You will have to define a new call action, in this case it is carry my luggage (cml), specified challange. You can find this within cram_external_interfaces/cram_giskard.

<code lisp>
(defun call-cml-action (&key
                          action-timeout
                          drive-back
                          laser-distance-threshold)
  (giskard::call-action
   :action-goal (make-cml-action-goal drive-back laser-distance-threshold)
   :action-timeout action-timeout))
   
</code>

<code lisp>
(defun make-cml-constraint (drive-back laser-distance-threshold)
  (roslisp:make-message
   'giskard_msgs-msg:constraint
   :type
   "CarryMyBullshit"
   :parameter_value_pair
   (giskard::alist->json-string
    `(,@(when drive-back
          `(("drive_back"
             . 1)))
      ,@(when laser-distance-threshold
          `(("laser_distance_threshold"
             . ,laser-distance-threshold)))))))

   
</code>


<code lisp>
(defun make-cml-action-goal (drive-back laser-distance-threshold)
  (giskard::make-giskard-goal
   :joint-constraints (make-cml-constraint drive-back laser-distance-threshold)))
</code>



Within cram_external_interfaces/cram_giskard/src/process-module you will need to add yourr designator to (cpm:def-process-module giskard-pm (motion-designator)
<code lisp>
...

(cram-common-designators:carry-my-luggage
       (giskard::call-cml-action
        :drive-back argument-1
        :laser-distance-threshold (first rest-args)
        ))
...

   
</code>

Within cram_common/cram_common_designators/src/motions.lisp you will need to add your motion designator grounding
<code lisp>
  (<- (motion-grounding ?designator (carry-my-luggage ?drive-back ?laser-distance-threshold))
    (property ?designator (:type :cml))    
    (once (or (desig:desig-prop ?designator (:drive-back ?drive-back))
              (equal ?drive-back nil)))
    (once (or (desig:desig-prop ?designator (:laser-distance-threshold ?laser-distance-threshold))
              (equal ?laser-distance-threshold nil))))
</code>

Now add your function into the defpackage description to make it jucy

<code lisp>
#:carry-my-luggage
</code>
Finally add the motion designator type into the matching process module, for suturo this is sadly in cram_hsrb/suturo_real_hsr_pm/src/with-real-hsr-pm.lisp
<code lisp>

 (prolog:<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm)
    (or (desig:desig-prop ?motion-designator (:type :moving-tcp))
        (desig:desig-prop ?motion-designator (:type :reaching))
        (...)
        (desig:desig-prop ?motion-designator (:type :cml))
      * (...)
</code>