In this video, CRUMB can pick an object and place it on a different table.

In this new video, CRUMB can create a map using the navigation stack from Turtlebot 2 library and, with this map, it can move around. It is also able to avoid new obstacles along the way.

Here is another first video in Gazebo. In it, CRUMB can swap two objects.

Here is the first video in Gazebo. CRUMB can pick and place objects. The most important thing in Gazebo is that the object must be in the middle of the gripper, otherwise the object can not be grasped or can be glued.