Maybe think about building separate robots for each task (tub, etc...) that can be permanently attached to wall or the ceiling near its work spot. Tasks could b

Maybe think about building separate robots for each task (tub, etc...) that can be permanently attached to wall or the ceiling near its work spot. Tasks could be accomplished using special arms for each sub-task. A lifting arm, a chemical spraying arm, etc... It would take the "where am I" "where is the target" out of the robots equation. You could simply hardcode the desired movements into the robot. Then if you wanted to sell them you could build a learning routine into the code so the public could easily use it after bolting it to the walls in their houses.