sequence:
    selector:
        cond CoffeeCupFound()
        task FindCoffeeCup()
        sequence:
            cond SeqTest()
            task Move()
    selector:
        cond CoffeeCupGrasped()
        task GraspCoffeeCup()
    selector:
        cond DestinationAReached()
        task ReachDestinationA()
    selector:
        cond CoffeeCupPlaced()
        task PlaceCoffeeCup()