selector{ sequence{ cond On(Coffee,CoffeeTable) cond On(Coffee,CoffeeTable) } sequence{ cond Holding(Nothing) act Make(Coffee) } sequence{ cond At(Robot,CoffeeTable) cond Holding(Coffee) act PutDown(Coffee,CoffeeTable) } sequence{ cond At(Robot,Bar) cond Holding(Coffee) act PutDown(Coffee,Bar) } sequence{ cond At(Robot,WaterTable) cond Holding(Coffee) act PutDown(Coffee,WaterTable) } sequence{ cond Holding(Coffee) act MoveTo(CoffeeTable) } }