RoboWaiter/BTExpansionCode/EXP/expanded_bt_obt.dot

digraph pastafarianism {
ordering=out;
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
"6fa0c67b-8261-449a-b1b4-4f287d934c7d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6fa0c67b-8261-449a-b1b4-4f287d934c7d" -> "72606009-249e-4fe3-9956-a1583acd8ca6";
"8ad79765-d51a-4bb1-a5ae-dbf25aa10f2b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "8ad79765-d51a-4bb1-a5ae-dbf25aa10f2b";
"7aa22f26-f2bb-4218-9acf-e33219994009" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"8ad79765-d51a-4bb1-a5ae-dbf25aa10f2b" -> "7aa22f26-f2bb-4218-9acf-e33219994009";
"91656204-d9ba-40e8-ae1f-3a2dec4ee585" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"7aa22f26-f2bb-4218-9acf-e33219994009" -> "91656204-d9ba-40e8-ae1f-3a2dec4ee585";
"37b4afa0-3551-40be-a16e-971163221b69" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Table)", shape=ellipse, style=filled];
"8ad79765-d51a-4bb1-a5ae-dbf25aa10f2b" -> "37b4afa0-3551-40be-a16e-971163221b69";
"d3c7d792-91b5-452d-b373-3cb0140aaef4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "d3c7d792-91b5-452d-b373-3cb0140aaef4";
"454a9cbd-0d73-4c86-b8e6-d8ac61c91a47" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"d3c7d792-91b5-452d-b373-3cb0140aaef4" -> "454a9cbd-0d73-4c86-b8e6-d8ac61c91a47";
"e8bc71b6-f118-4da7-ab81-9e9d4b99da82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Table)", shape=ellipse, style=filled];
"d3c7d792-91b5-452d-b373-3cb0140aaef4" -> "e8bc71b6-f118-4da7-ab81-9e9d4b99da82";
"4caeef1d-3ac7-464f-b5da-58d946673204" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"d3c7d792-91b5-452d-b373-3cb0140aaef4" -> "4caeef1d-3ac7-464f-b5da-58d946673204";
"9b703b60-f027-40c4-becf-ce6020f7bfca" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"4caeef1d-3ac7-464f-b5da-58d946673204" -> "9b703b60-f027-40c4-becf-ce6020f7bfca";
"65e411a8-b218-49da-9da4-b3024105a54f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"9b703b60-f027-40c4-becf-ce6020f7bfca" -> "65e411a8-b218-49da-9da4-b3024105a54f";
"772c3d2a-f751-4a0b-9c87-76dd285a23f6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"65e411a8-b218-49da-9da4-b3024105a54f" -> "772c3d2a-f751-4a0b-9c87-76dd285a23f6";
"a6d7e7fc-a5e1-4ce9-8cf5-b9fb8b9ab005" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"65e411a8-b218-49da-9da4-b3024105a54f" -> "a6d7e7fc-a5e1-4ce9-8cf5-b9fb8b9ab005";
"ffa152a9-9680-4fc4-8ef6-bb2e73e61d6f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"9b703b60-f027-40c4-becf-ce6020f7bfca" -> "ffa152a9-9680-4fc4-8ef6-bb2e73e61d6f";
"efe55357-141a-4a86-9bb8-440229cbcfd5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"4caeef1d-3ac7-464f-b5da-58d946673204" -> "efe55357-141a-4a86-9bb8-440229cbcfd5";
"1da0da7b-5346-4028-83d8-c85e9d42e009" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"efe55357-141a-4a86-9bb8-440229cbcfd5" -> "1da0da7b-5346-4028-83d8-c85e9d42e009";
"9858524e-9197-412d-97e0-66e823f77a8e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"efe55357-141a-4a86-9bb8-440229cbcfd5" -> "9858524e-9197-412d-97e0-66e823f77a8e";
"c761c788-d77f-4306-b4a1-8f7edbb92044" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "c761c788-d77f-4306-b4a1-8f7edbb92044";
"4a3ac355-562d-4749-9be3-a6d5c3288006" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Table)", shape=ellipse, style=filled];
"c761c788-d77f-4306-b4a1-8f7edbb92044" -> "4a3ac355-562d-4749-9be3-a6d5c3288006";
"26b8f7ae-1bff-4b02-8b83-845e3e0b6513" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"c761c788-d77f-4306-b4a1-8f7edbb92044" -> "26b8f7ae-1bff-4b02-8b83-845e3e0b6513";
"a6d5dc39-0b87-4a7c-8478-5d9cdba15580" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"26b8f7ae-1bff-4b02-8b83-845e3e0b6513" -> "a6d5dc39-0b87-4a7c-8478-5d9cdba15580";
"ac2b74c9-420b-4632-a791-4643f4e19870" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"c761c788-d77f-4306-b4a1-8f7edbb92044" -> "ac2b74c9-420b-4632-a791-4643f4e19870";
"b0c3fcbb-d5a4-4aef-8ad7-914144ee1d5f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"c761c788-d77f-4306-b4a1-8f7edbb92044" -> "b0c3fcbb-d5a4-4aef-8ad7-914144ee1d5f";
"ade29875-4cfe-4431-b9a6-aaf81ce1d9ea" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"b0c3fcbb-d5a4-4aef-8ad7-914144ee1d5f" -> "ade29875-4cfe-4431-b9a6-aaf81ce1d9ea";
"808f5e50-e3e6-4b76-a6bb-4d493776482a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"ade29875-4cfe-4431-b9a6-aaf81ce1d9ea" -> "808f5e50-e3e6-4b76-a6bb-4d493776482a";
"5d935f7b-f2ef-4941-869c-356f032930bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"b0c3fcbb-d5a4-4aef-8ad7-914144ee1d5f" -> "5d935f7b-f2ef-4941-869c-356f032930bd";
"ca423303-082e-43ef-b566-d521eb5c5100" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled];
"c761c788-d77f-4306-b4a1-8f7edbb92044" -> "ca423303-082e-43ef-b566-d521eb5c5100";
"cde45ddc-b6d6-4b4c-8006-3e84cdf67ea8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "cde45ddc-b6d6-4b4c-8006-3e84cdf67ea8";
"c0dc1f10-8624-4414-a44d-ca7753fc2dce" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"cde45ddc-b6d6-4b4c-8006-3e84cdf67ea8" -> "c0dc1f10-8624-4414-a44d-ca7753fc2dce";
"164cfaa0-0503-4c08-8754-d32aa19aa3ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"c0dc1f10-8624-4414-a44d-ca7753fc2dce" -> "164cfaa0-0503-4c08-8754-d32aa19aa3ed";
