Pick and place

Manipulation combines motion planning, vision, and gripper control. Pick and place break the workflow into two stages so each stage can be developed and debugged independently.

• Pick covers detection, approach, and grasp. The arm moves to a pre-grasp pose above the object, descends, closes the gripper on the object, and lifts.
• Place covers transport and release. The arm moves the grasped object to a target location, descends, opens the gripper, and retreats.

Both stages depend on the obstacle and geometry-attachment patterns covered under Obstacles, plus the typical arm-motion and gripper-contact constraints under Move an arm.

How-tos