Grocery shopping
Coworker
Environment Setup
- Robot: Place the handle laundry basket on the right side of the table. Crumple the Training pants into the handle laundry basket.
High Level Instruction
- Fold the training pants.
Robot Low Level Instruction
- R1: Grab both ends of the Training pants handed by a person.
- R2: Release the ends of the Training pants and then grab the overlapped ends.
- R3: Fold the Training pants in half.
Human Low Level Instruction
- H1: Take the long pants out of the laundry basket, unfold them, fold the waist in half, and extend them so the robot can pick up both corners.
- H2: Grasp the end opposite the point the robot is holding, fold the pants in half, and then grasp the overlapping top end of the folded pants.
- H3: Release the pants you were holding
- H4: Move the laundry basket to the right of the human table.
Workflow Diagram
