# Donut Serving and Arrangement

## Supervisor

### Environment Setup

- Human: Standing in front of the robot table holding a Handle tray. 
- Robot: Two Roll-Top Bakery Cases are placed horizontally in a row on the top area of the table with the openings facing the robot. Two Paper togo boxes are placed inside each Roll-Top Bakery Case. Each Paper togo box contains an L-shaped parchment paper and a Donut in sequence.

### High Level Instruction

- Provide the desired donut to the person.

#### Robot Low Level Instruction

- R1: Pick up and lift the Paper togo box containing the Donut pointed at by the person.
- R2: Place the picked Paper togo box onto the Handle tray extended by the person.
- R3: Pick up and lift the Paper togo box containing the Donut pointed at by the person.
- R4: Place the picked Paper togo box onto the Handle tray extended by the person.

#### Human Low Level Instruction

- H1: Point to one donut.
- H2: Lift the tray onto the Roll-Top Bakery Case.
- H3: Point to one donut.
- H4: Lift the tray onto the Roll-Top Bakery Case.
- H5: Place the tray in the middle of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7414.png)