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Palletizing with hanging cobot

If Cobot is attached to 1 linear rail for palletizing and said to be hanging (ie. upside down ) the cobot should pick and place on a rack or shelf (each rack has different dimensions and weight to be placed ). 

1. My question is how would the cobot know which item is to be picked or placed on which rack or shelf with a certain weight and dimension?

2. How does the cobot identify where is the available place and which item is placed on which rack?

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