1. A method comprising: causing a robotic manipulator to pick up an object in an environment with an end effector; causing the robotic manipulator to pivot the object around an edge of the object in contact with a surface in the environment; while causing the robotic manipulator to pivot the object, using sensor data from a force-torque sensor cause the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment; and determining at least one dimension of the object based on the trajectory followed by the robotic manipulator.