RoboWaiter/robowaiter/scene/outputs/expanded_bt.dot

digraph pastafarianism {
ordering=out;
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
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"a043223d-6000-4885-8fff-a678b30b0899" -> "dc357696-c3e8-4444-b657-46513ab3505b";
"b0cbb840-1ba6-4600-8da3-54236088ba29" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"a043223d-6000-4885-8fff-a678b30b0899" -> "b0cbb840-1ba6-4600-8da3-54236088ba29";
"63adc8d7-7ded-45e2-94e5-9dc429e4ad85" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled];
"a043223d-6000-4885-8fff-a678b30b0899" -> "63adc8d7-7ded-45e2-94e5-9dc429e4ad85";
"8be9a85e-de33-4702-9c45-18209a7d4a48" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8be9a85e-de33-4702-9c45-18209a7d4a48";
"d639df52-02f7-4b72-b9dd-81f424f47b4a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "d639df52-02f7-4b72-b9dd-81f424f47b4a";
"af490d60-0f8f-407a-b13b-509f453dcd88" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "af490d60-0f8f-407a-b13b-509f453dcd88";
"ad6872de-924d-4175-951c-e8d084cb6c9d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled];
"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "ad6872de-924d-4175-951c-e8d084cb6c9d";
"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "914d1d88-af4d-4cb5-8fc2-cf78b13ed59a";
"2ee85f29-3da6-4805-abf2-e20780e9eba4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "2ee85f29-3da6-4805-abf2-e20780e9eba4";
"4d21ac08-0992-4c60-ada1-0f38c547d5f5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "4d21ac08-0992-4c60-ada1-0f38c547d5f5";
"f4958782-2aaa-43f8-b20b-f6137f2655b8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Water)", shape=box, style=filled];
"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "f4958782-2aaa-43f8-b20b-f6137f2655b8";
"14771df2-b45d-41b4-95ce-971ea6a9da0e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "14771df2-b45d-41b4-95ce-971ea6a9da0e";
"c597b5e0-fb61-4ab8-9ef7-1d31838301fb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "c597b5e0-fb61-4ab8-9ef7-1d31838301fb";
"43421ad1-9d3f-4153-8693-90f7e8657587" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "43421ad1-9d3f-4153-8693-90f7e8657587";
"1e972b48-7899-44d7-90d3-bbc1a699736c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, style=filled];
"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "1e972b48-7899-44d7-90d3-bbc1a699736c";
"adc474ee-7b45-4a63-ad26-f9983d699bde" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "adc474ee-7b45-4a63-ad26-f9983d699bde";
"fcb14812-7fb9-44c3-8fa0-8c1043c0271a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "fcb14812-7fb9-44c3-8fa0-8c1043c0271a";
"cda1ec5d-8729-4b1d-ae15-ca588294e858" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "cda1ec5d-8729-4b1d-ae15-ca588294e858";
"f025ba4c-a612-4ee5-a88a-094b6ba48eda" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Softdrink)", shape=box, style=filled];
"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "f025ba4c-a612-4ee5-a88a-094b6ba48eda";
"e394a79f-8cf4-41a4-b30c-47c98dc49f00" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e394a79f-8cf4-41a4-b30c-47c98dc49f00";
"97f2c316-e338-48c7-a8cd-3cc583356f34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "97f2c316-e338-48c7-a8cd-3cc583356f34";
"03de13ca-0f87-4f36-961a-b5e13c7a1324" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "03de13ca-0f87-4f36-961a-b5e13c7a1324";
"1c470966-fe0c-48c2-a5cb-10dd02e187b7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "1c470966-fe0c-48c2-a5cb-10dd02e187b7";
"d728a513-bccf-4d10-886d-a7157f7100b4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table3)", shape=box, style=filled];
"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "d728a513-bccf-4d10-886d-a7157f7100b4";
"02431d21-b6e1-4679-87b2-ebba7875c8e8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "02431d21-b6e1-4679-87b2-ebba7875c8e8";
"2de00c43-f331-4458-8a59-9515836a9793" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "2de00c43-f331-4458-8a59-9515836a9793";
"b9cd94d0-6c22-4388-b466-c50e43fb446f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "b9cd94d0-6c22-4388-b466-c50e43fb446f";
"bf1e9626-b6ea-4454-af41-35641f925694" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "bf1e9626-b6ea-4454-af41-35641f925694";
"a370bc4d-515a-4754-92fd-14de4982fb2b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,WaterTable)", shape=box, style=filled];
"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "a370bc4d-515a-4754-92fd-14de4982fb2b";
"822ed7d2-e3f5-43b6-8aa5-986622126f8e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "822ed7d2-e3f5-43b6-8aa5-986622126f8e";
"fdb0c85b-388a-4e38-8cc8-daa59be65825" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "fdb0c85b-388a-4e38-8cc8-daa59be65825";
"9591d188-fdad-40d3-834c-c43dbb9e8daf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "9591d188-fdad-40d3-834c-c43dbb9e8daf";
"7482eb6f-0175-44e1-acab-a4aff1e69652" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "7482eb6f-0175-44e1-acab-a4aff1e69652";
"4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table2)", shape=box, style=filled];
"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04";
"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fd79ff57-8e1b-4e08-8489-4b2efe3258ec";
"e4d02d97-670a-49e9-ac7c-f6159d4a3527" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "e4d02d97-670a-49e9-ac7c-f6159d4a3527";
"9b2add52-acd2-4cba-892e-166286c9a32f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "9b2add52-acd2-4cba-892e-166286c9a32f";
"461362ea-78b4-4c9e-a2ce-d014da386ca4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "461362ea-78b4-4c9e-a2ce-d014da386ca4";
"7a5c1154-47ef-4b1b-959d-5a095a9bc307" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable6)", shape=box, style=filled];
"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "7a5c1154-47ef-4b1b-959d-5a095a9bc307";
"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7edc9e30-b3b1-4574-a27d-8af4ea22d1a0";
"80152474-725d-4c99-9325-0159fb29ec0b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "80152474-725d-4c99-9325-0159fb29ec0b";
"a54c065f-1be3-4f83-8251-7977ef75735b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "a54c065f-1be3-4f83-8251-7977ef75735b";
"0206cbb9-ab6d-4207-86c3-e1e2854bde69" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "0206cbb9-ab6d-4207-86c3-e1e2854bde69";
"c7afcb27-a153-4da6-84af-172328dce8c4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar2)", shape=box, style=filled];
"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "c7afcb27-a153-4da6-84af-172328dce8c4";
"4729159d-306b-468a-b273-80c1d03f0d07" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4729159d-306b-468a-b273-80c1d03f0d07";
"0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"4729159d-306b-468a-b273-80c1d03f0d07" -> "0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2";
"61a07203-2ac9-4fbf-8e4c-740959926bad" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"4729159d-306b-468a-b273-80c1d03f0d07" -> "61a07203-2ac9-4fbf-8e4c-740959926bad";
"4dc09af3-45e9-4762-a576-615e5891f675" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"4729159d-306b-468a-b273-80c1d03f0d07" -> "4dc09af3-45e9-4762-a576-615e5891f675";
"890fc967-7508-4d8d-88c8-62d5960735bf" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled];
"4729159d-306b-468a-b273-80c1d03f0d07" -> "890fc967-7508-4d8d-88c8-62d5960735bf";
"6bb6912f-8c51-4518-821b-5931b9f63714" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6bb6912f-8c51-4518-821b-5931b9f63714";
"9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"6bb6912f-8c51-4518-821b-5931b9f63714" -> "9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed";
"5269959b-f7c3-48e3-9c8a-a489bcccd402" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"6bb6912f-8c51-4518-821b-5931b9f63714" -> "5269959b-f7c3-48e3-9c8a-a489bcccd402";
"71850508-ed28-4ab2-ab62-a6822b5ce7af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"6bb6912f-8c51-4518-821b-5931b9f63714" -> "71850508-ed28-4ab2-ab62-a6822b5ce7af";
"05509e2b-ac45-4ce2-bc6a-1f95a35dca95" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled];
"6bb6912f-8c51-4518-821b-5931b9f63714" -> "05509e2b-ac45-4ce2-bc6a-1f95a35dca95";
"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9";
"2f58c398-a3e0-41ca-a09c-b1cfa32f0d64" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "2f58c398-a3e0-41ca-a09c-b1cfa32f0d64";
"8a656281-4c73-43aa-833f-8247fc0b9fce" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "8a656281-4c73-43aa-833f-8247fc0b9fce";
"097d5b77-3de4-445c-8bae-9cfd5cae7265" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "097d5b77-3de4-445c-8bae-9cfd5cae7265";
"ccc2f6e1-7457-4285-b170-83eb691f7494" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table1)", shape=box, style=filled];
"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "ccc2f6e1-7457-4285-b170-83eb691f7494";
"fc2733f3-cccf-488d-b2fd-902ab41c193c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fc2733f3-cccf-488d-b2fd-902ab41c193c";
"5c801eff-4297-4ad9-bbe2-a8cafd6af303" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "5c801eff-4297-4ad9-bbe2-a8cafd6af303";
"12e76f03-ace6-4dc0-8a8f-db5b899f160d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "12e76f03-ace6-4dc0-8a8f-db5b899f160d";
"b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f";
"f6662acc-4f26-4211-a43e-8fe2dd75e4fa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table3)", shape=box, style=filled];
"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "f6662acc-4f26-4211-a43e-8fe2dd75e4fa";
"ac235a2d-65ea-4101-af94-8de3d1bdec53" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ac235a2d-65ea-4101-af94-8de3d1bdec53";
"d420b470-66f3-4e58-a295-09e347ee92e6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "d420b470-66f3-4e58-a295-09e347ee92e6";
"b9eb6d52-8084-49f9-bef1-456b63c971a9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "b9eb6d52-8084-49f9-bef1-456b63c971a9";
"b39f0141-18af-4ba8-8532-48ce3a74ee25" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "b39f0141-18af-4ba8-8532-48ce3a74ee25";
"d9ce7eda-4a01-48c6-94d2-32408828ceb3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled];
"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "d9ce7eda-4a01-48c6-94d2-32408828ceb3";
"38b10362-9e9c-450a-a67f-a681b7500958" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "38b10362-9e9c-450a-a67f-a681b7500958";
"8a6d8606-d15d-4fe8-a750-0d720f8dee87" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"38b10362-9e9c-450a-a67f-a681b7500958" -> "8a6d8606-d15d-4fe8-a750-0d720f8dee87";
"13b3a9cd-18e0-4464-87c6-a8a4a10d4135" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"38b10362-9e9c-450a-a67f-a681b7500958" -> "13b3a9cd-18e0-4464-87c6-a8a4a10d4135";
"93293582-849b-4059-87ac-40bce8711dee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"38b10362-9e9c-450a-a67f-a681b7500958" -> "93293582-849b-4059-87ac-40bce8711dee";
