\documentclass{standalone}
\usepackage{tikz}
\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}

\begin{document}

\begin{tikzpicture}[nodes={text height=.7em, text width=1.8cm, align=center,
draw=black!20, thick, fill=white, font=\footnotesize},
>={Stealth[round,sep]}, rounded corners, semithick]

\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {

    "Write a char at position" -> { "Move marker on board", "Lift Marker" };
    {"Lift Marker", "Move marker on board"} -> "SCARA";
};

 %   \graph [layered layout] {
 %       1 -> 2 -> 3 -> 4;
 %   };



\end{tikzpicture}
\end{document}