# Cup Handling

## Colaborator

### Environment Setup

- Human: Place the Pantry Basket on the right side of the table.
- Robot: Scatter six Reusable plastic cups randomly on the table.

### High Level Instruction

- Stack the cups and store them in the basket.

#### Robot Low Level Instruction

- R1: Pick up two Reusable plastic cups, one in each hand.
- R2: Place the stack of Reusable plastic cups into the Pantry Basket.
- R3: Place the stack of Reusable plastic cups into the Pantry Basket.

#### Human Low Level Instruction

- H1: Move from the Human Table to the front of the Robot Table.
- H2: Stack two of the remaining cups on top of each cup held by the robot.
- H3: Pick up the basket from the Human Table, bring it to the front of the robot, and present it.
- H4: Place the basket containing the cups in the middle of the Human Table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6418.png)