digraph g {compound="true";bgcolor="";fontcolor="";fontname="";fontsize="";label="";margin="";nodesep="0.3";rankdir="";ranksep="0.4";ratio="";size="";subgraph cluster_option{bgcolor="";color="";fillcolor="#F4F4F4";fontcolor="#005A9C";fontname="Arial";fontsize="12";label="option track-ball";labeljust="";labelloc="";style="filled";subgraph sub_graph_0{rank="same";node[label="other\nmodes", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="filled",URL="option.track-ball.html#state_other-modes",width="",] {state_other_modes};}subgraph sub_graph_1{rank="same";node[label="ball\nseen", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_ball-seen",width="",] {state_ball_seen};node[label="return\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_return-to-ball",width="",] {state_return_to_ball};node[label="directed\nscan\naway\nfrom\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_directed-scan-away-from-ball",width="",] {state_directed_scan_away_from_ball};}subgraph sub_graph_2{rank="same";node[label="scan\nback\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_scan-back-to-ball",width="",] {state_scan_back_to_ball};node[label="ball\njust\nlost", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_ball-just-lost",width="",] {state_ball_just_lost};node[label="ball\nlost", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_ball-lost",width="",] {state_ball_lost};}subgraph sub_graph_3{rank="same";node[label="ball\nfound\nagain", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.track-ball.html#state_ball-found-again",width="",] {state_ball_found_again};}edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_other_modes -> state_scan_back_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_other_modes -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_seen -> state_ball_just_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_seen -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_seen -> state_directed_scan_away_from_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_seen -> state_ball_seen;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_return_to_ball -> state_ball_found_again;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_return_to_ball -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_return_to_ball -> state_return_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_directed_scan_away_from_ball -> state_return_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_directed_scan_away_from_ball -> state_scan_back_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_directed_scan_away_from_ball -> state_directed_scan_away_from_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_scan_back_to_ball -> state_ball_found_again;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_scan_back_to_ball -> state_return_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_scan_back_to_ball -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_scan_back_to_ball -> state_scan_back_to_ball;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_just_lost -> state_ball_found_again;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_just_lost -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_just_lost -> state_ball_just_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_lost -> state_ball_found_again;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_lost -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_found_again -> state_ball_lost;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_found_again -> state_ball_seen;edge[arrowhead="",arrowsize="",arrowtail="",constraint="",color="",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_found_again -> state_ball_found_again;}subgraph cluster_option_tree{bgcolor="";color="#FFFFFF";fillcolor="";fontcolor="";fontname="";fontsize="";label="";labeljust="";labelloc="";style="";node[label="other\nhead\nmovement", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.other-head-movement.html",width="",] {option_other_head_movement};subgraph sub_graph_4{rank="sink";node[label="hold\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#hold-ball",width="",] {basic_behavior_hold_ball};node[label="open\nchallenge", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#open-challenge",width="",] {basic_behavior_open_challenge};node[label="none", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#none",width="",] {basic_behavior_none};node[label="look\nleft", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-left",width="",] {basic_behavior_look_left};node[label="look\nright", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-right",width="",] {basic_behavior_look_right};node[label="scan\nfor\nobstacles", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#scan-for-obstacles",width="",] {basic_behavior_scan_for_obstacles};node[label="search\nfor\nlandmarks", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#search-for-landmarks",width="",] {basic_behavior_search_for_landmarks};node[label="search\nfor\nlandmarks\nhead\nlow", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#search-for-landmarks-head-low",width="",] {basic_behavior_search_for_landmarks_head_low};node[label="look\nat\nblue\npink\nlandmark", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-at-blue-pink-landmark",width="",] {basic_behavior_look_at_blue_pink_landmark};node[label="look\nstraight\nahead", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-straight-ahead",width="",] {basic_behavior_look_straight_ahead};node[label="look\ntoward\nopponent\ngoal", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-toward-opponent-goal",width="",] {basic_behavior_look_toward_opponent_goal};node[label="look\nbetween\nfeet", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-between-feet",width="",] {basic_behavior_look_between_feet};node[label="look\nto\nstars", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-to-stars",width="",] {basic_behavior_look_to_stars};node[label="snap\nat\nfinger", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#snap-at-finger",width="",] {basic_behavior_snap_at_finger};node[label="look\nparallel\nto\nground", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-parallel-to-ground",width="",] {basic_behavior_look_parallel_to_ground};node[label="direct", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#direct",width="",] {basic_behavior_direct};node[label="stay\nas\nforced", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#stay-as-forced",width="",] {basic_behavior_stay_as_forced};node[label="watch\norigin", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#watch-origin",width="",] {basic_behavior_watch_origin};node[label="calibrate\nhead\nspeed", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#calibrate-head-speed",width="",] {basic_behavior_calibrate_head_speed};node[label="look\nat\nball\nand\nclosest\nlandmark", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-at-ball-and-closest-landmark",width="",] {basic_behavior_look_at_ball_and_closest_landmark};node[label="return\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#return-to-ball",width="",] {basic_behavior_return_to_ball};node[label="directed\nscan\nfor\nlandmarks", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#directed-scan-for-landmarks",width="",] {basic_behavior_directed_scan_for_landmarks};node[label="scan\nback\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#scan-back-to-ball",width="",] {basic_behavior_scan_back_to_ball};node[label="look\naround\nat\nseen\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-around-at-seen-ball",width="",] {basic_behavior_look_around_at_seen_ball};node[label="find\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#find-ball",width="",] {basic_behavior_find_ball};node[label="look\nat\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.basic-behaviors.html#look-at-ball",width="",] {basic_behavior_look_at_ball};}edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_hold_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_open_challenge;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_none;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_left;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_right;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_scan_for_obstacles;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_search_for_landmarks;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_search_for_landmarks_head_low;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_at_blue_pink_landmark;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_straight_ahead;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_toward_opponent_goal;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_between_feet;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_to_stars;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_snap_at_finger;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_look_parallel_to_ground;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_direct;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_stay_as_forced;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_watch_origin;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_other_head_movement -> basic_behavior_calibrate_head_speed;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_seen -> basic_behavior_look_at_ball_and_closest_landmark;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_return_to_ball -> basic_behavior_return_to_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_directed_scan_away_from_ball -> basic_behavior_directed_scan_for_landmarks;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_scan_back_to_ball -> basic_behavior_scan_back_to_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_just_lost -> basic_behavior_look_around_at_seen_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_lost -> basic_behavior_find_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_ball_found_again -> basic_behavior_look_at_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="2",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_other_modes -> option_other_head_movement;}}
                    
