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The first step will be to download and install the database locally on your computer. The tutorial is here:

http://www.ros.org/wiki/household_objects_database

There should also be an option to use the database remotely on a Willow Garage server, but unfortunately that is not working for diamondback at the moment...

After that, you would edit the pr2_tabletop_manipulation.launch file to match your local installation of the database, such as server address, user name, password, etc.

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