digraph getsamples { PREPARE_ARM PREPARE_ARM -> PREPARE_CLASSIFIER [ label = "arm_prepared" ]; LOAD_SAMPLES FORWARD_CONTROL FORWARD_CONTROL -> PREPARE_ARM [ label = "move_finished" ]; GO_TO_POSITION GO_TO_POSITION -> GO_TO_POSITION [ label = "move_blocked" ]; GO_TO_POSITION -> FORWARD_CONTROL [ label = "move_finished" ]; PREPARE_CLASSIFIER PREPARE_CLASSIFIER -> LOAD_SAMPLES [ label = "classifer_prepared" ]; }