diff --git a/ptml/CoffeeDelivery.ptml b/ptml/CoffeeDelivery.ptml
new file mode 100644
index 0000000..ce14881
--- /dev/null
+++ b/ptml/CoffeeDelivery.ptml
@@ -0,0 +1,13 @@
+sequence:
+    select:
+        CoffeeCupFound
+        FindCoffeeCup
+    select:
+        CoffeeCupGrasped
+        GraspCoffeeCup
+    select:
+        DestinationAReached
+        ReachDestinationA
+    select:
+        CoffeeCupPlaced
+        PlaceCoffeeCup
\ No newline at end of file