"""Grasp one object, put it in/on one region."""
from .base import approach_and_grasp, place_at


def solve(env, obj, target, arm="right", jaw="auto", grasp_top=None, lift=0.16,
          on_top=False, max_gap=0.045):
    a = env.arms[arm]
    res, ext = approach_and_grasp(env, a, obj, jaw=jaw, grasp_top=grasp_top, max_gap=max_gap)
    if not res.ok:
        env.recorder.phase = "ABORT: no grasp"
        return {"grasped": False, "reason": res.reason}
    return {"grasped": True,
            "place_err": place_at(env, a, target, float(ext[2])/2.0, on_top=on_top, lift=lift)}