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 initial-ready-and-set";labeljust="";labelloc="";style="filled";subgraph sub_graph_0{rank="same";node[label="initial\nopponent\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="Mcircle",style="filled",URL="option.initial-ready-and-set.html#state_initial-opponent-kick-off",width="",] {state_initial_opponent_kick_off};}subgraph sub_graph_1{rank="same";node[label="own\nteam\nscored", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_own-team-scored",width="",] {state_own_team_scored};node[label="ready\nopponent\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_ready-opponent-kick-off",width="",] {state_ready_opponent_kick_off};node[label="set\nopponent\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_set-opponent-kick-off",width="",] {state_set_opponent_kick_off};}subgraph sub_graph_2{rank="same";node[label="initial\nown\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_initial-own-kick-off",width="",] {state_initial_own_kick_off};node[label="opponent\nteam\nscored", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_opponent-team-scored",width="",] {state_opponent_team_scored};node[label="ready\nown\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_ready-own-kick-off",width="",] {state_ready_own_kick_off};}subgraph sub_graph_3{rank="same";node[label="set\nown\nkick\noff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="circle",style="filled",URL="option.initial-ready-and-set.html#state_set-own-kick-off",width="",] {state_set_own_kick_off};node[label="playing", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="doublecircle",style="filled",URL="option.initial-ready-and-set.html#state_playing",width="",] {state_playing};}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_initial_opponent_kick_off -> state_own_team_scored;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_initial_opponent_kick_off -> state_opponent_team_scored;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_initial_opponent_kick_off -> state_initial_own_kick_off;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_initial_opponent_kick_off -> state_ready_opponent_kick_off;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_initial_opponent_kick_off -> state_set_opponent_kick_off;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_initial_opponent_kick_off -> state_playing;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_initial_opponent_kick_off -> state_initial_opponent_kick_off;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_own_team_scored -> state_ready_opponent_kick_off;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_own_team_scored -> state_own_team_scored;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_ready_opponent_kick_off -> state_set_opponent_kick_off;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_ready_opponent_kick_off -> state_initial_opponent_kick_off;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_ready_opponent_kick_off -> state_playing;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_ready_opponent_kick_off -> state_ready_own_kick_off;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_ready_opponent_kick_off -> state_ready_opponent_kick_off;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_set_opponent_kick_off -> state_playing;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_set_opponent_kick_off -> state_initial_opponent_kick_off;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_set_opponent_kick_off -> state_ready_opponent_kick_off;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_set_opponent_kick_off -> state_set_own_kick_off;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_set_opponent_kick_off -> state_set_opponent_kick_off;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_initial_own_kick_off -> state_initial_opponent_kick_off;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_initial_own_kick_off -> state_ready_own_kick_off;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_initial_own_kick_off -> state_set_own_kick_off;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_initial_own_kick_off -> state_playing;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_initial_own_kick_off -> state_initial_own_kick_off;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_opponent_team_scored -> state_ready_own_kick_off;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_opponent_team_scored -> state_opponent_team_scored;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_ready_own_kick_off -> state_set_own_kick_off;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_ready_own_kick_off -> state_initial_own_kick_off;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_ready_own_kick_off -> state_playing;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_ready_own_kick_off -> state_ready_opponent_kick_off;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_ready_own_kick_off -> state_ready_own_kick_off;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_set_own_kick_off -> state_playing;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_set_own_kick_off -> state_initial_own_kick_off;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_set_own_kick_off -> state_ready_own_kick_off;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_set_own_kick_off -> state_set_opponent_kick_off;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_set_own_kick_off -> state_set_own_kick_off;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_playing -> state_initial_opponent_kick_off;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_playing -> state_ready_opponent_kick_off;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_playing -> state_set_opponent_kick_off;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_playing -> state_playing;}subgraph