selector{
cond At(Table,Coffee)
sequence{
cond At(Robot,Table)
 cond Holding(Coffee)
act PutDown(Table,Coffee)
}
sequence{
cond Available(Table)
 cond Holding(Coffee)
act MoveTo(Table)
}
sequence{
cond At(Robot,Coffee)
 cond Available(Table)
 cond NotHolding
act PickUp(Coffee)
}
sequence{
cond Available(Coffee)
 cond Available(Table)
 cond NotHolding
act MoveTo(Coffee)
}
sequence{
cond Holding(VacuumCup)
 cond At(Robot,Table)
 cond Available(Table)
 cond Available(Coffee)
act PutDown(Table,VacuumCup)
}
sequence{
cond At(Robot,CoffeeMachine)
 cond Available(Table)
 cond NotHolding
act OpCoffeeMachine()
}
sequence{
cond Holding(VacuumCup)
 cond Available(Table)
 cond Available(Coffee)
act MoveTo(Table)
}
sequence{
cond Available(CoffeeMachine)
 cond Available(Table)
 cond NotHolding
act MoveTo(CoffeeMachine)
}
sequence{
cond Holding(VacuumCup)
 cond At(Robot,Table)
 cond Available(Table)
 cond Available(CoffeeMachine)
act PutDown(Table,VacuumCup)
}
sequence{
cond Holding(VacuumCup)
 cond Available(Table)
 cond Available(CoffeeMachine)
act MoveTo(Table)
}
}