# Cafe Takeout Preparation

## Supervisor

### Environment Setup

- Human: Place the Handle tray in the middle of the table. Position the Beverage dispenser on the right side of the table. Fill the Beverage dispenser with the drink.
- Robot: Place the Flat Tray in the lower middle area of the table. Put the plastic beer cup 14oz and the 20 oz Iced Cup with Ice on the Flat Tray.

### High Level Instruction

- Pour the drink into the iced cup.

#### Robot Low Level Instruction

* R1: Pick up the iced cup indicated by the human and present it to them.
* R2: Open the gripper to release the iced cup you were holding.
* R3: Pick up the iced cup indicated by the human and present it to them.
* R4: Open the gripper to release the iced cup you were holding.

#### Human Low Level Instruction

* H1: Point to one of the two ice cups.
* H2: Pick up the cup offered by the robot.
* H3: Move the picked-up cup under the dispenser faucet, pour the drink, and place it on the tray on the human table.
* H4: Point to the remaining ice cup on the robot table.
* H5: Pick up the cup offered by the robot.
* H6: Move the picked-up cup under the dispenser faucet, pour the drink, and place it on the tray on the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S7788.png)