selector
    sequence
        cond CustomerChatting()
        act DealChat()
    sequence
        cond HasSubTask()
        sequence
            act SubTaskPlaceHolder()
    sequence
        cond FocusingCustomer()
        act ServeCustomer()
    sequence
        cond NewCustomerComing()
        selector
            cond At(Robot,Bar)
            act MoveTo(Bar)
        act GreetCustomer()
