nodes:
  PrintArmNode:
    input_ports:
      arm: Arm
  PrintBodyNode:
    output_nodes:
      left_arm: Arm
      right_arm: Arm

behavior_tree:
  main:
    type: Sequence
    children:
    - type: PrintBodyNode
    - type: Sequence
      children:
      - type: PrintArmNode
        ports:
          arm: left_arm
      - type: PrintArmNode
        ports:
          arm: right_arm