flowchart TD
    subgraph Legend [Legend: arrow A --> B means B builds on A]
        direction LR
        L1["Ready to start"]:::ready
        L2["Blocked until parents land"]:::blocked
        L3["Needs hardware"]:::hw
    end

    URDF["urdf-gazebo-sim"]

    CM["clean-and-map"]
    NL["nav-localize"]
    DC["dock-cycle"]
    RS["recovery-safety"]
    FC["floor-care"]
    CJ["cleaning-jobs"]

    LR["live-robot-bringup"]

    DB["dust-bin"]
    VF["vacuum-fan"]

    URDF --> CM
    URDF --> RS
    CM --> NL
    CM --> FC
    NL --> DC
    CM --> CJ
    NL --> CJ
    DC --> CJ
    CM --> LR
    NL --> LR
    DC --> LR
    RS --> LR
    FC --> LR
    CJ --> LR

    classDef ready fill:#d4edda,stroke:#28a745,color:#155724;
    classDef blocked fill:#fff3cd,stroke:#ffc107,color:#856404;
    classDef hw fill:#cfe2ff,stroke:#0d6efd,color:#084298;
    class URDF,DB,VF ready;
    class CM,NL,DC,RS,FC,CJ blocked;
    class LR hw;