"43553661-c3cf-4c1a-bc0e-fec7639f2a08" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table2)", shape=box, style=filled];
"38b10362-9e9c-450a-a67f-a681b7500958" -> "43553661-c3cf-4c1a-bc0e-fec7639f2a08";
"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8ebfbb1b-30f1-430f-a19b-7ac4038b0c17";
"5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0";
"4d21e3a0-5d34-4677-bbe2-2302ebaaa87c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "4d21e3a0-5d34-4677-bbe2-2302ebaaa87c";
"18acd8b5-9891-4edc-8636-5a1d4b71d68a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "18acd8b5-9891-4edc-8636-5a1d4b71d68a";
"a57a29ef-f72c-479b-8db3-7352e01b9f44" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable6)", shape=box, style=filled];
"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "a57a29ef-f72c-479b-8db3-7352e01b9f44";
"d1719472-f98a-404b-ae8b-c6059d796652" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "d1719472-f98a-404b-ae8b-c6059d796652";
"41c14f7e-16c5-485d-9700-6ecd27bce1ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"d1719472-f98a-404b-ae8b-c6059d796652" -> "41c14f7e-16c5-485d-9700-6ecd27bce1ee";
"f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"d1719472-f98a-404b-ae8b-c6059d796652" -> "f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a";
"3c5747cb-a209-4550-a0b6-a552d0808ef6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"d1719472-f98a-404b-ae8b-c6059d796652" -> "3c5747cb-a209-4550-a0b6-a552d0808ef6";
"718588e3-309e-4a22-9505-11ea3c548019" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar2)", shape=box, style=filled];
"d1719472-f98a-404b-ae8b-c6059d796652" -> "718588e3-309e-4a22-9505-11ea3c548019";
"e167ef35-15c2-42cc-b515-d3f67be4310a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e167ef35-15c2-42cc-b515-d3f67be4310a";
"4f0a8a20-58bb-4c2e-9837-bb856e14aa6d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "4f0a8a20-58bb-4c2e-9837-bb856e14aa6d";
"c1e515eb-14f6-460d-afe5-12b1470ac1b3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "c1e515eb-14f6-460d-afe5-12b1470ac1b3";
"4c481816-c768-4c7d-b1b8-abc2cd738346" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "4c481816-c768-4c7d-b1b8-abc2cd738346";
"2a960aa1-c3e4-4d5a-83dd-461e287c3e36" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled];
"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "2a960aa1-c3e4-4d5a-83dd-461e287c3e36";
"fb5e4af5-a131-4464-8671-0965d0eeebd6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fb5e4af5-a131-4464-8671-0965d0eeebd6";
"19c00158-88f3-4472-afe9-d9a2c9f8c6b8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "19c00158-88f3-4472-afe9-d9a2c9f8c6b8";
"ae89f5bd-9945-4d8e-a35e-78a716bc62cc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "ae89f5bd-9945-4d8e-a35e-78a716bc62cc";
"ce038af2-0a22-4480-a576-8d0f606f9373" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "ce038af2-0a22-4480-a576-8d0f606f9373";
"66bccfff-2a44-4c98-ae5c-2252e289e72c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled];
"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "66bccfff-2a44-4c98-ae5c-2252e289e72c";
"3208387c-2a74-4935-92fa-996960083958" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3208387c-2a74-4935-92fa-996960083958";
"101e2c5c-ea4c-42a4-88c8-24df425efa10" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"3208387c-2a74-4935-92fa-996960083958" -> "101e2c5c-ea4c-42a4-88c8-24df425efa10";
"2667d497-16e4-4356-80b3-203b12b702ce" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"3208387c-2a74-4935-92fa-996960083958" -> "2667d497-16e4-4356-80b3-203b12b702ce";
"e6099785-83a1-42c3-be4c-693476cae56d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"3208387c-2a74-4935-92fa-996960083958" -> "e6099785-83a1-42c3-be4c-693476cae56d";
"7c7966cd-7875-454a-bdaf-2c47edf86ced" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table1)", shape=box, style=filled];
"3208387c-2a74-4935-92fa-996960083958" -> "7c7966cd-7875-454a-bdaf-2c47edf86ced";
"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "abe3e8da-aac2-4204-8f6d-5134fb8d66b2";
"be925f19-760b-4fea-bac0-fd1a4da8335f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "be925f19-760b-4fea-bac0-fd1a4da8335f";
"4d1559d7-9729-460e-abb6-b7ff1877af71" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "4d1559d7-9729-460e-abb6-b7ff1877af71";
"d38225b5-c182-4886-b65a-bbafd463554b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "d38225b5-c182-4886-b65a-bbafd463554b";
"dfdfb13e-a72f-41be-9c95-08865a069b46" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table3)", shape=box, style=filled];
"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "dfdfb13e-a72f-41be-9c95-08865a069b46";
"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c1ea600e-1507-43d7-91d0-a03f3ac3aa8c";
"1e92fcaa-83b8-48d8-bc0a-155efe82f5ad" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "1e92fcaa-83b8-48d8-bc0a-155efe82f5ad";
"9a140fab-b00d-41d1-b2d6-914171ee56cd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "9a140fab-b00d-41d1-b2d6-914171ee56cd";
"053f28a1-6732-4752-ae43-7e459936a7bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "053f28a1-6732-4752-ae43-7e459936a7bf";
"8d9e4746-4e3f-4b71-907b-d82c9594ab67" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled];
"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "8d9e4746-4e3f-4b71-907b-d82c9594ab67";
"be59b4c8-d301-4723-aea1-45251aab1ee3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "be59b4c8-d301-4723-aea1-45251aab1ee3";
"0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a";
"5d621cf3-fbe2-448d-8c83-81374e15351a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "5d621cf3-fbe2-448d-8c83-81374e15351a";
"e3c3828d-2d31-4338-bf9b-a96b183283ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "e3c3828d-2d31-4338-bf9b-a96b183283ae";
"3e01f596-c93a-46e8-9dc7-a9ac6f700266" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table2)", shape=box, style=filled];
"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "3e01f596-c93a-46e8-9dc7-a9ac6f700266";
"fd290f7f-49da-40c0-a329-b293c03ed42c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fd290f7f-49da-40c0-a329-b293c03ed42c";
"fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4";
"80614947-2404-46cb-b72c-40f0bf05d66a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "80614947-2404-46cb-b72c-40f0bf05d66a";
"3271a36b-012b-4d6f-8cf7-3648ab1c7cd4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "3271a36b-012b-4d6f-8cf7-3648ab1c7cd4";
"92aff0f0-f355-4526-b7bb-181bd6f6b2dc" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable6)", shape=box, style=filled];
"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "92aff0f0-f355-4526-b7bb-181bd6f6b2dc";
"03f6244b-ce96-4d57-b903-c42132f07011" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "03f6244b-ce96-4d57-b903-c42132f07011";
"53a63c88-5849-4b60-9438-baf448dafeea" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"03f6244b-ce96-4d57-b903-c42132f07011" -> "53a63c88-5849-4b60-9438-baf448dafeea";
"bc22dc59-7e4d-45f6-a21f-a1686bfd36ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"03f6244b-ce96-4d57-b903-c42132f07011" -> "bc22dc59-7e4d-45f6-a21f-a1686bfd36ae";
"528f1b27-dd28-437e-b1fc-5b168b9d8679" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"03f6244b-ce96-4d57-b903-c42132f07011" -> "528f1b27-dd28-437e-b1fc-5b168b9d8679";
"bdc42e21-bd22-43a4-ac20-20773b76125f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar2)", shape=box, style=filled];
"03f6244b-ce96-4d57-b903-c42132f07011" -> "bdc42e21-bd22-43a4-ac20-20773b76125f";
"310f4a52-ec78-4ec4-a237-6f96a285df2b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "310f4a52-ec78-4ec4-a237-6f96a285df2b";
"e971323b-0e95-434a-ad75-e6cfea982f6f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "e971323b-0e95-434a-ad75-e6cfea982f6f";
"fb03ca0b-86ac-4bca-a2ef-16871500313d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "fb03ca0b-86ac-4bca-a2ef-16871500313d";
"37d62d19-36de-4c02-a0aa-f16cfa183824" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "37d62d19-36de-4c02-a0aa-f16cfa183824";
"d40281e7-ba41-4d51-b68d-0deac0c178fc" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled];
"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "d40281e7-ba41-4d51-b68d-0deac0c178fc";
"9b41ca54-e620-4d02-9fcc-b532138c5ca3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9b41ca54-e620-4d02-9fcc-b532138c5ca3";
"e6881c4c-5e9b-43dd-a2c9-1cc65a371e81" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "e6881c4c-5e9b-43dd-a2c9-1cc65a371e81";
"f28f2bd1-493c-48b7-8422-d361328be65a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "f28f2bd1-493c-48b7-8422-d361328be65a";
"21a3a275-62b6-4f36-a2f3-80ea06e8ca37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "21a3a275-62b6-4f36-a2f3-80ea06e8ca37";
"9c639b23-fd05-4975-a7e7-1447e960198b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled];
"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "9c639b23-fd05-4975-a7e7-1447e960198b";
"5fb679fa-83a0-4e36-a130-bcacff9ab98f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5fb679fa-83a0-4e36-a130-bcacff9ab98f";
"b79a5b83-28a5-4fa3-9dd8-167eb3d91e70" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "b79a5b83-28a5-4fa3-9dd8-167eb3d91e70";
"2341b491-12f1-42ad-b9b3-c575d87871dd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "2341b491-12f1-42ad-b9b3-c575d87871dd";
"975ebf1e-2181-4e2e-b049-2af976b747c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "975ebf1e-2181-4e2e-b049-2af976b747c5";
"a8eb153f-26ac-4352-8dac-2b55bd0cdb48" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table1)", shape=box, style=filled];
"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "a8eb153f-26ac-4352-8dac-2b55bd0cdb48";
"76c1d737-da69-4436-bddc-2e6f35ceca10" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "76c1d737-da69-4436-bddc-2e6f35ceca10";
"fa5e020b-c74d-4656-9cbc-d1062a88ed65" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "fa5e020b-c74d-4656-9cbc-d1062a88ed65";
"23db7916-f965-486e-977e-e042a74d8444" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "23db7916-f965-486e-977e-e042a74d8444";
"984e2247-7ee0-470b-a3c2-edebb551d107" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "984e2247-7ee0-470b-a3c2-edebb551d107";
"89b06906-a54a-47f6-99d0-93c3866d0228" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table3)", shape=box, style=filled];
"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "89b06906-a54a-47f6-99d0-93c3866d0228";
"10567f6e-09af-4451-97a1-4b785752d7ba" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "10567f6e-09af-4451-97a1-4b785752d7ba";
"6809839f-f108-402b-acf5-5b1d88c4967c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"10567f6e-09af-4451-97a1-4b785752d7ba" -> "6809839f-f108-402b-acf5-5b1d88c4967c";
"e6cb89d2-3138-42a7-a0c3-829e782a4adb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"10567f6e-09af-4451-97a1-4b785752d7ba" -> "e6cb89d2-3138-42a7-a0c3-829e782a4adb";
