# Clothes Organizing

## Coworker

### Environment Setup

- Place the Storage basket in the middle of the table. Put 5 Towels with hook inside the Storage basket.

### High Level Instruction

- Fold the towels and place them in the basket.

#### Robot Low Level Instruction

- 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.

#### Human Low Level Instruction

- 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.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S5780.png)