# Table Service

## Coworker

### Environment Setup

- Robot: Place one Handle tray on each side of the table. Scatter two Picnic Bowls, two Pepsi cokes, and two plastic cups in the middle of the table.

### High Level Instruction

- Prepare tableware on both trays.

#### Robot Low Level Instruction

- R1: Pick up a Picnic Bowl from the table and place it on a Handle tray.
- R2: Pick up a Picnic Bowl from the table and place it on a Handle tray.

#### Human Low Level Instruction

- H1: Pick up a can or cup and place it on the tray.
- H2: Pick up a can or cup and place it on the tray without a can or cup.
- H3: Pick up a can or cup and place it on the tray without a can or cup.
- H4: Pick up a can or cup and place it on the tray without a can or cup.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S8209.png)