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paper_tree.dot
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digraph root {
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
ROOT [fillcolor=ghostwhite, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nManipulation\nTask" [fillcolor=cyan, fontcolor=black, fontsize=11, shape=octagon, style=filled];
ROOT -> "?\nManipulation\nTask";
"Is object\n at target?" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nManipulation\nTask" -> "Is object\n at target?";
"->\nManipulate" [fillcolor=orange, fontcolor=black, fontsize=11, shape=box, style=filled];
"?\nManipulation\nTask" -> "->\nManipulate";
"?\nIs there a\nvalid \ntrajectory?" [fillcolor=cyan, fontcolor=black, fontsize=11, shape=octagon, style=filled];
"->\nManipulate" -> "?\nIs there a\nvalid \ntrajectory?";
"Is current\ntrajectory\nvalid?" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nIs there a\nvalid \ntrajectory?" -> "Is current\ntrajectory\nvalid?";
"Compute\nTrajectory" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nIs there a\nvalid \ntrajectory?" -> "Compute\nTrajectory";
"?\nCan Robot\nPush?" [fillcolor=cyan, fontcolor=black, fontsize=11, shape=octagon, style=filled];
"->\nManipulate" -> "?\nCan Robot\nPush?";
"Is robot\n in correct\n contact?" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nCan Robot\nPush?" -> "Is robot\n in correct\n contact?";
"->*\nReposition\nRobot" [fillcolor=orange, fontcolor=black, fontsize=11, shape=box, style=filled];
"?\nCan Robot\nPush?" -> "->*\nReposition\nRobot";
"?\nCan robot\nmove safely?" [fillcolor=cyan, fontcolor=black, fontsize=11, shape=octagon, style=filled];
"->*\nReposition\nRobot" -> "?\nCan robot\nmove safely?";
"Is robot\nfar from\nthe object?" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nCan robot\nmove safely?" -> "Is robot\nfar from\nthe object?";
"Move away \nfrom\nthe object" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"?\nCan robot\nmove safely?" -> "Move away \nfrom\nthe object";
"Align with\n desired \nobject side" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"->*\nReposition\nRobot" -> "Align with\n desired \nobject side";
"Move to \ncontact\n position" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"->*\nReposition\nRobot" -> "Move to \ncontact\n position";
"Push\nalong\ntrajectory" [fillcolor=gray, fontcolor=black, fontsize=11, shape=ellipse, style=filled];
"->\nManipulate" -> "Push\nalong\ntrajectory";
}