I have a UR 10 equipped with a 85 gripper. A challenge I have ran into is currently we produce numerous parts that require hand stacking to prevent damage to critical features. Currently, we stack them in a box about 27" by 28" by 13.5" deep. The issue becomes how to place the part accurately on the bottom of the box. Two issues arise, the first is interference of the wrist joints with the sides of the box and second using my current gripper I can't place them side by side. The parts are basically cylindrical with a hole thru the center. Some can be stood on end but most need to be laid on there side. Which seems to rule out gripping on the ID of the thru hole. How can I go about achieving this task?