"e0ee3d51-968a-454c-a50b-a663a88487a3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"10567f6e-09af-4451-97a1-4b785752d7ba" -> "e0ee3d51-968a-454c-a50b-a663a88487a3";
"59778b27-b9fa-4dca-a4dc-75e4d99f2bd9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled];
"10567f6e-09af-4451-97a1-4b785752d7ba" -> "59778b27-b9fa-4dca-a4dc-75e4d99f2bd9";
"72a1dbc7-a8ae-45dd-96ca-b3569295529a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "72a1dbc7-a8ae-45dd-96ca-b3569295529a";
"540dcffa-5eff-4d15-977e-bbc5c6054f4b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "540dcffa-5eff-4d15-977e-bbc5c6054f4b";
"5498b547-bbb6-450c-86d7-24e36d4e9c8d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "5498b547-bbb6-450c-86d7-24e36d4e9c8d";
"811ce483-442c-43c8-97da-9eb509bb7d03" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "811ce483-442c-43c8-97da-9eb509bb7d03";
"3ee4b5c6-9a51-4efd-ba59-82671fcb815e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table2)", shape=box, style=filled];
"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "3ee4b5c6-9a51-4efd-ba59-82671fcb815e";
"f1a999fd-c6f2-495f-8f65-988b50ed929a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f1a999fd-c6f2-495f-8f65-988b50ed929a";
"60e887ff-1ceb-4286-99db-a496ff9750e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "60e887ff-1ceb-4286-99db-a496ff9750e9";
"5f972151-b8a7-4cf7-8ee9-751db1b79e98" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "5f972151-b8a7-4cf7-8ee9-751db1b79e98";
"f6f6198f-96ac-4950-9c27-b9a0be3626a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "f6f6198f-96ac-4950-9c27-b9a0be3626a2";
"205c60c9-670c-49bb-8281-efd5d3dde4c3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable6)", shape=box, style=filled];
"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "205c60c9-670c-49bb-8281-efd5d3dde4c3";
"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92";
"5823245f-b3b5-4aff-bc2e-d2fbed4784ba" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "5823245f-b3b5-4aff-bc2e-d2fbed4784ba";
"5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd";
"93f678fe-915d-416b-a29e-3a1fdd00c9f1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "93f678fe-915d-416b-a29e-3a1fdd00c9f1";
"054eff55-2458-40aa-a950-74a4cd2eaaa7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar2)", shape=box, style=filled];
"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "054eff55-2458-40aa-a950-74a4cd2eaaa7";
"f8170e9a-0b19-4397-b5ee-e0e6ececa746" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f8170e9a-0b19-4397-b5ee-e0e6ececa746";
"c3a16f7e-9891-4106-8e02-e576e0d59f7f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "c3a16f7e-9891-4106-8e02-e576e0d59f7f";
"9b46af9e-8888-43e9-a1bb-0ea30ae0e379" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "9b46af9e-8888-43e9-a1bb-0ea30ae0e379";
"fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7";
"8d47dcb0-91f1-42f9-82a9-ee626eae0d29" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled];
"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "8d47dcb0-91f1-42f9-82a9-ee626eae0d29";
"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78cb932f-a8fc-4494-8c92-5e7c5efb1d82";
"f1f2f033-af4c-428b-93ad-b1ab19015e1e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "f1f2f033-af4c-428b-93ad-b1ab19015e1e";
"540c30de-223f-4d5e-b0eb-e4844ed366e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "540c30de-223f-4d5e-b0eb-e4844ed366e9";
"dd6961ba-7a86-4afa-94f1-0f4c5b24119e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "dd6961ba-7a86-4afa-94f1-0f4c5b24119e";
"1cb3d191-5ab6-4343-8358-9cd51f9a52e7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled];
"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "1cb3d191-5ab6-4343-8358-9cd51f9a52e7";
"239ecfcf-59f9-42da-9747-0bcad3f21f08" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "239ecfcf-59f9-42da-9747-0bcad3f21f08";
"242e07b9-d19b-402c-b255-426223536b05" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "242e07b9-d19b-402c-b255-426223536b05";
"8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23";
"099c844a-2ede-4fd7-9140-4869b49a5b3e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "099c844a-2ede-4fd7-9140-4869b49a5b3e";
"ae0bc725-b5b5-4a81-9f06-4da47802053d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table1)", shape=box, style=filled];
"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "ae0bc725-b5b5-4a81-9f06-4da47802053d";
"3d114ff1-b08d-4af2-acbb-3e008169c729" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3d114ff1-b08d-4af2-acbb-3e008169c729";
"43f0e719-60d9-43b7-8008-d92a8f61db98" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "43f0e719-60d9-43b7-8008-d92a8f61db98";
"3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9";
"829cbcec-ca1e-4a74-804c-28bb6c9d6ad3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "829cbcec-ca1e-4a74-804c-28bb6c9d6ad3";
"513ae648-3ba6-47bd-82fb-905b522c4c93" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table3)", shape=box, style=filled];
"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "513ae648-3ba6-47bd-82fb-905b522c4c93";
"07bdb352-7144-4fb8-829b-d2d76614d7ff" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "07bdb352-7144-4fb8-829b-d2d76614d7ff";
"5bd21fea-809d-47f5-8f87-17d9516df534" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "5bd21fea-809d-47f5-8f87-17d9516df534";
"74407681-2c43-4c98-9809-d0463603d8ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "74407681-2c43-4c98-9809-d0463603d8ac";
"1f09d3ed-9a15-433a-8046-8c764c91b0ef" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "1f09d3ed-9a15-433a-8046-8c764c91b0ef";
"ed445eb3-2b20-4c77-8052-72375d04c66e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled];
"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "ed445eb3-2b20-4c77-8052-72375d04c66e";
"5f6b176d-7818-4767-960d-4320db2f407c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5f6b176d-7818-4767-960d-4320db2f407c";
"feb89d2e-cccb-41ef-8992-705fa10f7c5f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5f6b176d-7818-4767-960d-4320db2f407c" -> "feb89d2e-cccb-41ef-8992-705fa10f7c5f";
"d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"5f6b176d-7818-4767-960d-4320db2f407c" -> "d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c";
"9e15594c-45e0-41f4-a975-004454ab2c2d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"5f6b176d-7818-4767-960d-4320db2f407c" -> "9e15594c-45e0-41f4-a975-004454ab2c2d";
"db86b9fd-6745-45ef-adf2-ff054dc77098" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table2)", shape=box, style=filled];
"5f6b176d-7818-4767-960d-4320db2f407c" -> "db86b9fd-6745-45ef-adf2-ff054dc77098";
"9821fd5c-13ee-40d7-8993-e6bae0ebc336" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9821fd5c-13ee-40d7-8993-e6bae0ebc336";
"6c616572-a680-4d17-b618-b48037791df1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "6c616572-a680-4d17-b618-b48037791df1";
"299f0320-356c-49c1-ab89-f82b14220979" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "299f0320-356c-49c1-ab89-f82b14220979";
"dccae668-73b7-44fd-bafa-d72656cda5e7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "dccae668-73b7-44fd-bafa-d72656cda5e7";
"a409847c-6195-43c4-a662-1e6980033e5a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable6)", shape=box, style=filled];
"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "a409847c-6195-43c4-a662-1e6980033e5a";
"26847aaf-bd3c-4379-aa55-32199ac6e93f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "26847aaf-bd3c-4379-aa55-32199ac6e93f";
"4549f8cd-86e5-480b-98d1-88500ea8c34a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "4549f8cd-86e5-480b-98d1-88500ea8c34a";
"152e3cc6-b019-48c0-85bf-a82bdb6abf67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "152e3cc6-b019-48c0-85bf-a82bdb6abf67";
"98538a68-adbe-4841-bfa2-e93976ccc6ff" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "98538a68-adbe-4841-bfa2-e93976ccc6ff";
"cc0129e8-72fb-4e05-9462-1fef0d0ce40c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar2)", shape=box, style=filled];
"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "cc0129e8-72fb-4e05-9462-1fef0d0ce40c";
"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "248c2bd2-9c4d-4b33-8072-9e8cc9f39818";
"ba4e6862-3a46-41e8-80a9-a0692f79c41d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "ba4e6862-3a46-41e8-80a9-a0692f79c41d";
"b7796714-662f-474e-ba00-ca1fe7a3524c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "b7796714-662f-474e-ba00-ca1fe7a3524c";
"cad6141e-0eae-4ab1-a34b-e717f55f1f7a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "cad6141e-0eae-4ab1-a34b-e717f55f1f7a";
"7bf1a6f4-9799-47d1-8b80-4d7aabf1d268" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled];
"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "7bf1a6f4-9799-47d1-8b80-4d7aabf1d268";
"4fe871b9-e75c-408c-b40f-963c46fb1ff8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4fe871b9-e75c-408c-b40f-963c46fb1ff8";
"076e6b31-9c1a-488e-8ff7-7a45a2106ab9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "076e6b31-9c1a-488e-8ff7-7a45a2106ab9";
"37cc8aac-7031-4306-bfc1-f7eefc951bd1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "37cc8aac-7031-4306-bfc1-f7eefc951bd1";
"c7999915-f15e-4063-bd1f-dcea0d0811bb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "c7999915-f15e-4063-bd1f-dcea0d0811bb";
"bce98f67-bb8e-4716-b767-38d1453a4a6a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled];
"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "bce98f67-bb8e-4716-b767-38d1453a4a6a";
"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1d2f075b-b358-4646-ad1b-d34ef3a51c6f";
"85842326-df13-42e9-bf2b-3e837f356510" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "85842326-df13-42e9-bf2b-3e837f356510";
"ae2a9212-14e9-4796-8c3a-516ab5e547e0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "ae2a9212-14e9-4796-8c3a-516ab5e547e0";
"8e006370-5f97-4ee9-a4ac-712ac0689d15" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "8e006370-5f97-4ee9-a4ac-712ac0689d15";
"557ad42c-ce83-4c63-aebd-2024ab5b948b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table1)", shape=box, style=filled];
"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "557ad42c-ce83-4c63-aebd-2024ab5b948b";
"cca55543-4510-4255-bf6f-8897c54237dc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "cca55543-4510-4255-bf6f-8897c54237dc";
"4d6b6e93-7152-40b2-9d8d-8981c4829788" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"cca55543-4510-4255-bf6f-8897c54237dc" -> "4d6b6e93-7152-40b2-9d8d-8981c4829788";
"7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"cca55543-4510-4255-bf6f-8897c54237dc" -> "7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97";
"f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"cca55543-4510-4255-bf6f-8897c54237dc" -> "f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a";
"36ea8870-62cc-456e-81e9-90f12fcf3447" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table3)", shape=box, style=filled];
