The entirety of the OmniFire, with the exception of the UR5e, which is overseen by the Level 2 Robot Sub-Scheduler (Use Case 1 above, through horizontal dashed arrow in Figure ), is managed by a singular and dedicated Sub-Scheduler of level 2 as visible in Figure (red shot-dashed rounded square). This section provides a detailed description of the OmniFire level 2 Sub-Scheduler.