\draw [<->] (CN) -- (T1);
\draw [<->] (T1) -- (S1);
-% \draw [<->] (T1) -- (S2);
-% \draw [<->] (T1) -- (Sn);
+ \draw [<->] (T1) -- (S2);
+ \draw [<->] (T1) -- (Sn);
\draw [<->] (Tn) -- node [midway,above,fill=white] {\small\texttt{liftmTask}} (D2T1);
- \draw [<->] (Sn) -- node [midway,above,fill=white] {\small\texttt{liftsds}} (D2S1);
+ \draw [<->] (Sn) -- node [midway,above,fill=white] {\small\texttt{lowersds}} (D2S1);
\draw [<->] (D1T1) -- (D1S1);
\draw [<->] (D2T1) -- (D2S1);