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--- tutorials:demo:fetch_and_place_solutions [2019/09/04 19:38] – [Exercise 3] gkazhoya
+++ tutorials:demo:fetch_and_place_solutions [2019/09/04 19:39] – [Exercise 1] gkazhoya
@@ Line 40: / Line 40: @@
       (print "Exhausted all the locations to search. Cannot find the object")
       (cpl:fail 'object-unreachable))))
+(defun move-bottle (bottle-spawn-pose)
+  (spawn-object bottle-spawn-pose)
+  (with-simulated-robot
+    (let ((?navigation-goal *base-pose-near-table*))
+      (cpl:par
+        ;; Moving the robot near the table.
+        (perform (an action
+                     (type going)
+                     (target (a location
+                                (pose ?navigation-goal)))))
+        (perform (a motion
+                    (type moving-torso)
+                    (joint-angle 0.3)))
+        (park-arms)))
+    (let* ((?perceived-bottle-and-grasping-arm (search-and-pick-up-object :bottle))
+           (?grasping-arm (second ?perceived-bottle-and-grasping-arm))
+           (?perceived-bottle (first ?perceived-bottle-and-grasping-arm)))
+      ;; Moving the robot near the counter.
+      (let ((?nav-goal *base-pose-near-counter*))
+        (perform (an action
+                     (type going)
+                     (target (a location
+                                (pose ?nav-goal))))))
+       ;; Setting the object down on the counter
+      (let ((?drop-pose *final-object-destination*))
+        (perform (an action
+                     (type placing)
+                     (arm ?grasping-arm)
+                     (object ?perceived-bottle)
+                     (target (a location
+                                (pose ?drop-pose))))))
+      (park-arm ?grasping-arm))))
 </code>