# Lab Preparation

## Supervisor

### Environment Setup

- Robot: Place an Organizing basket on each side of the table. Put a Big flask inside each Organizing basket. Position the Handle tray in the center of the table.

### High Level Instruction

- Prepare the laboratory tools.

#### Robot Low Level Instruction

* R1: Pick up the Big flask that the person points to.
* R2: While moving the picked Big flask to the Handle tray indicated by the person, stop as directed by the person.
* R3: Place the picked Big flask upright in the Handle tray as instructed by the person.
* R4: Pick up the Big flask that the person points to.
* R5: Place the picked Big flask upright in the Handle tray as directed by the person.

#### Human Low Level Instruction

* H1: Points to one of the two flasks.
* H2: Instructs the robot to move the picked-up flask to the tray.
* H3: Makes a stop hand signal before the robot places the flask down.
* H4: Instructs the robot to place the flask upright on the tray.
* H5: Points to the flask in the basket.
* H6: Instructs the robot to move the picked-up flask to the tray.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6221.png)