Working with robot pick and place task using MoveIt!

We can do pick and place in various ways. One is by using pre defined sequences of joint values; in this case, we put the object in a predefined position and move the robot into that position by providing direct joint values or forward kinematics. Another method of pick and place is by using inverse kinematics without any visual feedback; in this case, we command the robot to go to an X,Y, and Z position with respect to the robot, and by solving IK, the robot can reach that position and pickup that object. One more method is vision assisted pick and place; in this case, a vision sensor is used to identify the object's position and the arm goes to that location by solving IK and picks the object.

In this section, we will demonstrate a pick and place in which we will give the grasping object position and the robot will move to that coordinate and pick the object. It can be tied up with vision in such a way that we need to tell the object...