I mean this comment is slightly disconcerting to next generation of brilliant hackers sleeping on this bed and dreaming big of a Cloud controlled Toilet Paper Dispenser, Effececy®. It will always give right amount of paper based of amount and moisture content of just delivered product.
I rolled my own solution to this using a Boston Dynamics Spot (2nd gen). With the structured light scanner, YOLO v5 for classification, and a custom IK solver (BD's is too hard for me), I can just lay back like a baby once I'm finished and Spot takes care of everything.
