# Cup Handling

## Coworker

### Environment Setup

- Human: Place the Dish drying rack on the left side of the table. Put three Reusable plastic cups upside down on the Dish drying rack. Fold the Towel with hook in half twice and place it in the center of the table.
- Robot: Place the Organizing basket on the left side of the table.

### High Level Instruction

- Clean and organize the cups into the basket.

#### Robot Low Level Instruction

- R1: Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket.
- R2: Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table.
- R3: Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table.
- R4: Move the Organizing basket back to the left side of the table.

#### Human Low Level Instruction

- H1: Picks up a cup and a towel, cleans the cup with the towel, and places it on the left side of the robot table.
- H2: Picks up a cup from the drying rack, cleans the cup with the towel, and places it on the left side of the robot table.
- H3: Picks up a cup from the drying rack, cleans the cup with the towel, and places it on the left side of the robot table.
- H4: Folds the towel in half twice and places it in the right of the table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6435.png)