selector
{
    sequence
{
        cond Chatting()
        act DealChat()
    }    sequence
{
        cond HasSubTask()
        sequence
{
            act SubTaskPlaceHolder()
        }    }    sequence
{
        cond FocusingCustomer()
        act ServeCustomer()
    }    sequence
{
        cond NewCustomer()
        selector
{
            cond At(Robot,Bar)
            act MoveTo(Bar)
        }        act GreetCustomer()
    }    sequence
{
        cond AnomalyDetected()
        act ResolveAnomaly()
    }}