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This paper presents a method to generate vision and task based robot manipulator trajectories. In the framework of the research on daily assistive robots the task formulated for this work consists in ranging boxes in a shelf or picking them up and placing them into a shopping cart. For object recovery SIFT keypoint tracking in combination with stereo vision is used. A collision free trajectory between two way points is generated based on a 3D-gridmap of the environment in front of the robot. A trajectory generation loop is implemented using resolved motion rate control and attractor coordinate frames that define the way points of the trajectory. The proposed method was tested on the humanoid robot HRP2-JSK.