diff --git a/BTExpansionCode/BTExpansionAlgorithm.py b/BTExpansionCode/BTExpansionAlgorithm.py index 4c84d78..7681491 100644 --- a/BTExpansionCode/BTExpansionAlgorithm.py +++ b/BTExpansionCode/BTExpansionAlgorithm.py @@ -3,7 +3,7 @@ import numpy as np import copy import time -from OptimalBTExpansionAlgorithm_single_goal import ControlBT,Leaf,generate_random_state,Action,state_transition,conflict +from OptimalBTExpansionAlgorithm import ControlBT,Leaf,generate_random_state,Action,state_transition,conflict import re @@ -24,15 +24,21 @@ class BTExpAlgorithm: self.traversed = [] self.conditions = [] self.conditions_index = [] + self.traversed_state_num=0 + self.fot_times =0 + self.expand_conds = 0 + self.tree_size = 0 def run_algorithm_selTree(self, start, goal, actions): + self.traversed_state_num=0 # 初始行为树只包含目标条件 bt = ControlBT(type='cond') g_node = Leaf(type='cond', content=goal,mincost=0) bt.add_child([g_node]) - + self.expand_conds +=1 self.conditions.append(goal) self.nodes.append(g_node) # condition node list + self.traversed_state_num+=1 # 尝试在初始状态执行行为树 val, obj = bt.tick(start) canrun = False @@ -40,6 +46,10 @@ class BTExpAlgorithm: canrun = True # 循环扩展，直到行为树能够在初始状态运行 while not canrun: + + self.fot_times += 1 + + # print("canrun:",canrun) index = -1 for i in range(0, len(self.nodes)): if self.nodes[i].content in self.traversed: @@ -53,11 +63,25 @@ class BTExpAlgorithm: return False # 根据所选择条件结点扩展子树 subtree = ControlBT(type='?') - subtree.add_child([copy.deepcopy(c_node)]) # 子树首先保留所扩展结点 + subtree.add_child([copy.deepcopy(c_node)]) # 子树首先保留所扩展结点 # copy c = c_node.content # 子树所扩展结点对应的条件（一个文字的set） + if self.verbose: + print("选择扩展条件结点：",c) + + if c != goal: + if c <= start: + return bt + + act_num = 0 + for i in range(0, len(actions)): # 选择符合条件的行动， # print("have action") + + if c=={'RobotNear(Chips)', 'Holding(Nothing)'} and actions[i].name=='Clean(Chairs)0': + xx=1 + + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set(): # print ("pass add") if (c - actions[i].del_set) == c: @@ -65,9 +89,11 @@ class BTExpAlgorithm: c_attr = (actions[i].pre | c) - actions[i].add valid = True - # 这样剪枝存在错误性 - # if conflict(c_attr): - # continue + # if "PickUp(ADMilk)0" in actions[i].name: + # xx = 1 + + if conflict(c_attr): + continue for j in self.traversed: # 剪枝操作 if j <= c_attr: @@ -83,8 +109,16 @@ class BTExpAlgorithm: sequence_structure.add_child([c_attr_node, a_node]) # 将顺序结构添加到子树 subtree.add_child([sequence_structure]) - self.nodes.append(c_attr_node) + self.expand_conds += 1 + act_num+=1 + # self.traversed_state_num+=1 + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s" \ + % (actions[i].name, c_attr)) + + # print(act_num) + self.traversed_state_num += act_num # 将原条件结点c_node替换为扩展后子树subtree parent_of_c = c_node.parent parent_of_c.children[0] = subtree @@ -95,6 +129,7 @@ class BTExpAlgorithm: canrun = False if val == 'success' or val == 'running': canrun = True + self.tree_size = self.bfs_cal_tree_size_subtree(bt) return bt @@ -111,11 +146,12 @@ class BTExpAlgorithm: subtree = ControlBT(type='?') if len(goal) > 1: for g in goal: - print("goal",g) + # print("goal",g) bt_sel_tree = self.run_algorithm_selTree(start, g, actions) - print("bt_sel_tree.children",bt_sel_tree.children) + # print("bt_sel_tree.children",bt_sel_tree.children) # print(bt_sel_tree.children[0]) - subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + subtree.add_child([bt_sel_tree.children[0]]) self.bt.add_child([subtree]) else: self.bt = self.run_algorithm_selTree(start, goal[0], actions) @@ -180,6 +216,46 @@ class BTExpAlgorithm: self.ptml_string += '}\n' return self.ptml_string + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + if isinstance(self.bt.children[0], Leaf): + # print("扩展后的结点数=0") + return 0 + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count + + def bfs_cal_tree_size_subtree(self,bt): + from collections import deque + queue = deque([bt.children[0]]) + + if isinstance(bt.children[0], Leaf): + # print("扩展后的结点数=0") + return 0 + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count + + if __name__ == '__main__': bt_algo_opt = False diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py b/BTExpansionCode/BTExpansionAlgorithm_time.py similarity index 60% rename from BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py rename to BTExpansionCode/BTExpansionAlgorithm_time.py index 0de8662..baba4d5 100644 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py +++ b/BTExpansionCode/BTExpansionAlgorithm_time.py @@ -2,13 +2,13 @@ import random import numpy as np import copy import time -from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT -from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,generate_random_state,state_transition,conflict +from OptimalBTExpansionAlgorithm import ControlBT,Leaf,generate_random_state,Action,state_transition,conflict +import re # 本文所提出的完备规划算法 -class BTalgorithm: +class BTExpAlgorithm: def __init__(self,verbose=False): self.bt = None self.nodes = [] @@ -25,8 +25,12 @@ class BTalgorithm: self.conditions = [] self.conditions_index = [] - # 运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt def run_algorithm_selTree(self, start, goal, actions): + + time_dic={"act_traverse_time":0, + "choose_min_c":0, + "While_Count":0} + # 初始行为树只包含目标条件 bt = ControlBT(type='cond') g_node = Leaf(type='cond', content=goal,mincost=0) @@ -41,6 +45,9 @@ class BTalgorithm: canrun = True # 循环扩展，直到行为树能够在初始状态运行 while not canrun: + + time_dic["While_Count"] += 1 + index = -1 for i in range(0, len(self.nodes)): if self.nodes[i].content in self.traversed: @@ -67,8 +74,8 @@ class BTalgorithm: valid = True # 这样剪枝存在错误性 - if conflict(c_attr): - continue + # if conflict(c_attr): + # continue for j in self.traversed: # 剪枝操作 if j <= c_attr: @@ -96,7 +103,12 @@ class BTalgorithm: canrun = False if val == 'success' or val == 'running': canrun = True - return bt + return bt,time_dic + + + def run_algorithm_test(self, start, goal, actions): + self.bt,time_dic = self.run_algorithm_selTree(start, goal, actions) + return True,time_dic @@ -117,16 +129,26 @@ class BTalgorithm: self.bt = self.run_algorithm_selTree(start, goal[0], actions) return True - def print_solution(self): - print(len(self.nodes)) - # for i in self.nodes: - # if isinstance(i,Node): - # print (i.content) - # else: - # print (i) - # 树的dfs - def dfs_ptml(self,parnode,is_root=False): + def print_solution(self): + print("========= XiaoCaoBT ==========") # 树的bfs遍历 + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= XiaoCaoBT ==========\n") + + + def dfs_ptml_many_act(self, parnode, is_root=False): for child in parnode.children: if isinstance(child, Leaf): if child.type == 'cond': @@ -144,6 +166,9 @@ class BTalgorithm: self.ptml_string += c_set_str elif child.type == 'act': + + child.content.name = re.sub(r'\d+', '', child.content.name) + if '(' not in child.content.name: self.ptml_string += 'act ' + child.content.name + "()\n" else: @@ -151,125 +176,44 @@ class BTalgorithm: elif isinstance(child, ControlBT): if child.type == '?': self.ptml_string += "selector{\n" - self.dfs_ptml(parnode=child) + self.dfs_ptml_many_act(parnode=child) elif child.type == '>': self.ptml_string += "sequence{\n" - self.dfs_ptml( parnode=child) + self.dfs_ptml_many_act(parnode=child) self.ptml_string += '}\n' - - def get_ptml(self): + def get_ptml_many_act(self): self.ptml_string = "selector{\n" - self.dfs_ptml(self.bt.children[0],is_root=True) + self.dfs_ptml_many_act(self.bt.children[0],is_root=True) self.ptml_string += '}\n' return self.ptml_string - def save_ptml_file(self,file_name): - self.ptml_string = "selector{\n" - self.dfs_ptml(self.bt.children[0]) - self.ptml_string += '}\n' - with open(f'./{file_name}.ptml', 'w') as file: - file.write(self.ptml_string) - return self.ptml_string + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + if isinstance(self.bt.children[0], Leaf): + # print("扩展后的结点数=0") + return 0 -# 所对比的基准算法，具体扩展细节有差异 + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count if __name__ == '__main__': - random.seed(1) - # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 - literals_num = 10 - depth = 10 - iters = 10 - total_tree_size = [] - total_action_num = [] - total_state_num = [] - total_steps_num = [] - # fail_count=0 - # danger_count=0 - success_count = 0 - failure_count = 0 - planning_time_total = 0.0 - # 实验1000次 - for count in range(0, 1000): - # 生成一个规划问题，包括随机的状态和行动，以及目标状态 - states = [] - actions = [] - start = generate_random_state(literals_num) - state = start - states.append(state) - # print (state) - for i in range(0, depth): - a = Action() - a.generate_from_state(state, literals_num) - if not a in actions: - actions.append(a) - state = state_transition(state, a) - if state in states: - pass - else: - states.append(state) - # print(state) - goal = states[-1] - state = start - for i in range(0, iters): - a = Action() - a.generate_from_state(state, literals_num) - if not a in actions: - actions.append(a) - state = state_transition(state, a) - if state in states: - pass - else: - states.append(state) - state = random.sample(states, 1)[0] - # 选择测试本文算法btalgorithm，或对比算法weakalgorithm - algo = BTalgorithm() - # algo = Weakalgorithm() - start_time = time.time() - if algo.run_algorithm(start, goal, list(actions)): # 运行算法，规划后行为树为algo.bt - total_tree_size.append(algo.bt.count_size() - 1) - else: - print("error") - end_time = time.time() - planning_time_total += (end_time - start_time) + bt_algo_opt = False - # 开始从初始状态运行行为树，测试 - state = start - steps = 0 - val, obj = algo.bt.tick(state) # tick行为树，obj为所运行的行动 - while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 - state = state_transition(state, obj) - val, obj = algo.bt.tick(state) - if (val == 'failure'): - print("bt fails at step", steps) - steps += 1 - if (steps >= 500): # 至多运行500步 - break - if not goal <= state: # 错误解，目标条件不在执行后状态满足 - # print ("wrong solution",steps) - failure_count += 1 - - else: # 正确解，满足目标条件 - # print ("right solution",steps) - success_count += 1 - total_steps_num.append(steps) - algo.clear() - total_action_num.append(len(actions)) - total_state_num.append(len(states)) - print(success_count, failure_count) # 算法成功和失败次数 - - print(np.mean(total_tree_size), np.std(total_tree_size, ddof=1)) # 1000次测试树大小 - print(np.mean(total_steps_num), np.std(total_steps_num, ddof=1)) - print(np.mean(total_state_num)) # 1000次问题的平均状态数 - print(np.mean(total_action_num)) # 1000次问题的平均行动数 - print(planning_time_total, planning_time_total / 1000.0) - - # print(total_state_num) # casestudy begin 对应论文的case study，包含三个行动的移动机械臂场景 @@ -292,7 +236,7 @@ if __name__ == '__main__': start = {1, 7, 4, 6} goal = {3} - algo = BTalgorithm() + algo = BTExpAlgorithm() algo.clear() algo.run_algorithm(start, goal, list(actions)) state = start diff --git a/BTExpansionCode/BehaviorTree.py b/BTExpansionCode/BehaviorTree.py index b2fa52d..4425420 100644 --- a/BTExpansionCode/BehaviorTree.py +++ b/BTExpansionCode/BehaviorTree.py @@ -24,19 +24,37 @@ class Leaf: else: return 'failure',self.content - def cost_tick(self,state,cost,ticks): + def cost_tick(self, state, cost, ticks): + if self.type == 'cond': + ticks += 1 + if self.content <= state: + return 'success', self.content, cost, ticks + else: + return 'failure', self.content, cost, ticks + if self.type == 'act': + ticks += 1 + if self.content.pre <= state: + return 'running', self.content, cost + self.content.cost, ticks # action + else: + return 'failure', self.content, cost, ticks + + def cost_tick_cond(self,state,cost,ticks,cond): if self.type=='cond': ticks+=1 + cond+=len(self.content) if self.content <= state: - return 'success',self.content,cost,ticks + return 'success',self.content,cost,ticks,cond else: - return 'failure',self.content,cost,ticks + return 'failure',self.content,cost,ticks,cond if self.type=='act': ticks += 1 if self.content.pre<=state: - return 'running',self.content,cost+self.content.cost,ticks #action + return 'running',self.content,cost+self.content.cost,ticks,cond #action else: - return 'failure',self.content,cost,ticks + return 'failure',self.content,cost,ticks,cond + + + def __str__(self): print( self.content) @@ -117,6 +135,36 @@ class ControlBT: if self.type =='cond':#条件结点 return self.children[0].cost_tick(state,cost,ticks) + def cost_tick_cond(self, state, cost, ticks,cond): + if len(self.children) < 1: + print("error,no child") + if self.type =='?':#选择结点，即或结点 + ticks += 1 + for child in self.children: + ticks+=1 + val,obj,cost,ticks,cond=child.cost_tick_cond(state,cost,ticks,cond) + if val=='success': + return val,obj,cost,ticks,cond + if val=='running': + return val,obj,cost,ticks,cond + return 'failure','?fails',cost,ticks,cond + if self.type =='>':#顺序结点，即与结点 + for child in self.children: + # print("state:",state,"cost",cost) + ticks+=1 + val,obj,cost,ticks,cond=child.cost_tick_cond(state,cost,ticks,cond) + if val=='failure': + return val,obj,cost,ticks,cond + if val=='running': + return val,obj,cost,ticks,cond + return 'success', '>success',cost,ticks,cond + if self.type =='act':#行动结点 + return self.children[0].cost_tick_cond(state,cost,ticks,cond) + if self.type =='cond':#条件结点 + return self.children[0].cost_tick_cond(state,cost,ticks,cond) + + + def getFirstChild(self): return self.children[0] diff --git a/BTExpansionCode/EXP/1000次结果存档/bt_result_1logic=20240114 125535.csv b/BTExpansionCode/EXP/1000次结果存档/bt_result_1logic=20240114 125535.csv new file mode 100644 index 0000000..c5db55f --- /dev/null +++ b/BTExpansionCode/EXP/1000次结果存档/bt_result_1logic=20240114 125535.csv @@ -0,0 +1,15 @@ +,copy_act,depth,obj_num,iters,act_pred_num,literals_num,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,0,30,10,100,130.0,100,160.0,OBTEA,210.0,,477.0,,235.0,,8.0,,69.0,0.0,48.0,0.0,0.03701,0.0,0.07402 +1,0,30,10,100,130.0,100,160.0,Baseline,432.0,,764.0,,426.0,,7.0,,129.0,0.0,47.0,0.0,0.05201,0.0,0.10402 +2,0,30,100,100,130.0,100,1338.0,OBTEA,28.0,,11.0,,70.0,,1.0,,7.0,0.0,7.0,0.0,0.03201,0.0,0.06402 +3,0,30,100,100,130.0,100,1338.0,Baseline,23.0,,11.0,,70.0,,1.0,,8.0,0.0,1.0,0.0,0.005,0.0,0.01 +4,5,10,50,100,110.0,100,349.0,OBTEA,236.0,,892.0,,182.0,,10.0,,62.0,0.0,51.0,0.0,0.08002,0.0,0.16004 +5,5,10,50,100,110.0,100,349.0,Baseline,201.0,,650.0,,470.0,,10.0,,62.0,0.0,17.0,0.0,0.03501,0.0,0.07002 +6,5,30,50,100,130.0,100,836.0,OBTEA,214.0,,372.0,,54.0,,4.0,,114.0,0.0,49.0,0.0,0.20305,0.0,0.40609 +7,5,30,50,100,130.0,100,836.0,Baseline,632.0,,362.0,,225.0,,4.0,,205.0,0.0,19.0,0.0,0.19405,0.0,0.38809 +8,5,30,100,100,130.0,100,1719.0,OBTEA,79.0,,82.0,,49.0,,2.0,,122.0,0.0,19.0,0.0,0.17104,0.0,0.34208 +9,5,30,100,100,130.0,100,1719.0,Baseline,204.0,,26.0,,142.0,,2.0,,68.0,0.0,2.0,0.0,0.02201,0.0,0.04401 +10,5,30,100,500,530.0,100,1663.0,OBTEA,44.0,,29.0,,31.0,,2.0,,17.0,0.0,17.0,0.0,0.17104,0.0,0.34208 +11,5,30,100,500,530.0,100,1663.0,Baseline,96.0,,29.0,,67.0,,2.0,,32.0,0.0,2.0,0.0,0.02101,0.0,0.04201 +12,5,50,100,500,550.0,100,2739.0,OBTEA,26.0,,33.0,,5.0,,2.0,,103.0,0.0,7.0,0.0,0.08602,0.0,0.17204 +13,5,50,100,500,550.0,100,2739.0,Baseline,92.0,,11.0,,96.0,,1.0,,31.0,0.0,1.0,0.0,0.015,0.0,0.03001 diff --git a/BTExpansionCode/EXP/1000次结果存档/cage_bt_result_=20240114 152838.csv b/BTExpansionCode/EXP/1000次结果存档/cage_bt_result_=20240114 152838.csv new file mode 100644 index 0000000..e248d66 --- /dev/null +++ b/BTExpansionCode/EXP/1000次结果存档/cage_bt_result_=20240114 152838.csv @@ -0,0 +1,7 @@ +,difficult,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Easy,OBTEA,14.133,10.673,37.167,30.758,87.733,79.047,0.00177,0.00173,0.05301 +1,Easy,Baseline,79.867,88.803,69.7,75.896,123.4,105.933,0.00243,0.0047,0.07302 +2,Medium,OBTEA,46.667,55.579,99.267,163.376,109.433,99.613,0.00515,0.00613,0.15458 +3,Medium,Baseline,311.267,502.951,207.0,302.415,184.7,154.386,0.03318,0.0769,0.99533 +4,Hard,OBTEA,203.95,227.232,315.1,566.12,164.2,131.577,0.02373,0.02579,0.94931 +5,Hard,Baseline,1053.025,1799.519,447.9,893.542,249.7,209.654,0.282,0.8118,11.27991 diff --git a/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_1logic=20240117 065252.csv b/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_1logic=20240117 065252.csv new file mode 100644 index 0000000..6076397 --- /dev/null +++ b/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_1logic=20240117 065252.