# 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

![Workflow Diagram](../figures/workflows/S10048.png)