1. A system comprising: a robotic device for manipulating items; a non-transitory computer-readable medium storing computer-executable instructions; and a hardware processor, to execute the computer executable instructions to: access image data indicating one or more interactions between an item and a manipulator for moving the item; access constraint data indicating one or more of: dimensions, points of contact, or movement, associated with the robotic manipulator; and generate, based on the image data and the constraint data, at least one configuration for the robotic manipulator to contact the item, the at least one configuration including one or more of: at least one point of contact between the robotic device and the item; or at least one force vector associated with contact between the robotic device and the item.