# Donut Serving and Arrangement

## Coworker

### Environment Setup

- Human: Holding Stainless steel tongs and standing in front of the robot table.
- Robot: Place Handle tray on the left side of the table. Position three Pepsi cokes on the Handle tray. Arrange two Flat Trays vertically in the middle of the table. Place Handle tray on the right side of the table. Lay two Bread Papers on the Handle tray and place four Donuts and four Donut Trays on it.

### High Level Instruction

- Set up donuts and drinks on trays.

#### Robot Low Level Instruction

- R1: Pick up one Pepsi coke and place it on the Flat Tray.
- R2: Pick up one Pepsi coke from the Handle tray and place it on the Flat Tray without a Pepsi coke.

#### Human Low Level Instruction

- H1: Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray.
- H2: Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray.
- H3: Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray.
- H4: Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7407.png)