I can propose you two options for this:
1. Follow the [ROS Manipulation in 5 days](
http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/ros-courses-library/ros-manipulation-in-5-days/) online course, which provides simulation of several complex robots like Shadow Robot grasping environment, Fetch robot, UR5, plus MoveIt! plus the whole learning documents and videos to learn how to do grasping with ROS
You can also take the [ROS Industrial course](
http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/ros-courses-library/ros-industrial-101/), which also provides simulations of several arm robots and MoveIt! control.
2. You use the [ROS Development Studio](
http://rds.theconstructsim.com) to learn and program by your self. Complex simulations are already provided off-the-shelf as well as a proper MoveIt! installation. The main difference with the previous option is that you do not have the learning docs.
For both options, you will only need a web browser. This means that you don't have to install anything and can use Windows, Mac or Linux machines.
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