Combining Storing Groceries and Clean the Table into a Stage 2 task

[SparkRibeiro21]

As described in #912 this is presented as an initial draft to combine the Clean the Table with Storing Groceries. Resulting into an updated Clean the Table where the robot also has to clean up remaining foods, drinks, fruits, ... left on the table in the cabinet (similarly to SG). I have also added a bonus task where a class of objects is announced as trash (for example: drinks) where the robot must place this object in the trash bin. Making this a much more realistic post-meal scenario where you have dishes to be cleaned, food to be stored and trash to be placed in a bin.

There are still some pending matters that I think new opinions may help with the overall task flow:

1. How many objects should the robot have to store?
   I have added four food objects to be cleaned up (three to be stored on the cabinet and one in the trash). But maybe this is too much or too little. Personally I was indecisive between three or four food objects.

2. The points adjustment according to difficulty have not been updated yet.
   The goal of this pull request is just to figure out the combination of SG and CT. Point adjustments still have to be made in a later pull request.

3. The amount of time HAS to be increased, but not sure of what it should be.

4. Standardise the points received for picking and placing of objects.

[moriarty]

@johaq brought this up and it was discussed in EC Meeting.

@mleonetti & @moriarty & @ARTenshi @myszzka96 have agreed

[LeroyR]

@johaq brought this up and it was discussed in EC Meeting.

@mleonetti & @moriarty & @ARTenshi @myszzka96 have agreed

Agree to which solution exactly? 😄 I think we unanimously voted that Serving Breakfast should not be our Stage 1 Task in its current form.

[SparkRibeiro21]

For reviewers: Please read the description and tell me how many objects should the robot have ti store in both cabinet and trash bin!

In Description: "How many objects should the robot have to store?
I have added four food objects to be cleaned up (three to be stored on the cabinet and one in the trash). But maybe this is too much or too little. Personally I was indecisive between three or four food objects."

[hawkina]

Amount of objects: Let's say we want to focus on a realistic scenario. We could have: bowl/plate + one cutlery item, then 3 food items like cereals, a fruit and a snack/drink so that we can declare one of them to be thrown into the trash bin. This would mean 5 items per pick-place action.
We could consider adding more items as a bonus and say, that for successful task completion we expect 5 out of all 3 categories, (categories being: dishes, cutlery, food) but if someone manages to do more, they get an outstanding performance or bonus points.

We could also stick to 4, but offer teams options? Like it is a full breakfast setup with plate, bowl, cup, cutlery, foods and the teams can choose which objects they pick/place as long as one goes into the dishwasher, one into the trashbin and the last one into the cupboard.

Then the decision is between:

• having the teams clean all the objects, so we need to predefine how many,
• or defining a minimal amount of objects which need to be cleaned, rewarding if more objects have been interacted with.

[ARTenshi]

How many objects should the robot have to store?
The amount of time HAS to be increased, but not sure of what it should be.

Given the current performance of service robots, I would say that ten objects in 10 minutes is fine.

I have also added a bonus task where a class of objects is announced as trash.

Yes. I would take drinks and food items to the trash and some sides (ketchup, mustard, napkins) to the shelf.

[LeroyR]

I am a fan of setting more stuff on the table than the Robots can handle but we have to make sure that a robot only able to cleanup does not score 5k points 😅

We could set multiple seats and decrease the score for doing the same thing repeatedly, score times 0.5 for each repeat?
(1st trash gives 100, 2nd gives 50, and then 25 for each additional tash item.
Maybe a bonus for a each first item of 'category' or for cleaning up one seat completely.

We can tweak the numbers and individual scores later. For now we just need to make sure that the task and every possible scoring action is written down.