March 22nd 2023 ergoCub HSP ICRA 2023 Workshop #2

[Woolfrey]

Attendees:

• @Woolfrey
• @andrearosasco
• @StefanoBerti
• @SimoneMic

Overview:

We ran a follow-up workshop to the previous one (#9) to determine task dependencies and priorities.

Outcomes:

Due to time constraints, we only ran the first two tasks:

1. Interrelationship Digraph on the Minimum Requirements (from the last workshop)
2. Prioritization Matrix on the Performance Drivers

Interrelationship Digraph:

Task	Dependencies	In	Out	Comment
#34 Joint trajectory tracking	None	0	2	Start Point
#51 Fix Ambient Lighting	None	0	2	Start Point
#29 Communication over Network	None	0	1	Start Point
#47 Plan with AMI to use ergoCub	None	0	1	Start Point
#46 Book Trip To London	None	0	0	Start Point
#35 Singularity Avoidance	#9	1	1
#30 Module Integration	#39 #58	2	1	Bottleneck
#58 Behaviour Tree	#11	1	1
#39 Slipping when grasping	#35	1	1
#50 Demo runs on ergoCub	#30 #29 #47	3	1	Bottleneck
#14 Reliable human focus detection	#51	1	1
#11 Incorrect action recognition with object	#51 #14	2	1	Bottleneck
#24 Control of head	#34	1	0	End Point
#52 Backup in case of Hardware Failure	#50	1	0	End Point

Prioritization Matrix

Below are the tallies of each of the tasks labelled Performance Driver in descending order:

Task	Score (Rounded)
#28 Code works cross-platform (iCub2,ergoCub,Gazebo)	116
#20 Robot looks at & follows object	87
#33 Thrift communication	77
#40 Robot can grasp given hand transforms	62
#32 Load parameters from config file	41
#53 Presentation of Research Summary	34
#41 Robot can grasp object in different poses	33
#42 Robot grabs different objects	11
#37 Robot moves smoothly & naturally	7
#36 Robot moves quickly	2

Next Steps:

• Develop rough Activity Network Diagram based on Interrelationship Digraph
• Reconfigure milestones based on Activity Network Diagram
• Fill out the Gantt Chart

[Woolfrey]

Activity Network Diagram

Here is a very rough Activity Network Diagram I put together from the Interrelationship Digraph:

I'm still trying to figure out how to add start dates and end dates to the Gantt Chart in GitHub.

From this I will create new Milestones that we can add tasks to so that they can be visualised on the github project board.

[Woolfrey]

I've filled out the new milestones and potential deadlines working backwards:

• 22nd of May: ergoCub is shipped to London
• 8th of May - 22nd of May: 2 week buffer for testing and development
• 8th of May: We need to have Minimum Requirements for things like Grasp Control, Human Action Recognition, and Behaviour Tree working

Assumed start date is 27th of March. Here is an example for my responsibilities:

I've tried to roughly indicate dependencies based on the start and end date. @andrearosasco, @StefanoBerti feel free to adjust your tasks accordingly.