IEEE Spectrum has a nice story on the mod, including things probably best left unimagined – such as the tidbit about the robot being able to identify poop based on color and haptic (touch) feedback to know when it has picked it up.
Potential robot owners who know all too well how to identify Offensive Products by both sight and touch through a doggy-litter bag will recognize the validity of those criteria, but don't care to hear any more about them.
Even at its best, Graspy wouldn't follow pet owners on a morning walk. It's designed to "clear poop out of an open field" according to GRASP Lab team member and Ph.D. candidate Benjamin Cohen, speaking in a video subtitled "20poops in 12minutes."
Though it won't be a product soon, the GRASP Labs team plans to post the software and documentation online at ROS.org so other PR2 owners or researchers can replicate the achievement – preferably before the back yard becomes completely uncrossable.
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