Automatically identifying locations to apply sealant and applying sealant to a target object

A computer system of a robot comprising:

• one or more processors;
• and
• one or more computer-readable media including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• obtaining a computer aided design (CAD) file for a target object that identifies a starting position to move the robot from an initial position associated with the robot;
• causing the robot to move from the initial position to the starting position based at least in part on the obtained CAD file, the robot including an end effector dispensing system and a sensor system;
• causing the robot to traverse a surface of the target object and obtain sensor input from the sensor system starting from the starting position, the traversal of the surface of the target object using a first trajectory defined by the CAD file, the first trajectory corresponding to a seam of the target object, the sensor system configured to obtain the sensor input for the seam and the target object;
• receiving the sensor input from the sensor system including a first height to the target object, a width of the seam, and a depth of the seam;
• generating a second trajectory for traversing the surface of the target object and modifies the first trajectory based at least in part on the sensor input and identifying changes between at least one of the first height to the target object, the width of the seam, or the depth of the seam as determined from the sensor input compared to the first height to the target object, the width of the seam, or the depth of the seam specified in the CAD file;
• and
• causing the robot to move to the starting position and traverse the surface of the target object using the second trajectory and apply a sealant to the seam using the end effector dispensing system of the robot.

One ore more non-transitory computer-readable media including one or more sequences of instructions which, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• generating, based on first sensor data generated by a sensor system of a robot, a three-dimensional representation of a surface of a target object, the three-dimensional representation comprising a first set of data points;
• localizing the target object in a coordinate system of the robot using the three-dimensional representation of the surface of the target object and an initial position of the robot;
• generating a computer aided design (CAD) file for the target object using the three-dimensional representation and the first set of data points, the CAD file specifying the initial position to move the robot to from the initial position of the robot and a first trajectory for traversing the surface of the target object, the first trajectory corresponding to a seam of the target object;
• instructing the robot to move from the initial position to the starting position based at least in part on the CAD file, the robot including an end effector dispensing system;
• instructing the robot to traverse the surface of the target object and obtain sensor input from the sensor system starting from the starting position, the traversal of the surface of the target object using the first trajectory defined by the CAD file, the sensor system configured to obtain the sensor input for the seam and the target object;
• receiving the sensor input from the sensor system including a first height to the target object, a width of the seam, and a depth of the seam;
• generating a second trajectory for traversing the surface of the target object and modifies the first trajectory based at least in part on the sensor input and identifying changes between at least one of the first height to the target object, the width of the seam, or the depth of the seam as determined from the sensor input compared to the first height to the target object, the width of the seam, or the depth of the seam specified in the CAD file;
• and
• instructing the robot to move to the starting position and traverse the surface of the target object using the second trajectory and apply a sealant to the seam using the end effector dispensing system of the robot.