# Packing Wrapped Objects

## Colaborator

### Environment Setup

- Human: Two Digital clocks are located on the left side of the table. Bubble Wrap is spread out in the middle of the table.
- Robot: The Package Box is positioned vertically in the center of the table. Paper Tape is randomly placed on the right or left side of the table.

### High Level Instruction

- Wrap the clocks to prevent damage.

#### Robot Low Level Instruction

- R1: Open the side flaps of the Package Box.
- R2: Once the human has placed the objects inside and stepped back, release both hands from the side flaps of the Package Box.
- R3: Push the right (or left) flap of the Package Box to close it.
- R4: Push the left (or right) flap of the Package Box to close it.
- R5: After the human seals the box with tape, release both hands from the side flaps of the Package Box.

#### Human Low Level Instruction

- H1: Wrap the two Digital clocks with Bubble Wrap.
- H2: Place the wrapped Digital clocks inside the Package Box.
- H3: Hold the top and bottom flaps of the Package Box closed with your left (or right) hand.
- H4: Once the robot closes the right flap of the Package Box, release your left hand from the box.
- H5: Once the robot closes the left flap of the Package Box, seal the box with Paper Tape.
- H6: Place sealed Package Box in the middle of the human's table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6530.png)