Robot Perception

ArUco markers, perhaps unsurprisingly, work quite well with the Stretch camera and allow us to detect a towel or other wipe we might want to use for the project. We may consider modifying a towel to have a more defined body while still having a bottom texture that allows for application of lotion or other medicines.

The deep perception model that comes with Stretch does not do a great job of identifying towels. Sometimes, it picks up a nicely folded towel as a handbag, as seen above, but if we want to pursue generic perception without ArUco markers, we may need to train our own model.