Stack Single Book Shelf

Stack Single Book Shelf#

Success#

Place one book onto either the upper or lower shelf board so that the book touches the shelf and is released by all grippers.

Stages#

Stage 1#

Book is being held

Stage 2#

Book is being held above the table

Stage 3#

Book is touching a shelf

Stage 4#

Complete success

Variations#

Static#
../../_images/stack_single_book_shelf.png

The book appears in the same spot with the same orientation every time.

Position Randomization#
../../_images/stack_single_book_shelf_p.png

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

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

Position will vary as specified above, and the orientation of the book will vary by up to 30 degrees in either direction about the Z-axis.