# PCB Handling

## Collaborator

### Environment Setup

- Human: Stands in front of the robot table holding a Clipboard with A4 Paper and a Pen.
- Robot: Places the PCB Rack on the left side of the table. Mounts the Blank PCB on the PCB Rack. Places the ESD tray on the right side of the table.

### High Level Instruction

- Inspect the PCB.

#### Robot Low Level Instruction

- R1: Pick up the Blank PCB and present it to the human.
- R2: Release the Blank PCB you were holding.
- R3: Pick up the Blank PCB that the human is holding.
- R4: Place the Blank PCB in the ESD tray.

#### Human Low Level Instruction

- H1: Pick up the PCB presented by the robot.
- H2: Inspect the PCB placed by the robot, then hold it out in front of the robot.
- H3: Release the PCB you were holding.
- H4: Record the PCB status on the paper.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6760.png)