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I'm surprised the end effector works on misshapen fabric bags. Makes me jealous that I can't test it.

Are you considering dynamic trajectory constraints in the planner (e.g. for multiple robots loading simultaneously)? That was a thorny problem back when I worked on arms.

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There are a lot of constraints in our planning, including what actions we can do for a particular bag/gripper interaction. Multiple robots working in collision range of each other isn't on the roadmap right now, but it's always a possibility.

Suction works really well but it's not enough, we're rolling out a new gripper soon that covers more cases mechanically (there's a very long tail in the distribution of what comes through airports).

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