Intent: Explore and triage the chemical-spill incident across all 3 scenes, then report root cause to operator.
Scenario:
- Scene 1 Office Tables: collapsed gas-exposed workers.
- Scene 2 Stacked Boxes: conscious trapped casualty, highest medical priority, use SPEAK reassurance.
- Scene 3 Spill Source: jerry can + vapor + collapsed casualty near source.
- Free-play order; must handle non-linear discovery.

Context JSON:
{
  "robot_id": "ghost-v60",
  "current_location": "lobby",
  "battery_level": 84,
  "available_actions": [
    "CHECK_BATTERY",
    "NAVIGATE",
    "SCAN_AREA",
    "VERIFY_OBJECT",
    "SPEAK",
    "WAIT",
    "IDENTIFY_PERSON",
    "ALERT_OPERATOR"
  ],
  "venue_id": "onyx-lab",
  "mission_type": "chemical_spill_demo",
  "additional_constraints": {
    "waypoints_yaml": [
      {
        "name": "lobby",
        "x": 0.0,
        "y": 0.0,
        "theta": 0.0
      },
      {
        "name": "alpha",
        "x": 1.0,
        "y": 0.0,
        "theta": 0.0
      }
    ],
    "remote_operator": true,
    "free_play": true
  }
}

Return one executable DAG plan in JSON only.