This week, we focused on helping Stretch detect objects relevant to our project (specifically the glucometer and testing station). 

At first, Stretch was not able to detect certain objects; we tried using a whiteboard marker that is similar to a glucometer, but the robot couldn't recognize it using its default perception capabilities. 

To solve this, we attached an ArUco marker to the object. Once we did that, Stretch was able to successfully detect the marker and localize the exact position of the object relative to itself. 

Although we haven’t implemented full autonomous movement toward the marker yet, this detection is a big step. From what we understood, this technique would allow Stretch in the future to automatically move toward a marker and prepare for the task (like grabbing the testing station or positioning itself correctly for blood sugar checks).

Summary

• Originally, Stretch could not recognize the glucometer.
  
  

• After attaching an ArUco marker, Stretch was able to detect and localize it.
  
  

• This confirms we can mark important objects (like the hand placement frame) for Stretch to detect reliably.
  
  

• Future work could use this detection to drive autonomous positioning or object interaction.