| # Clothes Organizing |
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| ## Coworker |
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| ### Environment Setup |
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| - Place the Storage basket in the middle of the table. Put 5 Towels with hook inside the Storage basket. |
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| ### High Level Instruction |
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| - Fold the towels and place them in the basket. |
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| #### Robot Low Level Instruction |
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| - R1: When a person lays out a Towel with hook on the table, fold it in half twice. |
| - R2: Place the folded Towel with hook on the right side of the table. |
| - R3: When a person lays out a Towel with hook on the table, fold it in half twice. |
| - R4: Stack the folded Towel with hook on the right side of the table. |
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| #### Human Low Level Instruction |
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| - H1: Pick up the basket, pour the towels onto the left side of the human table, and place the basket on the right side. |
| - H2: Pick up one towel and spread it out at the center of the robot table. |
| - H3: Pick up one towel from the left side of the human table, fold it in half twice, and place it on the right side of the table. |
| - H4: Pick up one towel from the left side of the human table, fold it in half twice, and stack it on the right side of the table. |
| - H5: Pick up one towel from the left side of the human table and spread it out at the center of the robot table. |
| - H6: Pick up one towel from the left side of the human table, fold it in half twice, and stack it on the right side of the table. |
| - H7: Pick up the stack of towels from the right side of the human table, place it into the basket, and put the basket at the center of the table. |
| - H8: Pick up the stack of towels from the robot table and place it into the basket. |
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| #### Workflow Diagram |
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