cluster_option_tree{bgcolor="";color="#FFFFFF";fillcolor="";fontcolor="";fontname="";fontsize="";label="";labeljust="";labelloc="";style="";node[label="initial\nset\nteam\ncolor", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.initial-set-team-color.html",width="",] {option_initial_set_team_color};node[label="stand\nand\ndisplay\nrobot\nnumber", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.stand-and-display-robot-number.html",width="",] {option_stand_and_display_robot_number};node[label="own\nteam\nscored", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.own-team-scored.html",width="",] {option_own_team_scored};node[label="go\nto\nkickoff\nposition", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.go-to-kickoff-position.html",width="",] {option_go_to_kickoff_position};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="opponent\nteam\nscored", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.opponent-team-scored.html",width="",] {option_opponent_team_scored};node[label="set\nbefore\nown\nkickoff", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.set-before-own-kickoff.html",width="",] {option_set_before_own_kickoff};node[label="playing", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing.html",width="",] {option_playing};node[label="playing\ngoalie", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-goalie.html",width="",] {option_playing_goalie};node[label="goalie\nclear\nball", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.goalie-clear-ball.html",width="",] {option_goalie_clear_ball};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="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="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="goalie\nposition", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.goalie-position.html",width="",] {option_goalie_position};node[label="do\nspecial\naction", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.do-special-action.html",width="",] {option_do_special_action};node[label="playing\nstriker", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="box",style="filled",URL="option.playing-striker.html",width="",] {option_playing_striker};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="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="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_4{rank="sink";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="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="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="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="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="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="goalie\nposition", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#goalie-position",width="",] {basic_behavior_goalie_position};node[label="goalie\nreturn\nto\ngoal", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#goalie-return-to-goal",width="",] {basic_behavior_goalie_return_to_goal};node[label="go\nto\npoint\nfast", color="",fillcolor="#FFFFFF",fixedsize="",fontcolor="#005A9C",fontname="Arial",fontsize="9",height="",shape="",style="filled",URL="basic-behaviors.simple-basic-behaviors.html#go-to-point-fast",width="",] {basic_behavior_go_to_point_fast};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_initial_set_team_color -> option_stand_and_display_robot_number;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_stand_and_display_robot_number -> 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_own_team_scored -> 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_own_team_scored -> 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="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_go_to_kickoff_position -> 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_go_to_kickoff_position -> 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_go_to_kickoff_position -> 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_go_to_kickoff_position -> 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_go_to_kickoff_position -> 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;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="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_opponent_team_scored -> 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_opponent_team_scored -> 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_set_before_own_kickoff -> 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_set_before_own_kickoff -> 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_playing -> option_playing_goalie;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_playing -> option_playing_striker;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_playing_goalie -> option_goalie_clear_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_playing_goalie -> option_goalie_position;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_playing_goalie -> option_do_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_playing_goalie -> basic_behavior_goalie_return_to_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_playing_goalie -> basic_behavior_go_to_point_fast;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_playing_goalie -> 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="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_goalie_clear_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_goalie_clear_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="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_goalie_clear_ball -> 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_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_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_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="3",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_goalie_position -> basic_behavior_goalie_position;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_goalie_position -> 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_do_special_action -> 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_special_action -> 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_playing_striker -> 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="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_playing_striker -> 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="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_playing_striker -> 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="",samehead="",sametail="",style="",taillabel="",tailport="",URL="",lhead="",ltail=""] option_playing_striker -> option_position_striker_when_ball_in_own_penalty_area;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="",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_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="3",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_set_opponent_kick_off -> 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="2",samehead="",sametail="",style="dashed",taillabel="",tailport="",URL="",lhead="",ltail=""] state_initial_opponent_kick_off -> option_initial_set_team_color;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_own_team_scored -> option_own_team_scored;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_ready_opponent_kick_off -> option_go_to_kickoff_position;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_initial_own_kick_off -> option_initial_set_team_color;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_opponent_team_scored -> option_opponent_team_scored;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_ready_own_kick_off -> option_go_to_kickoff_position;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_set_own_kick_off -> option_set_before_own_kickoff;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_playing -> option_playing;}}
                    
