Robot control based on skeleton of workpiece

A robot control method executable by a robot system comprising at least one processor, the method comprising:

• acquiring a workpiece image showing a workpiece present in real space;
• estimating skeleton information indicating a skeleton of the workpiece based on the workpiece image;
• acquiring constraint information representing a constraint regarding a task to be performed on the workpiece;
• determining a completion state of the task based on the acquired constraint information and the estimated skeleton information;
• and
• causing a robot placed in the real space to perform the task in accordance with the determined completion state.

A non-transitory computer-readable storage medium storing processor-executable instructions to:

• acquire a workpiece image showing a workpiece present in real space;
• estimate skeleton information indicating a skeleton of the workpiece based on the workpiece image;
• acquire constraint information representing a constraint regarding a task to be performed on the workpiece;
• determine a completion state of the task based on the acquired constraint information and the estimated skeleton information;
• and
• cause a robot placed in the real space to perform the task in accordance with the determined completion state.