Controlling Tiago++ with CRAM

Recently we have used CRAM to command Tiago++ to perform a mobile pick and place task in a kitchen environment. We have never applied CRAM on a robot with a differential drive before and it made the task of mobile manipulation in a narrow environment much more challenging. The gripper was too weak to open the heavy cupboard door, such that we grasped the handle from the bottom side instead of the front side as we usually do.