March 16th 2023 ergoCub HSP ICRA 2023 Workshop

[Woolfrey]

Attendees:

• Jon @Woolfrey
• Andrea @andrearosasco
• Stefano @StefanoBerti
• Simone @SimoneMic
• Vignesh @vigisushrutha23
• Nicola @xEnVrE

Overview

We ran a workshop to plan and prioritize some of the tasks needed to demonstrate HSP's work with the ergoCub robot at ICRA 2023.

Outcomes:

Brainstorming:

Affinity Diagram:

Each of these were then sorted according to the Kano Model.

EDIT: A clarification on the Kano Model:

In the Kano model, there are 3 different categories:

Category	Interpretation
Must-Have / Minimum Requirement	This is the bare minimum you need to deliver a product or service.
One-Dimensional / Performance Driver	These are features that make you competitive in your field.
Excitement Factor / Extras	These are things that make you a world leader.

Group	Item	Category
Action Recognition	Incorrect action recognition when holding object (box, phone)	Minimum Requirement
	Additional reactions beyond wave and handshake	Extra
	Ability to change actions mid-task	Extra
	Idle actions when nothing is happening	Extra
Administration	Book trip to London	Minimum Requirement
	Plan with AMI to work on the robot	Minimum Requirement
Behaviour Tree	Behaviour tree not responsive (clarification?)	Performance Driver
Code	Code works cross-platform (iCub2, ergoCub, Gazebo simulation	Minimum Requirement
	Successful communication over network	Minimum Requirement
	Modules from different packages integrate successfully	Minimum Requirement
	Code takes a long time to compile (separate .cpp from .h)	Performance Driver
	Load parameters from a configuration file	Performance Driver
	Use thrift communication instead of strings over yarp port	Performance Driver
Control	Robot can execute joint control	Minimum Requirement
	Robot can avoid singularities	Minimum Requirement
	Robot moves quickly	Performance Driver
	Robot moves smoothly, naturally	Performance Driver
	Robot can jump over obstacles	Extra
Grasping	Robot grasps a box without it slipping	Minimum Requirement
	Robot can grasp an object from given hand transforms	Performance Driver
	Robot can grasp box from different poses	Performance Driver
	The robot can grasp different objects	Performance Driver
	Robot can more accurately shake hands	Performance Driver
	Force control on the box	Performance Driver
	Hands can follow box as it moves	Extra
	Collaboratively grasp and lift a box in a short time	Extra
Hardware	Demonstration runs on ergoCub	Minimum requirement
	Ambient lighting affecting vision	Minimum Requirement
	Hardware fails so we can't use the robot	Minimum Requirement
Head / Gaze Control	Reliable human focus detection	Minimum Requirement
	We can send commands to move the head	Minimum Requirement
	Robot looks at & follows object	Performance Driver, Extra?
	Robot follows human gaze	Extra
	Robot changes focus to different things in environment	Extra
	Neck moves to stabilize head while walking	Unnecessary
Marketing	Live demonstration executes as planned	Minimum Requirement
	Presentation summarizing research development	Minimum Requirement
Navigation	Robot can navigate successfully in simulation	Minimum Requirement
	Navigation works on real ergoCub	Extra
	Robot localizes without artificial landmarks	Extra
Robot Communication	Robot responds to voice commands	Extra
	Robot follows human on command	Extra
	Robot talks to people	Extra
	Robot changes facial expressions based on actions	Extra
	Robot can learn on the fly (clarification for this one?)	Extra

Follow Up:

• Create milestones for each category, and issues for each item
• Do we need to figure out dependencies?
• Do we need a timeline to complete tasks?

[xEnVrE]

I would ask to change the priority of RPC Communication (clarification?) to Minimum Requirement.

The proper definition would be to re-implement the control module so that it uses thrift automatically generated code to parse the requests coming from the Behavior Tree.

[andrearosasco]

The code to automatically generate the .cpp thrift interface is here https://github.com/ergoCub-HSP/Ergocub-Behaviour-Trees/tree/main/interfaces/manipulation