⌨: Press ← → ↑ ↓ to navigate the tree, Shift + ← → to navigate graph, 0-9 to select state by "O: " value
Change shape: b: box, d: diamond, s: star, t: triangle, h: hexagon, q: square, e: ellipse (default)
f: toggle auto-fitting tree, F: fit tree
Legend:
plan-head action,
helpful action(s),
relaxed plan action.