Software Requirements

The implementation of a scenario needs some additional packages that are not included in the bringup level, be sure that you have installed in your system the following stacks:

• arm_navigation

• cob_manipulation

• cob_navigation

• cob_object_perception

If you want to run the scenario in simulation you need also cob_simulation

Usage/Examples

The package contains the source code of some generic states divided into:

• Basic states
• Manipulation states
• Perception states
• Navigation states

Also you can find some basic state machines already created, you can take a look of these machines as example to create a new scenario.

In the package cob_experimentation_days you can see a complete definition of a scenario script using cob_generic_states.