Even simpler graph - 2 nodes, 1 single-directional edge
Even simpler graph - 2 nodes, 1 single-directional edge

WPI-ARC/arc_utilities,UM-ARM-Lab/arc_utilities,WPI-ARC/arc_utilities,WPI-ARC/arc_utilities,UM-ARM-Lab/arc_utilities,UM-ARM-Lab/arc_utilities