After grasping the milk cup and toast (f), MAHRU-Z moved to the food distribution table (g, h), and dropped them down onto a tray (i). Then, MAHRU-M detected the pose of the tray (j) and lifted it up (k, l, m). The robot moved to the person (n) and handed the milk and toast to the person who ordered them (o). A demonstration is successfully performed more than 50 times over the last 12 months.