Fraunhofer Institute pick & place robot at Logimat 2024. Maximise volume in order tote

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Picking robot solution from Fraunhofer Institute with dynamic placement of products in order tote to optimise volumetric space (minimising empty space in box).

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Why is it thinking in the middle.
It should have calculated every move when it picked up the first part.
Go go go.

russguppy