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