Handle is a mobile manipulation robot designed for logistics. Handle autonomously performs mixed SKU pallet building and depalletizing after initialization and localizing against the pallets. The on-board vision system on Handle tracks the marked pallets for navigation and finds individual boxes for grasping and placing. When Handle places a boxes onto a pallet, it uses force control to nestle each box up against its neighbors. The boxes used in the video weigh about 5 Kg (11 lbs), but the robot is designed to handle boxes up to (15 Kg) (33 lb). This version of Handle works with pallets that are 1.2 m deep and 1.7 m tall (48 inches deep and 68 inches tall).