# Can Beverage Dispensing & Restocking

## Supervisor

### Environment Setup

- Human: Place the Handle tray in the middle of the table.
- Robot: Position the Automatic Can Dispenser at the center of the table. Arrange 2 Pepsi coke, 2 Ionic drink, and 2 Sprite in each row of the Automatic Can Dispenser. Line up Pepsi coke, Ionic drink, and Sprite behind the Automatic Can Dispenser in three rows.

### High Level Instruction

- Retrieve and hand over the desired beverage to the person.

#### Robot Low Level Instruction

- R1: Pick up a can of the same type that the person held from the Automatic Can Dispenser.
- R2: Place the picked can on the Handle tray extended by the person.
- R3: Pick up another can of the same type that the person held from the Automatic Can Dispenser.
- R4: Place the picked can on the Handle tray extended by the person.

#### Human Low Level Instruction

- H1: Hold the tray and position yourself in front of the robot table.
- H2: Pick up one can from the bottom area of the table and puts it back in its original place.
- H3: Push the tray toward the robot.
- H4: Pull the tray back, then pick up another can from the bottom area of the table and puts it back in its original place.
- H5: Push the tray toward the robot again.
- H6: Pull the tray back and place it at the center of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7045.png)