"cca55543-4510-4255-bf6f-8897c54237dc" -> "36ea8870-62cc-456e-81e9-90f12fcf3447";
"3de8b463-3beb-45f7-b64d-5a50669a2d53" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3de8b463-3beb-45f7-b64d-5a50669a2d53";
"72a0525f-dd12-483b-92ec-3dc9b47cdbbd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "72a0525f-dd12-483b-92ec-3dc9b47cdbbd";
"20693df9-3c05-430c-8e1c-d74d1d7b3dc9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "20693df9-3c05-430c-8e1c-d74d1d7b3dc9";
"6836fde4-c4c6-4b14-9c9f-32c988db5b7c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "6836fde4-c4c6-4b14-9c9f-32c988db5b7c";
"b05c71e2-c19e-43bd-a80e-973c5d1e4381" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled];
"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "b05c71e2-c19e-43bd-a80e-973c5d1e4381";
"cd55fd8b-06f0-43aa-973a-04ce263db149" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "cd55fd8b-06f0-43aa-973a-04ce263db149";
"d0b44566-bf09-4b95-a6a1-3c9efd542f41" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "d0b44566-bf09-4b95-a6a1-3c9efd542f41";
"81c66262-2e9d-4796-99f7-72fe8339f8f0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "81c66262-2e9d-4796-99f7-72fe8339f8f0";
"3dfba118-bc27-4c32-87b1-18bfcc3d877f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "3dfba118-bc27-4c32-87b1-18bfcc3d877f";
"5c36c821-5bd0-455f-b051-382158f03960" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table2)", shape=box, style=filled];
"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "5c36c821-5bd0-455f-b051-382158f03960";
"9c4e6038-8337-4154-b2f9-da41b9a268d0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9c4e6038-8337-4154-b2f9-da41b9a268d0";
"6cbd82d2-051e-43cd-86eb-d8f54bec3c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "6cbd82d2-051e-43cd-86eb-d8f54bec3c5b";
"32b3bb1a-8d44-4fd3-9826-1426ff97f00f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "32b3bb1a-8d44-4fd3-9826-1426ff97f00f";
"754c18e3-d17c-43e1-aba0-672016280472" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "754c18e3-d17c-43e1-aba0-672016280472";
"ccfd6d89-070f-490e-8da1-9df8145e0cc4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable6)", shape=box, style=filled];
"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "ccfd6d89-070f-490e-8da1-9df8145e0cc4";
"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa";
"6e94ba5b-8380-438e-83d5-d3c8544e39f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "6e94ba5b-8380-438e-83d5-d3c8544e39f6";
"484b49f5-a84d-4b66-b8a2-44e268706c5d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "484b49f5-a84d-4b66-b8a2-44e268706c5d";
"79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3";
"284b892c-5691-4ae4-8234-5604ad709d4d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar2)", shape=box, style=filled];
"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "284b892c-5691-4ae4-8234-5604ad709d4d";
"79d538c1-0f43-4169-acc3-786d384dec16" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "79d538c1-0f43-4169-acc3-786d384dec16";
"763e4693-57bd-4267-8e5c-da305eae256a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"79d538c1-0f43-4169-acc3-786d384dec16" -> "763e4693-57bd-4267-8e5c-da305eae256a";
"6b4fcd69-9154-45a0-b82f-85ea457e9699" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"79d538c1-0f43-4169-acc3-786d384dec16" -> "6b4fcd69-9154-45a0-b82f-85ea457e9699";
"e1f835b3-eae2-4d8a-93dc-ccab2af9a839" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"79d538c1-0f43-4169-acc3-786d384dec16" -> "e1f835b3-eae2-4d8a-93dc-ccab2af9a839";
"057ce095-3cda-4602-88fa-9493f83a1b7c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled];
"79d538c1-0f43-4169-acc3-786d384dec16" -> "057ce095-3cda-4602-88fa-9493f83a1b7c";
"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8a64b8a4-0951-4da1-b90a-c09e04d5dafc";
"c7451614-cc82-4021-9ec6-2144a993bc9f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "c7451614-cc82-4021-9ec6-2144a993bc9f";
"7a625c15-bbb5-4375-87c4-60e579749b4c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "7a625c15-bbb5-4375-87c4-60e579749b4c";
"7bc54243-388b-42ec-8789-02dde857966c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "7bc54243-388b-42ec-8789-02dde857966c";
"6c5e4f09-594e-4a3a-b53f-8d252fbf55d3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "6c5e4f09-594e-4a3a-b53f-8d252fbf55d3";
"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "0f7846ce-1c0b-4c9a-9199-0e5d9fc84427";
"2dc338f0-e4da-4cdd-8d31-e825eb58d73a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "2dc338f0-e4da-4cdd-8d31-e825eb58d73a";
"58397c86-0ab9-462c-bf3f-5a1d6f2a1410" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "58397c86-0ab9-462c-bf3f-5a1d6f2a1410";
"ac062aab-3716-46e2-bf26-bdfb9316ff97" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "ac062aab-3716-46e2-bf26-bdfb9316ff97";
"be93a72b-d8ac-4912-a793-ebd898e3b7a3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table1)", shape=box, style=filled];
"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "be93a72b-d8ac-4912-a793-ebd898e3b7a3";
"5c663a98-c0e7-4741-b85c-a2120e0d36de" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5c663a98-c0e7-4741-b85c-a2120e0d36de";
"9a21f981-f994-4596-b72d-cc6363bcc201" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "9a21f981-f994-4596-b72d-cc6363bcc201";
"ac648d1f-b4e5-46aa-b138-57af6810df61" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "ac648d1f-b4e5-46aa-b138-57af6810df61";
"72958aa5-8b06-4e40-87df-9e4ae46dfd9b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "72958aa5-8b06-4e40-87df-9e4ae46dfd9b";
"df80116e-ae28-416e-810a-4a0d2df48750" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table3)", shape=box, style=filled];
"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "df80116e-ae28-416e-810a-4a0d2df48750";
"fe9ffccb-67df-44d7-a345-8e86e172cc04" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fe9ffccb-67df-44d7-a345-8e86e172cc04";
"d56275f8-9e97-43a9-a30f-72aa7ba81ad4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "d56275f8-9e97-43a9-a30f-72aa7ba81ad4";
"68b66b16-86ca-41d1-995a-efdd1d9806c2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "68b66b16-86ca-41d1-995a-efdd1d9806c2";
"a042a93f-a939-4d8c-aa96-07d299e7eb1f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "a042a93f-a939-4d8c-aa96-07d299e7eb1f";
"1f41a993-53e9-4172-b2b0-b431c3f7842a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled];
"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "1f41a993-53e9-4172-b2b0-b431c3f7842a";
"2724a517-0605-4e0a-b28e-e30217cff1e5" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2724a517-0605-4e0a-b28e-e30217cff1e5";
"767107ee-93e3-4518-b5ec-e98e93146038" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "767107ee-93e3-4518-b5ec-e98e93146038";
"2a35d990-58e0-4bf7-a4ac-6bb785c63e6d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "2a35d990-58e0-4bf7-a4ac-6bb785c63e6d";
"4d6ca9ed-9835-4cb7-b4a1-d928827d13a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "4d6ca9ed-9835-4cb7-b4a1-d928827d13a0";
"edda49d1-0dc6-49ad-86a2-064af109eb28" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table2)", shape=box, style=filled];
"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "edda49d1-0dc6-49ad-86a2-064af109eb28";
"9887536b-3036-4fe9-8e42-95a135bbf72e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9887536b-3036-4fe9-8e42-95a135bbf72e";
"2a6bbfc4-191d-403f-9a07-cf34b9e2c60b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "2a6bbfc4-191d-403f-9a07-cf34b9e2c60b";
"3db37505-386c-4e12-9fd3-31f0e70e6e4c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "3db37505-386c-4e12-9fd3-31f0e70e6e4c";
"5e587690-9672-4cb7-984c-3453035be844" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "5e587690-9672-4cb7-984c-3453035be844";
"4969dba1-43fd-4eb8-a778-3f4d68a5888c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable6)", shape=box, style=filled];
"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "4969dba1-43fd-4eb8-a778-3f4d68a5888c";
"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e0e07131-b2a0-4027-b5ea-fbecf06ffac2";
"6829bd74-e762-46dd-b148-4f035ed90c09" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "6829bd74-e762-46dd-b148-4f035ed90c09";
"b40cbe97-a640-4ae8-bd35-602aec157d6e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "b40cbe97-a640-4ae8-bd35-602aec157d6e";
"f2bc444e-b4fa-4923-90ea-98ab2d0a35c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "f2bc444e-b4fa-4923-90ea-98ab2d0a35c5";
"1aaecfad-2976-4980-a2bd-e416f13aa6a0" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar2)", shape=box, style=filled];
"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "1aaecfad-2976-4980-a2bd-e416f13aa6a0";
"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4532eda4-3d8a-4a7c-afb8-965d7b1e00c1";
"19faf346-82f9-4fe7-aabd-e5f246356e2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "19faf346-82f9-4fe7-aabd-e5f246356e2f";
"d3b2633d-4f0e-4935-968d-fbc76e0669fc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "d3b2633d-4f0e-4935-968d-fbc76e0669fc";
"fcb88388-0122-4b52-81ce-4b0bce0c8738" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "fcb88388-0122-4b52-81ce-4b0bce0c8738";
"cb1cecac-1a69-4afd-9ea9-b7b478aee9ec" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled];
"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "cb1cecac-1a69-4afd-9ea9-b7b478aee9ec";
"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ed21b2d8-cbde-49aa-92cc-f7f2cdede502";
"231f11fa-76d7-4bf7-badc-a70971c10969" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "231f11fa-76d7-4bf7-badc-a70971c10969";
"361fcf64-cd7e-49e7-a4d6-5c957e1260b3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "361fcf64-cd7e-49e7-a4d6-5c957e1260b3";
"e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6";
"8695e1e7-a8c6-42ee-9297-c0c5e07af7ee" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled];
"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "8695e1e7-a8c6-42ee-9297-c0c5e07af7ee";
"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3";
"8f6c2db0-4100-416f-a32c-67da97f6eba5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "8f6c2db0-4100-416f-a32c-67da97f6eba5";
"7cfbfd5e-714f-4618-a6a7-b494d06a784a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "7cfbfd5e-714f-4618-a6a7-b494d06a784a";
"38838658-aa73-49e5-979f-f027c66f0d85" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "38838658-aa73-49e5-979f-f027c66f0d85";
"e500e1ef-8af3-447d-bec6-2128412c6a0c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table1)", shape=box, style=filled];
"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "e500e1ef-8af3-447d-bec6-2128412c6a0c";
"65cb22af-1229-42d5-a0c7-1c492c64fa68" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "65cb22af-1229-42d5-a0c7-1c492c64fa68";
"785d9b8b-f69d-400e-b915-9ade0eebff76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "785d9b8b-f69d-400e-b915-9ade0eebff76";
