DIY Cloth detecting shirt folding/stacking robot

Link to demonstration video: https://www.reddit.com/r/ArduinoProjects/comments/14vxfo8/final_shirt_folding_robot/

I've always wanted to make a robot that does something useful for me. I made the first version a long time ago and decided to make it better. This time, I wanted to not only fold the shirt but make an extra flap that flips it over in front of the robot, which would then create a stack of shirts. I also wanted to make it automatically detect that shirt with an ultrasonic sensor. However, I tried to do that, I realized the distance being returned from the ultrasonic sensor was way too high, like 3000 cm, once I put it in front of a shirt. I thought my project would become impossible because of this, but then I realized I could just isolate that value and make it only detect shirts. For example, (if distance > 2900). So now, when I put my hand on it, it doesn't activate, which is good for accidental activation. I think the reason why it returns such a high value is because of the porousness of cloth. A neat discovery of what you can do with an ultrasonic sensor.

Here is a google doc that gives an overall guide on how to make it: https://docs.google.com/document/d/17cHncQYqbay-sYI1o91AtIUnXciCC2pUmmtdtzu3beE/edit?usp=sharing