home.md

@@ -15,43 +15,40 @@ Aims/overview
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 The high-level description of the goals and design rationale is exposed in the *ROS for HRI* Enhancement Proposal (REP).
-The work-in-progress document can [be found here](rep).
+The work-in-progress document can [be found here](ROS-REP).
 
 **In short**: for each of the sub-domains listed hereafter, we essentially want to come up with:
 
-1. adequate messages to describe the data relevant to that domain. These messages are found in the [hri_msgs](https://git.brl.ac.uk/echos/hri_msgs) repository.
+1. adequate messages to describe the data relevant to that domain. These messages are found in the [hri_msgs](https://caidin.brl.ac.uk/ROS4HRI/hri_msgs) repository.
 1. a short list of software modules that provide and/or consume this data
 1. where needed, ROS wrappers for these modules
 
 On top of that, some shared messages/tools need to be agreed & created, namely:
-1. a naming convention for [HRI-related frames](#tf-frames) (in particular, for the human body)
+1. a naming convention for [HRI-related frames](Poses-&-frames) (in particular, for the human body)
 1. [visualisation tools](viz) for HRI
-1. a definition of a [social context](social-context) type to more accurately describe interaction-related datatypes
+1. possibly, a definition of a [social context](social-context) type to more accurately describe interaction-related datatypes
 
 Cross-domain conventions
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-Humans (or, in the general case, *agents*) are associated to an **unique identifier** (UUID), that a robot might attempt to persist across sessions (to be able to recognise previously seen people) or might want to forget (when there is no need/no desire to remember human participants.
+Humans are associated to an **unique identifier** (UUID), that a robot might attempt to persist across sessions (to be able to recognise previously seen people) or might want to forget (when there is no need/no desire to remember human participants).
 
-An agent is represented by the [type Agent.msg](agent).
+This persistent identifier is completed by transient *face IDs* and *body IDs*.
 
-All HRI related messages can be `AgentStamped` by adding a field `agent` of [type Agent.msg](agent).
+The interactions and semantics of these IDs are described in details on the [Human representation](Human-representation) page.
 
-See the conventional [human detection/recognition/identification pipeline](human_identification).
+The reference pipeline to detect and recognise humans is described on the [human detection/recognition/identification pipeline](human-identification-pipeline) page.
 
 Domains
 -------
 
 The work is split by sub-domains:
 
-1. [Physical HRI](phri) (including haptics, fatigue)
+1. [Physical HRI](physical-hri) (including haptics, fatigue)
 1. [Teleoperation](teleoperation)
-1. [Human postures, gestures](gestures), [action recognition](action-recognition)
-1. [Speech, Dialogue, Non-verbal communication](communication)
-1. [Emotions](emotions), [facial expressions](facial-expressions)
-1. [Gaze, Attention](gaze)
+1. [Human postures](poses-&-frames), [gestures, action recognition](action-recognition)
+1. [Speech, Dialogue, Non-verbal communication](Verbal-&-non-verbal-communication)
+1. [Face analysis](face-analysis) and in particular, [Emotions](emotions)
+1. [Gaze, Attention](gaze-&-attention)
 
-TF frames
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-For the proposed body frames, see [human posture](gestures)