# PCB Handling

## Colaborator

### Environment Setup

- Human: Place the Organizing box on the left side of the table. Place the Storage basket in the middle of the table. Put two Blank PCB and two defective Blank PCB inside the Storage basket.
- Robot: Arrange two ESD trays horizontally in a row in the middle of the table. Place the PCB Rack on the right side of the table.

### High Level Instruction

- Inspect and transfer BCBs to ESD trays.

#### Robot Low Level Instruction

- R1: Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray.
- R2: Pick up the ESD tray and place it on the left side of the table.
- R3: Pick up the Blank PCB from the PCB Rack and place it in the right ESD tray.
- R4: Pick up the ESD tray and place it on the left side of the table.

#### Human Low Level Instruction

- H1: Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table.
- H2: Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table.
- H3: Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table.
- H4: Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6757.png)