Post #9

We were able to run RVIZ on the stretch robot and see that it detected the aruco marker on a table with information about it (such as its pose). This aruco marker is placed relative to a toy object and knowing its pose will be useful for the stretch when it goes to pick up a toy. Additionally, we were able to run the object detection node on the Stretch to detect the various objects in the scene. This functionality will be helpful for our project as the Stretch needs to be able to detect what objects are toys that it will need to pick up and clean up. These two perception strategies together will allow us to detect toys and then have the Stretch pick up the toy precisely.