Wait for 20 seconds, then get the selected dish from the cabinet and set it on the serving tray.
###Human:
generate CIL (high level robotic commands) for the prompt Wait for 20 seconds, then get the selected dish from the cabinet and set it on the serving tray.

###assistant:
P:selected_dish; D:20; Mo:#selected_dish; G:1; Mz:serving_tray; G:0;