We use the arm and pseudo gripper on the Chiara robot to hit objects towards the desired destination. The manipulation behaviour takes in the position of the object, and the position of the target in local frame. Then it calculates a pose such that the shoulder's x axis will be aligned with the object and perpendicular to the vector from the object position to the target position when the robot achieves that pose, and a direction of hitting, in this case, left or right. Afterwards, the robot will move to that pose, and use the camera to build a local map and move the gripper to the proper side of the object using RRT. Finally the robot swings its arm to hit the object.
