<?xml version="1.0"?>
<xabsl:option-trees xmlns:xabsl="http://www.ki.informatik.hu-berlin.de/XABSL2.2" xmlns="http://www.w3.org/1999/xhtml" xmlns:dotml="http://www.martin-loetzsch.de/DOTML">
  <xabsl:option-tree root-option="approach-and-turn">
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="approach-ball">
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="approach-ball-set-walk-speed">
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="basics-tester">
    <xabsl:o-n name="basics-tester">
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="do-kick">
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="do-special-action">
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="dribble-ball-vlc2">
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="execute-kick">
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="find-ball">
    <xabsl:o-n name="find-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="finished">
    <xabsl:o-n name="finished">
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="get-to-ball-and-avoid-obstacles">
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="get-to-position-and-avoid-obstacles">
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="go-to-kickoff-position">
    <xabsl:o-n name="go-to-kickoff-position">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="goalie-clear-ball">
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="goalie-position">
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="goto-center-circle">
    <xabsl:o-n name="goto-center-circle">
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="locate-max-green"/>
      <xabsl:e2b to="turn"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="locate-max-green" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="grab-ball-and-kick">
    <xabsl:o-n name="grab-ball-and-kick">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="grab-ball-with-head">
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="grab-ball-with-vlc2-head">
    <xabsl:o-n name="grab-ball-with-vlc2-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="handle-ball">
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="handle-ball-vlc2-shooter">
    <xabsl:o-n name="handle-ball-vlc2-shooter">
      <xabsl:e2o to="vlc2-localized-dribbling"/>
      <xabsl:e2o to="vlc2-border"/>
      <xabsl:e2o to="kick-vlc"/>
    </xabsl:o-n>
    <xabsl:o-n name="vlc2-localized-dribbling">
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc2-border">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kick-vlc">
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="go-to-ball"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="handle-with-new-flags">
    <xabsl:o-n name="handle-with-new-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="handle-with-old-flags">
    <xabsl:o-n name="handle-with-old-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="initial-ready-and-set">
    <xabsl:o-n name="initial-ready-and-set">
      <xabsl:e2o to="initial-set-team-color"/>
      <xabsl:e2o to="own-team-scored"/>
      <xabsl:e2o to="go-to-kickoff-position"/>
      <xabsl:e2o to="opponent-team-scored"/>
      <xabsl:e2o to="set-before-own-kickoff"/>
      <xabsl:e2o to="playing"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="initial-set-team-color">
      <xabsl:e2o to="stand-and-display-robot-number"/>
    </xabsl:o-n>
    <xabsl:o-n name="stand-and-display-robot-number">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="own-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="go-to-kickoff-position">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="opponent-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="set-before-own-kickoff">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="playing">
      <xabsl:e2o to="playing-goalie"/>
      <xabsl:e2o to="playing-striker"/>
    </xabsl:o-n>
    <xabsl:o-n name="playing-goalie">
      <xabsl:e2o to="goalie-clear-ball"/>
      <xabsl:e2o to="goalie-position"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="goalie-return-to-goal"/>
      <xabsl:e2b to="go-to-point-fast"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="goalie-return-to-goal" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-fast" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="playing-striker">
      <xabsl:e2o to="search-for-ball"/>
      <xabsl:e2o to="handle-ball"/>
      <xabsl:e2o to="get-to-ball-and-avoid-obstacles"/>
      <xabsl:e2o to="position-striker-when-ball-in-own-penalty-area"/>
    </xabsl:o-n>
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="initial-set-team-color">
    <xabsl:o-n name="initial-set-team-color">
      <xabsl:e2o to="stand-and-display-robot-number"/>
    </xabsl:o-n>
    <xabsl:o-n name="stand-and-display-robot-number">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="joystick-controlled">
    <xabsl:o-n name="joystick-controlled">
      <xabsl:e2o to="joystick-head-control"/>
      <xabsl:e2o to="penalized"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="joystick-head-control">
      <xabsl:e2o to="joystick-playing"/>
    </xabsl:o-n>
    <xabsl:o-n name="joystick-playing">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="penalized">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="joystick-head-control">
    <xabsl:o-n name="joystick-head-control">
      <xabsl:e2o to="joystick-playing"/>
    </xabsl:o-n>
    <xabsl:o-n name="joystick-playing">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="joystick-playing">
    <xabsl:o-n name="joystick-playing">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="joystick-playing2">
