# Cable-Management

## Colaborator

### Environment Setup

- Human: Power Cable is located in the middle of the table.
- Robot: Two Serving Tables are positioned horizontally at the top area of the table. A Wooden Grid Unit is placed on the Serving Table. A Power Strip is on the right Serving Table.
### High Level Instruction

- Perform cable management.

#### Robot Low Level Instruction

- R1: When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable.
- R2: Pull the grasped Power Cable to the location of the Power Strip.
- R3: Release the Power Cable when the human grasps it.

#### Human Low Level Instruction

- H1: Pass the Power Cable under the Serving Table.
- H2: Grasp the Power Cable when the robot holds it and stops moving to the left of the robot table.
- H3: Plug the Power Cable into the Power Strip.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6759.png)