{
	"nodes":[
		{"id":"70ea5d5eaae18140","x":-520,"y":-580,"width":250,"height":60,"type":"text","text":"Lidar"},
		{"id":"ea9a1cea71065fa1","x":-240,"y":-580,"width":250,"height":60,"type":"text","text":"Rotary Encoder"},
		{"id":"244d61df34c90f3b","x":-820,"y":-600,"width":850,"height":100,"type":"group","label":"Sensors"},
		{"id":"de565354f01e21f7","x":-800,"y":-580,"width":250,"height":60,"type":"text","text":"Cameras "},
		{"id":"70731406f747272a","x":-800,"y":-440,"width":250,"height":60,"type":"text","text":"Visual Perception"},
		{"id":"8d1cd0f360e52886","x":-240,"y":-440,"width":250,"height":60,"type":"text","text":"Odometry"},
		{"id":"5a79396d838fa4d1","x":-673,"y":-280,"width":250,"height":60,"type":"text","text":"Mapping"},
		{"id":"9a4ff057f65eaea6","x":-720,"y":-300,"width":650,"height":100,"type":"group","label":"SLAM"},
		{"id":"9df13a0feb496547","x":-720,"y":-120,"width":650,"height":240,"type":"group","label":"Planning"},
		{"id":"b7a746b03a11048e","x":-364,"y":-280,"width":250,"height":60,"type":"text","text":"Localization"},
		{"id":"3ccaa7e745ff5c1e","x":-675,"y":-100,"width":250,"height":60,"type":"text","text":"Task Planning"},
		{"id":"4f8e3ecf7ef7e4c4","x":-520,"y":40,"width":250,"height":60,"type":"text","text":" Plan Execution "},
		{"id":"c826bc6a3424ab25","x":-365,"y":-100,"width":250,"height":60,"type":"text","text":"Path Planning"},
		{"id":"ab56de914a52592c","x":-720,"y":200,"width":650,"height":100,"type":"group","label":"Robot Control"},
		{"id":"59a6fcc8fb0c0e31","x":-340,"y":220,"width":250,"height":60,"type":"text","text":"Velocity Control"},
		{"id":"ddb87f5b8bc28334","x":-700,"y":220,"width":250,"height":60,"type":"text","text":"Actuators"},
		{"id":"c2cb9f83387ca25c","x":458,"y":-580,"width":250,"height":60,"type":"text","text":"Task Planning"},
		{"id":"c5c09b163427fb82","x":318,"y":0,"width":650,"height":100,"type":"group","label":"Robot Control"},
		{"id":"a6f69e8e2433e21d","x":698,"y":20,"width":250,"height":60,"type":"text","text":"Velocity Control"},
		{"id":"4ee8bd729883baec","x":338,"y":20,"width":250,"height":60,"type":"text","text":"Actuators"},
		{"id":"fa59baf7496b9abd","x":708,"y":-410,"width":250,"height":60,"type":"text","text":"Path Planning"},
		{"id":"57d1a19d0d090cb8","x":1266,"y":-583,"width":250,"height":60,"type":"text","text":"Lidar"},
		{"id":"84c6f1bc8e1dd7a1","x":1546,"y":-583,"width":250,"height":60,"type":"text","text":"Rotary Encoder?"},
		{"id":"14bc23d3e44a0189","x":458,"y":-182,"width":250,"height":60,"type":"text","text":" Plan Execution "},
		{"id":"bf3085dcb82e9444","x":966,"y":-603,"width":850,"height":100,"type":"group","label":"Sensors"},
		{"id":"e0742fd1881dad41","x":986,"y":-583,"width":250,"height":60,"type":"text","text":"Cameras "},
		{"id":"5f07a9bddf910520","x":1104,"y":-415,"width":650,"height":100,"type":"group","label":"SLAM"},
		{"id":"8d2b68547238da92","x":1151,"y":-395,"width":250,"height":60,"type":"text","text":"Mapping"},
		{"id":"f43c709ca8ab1f6c","x":1460,"y":-395,"width":250,"height":60,"type":"text","text":"Localization"},
		{"id":"aee8ea14c09f040d","x":-360,"y":520,"width":572,"height":440,"type":"group","label":"Task Planning"},
		{"id":"35d3de7a71ac175e","x":320,"y":540,"width":250,"height":60,"type":"text","text":"Localization"},
		{"id":"10044d50f2f82f00","x":290,"y":520,"width":310,"height":300,"type":"group","label":"SLAM"},