    <xabsl:o-n name="joystick-playing2">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kick-vlc">
    <xabsl:o-n name="kick-vlc">
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="go-to-ball"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kick-vlc2">
    <xabsl:o-n name="kick-vlc2">
      <xabsl:e2o to="grab-ball-with-vlc2-head"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-vlc2-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-align">
    <xabsl:o-n name="kicklogger-align">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-checkborder">
    <xabsl:o-n name="kicklogger-checkborder">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-retreat">
    <xabsl:o-n name="kicklogger-retreat">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-run">
    <xabsl:o-n name="kicklogger-run">
      <xabsl:e2o to="kicklogger-align"/>
      <xabsl:e2o to="kicklogger-walkandkick"/>
      <xabsl:e2o to="kicklogger-checkborder"/>
      <xabsl:e2o to="kicklogger-retreat"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="kicklogger-align">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-walkandkick">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="go-forward-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-forward-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-checkborder">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-retreat">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-status">
    <xabsl:o-n name="kicklogger-status">
      <xabsl:e2o to="kicklogger-run"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="kicklogger-run">
      <xabsl:e2o to="kicklogger-align"/>
      <xabsl:e2o to="kicklogger-walkandkick"/>
      <xabsl:e2o to="kicklogger-checkborder"/>
      <xabsl:e2o to="kicklogger-retreat"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="kicklogger-align">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-walkandkick">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="go-forward-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-forward-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-checkborder">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="kicklogger-retreat">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kicklogger-walkandkick">
    <xabsl:o-n name="kicklogger-walkandkick">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="go-forward-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-forward-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kst-execute-kick">
    <xabsl:o-n name="kst-execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="kst-test">
    <xabsl:o-n name="kst-test">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2o to="kst-execute-kick"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kst-execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="manual-kick-test">
    <xabsl:o-n name="manual-kick-test">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="manual-kick-test-2">
    <xabsl:o-n name="manual-kick-test-2">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="obstacle-avoidance-challenge03">
    <xabsl:o-n name="obstacle-avoidance-challenge03">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="odometry-tester">
    <xabsl:o-n name="odometry-tester">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="opponent-team-scored">
    <xabsl:o-n name="opponent-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="own-team-scored">
    <xabsl:o-n name="own-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="penalized">
    <xabsl:o-n name="penalized">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="play-slam">
    <xabsl:o-n name="play-slam">
      <xabsl:e2o to="handle-with-old-flags"/>
      <xabsl:e2o to="handle-with-new-flags"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:o-n name="handle-with-old-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="handle-with-new-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="play-soccer">
    <xabsl:o-n name="play-soccer">
      <xabsl:e2o to="initial-ready-and-set"/>
      <xabsl:e2o to="playing"/>
      <xabsl:e2o to="finished"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="initial-ready-and-set">
      <xabsl:e2o to="initial-set-team-color"/>
      <xabsl:e2o to="own-team-scored"/>
      <xabsl:e2o to="go-to-kickoff-position"/>
      <xabsl:e2o to="opponent-team-scored"/>
      <xabsl:e2o to="set-before-own-kickoff"/>
      <xabsl:e2o to="playing"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="initial-set-team-color">
      <xabsl:e2o to="stand-and-display-robot-number"/>
    </xabsl:o-n>
    <xabsl:o-n name="stand-and-display-robot-number">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="own-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="go-to-kickoff-position">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="opponent-team-scored">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:o-n name="set-before-own-kickoff">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="playing">
      <xabsl:e2o to="playing-goalie"/>
      <xabsl:e2o to="playing-striker"/>
    </xabsl:o-n>
    <xabsl:o-n name="playing-goalie">
      <xabsl:e2o to="goalie-clear-ball"/>
      <xabsl:e2o to="goalie-position"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="goalie-return-to-goal"/>
      <xabsl:e2b to="go-to-point-fast"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="goalie-return-to-goal" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-fast" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="playing-striker">
      <xabsl:e2o to="search-for-ball"/>
      <xabsl:e2o to="handle-ball"/>
      <xabsl:e2o to="get-to-ball-and-avoid-obstacles"/>
