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

  (Constraint Starts(s2,task))

  (Sub s3 !move_base(?toArea))
  (Constraint Finishes[1,10000](s3,task)) # TOO Restricting?
 (Ordering s1 s3)
 (Ordering s2 s3)
 )

  
  (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))
  (Sub s3 move_object(?sugar ?placingArea))

  (Ordering s1 s2)
  (Constraint Starts(s1,task))
  (Ordering s2 s3)
  (Constraint Finishes(s3,task))
  
)

