//sequence:
//    act action1()
//    act action2(2, 2.3, True)
//
//    parallel 2:
//        act action3(int a, float b)
//        act action4()
        
sequence{
    selector{
        cond CoffeeCupFound()
        task FindCoffeeCup()
        sequence{
            cond SeqTest()
            task Move(1.2, 2, 2.3, True)
            task Grasp()
            parallel 3 {
                cond Istask()
                task TestTask()
            }
        }
    }
    selector{
        cond CoffeeCupGrasped()
        task GraspCoffeeCup()
    }
    selector{
        cond DestinationAReached()
        task ReachDestinationA()
    }
    selector{
        cond CoffeeCupPlaced()
        task PlaceCoffeeCup()
    }
}