   (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

  
  (Pre p1 Type(?milktype ?milk))
  (Values ?milktype Milk)
  
  (Sub s1 move_object(?coffee ?placingArea))
  (Sub s2 move_object(?milk ?placingArea))

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


  (Constraint Starts(s2,task))

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