//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()
    }
}






sequence{
    cond NotAt(Coffee,Table)
    selector{
        cond Holding(Coffee)
        sequence{
            selector{
                cond At(Bar)
                task MoveTo(Bar)
            }
            task Grasp(Coffee)
        }
    }
    selector{
        cond At(Table)
        task MoveTo(Table)
    }
    Put(Coffee)
}


selector{
    sequence{
        cond At(Table)
        cond Holding(Coffee)
        task Put(Table)
    }
    sequence{
        cond NotHolding(Coffee)
        task MoveTo(Table)
    }
    sequence{
        cond At(Bar)
        task Grasp(Coffee)
    }
    task MoveTo(Table)



    sequence{
        cond Coffee()
        task FindCoffeeCup()
        sequence{
            cond SeqTest()
            task Move(1.2, 2, 2.3, True)
            task Grasp()
            parallel 3 {
                cond Istask()
                task TestTask()
            }
        }
    }
    selector{
        cond At(Table,Coffee)
        task GraspCoffeeCup()
    }
    selector{
        cond DestinationAReached()
        task ReachDestinationA()
    }
    selector{
        cond CoffeeCupPlaced()
        task PlaceCoffeeCup()
    }
}