# Lab Preparation

## Collaborator

### Environment Setup

- Human: Place the Handle tray in the center of the table. Fill the Large Measuring Cup with 100ml of yellow solution and the Cylinder with 50ml of yellow solution, then place them on the Handle tray.
- Robot: Open the Big flask and place it in the center of the table. Place one Organizing basket on the left and one on the right of the table. Put the Plastic Funnel inside the right Organizing basket.

### High Level Instruction

- Prepare the solutions needed for the experiment.

#### Robot Low Level Instruction

- R1: Pick up the Plastic Funnel and insert it into the Big flask.
- R2: Once the solution is in the Big flask, pick up the Plastic Funnel and place it back into the right Organizing basket.
- R3: When the human places the Big flask in the center of the table, pick up the Big flask and place it in the left Organizing basket.

#### Human Low Level Instruction

- H1: Pick up the beaker and the cylinder and move to the middle of the robot table.
- H2: Pour the solution from the beaker and the cylinder into the flask.
- H3: Place the beaker and the cylinder into the organizing basket on the left side.
- H4: Pick up the flask, gently shake it 2–3 times, place it in the middle of the robot table, and close the lid.
- H5: Pick up the organizing basket on the left side of the robot table and place it on the left side of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6297.png)