Lift Tray

Lift Tray#

Success#

Grasp the breakfast tray with the two grippers and lift it clear of the source table without the tray touching either the table or the floor.

Stages#

Stage 1#

Left gripper is grasping the tray

Stage 2#

Right gripper is grasping the tray

Stage 3#

Complete success

Variations#

Static#
../../_images/lift_tray.png

Tray appears in the same spot with the same orientation every time.

Position Randomization#
../../_images/lift_tray_p.png

Position of the tray will vary by up to 0.1cm in the X-direction and up to 0.25m in the Y-direction.

Orientation Randomization#
../../_images/lift_tray_o.png

Orientation of the tray will vary by up to 30 degrees in either direction about the Z-axis.

Position and Orientation Randomization#
../../_images/lift_tray_p_o.png

Position and orientation will both vary as specified above.

Drag Over and Lift Tray#

Tray appears on the adjacent table, with static position and orientation, and must be dragged over to the primary table and raised.

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