RoboWaiter/robowaiter/utils/draw_bt/Default_bracket.ptml

selector
{
    cond On(Coffee,Bar)
    sequence
{
        not cond Holding(Coffee)
        selector
{
            sequence
{
                cond At(Robot,Bar)
                act PutDown(Coffee,Bar)
            }            act MoveTo(Bar)
        }    }    sequence
{
        cond At(Robot,Coffee)
        selector
{
            sequence
{
                cond Holding(Nothing)
                act PickUp(Coffee)
            }            act PutDown(Anything,Anywhere)
        }    }    sequence
{
        cond Exist(Coffee)
        act MoveTo(Coffee)
    }    sequence
{
        cond Holding(Nothing)
        act Make(Coffee)
    }    act PutDown(Anything,Anywhere)
}