Other Activities on Your Turn
Your turn can include a variety of flourishes that require neither your action nor your move. (91)
You can communicate however you are able, through brief utterances and gestures, as you take your turn. (91)
Go here for other examples.
You can also interact with one object or feature of the environment for free, during either your move or your action. (91) Here are a few examples:
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draw or sheathe a sword
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open or close a door
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withdraw a potion from your backpack
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pick up a dropped axe
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hand an item to another character
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Dropping an item in hand does not count as an interaction with one object. See here.
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Retrieving an item from a bag of holding requires an action. (210)
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Drinking or administering a potion takes an action. (68)
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Interacting with a second object requires you to use the Use an Object action. (91, 94)
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Some magic items and other special objects require an action to use, as stated in their descriptions. (206)
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If any of these activities needs special care or presents an unusual obstacle, an action may be required. For example, to open a stuck door or turn a crank to lower a drawbridge. (91)
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The GM might also call for a Strength check when you try to force open a stuck, locked, or barred door. (79)