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We can pick-up in every orientation except upside down lengthwise. The most preferable stack is either upright or upside down the long way and we can manipulate most boxes into these configurations fairly quickly. We can lift a max of 6 boxes upright to make a stack of seven, and a max of 4 upside down for a stack of 5. One timed practice round we make 4 stacks of three and had time to get back on the ramp. We know it will be completely different with multiple bots but thats the best we can do.
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