a door. It opens an image display and requires the user to select the door handle and the door hinge. After receiving input, it uses the <code class="docutils literal notranslate"><span class="pre">ManipulationAPIService</span></code> to estimate the handles position in 3D space and aligns the robot with the door handle. Then it uses the <code class="docutils literal notranslate"><span class="pre">DoorService</span></code> to issue an automatic door open request.</p>
</section>
<section id="inverse-kinemati