# Table Service

## Collaborator

### Environment Setup

- Human: Fold two Cloth napkins in half twice and place them stacked on the right side of the table.
- Robot: Arrange two Handle trays horizontally in a row on the table. Place one Picnic Bowl and one Reusable plastic cup on each Handle tray.

### High Level Instruction

- Set up a tray with a mat and arrange the tableware.

#### Robot Low Level Instruction

- R1: Pick up the Picnic Bowl and Reusable plastic cup from the Handle tray in front of the human's position and hold them in the air.
- R2: Place the Picnic Bowl and Reusable plastic cup back onto the Handle tray in front of the human's position.
- R3: Pick up the Picnic Bowl and Reusable plastic cup from the Handle tray in front of the human's position and hold them in the air.
- R4: Place the Picnic Bowl and Reusable plastic cup back onto the Handle tray in front of the human's position.

#### Human Low Level Instruction

- H1: The human picks up the top napkin from the stack on the human table and walks to the robot table to stand in front of one of the two trays.
- H2: When the robot lifts the bowl and the cup, the human unfolds the napkin and lays the napkin flat on the tray.
- H3: The human returns to the human table to pick up another napkin and walks to the robot table to stand in front of the tray without a napkin.
- H4: When the robot lifts the bowl and the cup, the human unfolds the napkin and lays the napkin flat on the tray.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6002.png)