Update: term name update
<(<gripper --> [holding]> &/ <({SELF} * $obj) --> ^goto>) =/> <$obj --> [left]>>.
//If gripper is open and a bottle is seen, pick it up to hold it
-<((<gripper --> [open]> &/ <bottle --> [locX]>) &/ <({SELF} * bottle) --> ^pick>) =/> G>.
+<((<gripper --> [open]> &/ <bottle --> [locationX]>) &/ <({SELF} * bottle) --> ^pick>) =/> G>.
//If gripper is open, and there is a larger bottle than on the right, pick the left bottle
//<((<gripper --> [open]> &/ <(less_size0 /1 right) --> bottle>) &/ <({SELF} * (left * bottle)) --> ^pick>) =/> G>.
