Patent Document ID: 9981382
Application ID: 15172766
Patent Status: 1

Claim One:
1. A system comprising: a robotic device comprising a robotic manipulator; a sensor; a support stand configured to receive an object placed thereon in a given orientation and maintain the given orientation of the object placed thereon; and a control system configured to: determine, based on sensor data indicative of an environment and received from the sensor, a target pose for an object within the environment; determine a second orientation with respect to the robotic manipulator in which to pick up the object to move the object to the target pose; based on the second orientation, determine a repositioning orientation in which to place the object on the support stand to reorient the object with respect to the robotic manipulator using the support stand; based on the repositioning orientation, determine a first orientation with respect to the robotic manipulator in which to pick up the object; cause the robotic manipulator to pick up the object in the first orientation and place the object on the support stand in the repositioning orientation; and cause the robotic manipulator to pick up the object, disposed on the support stand in the repositioning orientation, in the second orientation with respect to the robotic manipulator and, while the object is held in the second orientation with respect to the robotic manipulator, cause the robotic device to move the object to the target pose.