# Waste Sorting

## Collaborator

### Environment Setup

- Human: Place the Storage basket on the right side of the table. Put one Coke, two Pepsi cokes, one Bottled water, one Glass bottle, and one plastic beer cup 14oz inside the Storage basket.
- Robot: Arrange two Organizing boxes horizontally in a line in the lower area of the table.

### High Level Instruction

- Sort the waste into each basket.

#### Robot Low Level Instruction

- R1: Pick up the Organizing box on the left side of the table and lift it.
- R2: Offer the picked Organizing box to the human.
- R3: Release the Organizing box you were holding.
- R4: Pick up the Organizing box on the right side of the table and lift it.
- R5: Offer the picked Organizing box to the human.
- R6: Release the Organizing box you were holding.

#### Human Low Level Instruction

- H1: Pick up the storage basket and place it on the left side of the robot table.
- H2: Pick up can-shaped waste one by one and place it into the organizing box lifted by the robot.
- H3: Pick up the organizing box extended by the robot.
- H4: Place it at the edge of the bottom right area of the robot table.
- H5: Pick up plastic waste one by one and place it into the organizing box lifted by the robot.
- H6: Pick up the organizing box extended by the robot.
- H7: Place the organizing box to the left of the sorting box containing the can waste.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7025.png)