		{"id":"c46ccf87c681a4d3","x":-340,"y":545,"width":180,"height":55,"type":"text","text":"Plan"},
		{"id":"5375b1a657be47c0","x":-60,"y":650,"width":250,"height":60,"type":"text","text":"Path Planning"},
		{"id":"ac9ce1edef3ca55f","x":320,"y":735,"width":250,"height":60,"type":"text","text":"Mapping"},
		{"id":"ae5dc2bbf7a58cf9","x":-360,"y":1103,"width":600,"height":100,"type":"group","label":"Robot Control"},
		{"id":"e729fabc83c3e7d9","x":-331,"y":1123,"width":250,"height":60,"type":"text","text":"Actuators"},
		{"id":"e536ddb6941d47ad","x":-340,"y":650,"width":180,"height":290,"type":"text","text":" Plan Execution "},
		{"id":"ad62ae891b1f55ca","x":960,"y":540,"width":250,"height":60,"type":"text","text":"Rotary Encoder"},
		{"id":"9a42186a58ca424a","x":660,"y":600,"width":250,"height":50,"type":"text","text":"Odometry"},
		{"id":"631ea27e1618e5af","x":940,"y":520,"width":300,"height":420,"type":"group","label":"Sensors"},
		{"id":"ec9707e2883e7941","x":960,"y":690,"width":250,"height":60,"type":"text","text":"Lidar"},
		{"id":"5c092f24d6a03a22","x":960,"y":850,"width":250,"height":60,"type":"text","text":"Camera"},
		{"id":"4d8d0fdd8bb4f351","x":-60,"y":850,"width":250,"height":60,"type":"text","text":"Object Manipilation"},
		{"id":"3f25f1adc413314a","x":290,"y":889,"width":310,"height":102,"type":"group","label":"Visual Pereption"},
		{"id":"6cc0bc8a78a1b8a5","x":310,"y":910,"width":260,"height":59,"type":"text","text":"Shape detection"},
		{"id":"0dda5fb24aa1d792","x":-35,"y":1123,"width":250,"height":60,"type":"text","text":"Velocity Control"}
	],
	"edges":[
		{"id":"443cc202d4ea97f6","fromNode":"b7a746b03a11048e","fromSide":"bottom","toNode":"c826bc6a3424ab25","toSide":"top","color":"2"},
		{"id":"ba43df1208bc9b0e","fromNode":"5a79396d838fa4d1","fromSide":"bottom","toNode":"c826bc6a3424ab25","toSide":"top","color":"2"},
		{"id":"705a2b96a23817c7","fromNode":"8d1cd0f360e52886","fromSide":"bottom","toNode":"b7a746b03a11048e","toSide":"top","color":"2"},
		{"id":"5ebfbfa699e2129c","fromNode":"8d1cd0f360e52886","fromSide":"right","toNode":"59a6fcc8fb0c0e31","toSide":"right","color":"2"},
		{"id":"26a286c3c192d2ee","fromNode":"70731406f747272a","fromSide":"bottom","toNode":"5a79396d838fa4d1","toSide":"top","color":"2"},
		{"id":"33fc1af80a00783f","fromNode":"de565354f01e21f7","fromSide":"bottom","toNode":"70731406f747272a","toSide":"top","color":"2"},
		{"id":"bd0a5244afc382b4","fromNode":"70ea5d5eaae18140","fromSide":"bottom","toNode":"5a79396d838fa4d1","toSide":"top","color":"2"},
		{"id":"abea4dd1d5e223b4","fromNode":"ea9a1cea71065fa1","fromSide":"bottom","toNode":"8d1cd0f360e52886","toSide":"top","color":"2"},
		{"id":"4557339b69842a54","fromNode":"5a79396d838fa4d1","fromSide":"right","toNode":"b7a746b03a11048e","toSide":"left"},
		{"id":"c6a476bcfbdebd0e","fromNode":"b7a746b03a11048e","fromSide":"left","toNode":"5a79396d838fa4d1","toSide":"right","color":"2"},
		{"id":"b7896312b6d12628","fromNode":"3ccaa7e745ff5c1e","fromSide":"bottom","toNode":"4f8e3ecf7ef7e4c4","toSide":"top","color":"2"},
		{"id":"8bec5faf7cb3703a","fromNode":"c826bc6a3424ab25","fromSide":"bottom","toNode":"4f8e3ecf7ef7e4c4","toSide":"top","color":"2"},
		{"id":"e16c543fc1e4de79","fromNode":"4f8e3ecf7ef7e4c4","fromSide":"bottom","toNode":"ddb87f5b8bc28334","toSide":"top","color":"2"},
