# Office Tyding

## Coworker

### Environment Setup

- Human: Pencil, Highlighter Pen, Pen are scattered on the table.
- Robot: Pen holder is located at the upper middle area of the table. Pencil, Highlighter Pen, Pen are scattered on the table.

### High Level Instruction

- Place the pens into the pen holder.

#### Robot Low Level Instruction

* R1: Pick up a writing instrument from the table and place it into the Pen holder.
* R2: Pick up a writing instrument from the table and place it into the Pen holder.
* R3: Pick up a writing instrument from the table and place it into the Pen holder.

#### Human Low Level Instruction

* H1: Pick up all writing instruments from the Human table
* H2: Place a writing instrument into the Pen holder.
* H3: Place a writing instrument into the Pen holder.
* H4: Place a writing instrument into the Pen holder.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S5970.png)