Systems and methods for automated packaging and processing for shipping with pack and place planning

An automated packing system for placing a plurality of objects from a supply station into a shipping container, said automated packing system comprising:

• a placement planning system for determining a packing placement desired position and orientation for the plurality of objects;
• an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container responsive to the placement planning system;
• a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station;
• and
• a pose held assessment system for providing pose held assessment data regarding a pose and orientation of the selected object with respect to an end effector of the programmable motion device while being held by the end effector, the programmable motion device then generating a trajectory for at least one arm of the programmable motion device for refining the pose and orientation of the selected object while placing the selected object into the shipping container in a selected orientation and pose responsive to the placement planning system.

An automated method of placing a plurality of objects into a shipping container, said method comprising:

• determining a packing placement order for the plurality of objects;
• receiving a supply bin at a supply station;
• detecting objects within the supply bin;
• selecting a selected object from the plurality of objects to be placed into the shipping container;
• grasping and acquiring the selected object from the plurality of objects at the supply station;
• determining a pose held of the selected object after it is grasped and acquired;
• and
• detecting a volume within the shipping container into which the selected object is assigned to be placed in a selected orientation using the pose held and generating a trajectory for at least one arm of the programmable motion device and using the trajectory to refine the pose held of the selected object to place the selected object into the assigned placement.