in .bashrc:
export ROBOT=cob3-1
export ROBOT_ENV=brics_rc 


1)
export ROBOT_ENV=empty_world (only for this terminal)
roslaunch cob_bringup cob3-sim.launch

2)
rosrun rviz rviz

3)
roslaunch cob_gazebo_world brics_rc_world_urdf.launch
roslaunch cob_gazebo_world table_brics_rc_urdf.launch

4)
roslaunch cob_2dnav move_base.launch

5)
roslaunch cob_arm_navigation cob3_arm_navigation.launch

6)
roscd cob_arm_navigation
./bin/addURDF ~/git/care-o-bot/cob_simulation/cob_gazebo_worlds/common/worlds/brics_rc_world.urdf brics_rc_world
./bin/addURDF ~/git/care-o-bot/cob_simulation/cob_gazebo_worlds/objects/table_brics_rc.urdf table
./bin/addFloor

7)
roslaunch cob_script_server script_server.launch

8)
rosrun cob_script_server grasp_planned.py

