root main sequence {
    write_coordinates()
    fallback {
        drive_home_if_low(10)
        place_detail_op()
    }

}

sequence place_detail_op(){
    parallel {
        drive_to(kit_area)
        locate(kit)
    }
    grasp_op()
    parallel {
        drive_to(placing_area)
        move_to(placing_pose)
    }
    parallel {
        place()
        plan_arm_move_to(arm_home)
    }
    move_arm_to(arm_home)
}

sequence grasp_op(){
      move_arm_to(observation_pose)
      plan_pose(grasping_pose)
      parallel {
            grasp()
            plan_arm_move_to(arm_home)
      }
      parallel {
            move_arm_to(arm_home)
            plan_pose(placing_pose)
      }
}

sequence drive_home_if_low(critical_level:num){
     less(battery_level, critical_level)
     drive_to(home)
}

cond less(lhs:num,rhs:num);
impl write_coordinates();
impl drive_to(dest:object);
impl locate(obj:object);
impl move_arm_to(dest:object);
impl move_to(dest:object);
impl plan_arm_move_to(dest:object);
impl plan_pose(pose:object);
impl grasp();
impl place();