"a057ba27-507f-494d-9823-691922d1d87b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"cde45ddc-b6d6-4b4c-8006-3e84cdf67ea8" -> "a057ba27-507f-494d-9823-691922d1d87b";
"937a8cf2-3735-43ba-8149-aafd832ed8bb" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"a057ba27-507f-494d-9823-691922d1d87b" -> "937a8cf2-3735-43ba-8149-aafd832ed8bb";
"86fe8501-7c2f-46ce-aa18-d58712fa0b6d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"937a8cf2-3735-43ba-8149-aafd832ed8bb" -> "86fe8501-7c2f-46ce-aa18-d58712fa0b6d";
"e37aaaae-b714-4dcc-ad13-7c78386e363a" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"86fe8501-7c2f-46ce-aa18-d58712fa0b6d" -> "e37aaaae-b714-4dcc-ad13-7c78386e363a";
"7f8b4ea9-f18c-4bf0-a7fe-3a34978cdd37" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"e37aaaae-b714-4dcc-ad13-7c78386e363a" -> "7f8b4ea9-f18c-4bf0-a7fe-3a34978cdd37";
"3ddf057a-d655-4623-8c8f-0b73932a3529" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"86fe8501-7c2f-46ce-aa18-d58712fa0b6d" -> "3ddf057a-d655-4623-8c8f-0b73932a3529";
"dfa9967f-bcf8-4cd5-ba83-d9f6dd093d15" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Table)", shape=box, style=filled];
"86fe8501-7c2f-46ce-aa18-d58712fa0b6d" -> "dfa9967f-bcf8-4cd5-ba83-d9f6dd093d15";
"063f277c-8473-4a37-9c2c-f770fa9e8d82" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"937a8cf2-3735-43ba-8149-aafd832ed8bb" -> "063f277c-8473-4a37-9c2c-f770fa9e8d82";
"b3b690b5-fd8b-427b-87d8-2d505a3a4126" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"063f277c-8473-4a37-9c2c-f770fa9e8d82" -> "b3b690b5-fd8b-427b-87d8-2d505a3a4126";
"b21ce463-6595-4bc9-98a9-9c201d5f3333" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"063f277c-8473-4a37-9c2c-f770fa9e8d82" -> "b21ce463-6595-4bc9-98a9-9c201d5f3333";
"d03725a9-1627-4885-8ae7-e6fd580f531b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"063f277c-8473-4a37-9c2c-f770fa9e8d82" -> "d03725a9-1627-4885-8ae7-e6fd580f531b";
"83da3153-de8e-4483-8e87-227dcb27d4b1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"a057ba27-507f-494d-9823-691922d1d87b" -> "83da3153-de8e-4483-8e87-227dcb27d4b1";
"67a0d8c6-760d-4c59-8d8b-0d0dcc6998eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"83da3153-de8e-4483-8e87-227dcb27d4b1" -> "67a0d8c6-760d-4c59-8d8b-0d0dcc6998eb";
"020be410-9978-4d02-8b39-236b2a10d5de" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"83da3153-de8e-4483-8e87-227dcb27d4b1" -> "020be410-9978-4d02-8b39-236b2a10d5de";
"c0eb2e19-0c28-4508-bd3c-61dbb7003f57" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "c0eb2e19-0c28-4508-bd3c-61dbb7003f57";
"fe66f433-295b-4583-845b-6bbc13bb0834" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"c0eb2e19-0c28-4508-bd3c-61dbb7003f57" -> "fe66f433-295b-4583-845b-6bbc13bb0834";
"9b4abf1c-e124-49ba-9143-fdd73cf5f483" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"c0eb2e19-0c28-4508-bd3c-61dbb7003f57" -> "9b4abf1c-e124-49ba-9143-fdd73cf5f483";
"3cef009a-4512-41c5-9dbf-9c1a0faf73b1" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"9b4abf1c-e124-49ba-9143-fdd73cf5f483" -> "3cef009a-4512-41c5-9dbf-9c1a0faf73b1";
"6ff18c04-c2a8-4b5b-87ab-bd6d185cc376" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"3cef009a-4512-41c5-9dbf-9c1a0faf73b1" -> "6ff18c04-c2a8-4b5b-87ab-bd6d185cc376";
"ba33546f-281a-4cb6-80c8-05efc79bccd8" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6ff18c04-c2a8-4b5b-87ab-bd6d185cc376" -> "ba33546f-281a-4cb6-80c8-05efc79bccd8";
"0ecb6f55-4120-47e6-9d01-9a78570cc043" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"ba33546f-281a-4cb6-80c8-05efc79bccd8" -> "0ecb6f55-4120-47e6-9d01-9a78570cc043";
"9f7e1330-af34-4397-8a45-4bcd00a3f540" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"0ecb6f55-4120-47e6-9d01-9a78570cc043" -> "9f7e1330-af34-4397-8a45-4bcd00a3f540";
"79af4307-6dd6-4e2d-b92f-09893984b437" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"9f7e1330-af34-4397-8a45-4bcd00a3f540" -> "79af4307-6dd6-4e2d-b92f-09893984b437";
"10d92b7d-c203-4394-b2c8-c5fb8f9515d6" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"79af4307-6dd6-4e2d-b92f-09893984b437" -> "10d92b7d-c203-4394-b2c8-c5fb8f9515d6";
"7f700c1e-c8fa-4c49-8d5e-937db83e3314" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"10d92b7d-c203-4394-b2c8-c5fb8f9515d6" -> "7f700c1e-c8fa-4c49-8d5e-937db83e3314";
"7beebe58-d6b5-4005-ae89-1ec1549ba5de" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"79af4307-6dd6-4e2d-b92f-09893984b437" -> "7beebe58-d6b5-4005-ae89-1ec1549ba5de";
"98ecaa86-1a83-469b-9e2b-f9885cec9e49" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Table)", shape=box, style=filled];
"79af4307-6dd6-4e2d-b92f-09893984b437" -> "98ecaa86-1a83-469b-9e2b-f9885cec9e49";
"42b7d00a-22ec-48cf-9a82-dcbb924d052f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"9f7e1330-af34-4397-8a45-4bcd00a3f540" -> "42b7d00a-22ec-48cf-9a82-dcbb924d052f";
"2486edc6-17f9-46f3-a798-d54bf5757a33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"42b7d00a-22ec-48cf-9a82-dcbb924d052f" -> "2486edc6-17f9-46f3-a798-d54bf5757a33";
"1568f5e1-977b-45a5-bb5e-c903fc6bc377" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"42b7d00a-22ec-48cf-9a82-dcbb924d052f" -> "1568f5e1-977b-45a5-bb5e-c903fc6bc377";
