> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-1-turtlebot3/12.-manipulation-ji-qi-shou-bi/12.10.-pick-and-place-jian-qu-ji-fang-zhi.md).
# 12.10. Pick and Place 檢取及放置
我們提供移動操作的檢取和放置範例。此範例是使用 [**smach**](http://wiki.ros.org/smach)(task-level架構)來傳送動作給機器手臂執行。
* 啟動 gazebo 模擬器
```
$ roslaunch open_manipulator_with_tb3_gazebo rooms.launch use_platform:=false
```
* 啟動 navigation, moveIt!
```
$ roslaunch open_manipulator_with_tb3_tools rooms.launch use_platform:=false
```
* 啟動 task controller
```
$ roslaunch open_manipulator_with_tb3_tools task_controller.launch
```
{% hint style="info" %}
TIP：Smach 提供 state graph 狀態圖。可嘗試執行 smach viewer 以了解機器人如何進行拾取和放置： rosrun smach\_viewer smach\_viewer.py
{% endhint %}
---
# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.
## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter:
```
GET https://idminer.gitbook.io/robotis/part-1-turtlebot3/12.-manipulation-ji-qi-shou-bi/12.10.-pick-and-place-jian-qu-ji-fang-zhi.md?ask=
```
The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.