Object pickup strategies for a robotic device

A system comprising:

• a robotic manipulator;
• a gripper attached to the robotic manipulator;
• and
• a control system configured to:
• determine two or more potential grasp points on a physical object corresponding to points at which the gripper is operable to grip the physical object;
• determine a target placement of the physical object at a drop-off location;
• based at least on the target placement of the physical object at the drop-off location, select a grasp point from among the two or more potential grasp points;
• and
• provide instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location.

A non-transitory computer readable medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:

• determining two or more potential grasp points on a physical object corresponding to points at which a gripper attached to a robotic manipulator is operable to grip the physical object;
• determining a target placement of the physical object at a drop-off location;
• based at least on the target placement of the physical object at the drop-off location, selecting a grasp point from among the two or more potential grasp points;
• and
• providing instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location.