Behavior for picking up a recyclable

(define-behavior

:name 'pickup-recyclable

:test

#'(lambda (percept)

(and

(find-empty-position percept 'BAY-1)

(find-object percept '(glass garbage) :OUTSIDE)))

:action

#'(lambda (percept)

(let ((bay-position

(find-empty-position percept 'BAY-1))

(obj-position

(find-object percept '(glass garbage) :OUTSIDE)))

(execute-macrop

`(pickup-from-outside ARM-1 ,obj-position))

(execute-macrop

`(put-in-bay ARM-1 BAY-1 ,bay-position)))))