1 (1) root place_ball_to_target 2 (2) fallback 1->2 3 (3) sequence place_to (what={..},operation=place(<>)) 2->3 4 (4) retry (arg=5) 2->4 5 (5) fallback 3->5 6 (6) fallback 3->6 7 (7) sequence 3->7 8 (8) ask_for_help 4->8 9 (9) is_approachable (obj={..}) 5->9 10 (10) sequence do_job (action=approach(<>)) 5->10 11 (11) is_graspable (obj={..}) 6->11 12 (12) sequence do_job (action=grasp_ball(<>)) 6->12 13 (13) savepoint 7->13 14 (14) sequence place (where=[..]) 7->14 15 (15) savepoint 10->15 16 (16) approach (obj={..}) 10->16 17 (17) savepoint 10->17 18 (18) savepoint 12->18 19 (19) grasp[grasp_ball] (obj={..}) 12->19 20 (20) savepoint 12->20 21 (21) is_valid_place (obj=[..]) 14->21 22 (22) sequence do_job (action=slowly_drop(<>)) 14->22 23 (23) savepoint 22->23 24 (24) slowly_drop (params={..}) 22->24 25 (25) savepoint 22->25