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 playing-striker";labeljust="";labelloc="";style="filled";subgraph sub_graph_0{rank="same";node[label="ball\nnot\nknown\nfor\nlong", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="doublecircle",style="filled",URL="option.playing-striker.html#state_ball-not-known-for-long",width="",] {state_ball_not_known_for_long};}subgraph sub_graph_1{rank="same";node[label="handle\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="filled",URL="option.playing-striker.html#state_handle-ball",width="",] {state_handle_ball};node[label="get\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="doublecircle",style="filled",URL="option.playing-striker.html#state_get-to-ball",width="",] {state_get_to_ball};node[label="ball\nin\nown\npenalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="doublecircle",style="filled",URL="option.playing-striker.html#state_ball-in-own-penalty-area",width="",] {state_ball_in_own_penalty_area};}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_not_known_for_long -> state_handle_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_not_known_for_long -> state_ball_not_known_for_long;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_handle_ball -> state_handle_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_handle_ball -> state_ball_not_known_for_long;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_handle_ball -> state_ball_in_own_penalty_area;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_handle_ball -> state_get_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_get_to_ball -> state_handle_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_get_to_ball -> state_ball_not_known_for_long;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_get_to_ball -> state_ball_in_own_penalty_area;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_get_to_ball -> state_get_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_in_own_penalty_area -> state_handle_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_in_own_penalty_area -> state_ball_not_known_for_long;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_in_own_penalty_area -> state_ball_in_own_penalty_area;}subgraph cluster_option_tree{bgcolor="";color="#FFFFFF";fillcolor="";fontcolor="";fontname="";fontsize="";label="";labeljust="";labelloc="";style="";node[label="search\nfor\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.search-for-ball.html",width="",] {option_search_for_ball};node[label="get\nto\nposition\nand\navoid\nobstacles", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.get-to-position-and-avoid-obstacles.html",width="",] {option_get_to_position_and_avoid_obstacles};node[label="handle\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.handle-ball.html",width="",] {option_handle_ball};node[label="approach\nand\nturn", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.approach-and-turn.html",width="",] {option_approach_and_turn};node[label="approach\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.approach-ball.html",width="",] {option_approach_ball};node[label="approach\nball\nset\nwalk\nspeed", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.approach-ball-set-walk-speed.html",width="",] {option_approach_ball_set_walk_speed};node[label="turn\nfor\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.turn-for-ball.html",width="",] {option_turn_for_ball};node[label="turn\nand\nrelease", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.turn-and-release.html",width="",] {option_turn_and_release};node[label="grab\nball\nwith\nhead", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.grab-ball-with-head.html",width="",] {option_grab_ball_with_head};node[label="execute\nkick", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.execute-kick.html",width="",] {option_execute_kick};node[label="do\nkick", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.do-kick.html",width="",] {option_do_kick};node[label="get\nto\nball\nand\navoid\nobstacles", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.get-to-ball-and-avoid-obstacles.html",width="",] {option_get_to_ball_and_avoid_obstacles};node[label="position\nstriker\nwhen\nball\nin\nown\npenalty\narea", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.position-striker-when-ball-in-own-penalty-area.html",width="",] {option_position_striker_when_ball_in_own_penalty_area};subgraph sub_graph_2{rank="sink";node[label="go\nto\npoint", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-point",width="",] {basic_behavior_go_to_point};node[label="go\nto\npoint\nand\navoid\nobstacles", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-point-and-avoid-obstacles",width="",] {basic_behavior_go_to_point_and_avoid_obstacles};node[label="stand", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#stand",width="",] {basic_behavior_stand};node[label="do\nnothing", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#do-nothing",width="",] {basic_behavior_do_nothing};node[label="walk", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#walk",width="",] {basic_behavior_walk};node[label="go\nto\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-ball",width="",] {basic_behavior_go_to_ball};node[label="go\nto\nball\nwithout\nturning", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-ball-without-turning",width="",] {basic_behavior_go_to_ball_without_turning};node[label="special\naction", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.common-basic-behaviors.html#special-action",width="",] {basic_behavior_special_action};node[label="potential\nfield\nsupport", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.potential-field-basic-behaviors.html#potential-field-support",width="",] {basic_behavior_potential_field_support};}edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_search_for_ball -> option_get_to_position_and_avoid_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_search_for_ball -> basic_behavior_do_nothing;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_search_for_ball -> basic_behavior_walk;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_get_to_position_and_avoid_obstacles -> basic_behavior_go_to_point;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_get_to_position_and_avoid_obstacles -> basic_behavior_go_to_point_and_avoid_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_get_to_position_and_avoid_obstacles -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_handle_ball -> option_approach_and_turn;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_handle_ball -> option_turn_and_release;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_handle_ball -> option_execute_kick;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_approach_and_turn -> option_approach_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_approach_and_turn -> basic_behavior_walk;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_approach_and_turn -> basic_behavior_go_to_ball_without_turning;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_approach_ball -> option_approach_ball_set_walk_speed;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_approach_ball -> option_turn_for_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_approach_ball -> basic_behavior_walk;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_approach_ball_set_walk_speed -> basic_behavior_go_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="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_turn_for_ball -> basic_behavior_stand;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_turn_for_ball -> basic_behavior_walk;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_turn_and_release -> option_grab_ball_with_head;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_turn_and_release -> basic_behavior_walk;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_grab_ball_with_head -> option_approach_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_grab_ball_with_head -> basic_behavior_walk;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_execute_kick -> option_do_kick;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_execute_kick -> basic_behavior_do_nothing;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_execute_kick -> basic_behavior_walk;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_execute_kick -> basic_behavior_stand;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_do_kick -> basic_behavior_special_action;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_do_kick -> basic_behavior_stand;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_get_to_ball_and_avoid_obstacles -> option_turn_for_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_get_to_ball_and_avoid_obstacles -> option_get_to_position_and_avoid_obstacles;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_get_to_ball_and_avoid_obstacles -> option_approach_ball;edge[arrowhead="",arrowsize="0.8",arrowtail="",constraint="",color="#808080",decorate="",dir="",fontcolor="",fontname="",fontsize="",headlabel="",headport="",label="",labeldistance="",labelfloat="",labelfontcolor="",labelfontname="",labelfontsize="",minlen="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_position_striker_when_ball_in_own_penalty_area -> option_turn_for_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_position_striker_when_ball_in_own_penalty_area -> basic_behavior_potential_field_support;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_ball_not_known_for_long -> option_search_for_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_handle_ball -> option_handle_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_get_to_ball -> option_get_to_ball_and_avoid_obstacles;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_ball_in_own_penalty_area -> option_position_striker_when_ball_in_own_penalty_area;}}
                    
