Robotic system with a coordinated transfer mechanism

A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause one or more computing systems to perform a method for operating a robotic system to transfer an object from a source to a destination, the method comprising:

• accessing image data representative of the source;
• deriving a motion plan based on the image data, wherein the motion plan includes one or more portions for operating (1) a picking robot configured to grip and manipulate the object and (2) a lateral transfer mechanism including a transfer tray located adjacent to the source and the destination and configured to move laterally between the source and the destination;
• implementing a picking portion of the motion plan for operating the picking robot to grip and lift the object from the source;
• detecting a clearing event representative of the object reaching a predetermined height that is above a height of the transfer tray;
• implementing a source transfer portion of the motion plan for operating the lateral transfer mechanism to move the transfer tray toward the source;
• implementing a tray placement portion of the motion plan based on the clearing event and/or a tray location for placing the object on the transfer tray;
• and
• implementing a destination transfer portion of the motion plan for operating the lateral transfer mechanism to laterally move the transfer tray toward the destination with the object thereon and to move the object from the transfer tray and onto the destination.