		{"id":"fd7cc93915217b4a","fromNode":"4f8e3ecf7ef7e4c4","fromSide":"bottom","toNode":"59a6fcc8fb0c0e31","toSide":"top","color":"2"},
		{"id":"b7e487a06cb64154","fromNode":"c2cb9f83387ca25c","fromSide":"bottom","toNode":"14bc23d3e44a0189","toSide":"top","color":"4"},
		{"id":"7c232ed65e6bfbbe","fromNode":"c2cb9f83387ca25c","fromSide":"bottom","toNode":"fa59baf7496b9abd","toSide":"top","color":"4"},
		{"id":"5fc1e0bc4ae2b171","fromNode":"fa59baf7496b9abd","fromSide":"bottom","toNode":"14bc23d3e44a0189","toSide":"top","color":"4"},
		{"id":"d8fa23932865fc0e","fromNode":"bf3085dcb82e9444","fromSide":"bottom","toNode":"5f07a9bddf910520","toSide":"top","color":"2"},
		{"id":"5343c93e7c723a8b","fromNode":"5f07a9bddf910520","fromSide":"left","toNode":"fa59baf7496b9abd","toSide":"right","color":"2"},
		{"id":"56e8cd1d5748c6e6","fromNode":"14bc23d3e44a0189","fromSide":"bottom","toNode":"c5c09b163427fb82","toSide":"top","color":"4"},
		{"id":"bdf0929b57e0b4af","fromNode":"ad62ae891b1f55ca","fromSide":"bottom","toNode":"9a42186a58ca424a","toSide":"right","color":"2","label":"Motor Speed"},
		{"id":"fd73dbc1de88a2c1","fromNode":"9a42186a58ca424a","fromSide":"top","toNode":"35d3de7a71ac175e","toSide":"right","color":"2","label":"Velocity"},
		{"id":"98b8baeca3757e44","fromNode":"c46ccf87c681a4d3","fromSide":"bottom","toNode":"e536ddb6941d47ad","toSide":"top","color":"4"},
		{"id":"312b9d2fb9ea68ad","fromNode":"e536ddb6941d47ad","fromSide":"right","toNode":"5375b1a657be47c0","toSide":"left","color":"4"},
		{"id":"1a673cfd31963c02","fromNode":"5375b1a657be47c0","fromSide":"bottom","toNode":"e536ddb6941d47ad","toSide":"right","color":"2","label":"Results"},
		{"id":"7b5cf5ca2e3c065e","fromNode":"35d3de7a71ac175e","fromSide":"bottom","toNode":"ac9ce1edef3ca55f","toSide":"top","color":"2"},
		{"id":"be0cfc051988d764","fromNode":"ac9ce1edef3ca55f","fromSide":"top","toNode":"35d3de7a71ac175e","toSide":"bottom","color":"2"},
		{"id":"a794a4a132aa4861","fromNode":"ec9707e2883e7941","fromSide":"left","toNode":"10044d50f2f82f00","toSide":"right","color":"2","label":"Lidar Data"},
		{"id":"eb8e3f791c31df5a","fromNode":"5c092f24d6a03a22","fromSide":"left","toNode":"10044d50f2f82f00","toSide":"right","color":"2","label":"Camera Image"},
		{"id":"0d8660c5904b6f3d","fromNode":"ac9ce1edef3ca55f","fromSide":"left","toNode":"5375b1a657be47c0","toSide":"right","color":"2"},
		{"id":"5276c471c06f06e2","fromNode":"5c092f24d6a03a22","fromSide":"left","toNode":"6cc0bc8a78a1b8a5","toSide":"right","color":"2","label":"Camera Image"},
		{"id":"f7eb2765523bfa19","fromNode":"4d8d0fdd8bb4f351","fromSide":"top","toNode":"e536ddb6941d47ad","toSide":"right","color":"2"},
		{"id":"0094269e49d6bae2","fromNode":"e536ddb6941d47ad","fromSide":"bottom","toNode":"ae5dc2bbf7a58cf9","toSide":"top","color":"4","label":"Commands"},
		{"id":"ac4ded3ecb0d6f50","fromNode":"e536ddb6941d47ad","fromSide":"right","toNode":"4d8d0fdd8bb4f351","toSide":"left","color":"4"},
		{"id":"60bd3920ddd16510","fromNode":"35d3de7a71ac175e","fromSide":"left","toNode":"5375b1a657be47c0","toSide":"right","color":"2"},
		{"id":"8677887cb39ed085","fromNode":"6cc0bc8a78a1b8a5","fromSide":"left","toNode":"4d8d0fdd8bb4f351","toSide":"right","color":"2"},
		{"id":"7e71549c59a8bab6","fromNode":"35d3de7a71ac175e","fromSide":"left","toNode":"4d8d0fdd8bb4f351","toSide":"right","color":"2"}
	]
}