# Cafe Takeout Preparation

## Collaborator

### Environment Setup

- Robot: 600 ml Paper Cup is located on the right side of the table. Cup Lid Dispenser is located at the top right area of the table. Cup Carrier is located on the left side of the table. A stack of Paper Cup Lid is inside the Cup Lid Dispenser. A 600 ml Paper Cup with a lid is inside the Cup Carrier.

### High Level Instruction

- Pour a drink into a cup and package it in a carrier.

#### Robot Low Level Instruction

- R1: Pick up the 600 ml Paper Cup and place it in the middle top area of the table.
- R2: When a person places the Paper Cup Lid on the 600 ml Paper Cup, lift the 600 ml Paper Cup.
- R3: Position the Cup Carrier in the center of the table.
- R4: Insert the held 600 ml Paper Cup into the Cup Carrier.

#### Human Low Level Instruction

- H1: Press and pick up the Filter Brewing.
- H2: Pour the drink from the Filter Brewing into the 600 ml Paper Cup.
- H3: Place a Paper Cup Lid on the 600 ml Paper Cup.
- H4: Pick up the Filter Brewing and place on the middle of Human table, and return to the Robot table.
- H5: Place the Cup Carrier to the middle of Human table.

#### Workflow Diagram
![Workflow Diagram](../figures/workflows/S8455.png)