      <xabsl:e2o to="position-striker-when-ball-in-own-penalty-area"/>
    </xabsl:o-n>
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="playing">
      <xabsl:e2o to="playing-goalie"/>
      <xabsl:e2o to="playing-striker"/>
    </xabsl:o-n>
    <xabsl:o-n name="playing-goalie">
      <xabsl:e2o to="goalie-clear-ball"/>
      <xabsl:e2o to="goalie-position"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="goalie-return-to-goal"/>
      <xabsl:e2b to="go-to-point-fast"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="goalie-return-to-goal" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-fast" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="playing-striker">
      <xabsl:e2o to="search-for-ball"/>
      <xabsl:e2o to="handle-ball"/>
      <xabsl:e2o to="get-to-ball-and-avoid-obstacles"/>
      <xabsl:e2o to="position-striker-when-ball-in-own-penalty-area"/>
    </xabsl:o-n>
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
    <xabsl:o-n name="finished">
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="playing">
    <xabsl:o-n name="playing">
      <xabsl:e2o to="playing-goalie"/>
      <xabsl:e2o to="playing-striker"/>
    </xabsl:o-n>
    <xabsl:o-n name="playing-goalie">
      <xabsl:e2o to="goalie-clear-ball"/>
      <xabsl:e2o to="goalie-position"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="goalie-return-to-goal"/>
      <xabsl:e2b to="go-to-point-fast"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="goalie-return-to-goal" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-fast" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="playing-striker">
      <xabsl:e2o to="search-for-ball"/>
      <xabsl:e2o to="handle-ball"/>
      <xabsl:e2o to="get-to-ball-and-avoid-obstacles"/>
      <xabsl:e2o to="position-striker-when-ball-in-own-penalty-area"/>
    </xabsl:o-n>
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="playing-goalie">
    <xabsl:o-n name="playing-goalie">
      <xabsl:e2o to="goalie-clear-ball"/>
      <xabsl:e2o to="goalie-position"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="goalie-return-to-goal"/>
      <xabsl:e2b to="go-to-point-fast"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:o-n name="goalie-clear-ball">
      <xabsl:e2o to="execute-kick"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="goalie-position">
      <xabsl:e2b to="goalie-position"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="goalie-position" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="goalie-return-to-goal" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-fast" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="playing-striker">
    <xabsl:o-n name="playing-striker">
      <xabsl:e2o to="search-for-ball"/>
      <xabsl:e2o to="handle-ball"/>
      <xabsl:e2o to="get-to-ball-and-avoid-obstacles"/>
      <xabsl:e2o to="position-striker-when-ball-in-own-penalty-area"/>
    </xabsl:o-n>
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2o to="turn-and-release"/>
      <xabsl:e2o to="execute-kick"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="execute-kick">
      <xabsl:e2o to="do-kick"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-kick">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-ball-and-avoid-obstacles">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="approach-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="position-striker-when-ball-in-own-penalty-area">
    <xabsl:o-n name="position-striker-when-ball-in-own-penalty-area">
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="potential-field-support"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="potential-field-support" g="potential-field-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="search-for-ball">
    <xabsl:o-n name="search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="set-before-own-kickoff">
    <xabsl:o-n name="set-before-own-kickoff">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="slam-control">
    <xabsl:o-n name="slam-control">
      <xabsl:e2o to="play-slam"/>
      <xabsl:e2b to="do-nothing"/>
    </xabsl:o-n>
    <xabsl:o-n name="play-slam">
      <xabsl:e2o to="handle-with-old-flags"/>
      <xabsl:e2o to="handle-with-new-flags"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:o-n name="handle-with-old-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:o-n name="handle-with-new-flags">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="special-action"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="dbg-stand">
    <xabsl:o-n name="dbg-stand">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="stand-and-display-robot-number">
    <xabsl:o-n name="stand-and-display-robot-number">
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="turn-and-release">
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="turn-for-ball">
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-handle-ball">
    <xabsl:o-n name="vlc-handle-ball">
      <xabsl:e2o to="turn-and-release"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-playing">
    <xabsl:o-n name="vlc-playing">
      <xabsl:e2o to="vlc2-search-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="grab-ball-with-vlc2-head"/>
      <xabsl:e2o to="vlc-turn-and-release"/>
      <xabsl:e2o to="vlc2-localized-dribbling"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="go-to-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="vlc2-search-for-ball">
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="grab-ball-with-vlc2-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc-turn-and-release">
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc2-localized-dribbling">
