad
EXECUTE
NAME Chad ACTION PUT beef_patty1 bacon
NAME Dave ACTION WAIT
Action
Chad: PUT beef_patty1 bacon
Dave: WAIT
Chad
Dave has already PICKed bread_slice2, which is the correct final item according to the recipe. Since my gripper is empty and all the ingredients are stacked correctly, I will WAIT for Dave to PUT bread_slice2 on top of beef_patty1 to complete the [big_sandwich].
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice2 beef_patty1
Dave
EXECUTE
NAME Chad ACTION WAIT
NAME Dave ACTION PUT bread_slice2 beef_patty1
Action
Chad: WAIT
Dave: PUT bread_slice2 beef_patty1