Clean Table
Description
Clean the table by placing drinks on the trash bin, placing tableware and cutlery in the dishwasher, and wiping the table. (10 minutes)
Main Goal:: Clean up all the objects on the table. Tableware and cutlery have to be placed correctly inside the dishwasher and drinks must be placed inside the trash bin.
Optional goals:
1. Opening the dishwasher door
2. Pulling out the dishwasher rack
3. Placing a dishwasher tab inside the dishwasher
4. Wipe the table area where the drink was
Task Breakdown
- Pick up each drink and place them in the trash bin. (Place potentially with deus)
- Pick tableware (cup and potentially plate) and place them in the dishwasher with deus.
- Attempt to wipe table?
Points we could achieve:
- Navigation: 15
- Pick cup, bowl and drinks: 4×50
- Autonomously picking any object: 50
Total: 265
If we place drinks in trash bin: +150 = 415 If we pick up the tab: +100 = 515
Possible points
| Category | Action | Score |
|---|---|---|
| Main Goal | Navigate to the table to pick up items | 15 |
| Picking up the cup, bowl and drinks for transportation | 4×50 | |
| Picking up cutlery (spoon, fork) for transportation | 2×80 | |
| Picking up the plate for transportation | 100 | |
| Placing the tableware and cutlery inside the dishwasher | 5×50 | |
| Placing an item correctly (cleanable, convenient like a human would) in the dishwasher | 5×75 | |
| Placing a drink inside the trash bin | 2×50 | |
| Bonus Rewards | Pulling and pushing the dishwasher rack | 2×100 |
| Opening and closing the dishwasher door | 2×200 | |
| Picking up the dishwasher tab for transportation to the dishwasher | 100 | |
| Placing the dishwasher tab inside the dishwasher’s hatch intended for the tab | 200 | |
| Wiping the area where the drink was | 2×50 | |
| Autonomously Picking any Object | 50 | |
| Autonomously Placing any Object | 50 | |
| Deus Ex Machina Penalties | Handing cup, bowl and drinks over to the robot | 3×–50 |
| Handing cutlery over to the robot | 2×–80 | |
| Handing the plate over to the robot | –100 | |
| Having a human place an object in the dishwasher | 5×–50 | |
| Having a human place a drink inside the trash bin | 2×–50 | |
| A human pointing at the trash bin | 2×–25 | |
| Special Penalties & Bonuses | Not attending (see sec. 3.9.1) | –500 |
| Using alternative start signal (see sec. 3.7.8) | –100 | |
| Outstanding performance (see sec. 3.9.3) | 230 | |
| Total | Total Score (excluding special penalties & standard bonuses) | 2300 |
Tasks per Area
Navigation
- Navigate to predefined location (table, dishwasher, trash bin)
Vision
- Detect objects (drinks, tableware, cutlery)
HRI
- Say
Manipulation
- Pick up objects (drinks, tableware --> cup, bowl, plate)
- Pick up cutlery (spoon, fork, knife)
- Place objects in the trash bin (could measure height to place?)
- Place objects in the dishwasher (probably deux)
- Optional: wipe table
- Optional: open and close dishwasher door
- Optional: pull and push dishwasher racks
- Optional: pick up dishwasher tab
- Optional: place dishwasher tab inside the dishwasher hatch