Start Gazebo with a different environment
First start Gazebo again, like in the other tutorials.
roslaunch cob_experimentation_days experimentation_days_sim.launch
After you can see the simulated Care-O-bot you can insert some additional objects (instead of the milk)
roslaunch cob_gazebo_worlds table_ikea.launch roslaunch cob_gazebo_worlds jodsalz.launch
Modify the script and grasp a different object
Your task is to get the Care-O-bot grasping the "jodsalz" object which is placed on a table. To fullfill the task you have to change the script file and select "jodsalz" instead of "milk".
roscd cob_experimentation_days gedit scripts/experimentation_days.py
Additionally you will have to change the navigation goal for the robot to not move to the kitchen shelf, but to the table. Therefore edit
roscd cob_experimentation_days gedit config/ipa-kitchen/navigation_goals.yaml
Be carefull that the object is within the workspace of the arm.
Hint: All files you have to change are in the ROS package cob_experimentation_days.
Send your result
Please create again a video of your solution and send the link together with the modified files to firstname.lastname@example.org.