class deliver_demo(DeliverDemo.SkillBase):
    def expandBT(self, params):
        self.sequence(
            SwitchController(Controller = params.joint_config),
            PredefinedMovement.arm_lookout(),
            DetectFreeSpace(Object = params.DeliverPose, ApproachPose = params.DeliverApproachPose),
            PredefinedMovement.arm_lookout_front(),
            PredefinedMovement.arm_storage_approach(),
            PredefinedMovement.arm_storage(),
            Grasp(),
            PredefinedMovement.arm_storage_approach(),
            PredefinedMovement.arm_lookout_front(),
            PredefinedMovement.arm_lookout(),
            DeliverObject(DistanceZ = 0.20),
            PredefinedMovement.arm_lookout(),
            PredefinedMovement.arm_home()
        )