"75b3ff29-74ca-4d94-9e40-7516360c4d67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "75b3ff29-74ca-4d94-9e40-7516360c4d67";
"c7252f21-501e-4755-b5ea-46655c8cf26e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "c7252f21-501e-4755-b5ea-46655c8cf26e";
"7a1c305c-5fa6-4d7f-a40e-67e972addb5e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table3)", shape=box, style=filled];
"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "7a1c305c-5fa6-4d7f-a40e-67e972addb5e";
"284a312a-3d72-45a3-a027-995e3c971d69" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "284a312a-3d72-45a3-a027-995e3c971d69";
"770cfd0c-d73b-4376-9977-e4f21ae117f3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"284a312a-3d72-45a3-a027-995e3c971d69" -> "770cfd0c-d73b-4376-9977-e4f21ae117f3";
"95504520-20f3-4f1a-bde6-7a7e9b8f7578" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"284a312a-3d72-45a3-a027-995e3c971d69" -> "95504520-20f3-4f1a-bde6-7a7e9b8f7578";
"0f28b058-bea9-4930-9ca8-8ea20fb73f34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"284a312a-3d72-45a3-a027-995e3c971d69" -> "0f28b058-bea9-4930-9ca8-8ea20fb73f34";
"edc24e57-f5af-4f52-9c2b-507fd5d8d9dd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled];
"284a312a-3d72-45a3-a027-995e3c971d69" -> "edc24e57-f5af-4f52-9c2b-507fd5d8d9dd";
"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc";
"95d39108-12dc-4933-a631-26a48065a54d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "95d39108-12dc-4933-a631-26a48065a54d";
"74a0452a-4e25-4c65-97dc-95202b838cf6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "74a0452a-4e25-4c65-97dc-95202b838cf6";
"df328e57-132f-4121-bc4f-b01513025fc4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "df328e57-132f-4121-bc4f-b01513025fc4";
"1beb843e-f403-406c-a0eb-73f65724ffaa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table2)", shape=box, style=filled];
"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "1beb843e-f403-406c-a0eb-73f65724ffaa";
"eb598ac4-416d-4ad7-96b1-a069c34f080f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "eb598ac4-416d-4ad7-96b1-a069c34f080f";
"5f7e5384-4a91-401a-bb2c-3639ea01c74f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "5f7e5384-4a91-401a-bb2c-3639ea01c74f";
"3925dd0d-d6af-4b90-8c81-03971027962d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "3925dd0d-d6af-4b90-8c81-03971027962d";
"31c8ba85-a73b-453a-b84a-b69abf1a6407" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "31c8ba85-a73b-453a-b84a-b69abf1a6407";
"a098eb55-17cd-4a13-ba7b-d1ff643791b5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable6)", shape=box, style=filled];
"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "a098eb55-17cd-4a13-ba7b-d1ff643791b5";
"63bc2131-0c88-4373-a53c-ead94fb82fa6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "63bc2131-0c88-4373-a53c-ead94fb82fa6";
"b6f923dc-f64d-4075-b70e-c59653640019" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "b6f923dc-f64d-4075-b70e-c59653640019";
"dc165b15-93fb-4012-8469-d00b74105ab4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "dc165b15-93fb-4012-8469-d00b74105ab4";
"98dc8e33-be99-4706-bcd6-853ef1f59404" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "98dc8e33-be99-4706-bcd6-853ef1f59404";
"bcbf2ae0-66e2-48d2-a33e-646e2b302eb9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar2)", shape=box, style=filled];
"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "bcbf2ae0-66e2-48d2-a33e-646e2b302eb9";
"c73357e2-9507-4b95-bc2e-1486b65b5dc6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c73357e2-9507-4b95-bc2e-1486b65b5dc6";
"64dec7d4-c93f-4a4a-b66b-e906d003181a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "64dec7d4-c93f-4a4a-b66b-e906d003181a";
"ee21bb6e-335f-4224-adfc-a8ad63cb81a7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "ee21bb6e-335f-4224-adfc-a8ad63cb81a7";
"893a8547-460e-4d21-aa84-40f64bb2e9a8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "893a8547-460e-4d21-aa84-40f64bb2e9a8";
"1d94680f-c629-4d6d-999e-0758d631b25c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled];
"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "1d94680f-c629-4d6d-999e-0758d631b25c";
"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "d410dc89-cc3e-4a1f-b56f-ada8becfb7cf";
"5459849f-8fd9-443f-a05a-81e03bce8d76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "5459849f-8fd9-443f-a05a-81e03bce8d76";
"85d84939-a598-4c49-b68e-d94b95b824ca" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "85d84939-a598-4c49-b68e-d94b95b824ca";
"e90502db-5eb0-4322-8837-05bdf6597b67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "e90502db-5eb0-4322-8837-05bdf6597b67";
"1b87e119-b5fd-4cdf-9721-aacdad09cd8e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled];
"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "1b87e119-b5fd-4cdf-9721-aacdad09cd8e";
"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78bdfd28-939b-4c3a-94f9-b090dbf7a5d2";
"17649c21-8cb3-455e-961b-8f3a2e08b0d1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "17649c21-8cb3-455e-961b-8f3a2e08b0d1";
"810ba04b-2e29-44e5-9fa7-bb09db26d6e4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "810ba04b-2e29-44e5-9fa7-bb09db26d6e4";
"efbec7d6-b5c4-40e9-974b-3a93fe9d3f81" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "efbec7d6-b5c4-40e9-974b-3a93fe9d3f81";
"6e6970e0-5cdc-4630-8312-eb3fa088c9c6" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table1)", shape=box, style=filled];
"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "6e6970e0-5cdc-4630-8312-eb3fa088c9c6";
"1ed8f099-82a7-4dce-aade-6c1a34ab851d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1ed8f099-82a7-4dce-aade-6c1a34ab851d";
"8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af";
"8fd2b91f-c13a-41a1-8694-8cb9197619bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "8fd2b91f-c13a-41a1-8694-8cb9197619bf";
"d01a2e6c-efc7-45f5-a300-d234ae329d50" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "d01a2e6c-efc7-45f5-a300-d234ae329d50";
"d80d7998-97cb-415d-9a41-0478bfe1cad1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table3)", shape=box, style=filled];
"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "d80d7998-97cb-415d-9a41-0478bfe1cad1";
"8b7f4740-53bb-44b0-811f-c4420e979178" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8b7f4740-53bb-44b0-811f-c4420e979178";
"b32e86aa-51d6-4717-81dd-2d454d53bf28" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"8b7f4740-53bb-44b0-811f-c4420e979178" -> "b32e86aa-51d6-4717-81dd-2d454d53bf28";
"dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"8b7f4740-53bb-44b0-811f-c4420e979178" -> "dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc";
"c7385cd5-e7de-4ae8-9411-ebf16e72c709" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"8b7f4740-53bb-44b0-811f-c4420e979178" -> "c7385cd5-e7de-4ae8-9411-ebf16e72c709";
"a52755f7-9807-4f91-bb2b-b9a07ba6d68b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled];
"8b7f4740-53bb-44b0-811f-c4420e979178" -> "a52755f7-9807-4f91-bb2b-b9a07ba6d68b";
"09ad191e-0b49-44e3-b66b-ea5805a0d063" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "09ad191e-0b49-44e3-b66b-ea5805a0d063";
"9148246d-12dd-4280-b737-7893719e9f29" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "9148246d-12dd-4280-b737-7893719e9f29";
"5ca7808d-bdcd-4a21-9497-1daa46cd30a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "5ca7808d-bdcd-4a21-9497-1daa46cd30a2";
"eba2baf1-3cb1-430d-8f6b-3aa6cf752191" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "eba2baf1-3cb1-430d-8f6b-3aa6cf752191";
"de485576-b0e9-42f1-a393-4861c45ece7b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table2)", shape=box, style=filled];
"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "de485576-b0e9-42f1-a393-4861c45ece7b";
"df60fa57-fb7c-4315-829e-ae47d6507683" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "df60fa57-fb7c-4315-829e-ae47d6507683";
"b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"df60fa57-fb7c-4315-829e-ae47d6507683" -> "b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac";
"0d4d8178-342e-46bc-8d35-727ce998834a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"df60fa57-fb7c-4315-829e-ae47d6507683" -> "0d4d8178-342e-46bc-8d35-727ce998834a";
"c962ca71-ba64-4739-bb55-291905b9d044" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"df60fa57-fb7c-4315-829e-ae47d6507683" -> "c962ca71-ba64-4739-bb55-291905b9d044";
"359e7b79-0ab6-4412-89c6-9dd89858bf5c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable6)", shape=box, style=filled];
"df60fa57-fb7c-4315-829e-ae47d6507683" -> "359e7b79-0ab6-4412-89c6-9dd89858bf5c";
"61b2ff09-78eb-4c57-bd55-69a316cb9440" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "61b2ff09-78eb-4c57-bd55-69a316cb9440";
"62d0baea-9b48-44e6-8205-2cd2e993c059" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "62d0baea-9b48-44e6-8205-2cd2e993c059";
"d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1";
"26d4ec74-56f9-405a-bf06-d764c124388b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "26d4ec74-56f9-405a-bf06-d764c124388b";
"78db2bad-fd3c-4233-8577-9b0660280967" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar2)", shape=box, style=filled];
"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "78db2bad-fd3c-4233-8577-9b0660280967";
"1d380410-b9cb-4485-8b75-522184c8b79e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1d380410-b9cb-4485-8b75-522184c8b79e";
"1d665acf-11da-4286-8bc3-86aafcea6acb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"1d380410-b9cb-4485-8b75-522184c8b79e" -> "1d665acf-11da-4286-8bc3-86aafcea6acb";
"c415c194-e186-4df7-89ad-4ae3a3bb4b09" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"1d380410-b9cb-4485-8b75-522184c8b79e" -> "c415c194-e186-4df7-89ad-4ae3a3bb4b09";
"1559205a-5cea-419d-b812-1f1b7553fdb3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"1d380410-b9cb-4485-8b75-522184c8b79e" -> "1559205a-5cea-419d-b812-1f1b7553fdb3";
"f66acea1-64f5-4a3a-aeee-997a01014b5a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled];
"1d380410-b9cb-4485-8b75-522184c8b79e" -> "f66acea1-64f5-4a3a-aeee-997a01014b5a";
"75e8a180-6634-4047-866e-c2253f8d52fa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "75e8a180-6634-4047-866e-c2253f8d52fa";
"004a459c-4331-4886-a579-93a03145a6d1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"75e8a180-6634-4047-866e-c2253f8d52fa" -> "004a459c-4331-4886-a579-93a03145a6d1";
"fd6c59e6-f428-4c56-88ef-46d49dee80ea" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"75e8a180-6634-4047-866e-c2253f8d52fa" -> "fd6c59e6-f428-4c56-88ef-46d49dee80ea";
"93326d8d-a4d5-4478-b7e3-8fbc9d97d592" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"75e8a180-6634-4047-866e-c2253f8d52fa" -> "93326d8d-a4d5-4478-b7e3-8fbc9d97d592";
"9687f2a4-c21e-419a-8943-27055cb05cb9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled];