"d23492e6-0967-4a62-b0db-dcc57e75e13f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"42b7d00a-22ec-48cf-9a82-dcbb924d052f" -> "d23492e6-0967-4a62-b0db-dcc57e75e13f";
"ac04c169-a4a3-429d-a833-f68ed1274920" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"0ecb6f55-4120-47e6-9d01-9a78570cc043" -> "ac04c169-a4a3-429d-a833-f68ed1274920";
"12e0ef2b-a05b-4737-a033-165c0e150452" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"ac04c169-a4a3-429d-a833-f68ed1274920" -> "12e0ef2b-a05b-4737-a033-165c0e150452";
"7267bf62-be17-4224-bb97-48c97f8c19fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"ac04c169-a4a3-429d-a833-f68ed1274920" -> "7267bf62-be17-4224-bb97-48c97f8c19fc";
"3c870cf4-8a3e-41f3-b120-697ac5a73c25" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"ac04c169-a4a3-429d-a833-f68ed1274920" -> "3c870cf4-8a3e-41f3-b120-697ac5a73c25";
"aa8b20ba-e76b-4579-9a61-57642372ff23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"ba33546f-281a-4cb6-80c8-05efc79bccd8" -> "aa8b20ba-e76b-4579-9a61-57642372ff23";
"d1c54413-ca7a-4ff6-a927-a11e1e3ee0df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"aa8b20ba-e76b-4579-9a61-57642372ff23" -> "d1c54413-ca7a-4ff6-a927-a11e1e3ee0df";
"0773b754-c1ef-43da-8bca-b5b3aa0eb4a8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"aa8b20ba-e76b-4579-9a61-57642372ff23" -> "0773b754-c1ef-43da-8bca-b5b3aa0eb4a8";
"6f790ec1-e3b6-497d-ac4d-034abe89db51" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"aa8b20ba-e76b-4579-9a61-57642372ff23" -> "6f790ec1-e3b6-497d-ac4d-034abe89db51";
"bd7f0c7b-3860-45d1-89d1-74ea21634ed4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"6ff18c04-c2a8-4b5b-87ab-bd6d185cc376" -> "bd7f0c7b-3860-45d1-89d1-74ea21634ed4";
"826ce69a-76d9-466b-9b0c-0c065c429376" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"bd7f0c7b-3860-45d1-89d1-74ea21634ed4" -> "826ce69a-76d9-466b-9b0c-0c065c429376";
"9d8e6763-bcdd-409a-adaa-02b35971de29" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"bd7f0c7b-3860-45d1-89d1-74ea21634ed4" -> "9d8e6763-bcdd-409a-adaa-02b35971de29";
"1ef94f00-fe53-4256-9579-4c4d27a9a170" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"3cef009a-4512-41c5-9dbf-9c1a0faf73b1" -> "1ef94f00-fe53-4256-9579-4c4d27a9a170";
"4e2e4dbc-c0df-4281-8893-225d53db8a8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"1ef94f00-fe53-4256-9579-4c4d27a9a170" -> "4e2e4dbc-c0df-4281-8893-225d53db8a8e";
"17f73ba7-cecb-48ee-b963-a70482e080b9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"1ef94f00-fe53-4256-9579-4c4d27a9a170" -> "17f73ba7-cecb-48ee-b963-a70482e080b9";
"79b2a532-a8ca-44ad-beab-cc3c102c8dd0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"9b4abf1c-e124-49ba-9143-fdd73cf5f483" -> "79b2a532-a8ca-44ad-beab-cc3c102c8dd0";
"c3775d9e-56bc-4fd3-bbbc-1bb406f5eca8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"79b2a532-a8ca-44ad-beab-cc3c102c8dd0" -> "c3775d9e-56bc-4fd3-bbbc-1bb406f5eca8";
"64e96d63-cb9b-486c-9220-74489e7e1a1f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"79b2a532-a8ca-44ad-beab-cc3c102c8dd0" -> "64e96d63-cb9b-486c-9220-74489e7e1a1f";
"c9751bc8-89ee-4f2c-b100-4651a26a991c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "c9751bc8-89ee-4f2c-b100-4651a26a991c";
"093396a6-3003-44c7-973e-0c7605521b42" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"c9751bc8-89ee-4f2c-b100-4651a26a991c" -> "093396a6-3003-44c7-973e-0c7605521b42";
"79e8bc48-ffd0-44e3-a99c-e08234018c71" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"c9751bc8-89ee-4f2c-b100-4651a26a991c" -> "79e8bc48-ffd0-44e3-a99c-e08234018c71";
"309bc8f9-3ce4-45ef-8a68-d743d92225e2" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"79e8bc48-ffd0-44e3-a99c-e08234018c71" -> "309bc8f9-3ce4-45ef-8a68-d743d92225e2";
"f34b6ba6-92c3-40f0-87e1-d4d16ad72cf4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"309bc8f9-3ce4-45ef-8a68-d743d92225e2" -> "f34b6ba6-92c3-40f0-87e1-d4d16ad72cf4";
"837083d1-053d-4630-a200-465440b7668c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"f34b6ba6-92c3-40f0-87e1-d4d16ad72cf4" -> "837083d1-053d-4630-a200-465440b7668c";
"2fdbed09-d149-4697-a90d-ff0f510bcc40" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"f34b6ba6-92c3-40f0-87e1-d4d16ad72cf4" -> "2fdbed09-d149-4697-a90d-ff0f510bcc40";
"0298cb6a-bbd2-448a-8603-dd09f88bfe5e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"2fdbed09-d149-4697-a90d-ff0f510bcc40" -> "0298cb6a-bbd2-448a-8603-dd09f88bfe5e";
"e73a1a10-f47d-4087-92e4-c0fd81c65421" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"0298cb6a-bbd2-448a-8603-dd09f88bfe5e" -> "e73a1a10-f47d-4087-92e4-c0fd81c65421";
"4179e242-19e6-4270-84f8-dc51c5cfa86e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"e73a1a10-f47d-4087-92e4-c0fd81c65421" -> "4179e242-19e6-4270-84f8-dc51c5cfa86e";
"5b2c2caf-52cf-4bdb-ba73-7a97b3c28700" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"0298cb6a-bbd2-448a-8603-dd09f88bfe5e" -> "5b2c2caf-52cf-4bdb-ba73-7a97b3c28700";
"5b8d1f98-29e3-4d7b-a5a6-662f08cd1d21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"2fdbed09-d149-4697-a90d-ff0f510bcc40" -> "5b8d1f98-29e3-4d7b-a5a6-662f08cd1d21";
