Testing: grab -> lift -> pour

A couple of hours of programming later and we were ready to run a test for grabbing the bottle, lifting it up, pouring liquid and bringing it back to its initial position.

For this, we used:

1.  a Lego motor that controls the gripper (grab)
2.  a Lego motor that lifts up/descends the arm
3.  a Lego motor that rotates the arm (pour)

and 2 Lego touch sensors:

1. to set the home position of the arm for the rotation
2. to signal that the bottle has been grabbed

Below, you can find a demo that illustrates the above mentioned steps:

Side note: for now, the pouring process is in "simulation mode" only :)