selector
    sequence
        cond Chatting()
        act DealChat()
    sequence
        cond HasSubTask()
        sequence
            act SubTaskPlaceHolder()
    sequence
        cond FocusingCustomer()
        act ServeCustomer()
    sequence
        cond NewCustomer()
        selector
            cond RobotNear(Bar)
            act MoveTo(Bar)
        act GreetCustomer()
    sequence
        cond NeedExplore()
        act ExploreEnv()
    sequence
        cond AnomalyDetected()
        act ResolveAnomaly()