"b564d3aa-b77e-42f6-921e-594380e5bc25" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"5b8d1f98-29e3-4d7b-a5a6-662f08cd1d21" -> "b564d3aa-b77e-42f6-921e-594380e5bc25";
"10016bf3-d98c-413f-8505-6b18bffd7f2b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"5b8d1f98-29e3-4d7b-a5a6-662f08cd1d21" -> "10016bf3-d98c-413f-8505-6b18bffd7f2b";
"958434bb-6c81-4950-a31c-6974f04a4700" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"309bc8f9-3ce4-45ef-8a68-d743d92225e2" -> "958434bb-6c81-4950-a31c-6974f04a4700";
"6b9337e9-1563-4322-8b91-0ee3990f6138" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
"958434bb-6c81-4950-a31c-6974f04a4700" -> "6b9337e9-1563-4322-8b91-0ee3990f6138";
"2f73a0e1-8eb5-46b5-8476-bf0b52989c48" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"958434bb-6c81-4950-a31c-6974f04a4700" -> "2f73a0e1-8eb5-46b5-8476-bf0b52989c48";
"1ed94efa-8f11-4417-8f22-bb8727157717" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"2f73a0e1-8eb5-46b5-8476-bf0b52989c48" -> "1ed94efa-8f11-4417-8f22-bb8727157717";
"a2d009d8-317b-44ff-a825-cf8a56700b43" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled];
"958434bb-6c81-4950-a31c-6974f04a4700" -> "a2d009d8-317b-44ff-a825-cf8a56700b43";
"f24c9672-55f8-49ee-afb7-aeb0d2e8e3fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"79e8bc48-ffd0-44e3-a99c-e08234018c71" -> "f24c9672-55f8-49ee-afb7-aeb0d2e8e3fb";
"d7957830-feb5-43b9-9849-4b56cf18eaee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"f24c9672-55f8-49ee-afb7-aeb0d2e8e3fb" -> "d7957830-feb5-43b9-9849-4b56cf18eaee";
"95354fb0-ecfd-4f89-9e99-697b377594e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"f24c9672-55f8-49ee-afb7-aeb0d2e8e3fb" -> "95354fb0-ecfd-4f89-9e99-697b377594e6";
"ecad2e44-3658-45d7-a6ef-202bf9356581" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"f24c9672-55f8-49ee-afb7-aeb0d2e8e3fb" -> "ecad2e44-3658-45d7-a6ef-202bf9356581";
"025618b0-b016-4113-b478-35ef3ff8fd49" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "025618b0-b016-4113-b478-35ef3ff8fd49";
"840f8cdc-e141-4366-8173-e8cf957fa09c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
"025618b0-b016-4113-b478-35ef3ff8fd49" -> "840f8cdc-e141-4366-8173-e8cf957fa09c";
"e82440c9-a284-4188-b37f-fc81a3b8b205" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"025618b0-b016-4113-b478-35ef3ff8fd49" -> "e82440c9-a284-4188-b37f-fc81a3b8b205";
"a22e8f27-26a9-4b0f-bfd1-65d0f1c2f727" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"e82440c9-a284-4188-b37f-fc81a3b8b205" -> "a22e8f27-26a9-4b0f-bfd1-65d0f1c2f727";
"023a217c-3134-4e70-9d61-545b7b98e91c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled];
"025618b0-b016-4113-b478-35ef3ff8fd49" -> "023a217c-3134-4e70-9d61-545b7b98e91c";
"1e85755d-0814-46c9-8328-dcb054c0cc78" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "1e85755d-0814-46c9-8328-dcb054c0cc78";
"7a690ec1-b429-48e8-ac6c-9d5580b26014" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"1e85755d-0814-46c9-8328-dcb054c0cc78" -> "7a690ec1-b429-48e8-ac6c-9d5580b26014";
"cb833a73-f2c3-47c2-a4e1-60814881632c" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"1e85755d-0814-46c9-8328-dcb054c0cc78" -> "cb833a73-f2c3-47c2-a4e1-60814881632c";
"cdd024d4-7c70-4b8f-99db-e30bf5a50415" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"cb833a73-f2c3-47c2-a4e1-60814881632c" -> "cdd024d4-7c70-4b8f-99db-e30bf5a50415";
"6af5ee2d-9d12-4ae0-83ea-cf94d0fd9a07" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"cdd024d4-7c70-4b8f-99db-e30bf5a50415" -> "6af5ee2d-9d12-4ae0-83ea-cf94d0fd9a07";
"ea89b944-ce35-4755-b058-a43a440f02a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
"6af5ee2d-9d12-4ae0-83ea-cf94d0fd9a07" -> "ea89b944-ce35-4755-b058-a43a440f02a9";
"196b79af-cc53-4743-b1d5-7312be19a251" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"6af5ee2d-9d12-4ae0-83ea-cf94d0fd9a07" -> "196b79af-cc53-4743-b1d5-7312be19a251";
"496af7f8-4a90-4b70-adcb-11b1e3d2ac79" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"6af5ee2d-9d12-4ae0-83ea-cf94d0fd9a07" -> "496af7f8-4a90-4b70-adcb-11b1e3d2ac79";
"032ce536-7718-4577-a296-d92e527c1d91" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"cdd024d4-7c70-4b8f-99db-e30bf5a50415" -> "032ce536-7718-4577-a296-d92e527c1d91";
"61df6f6f-86f1-49e0-a44c-5ce6ed61f52a" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"032ce536-7718-4577-a296-d92e527c1d91" -> "61df6f6f-86f1-49e0-a44c-5ce6ed61f52a";
"6c1430e2-0e04-463c-bff4-e229cc4c3b06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"61df6f6f-86f1-49e0-a44c-5ce6ed61f52a" -> "6c1430e2-0e04-463c-bff4-e229cc4c3b06";
"bc1763a3-2066-43e2-8365-e36a179347d0" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"032ce536-7718-4577-a296-d92e527c1d91" -> "bc1763a3-2066-43e2-8365-e36a179347d0";
"905cb27f-28ff-46d5-bb43-0fdd7030b8e7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
"bc1763a3-2066-43e2-8365-e36a179347d0" -> "905cb27f-28ff-46d5-bb43-0fdd7030b8e7";
"b9f7daef-11ef-4373-af91-94ab8c818c69" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled];
"032ce536-7718-4577-a296-d92e527c1d91" -> "b9f7daef-11ef-4373-af91-94ab8c818c69";
"6835739d-c497-4c6d-9554-07580ab55d36" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"cb833a73-f2c3-47c2-a4e1-60814881632c" -> "6835739d-c497-4c6d-9554-07580ab55d36";
