# Basket Packing

## Supervisor

### Environment Setup

- Place the Pencil pouch on the left side of the table. Arrange two Organizing baskets in a vertical line in the middle of the table. Place the Stapler on the right side of the table.

### High Level Instruction

- Divide items into two baskets.

#### Robot Low Level Instruction

- R1: Pick up the Pencil pouch that the person points to.
- R2: Move the picked Pencil pouch towards the Organizing basket indicated by the person.
- R3: Stop as directed by the person.
- R4: Place the picked Pencil pouch into the Organizing basket as instructed by the person.
- R5: Pick up the Stapler that the person points to.
- R6: Place the picked Stapler into the Organizing basket as instructed by the person.

#### Human Low Level Instruction

- H1: Points to the pencil case.
- H2: Points between the two organizing baskets and instructs the robot to move the pencil case.
- H3: Sends a stop gesture before the robot places the pencil case into the basket.
- H4: Instructs the robot to place the pencil case into the opposite basket.
- H5: Points to the stapler.
- H6: Points to the basket that does not contain the pencil case and instructs the robot to move the stapler there.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6557.png)