RoboWaiter/opt_bt_expansion/MakeCoffee.ptml

selector{
cond At(Table,Coffee)
selector{
cond At(Robot,Table), Holding(Coffee)
act PutDown(Table,Coffee)
}
selector{
cond At(Robot,Coffee), NotHolding, At(Robot,Table)
act PickUp(Coffee)
}
selector{
cond Available(Table), Holding(Coffee)
act MoveTo(Table)
}
selector{
cond At(Robot,Coffee), At(Robot,Table), Holding(VacuumCup)
act PutDown(Table,VacuumCup)
}
selector{
cond At(Robot,CoffeeMachine), NotHolding, At(Robot,Table)
act OpCoffeeMachine
}
selector{
cond At(Robot,Coffee), Available(Table), NotHolding
act PickUp(Coffee)
}
selector{
cond At(Robot,CoffeeMachine), At(Robot,Table), Holding(VacuumCup)
act PutDown(Table,VacuumCup)
}
selector{
cond Available(Table), Available(Coffee), NotHolding
act MoveTo(Coffee)
}
selector{
cond Available(Table), At(Robot,CoffeeMachine), NotHolding
act OpCoffeeMachine
}
selector{
cond Available(Table), Available(Coffee), At(Robot,Table), Holding(VacuumCup)
act PutDown(Table,VacuumCup)
}
selector{
cond Available(Table), NotHolding, Available(CoffeeMachine)
act MoveTo(CoffeeMachine)
}
selector{
cond Available(Table), Available(Coffee), Holding(VacuumCup)
act MoveTo(Table)
}
selector{
cond Available(Table), Available(CoffeeMachine), At(Robot,Table), Holding(VacuumCup)
act PutDown(Table,VacuumCup)
}
selector{
cond Available(Table), Available(CoffeeMachine), Holding(VacuumCup)
act MoveTo(Table)
}
}