//sequence:
//    act action1()
//    act action2(2, 2.3, True)
//
//    parallel 2:
//        act action3(int a, float b)
//        act action4()

sequence{
    selector{
        cond CoffeeCupFound()
        act FindCoffeeCup()
        sequence{
            cond SeqTest()
            act Move(1.2, 2, 2.3, True)
            act Grasp()
            parallel 3 {
                cond Isact()
                act Testact()
            }
        }
    }
    selector{
        cond CoffeeCupGrasped()
        act GraspCoffeeCup()
    }
    selector{
        cond DestinationAReached()
        act ReachDestinationA()
    }
    selector{
        cond CoffeeCupPlaced()
        act PlaceCoffeeCup()
    }
}