The approach we have used developed uses a mix of suction and grasping to pick up the different objects. Objects are identified, the correct grasping method determined and then the grasping points identified. We have developed a solution for out set of 10 object:
Below are videos of the different objects being grasped from the table, identified and placed in the shelf and then grasped from the shelf and returned to the table top.
Pick and place CD
Pick and place Book
Pick and Place Eraser
Pick and Place Tape Measure
Pick and place Box
Pick and place Mug
Pick and Place Torch
Pick and Place Tape
Pick and Place Banana
Pick and Place Ball