A processing system for providing sortation of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising: a programmable motion device including an end effector ; a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location; a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations; and a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object's location or orientation at the input location, and at least one unchanging portion that is predetermined and is not specific to the object, the object's location or the object's orientation at the input location, wherein the motion planning system includes a database that stores a plurality of possible trajectory paths from a base location to the processing location (106-122) and metric data regarding the plurality of possible trajectory paths, the base location being a location to which the object is moved after acquisition at the input location and prior to moving the object to the processing location, and wherein the motion planning system is adapted to determine the unchanging portion of the trajectory path from the base location to the processing location by sorting the plurality of possible trajectory paths stored in the database based on the metric data and selecting one of the plurality of possible trajectory paths having metric data that optimizes one or more metrics. a programmable motion device including an end effector ; a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location; a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations; and a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object's location or orientation at the input location, and at least one unchanging portion that is predetermined and is not specific to the object, the object's location or the object's orientation at the input location, wherein the motion planning system includes a database that stores a plurality of possible trajectory paths from a base location to the processing location (106-122) and metric data regarding the plurality of possible trajectory paths, the base location being a location to which the object is moved after acquisition at the input location and prior to moving the object to the processing location, and wherein the motion planning system is adapted to determine the unchanging portion of the trajectory path from the base location to the processing location by sorting the plurality of possible trajectory paths stored in the database based on the metric data and selecting one of the plurality of possible trajectory paths having metric data that optimizes one or more metrics. <EOS>