Robot and robot system

A robot comprising:

• an arm;
• an end effector attached to an end of the arm, the end effector configured to hold a first object;
• a force sensor provided in the arm and configured to detect a force applied to the first object;
• a memory configured to store computer-readable instructions and a target position of a second object relative to the arm holding the first object;
• and a processor configured to execute the computer-readable instructions so as to:
• cause the arm holding the first object to move toward the second object in a first direction;
• after the arm holding the first object moves in the first direction, cause the force sensor to detect when the first object held by the arm contacts a non-target positon of the second object that is different from the target position;
• and
• after the force sensor detects the contact of the first object at the non-target position of the second object, cause the arm holding the first object to linearly move in a second direction away from the second object,
• wherein the second direction is different from the first direction and an opposite direction of the first direction,
• wherein the second object has a plurality of the non-target positions, and
• when the processor is configured to repeatedly cause the arm holding the first object to move toward the second object, contact some positions of the plurality of the non-target positions, and move the arm holding the first object away from the second object, and the some positions are helically located on the second object in a plan view.