A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.
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