Talk to HR and make sure he has his job duties in writing. That supervisor was mistaken in telling him to work on something that obviously has a protocol to follow before doing the work(getting shots, wearing certain protection, etc) and should be made to know this-that's HR's job.
Walking out could get him a reprimand or suspension or worse, so he will need to make it known why he reacted as he did(which, to me was wrong, he should have just stated he is not prepared to do it based on company policy.)
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