sequence:
    select:
        cond CoffeeCupFound()
        act FindCoffeeCup()
    select:
        cond CoffeeCupGrasped()
        act GraspCoffeeCup()
    select:
        cond DestinationAReached()
        act ReachDestinationA()
    select:
        cond CoffeeCupPlaced()
        act PlaceCoffeeCup()