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,ticks_avg,wm_cond_ticks,cond_tick_avg,cost_avg,step_avg,expand_num_avg,plan_time_avg,plan_time_total +0,10,500,50,50.0,5,25000.0,22427.877,12514.209,OBTEA,0.0,393.348,2581.188,909.768,82.705,3.527,75.822,2.60924,5218.47301 +1,10,500,50,50.0,5,25000.0,22427.877,12514.209,Baseline,250.694,306.653,0.0,1436.642,165.935,3.321,79.464,0.55127,1102.54956 diff --git a/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_random_wm=20240117 065252.csv b/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_random_wm=20240117 065252.csv new file mode 100644 index 0000000..4606fe6 --- /dev/null +++ b/BTExpansionCode/EXP/BT_Random 实验结果存档/bt_result_random_wm=20240117 065252.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,500,50,50.0,5,25000.0,22427.877,12514.209,1436.642,2581.188,909.768,165.935,82.705 diff --git a/BTExpansionCode/EXP/Draw_bt_easy_medium_hard.py b/BTExpansionCode/EXP/Draw_bt_easy_medium_hard.py new file mode 100644 index 0000000..f0b2f4b --- /dev/null +++ b/BTExpansionCode/EXP/Draw_bt_easy_medium_hard.py @@ -0,0 +1,104 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_easy_medium_hard +import copy +import random +import re +from dataset.data_process_check import format_check,word_correct,goal_transfer_ls_set +import time + +seed = 1 +random.seed(seed) + +multiple_num= 2 +action_list = collect_action_nodes(random,multiple_num) +# for act in action_list: +# print(act.name,act.cost) + +start_robowaiter = get_start() + +# 计算state总数 +state_num, vaild_state_num= collect_cond_nodes() +print("meta states num: ",state_num) +print("states num: ",vaild_state_num) +print("act num: ",len(action_list)) + +goal_states = [] + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() + + +all_result=[] + +# dataset_ls = [easy_data_set,medium_data_set,hard_data_set] +# parm_difficule_ls = ['Easy','Medium','Hard'] + +dataset_ls = [hard_data_set] +parm_difficule_ls = ['Hard'] + + +# sections = re.split(r'\n\s*\n', dataset) +# outputs_list = [[] for _ in range(len(sections))] +# +# goal_set_ls=[] +# for i,s in enumerate(sections): +# x,y = s.strip().splitlines() +# x = x.strip() +# y = y.strip().replace("Goal: ","") +# # goal_set_ls.append(goal_transfer_ls_set(y)) +# goal_set_ls.append(y) + + +# goal_states = goal_set_ls +# goal_states={"On_Milk_WindowTable6"} +# goal_states={"On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 )"} +# goal_states={"(~On_Coffee_Table1 | ~On_Dessert_Table2) & ~RobotNear_Bar2"} +# goal_states={"(~On_Milk_Bar | ~On_Yogurt_Bar) & ~RobotNear_Bar"} + +# goal_states={"IsClean_Table1 & (On_Coffee_Table1 | On_Yogurt_Table1)" } +# goal_states={"IsClean_Table1 & (IsClean_Floor | IsClean_Chairs)" } +# goal_states={"~(On_VacuumCup_Bar | On_VacuumCup_Bar2) & ~Low_ACTemperature"} +# goal_states={"IsClean_Table1 & On_Coffee_Table1"} + +# goal_states={"(On_Coffee_Table | On_Tea_Table) & ~Active_AC"} +goal_states={"(On_Coffee_Table | On_Tea_Table) & ~Active_AC"} + +obt_result = BTTest_easy_medium_hard(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) +# print("\n") +# 对比 +# baseline_result = BTTest_easy_medium_hard(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) + +# param_ls=[parm_difficule_ls[index]] +# +# a_result=[] +# a_result.extend(param_ls) +# a_result.append("OBTEA") +# a_result.extend(obt_result) +# all_result.append(a_result) +# +# a_result=[] +# a_result.extend(param_ls) +# a_result.append("Baseline") +# a_result.extend(baseline_result) +# all_result.append(a_result) +# +# import pandas as pd +# df = pd.DataFrame(all_result, columns=[ +# 'difficult', +# 'btalgorithm', +# 'tree_size_avg', 'tree_size_std', +# 'ticks_avg', 'ticks_std', +# 'cost_avg', 'cost_std', +# 'plan_time_avg', 'plan_time_std', 'plan_time_total']) +# +# time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +# csv_file_path = 'cage_bt_result_='+time_str+'.csv' +# df.to_csv(csv_file_path, index=True) +# print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py deleted file mode 100644 index 8c15ec4..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ - -# from robowaiter.behavior_tree.behavior_tree import BehaviorTree diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt deleted file mode 100644 index 929c465..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt +++ /dev/null @@ -1,386 +0,0 @@ -At(Robot,Bar) 请给我带来菜单。 -At(Robot,Bar) 请帮我前往吧台。 -At(Robot,Bar) 您好，我需要去吧台那个位置，请问可以帮我吗？ -At(Robot,WaterTable) 请送一些茶水到茶水桌。 -At(Robot,WaterTable) 请帮我前往茶水桌。 -At(Robot,WaterTable) 您好，请问您需要我前往哪个位置呢？ -At(Robot,CoffeeTable) 请问能帮我来到这个咖啡桌吗？ -At(Robot,CoffeeTable) 请前往咖啡桌。 -At(Robot,CoffeeTable) 您好！请问您能帮我前往咖啡桌的位置吗？ -At(Robot,Bar2) 您好，请问您需要前往哪个吧台呢？ -At(Robot,Bar2) 请帮我前往另一个吧台。 -At(Robot,Bar2) 您好，机器人服务员！请问您能告诉我如何前往另一个吧台的位置吗？ -At(Robot,Table1) 请给我送一份菜单到第一桌。 -At(Robot,Table1) 请帮我前往第一桌，谢谢！ -At(Robot,Table1) 您好，我是一名AI助手，请问有什么我可以帮您的？ -At(Robot,Table2) 请帮我来到第二张桌子。 -At(Robot,Table2) 请帮我前往第二桌，谢谢！ -At(Robot,Table2) 您好，机器人服务员！请问您能否前往第二桌的位置提供服务？ -At(Robot,Table3) 请给我带来第三桌子的服务。 -At(Robot,Table3) 请前往第三张桌子。 -At(Robot,Table3) 您好，请问您需要我前往第三张桌子所在的方位吗？ -On(Softdrink,Bar) 请将软饮料放在吧台那个位置。 -On(Softdrink,Bar) 请将软饮料拿到吧台位置。 -On(Softdrink,WaterTable) 请将软饮料放在茶水桌那个位置。 -On(Softdrink,WaterTable) 请给我拿一罐软饮料，放在茶水桌的位置。 -On(Softdrink,CoffeeTable) 请将软饮料放在咖啡桌上的指定位置。 -On(Softdrink,CoffeeTable) 请把软饮料拿到我的咖啡桌位置。 -On(Softdrink,Bar2) 请将软饮料放在另一个酒吧台的位置。 -On(Softdrink,Bar2) 请将软饮料拿到另一个酒吧台位置。 -On(Softdrink,Table1) 请将软饮料放在第一桌的指定位置。 -On(Softdrink,Table1) 请给我拿一罐软饮料,放在第一桌子的位置。 -On(Softdrink,Table2) 请将软饮料放在第二桌的位置。 -On(Softdrink,Table2) 请帮我从一个位置(可能是吧台或货架)取来一瓶软饮料,然后将其放在第二张桌子上。 -On(Softdrink,Table3) 请将软饮料放在第三桌的具体位置。 -On(Softdrink,Table3) 请给我拿一罐软饮料，放 到第三张桌子的位置。 -On(BottledDrink,Bar) 您好，我想让您将瓶装饮料放在吧台那个位置。 -On(BottledDrink,Bar) 请帮我取一下瓶装饮料，放到吧台那里。 -On(BottledDrink,WaterTable) 您好,机器人服务员,我想让您放一瓶饮料在茶水桌上,可以吗? -On(BottledDrink,WaterTable) 请帮我拿一下瓶装饮料，放到茶水桌的位置。 -On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌上的指定位置。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料拿到我的咖啡桌位置。 -On(BottledDrink,Bar2) 请将瓶装饮料放在另一个酒吧台的位置。 -On(BottledDrink,Bar2) 请帮我从一个吧台位置取一个瓶装饮料,然后将其拿到另一个吧台位置。 -On(BottledDrink,Table1) 请将瓶装饮料放在第一桌的指定位置。 -On(BottledDrink,Table1) 您好，我需要您帮忙将瓶装饮料拿到第一桌的位置。 -On(BottledDrink,Table2) 您好，我需要您帮助将瓶装饮料放在第二桌的具体位置。 -On(BottledDrink,Table2) 请给我拿一罐饮料,放在第二桌的位置。 -On(BottledDrink,Table3) 请将瓶装饮料放在第三桌的位置。 -On(BottledDrink,Table3) 请给我取一瓶饮料，放到了第三桌子上。 -On(Yogurt,Bar) 您好，我需要您将酸奶放在吧台上的哪个位置。 -On(Yogurt,Bar) 请您把酸奶拿到吧台。 -On(Yogurt,WaterTable) 请将酸奶放在茶水桌那个位置。 -On(Yogurt,WaterTable) 请将酸奶放在茶水桌的位置。 -On(Yogurt,CoffeeTable) 请将酸奶放在咖啡桌上的指定位置。 -On(Yogurt,CoffeeTable) 请把酸奶放在咖啡桌的位置。 -On(Yogurt,Bar2) 请将酸奶放在另一个吧台上的那个位置。 -On(Yogurt,Bar2) 您好，机器人服务员！请问您可以帮我拿一下酸奶，放到那个靠近窗户的吧台位置吗？谢谢！ -On(Yogurt,Table1) 请将酸奶放在第一桌的第一位置。 -On(Yogurt,Table1) 请将酸奶放在第一桌的位置。 -On(Yogurt,Table2) 您好，请问能帮我将酸奶放在第二张桌子的位置吗？谢谢！ -On(Yogurt,Table2) 请把酸奶放在第二桌的位置。 -On(Yogurt,Table3) 您好,机器人服务员,我想让您把酸奶放到第三张桌子的位置。谢谢! -On(Yogurt,Table3) 请把酸奶放在第三桌的位置。 -On(ADMilk,Bar) 请将AD钙奶放在吧台那个位置。 -On(ADMilk,Bar) 请把AD钙奶放到 bar 位置。 -On(ADMilk,WaterTable) 请将AD钙奶放在茶水桌那个位置。 -On(ADMilk,WaterTable) 请帮我取一份AD钙奶，放在茶水桌的位置上。 -On(ADMilk,CoffeeTable) 请将AD钙奶放在咖啡桌上的指定位置。 -On(ADMilk,CoffeeTable) 请将AD钙奶送到我的咖啡桌位置。 -On(ADMilk,Bar2) 请将AD钙奶放在另一个酒吧台的位置。 -On(ADMilk,Bar2) 您好，机器人服务员！请问能帮我拿一下AD钙奶，放到另一个吧台位置吗？谢谢！ -On(ADMilk,Table1) 请将AD钙奶放在第一桌的指定位置。 -On(ADMilk,Table1) 请把AD钙奶放在第一桌的位置。 -On(ADMilk,Table2) 请将AD钙奶放在第二桌的位置。 -On(ADMilk,Table2) 请把AD钙奶放在第二桌的位置。 -On(ADMilk,Table3) 您好,机器人服务员!请问能帮我将AD钙奶放到第三张桌子的位置吗?谢谢! -On(ADMilk,Table3) 请帮我取一份AD钙奶，放至第三桌。 -On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 -On(MilkDrink,Bar) 请帮我拿一罐牛奶饮料放到吧台的位置。 -On(MilkDrink,WaterTable) 请将牛奶饮料放在茶水桌那个位置。 -On(MilkDrink,WaterTable) 请帮我递一下牛奶饮料，放到茶水桌的位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌上的指定位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在我的咖啡桌上。 -On(MilkDrink,Bar2) 请将牛奶饮料放在另一个酒吧台的位置。 -On(MilkDrink,Bar2) 您好，机器人服务员！请问能否帮我拿一下牛奶饮料，并将其放在另一个吧台位置？