Performing object manipulation with MoveIt!
Manipulating objects is one of the main usages of robotic arms. The capacity to pick up objects and place them in a different location of the robot's workspace is extremely useful, both in industry and research applications. The picking process is also known as grasping and represents a complex task because a lot of constraints are required to pick an object up in a proper way. Humans handle grasping operations using their intelligence, but robots need rules for it. One of the constraints in grasping is the approaching force; the end effector should adjust the grasping force for picking the object but not make any deformation on the object while grasping. In addition, a grasping pose is needed to pick an object in the best way and should be calculated considering its shape and its pose. In this section, we will interact with the scene object of MoveIt! to simulate pick-and-place operations.