selector{
cond On(Yogurt,Bar)
sequence{
cond Holding(Yogurt)
 cond At(Robot,Bar)
act PutDown(Yogurt,Bar)
}
sequence{
cond Holding(Yogurt)
act MoveTo(Bar)
}
sequence{
cond Holding(Nothing)
 cond At(Robot,Yogurt)
act PickUp(Yogurt)
}
sequence{
cond At(Robot,Yogurt)
act FreeHands()
}
sequence{
cond Holding(Nothing)
 cond Exist(Yogurt)
act MoveTo(Yogurt)
}
}