# Shelf cleaning

## Coworker

### Environment Setup

- Human: Holding two Dusters in both hands.
- Robot: Two Shelves are located at the top area of the table. Confetti is placed on each level of the Shelf.

### High Level Instruction

- Clean the shelves.

#### Robot Low Level Instruction

- R1: Pick up the Duster when the human hands it over.
- R2: Clean a randomly selected level of the Shelf with the Duster.
- R3: Clean another randomly selected level of the Shelf with the Duster.
- R4: Place the Duster on the table.

#### Human Low Level Instruction

- H1: Hand the Duster to the robot with your right (or left) hand.
- H2: Clean a randomly selected level of the Shelf with the Duster.
- H3: Clean a randomly selected level of the Shelf with the Duster.
- H4: Clean a randomly selected level of the Shelf with the Duster.
- H5: Clean a randomly selected level of the Shelf with the Duster.

#### Workflow Diagram

![Workflow Diagram](../figures/workflows/S6219.png)