# Waste Sorting

## Coworker

### Environment Setup

- Robot: Place 3 Fabric basket horizontally in a row at the bottom area of the robot table, setting them as bins for bottles, plastic, and cans from left to right. Scatter Bottled water, Coke, Pepsi coke, two small beer bottles, and Glass bottle freely on the table.

### High Level Instruction

- Sort the can waste into the basket.

#### Robot Low Level Instruction

- R1: Pick up the can waste from the table and place it in the right Fabric basket.
- R2: Pick up the can waste from the table and place it in the right Fabric basket.

#### Human Low Level Instruction

- H1: The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket.
- H2: The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket.
- H3: The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket.
- H4: The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7235.png)