I have read the documentation for the Roboforth environment from STrobotics and recognized that this a nice way for programming a robot. What I missed is a sophisticated software library with predefined motion primitives. For example, for picking up a object, for regrasping or for changing a tool.
In other programming languages like Python or C++, a library is a convenient way for programming repetitive tasks and for storing expert knowledge into machine-readable files. Also a library is good way for not-so-talented programmers to get access on higher-level-functions. In my opinion Forth is the perfect language for implementing such an API, but I didn't find information about it. Where should I search? Are there any examples out there?
I am author of RoboForth, and you make a good point. I have approached the problem of starting off new users with videos on YouTube; see How to... (playlist with 6 items, e.g "ST Robotics How-to number 1 - getting started") which is a playlist covering basics and indeed tool changing.
I never wrote any starter programs, because the physical positions (coordinates) would be different from one user to the next, however I think it can be done, and I will do it. Thanks for the heads up.