selected_turn_to(-A,-B,-C,-D,-E,-F)
target_goal_have_image(A,B,D,-G) ? 
+--yes: helpful_turn_to(A,B,C,D,E) ? 
|       +--yes: helpful_switch_on(A,B,-H,C) ? 
|       |       +--yes: [rejected] 142.0 [[selected:0.0,rejected:142.0]]
|       |       +--no:  target_goal_pointing(A,B,C,D) ? 
|       |               +--yes: target_goal_have_image(A,B,E,-I) ? 
|       |               |       +--yes: [selected] 6.0 [[selected:6.0,rejected:0.0]]
|       |               |       +--no:  [rejected] 32.0 [[selected:2.0,rejected:30.0]]
|       |               +--no:  target_goal_have_image(A,B,E,-J) ? 
|       |                       +--yes: target_goal_pointing(A,B,C,-K) ? 
|       |                       |       +--yes: [rejected] 80.0 [[selected:0.0,rejected:80.0]]
|       |                       |       +--no:  [selected] 53.0 [[selected:37.0,rejected:16.0]]
|       |                       +--no:  helpful_switch_off(A,B,-L,C) ? 
|       |                               +--yes: static_fact_supports(B,L,G) ? 
|       |                               |       +--yes: [selected] 67.0 [[selected:67.0,rejected:0.0]]
|       |                               |       +--no:  [rejected] 109.0 [[selected:0.0,rejected:109.0]]
|       |                               +--no:  static_fact_calibration_target(B,-M,E) ? 
|       |                                       +--yes: static_fact_supports(B,M,G) ? 
|       |                                       |       +--yes: [selected] 497.0 [[selected:497.0,rejected:0.0]]
|       |                                       |       +--no:  [rejected] 18.0 [[selected:0.0,rejected:18.0]]
|       |                                       +--no:  [selected] 838.0 [[selected:609.0,rejected:229.0]]
|       +--no:  [rejected] 233.0 [[selected:0.0,rejected:233.0]]
+--no:  static_fact_calibration_target(B,-N,D) ? 
        +--yes: helpful_switch_on(A,B,N,C) ? 
        |       +--yes: static_fact_calibration_target(B,-O,E) ? 
        |       |       +--yes: helpful_switch_on(A,B,O,C) ? 
        |       |       |       +--yes: [rejected] 27.0 [[selected:0.0,rejected:27.0]]
        |       |       |       +--no:  [selected] 6.0 [[selected:6.0,rejected:0.0]]
        |       |       +--no:  [selected] 152.0 [[selected:135.0,rejected:17.0]]
        |       +--no:  helpful_turn_to(A,B,C,D,E) ? 
        |               +--yes: target_goal_have_image(A,B,E,-P) ? 
        |               |       +--yes: static_fact_supports(B,N,P) ? 
        |               |       |       +--yes: [selected] 60.0 [[selected:60.0,rejected:0.0]]
        |               |       |       +--no:  [rejected] 40.0 [[selected:19.0,rejected:21.0]]
        |               |       +--no:  helpful_take_image(A,B,C,E,-Q,-R) ? 
        |               |               +--yes: [rejected] 301.0 [[selected:0.0,rejected:301.0]]
        |               |               +--no:  helpful_calibrate(A,B,C,-S,E) ? 
        |               |                       +--yes: [rejected] 47.0 [[selected:0.0,rejected:47.0]]
        |               |                       +--no:  target_goal_have_image(A,B,-T,-U) ? 
        |               |                               +--yes: target_goal_pointing(A,B,C,T) ? 
        |               |                               |       +--yes: [selected] 8.0 [[selected:8.0,rejected:0.0]]
        |               |                               |       +--no:  target_goal_pointing(A,B,C,D) ? 
        |               |                               |               +--yes: [rejected] 238.0 [[selected:26.0,rejected:212.0]]
        |               |                               |               +--no:  helpful_switch_off(A,B,-V,C) ? 
        |               |                               |                       +--yes: [rejected] 42.0 [[selected:0.0,rejected:42.0]]
        |               |                               |                       +--no:  [selected] 45.0 [[selected:45.0,rejected:0.0]]
        |               |                               +--no:  helpful_switch_on(A,B,-W,C) ? 
        |               |                                       +--yes: [rejected] 19.0 [[selected:0.0,rejected:19.0]]
        |               |                                       +--no:  [selected] 51.0 [[selected:51.0,rejected:0.0]]
        |               +--no:  [rejected] 1084.0 [[selected:0.0,rejected:1084.0]]
        +--no:  target_goal_pointing(A,B,C,D) ? 
                +--yes: target_goal_have_image(A,B,-X,-Y) ? 
                |       +--yes: helpful_turn_to(A,B,C,X,E) ? 
                |       |       +--yes: [rejected] 71.0 [[selected:0.0,rejected:71.0]]
                |       |       +--no:  [selected] 11.0 [[selected:11.0,rejected:0.0]]
                |       +--no:  [selected] 6.0 [[selected:6.0,rejected:0.0]]
                +--no:  [rejected] 11035.0 [[selected:0.0,rejected:11035.0]]