"29301d29-5c54-47e7-8bc7-84e657408d42" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"6835739d-c497-4c6d-9554-07580ab55d36" -> "29301d29-5c54-47e7-8bc7-84e657408d42";
"cff621e0-3cbf-428c-b5f1-0a49448bc9a8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"29301d29-5c54-47e7-8bc7-84e657408d42" -> "cff621e0-3cbf-428c-b5f1-0a49448bc9a8";
"c244687c-d55a-4185-bfbb-fbb2575f5382" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"6835739d-c497-4c6d-9554-07580ab55d36" -> "c244687c-d55a-4185-bfbb-fbb2575f5382";
"e6571ec8-0466-496c-8ed2-062de579e210" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
"c244687c-d55a-4185-bfbb-fbb2575f5382" -> "e6571ec8-0466-496c-8ed2-062de579e210";
"92f39b7a-5cd8-4181-bf8f-9baeadc833b1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled];
"6835739d-c497-4c6d-9554-07580ab55d36" -> "92f39b7a-5cd8-4181-bf8f-9baeadc833b1";
"8c5142c2-d261-441e-870d-db5b555a1966" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"72606009-249e-4fe3-9956-a1583acd8ca6" -> "8c5142c2-d261-441e-870d-db5b555a1966";
"0e8f44b4-3280-429e-9af4-c8285e5fac20" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"8c5142c2-d261-441e-870d-db5b555a1966" -> "0e8f44b4-3280-429e-9af4-c8285e5fac20";
"3dbc38b1-703a-4bb5-adcc-0f0d4fb0f9fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"0e8f44b4-3280-429e-9af4-c8285e5fac20" -> "3dbc38b1-703a-4bb5-adcc-0f0d4fb0f9fc";
"7daa5746-3e91-4bbb-9132-30846a787990" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"8c5142c2-d261-441e-870d-db5b555a1966" -> "7daa5746-3e91-4bbb-9132-30846a787990";
"1da72142-5b2b-4164-84fc-5adcaa6013ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
"7daa5746-3e91-4bbb-9132-30846a787990" -> "1da72142-5b2b-4164-84fc-5adcaa6013ac";
"f5fb8007-700c-4136-8d47-5bf73fb8d952" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"8c5142c2-d261-441e-870d-db5b555a1966" -> "f5fb8007-700c-4136-8d47-5bf73fb8d952";
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6fa0c67b-8261-449a-b1b4-4f287d934c7d" -> "61ea0cef-a97d-4b81-a96c-6d5f8784c8a4";
"1663f52a-0c43-4046-b5bb-bfcfb90f9aa3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "1663f52a-0c43-4046-b5bb-bfcfb90f9aa3";
"2deee340-fa42-4965-b9cd-a4ce5d0f5199" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"1663f52a-0c43-4046-b5bb-bfcfb90f9aa3" -> "2deee340-fa42-4965-b9cd-a4ce5d0f5199";
"d10f0325-cb71-4f49-b9ed-c813a13dbe81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"2deee340-fa42-4965-b9cd-a4ce5d0f5199" -> "d10f0325-cb71-4f49-b9ed-c813a13dbe81";
"237d04d1-3832-45f0-8650-5327af830c0c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Tea,Table)", shape=ellipse, style=filled];
"1663f52a-0c43-4046-b5bb-bfcfb90f9aa3" -> "237d04d1-3832-45f0-8650-5327af830c0c";
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "bfba518d-741e-4b5f-b78a-e5b1d4680b2d";
"86fea00b-f582-4d41-9004-ff4f5bec11ae" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" -> "86fea00b-f582-4d41-9004-ff4f5bec11ae";
"9c4776fb-3807-437b-b565-f904bad2d326" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"86fea00b-f582-4d41-9004-ff4f5bec11ae" -> "9c4776fb-3807-437b-b565-f904bad2d326";
"4f69d009-58cd-48a2-964a-5a62b4db1d40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Tea)", shape=ellipse, style=filled];
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" -> "4f69d009-58cd-48a2-964a-5a62b4db1d40";
"83d537bc-64c5-4f49-9b5d-551a3e75ac3f" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" -> "83d537bc-64c5-4f49-9b5d-551a3e75ac3f";
"0d91e125-ea6e-4342-b7cd-0dd1189ce0d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"83d537bc-64c5-4f49-9b5d-551a3e75ac3f" -> "0d91e125-ea6e-4342-b7cd-0dd1189ce0d7";
"4d89f5c8-65e1-4bc5-ae4a-42ff5a88be48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Table)", shape=ellipse, style=filled];
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" -> "4d89f5c8-65e1-4bc5-ae4a-42ff5a88be48";
"bb7ed42f-c39e-4b13-b14d-1c591def8520" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Tea,Table)", shape=box, style=filled];
"bfba518d-741e-4b5f-b78a-e5b1d4680b2d" -> "bb7ed42f-c39e-4b13-b14d-1c591def8520";
"5f7380a6-3898-4259-b6f0-ff18e7645db2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "5f7380a6-3898-4259-b6f0-ff18e7645db2";
"f59f7b87-02d2-4791-b024-ed01bca833cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"5f7380a6-3898-4259-b6f0-ff18e7645db2" -> "f59f7b87-02d2-4791-b024-ed01bca833cf";
"6945b472-29a6-4ae9-bc60-a7a7f117aff5" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"5f7380a6-3898-4259-b6f0-ff18e7645db2" -> "6945b472-29a6-4ae9-bc60-a7a7f117aff5";
"1f5159a4-1da9-496d-8263-aa70b4c7781b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6945b472-29a6-4ae9-bc60-a7a7f117aff5" -> "1f5159a4-1da9-496d-8263-aa70b4c7781b";
"b64b3c14-fc0c-444b-bdb5-c5e07592079a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"1f5159a4-1da9-496d-8263-aa70b4c7781b" -> "b64b3c14-fc0c-444b-bdb5-c5e07592079a";
"977a099d-3358-4d5c-a440-6317c4f78c80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Tea,Table)", shape=ellipse, style=filled];
"b64b3c14-fc0c-444b-bdb5-c5e07592079a" -> "977a099d-3358-4d5c-a440-6317c4f78c80";