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-playing2">
    <xabsl:o-n name="vlc-playing2">
      <xabsl:e2o to="vlc-handle-ball"/>
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2o to="vlc-turn-and-release"/>
      <xabsl:e2o to="vlc-search-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
    </xabsl:o-n>
    <xabsl:o-n name="vlc-handle-ball">
      <xabsl:e2o to="turn-and-release"/>
    </xabsl:o-n>
    <xabsl:o-n name="turn-and-release">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc-turn-and-release">
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc-search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-search-for-ball">
    <xabsl:o-n name="vlc-search-for-ball">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-shooter">
    <xabsl:o-n name="vlc-shooter">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="vlc-playing"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc-playing">
      <xabsl:e2o to="vlc2-search-for-ball"/>
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="grab-ball-with-vlc2-head"/>
      <xabsl:e2o to="vlc-turn-and-release"/>
      <xabsl:e2o to="vlc2-localized-dribbling"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="go-to-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="vlc2-search-for-ball">
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="grab-ball-with-vlc2-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc-turn-and-release">
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc2-localized-dribbling">
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc-turn-and-release">
    <xabsl:o-n name="vlc-turn-and-release">
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc2-border">
    <xabsl:o-n name="vlc2-border">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc2-localized-dribbling">
    <xabsl:o-n name="vlc2-localized-dribbling">
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc2-search-for-ball">
    <xabsl:o-n name="vlc2-search-for-ball">
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="vlc2-shooter">
    <xabsl:o-n name="vlc2-shooter">
      <xabsl:e2o to="get-to-position-and-avoid-obstacles"/>
      <xabsl:e2o to="handle-ball-vlc2-shooter"/>
      <xabsl:e2o to="vlc2-search-for-ball"/>
      <xabsl:e2o to="kick-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="get-to-position-and-avoid-obstacles">
      <xabsl:e2b to="go-to-point"/>
      <xabsl:e2b to="go-to-point-and-avoid-obstacles"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-point-and-avoid-obstacles" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="handle-ball-vlc2-shooter">
      <xabsl:e2o to="vlc2-localized-dribbling"/>
      <xabsl:e2o to="vlc2-border"/>
      <xabsl:e2o to="kick-vlc"/>
    </xabsl:o-n>
    <xabsl:o-n name="vlc2-localized-dribbling">
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc2-border">
      <xabsl:e2o to="grab-ball-with-head"/>
      <xabsl:e2o to="dribble-ball-vlc2"/>
      <xabsl:e2b to="do-nothing"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="dribble-ball-vlc2">
      <xabsl:e2o to="approach-and-turn"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-and-turn">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="go-to-ball-without-turning"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball-without-turning" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="do-nothing" g="common-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kick-vlc">
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="go-to-ball"/>
      <xabsl:e2b to="turn-around-point"/>
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:b-n name="turn-around-point" g="simple-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="vlc2-search-for-ball">
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="kick-vlc2">
      <xabsl:e2o to="grab-ball-with-vlc2-head"/>
      <xabsl:e2o to="do-special-action"/>
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="grab-ball-with-vlc2-head">
      <xabsl:e2o to="approach-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball">
      <xabsl:e2o to="approach-ball-set-walk-speed"/>
      <xabsl:e2o to="turn-for-ball"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:o-n name="approach-ball-set-walk-speed">
      <xabsl:e2b to="go-to-ball"/>
    </xabsl:o-n>
    <xabsl:b-n name="go-to-ball" g="simple-basic-behaviors"/>
    <xabsl:o-n name="turn-for-ball">
      <xabsl:e2b to="stand"/>
      <xabsl:e2b to="walk"/>
    </xabsl:o-n>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:o-n name="do-special-action">
      <xabsl:e2b to="special-action"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="special-action" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="walk-calibration">
    <xabsl:o-n name="walk-calibration">
      <xabsl:e2o to="walk-omnidirectional"/>
      <xabsl:e2b to="walk-calibration"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:o-n name="walk-omnidirectional">
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
    <xabsl:b-n name="walk-calibration" g="walk-calibration-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="walk-omnidirectional">
    <xabsl:o-n name="walk-omnidirectional">
      <xabsl:e2b to="walk"/>
      <xabsl:e2b to="stand"/>
    </xabsl:o-n>
    <xabsl:b-n name="walk" g="common-basic-behaviors"/>
    <xabsl:b-n name="stand" g="common-basic-behaviors"/>
  </xabsl:option-tree>
  <xabsl:option-tree root-option="dbg-wlan-bearing">
    <xabsl:o-n name="dbg-wlan-bearing">
      <xabsl:e2b to="calc-wlan-bearing"/>
    </xabsl:o-n>
    <xabsl:b-n name="calc-wlan-bearing" g="simple-basic-behaviors"/>
  </xabsl:option-tree>
</xabsl:option-trees>
