It happens. A janitor knows what their job will entail, and as long as you try your hardest to prevent such moments from happening as much as possible, you can't beat yourself up over one moment.
Still, you shouldn't do that, but at the same time, it isn't anything new to a janitor. Just be more appreciative of what they do, and more so what they put up with when they go to work.
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I definitely respect them, and they are very nice people, but I was just too embarrassed to say anything.