"59537977-a2c9-4c03-9f19-b61bd6ecba31" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"b64b3c14-fc0c-444b-bdb5-c5e07592079a" -> "59537977-a2c9-4c03-9f19-b61bd6ecba31";
"ceb351d2-c6ff-4eeb-b810-a1717c644973" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"59537977-a2c9-4c03-9f19-b61bd6ecba31" -> "ceb351d2-c6ff-4eeb-b810-a1717c644973";
"0bbf0b6f-53b0-4bc4-8785-a15c0513a43d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"ceb351d2-c6ff-4eeb-b810-a1717c644973" -> "0bbf0b6f-53b0-4bc4-8785-a15c0513a43d";
"8d2f1577-ba4e-4d72-a4e2-ece7d206e578" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"ceb351d2-c6ff-4eeb-b810-a1717c644973" -> "8d2f1577-ba4e-4d72-a4e2-ece7d206e578";
"33c3c28e-1b34-4020-ab75-fcc66c529f51" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"59537977-a2c9-4c03-9f19-b61bd6ecba31" -> "33c3c28e-1b34-4020-ab75-fcc66c529f51";
"e5f7bdf8-c074-46b8-b301-abb48b1505a7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"1f5159a4-1da9-496d-8263-aa70b4c7781b" -> "e5f7bdf8-c074-46b8-b301-abb48b1505a7";
"76d36a90-22f6-4117-b6bf-e0f413e9ccd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Tea)", shape=ellipse, style=filled];
"e5f7bdf8-c074-46b8-b301-abb48b1505a7" -> "76d36a90-22f6-4117-b6bf-e0f413e9ccd5";
"4098d38d-ae37-4585-af33-10bffcf6fe9d" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"e5f7bdf8-c074-46b8-b301-abb48b1505a7" -> "4098d38d-ae37-4585-af33-10bffcf6fe9d";
"02dd45ab-f5a6-418a-befc-8e089d1b56e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"4098d38d-ae37-4585-af33-10bffcf6fe9d" -> "02dd45ab-f5a6-418a-befc-8e089d1b56e4";
"ebcc2c71-1789-4559-a667-9765b38314b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Table)", shape=ellipse, style=filled];
"e5f7bdf8-c074-46b8-b301-abb48b1505a7" -> "ebcc2c71-1789-4559-a667-9765b38314b7";
"d3e8d6ab-de29-4081-a500-cc523041f99f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Tea,Table)", shape=box, style=filled];
"e5f7bdf8-c074-46b8-b301-abb48b1505a7" -> "d3e8d6ab-de29-4081-a500-cc523041f99f";
"f4c08637-31f5-4f1e-aec6-ec02f8993f11" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"6945b472-29a6-4ae9-bc60-a7a7f117aff5" -> "f4c08637-31f5-4f1e-aec6-ec02f8993f11";
"97e41c1c-38a1-4e49-be85-e57e480271f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"f4c08637-31f5-4f1e-aec6-ec02f8993f11" -> "97e41c1c-38a1-4e49-be85-e57e480271f9";
"2653b6f9-2bbd-4b09-a33e-cd192f859b43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Tea,Table)", shape=ellipse, style=filled];
"f4c08637-31f5-4f1e-aec6-ec02f8993f11" -> "2653b6f9-2bbd-4b09-a33e-cd192f859b43";
"9a980de5-f9e3-4a21-a513-0974e207a959" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"f4c08637-31f5-4f1e-aec6-ec02f8993f11" -> "9a980de5-f9e3-4a21-a513-0974e207a959";
"c23a4812-11ad-421a-9ce2-0f9d80766cd9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "c23a4812-11ad-421a-9ce2-0f9d80766cd9";
"b1ab5adc-e9d2-4221-8af7-ee66e806543e" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"c23a4812-11ad-421a-9ce2-0f9d80766cd9" -> "b1ab5adc-e9d2-4221-8af7-ee66e806543e";
"ec1fd1c1-c429-41a0-843c-2b0569526cfb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"b1ab5adc-e9d2-4221-8af7-ee66e806543e" -> "ec1fd1c1-c429-41a0-843c-2b0569526cfb";
"2a86b3d7-ae8f-493a-8e20-88d92aacdd34" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"c23a4812-11ad-421a-9ce2-0f9d80766cd9" -> "2a86b3d7-ae8f-493a-8e20-88d92aacdd34";
"dc0689a5-9922-4ecc-9cb2-b3bdeb990656" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"2a86b3d7-ae8f-493a-8e20-88d92aacdd34" -> "dc0689a5-9922-4ecc-9cb2-b3bdeb990656";
"9b3083c5-f5bb-4ac0-a60a-bbbb14b74941" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"dc0689a5-9922-4ecc-9cb2-b3bdeb990656" -> "9b3083c5-f5bb-4ac0-a60a-bbbb14b74941";
"682734b7-810d-46a0-a424-976e6fdec58b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Tea)", shape=ellipse, style=filled];
"9b3083c5-f5bb-4ac0-a60a-bbbb14b74941" -> "682734b7-810d-46a0-a424-976e6fdec58b";
"70539311-3d67-40b6-b900-6b867816fb31" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"9b3083c5-f5bb-4ac0-a60a-bbbb14b74941" -> "70539311-3d67-40b6-b900-6b867816fb31";
"76c595c0-ca8b-4452-8a8d-ceadec040011" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"70539311-3d67-40b6-b900-6b867816fb31" -> "76c595c0-ca8b-4452-8a8d-ceadec040011";
"12a15817-44f6-44d3-bb04-64e7ff701b8c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Table)", shape=box, style=filled];
"9b3083c5-f5bb-4ac0-a60a-bbbb14b74941" -> "12a15817-44f6-44d3-bb04-64e7ff701b8c";
"c5347b1c-d762-46cc-901d-85ffe50f4a2c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"dc0689a5-9922-4ecc-9cb2-b3bdeb990656" -> "c5347b1c-d762-46cc-901d-85ffe50f4a2c";
"1ebd4386-7b38-493f-8ba1-c7a33ef254a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"c5347b1c-d762-46cc-901d-85ffe50f4a2c" -> "1ebd4386-7b38-493f-8ba1-c7a33ef254a4";
"347fecf2-ac20-4fe7-bc52-8c4aad332a1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"c5347b1c-d762-46cc-901d-85ffe50f4a2c" -> "347fecf2-ac20-4fe7-bc52-8c4aad332a1f";
"e7458ee5-7255-4966-a209-60dea540db49" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Tea)", shape=box, style=filled];
"c5347b1c-d762-46cc-901d-85ffe50f4a2c" -> "e7458ee5-7255-4966-a209-60dea540db49";
