# Shelf cleaning

## Supervisor

### Environment Setup

- Human: Holding a Duster in the left hand.
- Robot: The Shelf is positioned horizontally in the middle of the table. Confetti is scattered over all sections of the Shelf.

### High Level Instruction

- Clean the shelf.

#### Robot Low Level Instruction

- R1: Pick up the Duster handed by the human.
- R2: Clean the specific section of the Shelf indicated by the human with the Duster.
- R3: Clean the specific section of the Shelf indicated by the human with the Duster.
- R4: Clean the specific section of the Shelf indicated by the human with the Duster.
- R5: Hand the Duster back to the human.

#### Human Low Level Instruction

- H1: Hand the Duster to the robot.
- H2: Point a random section of the Shelf.
- H3: Point a random section of the Shelf.
- H4: Point a remaining section of the Shelf.
- H5: Receive the Duster from the robot.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6217.png)