# Waste Sorting

## Supervisor

### Environment Setup

- Place 3 Fabric baskets in a horizontal line under the robot table. Scatter Bottled water, Coke, Pepsi coke, plastic beer cup 14oz, and crumpled A4 Paper randomly on the table.

### High Level Instruction

- Sort the waste into the appropriate baskets.

#### Robot Low Level Instruction

- R1: Pick up the waste item pointed out by the person.
- R2: Place the picked waste into the Fabric basket indicated by the person.
- R3: Pick up the waste item pointed out by the person.
- R4: Place the picked waste into the Fabric basket indicated by the person.
- R5: Pick up the waste item pointed out by the person.
- R6: Place the picked waste into the Fabric basket indicated by the person.
- R7: Pick up the waste item pointed out by the person.
- R8: Place the picked waste into the Fabric basket indicated by the person.
- R9: Pick up the waste item pointed out by the person.
- R10: Place the picked waste into the Fabric basket indicated by the person.

#### Human Low Level Instruction

- H1: Points to one piece of trash on the table.
- H2: Instructs the robot to place the picked-up trash into the appropriate organizing basket.
- H3: Points to one piece of trash on the table.
- H4: Instructs the robot to place the picked-up trash into the appropriate organizing basket.
- H5: Points to one piece of trash on the table.
- H6: Instructs the robot to place the picked-up trash into the appropriate organizing basket.
- H7: Points to one piece of trash on the table.
- H8: Instructs the robot to place the picked-up trash into the appropriate organizing basket.
- H9: Points to one piece of trash on the table.
- H10: Instructs the robot to place the picked-up trash into the appropriate organizing basket.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7237.png)