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Hello HannesIII,

As rbbg told you, MoveIt is indeed one of the two possible ways to go (up to date), the other way is a lot more robust than MoveIt, it is call Descartes, based on the requirements of your project, like which kind of objects you'll be dealing with (shape, size and material), it could be more convenient and more stable to do the moving around the object while scanning it using Descartes. Of course, check the existing documentation of both (MoveIt and Descartes) and decide which fits you the best. Success with your project.