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A team of researches at CMU did this a while back: https://www.cs.cmu.edu/~maxim/files/planforsmoothpick_icra14.pdf and even got an article in IEEE spectrum about their work: http://spectrum.ieee.org/automaton/robotics/industrial-robots/pr2-learns-pick-and-place-skills-gives-baxter-a-run-for-its-way-less-money

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