"762fa037-4708-49f1-80f1-6715e41baa51" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"2a86b3d7-ae8f-493a-8e20-88d92aacdd34" -> "762fa037-4708-49f1-80f1-6715e41baa51";
"cee6779f-ad5c-4eac-b6f0-4f7393203edd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"762fa037-4708-49f1-80f1-6715e41baa51" -> "cee6779f-ad5c-4eac-b6f0-4f7393203edd";
"313b4207-e53a-49bc-b9ff-566bed0c6c7c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"762fa037-4708-49f1-80f1-6715e41baa51" -> "313b4207-e53a-49bc-b9ff-566bed0c6c7c";
"a7686774-1f14-4f69-a590-a726da74cf76" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "a7686774-1f14-4f69-a590-a726da74cf76";
"2076c765-2cf5-4ebd-8186-113950b87878" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"a7686774-1f14-4f69-a590-a726da74cf76" -> "2076c765-2cf5-4ebd-8186-113950b87878";
"ce681af0-51d4-41fb-9d22-72b1882ba332" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"a7686774-1f14-4f69-a590-a726da74cf76" -> "ce681af0-51d4-41fb-9d22-72b1882ba332";
"0455ea67-7c75-492b-9c81-7d19e139f45e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"ce681af0-51d4-41fb-9d22-72b1882ba332" -> "0455ea67-7c75-492b-9c81-7d19e139f45e";
"410f040e-93e9-4df4-8a98-3ebfd80dbd54" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"0455ea67-7c75-492b-9c81-7d19e139f45e" -> "410f040e-93e9-4df4-8a98-3ebfd80dbd54";
"707aae8b-e77a-42be-90f8-10eab015515f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"410f040e-93e9-4df4-8a98-3ebfd80dbd54" -> "707aae8b-e77a-42be-90f8-10eab015515f";
"b053d86a-a18e-427e-bb3d-27e8eeb6ed37" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"707aae8b-e77a-42be-90f8-10eab015515f" -> "b053d86a-a18e-427e-bb3d-27e8eeb6ed37";
"3aa4230b-c505-4ec2-8f64-b093deafce30" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"b053d86a-a18e-427e-bb3d-27e8eeb6ed37" -> "3aa4230b-c505-4ec2-8f64-b093deafce30";
"0dd94a02-0a1a-4c93-87f0-952956358837" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"3aa4230b-c505-4ec2-8f64-b093deafce30" -> "0dd94a02-0a1a-4c93-87f0-952956358837";
"fde69d79-c3c5-42c5-9849-ad35abc2a108" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Tea)", shape=ellipse, style=filled];
"0dd94a02-0a1a-4c93-87f0-952956358837" -> "fde69d79-c3c5-42c5-9849-ad35abc2a108";
"3438e50a-efc5-4858-bf31-ec763bf8092a" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"0dd94a02-0a1a-4c93-87f0-952956358837" -> "3438e50a-efc5-4858-bf31-ec763bf8092a";
"752dab6f-9de4-4279-84f3-9d56e014797d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"3438e50a-efc5-4858-bf31-ec763bf8092a" -> "752dab6f-9de4-4279-84f3-9d56e014797d";
"f22a307d-8b1f-4607-8d70-1c2191cf8611" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Table)", shape=box, style=filled];
"0dd94a02-0a1a-4c93-87f0-952956358837" -> "f22a307d-8b1f-4607-8d70-1c2191cf8611";
"f306d037-1dff-44c9-bbbe-35d0ee5d7b76" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"3aa4230b-c505-4ec2-8f64-b093deafce30" -> "f306d037-1dff-44c9-bbbe-35d0ee5d7b76";
"f8720172-8854-43ed-9e37-0b703d84da28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"f306d037-1dff-44c9-bbbe-35d0ee5d7b76" -> "f8720172-8854-43ed-9e37-0b703d84da28";
"89810413-ff4c-4306-905d-9c9a2751c079" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"f306d037-1dff-44c9-bbbe-35d0ee5d7b76" -> "89810413-ff4c-4306-905d-9c9a2751c079";
"c50dc78a-cd19-4593-bb94-ef30f7708861" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"f306d037-1dff-44c9-bbbe-35d0ee5d7b76" -> "c50dc78a-cd19-4593-bb94-ef30f7708861";
"6eaa7cac-b6ea-41b3-b23a-5d112d98c839" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"b053d86a-a18e-427e-bb3d-27e8eeb6ed37" -> "6eaa7cac-b6ea-41b3-b23a-5d112d98c839";
"f383d3f1-883b-4974-a5aa-34d7f4343c3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"6eaa7cac-b6ea-41b3-b23a-5d112d98c839" -> "f383d3f1-883b-4974-a5aa-34d7f4343c3e";
"107e6c40-059c-47ba-800b-8d31de80b4a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"6eaa7cac-b6ea-41b3-b23a-5d112d98c839" -> "107e6c40-059c-47ba-800b-8d31de80b4a1";
"2e6bd36c-a0d4-4cbe-86f5-a75680c0e924" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"6eaa7cac-b6ea-41b3-b23a-5d112d98c839" -> "2e6bd36c-a0d4-4cbe-86f5-a75680c0e924";
"83ffad88-bf6e-4cb8-9da8-9a9c0cf86879" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"707aae8b-e77a-42be-90f8-10eab015515f" -> "83ffad88-bf6e-4cb8-9da8-9a9c0cf86879";
"1bf4f7ad-dc96-48bb-8352-8b4f1fd4b306" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"83ffad88-bf6e-4cb8-9da8-9a9c0cf86879" -> "1bf4f7ad-dc96-48bb-8352-8b4f1fd4b306";
"41894fa3-672d-4bbb-b923-f946abaf7469" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"83ffad88-bf6e-4cb8-9da8-9a9c0cf86879" -> "41894fa3-672d-4bbb-b923-f946abaf7469";
"31a94c5c-fdf5-45b0-ab3f-f455ef885799" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Tea)", shape=box, style=filled];
"83ffad88-bf6e-4cb8-9da8-9a9c0cf86879" -> "31a94c5c-fdf5-45b0-ab3f-f455ef885799";
"4d9a729a-51f2-47de-afdf-57178b74fddb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"410f040e-93e9-4df4-8a98-3ebfd80dbd54" -> "4d9a729a-51f2-47de-afdf-57178b74fddb";
"246c9841-4bdb-4421-b249-752947828820" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"4d9a729a-51f2-47de-afdf-57178b74fddb" -> "246c9841-4bdb-4421-b249-752947828820";
