Systems and methods for automated packaging and processing with static and dynamic payload guards

A method of processing objects using a programmable motion device, said method comprising:

• grasping an object from an in-feed container using an end-effector of the programmable motion device;
• lifting the object from the in-feed container;
• and
• determining a payload guard for the grasped object, said payload guard is derived from pointcloud data regarding volumetric data that include a volume occupied by the grasped object, said payload guard being determined responsive to at least one characteristic of the grasped object and is provided specific to the grasped object.

A system for processing objects using a programmable motion device, said system comprising:

• an end-effector of the programmable motion device for grasping an object;
• a perception system for determining perception data regarding the object;
• and
• a control system for determining a payload guard for the grasped object, said payload guard is derived from pointcloud data regarding volumetric data that include a volume occupied by the grasped object, said payload guard being determined responsive to the perception data.