"75e8a180-6634-4047-866e-c2253f8d52fa" -> "9687f2a4-c21e-419a-8943-27055cb05cb9";
"5b40ac65-c718-4868-b2df-9eb0e0ee8789" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5b40ac65-c718-4868-b2df-9eb0e0ee8789";
"2621b2f4-5418-4608-8065-ab6d3aea2614" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "2621b2f4-5418-4608-8065-ab6d3aea2614";
"ac3a7ceb-bdd3-4138-937d-746379f8c540" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "ac3a7ceb-bdd3-4138-937d-746379f8c540";
"522215bb-a6ea-4d27-931c-9817d9245b89" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "522215bb-a6ea-4d27-931c-9817d9245b89";
"90288017-982c-4eac-88fa-39ab7c1e1593" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table1)", shape=box, style=filled];
"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "90288017-982c-4eac-88fa-39ab7c1e1593";
"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "19d68e28-8671-4c3d-bb9e-97e9f6d0136f";
"3de1b84b-9fcb-4984-b9a7-d60589f0cc3c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "3de1b84b-9fcb-4984-b9a7-d60589f0cc3c";
"6da08102-3469-4673-9de1-dcea35c718e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "6da08102-3469-4673-9de1-dcea35c718e9";
"13724b32-e1d4-4432-b941-37db3ffa95ab" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "13724b32-e1d4-4432-b941-37db3ffa95ab";
"e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table3)", shape=box, style=filled];
"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879";
"6fff1ec3-ff11-4be5-aad1-800e30bb2287" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6fff1ec3-ff11-4be5-aad1-800e30bb2287";
"a8d13c48-31cc-49d3-9910-0fadd43918ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "a8d13c48-31cc-49d3-9910-0fadd43918ee";
"226b3761-761c-427c-b379-a43381dc900c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "226b3761-761c-427c-b379-a43381dc900c";
"4afaafec-8189-4581-8435-7a1ebee4d714" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "4afaafec-8189-4581-8435-7a1ebee4d714";
"0e0e41cb-aec9-483f-8ca0-eb77eddec30c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,WaterTable)", shape=box, style=filled];
"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "0e0e41cb-aec9-483f-8ca0-eb77eddec30c";
"a1e0de8a-d06f-43ad-83d4-2048520730c4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a1e0de8a-d06f-43ad-83d4-2048520730c4";
"d6131a22-7806-4b2f-9470-2aef3e2ec3af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "d6131a22-7806-4b2f-9470-2aef3e2ec3af";
"5d8cc54a-40d1-414d-a031-1b78b537ed7b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "5d8cc54a-40d1-414d-a031-1b78b537ed7b";
"58ccec5d-0426-4410-94fd-8a2b6d5c6280" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "58ccec5d-0426-4410-94fd-8a2b6d5c6280";
"fb432a35-8995-4178-8e77-418f7e5bd831" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table2)", shape=box, style=filled];
"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "fb432a35-8995-4178-8e77-418f7e5bd831";
"98a8ca8e-1929-41ea-a900-bebfa01afb51" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "98a8ca8e-1929-41ea-a900-bebfa01afb51";
"24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07";
"3558b7a8-169e-4021-8c69-80c65384457f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "3558b7a8-169e-4021-8c69-80c65384457f";
"28c5ea88-8b51-4a0a-b1d6-50dac1b2e246" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "28c5ea88-8b51-4a0a-b1d6-50dac1b2e246";
"23b531fa-28bb-411c-a787-4bf30e67feb5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,BrightTable6)", shape=box, style=filled];
"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "23b531fa-28bb-411c-a787-4bf30e67feb5";
"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57";
"7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094";
"09ba9f11-9eff-4cbd-93b1-77d070c7fb5e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "09ba9f11-9eff-4cbd-93b1-77d070c7fb5e";
"ff10e040-6325-4d34-a9c0-538537bd383f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "ff10e040-6325-4d34-a9c0-538537bd383f";
"7cb545a8-8b54-4b0c-8f5d-f826c9c0130b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar2)", shape=box, style=filled];
"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "7cb545a8-8b54-4b0c-8f5d-f826c9c0130b";
"acd77041-d998-4b3d-8015-ff02adc5e9aa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "acd77041-d998-4b3d-8015-ff02adc5e9aa";
"573c1414-84da-4963-aafd-3b5b0741fb26" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "573c1414-84da-4963-aafd-3b5b0741fb26";
"c3fb52b1-e056-4d70-aa92-c461fb8f60a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "c3fb52b1-e056-4d70-aa92-c461fb8f60a0";
"1a8fb1aa-8995-4f47-9006-dad1ea152482" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "1a8fb1aa-8995-4f47-9006-dad1ea152482";
"4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,CoffeeTable)", shape=box, style=filled];
"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3";
"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ddd8d7c3-e6f2-4f81-9017-881d6918b1d7";
"5e80cf61-0551-46b2-9c1a-9cf5f62b7590" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "5e80cf61-0551-46b2-9c1a-9cf5f62b7590";
"bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6";
"03ca2da0-9f7d-4295-a463-7fdfa03d843a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "03ca2da0-9f7d-4295-a463-7fdfa03d843a";
"9e2f566c-180e-47a3-be93-68d15adf9d2e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled];
"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "9e2f566c-180e-47a3-be93-68d15adf9d2e";
"1e84c50a-a784-4a87-942d-5641735b7261" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1e84c50a-a784-4a87-942d-5641735b7261";
"02e0b587-5ee7-4404-a618-9ca4284229de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"1e84c50a-a784-4a87-942d-5641735b7261" -> "02e0b587-5ee7-4404-a618-9ca4284229de";
"8da00d8f-8b92-4fab-9cec-9bd340ab7ce6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"1e84c50a-a784-4a87-942d-5641735b7261" -> "8da00d8f-8b92-4fab-9cec-9bd340ab7ce6";
"b4e13124-75f6-42c0-946e-71720c7ce550" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"1e84c50a-a784-4a87-942d-5641735b7261" -> "b4e13124-75f6-42c0-946e-71720c7ce550";
"066122f7-b148-4d34-941e-0f42dac050e1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table1)", shape=box, style=filled];
"1e84c50a-a784-4a87-942d-5641735b7261" -> "066122f7-b148-4d34-941e-0f42dac050e1";
"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5c234a7c-54c3-44c9-8bf0-cb7b151c5b49";
"a7845e8c-1c7b-460d-8c77-0141c4caa8b9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "a7845e8c-1c7b-460d-8c77-0141c4caa8b9";
"32cc9641-c3e9-49e1-bdeb-f1150327e00d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "32cc9641-c3e9-49e1-bdeb-f1150327e00d";
"5cc57e95-ffd4-4e15-ac92-6ff5d16c281f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "5cc57e95-ffd4-4e15-ac92-6ff5d16c281f";
"2cfaa496-e96c-4406-b1a1-228cc1c06fa1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table3)", shape=box, style=filled];
"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "2cfaa496-e96c-4406-b1a1-228cc1c06fa1";
"a94c8304-2941-4238-8972-c2455f8bc22e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a94c8304-2941-4238-8972-c2455f8bc22e";
"214325db-3636-4fc0-9722-43b5f03e6b8b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"a94c8304-2941-4238-8972-c2455f8bc22e" -> "214325db-3636-4fc0-9722-43b5f03e6b8b";
"80a7f9f1-0704-4d55-b1ed-56c5783b9a87" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"a94c8304-2941-4238-8972-c2455f8bc22e" -> "80a7f9f1-0704-4d55-b1ed-56c5783b9a87";
"f64a69db-71bc-4d57-b188-f66bf72548fb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"a94c8304-2941-4238-8972-c2455f8bc22e" -> "f64a69db-71bc-4d57-b188-f66bf72548fb";
"e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled];
"a94c8304-2941-4238-8972-c2455f8bc22e" -> "e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42";
"c6b0da5f-132f-46cc-8e0e-7c462f767f01" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c6b0da5f-132f-46cc-8e0e-7c462f767f01";
"b829c35a-fa31-4139-a84a-abc9c1ef2b2b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "b829c35a-fa31-4139-a84a-abc9c1ef2b2b";
"8ff7ea8d-12bb-49da-8041-ab3d11e969f0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "8ff7ea8d-12bb-49da-8041-ab3d11e969f0";
"eabdfab2-570c-406a-8307-948cc4930fa4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "eabdfab2-570c-406a-8307-948cc4930fa4";
"e05b1e1f-5577-4a0d-9d35-05929ec54d09" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table2)", shape=box, style=filled];
"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "e05b1e1f-5577-4a0d-9d35-05929ec54d09";
"040eee78-88c2-4e2b-8caf-7fcc268e4e58" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "040eee78-88c2-4e2b-8caf-7fcc268e4e58";
"20d23750-f968-4948-8f22-ebb3fd379244" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "20d23750-f968-4948-8f22-ebb3fd379244";
"5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766";
"95770c92-f247-4e13-9e77-f0cca209ad6e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "95770c92-f247-4e13-9e77-f0cca209ad6e";
"4a83eab6-179d-4288-8045-9b307b54bf7f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable6)", shape=box, style=filled];
"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "4a83eab6-179d-4288-8045-9b307b54bf7f";
"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2885ff72-07b6-4911-b4d6-9fdc3d5ace22";
"ebe54ba5-61a3-4580-9670-1efe50b33cb5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "ebe54ba5-61a3-4580-9670-1efe50b33cb5";
"21a6f9d1-a2de-4e3f-9d87-a931701e65ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "21a6f9d1-a2de-4e3f-9d87-a931701e65ac";
"f363edb6-9808-4d4f-8f3c-9b26fadf6b53" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "f363edb6-9808-4d4f-8f3c-9b26fadf6b53";
"f9a19c8a-4fc6-4369-adba-57b1578cba20" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar2)", shape=box, style=filled];
"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "f9a19c8a-4fc6-4369-adba-57b1578cba20";
"6bf2333d-e5c5-445f-b282-38cdacc4a954" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6bf2333d-e5c5-445f-b282-38cdacc4a954";
"8fd5dd34-8bae-4ab5-baa5-09673b0f669e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "8fd5dd34-8bae-4ab5-baa5-09673b0f669e";
"4508fbcf-3473-4434-956b-4b65b86a34e2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "4508fbcf-3473-4434-956b-4b65b86a34e2";
"fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b";
"46a3cf04-6b14-4881-8e1c-1646c5ce972c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled];
"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "46a3cf04-6b14-4881-8e1c-1646c5ce972c";
"37f56b5e-2868-4788-854a-1e57f66d7f73" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "37f56b5e-2868-4788-854a-1e57f66d7f73";
"88c95099-5835-4b0b-81dd-3e0c4628480a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "88c95099-5835-4b0b-81dd-3e0c4628480a";
