System and method for determining a work offset

A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices, wherein executing the instructions causes the one or more computing devices to perform functions comprising:

• receiving an indication to determine a work offset for a robot operating in a work environment, wherein the work offset describes a location and an angular orientation of a working plane of the work environment relative to a base plane of the robot;
• in response to the indication, identifying the working plane within the work environment;
• controlling an arm of the robot to cause the arm of the robot to contact one or more points of the working plane;
• determining one or more respective positions of the robot when the arm of the robot contacts the one or more points of the working plane;
• based on the one or more respective positions of the robot, determining respective point locations of the one or more contacted points of the working plane relative to the base plane;
• and
• determining the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the one or more contacted points.

A system comprising:

• a processor;
• and
• a memory storing instructions that when executed by the processor cause the system to perform functions comprising:
• receiving an indication to determine a work offset for a robot operating in a work environment, wherein the work offset describes a location and an angular orientation of a working plane of the work environment relative to a base plane of the robot;
• in response to the indication, identifying the working plane within the work environment;
• controlling an arm of the robot to cause the arm of the robot to contact one or more points of the working plane;
• determining one or more respective positions of the robot when the arm of the robot contacts the one or more points of the working plane;
• based on the one or more respective positions of the robot, determining respective point locations of the one or more contacted points of the working plane relative to the base plane;
• and
• determining the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the one or more contacted points.