Selector { cond On(Yogurt,Bar) Sequence { cond Holding(Yogurt) cond At(Robot,Bar) act PutDown(Yogurt,Bar) } Sequence { cond Holding(Yogurt) act MoveTo(Bar) } Sequence { cond Holding(Nothing) cond At(Robot,Yogurt) cond At(Robot,Bar) act PickUp(Yogurt) } Sequence { cond Holding(Nothing) cond At(Robot,Yogurt) act PickUp(Yogurt) } Sequence { cond At(Robot,Yogurt) cond At(Robot,Bar) act FreeHands() } Sequence { cond At(Robot,Yogurt) act FreeHands() } Sequence { cond Holding(Nothing) cond Exist(Yogurt) act MoveTo(Yogurt) }}