"2908e8ec-8af2-4f0b-a18c-c65c000e04bb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "2908e8ec-8af2-4f0b-a18c-c65c000e04bb";
"4c2e6ff8-3ab0-4c48-aa94-632a407475a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "4c2e6ff8-3ab0-4c48-aa94-632a407475a0";
"bcd2a534-278c-4ad3-9968-0e4c8e36daa4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled];
"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "bcd2a534-278c-4ad3-9968-0e4c8e36daa4";
"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4";
"dd11c028-4577-44d4-a106-fc51db14a110" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "dd11c028-4577-44d4-a106-fc51db14a110";
"a69543fa-c97b-4f30-aa20-dfe086cc8d40" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "a69543fa-c97b-4f30-aa20-dfe086cc8d40";
"aa92fb94-9d3c-4124-8f36-9d07912c9547" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "aa92fb94-9d3c-4124-8f36-9d07912c9547";
"cae3a015-890d-4e05-af0e-34400334b786" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table1)", shape=box, style=filled];
"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "cae3a015-890d-4e05-af0e-34400334b786";
"f699b546-e05b-4c99-9edf-b5d153dbe9c9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f699b546-e05b-4c99-9edf-b5d153dbe9c9";
"57233856-9b22-46b3-b77c-ef31438ee9b1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "57233856-9b22-46b3-b77c-ef31438ee9b1";
"50dcfc1a-ba23-4c84-9bac-a4b7e6106828" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "50dcfc1a-ba23-4c84-9bac-a4b7e6106828";
"686de2a9-1587-4153-a684-d707afb0bf34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "686de2a9-1587-4153-a684-d707afb0bf34";
"e41776ac-8d0a-48d3-88b3-e7a619f86249" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table3)", shape=box, style=filled];
"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "e41776ac-8d0a-48d3-88b3-e7a619f86249";
"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8f6810ba-b72b-4dd1-b862-5ace3795ca8d";
"fd49b5b4-4d53-4ec4-b982-fdd19511786c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "fd49b5b4-4d53-4ec4-b982-fdd19511786c";
"7004dcf6-7f1b-47db-acd8-fc41b6cbe280" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "7004dcf6-7f1b-47db-acd8-fc41b6cbe280";
"4818bba3-a0d7-4033-8eee-a25cbc54461d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "4818bba3-a0d7-4033-8eee-a25cbc54461d";
"05a3a6db-81ad-4e0d-be52-70de9e83187a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled];
"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "05a3a6db-81ad-4e0d-be52-70de9e83187a";
"2876effb-ca3d-4142-b508-efc836813b5e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2876effb-ca3d-4142-b508-efc836813b5e";
"df18a38f-65b7-4b64-8f17-79b7f1ea3bf3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"2876effb-ca3d-4142-b508-efc836813b5e" -> "df18a38f-65b7-4b64-8f17-79b7f1ea3bf3";
"17f3ab70-4026-40ec-b02a-51fde2ab8c8d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"2876effb-ca3d-4142-b508-efc836813b5e" -> "17f3ab70-4026-40ec-b02a-51fde2ab8c8d";
"b2442fb3-7b31-4e13-b044-92d5de79c57c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"2876effb-ca3d-4142-b508-efc836813b5e" -> "b2442fb3-7b31-4e13-b044-92d5de79c57c";
"2582ccb0-2b72-4f2f-9a53-ab063a694812" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table2)", shape=box, style=filled];
"2876effb-ca3d-4142-b508-efc836813b5e" -> "2582ccb0-2b72-4f2f-9a53-ab063a694812";
"3d60312c-00e9-4561-a16c-b48cfc84eefd" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3d60312c-00e9-4561-a16c-b48cfc84eefd";
"5d485ab1-de5c-43a4-ad59-ec7b07a226f1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "5d485ab1-de5c-43a4-ad59-ec7b07a226f1";
"1779c41e-3f87-4994-b6ca-3a1caed4b54c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "1779c41e-3f87-4994-b6ca-3a1caed4b54c";
"ac7f3fdc-027e-497a-a49f-f140bb6abc59" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "ac7f3fdc-027e-497a-a49f-f140bb6abc59";
"4f9ea29c-7d12-479c-83e4-24a645d68def" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable6)", shape=box, style=filled];
"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "4f9ea29c-7d12-479c-83e4-24a645d68def";
"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0";
"faee8157-ece2-4fcd-bcab-4139e2eea7fd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "faee8157-ece2-4fcd-bcab-4139e2eea7fd";
"72ca4076-9a8f-48ae-a691-80246f8de1da" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "72ca4076-9a8f-48ae-a691-80246f8de1da";
"02771446-4abd-4093-9d66-35512f617505" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "02771446-4abd-4093-9d66-35512f617505";
"9253797b-d776-47f3-9b2f-a33a903652a5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar2)", shape=box, style=filled];
"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "9253797b-d776-47f3-9b2f-a33a903652a5";
"84a3f177-524d-46ee-a62b-7c3fe623caa2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "84a3f177-524d-46ee-a62b-7c3fe623caa2";
"55ebd3c6-1746-4625-9dec-a3799565b79e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "55ebd3c6-1746-4625-9dec-a3799565b79e";
"7895800a-d750-48fd-b850-a9f82a4f4095" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "7895800a-d750-48fd-b850-a9f82a4f4095";
"a202c55c-0c8a-4981-bf53-70993766f36b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "a202c55c-0c8a-4981-bf53-70993766f36b";
"029afb26-1bae-4813-8e5b-7296b75a289f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled];
"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "029afb26-1bae-4813-8e5b-7296b75a289f";
"efaad31a-ff61-41f3-bfff-9e384cc3fa65" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "efaad31a-ff61-41f3-bfff-9e384cc3fa65";
"cd751e9d-35d3-4dd6-bc54-52307d763f99" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "cd751e9d-35d3-4dd6-bc54-52307d763f99";
"02397c00-692c-4836-b7e5-3f9bd9c22c31" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "02397c00-692c-4836-b7e5-3f9bd9c22c31";
"a264bd52-a4b2-46f3-ad43-b36bacd5c2ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "a264bd52-a4b2-46f3-ad43-b36bacd5c2ae";
"22474561-32bc-4b0b-84db-d3b6ad04f82b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled];
"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "22474561-32bc-4b0b-84db-d3b6ad04f82b";
"97b8656b-ea76-443b-ae5c-4efd90b261c1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "97b8656b-ea76-443b-ae5c-4efd90b261c1";
"b3158e70-5918-4364-895e-55efc2e869f5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "b3158e70-5918-4364-895e-55efc2e869f5";
"e1e3713a-4222-4c0c-a92a-572112a29376" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "e1e3713a-4222-4c0c-a92a-572112a29376";
"86a5ecff-ca4d-49a8-a318-28490c064610" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "86a5ecff-ca4d-49a8-a318-28490c064610";
"e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table1)", shape=box, style=filled];
"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca";
"018a5b68-416b-4d0c-99cb-eb0eae0b9168" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "018a5b68-416b-4d0c-99cb-eb0eae0b9168";
"b6da636a-7600-4a9a-8d44-4ce9966b62da" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "b6da636a-7600-4a9a-8d44-4ce9966b62da";
"3e616032-2983-4e57-8cc1-bda4ab716af8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "3e616032-2983-4e57-8cc1-bda4ab716af8";
"f1738bc3-0250-4a7d-ac0a-5f44ffc9c651" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "f1738bc3-0250-4a7d-ac0a-5f44ffc9c651";
"fc6107a1-74fc-4aa1-86ad-023f11eadab8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table3)", shape=box, style=filled];
"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "fc6107a1-74fc-4aa1-86ad-023f11eadab8";
"38c16f1a-f96c-4fe3-8311-a127d2776b2d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "38c16f1a-f96c-4fe3-8311-a127d2776b2d";
"60de17bb-5da1-467c-a7b6-762d4c7f0149" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "60de17bb-5da1-467c-a7b6-762d4c7f0149";
"1a114bc8-8e4e-4a5f-bb20-6cc324f48eff" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "1a114bc8-8e4e-4a5f-bb20-6cc324f48eff";
"5e704e53-af3c-448d-af95-26f169a787e8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "5e704e53-af3c-448d-af95-26f169a787e8";
"d1cfff06-f903-4d34-9a30-3ef8ea60aa2f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "d1cfff06-f903-4d34-9a30-3ef8ea60aa2f";
"33683c65-44e2-44e7-9359-77c03040e37b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "33683c65-44e2-44e7-9359-77c03040e37b";
"5544234a-4c2a-4f78-997d-f5decc14416b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"33683c65-44e2-44e7-9359-77c03040e37b" -> "5544234a-4c2a-4f78-997d-f5decc14416b";
"18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"33683c65-44e2-44e7-9359-77c03040e37b" -> "18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0";
"94b48989-4317-46f8-9007-ef9c45fe8226" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"33683c65-44e2-44e7-9359-77c03040e37b" -> "94b48989-4317-46f8-9007-ef9c45fe8226";
"4673a463-f02b-4e3f-9ad3-2868f26af138" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table2)", shape=box, style=filled];
"33683c65-44e2-44e7-9359-77c03040e37b" -> "4673a463-f02b-4e3f-9ad3-2868f26af138";
"a463677f-e8ae-4929-82db-0e6b689945c8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a463677f-e8ae-4929-82db-0e6b689945c8";
"55e9307c-e1e3-4adb-abfc-1582a5a82bb9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"a463677f-e8ae-4929-82db-0e6b689945c8" -> "55e9307c-e1e3-4adb-abfc-1582a5a82bb9";
"e4939914-0675-4ab3-9612-383312642f58" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"a463677f-e8ae-4929-82db-0e6b689945c8" -> "e4939914-0675-4ab3-9612-383312642f58";
"604de4d6-0f65-4141-97fb-987fa8506620" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"a463677f-e8ae-4929-82db-0e6b689945c8" -> "604de4d6-0f65-4141-97fb-987fa8506620";
"573139c7-06c4-4545-ab96-18d4d205ecee" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
"a463677f-e8ae-4929-82db-0e6b689945c8" -> "573139c7-06c4-4545-ab96-18d4d205ecee";
"7593f2d6-fe85-4e68-b19d-a7694724f841" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7593f2d6-fe85-4e68-b19d-a7694724f841";
"7eebdc6f-41cf-452e-b868-1a4f69dd6bc7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "7eebdc6f-41cf-452e-b868-1a4f69dd6bc7";
"776464c9-b203-492f-9bce-dda58742d8e7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "776464c9-b203-492f-9bce-dda58742d8e7";
"9b967dc8-ae0a-49d1-867e-400a617a0663" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "9b967dc8-ae0a-49d1-867e-400a617a0663";
"73b78d0c-312d-49bf-8971-93860b261e30" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar2)", shape=box, style=filled];
"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "73b78d0c-312d-49bf-8971-93860b261e30";
"82038484-692e-4cfe-b9b7-ac123820226d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "82038484-692e-4cfe-b9b7-ac123820226d";
"b7ba2eb4-4b7a-49da-b87f-b93cf637b6de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"82038484-692e-4cfe-b9b7-ac123820226d" -> "b7ba2eb4-4b7a-49da-b87f-b93cf637b6de";
