>

Yeah. I’m never insulted to be asked m and am happy to help. 
I have also definitely asked shorter people to get things from bottom shelves or at the back of lower cupboards for me on occasion, though not in public tbh. I will just stoop down and get it myself in public. 
It’s a give and take, right? ;)
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A tall person can still reach the ground, a short person can't reach the high shelf. If  someone one inch shorter than me asked me to get something within their reach because I am slightly taller I would be confused. >

I see you don't have back and knee problems. Yeah a tall person can get stuff off the ground but if they have back or knee problems you might end up having to get them off the ground >

Ask a tall person about the weather up there to determine how tired they are of this joke.
Ask a short person how's the bugs' life down there to find how short is their will to tolerate those jokes. >

I’m a tall person. Being asked to take something down from a shelf does not give me a sense of accomplishment, it is a minor inconvenience but I’m still happy to do it. 
I think it goes the same way for short people tbh - I don’t know that it’s insulting but it’s definitely a minor inconvenience to them lol. >

I’m a short person. I’ve had to ask you tall folks to get stuff for me, but I’ve only ever been asked to pick something up for a tall person (that I can recall anyway) and I’m pretty sure it was just banter lol.
It’s not insulting to me, anyway.