Advanced manipulation

Planning a collision-free move to a pose covers many pick-and-place tasks. Some tasks need more: a contact task that must control force rather than just position, or a pick from a moving conveyor where the target won’t hold still. This section covers those techniques. For the core arm, gripper, and motion-planning setup they build on, start with Motion planning.

• Force and compliance control: tasks that regulate contact force, insertion, tending, and accounting for a grasped part in the planning world.
• Track and pick moving objects: follow a detection across frames and intercept it on a conveyor.