selector{
cond On(Coffee,CoffeeTable)
sequence{
cond Holding(Nothing)
act Make(Coffee)
}
sequence{
cond At(Robot,CoffeeTable)
 cond Holding(Coffee)
act PutDown(Coffee,CoffeeTable)
}
sequence{
cond At(Robot,Bar)
 cond Holding(Coffee)
act PutDown(Coffee,Bar)
}
sequence{
cond At(Robot,WaterTable)
 cond Holding(Coffee)
act PutDown(Coffee,WaterTable)
}
sequence{
cond Holding(Coffee)
act MoveTo(CoffeeTable)
}
}
