# Donut Serving and Arrangement

## Collaborator

### Environment Setup

- Human: Place the Flat Tray in the center of the table. Put 4 Donuts on the Flat Tray.
- Robot: Place Handle trays on both sides of the table. Place 4 Paper togo boxes in the center of the table. Place an L-shaped parchment paper in each Paper togo box.

### High Level Instruction

- Individually package the donuts and arrange them on the tray.

#### Robot Low Level Instruction

- R1: Pick up one Paper togo box.
- R2: Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand.
- R3: Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand.
- R4: Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand.
- R5: Place the picked Paper togo box on the Handle tray.

#### Human Low Level Instruction

- H1: Stand in front of the robot table holding the tray containing the donuts.
- H2: Place one donut into the to-go box held by the robot.
- H3: Place one donut into the to-go box held by the robot.
- H4: Place one donut into the to-go box held by the robot.
- H5: Place one donut into the to-go box held by the robot.
- H6: Place the tray down in the middle of the human table.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S8355.png)