# Table Service

## Supervisor

### Environment Setup

- Human: Holds three coasters in hand.
- Robot: Places Flat Tray in the middle of the table. Places three Reusable plastic cups on the Flat Tray.

### High Level Instruction

- Place coasters on the table and set cups on them.

#### Robot Low Level Instruction

- R1: Pick up one Reusable plastic cup and place it on a coaster set by the human.
- R2: Take one Reusable plastic cup from the Flat Tray and place it on a coaster set by the human.
- R3: Take one Reusable plastic cup from the Flat Tray and place it on a coaster set by the human.

#### Human Low Level Instruction

- H1: Place one coaster in any one of the three lower areas of the robot table (left, center, or right).
- H2: Place one coaster in one of the two areas excluding the previously selected area.
- H3: Place one coaster in the only remaining area.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S8165.png)