{
  "name": "Roboflow",
  "display": {
    "scale": 0.8,
    "arrowHeight": 15,
    "arrowWidth": 6,
    "layout": "vertical"
  },
  "edgeData": {
    "Positive": {
      "desc": "Is the answer to this question yes? (true or false)",
      "type": "boolean",
      "value": true,
      "start": ["Preconditions.*"],
      "end": ["*"]
    }
  },
  "types": [{
    "type": "Start",
    "desc": "This is the start terminal",
    "view": "imgs/roboflow/start.svg",
    "width": 100,
    "height": 50,
    "padding": 20,
    "constraints": {
      "incoming": {
        "range": [0,0]
      },
      "outgoing": {
        "range": [1,1],
        "types": {
          "Operations.*": [0,1],
          "Preconditions.*": [0,1]
        }
      }
    }
  }, {
  "type": "End",
  "desc": "This is the class of all end terminals",
  "width": 100,
  "height": 50,
  "padding": 20,
  "constraints": {
    "incoming": {
      "range": [1,99],
      "types": {
        "Operations.*": [0,99],
        "Postconditions.*": [0,99],
        "Preconditions.*": [0,99]
      }
    },
    "outgoing": {
      "range": [0,0]
    }
  },
  "subtypes": [{
    "type": "Success",
    "view": "imgs/roboflow/success.svg",
    "desc": "This is a success end-terminal"
  }, {
    "type": "Fail",
    "view": "imgs/roboflow/fail.svg",
    "desc": "This is a failure end-terminal"
  }] },

    {
    "type": "Operations",
    "desc": "This is the set of all operations",
    "width": 100,
    "height": 50,
    "padding": 20,
    "constraints": {
      "incoming": {
        "range": [1,99],
        "types": {
          "Start": [0,1],
          "Operations.*": [0,99],
          "Postconditions.*": [0,99],
          "Preconditions.*": [0,99]
        }
      }
    },
    "subtypes": [{
      "type": "Manipulation",
      "name": "Manipulation",
      "view": "imgs/roboflow/manipulation.svg",
      "desc": "This makes the robot move its arms through a sequence of poses",
      "constraints": {
        "incoming": {
          "range": [1,1],
          "types": {
            "Preconditions.Reachable": [1,1]
          }
        },
        "outgoing": {
          "range": [1,1],
          "types": {
            "Postconditions.Success": [1,1]
          }
        }
      }
    },{
      "type": "Navigation",
      "name": "Navigation",
      "view": "imgs/roboflow/navigation.svg",
      "desc": "This makes the robot navigate somewhere",
      "constraints": {
        "outgoing": {
          "range": [1,1],
          "types": {
            "Postconditions.Success": [1,1]
          }
        }
      }
    },{
      "type": "Procedure",
      "name": "Saved Procedure",
      "view": "imgs/roboflow/saved.svg",
      "desc": "This is a pre-recorded procedure",
      "constraints": {
        "outgoing": {
          "range": [1,1],
          "types": {
            "Postconditions.*": [1,1]
          }
        }
      }
    },{
      "type": "Head movement",
      "name": "Head movement",
      "view": "imgs/roboflow/head.svg",
      "desc": "This makes the robot move its head",
      "constraints": {
        "outgoing": {
          "range": [1,1],
          "types": {
            "End.*": [0,1],
            "Preconditions.Objects": [0,1],
            "Operations.*": [0,1]
          }
        }
      }
    }]
  },
    {
      "type": "Postconditions",
      "desc": "This is the set of all post-conditions",
      "width": 100,
      "height": 50,
      "padding": 20,
      "subtypes": [{
        "type": "Success",
        "name": "Success?",
        "view": "imgs/roboflow/successQ.svg",
        "desc": "This checks if the operation executed successfully",
        "constraints": {
          "incoming": {
            "range": [1,1],
            "types": {
              "Operations.*": [0,1]
            }
          },
          "outgoing": {
            "range": [2,2],
            "types": {
              "End.*": [0,2],
              "Preconditions.Objects": [0,2],
              "Operations.*": [0,2]
            }
          }
        }
      }]
    },{
      "type": "Preconditions",
      "desc": "This is the set of all pre-conditions",
      "width": 100,
      "height": 50,
      "padding": 20,
      "subtypes": [{
        "type": "Objects",
        "name": "Objects?",
        "view": "imgs/roboflow/objectsQ.svg",
        "desc": "This checks if the required objects are present",
        "constraints": {
          "incoming": {
            "range": [1,99],
            "types": {
              "Start": [0,1],
              "Postconditions.*": [0,1],
              "Preconditions.*": [0,1],
              "Operations.*": [0,1]
            }
          },
          "outgoing": {
            "range": [2,2],
            "types": {
              "End.*": [0,1],
              "Preconditions.Reachable": [1,1],
              "Preconditions.Objects": [0,1],
              "Operations.*": [0,1]
            }
          }
        }
      },{
        "type": "Reachable",
        "name": "Reachable?",
        "view": "imgs/roboflow/reachableQ.svg",
        "desc": "This checks if the arm poses are reachable",
        "constraints": {
          "incoming": {
            "range": [1,1],
            "types": {
              "Preconditions.Objects": [1,1]
            }
          },
          "outgoing": {
            "range": [2,2],
            "types": {
              "End.*": [0,1],
              "Preconditions.Objects": [0,1],
              "Operations.Manipulation": [1,1]
            }
          }
        }
      }]
    }]
}