# Can Beverage Dispensing & Restocking

## Coworker

### Environment Setup

- Human: Place two Storage baskets in the middle of the table.
- Robot: Place the Automatic Can Dispenser on the left side of the table. Place two Ionic drinks on the left row and two Pepsi coke on the right row of the Automatic Can Dispenser.

### High Level Instruction

- Retrieve and store the cans from the dispenser.

#### Robot Low Level Instruction

* R1: Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.
* R2: Pick up the last remaining can from one row of the Automatic Can Dispenser and place it in the middle of the table.
* R3: Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.
* R4: Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.

#### Human Low Level Instruction

* H1: Pick up the basket and place it on the left side of the robot table.
* H2: Pick up one Pepsi can from the middle of the robot table and place it in the basket.
* H3: Pick up one Pepsi can from the middle of the robot table and place it in the basket.
* H4: Pick up the basket and place it in the middle of the human table.
* H5: Pick up the empty basket and place it on the left side of the robot table.
* H6: Pick up one sports drink can from the middle of the robot table and place it in the basket.
* H7: Pick up one sports drink can from the middle of the robot table and place it in the basket.
* H8: Pick up the basket and place it in the middle of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7065.png)