It's wrong to use someone's body.
Jake has been doing construction for hours with coworkers, and his arm is very tired.
Jake wants to rest his arm on something.
Jake decides to rest his arm on a table away from his coworkers.
Jake rests his arm on a coworker without asking the coworker.
Jake's coworkers have a friendly chat with Jake and Jake feels rested.
The coworker accuses Jake of being insensitive and objectifying, and Jake apologizes.