"2ea411f6-5dc3-4b57-8002-2bf904040d2b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"4d9a729a-51f2-47de-afdf-57178b74fddb" -> "2ea411f6-5dc3-4b57-8002-2bf904040d2b";
"8c973499-d936-423f-a22e-8d814fb23628" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"0455ea67-7c75-492b-9c81-7d19e139f45e" -> "8c973499-d936-423f-a22e-8d814fb23628";
"38a8ba18-eee8-4151-a915-741077d603e7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"8c973499-d936-423f-a22e-8d814fb23628" -> "38a8ba18-eee8-4151-a915-741077d603e7";
"452bac50-6f78-4462-8d78-12c099e74b47" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"8c973499-d936-423f-a22e-8d814fb23628" -> "452bac50-6f78-4462-8d78-12c099e74b47";
"35efca74-0af7-4c14-8e08-1af0979c9194" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"ce681af0-51d4-41fb-9d22-72b1882ba332" -> "35efca74-0af7-4c14-8e08-1af0979c9194";
"0d77f4ff-4a2a-44db-922e-68955db7e7a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"35efca74-0af7-4c14-8e08-1af0979c9194" -> "0d77f4ff-4a2a-44db-922e-68955db7e7a0";
"2d801363-a58f-4298-872f-0e64a92dabad" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"35efca74-0af7-4c14-8e08-1af0979c9194" -> "2d801363-a58f-4298-872f-0e64a92dabad";
"8c877d2a-6426-4015-931a-7bd48afa6ab7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "8c877d2a-6426-4015-931a-7bd48afa6ab7";
"76256583-c9a8-4cbb-8bf7-d261320c0db4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"8c877d2a-6426-4015-931a-7bd48afa6ab7" -> "76256583-c9a8-4cbb-8bf7-d261320c0db4";
"146c3693-0aa5-4f39-af37-fa0b146696b4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"8c877d2a-6426-4015-931a-7bd48afa6ab7" -> "146c3693-0aa5-4f39-af37-fa0b146696b4";
"5918d2b6-fca8-49b8-834f-98f11abc5944" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"146c3693-0aa5-4f39-af37-fa0b146696b4" -> "5918d2b6-fca8-49b8-834f-98f11abc5944";
"563befbb-e0b6-4047-b906-26ea60952c2d" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"5918d2b6-fca8-49b8-834f-98f11abc5944" -> "563befbb-e0b6-4047-b906-26ea60952c2d";
"48889a08-afde-4365-9de1-734722b8ce43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"563befbb-e0b6-4047-b906-26ea60952c2d" -> "48889a08-afde-4365-9de1-734722b8ce43";
"5f28a434-64ea-4717-b39e-bf1ef83f0e38" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"5918d2b6-fca8-49b8-834f-98f11abc5944" -> "5f28a434-64ea-4717-b39e-bf1ef83f0e38";
"a2e636d9-7825-473b-b1a1-0b8b6955879c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"5f28a434-64ea-4717-b39e-bf1ef83f0e38" -> "a2e636d9-7825-473b-b1a1-0b8b6955879c";
"717b9663-15e4-4533-b020-0da143489c56" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"a2e636d9-7825-473b-b1a1-0b8b6955879c" -> "717b9663-15e4-4533-b020-0da143489c56";
"2d786f59-c920-4000-a40d-4c06eb768289" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Tea)", shape=box, style=filled];
"a2e636d9-7825-473b-b1a1-0b8b6955879c" -> "2d786f59-c920-4000-a40d-4c06eb768289";
"bd1d7f24-d367-4829-9719-2010c23b6e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"5f28a434-64ea-4717-b39e-bf1ef83f0e38" -> "bd1d7f24-d367-4829-9719-2010c23b6e15";
"fbe25505-be2c-4534-846a-db4928613244" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Tea)", shape=ellipse, style=filled];
"bd1d7f24-d367-4829-9719-2010c23b6e15" -> "fbe25505-be2c-4534-846a-db4928613244";
"a64ee80a-f0b4-4619-9905-b097e236605b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Tea)", shape=box, style=filled];
"bd1d7f24-d367-4829-9719-2010c23b6e15" -> "a64ee80a-f0b4-4619-9905-b097e236605b";
"bc613417-8017-4e7d-9630-8c8dbfdb1d32" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"146c3693-0aa5-4f39-af37-fa0b146696b4" -> "bc613417-8017-4e7d-9630-8c8dbfdb1d32";
"987c0093-d3db-48a8-87db-a3577770c616" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Tea)", shape=ellipse, style=filled];
"bc613417-8017-4e7d-9630-8c8dbfdb1d32" -> "987c0093-d3db-48a8-87db-a3577770c616";
"76ca0191-1a17-4b14-8f50-6e4f71158340" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"bc613417-8017-4e7d-9630-8c8dbfdb1d32" -> "76ca0191-1a17-4b14-8f50-6e4f71158340";
"0bf52e64-c40a-45fa-a92d-da332018a7de" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled];
"bc613417-8017-4e7d-9630-8c8dbfdb1d32" -> "0bf52e64-c40a-45fa-a92d-da332018a7de";
"adabc6e9-54a0-4bc0-a7ea-a01061dc262f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"61ea0cef-a97d-4b81-a96c-6d5f8784c8a4" -> "adabc6e9-54a0-4bc0-a7ea-a01061dc262f";
"777752c8-fef9-4949-898a-6c8a70494ef0" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled];
"adabc6e9-54a0-4bc0-a7ea-a01061dc262f" -> "777752c8-fef9-4949-898a-6c8a70494ef0";
"a2a615f2-04c6-4887-8c24-24d79023b39c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled];
"777752c8-fef9-4949-898a-6c8a70494ef0" -> "a2a615f2-04c6-4887-8c24-24d79023b39c";
"3046a93d-38c1-4342-b599-f6a00d188a2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Tea)", shape=ellipse, style=filled];
"adabc6e9-54a0-4bc0-a7ea-a01061dc262f" -> "3046a93d-38c1-4342-b599-f6a00d188a2d";
"c0120cc2-786f-4316-a5d1-c5ca8a9464f0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Tea)", shape=box, style=filled];
"adabc6e9-54a0-4bc0-a7ea-a01061dc262f" -> "c0120cc2-786f-4316-a5d1-c5ca8a9464f0";
}