Patent ID: 11958202
Assignee: MUJIN, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC B  G  H | IPC B  G  H

Claim 0:
1. A computing system comprising:
a communication interface configured to communicate with a robot having a robot arm that has a spatial structure sensing camera disposed on the robot arm, wherein the spatial structure sensing camera has a camera field of view; and
at least one processing circuit configured to perform the following when a drawer is in a closed position:
determining a location representing a handle of the drawer;
outputting a container movement command for causing the robot arm to move the drawer from the closed position to an open position;
moving the spatial structure sensing camera to another location to capture spatial structure information;
determining a drawer pose based on the spatial structure information;
determining an object pose of an object located within the drawer based on the drawer pose; and
outputting a movement command for causing robot interaction with the object, wherein the movement command is generated based on the object pose.