# Lint Rolling

## Coworker

### Environment Setup

- Human: Dish drying rack is located at the top middle area of the table. Towel with hook is located on the left side of the table.
- Robot: Two Handle trays are located on the left and right sides of the table. Two Plastic Matte Plates are placed on each Handle tray. Two Forks and two Knives are placed on each Plastic Matte Plate. Airtight Container is located at the center of the table. Lint Roller is placed on top of the Airtight Container.

### High Level Instruction

- Clean the floor after clearing the dishes.

#### Robot Low Level Instruction

- R1: When the left (or right) Handle tray is removed, use the left hand (or right hand) to clean the left (or right) side of the table with the Lint Roller.
- R2: Place the Lint Roller back on top of the Airtight Container.
- R3: When the right (or left) Handle tray is removed, use the right hand (or left hand) to clean the right (or left) side of the table with the Lint Roller.
- R4: Place the Lint Roller back on top of the Airtight Container.

#### Human Low Level Instruction

- H1: Pick up the left (or right) Handle tray and place it on the middle of the Human's table.
- H2: Use the Towel with hook to wipe the Plastic Matte Plate, Fork, and Knife and place into the Dish drying rack.
- H3: Pick up the left (or right) Handle tray and place it on the Handle tray.
- H4: Use the Towel with hook to wipe the Plastic Matte Plate, Fork, and Knife and place into the Dish drying rack.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7236.png)