%%{init: {"theme": "dark", "themeVariables": {"fontSize": "13px"}} }%%
flowchart LR
subgraph SENSE["SENSE"]
P("👁️ Perception\n(Gemini)")
end
subgraph PLAN["PLAN"]
TR("🧠 Task\nReasoning\n(Gemini)")
SU("📐 Spatial\nUnderstanding\n(camera geom.)")
PA("⚙️ Planning\n& Avoidance\n(kinematics)")
end
subgraph ACT["ACT"]
M("🤖 Motors")
end
P --> TR
TR --> SU
SU --> PA
PA --> M
style P fill:#1a4a6e,stroke:#6699CC,color:#cce
style TR fill:#1a4a6e,stroke:#6699CC,color:#cce
style SU fill:#1a4e2e,stroke:#339933,color:#cec
style PA fill:#1a4e2e,stroke:#339933,color:#cec
style M fill:#1a4e2e,stroke:#339933,color:#cec
style SENSE fill:none,stroke:#666,stroke-dasharray: 5 5,stroke-width: 2px
style PLAN fill:none,stroke:#666,stroke-dasharray: 5 5,stroke-width: 2px
style ACT fill:none,stroke:#666,stroke-dasharray: 5 5,stroke-width: 2px