BakeBot Progress Ported code to SMACH Wrote broad tabletop object detector (wrapper) Scans table, performing object detection numerous times, then eliminates duplicates, refines the detections, and offers handles for pick-and-place action Can detect many bowls on the table and pour their contents into the mixing bowl (see demo video) Next Step: plug in mixing code and start thinking about scooping.

Broad Tabletop Object Detector Wrapper for PickAndPlaceManager object detection Builds scan of whole table from many small scans (eliminating duplicates along the way) Provides handles for PickAndPlaceManager grasp actions