# Shelf cleaning

## Collaborator

### Environment Setup

- Human: Holding a Duster in the left hand.
- Robot: Shelf is placed horizontally in the middle of the table. Digital clock, Pen holder, and Confetti are randomly placed on the Shelf.

### High Level Instruction

- Clean the shelf.

#### Robot Low Level Instruction

- R1: Pick up the Duster from the human.
- R2: Clean the specific tier of the Shelf with the Duster once objects are removed.
- R3: Clean the remaining tier of the Shelf with the Duster once objects are removed.
- R4: Hand the Duster back to the human.

#### Human Low Level Instruction

- H1: Hand the Duster to the robot.
- H2: Lift the objects on a randomly selected tier of the Shelf.
- H3: Once the robot finishes cleaning, lift the objects on the remaining tiers of the Shelf.
- H4: Receive the Duster from the robot.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6218.png)