goinghome: - actionRule: code: Sleep moveRule: code: DirectTowardsMarker name: _HOME_ rotateCode: TowardsTarget rotateValue: '360' value: '0' name: goinghome transitions: - code: NearMarker name: _HOME_ toState: goinghome_end value: '1.5' - code: ReceivedDamage toState: goinghome_end updates: - name: minSpeed value: '5' - name: maxSpeed value: '5' - actionRule: code: Sleep moveRule: code: Loiter name: goinghome_end resets: - name: minSpeed - name: maxSpeed transitions: - code: Auto toState: initial