   
   (Pre p1 Type(?milktype ?milk))
   (Values ?milktype Milk)
+
+  (Pre p2 Type(?sugartype ?sugar))
+  (Values ?sugartype Sugar)
   
   (Sub s1 move_object(?coffee ?placingArea))
   (Sub s2 move_object(?milk ?placingArea))
-
- # (Ordering s1 s2)
- # (Constraint Starts(s1,task))
- # (Constraint Finishes(s2,task))
-  
-)
-
+  (Sub s3 move_object(?sugar ?placingArea))
+
+  (Ordering s1 s2)
+  (Constraint Starts(s1,task))
+  (Ordering s2 s3)
+  (Constraint Finishes(s3,task))
+  
+)
+

  (Constraint Starts(s0,task))
  (Constraint Before[1,1000](s0,s1))
  (Constraint Before[1,1000](s0,s2))
  (Constraint Finishes[5000,25000](s3,task))
)

### LEAVE_MANIPULATION_POSE

 (Constraint Before[1,1000](s0,s2))

 (Sub s3 !move_base(?toArea))
 (Constraint Finishes(s3,task))
 (Ordering s0 s1)
 (Ordering s0 s2)
 (Ordering s0 s3)