"a1138811-41e9-4caa-959b-c5843c031f76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"82038484-692e-4cfe-b9b7-ac123820226d" -> "a1138811-41e9-4caa-959b-c5843c031f76";
"f8e3a85b-2885-4e8d-916b-f817884366ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"82038484-692e-4cfe-b9b7-ac123820226d" -> "f8e3a85b-2885-4e8d-916b-f817884366ee";
"e44bc230-c551-45a1-b4d9-61be9f9c0423" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled];
"82038484-692e-4cfe-b9b7-ac123820226d" -> "e44bc230-c551-45a1-b4d9-61be9f9c0423";
"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f87c9dbe-31a3-464f-9e67-8c70798f9a7d";
"9afea05a-c36b-4d6f-9272-6b9354a6a2be" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "9afea05a-c36b-4d6f-9272-6b9354a6a2be";
"e7cd592c-8224-4632-9b3c-6ad06795d3d5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "e7cd592c-8224-4632-9b3c-6ad06795d3d5";
"1ae9079e-d43a-4b7d-adb7-36cdba33a8b1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "1ae9079e-d43a-4b7d-adb7-36cdba33a8b1";
"ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled];
"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2";
"784fb422-8f36-4289-a2bf-223bbd31ee6e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "784fb422-8f36-4289-a2bf-223bbd31ee6e";
"1909c93c-ab64-4c00-8536-7109c94ea6df" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "1909c93c-ab64-4c00-8536-7109c94ea6df";
"ccfb3ac9-5f3e-498d-b085-fd6cd9338902" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "ccfb3ac9-5f3e-498d-b085-fd6cd9338902";
"016450b6-d8e5-4456-ab33-eba66b36ffac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "016450b6-d8e5-4456-ab33-eba66b36ffac";
"49f1cba1-a414-4dc0-a7ea-1e0ed98e719c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table1)", shape=box, style=filled];
"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "49f1cba1-a414-4dc0-a7ea-1e0ed98e719c";
"109768db-12b0-41a4-8226-6f96d779e3d5" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "109768db-12b0-41a4-8226-6f96d779e3d5";
"9af02d7d-39cf-4987-90f4-d4fea388cf37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"109768db-12b0-41a4-8226-6f96d779e3d5" -> "9af02d7d-39cf-4987-90f4-d4fea388cf37";
"450562f4-5a14-49db-be60-6b3cc0eae93f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"109768db-12b0-41a4-8226-6f96d779e3d5" -> "450562f4-5a14-49db-be60-6b3cc0eae93f";
"41ceae0b-68fc-420a-8735-dbfec8e72d38" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "41ceae0b-68fc-420a-8735-dbfec8e72d38";
"1c5f6fc5-6e2c-4e5c-8fda-601e1aa828c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
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"c44037e3-eb9c-4aa1-815d-be9c4b5e3837" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
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"f6a3cdec-945f-4fb3-a8c4-4d7c7db23156" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled];
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"ada9434e-20ec-47ff-b2a0-4ba2fddab49d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled];
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"23ba663b-e4ed-4bdb-9880-1ae659285da8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "23ba663b-e4ed-4bdb-9880-1ae659285da8";
"edf7b141-6b2c-423e-8271-839eef1737a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "edf7b141-6b2c-423e-8271-839eef1737a0";
"55e7e618-e470-47c6-a6b2-32af1c00f3e0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
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"032d5ec0-766b-4948-b89f-8aa4c2882ebd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled];
"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "032d5ec0-766b-4948-b89f-8aa4c2882ebd";
"74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa";
"04c01937-83ad-4168-8f33-e4cf144778f7" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "04c01937-83ad-4168-8f33-e4cf144778f7";
"b3d9f9ed-1889-4bce-a19c-5d6030eeb58c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"04c01937-83ad-4168-8f33-e4cf144778f7" -> "b3d9f9ed-1889-4bce-a19c-5d6030eeb58c";
"3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"04c01937-83ad-4168-8f33-e4cf144778f7" -> "3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf";
"a8f048f4-57f3-4525-a480-b23e5ef45fb7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled];
"04c01937-83ad-4168-8f33-e4cf144778f7" -> "a8f048f4-57f3-4525-a480-b23e5ef45fb7";
"f899bbec-c855-48c2-a023-4ccdabc9d7de" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled];
"04c01937-83ad-4168-8f33-e4cf144778f7" -> "f899bbec-c855-48c2-a023-4ccdabc9d7de";
"59daba0d-476e-460d-b837-4e236b595718" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "59daba0d-476e-460d-b837-4e236b595718";
"22bd71df-207f-4d8c-a20f-14b5c94ada53" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"59daba0d-476e-460d-b837-4e236b595718" -> "22bd71df-207f-4d8c-a20f-14b5c94ada53";
"09e9bcbb-7a51-448c-aa9d-f5f7d12224a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled];
"59daba0d-476e-460d-b837-4e236b595718" -> "09e9bcbb-7a51-448c-aa9d-f5f7d12224a0";
"052b4dde-9296-4712-b5d9-b1c22c7c94d4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"59daba0d-476e-460d-b837-4e236b595718" -> "052b4dde-9296-4712-b5d9-b1c22c7c94d4";
"146d6b03-6647-453a-8a66-aebbdeb58446" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled];
"59daba0d-476e-460d-b837-4e236b595718" -> "146d6b03-6647-453a-8a66-aebbdeb58446";
"b7bf64bd-5b5b-4db6-9920-0ec860467344" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "b7bf64bd-5b5b-4db6-9920-0ec860467344";
"fb136ee9-b47d-4d0f-aaa6-233f4cfb4c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled];
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"7f0bb7a0-5bf8-4dac-9336-3b77b384d06f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "7f0bb7a0-5bf8-4dac-9336-3b77b384d06f";
"31817388-afd1-402d-8462-75dcf5f0d00d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "31817388-afd1-402d-8462-75dcf5f0d00d";
"72ecdc8d-2f28-4650-be51-38662a905fc6" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled];
"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "72ecdc8d-2f28-4650-be51-38662a905fc6";
"3540cffb-7f51-45c8-b0a4-17fb4941da00" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3540cffb-7f51-45c8-b0a4-17fb4941da00";
"d5432c3d-e130-4143-8db9-034c907fa91a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
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"785fc236-0326-44a1-bd4e-941d378a4b9f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled];
"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "785fc236-0326-44a1-bd4e-941d378a4b9f";
"8e7695b5-d475-471d-bd65-032410b8bb1e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "8e7695b5-d475-471d-bd65-032410b8bb1e";
"b2eaf8e6-f231-4150-970b-8ea4b25e22b8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled];
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"3f641b65-4a20-45fd-a47a-615409e456db" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
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"6e2cbad4-8704-4797-bebe-26479f034d37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"c3cde207-2c63-443f-875e-9afce498efe1" -> "6e2cbad4-8704-4797-bebe-26479f034d37";
"f1b757df-7bad-4e95-966f-858c07952d5f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled];
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"53ce4c26-8884-4347-bb99-48dd6c342798" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled];
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"59e1721c-75f6-4c2c-9c82-ded13f40a986" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
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"ac026599-2d65-4272-9aae-94a28f6c850e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled];
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"9382fb12-7fe0-4c32-8ae9-f4edec2fa5c8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
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"56518992-5572-4b74-b482-d45c36d4447b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled];
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"1db2be02-576a-4958-b7dc-9357558dc990" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Softdrink)", shape=box, style=filled];
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"9e92e395-25fc-4f11-a57b-e37b90fe1038" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
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"ade0bce3-b584-448d-b71e-8a70f923336f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled];
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"bec26c0a-8ec0-438a-9002-dc49faabf69f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
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"4ade30cb-d086-4988-b120-d29dae76ccc3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"65356aeb-900c-4990-ae3d-f438db332244" -> "4ade30cb-d086-4988-b120-d29dae76ccc3";
"f0eaf9f9-e6a1-4385-a373-304a42236b56" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled];
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"fdab7e84-f49b-4992-85e6-53c08199e2b1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled];
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"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
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"b1b95615-1199-47ab-b126-00a2a96c0f70" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled];
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"bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" -> "bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b";
"32928fbc-6790-4c5c-abf8-7849d4e32bd1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled];
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"f411dc12-f44d-4008-9380-642ce8d2d98a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
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"f06fd989-0bb7-44ec-992a-bfa700d95d91" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
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"91e1c51b-394b-4051-bff5-3b75c6cc8ed9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled];
"f06fd989-0bb7-44ec-992a-bfa700d95d91" -> "91e1c51b-394b-4051-bff5-3b75c6cc8ed9";
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"786a4091-7a5e-4429-bc5d-9f9c801c48fb" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled];
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"6500ef4d-fc3b-4f40-afb1-558574ff4f38" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Softdrink)", shape=box, style=filled];
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"6e6b5dd6-57ab-4d18-a87f-667b0f08504f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
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"284af98a-7b3f-4e1b-bb4a-65cc2693787b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled];
"4042cbab-c154-432a-8f0d-5dbb478b294b" -> "284af98a-7b3f-4e1b-bb4a-65cc2693787b";
}