  In this paper, we present an experiment, designed to investigate and evaluate
the scalability and the robustness aspects of mobile manipulation. The
experiment involves performing variations of mobile pick and place actions and
opening/closing environment containers in a human household. The robot is
expected to act completely autonomously for extended periods of time. We
discuss the scientific challenges raised by the experiment as well as present
our robotic system that can address these challenges and successfully perform
all the tasks of the experiment. We present empirical results and the lessons
learned as well as discuss where we hit limitations.
