Pack Box

Pack Box#

Success#

Have each arm interact with the two-flap packing box and close both flaps until the opening is fully covered.

Stages#

Stage 1#

Left flap is being held by a gripper

Stage 2#

Right flap is being held by a gripper

Stage 3#

Right flap is closed

Stage 4#

Left flap is closed

Stage 5#

Complete success

Variations#

Static#
../../_images/pack_box.png

Box appears in the same spot with the same orientation every time. The position of the box will be slightly closer to the robot than in other variations.

Position Randomization#
../../_images/pack_box_p.png

Position of the packing box will vary by up to 0.1m in the X-direction and up to 0.14m in the Y-direction.

Orientation Randomization#
../../_images/pack_box_o.png

Orientation of the packing box will vary by up to 90 degrees in either direction, with respect to the Z-axis.

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

The position and orientation of the packing box will both vary by the amounts listed above.

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