['segment', 'choose', 'destination', 'EmptyParameter', 'EmptyParameter'] ['segment', 'force', 'avoid', 'EmptyParameter', 'EmptyParameter'] ['segment', 'avoid', 'contact', 'EmptyParameter', 'EmptyParameter']
["Synset('object.n.01')", 'get-13.5.1', "Synset('message.n.02')", 'EmptyParameter', 'EmptyParameter'] ["Synset('object.n.01')", 'urge-58.1', 'avoid-52', 'EmptyParameter', 'EmptyParameter'] ["Synset('object.n.01')", 'avoid-52', "Synset('optical_device.n.01')", 'EmptyParameter', 'EmptyParameter']
Each segment could choose its destination and not be forced to avoid contact.
each Synset('object.n.01') could choose <PRP> Synset('message.n.02') and not be forced to avoid Synset('optical_device.n.01').