   (Ordering s2 s3)
   (Constraint Starts(s1,task))
   (Constraint Starts(s2,task))
-  (Constraint Finishes[1,14000](s3,task))
+  (Constraint Finishes(s3,task))
 )
 
 # first move back to preArea

  (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 Starts(s2,task))

  (Sub s3 !move_base(?toArea))
  (Constraint Finishes(s3,task)) # TOO Restricting?
 (Ordering s1 s3)
 (Ordering s2 s3)
 )
