1 root main 2 sequence 1->2 3 write_coordinates 2->3 4 fallback 2->4 5 sequence drive_home_if_low (critical_level=10) 4->5 6 sequence place_detail_op 4->6 7 less (lhs=&battery_level,rhs=&critical_level) 5->7 8 drive_to (dest=&home) 5->8 9 parallel 6->9 10 sequence grasp_op 6->10 11 parallel 6->11 12 parallel 6->12 13 move_arm_to (dest=&arm_home) 6->13 14 drive_to (dest=&kit_area) 9->14 15 locate (obj=&kit) 9->15 16 move_arm_to (dest=&observation_pose) 10->16 17 plan_pose (pose=&grasping_pose) 10->17 18 parallel 10->18 19 parallel 10->19 20 drive_to (dest=&placing_area) 11->20 21 move_to (dest=&placing_pose) 11->21 22 place 12->22 23 plan_arm_move_to (dest=&arm_home) 12->23 24 grasp 18->24 25 plan_arm_move_to (dest=&arm_home) 18->25 26 move_arm_to (dest=&arm_home) 19->26 27 plan_pose (pose=&placing_pose) 19->27