selector
    cond On(Coffee,Bar)
    sequence
        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)