This is a full demo of TIAGO placing items in Gazebo. The layout in the simulator comes from RoboCup@Home Virtual 2021

The placement of an item is divided into the following steps

1. Spawn an object in the gripper of TIAGO.
2. Randomly select a target from containers (large boxes, trays, drawers, etc).
3. Arrive near the target container and look for available storage space (if applicable).
4. Move the arm of TIAGO and finally place the item.