Support stand to reorient the grasp of an object by a robot

A method comprising:

• determining, based on sensor data indicative of an environment and received from a sensor, a target pose for an object within the environment;
• determining a second orientation with respect to a robotic manipulator of a robotic device in which to pick up the object to move the object to the target pose;
• based on the second orientation, determining a repositioning orientation in which to place the object on a support stand to reorient the object with respect to the robotic manipulator using the support stand, wherein the support stand is configured to receive the object placed thereon in a given orientation and maintain the given orientation of the object placed thereon;
• based on the repositioning orientation, determining a first orientation with respect to the robotic manipulator in which to pick up the object;
• causing the robotic manipulator to pick up the object in the first orientation and place the object on the support stand in the repositioning orientation;
• and
• causing the robotic manipulator to pick up the object, disposed on the support stand in the repositioning orientation, in the second orientation with respect to the robotic manipulator and, while the object is held in the second orientation with respect to the robotic manipulator, causing the robotic manipulator to move the object to the target pose.

A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:

• determining, based on sensor data indicative of an environment and received from a sensor, a target pose for an object within the environment;
• determining a second orientation with respect to a robotic manipulator of a robotic device in which to pick up the object to move the object to the target pose for the object;
• based on the second orientation, determining a repositioning orientation in which to place the object on a support stand to reorient the object with respect to the robotic manipulator using the support stand, wherein the support stand is configured to receive the object placed thereon in a given orientation and maintain the given orientation of the object placed thereon;
• based on the repositioning orientation, determining a first orientation with respect to the robotic manipulator in which to pick up the object;
• causing the robotic manipulator to pick up the object in the first orientation and place the object on the support stand in the repositioning orientation;
• and
• causing the robotic manipulator to pick up the object, disposed on the support stand in the repositioning orientation, in the second orientation with respect to the robotic manipulator and, while the object is held in the second orientation with respect to the robotic manipulator, causing the robotic manipulator to move the object to the target pose.