This is very cool, thank you for sharing. I work in automation and SWE for a certain 4-letter organization that delivers your mail. Pick/place is something we've rolled out using articulated and delta robots with vacuum end effectors, and it's an interesting and challenging space to be in. As in your case, bags and other amorphous shapes are always the most difficult. It's always an uphill battle to hit throughput targets due to exception cases that can stop things until a human gets involved. Ultimately, it can be a struggle to avoid overpromising and to generate ROI since automation is so costly, especially when there's no opportunity to bound the problem by influencing the inputs to your system or the output requirements (in your case, the cart being loaded). Best of luck and looking forward to seeing your new end effector.
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