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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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The pick and place task

In this section, we are going to explain how to perform a very common application or task with a manipulator robot. A pick and place task consists of picking up a target object, which includes grasping it, and placing it somewhere else. Here, we assume that the object is initially on top of a supporting surface that is flat or planar, such as a table, but it is easy to generalize it to more complex environments. As regards the object to grasp, we will consider a cylinder that is approximated by a box, because the gripper we are going to use to grasp is very simple; for more complex objects, you will need a better gripper or even a hand.

In the further sections, we will start by describing how to set up the planning scene ...

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