Explain: 
...
Subtasks:
(1) ...
(2) ...
(3) ...
// Please provide me with ALL previous subtasks (E.g if subtask1 & 2 are successfully acted and make mistakes in subtask3, please return me with subtask1 & 2 and new plan of subtask3)
...
Code:
```python
// import necessary modules first
// helper functions (only if needed, try to avoid them)
...
// main function after the helper functions
def act(robot,env,camera) {
  // comment should be clear and correspond to subtasks above (e.g., Subtask 1: xxxx)
  //only generate one subtask in each act function
}
```
Target States:
(1) Inventory: ... //robot can grasp more than one thing at the same time
(2) Object Information:
    (a) ... // e.g. (a) table, nextto, fridge, 1
    (b) ...
    (c) ...