谢谢！ -On(MilkDrink,Table1) 请将牛奶饮料放在第一桌的指定位置。 -On(MilkDrink,Table1) 请将牛奶饮料拿到第一桌。 -On(MilkDrink,Table2) 请将牛奶饮料放在第二桌的位置上。 -On(MilkDrink,Table2) 请给我拿一罐牛奶饮料,放在第二桌的位置。 -On(MilkDrink,Table3) 请将牛奶饮料放在第三桌的具体位置。 -On(MilkDrink,Table3) 请给我拿一罐牛奶饮料，放到第三张桌子的位置。 -On(Milk,Bar) 请将牛奶放在吧台那个地方。 -On(Milk,Bar) 请把牛奶拿到吧台。 -On(Milk,WaterTable) 请将牛奶放在茶水桌那个位置。 -On(Milk,WaterTable) 请将牛奶放在茶水桌附近。 -On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 -On(Milk,CoffeeTable) 请把牛奶放在我的咖啡桌上。 -On(Milk,Bar2) 请将牛奶放在另一个酒吧台的位置上。 -On(Milk,Bar2) 请将牛奶拿到另一个吧台位置。 -On(Milk,Table1) 请将牛奶放在第一桌的位置上。 -On(Milk,Table1) 请把牛奶放在第一桌的位置上。 -On(Milk,Table2) 请将牛奶放在第二桌那个位置。 -On(Milk,Table2) 请给我拿一罐牛奶，放的第二张桌子上。 -On(Milk,Table3) 您好，我需要您将牛奶放在第三张桌子的位置。谢谢！ -On(Milk,Table3) 请给我拿一罐牛奶，放到第三桌子的位置。 -On(VacuumCup,Bar) 请将我的保温杯放在吧台上的那个位置。 -On(VacuumCup,Bar) 请将我的保温杯拿到吧台。 -On(VacuumCup,WaterTable) 请将我的保温杯放在茶水桌那个地方。 -On(VacuumCup,WaterTable) 请将保温杯拿到茶水桌那里。 -On(VacuumCup,CoffeeTable) 请将保温杯放置在咖啡桌上的指定位置。 -On(VacuumCup,CoffeeTable) 请把保温杯放在咖啡桌附近。 -On(VacuumCup,Bar2) 请将我的保温杯放在另一个酒吧台上的那个位置。 -On(VacuumCup,Bar2) 请帮我把保温杯拿到另一个吧台位置。 -On(VacuumCup,Table1) 请将保温杯放在第一桌的指定位置。 -On(VacuumCup,Table1) 请把保温杯拿到第一桌子的位置。 -On(VacuumCup,Table2) 请将保温杯放在第二桌的具体位置。 -On(VacuumCup,Table2) 请帮我递一个保温杯到第二桌。 -On(VacuumCup,Table3) 请将保温杯放在第三桌的指定位置。 -On(VacuumCup,Table3) 请把保温杯拿到第三桌的位置。 -Is(AC,0) 当然可以，请问需要我为您执行这个操作吗？ -Is(AC,1) 您好！请问您需要我为您打开空调吗？ -Is(ACTemperature,0) 尊敬的服务员，可以请您把空调温度调高一些吗？谢谢！ -Is(ACTemperature,1) 尊敬的服务员，能否请您将空调温度调低一些呢？ -Is(HallLight,0) 当然可以，请您稍等，我这就帮您关闭大厅灯。 -Is(HallLight,1) 您好！请问您需要我为您做些什么呢？ -Is(TubeLight,0) 尊敬的服务员，请问你能把筒灯调暗一些吗？ -Is(TubeLight,1) 您好，请问您需要我帮您打开筒灯吗？ -Is(Curtain,0) 您好，我能为您做什么？ -Is(Curtain,1) 您好，请问您需要我帮您打开窗帘吗？ -Is(Chairs,0) 您好！请问需要我为您做什么？ -Is(Chairs,1) 您好，请问能帮我清理一下座位上的灰尘吗？ -Is(Floor,0) 抱歉,我理解您的意思了。请问需要我帮忙做些什么来清理地板呢? -Is(Floor,1) 请问你能帮我打扫一下地板吗？ -Is(Table1,0) 您好，请问需要我帮助您做什么呢？如果您需要我清理桌子的灰尘或者污渍，麻烦您告诉我哪一张桌子需要清洁。 -Is(Table1,1) 请帮我清理一下这张桌子的灰尘和垃圾。 -Holding(Softdrink) 您好，我是您的机器人服务员。请问您需要什么帮助呢？ -Holding(Softdrink) 您好,我是一个机器人服务员。请问您需要什么帮助?如果您想要点软饮料,您可以告诉我您的喜好,我会为您推荐一些适合的选项。 -Holding(BottledDrink) 您好，请问您需要什么帮助？我会尽力满足您的需求。 -Holding(BottledDrink) 您好,我是一名机器人服务员。请问您需要我帮忙拿着一瓶装饮料吗? -Holding(Yogurt) 您好，我可以帮助您点餐和回答问题。请问您需要什么食物或饮料？ -Holding(Yogurt) 请问你能一直帮我拿着这个酸奶吗？ -Holding(ADMilk) 你好，尊敬的服务员！能否帮我抓住AD钙奶并递给我呢？ -Holding(ADMilk) 您好,我无法长时间拿着 AD 钙奶。作为一个机器人服务员,我的任务是帮助您解决问题和回答问题,而不是提供物理服务。如果您需要AD钙奶,我可以告诉您在哪里可以找到它,或者指导您如何自己获取它。 -Holding(MilkDrink) 您好！请问有什么我可以帮您的吗？ -Holding(MilkDrink) 您好，我是您的机器人服务员。请问您需要我为您一直拿着这杯牛奶饮料吗？ -Holding(Milk) 你好，尊敬的服务员，能帮我拿一下牛奶吗？ -Holding(Milk) 请问你能一直拿着牛奶吗？ -Holding(VacuumCup) 您好，请问您需要什么帮助？我可以为您提供服务。 -Holding(VacuumCup) 您好，我是一名AI机器人，无法直接为您拿保温杯。但是，我可以为您提供购买保温杯的建议，或者推荐其他相关商品。请问您需要什么帮助吗？ -Holding(Nothing) 抱歉,我需要更多的信息来理解您的请求。请问您能告诉我您具体想要什么帮助吗?我会尽力回答您的问题。 -Holding(Nothing) 请问您能一直拿着无所事事吗？ -On(Coffee,Bar) 您好，我需要一杯咖啡，并希望它能够被送到吧台。 -On(Coffee,Bar) 请帮我准备一杯咖啡,然后把咖啡端到吧台这里。 -On(Coffee,WaterTable) 您好！请问您能帮我制作一杯咖啡并将其端到茶水桌 here 吗？谢谢！ -On(Coffee,WaterTable) 请帮我准备一杯咖啡,然后将它端到茶水桌旁边。 -On(Coffee,CoffeeTable) 当然可以，请问您想喝什么类型的咖啡呢？ -On(Coffee,CoffeeTable) 请帮我准备一杯咖啡,然后将它端到这个咖啡桌上来。 -On(Coffee,Bar2) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后把咖啡端到这个吧台这里来吗？谢谢！ -On(Coffee,Bar2) 请帮我准备一杯咖啡,然后把咖啡端到这个吧台这里。 -On(Coffee,Table1) 您好，我是一名人工智能助手。请问您需要什么帮助？ -On(Coffee,Table1) 请给我一杯咖啡,并将其放在第一桌子上。 -On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并且希望它能够被送到第二张桌子上。 -On(Coffee,Table2) 请为我准备一杯咖啡,并将其送到第二桌。 -On(Coffee,Table3) 您好！请问您能否帮我制作一杯咖啡，然后把咖啡端到第三张桌子上呢？谢谢！ -On(Coffee,Table3) 请为我准备一杯咖啡,并将其送到第三张桌子上。 -On(Water,Bar) 您好，我需要一杯水，并且希望它能够被端到吧台那里。 -On(Water,Bar) 请为我准备一杯水,并将其送到吧台。 -On(Water,WaterTable) 您好，我需要一杯水，并希望您能将其端到茶水桌这里。 -On(Water,WaterTable) 请为我送一杯水,并将其放在茶水桌上。 -On(Water,CoffeeTable) 您好，我是一名机器人服务员。请问您需要一杯水，我可以为您制作并在准备好后将其端到咖啡桌旁边。 -On(Water,CoffeeTable) 请给我一杯水,并将其递送到我的咖啡桌上。 -On(Water,Bar2) 您好，机器人服务员！请问你能帮我制作一杯水，然后将其端到距离这里较远的另一个吧台吗？谢谢！ -On(Water,Bar2) 请给我倒一杯水,然后把水端到这个吧台这里。 -On(Water,Table1) 您好，我需要一杯水，并希望它能够被送到我所在的桌子上。 -On(Water,Table1) 请为我准备一杯水,并将其送到这张桌子的位置上。 -On(Water,Table2) 您好，我需要一杯水，并希望你能将它端到第二张桌子上。 -On(Water,Table2) 请给我倒一杯水,并把水杯端到第二桌子上。 -On(Water,Table3) 您好，机器人服务员！请问能否为您制作一杯水，并将其送到第三张桌子呢？ -On(Water,Table3) 请为我准备一杯水,并将其送到第三桌。 -On(Dessert,Bar) 您好，我需要点心和甜品。请帮我制作一下，然后把它们带到吧台来。 -On(Dessert,Bar) 您好，我可以帮您点一些点心或甜品，然后将它们送到吧台。请问您想点什么？ -On(Dessert,WaterTable) 您好，我需要点心和甜品，并将它们端到茶水桌 here。 -On(Dessert,WaterTable) 请为我准备一些点心或甜品,并将其递送到我的茶水桌子上。 -On(Dessert,CoffeeTable) 您好，我是一个人工智能助手，虽然我不能直接为您制作点心或甜品，但我可以帮助您找到附近的餐厅或店铺，为您推荐美味的点心或甜品，您可以品尝一下。如果您有其他需要帮助的地方，也请随时告诉我。 -On(Dessert,CoffeeTable) 请为我准备一些点心或甜品，然后将其放置在咖啡桌附近。 -On(Dessert,Bar2) 您好，我需要点心和甜品。请问您能帮我制作吗？然后把它们端到这里来。谢谢！ -On(Dessert,Bar2) 请帮我点一份点心或甜品,然后把它端到另一个吧台那里。 -On(Dessert,Table1) 您好，我是一位AI助手，无法直接为您制作点心或甜品。但我可以为您推荐菜单上的点心或甜品，或者帮您下单购买。请问您需要什么帮助？ -On(Dessert,Table1) 请帮我点一些点心或甜品，并把它们放在这张桌子上。 -On(Dessert,Table2) 您好，机器人服务员！我需要点心和甜品，可以帮我制作吗？把它们送到第二桌来，谢谢！ -On(Dessert,Table2) 您好，请问有什么我可以帮您的吗？您可以点一些点心或甜品，然后告诉我放在哪一张桌子上，我会马上为您送过去。 -On(Dessert,Table3) 您好，我需要点心和甜品，请把它们送到第三桌。 -On(Dessert,Table3) 您好,机器人服务员!请问您能帮我点些点心或甜品吗?我要把它们送到第三桌。 -At(Robot,Bar) 您好，机器人服务员！请问您能带路来到 Bar 吗？我想要一杯饮料和一些小吃。谢谢！ -At(Robot,Bar) 请帮我前往Bar。 -At(Robot,Bar) 请问你能带我前往Bar位置吗？ -At(Robot,WaterTable) 请帮我找到WaterTable。 -At(Robot,WaterTable) 您好，机器人服务员！请问您能帮我订一张去WaterTable的桌子吗？ -At(Robot,WaterTable) 当然可以！请问您需要我向WaterTable位置发送消息吗？ -At(Robot,CoffeeTable) 请把咖啡机移到CoffeeTable附近。 -At(Robot,CoffeeTable) 请前往CoffeeTable。 -At(Robot,CoffeeTable) 您好，我是一名人工智能助手，请问有什么我可以帮您的？ -At(Robot,Bar2) 您好，我需要去Bar2。 -At(Robot,Bar2) 您好，机器人服务员，请问您能帮我前往Bar2吗？ -At(Robot,Bar2) 您好，我是一名AI助手，无法移动到特定的位置。但我会尽力为您提供帮助。您想前往Bar2吗？如果有其他问题，欢迎随时告诉我。 -At(Robot,Table1) 请把菜单送到Table 1。 -At(Robot,Table1) 请前往Table1。 -At(Robot,Table1) 您好，我能前往Table1位置吗？ -At(Robot,Table2) 请带领我到Table 2。 -At(Robot,Table2) 请前往Table2。 -At(Robot,Table2) 您好！请问您需要我前往Table2位置吗？ -At(Robot,Table3) 请把服务生叫来Table 3。 -At(Robot,Table3) 请去Table3。 -At(Robot,Table3) 您好，我需要您前往Table3位置。 -On(Softdrink,Bar) 请将Softdrink放在Bar那个位置。 -On(Softdrink,Bar) 请把Softdrink拿到Bar位置。 -On(Softdrink,WaterTable) 您好，机器人服务员！请问能帮我将Softdrink放在WaterTable的位置上吗？谢谢！ -On(Softdrink,WaterTable) 请把Softdrink拿到WaterTable的位置。 -On(Softdrink,CoffeeTable) 请将Softdrink放在CoffeeTable那个位置。 -On(Softdrink,CoffeeTable) 请将Softdrink拿到CoffeeTable的位置。 -On(Softdrink,Bar2) 您好，机器人服务员！请问能否帮我放一下Softdrink到Bar2的位置呢？谢谢！ -On(Softdrink,Bar2) 请把Softdrink拿到Bar2的位置。 -On(Softdrink,Table1) 请将Softdrink放在Table1的位置。 -On(Softdrink,Table1) 请把Softdrink拿到Table 1的位置。 -On(Softdrink,Table2) 您好，机器人服务员！请将Softdrink放在Table 2的位置。谢谢！ -On(Softdrink,Table2) 请将Softdrink拿到Table 2的位置。 -On(Softdrink,Table3) 您好，机器人服务员！请问能否将Softdrink放在Table3的位置上？ -On(Softdrink,Table3) 请将Softdrink拿到Table 3的位置。 -On(BottledDrink,Bar) 请将瓶装饮料放在酒吧那个位置。 -On(BottledDrink,Bar) 请将瓶装饮料送到酒吧区域。 -On(BottledDrink,WaterTable) 请将瓶装饮料放在水桌那个位置。 -On(BottledDrink,WaterTable) 请把瓶装饮料拿到水桌的位置。 -On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌那个位置。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料放在咖啡桌的位置。 -On(BottledDrink,Bar2) 请将瓶装饮料放在 Bar 2 的位置。 -On(BottledDrink,Bar2) 请把瓶装饮料送到酒吧2号位置。 -On(BottledDrink,Table1) 您好，机器人服务员！请将瓶装饮料放在Table1的位置上。谢谢！ -On(BottledDrink,Table1) 请将瓶装饮料拿到Table 1的位置。 -On(BottledDrink,Table2) 请将Bottled Drink放在Table 2的位置。 -On(BottledDrink,Table2) 请把瓶装饮料送到Table2位置。 -On(BottledDrink,Table3) 请将瓶装饮料放在Table3的位置上。 -On(BottledDrink,Table3) 请把瓶装饮料拿到Table3的位置。 -On(Yogurt,Bar) 您好，请问您需要将酸奶放在哪个位置？ -On(Yogurt,Bar) 请把Yogurt送到Bar位置。 -On(Yogurt,WaterTable) 请将Yogurt放在WaterTable的位置上。 -On(Yogurt,WaterTable) 请把Yogurt送到WaterTable位置。 -On(Yogurt,CoffeeTable) 请将Yogurt放在CoffeeTable那个位置。 -On(Yogurt,CoffeeTable) 请把Yogurt送到CoffeeTable那里。 -On(Yogurt,Bar2) 您好，机器人服务员！请帮我将酸奶（Yogurt）放在 Bar2 的位置上。谢谢！ -On(Yogurt,Bar2) 请将Yogurt送到Bar2位置。 -On(Yogurt,Table1) 您好，机器人服务员！请将酸奶（Yogurt）放到Table1的位置上。谢谢！ -On(Yogurt,Table1) 请将Yogurt拿到Table 1的位置。 -On(Yogurt,Table2) 请将 Yogurt 放在 Table2 的那个位置。 -On(Yogurt,Table2) 请将 Yogurt 拿到 Table 2 的位置。 -On(Yogurt,Table3) 您好，请问可以帮我将Yogurt放在Table3的位置吗？ -On(Yogurt,Table3) 请将Yogurt放在Table 3的位置上。 -On(ADMilk,Bar) 请将AD Milk放在Bar位置。 -On(ADMilk,Bar) 请把ADMilk拿到Bar位置。 -On(ADMilk,WaterTable) 请将AD Milk放在 WaterTable 的那个位置。 -On(ADMilk,WaterTable) 您好，请问能帮我拿一下ADMilk到WaterTable的位置吗？ -On(ADMilk,CoffeeTable) 您好，我需要您将ADMilk放在CoffeeTable那个位置。 -On(ADMilk,CoffeeTable) 请将AD Milk拿到Coffee Table的位置。 -On(ADMilk,Bar2) 请将AD Milk放置在Bar 2的位置。 -On(ADMilk,Bar2) 请把ADMilk拿到Bar2位置。 -On(ADMilk,Table1) 请将ADMilk放到Table1的位置。 -On(ADMilk,Table1) 请将ADMilk搬到Table1的位置。 -On(ADMilk,Table2) 请将ADMilk放在Table2的位置。 -On(ADMilk,Table2) 请把ADMilk搬到Table2的位置。 -On(ADMilk,Table3) 请将ADMilk放在Table3的位置。 -On(ADMilk,Table3) 您好，服务员！能帮我拿一下ADMilk到Table3位置吗？ -On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 -On(MilkDrink,Bar) 请把牛奶饮料拿到酒吧位置。 -On(MilkDrink,WaterTable) 请将牛奶饮料放在水桌那个位置。 -On(MilkDrink,WaterTable) 请把牛奶饮料拿到水 table 位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌那个位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料递送到咖啡桌位置。 -On(MilkDrink,Bar2) 请将牛奶饮料放在吧台2的位置。 -On(MilkDrink,Bar2) 请把牛奶饮料递送到酒吧2号位置。 -On(MilkDrink,Table1) 请将牛奶饮料放在Table1的位置上。 -On(MilkDrink,Table1) 请把牛奶饮料拿到Table1的位置。 -On(MilkDrink,Table2) 请将牛奶饮料放到桌子2的位置。 -On(MilkDrink,Table2) 请把牛奶饮料送到Table2位置。 -On(MilkDrink,Table3) 请将牛奶饮料放在桌3的位置。 -On(MilkDrink,Table3) 请将牛奶饮料拿到 table 3 的位置。 -On(Milk,Bar) 请将牛奶放在酒吧那个位置。 -On(Milk,Bar) 请把牛奶拿到酒吧位置。 -On(Milk,WaterTable) 请将牛奶放在水 table 的那个位置。 -On(Milk,WaterTable) 请把牛奶拿到 WaterTable 那里。 -On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 -On(Milk,CoffeeTable) 请把牛奶拿到咖啡桌的位置。 -On(Milk,Bar2) 请将牛奶放在 Bar2 的位置。 -On(Milk,Bar2) 请把牛奶放到Bar2的位置。 -On(Milk,Table1) 您好，机器人服务员！请将牛奶放在Table1的位置。 -On(Milk,Table1) 请把牛奶拿到Table1的位置。 -On(Milk,Table2) 请将牛奶放在Table2的位置。 -On(Milk,Table2) 请把牛奶放在Table2的位置上。 -On(Milk,Table3) 请将牛奶放在Table3的位置上。 -On(Milk,Table3) 请把牛奶拿到Table3的位置。 -On(VacuumCup,Bar) 请将VacuumCup放置在Bar位置。 -On(VacuumCup,Bar) 请把VacuumCup放到Bar位置。 -On(VacuumCup,WaterTable) 请将VacuumCup放置在WaterTable上。 -On(VacuumCup,WaterTable) 请把VacuumCup放到WaterTable的位置。 -On(VacuumCup,CoffeeTable) 请将VacuumCup放在CoffeeTable那个地方。 -On(VacuumCup,CoffeeTable) 请把VacuumCup放到CoffeeTable上。 -On(VacuumCup,Bar2) 请将VacuumCup放置在Bar2的位置上。 -On(VacuumCup,Bar2) 请把VacuumCup移到Bar2的位置。 -On(VacuumCup,Table1) 请将VacuumCup放置在Table1的位置上。 -On(VacuumCup,Table1) 请把VacuumCup移到Table1的位置。 -On(VacuumCup,Table2) 请将VacuumCup放到Table2的位置。 -On(VacuumCup,Table2) 请把VacuumCup放到Table2的位置。 -On(VacuumCup,Table3) 请将VacuumCup放置在Table3的位置上。 -On(VacuumCup,Table3) 请将VacuumCup移至Table3位置。 -Is(AC,0) 请问你能帮我关掉AC吗？ -Is(AC,1) 请问你能帮我打开空调吗？ -Is(ACTemperature,0) 尊敬的服务员，请问您能否将温度调高一些呢？ -Is(ACTemperature,1) 请问你能将咖啡厅的温度调低一些吗? -Is(HallLight,0) 当然可以，请问需要我使用哪个开关来关闭HallLight呢？ -Is(HallLight,1) 您好！请问您需要我帮助您开启还是关闭HallLight呢？ -Is(TubeLight,0) 当然可以，请问您需要我使用哪个遥控器来关闭它呢？ -Is(TubeLight,1) 您好，机器人服务员！请问您能帮我打开一下 tube light 吗？谢谢！ -Is(Curtain,0) 请问你能把窗帘关上吗？ -Is(Curtain,1) 请问你能把窗户帘打开一下吗？ -Is(Chairs,0) 您好，请问您需要我帮助清理座位上的污渍吗？ -Is(Chairs,1) 您好，我是您的顾客。我想请问您是否能帮我清理一下座位上的灰尘和垃圾？ -Is(Floor,0) 您好，我能为您做些什么呢？如果您需要我帮忙打扫地板，请告诉我哪里需要清理，我会尽快为您处理。 -Is(Floor,1) 您好，我需要您帮助打扫一下地板。 -Is(Table1,0) 您好！请问您需要我为您做什么呢？如果您需要我清理Table1，请您告诉我需要使用什么清洁用品，我会按照您的指示进行操作。 -Is(Table1,1) 您好，请问需要我帮您打扫Table1吗？ -Holding(Softdrink) 您好，我是一款人工智能助手，无法直接与现实世界进行交互。但我可以为您提供有关如何抓饮料的信息。您可以尝试用手指将Softdrink抓在手中。如果您需要更多帮助，请随时告诉我。 -Holding(Softdrink) 您好，我是您的机器人服务员。我能帮您拿住Softdrink吗？ -Holding(BottledDrink) 我能帮我拿起那瓶饮料吗？ -Holding(BottledDrink) 您好！请问您需要我帮您一直拿着这瓶饮料吗？ -Holding(Yogurt) 请问你能帮我拿一下 yogurt 吗？ -Holding(Yogurt) 您好，我可以帮助您更好地理解和使用我们的服务。请问您需要我为您拿取什么商品呢？ -Holding(ADMilk) 你能帮我拿一下AD Milk吗？ -Holding(ADMilk) 您好,我需要点一杯AD Milk。麻烦您能帮我拿一下吗? -Holding(MilkDrink) 我想要一杯牛奶饮料,能帮我把它端过来吗? -Holding(MilkDrink) 我需要你一直拿着牛奶饮料。 -Holding(Milk) 您好，请问有什么我可以帮助您的？ -Holding(Milk) 您好，我是您的机器人服务员。请问有什么我可以帮助您的吗？ -Holding(VacuumCup) 您好！请问您需要什么帮助？ -Holding(VacuumCup) 您好！请问您需要我帮助您一直拿着VacuumCup吗？ -Holding(Nothing) 你能帮我把"Nothing"拿在手里吗？ -Holding(Nothing) 您好！作为您的机器人服务员，我会尽力满足您的要求。请问您需要我帮忙做什么呢？ -On(Coffee,Bar) 当然可以！请问您想要什么口味的咖啡呢？ -On(Coffee,Bar) 请给我一杯咖啡，并将其送到吧台。 -On(Coffee,WaterTable) 当然可以，请告诉我您想喝的咖啡口味，我会为您制作一杯美味的咖啡，然后将其送到WaterTable桌旁。 -On(Coffee,WaterTable) 请给我一杯咖啡，并将其送到 WaterTable 那里。 -On(Coffee,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作一杯咖啡，并将其端到CoffeeTable上吗？ -On(Coffee,CoffeeTable) 请给我一杯咖啡，并把它送到Coffee Table那里。 -On(Coffee,Bar2) 当然可以，请告诉我您想要什么口味的咖啡，我会为您制作并在准备好后把咖啡端到Bar 2。 -On(Coffee,Bar2) 请给我一杯咖啡，并将其送到Bar2。 -On(Coffee,Table1) 当然可以！请问您需要什么口味的咖啡呢？ -On(Coffee,Table1) 请给我一杯咖啡，并将其送到Table1。 -On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并希望它能够被送到 Table 2。 -On(Coffee,Table2) 请为我准备一杯咖啡，并将其送到Table 2。 -On(Coffee,Table3) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后将其端到Table 3吗？谢谢！ -On(Coffee,Table3) 请为我准备一杯咖啡，并将其送到Table 3。 -On(Water,Bar) 您好，我需要一杯水，请能帮我制作并送到酒吧处谢谢！ -On(Water,Bar) 我需要一杯水,并希望它能够被送到酒吧区域。 -On(Water,WaterTable) 您好，我需要一杯水，并将它送到水桌子上。 -On(Water,WaterTable) 请为我准备一些水，并将其送到水桌 here。 -On(Water,CoffeeTable) 您好，我需要一杯水，并将它送到咖啡桌 here。 -On(Water,CoffeeTable) 请给我倒一杯水，然后将其放在咖啡桌子上。 -On(Water,Bar2) 当然可以！请问您在哪个咖啡厅？我想请您把水送到 Bar 2。 -On(Water,Bar2) 我需要一杯水,并希望它能够被送到Bar2那里。 -On(Water,Table1) 您好，我是一名机器人服务员。请问您需要什么帮助？ -On(Water,Table1) 请给我一杯水，并将其送到Table1位置。 -On(Water,Table2) 当然可以！请问您需要什么温度的水呢？并且您想要在哪个桌子上 receiving 水呢？ -On(Water,Table2) 请给我倒一杯水,并把水送到Table 2那里。 -On(Water,Table3) 您好，机器人服务员！请问您能给我准备一杯水，然后将其送到 Table 3 位置吗？谢谢！ -On(Water,Table3) 请给我倒一杯水,并将其送到 Table 3 桌子上。 -On(Dessert,Bar) 您好，我需要一份甜点并将其送到吧台。 -On(Dessert,Bar) 请送一些甜点来，并将其送到吧台处。 -On(Dessert,WaterTable) 您好，我需要一份甜点，并希望它能够被送到名为"WaterTable"的水 table 那里。 -On(Dessert,WaterTable) 请为我准备一些甜点，并将它送到watertable来。 -On(Dessert,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作甜点，并将其送到咖啡桌旁边。请问您想点什么类型的甜点呢？ -On(Dessert,CoffeeTable) 请为我准备一些甜点，并将其送到咖啡桌这里。 -On(Dessert,Bar2) 您好，我需要一份甜点，并希望它能够被送到酒吧2。 -On(Dessert,Bar2) 请为我准备一些甜点，并将其送到Bar2。 -On(Dessert,Table1) 您好，机器人服务员！我想要一份甜点，并希望它能够被送到Table1那里。 -On(Dessert,Table1) 请为我准备一些甜点，并将其送到Table1。 -On(Dessert,Table2) 您好，我是一名机器人服务员。我能为您制作甜点并将它送到Table 2吗？ -On(Dessert,Table2) 请给我上甜点，并将它送到Table2那里。 -On(Dessert,Table3) 您好，机器人服务员！请问您能帮我制作一份甜点并将其送到Table 3吗？ -On(Dessert,Table3) 请为我准备一些甜点，并将其送到Table3桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt deleted file mode 100644 index ddbd385..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt +++ /dev/null @@ -1,388 +0,0 @@ -At(Robot,Bar) 嘿，来酒吧了啊？ -At(Robot,Bar) 你可以去前台一下吗？ -At(Robot,Bar) 当然可以，我可以过去帮忙吗？ -At(Robot,WaterTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯茶水。 -At(Robot,WaterTable) 嘿，你能帮我再去茶水桌那儿拿一下水吗？ -At(Robot,WaterTable) 当然可以啊，我马上就去茶水桌那儿。 -At(Robot,CoffeeTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯咖啡。 -At(Robot,CoffeeTable) 你可以去 coffee table 一下哦。 -At(Robot,CoffeeTable) 当然可以呀！你可以去咖啡桌的那边坐下来，我就在这边的桌子旁陪着你。 -At(Robot,Bar2) 好的，我可以到另一个吧台帮忙吗？ -At(Robot,Bar2) 你可以去另一个酒吧台坐坐吗？ -At(Robot,Bar2) 当然可以，您想让我去哪个吧台呢？ -At(Robot,Table1) 好的,我來試著把第一張桌子搬起來。 -At(Robot,Table1) 你可以去第一桌啊，那里的东西比较好吃。 -At(Robot,Table1) 当然可以,你可以帮我稳住身体,然后我就能过去坐在第一张桌子上啦! -At(Robot,Table2) 请把第二桌子的东西拿过来。 -At(Robot,Table2) 你可以去第二桌啊。 -At(Robot,Table2) 当然可以,你想去哪一张桌子呢? -At(Robot,Table3) 好的，我马上去拿第三张桌子。 -At(Robot,Table3) 请你到第三桌子上坐一下。 -At(Robot,Table3) 当然可以，移到第三张桌子那边怎么样？ -On(Softdrink,Bar) 请把饮料放到酒吧柜台上。 -On(Softdrink,Bar) 嘿，能帮我拿一下饮料吗？放到酒吧台上谢谢！ -On(Softdrink,WaterTable) 你可以把软饮放在茶水桌那个地方哦。 -On(Softdrink,WaterTable) 你可以把饮料放到茶水桌那儿呀。 -On(Softdrink,CoffeeTable) 你可以把饮料放在咖啡桌那个地方呀。 -On(Softdrink,CoffeeTable) 你可以把饮料放到咖啡桌附近呀。 -On(Softdrink,Bar2) 请你把饮料放在另一个酒吧台的位置。 -On(Softdrink,Bar2) 请帮我从一个酒吧台拿杯饮料，放到另一个酒吧台吧。 -On(Softdrink,Table1) 请你把饮料放在第一桌的位子上面。 -On(Softdrink,Table1) 请把饮料放到第一桌的位子上。 -On(Softdrink,Table2) 请你把饮料放到第二桌那个地方。 -On(Softdrink,Table2) 请你把饮料放到第二桌的位置。 -On(Softdrink,Table3) 请你把饮料放到第三桌那个地方。 -On(Softdrink,Table3) 请给我一瓶饮料，放到第三桌子上。 -On(BottledDrink,Bar) 请把瓶装饮料放到酒吧那个地方。 -On(BottledDrink,Bar) 你可以把瓶装饮料放到酒吧台面上。 -On(BottledDrink,WaterTable) 你可以把瓶装饮料放在茶水桌那个地方呀。 -On(BottledDrink,WaterTable) 请把瓶装饮料放到茶水桌那儿吧。 -On(BottledDrink,CoffeeTable) 把瓶装饮料放到咖啡桌那个地方吧。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料放到咖啡桌附近。 -On(BottledDrink,Bar2) 请把瓶装饮料放 到另一个酒吧那个地方。 -On(BottledDrink,Bar2) 你可以把瓶装饮料拿到另一个酒吧台的位置。 -On(BottledDrink,Table1) 请把瓶装饮料放在第一桌的相应位置。 -On(BottledDrink,Table1) 请你把瓶装饮料放到第一桌子的位置。 -On(BottledDrink,Table2) 请你把瓶装饮料放到第二大桌子的那个位置。 -On(BottledDrink,Table2) 请您把瓶装饮料放到第二桌的位置。 -On(BottledDrink,Table3) 请把瓶装饮料放到第三桌的那一边。 -On(BottledDrink,Table3) 请您把瓶装饮料放到第三桌子上。 -On(Yogurt,Bar) 把酸奶放在吧台那个位置。 -On(Yogurt,Bar) 请把酸奶放到吧台哦！ -On(Yogurt,WaterTable) 把酸奶放到茶水桌那个地方哦。 -On(Yogurt,WaterTable) 你可以把酸奶放到茶水桌附近呀。 -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌附近。 -On(Yogurt,Bar2) 请你把酸奶放到另一个吧台那个位置。 -On(Yogurt,Bar2) 请把酸奶放到另一个台子的位置吧。 -On(Yogurt,Table1) 请把酸奶放在第一桌的位置哦！ -On(Yogurt,Table1) 请把酸奶放到第一桌的位置。 -On(Yogurt,Table2) 请把酸奶放到第二桌那个位置哦！ -On(Yogurt,Table2) 你可以把酸奶放到第二桌的位置呀。 -On(Yogurt,Table3) 请把酸奶放到第三桌的那儿吧。 -On(Yogurt,Table3) 请你把酸奶放到第三桌子上。 -On(ADMilk,Bar) 把AD钙奶放到吧台那个地方。 -On(ADMilk,Bar) 请把AD钙奶放到吧台哦！ -On(ADMilk,WaterTable) 好的，我帮你把AD钙奶放到茶水桌那个地方。 -On(ADMilk,WaterTable) 你可以把AD钙奶放到茶水桌附近呀。 -On(ADMilk,CoffeeTable) 好的，AD钙奶就放在咖啡桌那个地方吧。 -On(ADMilk,CoffeeTable) 你可以把AD钙奶放到咖啡桌旁边呀。 -On(ADMilk,Bar2) 你能否把AD钙奶放到另一个吧台的位置呢？ -On(ADMilk,Bar2) 你可以把AD钙奶放到另一个酒吧台的位置上。 -On(ADMilk,Table1) 请把AD钙奶放到第一桌的位子上面。 -On(ADMilk,Table1) 请把AD钙奶放到第一桌的位置。 -On(ADMilk,Table2) 请把AD钙奶放到第二桌的那儿吧。 -On(ADMilk,Table2) 请把AD钙奶放到第二桌的位置。 -On(ADMilk,Table3) 请把AD钙奶放到第三桌的那儿吧。 -On(ADMilk,Table3) 请把AD钙奶放到第三桌子的位置。 -On(MilkDrink,Bar) 把牛奶饮料放到吧台那个地方。 -On(MilkDrink,Bar) 你可以把牛奶饮料拿到吧台前面。 -On(MilkDrink,WaterTable) 你可以把牛奶饮料放在茶水桌那个地方哦。 -On(MilkDrink,WaterTable) 你可以把牛奶饮料放到茶水桌附近呀。 -On(MilkDrink,CoffeeTable) 你可以把牛奶放到了咖啡桌那个地方哦。 -On(MilkDrink,CoffeeTable) 请你把牛奶饮料放到咖啡桌附近呀。 -On(MilkDrink,Bar2) 请你把牛奶饮料放到另一个吧台那个位置,好吗? -On(MilkDrink,Bar2) 请把牛奶饮料放到另一个酒吧台的位置。 -On(MilkDrink,Table1) 请把牛奶放第一桌的位置哦！ -On(MilkDrink,Table1) 请把牛奶饮料放到第一桌的位子上。 -On(MilkDrink,Table2) 你可以把牛奶放 到这张桌子的第二個位置。 -On(MilkDrink,Table2) 请你把牛奶饮料放到第二桌的位置。 -On(MilkDrink,Table3) 请你把牛奶放到第三桌的那儿吧。 -On(MilkDrink,Table3) 请你把牛奶饮料放到第三桌子上。 -On(Milk,Bar) 请把牛奶放到吧台那个地方。 -On(Milk,Bar) 请把牛奶放到吧台的位置哦。 -On(Milk,WaterTable) 你可以把牛奶放到茶水桌那个地方哦。 -On(Milk,WaterTable) 请你把牛奶放到茶水桌那个地方。 -On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌上的那个地方哦。 -On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌旁边呀，这样就能方便地喝牛奶了。 -On(Milk,Bar2) 请你把牛奶放到另一个吧台那个位置。 -On(Milk,Bar2) 你可以把牛奶放过去一点。 -On(Milk,Table1) 请把牛奶放到第一桌子的位置。 -On(Milk,Table1) 请你把牛奶放到第一桌的位置。 -On(Milk,Table2) 请把牛奶放到第二桌子的那个位置哦！ -On(Milk,Table2) 请你把牛奶放到第二桌的位置。 -On(Milk,Table3) 你可以把牛奶放 third table 的那个位置哦！ -On(Milk,Table3) 请把牛奶放到第三桌子上。 -On(VacuumCup,Bar) 请把保温杯放 到吧台那个地方。 -On(VacuumCup,Bar) 你可以把保温杯放到吧台哦。 -On(VacuumCup,WaterTable) 请把保温杯放茶水桌那个地方哦。 -On(VacuumCup,WaterTable) 请你把保温杯放到茶水桌那儿。 -On(VacuumCup,CoffeeTable) 你可以把你的保温杯放到咖啡桌那个地方呀。 -On(VacuumCup,CoffeeTable) 请把保温杯放到咖啡桌那里。 -On(VacuumCup,Bar2) 你可以把保温杯放到另一个吧台那个地方呀。 -On(VacuumCup,Bar2) 你可以把保温杯放到另一个酒吧台的位置呀。 -On(VacuumCup,Table1) 请把保温杯放到第一桌子的那个位置。 -On(VacuumCup,Table1) 请把保温杯放到第一桌子的位置。 -On(VacuumCup,Table2) 请把保温杯放到第二桌子的那个位置。 -On(VacuumCup,Table2) 你可以把保温杯放到第二桌子的地方。 -On(VacuumCup,Table3) 请把保温杯放到了第三张桌子的那个地方。 -On(VacuumCup,Table3) 请把保温杯放到第三桌子的地方。 -Is(AC,0) 当然可以，您想什么时候关呢？ -Is(AC,1) 当然可以，我马上为您打开空调。 -Is(ACTemperature,0) 当然可以！你把空调的温度调高一点吗？ -Is(ACTemperature,1) 可以啊，您要把空调的温度调低一些吗？ -Is(HallLight,0) 当然可以，我马上为您关掉大厅的灯。 -Is(HallLight,1) 当然可以，我马上为你开启大厅的灯光。 -Is(TubeLight,0) 当然可以，你只需按一下筒灯的开关按钮即可。 -Is(TubeLight,1) 当然可以，请告诉我你想要多亮度的筒灯呢？ -Is(Curtain,0) 好的，我马上帮您关窗帘。 -Is(Curtain,1) 当然可以，您想让阳光照进房间吗？ -Is(Chairs,0) 当然可以，把椅子弄脏一点没问题。不过要注意，我是一个人工智能助手，虽然可以理解您的请求，但实际操作能力有限，可能不能非常完美地完成这个任务。 -Is(Chairs,1) 当然可以，亲爱的。把椅子擦干净需要一些努力和耐心，但我会帮您做得干干净净的。 -Is(Floor,0) 你能把地板弄脏一点吗？ -Is(Floor,1) 能帮我打扫下地板吗？ -Is(Table1,0) 第一，你可以把桌子弄脏一点。 -Is(Table1,1) 当然可以,你想要我尽快完成这个任务吗? -Holding(Softdrink) 你能抓住软饮吗？ -Holding(Softdrink) 你能不能一直拿着软饮呢？ -Holding(BottledDrink) 能抓住瓶装饮料吗?当然可以啊! -Holding(BottledDrink) 你能一直拿着瓶装饮料吗?当然可以啊,只要喜欢喝 bottled water 或者饮料,就可以一直拿着瓶装饮料。不过要注意保持卫生,不要让瓶子变得太脏或者有细菌。如果觉得手持瓶装饮料不方便,也可以选择使用杯子或者其他更方便的容器来盛放饮料。 -Holding(Yogurt) 您可以把酸奶捏在手里,就像您捏着冰淇淋一样。 -Holding(Yogurt) 嗯，我可以理解你想要一直吃酸奶的想法，但是要注意不要过量食用。酸奶是非常健康的食品，富含蛋白质和钙质，对身体有很多好处。不过，每个人的身体状况和需求不同，所以要根据自己的实际情况来适量食用。如果你想要更好地享受酸奶的好处，可以尝试搭配一些水果或者坚果，让口感更丰富多彩。 -Holding(ADMilk) 你能捧起一罐AD钙奶吗？ -Holding(ADMilk) 你能不能一直拿着AD钙奶呀？ -Holding(MilkDrink) 你能把牛奶饮料抓在手里啊？ -Holding(MilkDrink) 你能一直拿著牛奶 drink 嗎? -Holding(Milk) 哈哈，当然可以啦！你可以把牛奶抓在手里，就像你抓住一个球一样。不过要小心，不要让牛奶洒出来哦！ -Holding(Milk) 嘿，你可以一直拿着牛奶，不过我得提醒你，牛奶保质期短，不要喝坏掉的哦！ -Holding(VacuumCup) 你能 hand 住保温杯 吗？ -Holding(VacuumCup) 你能不能一直拿著保温杯呢？ -Holding(Nothing) 哈哈，把"nothing"抓在手里啊。这个表达好像不太对哦，英文里"nothing"是指没有任何东西的意思，不能被抓住。你是要问如何应对"无所适从"的情况吗？可以理解为"nothing happens"或者"没有什么事情发生"。 -Holding(Nothing) 当然可以！如果你觉得需要一直拿着某个东西，那完全可以。 -On(Coffee,Bar) 当然可以！请问您需要什么口味的咖啡呢？我可以为您制作一杯美味的咖啡，然后端到吧台供您享用。 -On(Coffee,Bar) 嘿，老板，能不能给我弄杯咖啡，然后把咖啡杯拿到吧台上来？ -On(Coffee,WaterTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到茶水桌上来。 -On(Coffee,WaterTable) 好的,主人。请给我来杯咖啡,然后把咖啡端到茶水桌这里来。谢谢! -On(Coffee,CoffeeTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到咖啡桌上来。 -On(Coffee,CoffeeTable) 好的,主人。请给我一杯咖啡,然后把咖啡端到这个咖啡桌上来,谢谢! -On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后端到这个吧台这里来。 -On(Coffee,Bar2) 好的,我给你拿杯咖啡,放在另一个吧台给你。 -On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到第一张桌子上来。 -On(Coffee,Table1) 请给我拿杯咖啡，然后把它放到这张桌子的位置上。 -On(Coffee,Table2) 当然可以！你想要什么口味的咖啡呢？然后我就可以把咖啡端到你所在的桌子了。 -On(Coffee,Table2) 嘿，老板，我想喝杯咖啡，然后你能把它端到这里来吗？ -On(Coffee,Table3) 当然可以！请问您需要什么口味的咖啡呢？我好准备给您制作。 -On(Coffee,Table3) 嘿，老板，能不能给我来杯咖啡？然后把咖啡端到这张桌子的 third 位置上来，谢谢！ -On(Water,Bar) 当然可以！您可以告诉我您需要多少水，然后我会给您端过来。 -On(Water,Bar) 好的，我给您倒杯水，然后就放在吧台这里。 -On(Water,WaterTable) 当然可以！请问您需要我怎么制作水呢？ -On(Water,WaterTable) 好的,我给你倒杯水,然后把它放在茶水桌上。 -On(Water,CoffeeTable) 当然可以！我立刻为您制作一杯水，然后把它端到咖啡桌上来。请问您需要加些什么其他的配料呢？ -On(Water,CoffeeTable) 好的,主人,请给我倒杯水,然后把水端到咖啡桌上来,谢谢! -On(Water,Bar2) 当然可以！我马上为您制作一杯水，然后端到这里来。 -On(Water,Bar2) 好的,请给我倒一杯水,然后把它端到这个吧台这里来。 -On(Water,Table1) 当然可以！请问你需要多少水呢？我一会儿就去烧开水，然后把它端到第一张桌子上。 -On(Water,Table1) 好的，我给你倒杯水，然后把它放在第一桌子上。 -On(Water,Table2) 当然可以！我马上给您拿来。 -On(Water,Table2) 能不能给我倒杯水啊?然后把水端到这张桌子的另一边去。 -On(Water,Table3) 当然可以！请您把第三张桌子的位置告诉我，我马上为您制作一杯水送到那儿去。 -On(Water,Table3) 好的,请给我一杯水,然后把它放在第三张桌子上。 -On(Dessert,Bar) 当然可以！我特别擅长制作各种美味的点心、甜品和糕点。如果您需要的话，我可以在吧台为您准备一份精致的小点心或甜品品尝。 -On(Dessert,Bar) 行啊，点些小吃或甜品，然后让它们送到酒吧台这附近来。 -On(Dessert,WaterTable) 你能不能帮我做些点心或甜品，然后把它端到茶水桌这儿呀？ -On(Dessert,WaterTable) 好的，请给我点些小吃或甜品，然后把它端到茶水桌这里来。 -On(Dessert,CoffeeTable) 当然可以！我是一个人工智能助手，虽然不能亲自制作点心或甜品，但我可以为您提供各种食谱和做法。您可以根据我的建议，尝试在家自己制作美味的点心或甜品，然后带到咖啡桌分享。这样不仅可以享受美食，还可以一起度过美好时光。 -On(Dessert,CoffeeTable) 行啊，您想尝点什么点心或甜品呢？然后我给您端过来，放在这咖啡桌上。 -On(Dessert,Bar2) 当然可以！我擅长制作各种美味的点心与甜品，可以随时为你端来。请问你需要什么口味或样式的点心呢？ -On(Dessert,Bar2) 行啊，点些小吃或甜品，然后给您端过去。 -On(Dessert,Table1) 当然可以，我 ability做点心和甜品，把它们放在桌子上给你吃。 -On(Dessert,Table1) 好的，我给你准备了一些小吃和甜品，现在 brings it to your table.（请注意，这里用 "brings" 代替 "portrays" 以符合口语化的风格。） -On(Dessert,Table2) 当然可以！我可以在第一张桌子上制作点心或甜品，然后把它们端到第二张桌子那里。请问你有什么特别喜欢的点心或甜品口味吗？ -On(Dessert,Table2) 好的,主人。请给我提供一些点心或甜品,我会把它们放在第二张桌子上。 -On(Dessert,Table3) 当然可以！我马上为您制作一些美味的点心或甜品，然后 brings it to the third table for you to enjoy. -On(Dessert,Table3) 好的，请问您想点什么种类的点心或甜品呢？然后我会把它们端到第三张桌子上。 -At(Robot,Bar) 好的，那我们来聊聊吧。你想聊什么呢？ -At(Robot,Bar) 你去一下bar吧。 -At(Robot,Bar) 你能到那个酒吧的哪个位置吗？ -At(Robot,WaterTable) 当然可以！ WaterTable 是一个很棒的实时水文气象数据平台。你想了解哪个地区的天气情况呢？ -At(Robot,WaterTable) 你去一下WaterTable吧！ -At(Robot,WaterTable) 当然可以啊！你想要去哪个地方呢？ -At(Robot,CoffeeTable) 嘿，我能去拿一下咖啡桌吗？ -At(Robot,CoffeeTable) 你去一下CoffeeTable吧。 -At(Robot,CoffeeTable) 当然可以，我马上就到CoffeeTable那儿。 -At(Robot,Bar2) 好的，我来试试看 Bar 2。 -At(Robot,Bar2) 你能去bar2吗？ -At(Robot,Bar2) 当然可以啊，我马上就去Bar2那儿！ -At(Robot,Table1) 当然可以！请您提供一下 Table1 的内容，我会尽量用更口语化和合理化的方式来表述它。 -At(Robot,Table1) 嘿，你能不能去一下Table1呢？ -At(Robot,Table1) 当然可以呀，我马上就过去。 -At(Robot,Table2) 当然可以！请您提供一下Table2的内容和您想要我为您做什么，我会尽量帮您进行合理的调整和优化。 -At(Robot,Table2) 好的，我去一下Table2。 -At(Robot,Table2) 当然可以，我马上就过去。 -At(Robot,Table3) 当然可以！请问您需要我帮忙做什么呢？ -At(Robot,Table3) 嘿，去Table3看看怎么样？可能有新东西哦！ -At(Robot,Table3) 当然可以，我马上就到Table3那儿。 -On(Softdrink,Bar) 你可以这样跟Bar说：“嘿，Bar，你能帮我把Softdrink放好吗？谢谢！” -On(Softdrink,Bar) 请把Softdrink拿到Bar那儿。 -On(Softdrink,WaterTable) 你可以把软饮放在水桌那个地方哦。 -On(Softdrink,WaterTable) 你可以把Soft drink拿到水桌的位置呀。 -On(Softdrink,CoffeeTable) 您可以尝试这样说：“嘿，能否帮我把软饮料放在咖啡桌那个位置呀？” -On(Softdrink,CoffeeTable) 你可以把Softdrink拿到CoffeeTable前面啊。 -On(Softdrink,Bar2) 你可以把软饮放在酒吧2的位置。 -On(Softdrink,Bar2) 你可以把Softdrink拿到Bar2的位置呀。 -On(Softdrink,Table1) 你可以把这个软饮料放到表格1的第二行。 -On(Softdrink,Table1) 请把Softdrink放到Table1的位置上。 -On(Softdrink,Table2) 你可以把 Softdrink 放到 Table2 的那个位置哦！ -On(Softdrink,Table2) 你可以把Softdrink移到Table2的位置呀。 -On(Softdrink,Table3) 你可以把 Softdrink 放到 Table3 的那个位置哦！ -On(Softdrink,Table3) 你可以把Softdrink拿到Table3那里。 -On(BottledDrink,Bar) 请你把Bottled Drink放到Bar那个地方。 -On(BottledDrink,Bar) 请把 bottled drink 拿到 Bar 那里。 -On(BottledDrink,WaterTable) 你能把 bottled drink 放到 water table 那个地方吗？ -On(BottledDrink,WaterTable) 你可以把瓶装饮料放到水桌上了吗？ -On(BottledDrink,CoffeeTable) 将瓶装饮料放在咖啡桌那个地方。 -On(BottledDrink,CoffeeTable) 你可以把 bottled drink 拿到咖啡桌 (CoffeeTable) 上。 -On(BottledDrink,Bar2) 你能把 "BottledDrink" 放到 "Bar2" 的位置上吗？ -On(BottledDrink,Bar2) 请把 bottled drink 拿到 Bar2 的位置。 -On(BottledDrink,Table1) 你可以把"Bottled Drink"放到"Table1"的位置。 -On(BottledDrink,Table1) 请你把瓶装饮料拿到Table1那儿。 -On(BottledDrink,Table2) 你把Bottled Drink放到Table2那个地方吧。 -On(BottledDrink,Table2) 你可以把 bottled drink 拿到 Table 2 那里。 -On(BottledDrink,Table3) 你想把瓶装饮料放在Table3那个地方吗？ -On(BottledDrink,Table3) 请把瓶装饮料放到桌子的第三位置。 -On(Yogurt,Bar) 你可以把酸奶放在吧台那个位置哦。 -On(Yogurt,Bar) 嘿，能否帮我拿一下酸奶（Yogurt）到酒吧（Bar）的位置呀？ -On(Yogurt,WaterTable) 你可以把酸奶放在水 table 的那个地方。 -On(Yogurt,WaterTable) 你可以把酸奶放到水 table 那里一下吗？ -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 -On(Yogurt,CoffeeTable) 你可以把酸奶放到咖啡桌的位置。 -On(Yogurt,Bar2) 把Yogurt放到Bar2那个地方。 -On(Yogurt,Bar2) 你可以把酸奶放到酒吧的第二的位置。 -On(Yogurt,Table1) 请把酸奶放到表格1那个位置哦！ -On(Yogurt,Table1) 请你把Yogurt移到Table1的位置上。 -On(Yogurt,Table2) 你可以把酸奶放到表格2那个位置哦。 -On(Yogurt,Table2) 你可以把酸奶放到桌子第二的位置。 -On(Yogurt,Table3) 您可以把酸奶放到表格三那个位置哦。 -On(Yogurt,Table3) 你可以把酸奶放到桌子第三的位置。 -On(ADMilk,Bar) 你能把ADMilk放到Bar那个地方吗？ -On(ADMilk,Bar) 你可以把ADMilk放到Bar那里。 -On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable那个地方。 -On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable的位置啊。 -On(ADMilk,CoffeeTable) 你可以把ADMilk放到咖啡桌那个地方。 -On(ADMilk,CoffeeTable) 你可以把AD Milk放到咖啡桌旁边呀。 -On(ADMilk,Bar2) 请把ADMilk放到Bar2那个位置哦！ -On(ADMilk,Bar2) 你可以把ADMilk放到Bar2的位置呀。 -On(ADMilk,Table1) 请把ADMilk放到Table1那个位置啦！ -On(ADMilk,Table1) 能否帮我将ADMilk放到Table1的位置呢？ -On(ADMilk,Table2) 你可以把ADMilk放到Table2那个地方哦。 -On(ADMilk,Table2) 你可以把ADMilk放到Table2的位置呀。 -On(ADMilk,Table3) 你能把ADMilk放到Table3那个地方吗？ -On(ADMilk,Table3) 你可以把ADMilk放到Table3的位置呀。 -On(MilkDrink,Bar) 你可以这样说：“把牛奶饮料放到酒吧那个位置。” -On(MilkDrink,Bar) 你可以把牛奶带到酒吧位置吗？ -On(MilkDrink,WaterTable) 你能将"MilkDrink"放到"WaterTable"的那个地方吗？ -On(MilkDrink,WaterTable) 你可以把牛奶放到水桌的位置。 -On(MilkDrink,CoffeeTable) 你好！你可以把"MilkDrink"放到"CoffeeTable"那个地方。 -On(MilkDrink,CoffeeTable) 你可以把牛奶放到咖啡桌上了吗？ -On(MilkDrink,Bar2) 你可以把"MilkDrink"放到"Bar2"那个地方。 -On(MilkDrink,Bar2) 请把牛奶饮料拿到酒吧2号位置。 -On(MilkDrink,Table1) 你可以这样跟朋友说：嘿，你知道吗，把"MilkDrink"放到"Table1"那个位置吧！ -On(MilkDrink,Table1) 你可以把牛奶带到Table1那里吗？ -On(MilkDrink,Table2) 你能把"MilkDrink"放到Table2那个地方吗？ -On(MilkDrink,Table2) 你可以把牛奶饮料端到桌子2的位置吗？ -On(MilkDrink,Table3) 你好！我明白你的要求，但是我没有找到与“MilkDrink”相关的内容。如果你能提供更多的信息或者上下文，我会更好地帮助你完成任务。 -On(MilkDrink,Table3) 你可以把牛奶带到桌子3去。 -On(Milk,Bar) 你把牛奶放酒吧的位置吧。 -On(Milk,Bar) 你可以帮我把牛奶放到酒吧的位置吗？ -On(Milk,WaterTable) 你能帮我把牛奶放到水 table 那个地方吗？ -On(Milk,WaterTable) 你可以把牛奶放到水 table 附近吗？ -On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌那个地方。 -On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌的位置。 -On(Milk,Bar2) 你可以把牛奶放到酒吧2的位置。 -On(Milk,Bar2) 你可以把牛奶放到酒吧的第二個位置。 -On(Milk,Table1) 你可以这样跟Table1说：“Hey Table1， could you please move the Milk to that spot over there？” -On(Milk,Table1) 你可以把牛奶放到桌子的第一位置呀。 -On(Milk,Table2) 请把牛奶放到表2的那个位置。 -On(Milk,Table2) 请你把牛奶放到Table2的位置上。 -On(Milk,Table3) 你可以把牛奶放到表格三那个位置哦。 -On(Milk,Table3) 你可以把牛奶放到桌子的第三格里呀。 -On(VacuumCup,Bar) 你能把VacuumCup放到Bar的位置吗？ -On(VacuumCup,Bar) 你可以把吸管杯放到酒吧位置吗？ -On(VacuumCup,WaterTable) 你可以尝试这样说：“嘿，把VacuumCup放到WaterTable的位置吧。”这样更加口语化和亲近。 -On(VacuumCup,WaterTable) 你可以把吸尘器杯放在水 table 位置吗？ -On(VacuumCup,CoffeeTable) 你可以把吸尘器杯放在咖啡桌那个地方。 -On(VacuumCup,CoffeeTable) 你可以把吸尘器(VacuumCup)放到咖啡桌(CoffeeTable)的位置。 -On(VacuumCup,Bar2) 你能把VacuumCup放到Bar2那个地方吗？ -On(VacuumCup,Bar2) 你可以把VacuumCup放到Bar2的地方哦。 -On(VacuumCup,Table1) 你可以把这些内容换成： "把 VacuumCup 放到 Table1 的那个地方"。 -On(VacuumCup,Table1) 你可以把VacuumCup放到Table1的位置呀。 -On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那个地方哦。 -On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那里呀。 -On(VacuumCup,Table3) 你可以把这个吸管杯放到表格3的位置。 -On(VacuumCup,Table3) 你可以把VacuumCup放到Table3的位置呀。 -Is(AC,0) 当然可以，您需要我帮您关闭AC吗？ -Is(AC,1) 你好，我能帮你做什么呢？关于打开AC的问题，我可能不太明白你的具体意思。如果你是想打开空调，请告诉我具体是哪个品牌的空调，这样我才能更好地帮助你。 -Is(ACTemperature,0) 当然可以！请告诉我您想将温度调到多少度呢？ -Is(ACTemperature,1) 当然可以，你想要把温度调到多少度呢？ -Is(HallLight,0) 当然可以，HallLight怎么样了？需要我帮你做些什么吗？ -Is(HallLight,1) 当然可以！请问你需要我怎么操作呢？ -Is(TubeLight,0) 当然可以！你想要立即关掉TubeLight吗？ -Is(TubeLight,1) 当然可以！你只需按住"开”按钮，或在屏幕上点击一下就可以开启TubeLight了。 -Is(Curtain,0) 当然可以，您想关闭窗帘吗？ -Is(Curtain,1) 当然可以，curtain（窗帘）打开了。 -Is(Chairs,0) 当然可以，你能把椅子弄脏一点吗？ -Is(Chairs,1) 当然可以，你能帮我打扫一下椅子吗？ -Is(Floor,0) 当然可以，不过我需要先声明一下，作为人工智能助手，我没有实体形象，所以不能直接去“操作”或“改变”现实环境。但我可以提供一些建议或者指导来帮助你完成任务。如果你想要打扫房间，可以告诉我具体是哪个部位需要清洁，然后我会给你相应的建议和步骤。 -Is(Floor,1) 当然可以，你让我来吧！ -Is(Table1,0) 当然可以！不过我需要先了解一下 Table1 包含哪些内容，以及您想要修改的具体是哪方面。这样我才能更好地帮助您进行操作。 -Is(Table1,1) 当然可以，你有什么特别要求吗？比如需要清理什么物品或者怎么清洁？ -Holding(Softdrink) 你能不能把soft drink抓在手里啊？ -Holding(Softdrink) 你能一直拿着一罐饮料吗? -Holding(BottledDrink) 你能把瓶装饮料抓在手里吗? -Holding(BottledDrink) 你能一直拿着这瓶饮料吗？ -Holding(Yogurt) 你能把酸奶抓在手里吗? -Holding(Yogurt) 你能一直抱着羊酸奶吗? -Holding(ADMilk) 你能捧着 AD Milk 吗？ -Holding(ADMilk) 你能一直拿着AD Milk吗? - -如果我能一直拿着AD Milk,那我会很开心,因为我很喜欢喝这个品牌的牛奶。不过,我不确定我能否一直拿着它,因为我需要考虑到我的健康和生活方式。 -Holding(MilkDrink) 哦,你是指那个牛奶饮料品牌“MilkDrink”吗?当然可以啊,你可以像拿任何 other 饮料一样拿起它来。 -Holding(MilkDrink) 你好呀！我能一直拿着这个牛奶饮料吗？ -Holding(Milk) 你能把牛奶抓在手里吗?当然可以,只要你抓住瓶子或者盒子,就可以把牛奶抓在手里。不过要注意,不要把牛奶撒出来哦! -Holding(Milk) 你能不能一直拿着牛奶呀？ -Holding(VacuumCup) 你能把吸尘器杯收入手中吗？ -Holding(VacuumCup) 你能一直拿着吸尘器杯吗? -Holding(Nothing) 你能把“nothing”这个单词抓在手里吗？ -Holding(Nothing) 当然可以啊！如果你说的“ Nothing”是指没有任何事物或事情的话，那我可以一直保持这样的状态。不过，如果你指的是某个具体的事物或场景，那可能就需要根据实际情况来分析了。 -On(Coffee,Bar) 当然可以！我马上为你制作一杯咖啡，然后端到吧台给你。 -On(Coffee,Bar) 给我倒杯咖啡，然后把它端到酒吧这里来。 -On(Coffee,WaterTable) 当然可以！我马上为你制作一杯咖啡，然后端到水 table 这里来。 -On(Coffee,WaterTable) 好的，我给你倒杯咖啡，然后端到水 table 这里来。 -On(Coffee,CoffeeTable) 当然可以！我为您制作一杯咖啡，然后把它端到咖啡桌那里吧。 -On(Coffee,CoffeeTable) 行吗？能不能帮我倒杯咖啡，然后把咖啡端到咖啡桌上来呀？ -On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后送到Bar 2那里。请问您喜欢什么口味的咖啡呢？ -On(Coffee,Bar2) 好的，我给您准备了一杯咖啡，现在就端到 Bar 2 这里来。 -On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到Table1这里来。请问您喜欢什么口味的咖啡呢？ -On(Coffee,Table1) 好的,请给我一杯咖啡,然后把它送到 Table1 这里来,谢谢! -On(Coffee,Table2) 当然可以！我马上为您制作一杯咖啡，然后端到Table2这里来。 -On(Coffee,Table2) 好的,我给你拿杯咖啡,放Table2那里。 -On(Coffee,Table3) 当然可以！我马上为你制作一杯咖啡，然后端到你面前的桌子上。 -On(Coffee,Table3) 行吗?我可以给你拿杯咖啡,然后放到了Table 3这里。 -On(Water,Bar) 当然可以！去吧，我给你端来水。 -On(Water,Bar) 好的，让我给您倒一杯水，然后把它端到酒吧这里来。 -On(Water,WaterTable) 当然可以！我可以帮你制作水，然后把水送到水 table 这里来。 -On(Water,WaterTable) 好的，我给你倒一杯水，然后把它放在水 table 上。 -On(Water,CoffeeTable) 当然可以！我马上为您制作水，并把水端到咖啡桌这里来。 -On(Water,CoffeeTable) 好的，我马上给您倒杯水，然后把水端到咖啡桌这里来。 -On(Water,Bar2) 当然可以！我可以帮你制作水，然后把水端到酒吧2（Bar 2）那里。你需要我马上去做吗？ -On(Water,Bar2) 好的，我来给您倒杯水，送到酒吧2怎么样？ -On(Water,Table1) 当然可以！请问你需要多少量的水呢？我会尽快为您准备好的。 -On(Water,Table1) 好的,我给你倒一杯水,你想要端到哪个桌子呢? -On(Water,Table2) 当然可以！我马上帮你制作水，然后把它送到 Table2 这里来。 -On(Water,Table2) 好的,我给你倒一杯水,稍等一下。 -On(Water,Table3) 当然可以！我马上帮您把水送到 Table 3 这里来。 -On(Water,Table3) 好的,我给您倒一杯水,稍等一下,我现在就去拿。请问您要放在哪个桌子上呢?是Table 1还是Table 2?还是您想要自己拿杯子接? -On(Dessert,Bar) 你好！当然可以。Dessert（甜点）是餐后享用的食物，有很多美味的选择，比如蛋糕、饼干、布丁等。请问你想制作哪一种甜点呢？我可以帮你准备材料和制作方法。制作完成后，我们可以一起把甜点带到酒吧享用。 -On(Dessert,Bar) 请给我一点甜点，然后把它送到酒吧这里来。 -On(Dessert,WaterTable) 你能否把甜点做好，然后拿到水 table 那里去呢？ -On(Dessert,WaterTable) 好的，我给您准备了一些甜点，现在就端到水 table 这里来。您觉得怎么样？ -On(Dessert,CoffeeTable) 当然可以！我给您制作一些甜点，然后拿到咖啡桌上去吧。请问您想尝试哪种甜点呢？ -On(Dessert,CoffeeTable) 行啊，那给我来点甜点，然后把它放到咖啡桌子上。 -On(Dessert,Bar2) 当然可以！我会做一些美味的甜点，然后带到酒吧2（Bar 2）来。您想尝尝吗？ -On(Dessert,Bar2) 好的，我给你准备了一些甜点，现在就端到你所在的酒吧2。 -On(Dessert,Table1) 当然可以！我马上为您制作甜点，然后把它端到Table1这里来。 -On(Dessert,Table1) 好的，我给您准备了一些美味的甜点，现在 bring it to Table1 这里。 -On(Dessert,Table2) 当然可以！我马上为您制作甜点，然后端到Table2这里来。 -On(Dessert,Table2) 好的，我给你准备了一些甜点，现在端到你面前的桌子上。 -On(Dessert,Table3) 当然可以！我马上为您制作甜点，然后把它送到Table3这里来。 -On(Dessert,Table3) 好的，我给你准备了一些甜点，现在就端到你面前的桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt deleted file mode 100644 index 9c06989..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt +++ /dev/null @@ -1,57 +0,0 @@ -At(Robot,Bar) 请问您需要什么帮助吗？我就在吧台附近，能否请您自己过来呢？ -At(Robot,Bar) 请问你能去一下吧台吗？ -At(Robot,Bar) 请问你能帮我到吧台那个位置吗？ -At(Robot,WaterTable) 请问你能过来一下吗？我正在茶水桌旁。 -At(Robot,WaterTable) 请问你可以去茶水桌一下吗？ -At(Robot,WaterTable) 你能带路去茶水桌吗？ -At(Robot,CoffeeTable) 请问你可以过来一下吗？我在这张咖啡桌旁边。 -At(Robot,CoffeeTable) 请问你可以帮我一下，去一下咖啡桌吗？ -At(Robot,CoffeeTable) 请问你能帮我前往咖啡桌那个位置吗？ -At(Robot,Bar2) 您好，请问您需要什么帮助吗？我正在另一个吧台处理一些事情。 -At(Robot,Bar2) 请问你可以去一下另一个吧台吗？ -At(Robot,Bar2) 你能去另一个吧台的位置吗？ -At(Robot,Table1) 请问你能过来一下吗？我目前在第一桌，需要你的帮助。 -At(Robot,Table1) 请问你能去一下第一桌吗？ -At(Robot,Table1) 请问你能帮我到第一张桌子那个位置吗？ -At(Robot,Table2) 请问您能过来一下吗？我正在第二张桌子这里。 -At(Robot,Table2) 请问你可以去第二张桌子一下吗？ -At(Robot,Table2) 请问你能帮我前往第二桌吗？ -At(Robot,Table3) 请问你能过来一下吗？我正在第三张桌子旁。 -At(Robot,Table3) 请问你能去第三张桌子一下吗？ -At(Robot,Table3) 你能告诉我第三张桌子的位置在哪里吗？ -On(Softdrink,Bar) 您好，请问您需要我帮您把盒装冰红茶放到哪个位置呢？ -On(Softdrink,Bar) 服务员，能否帮我拿来一盒冰红茶放到吧台呢？ -On(Softdrink,WaterTable) 您好，请问您需要我帮忙将盒装冰红茶放到哪个位置吗？ -On(Softdrink,WaterTable) 服务员，能否帮我把盒装冰红茶拿到茶水桌呢？ -On(Softdrink,CoffeeTable) 请问你能把盒装冰红茶放到咖啡桌那个位置吗？ -On(Softdrink,CoffeeTable) 服务员，把盒装冰红茶拿到咖啡桌 position 好吗？ -On(Softdrink,Bar2) 请问你能把盒装冰红茶放到另一个吧台的位置吗？ -On(Softdrink,Bar2) 请问你能把盒装冰红茶拿到另一个吧台位置吗？ -On(Softdrink,Table1) 请问您能否把盒装冰红茶放在第一桌的指定位置呢？ -On(Softdrink,Table1) 请您把盒装冰红茶拿到第一桌的位置。 -On(Softdrink,Table2) 服务员，您好，请问能否帮我將這盒裝冰红茶放 到第二張桌子那個位置呢？ -On(Softdrink,Table2) 服务员，请把盒装冰红茶拿到第二张桌子的位置。 -On(Softdrink,Table3) 请问你可以把盒装冰红茶放到第三张桌子的那个位置吗？ -On(Softdrink,Table3) 请问你能把盒装冰红茶拿到第三张桌子的位置吗？ -On(BottledDrink,Bar) 您好，请问您需要我将瓶装饮料放到哪个位置呢？ -On(BottledDrink,Bar) 请把瓶装饮料拿到吧台的位置。 -On(BottledDrink,WaterTable) 请问你可以把瓶装饮料放到茶水桌那个位置吗？ -On(BottledDrink,WaterTable) 请问你能把瓶装饮料拿到茶水桌位置吗？ -On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料放在咖啡桌那个位置呢？ -On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料拿到咖啡桌附近呢？ -On(BottledDrink,Bar2) 请问你能把瓶装饮料放到另一个吧台的那个位置吗？ -On(BottledDrink,Bar2) 请把瓶装饮料拿到另一个吧台位置。 -On(BottledDrink,Table1) 请问您能否帮我將瓶裝飲料放至第一張桌子的那個位置呢？ -On(BottledDrink,Table1) 请问你能把瓶装饮料拿到第一桌的位置吗？ -On(BottledDrink,Table2) 请问，你可以把瓶装饮料放到第二张桌子的那个位置吗？ -On(BottledDrink,Table2) 请问你能把瓶装饮料拿到第二张桌子的位置吗？ -On(BottledDrink,Table3) 请问，你能把瓶装饮料放到第三桌的哪个位置吗？ -On(BottledDrink,Table3) 请问你能把瓶装饮料拿到第三张桌子的位置吗？ -On(Yogurt,Bar) 请问你能把酸奶放到吧台那个位置吗？ -On(Yogurt,Bar) 请问你能把酸奶拿到吧台位置吗？ -On(Yogurt,WaterTable) 请问你能把酸奶放到茶水桌那个位置吗？ -On(Yogurt,WaterTable) 服务员，请把酸奶拿到茶水桌的位置。 -On(Yogurt,CoffeeTable) 请问，你能把酸奶放在咖啡桌那个位置吗？ -On(Yogurt,CoffeeTable) 服务员，能否把酸奶拿到咖啡桌的位置呢？ -On(Yogurt,Bar2) 请问你能把酸奶放到另一个吧台的那个位置吗？ -On(Yogurt,Bar2) 请问你能把酸奶拿到另一个吧台位置吗？ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt deleted file mode 100644 index c72c9cc..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt +++ /dev/null @@ -1,5000 +0,0 @@ -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,Bar)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Bar2)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot, CoffeeTable)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} 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-{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(Softdrink,Bar)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Bar2)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(BottledDrink,Bar)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(Yogurt,Bar)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Bar2)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(ADMilk,Bar)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Bar2)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(MilkDrink,Bar)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(Milk,Bar)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Bar2)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(VacuumCup,Bar)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(MilkDrink, Table2)} -{On(MilkDrink, Bar2)} -{On(Yogurt, WaterTable)} -{On(Softdrink, Bar2)} -{On(Softdrink, WaterTable)} -{On(MilkDrink, WaterTable)} -{On(ADMilk, Bar)} -{On(MilkDrink, Table3)} -{On(MilkDrink, WaterTable)} -{On(BottledDrink, CoffeeTable)} -{On(VacuumCup, Table2)} -{On(MilkDrink, Bar)} -{On(ADMilk, WaterTable)} -{On(BottledDrink, Bar2)} -{On(ADMilk, Table3)} -{Is(AC,Off)} -{Is(AC,On)} -{Is(ACTemperature,Up)} -{Is(ACTemperature,Down)} -{Is(HallLight,Off)} -{Is(HallLight,On)} -{Is(TubeLight,Off)} -{Is(TubeLight,On)} -{Is(Curtain,Off)} -{Is(Curtain,On)} -{Is(Chairs,Dirty)} -{Is(Chairs,Clean)} -{Is(Floor,Dirty)} -{Is(Floor,Clean)} -{Is(Table1,Dirty)} -{Is(Table1,Clean)} -{Is(AC,Off)} -{Is(AC,On)} -{Is(ACTemperature,Up)} -{Is(ACTemperature,Down)} -{Is(HallLight,Off)} -{Is(HallLight,On)} -{Is(TubeLight,Off)} -{Is(TubeLight,On)} -{Is(Curtain,Off)} -{Is(Curtain,On)} -{Is(Chairs,Dirty)} -{Is(Chairs,Clean)} -{Is(Floor,Dirty)} -{Is(Floor,Clean)} -{Is(Table1,Dirty)} -{Is(Table1,Clean)} -{Is(AC,Off)} -{Is(AC,On)} -{Is(ACTemperature,Up)} -{Is(ACTemperature,Down)} -{Is(HallLight,Off)} -{Is(HallLight,On)} -{Is(TubeLight,Off)} -{Is(TubeLight,On)} -{Is(Curtain,Off)} -{Is(Curtain,On)} -{Is(Chairs,Dirty)} -{Is(Chairs,Clean)} -{Is(Floor,Dirty)} -{Is(Floor,Clean)} -{Is(Table1,Dirty)} -{Is(Table1,Clean)} -{Is(AC,Off)} -{Is(AC,On)} -{Is(ACTemperature,Up)} -{Is(ACTemperature,Down)} -{Is(HallLight,Off)} -{Is(HallLight,On)} -{Is(TubeLight,Off)} -{Is(TubeLight,On)} -{Is(Curtain,Off)} -{Is(Curtain,On)} -{Is(Chairs,Dirty)} -{Is(Chairs,Clean)} -{Is(Floor,Dirty)} -{Is(Floor,Clean)} -{Is(Table1,Dirty)} -{Is(Table1,Clean)} -{Is(AC,Off)} -{Is(AC,On)} 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-{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee,Bar)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Bar2)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Water,Bar)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Bar2)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Dessert,Bar)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Bar2)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Coffee, Table3)} -{On(Water, WaterTable)} -{On(Coffee, Table2)} -{On(Coffee, Table2)} -{On(Water, Table3)} -{On(Coffee, Bar2)} -{On(Coffee, WaterTable)} -{On(Water, CoffeeTable)} -{On(Dessert, CoffeeTable)} -{On(Water, Table3)} -{On(Water, Table3)} -{On(Coffee, Table1)} -{On(Dessert, WaterTable)} -{On(Water, Bar2)} -{On(Water, Bar2)} -{At(Robot,Bar),On(Softdrink,Bar)} -{At(Robot,Bar),On(Softdrink,WaterTable)} -{At(Robot,Bar),On(Softdrink,CoffeeTable)} -{At(Robot,Bar),On(Softdrink,Bar2)} -{At(Robot,Bar),On(Softdrink,Table1)} -{At(Robot,Bar),On(Softdrink,Table2)} -{At(Robot,Bar),On(Softdrink,Table3)} -{At(Robot,Bar),On(BottledDrink,Bar)} -{At(Robot,Bar),On(BottledDrink,WaterTable)} -{At(Robot,Bar),On(BottledDrink,CoffeeTable)} -{At(Robot,Bar),On(BottledDrink,Bar2)} -{At(Robot,Bar),On(BottledDrink,Table1)} -{At(Robot,Bar),On(BottledDrink,Table2)} -{At(Robot,Bar),On(BottledDrink,Table3)} -{At(Robot,Bar),On(Yogurt,Bar)} -{At(Robot,Bar),On(Yogurt,WaterTable)} -{At(Robot,Bar),On(Yogurt,CoffeeTable)} -{At(Robot,Bar),On(Yogurt,Bar2)} -{At(Robot,Bar),On(Yogurt,Table1)} -{At(Robot,Bar),On(Yogurt,Table2)} -{At(Robot,Bar),On(Yogurt,Table3)} -{At(Robot,Bar),On(ADMilk,Bar)} -{At(Robot,Bar),On(ADMilk,WaterTable)} -{At(Robot,Bar),On(ADMilk,CoffeeTable)} -{At(Robot,Bar),On(ADMilk,Bar2)} -{At(Robot,Bar),On(ADMilk,Table1)} -{At(Robot,Bar),On(ADMilk,Table2)} -{At(Robot,Bar),On(ADMilk,Table3)} -{At(Robot,Bar),On(MilkDrink,Bar)} -{At(Robot,Bar),On(MilkDrink,WaterTable)} -{At(Robot,Bar),On(MilkDrink,CoffeeTable)} -{At(Robot,Bar),On(MilkDrink,Bar2)} -{At(Robot,Bar),On(MilkDrink,Table1)} -{At(Robot,Bar),On(MilkDrink,Table2)} -{At(Robot,Bar),On(MilkDrink,Table3)} -{At(Robot,Bar),On(Milk,Bar)} -{At(Robot,Bar),On(Milk,WaterTable)} -{At(Robot,Bar),On(Milk,CoffeeTable)} -{At(Robot,Bar),On(Milk,Bar2)} -{At(Robot,Bar),On(Milk,Table1)} -{At(Robot,Bar),On(Milk,Table2)} -{At(Robot,Bar),On(Milk,Table3)} -{At(Robot,Bar),On(VacuumCup,Bar)} -{At(Robot,Bar),On(VacuumCup,WaterTable)} -{At(Robot,Bar),On(VacuumCup,CoffeeTable)} -{At(Robot,Bar),On(VacuumCup,Bar2)} -{At(Robot,Bar),On(VacuumCup,Table1)} -{At(Robot,Bar),On(VacuumCup,Table2)} -{At(Robot,Bar),On(VacuumCup,Table3)} -{At(Robot,WaterTable),On(Softdrink,Bar)} -{At(Robot,WaterTable),On(Softdrink,WaterTable)} -{At(Robot,WaterTable),On(Softdrink,CoffeeTable)} -{At(Robot,WaterTable),On(Softdrink,Bar2)} -{At(Robot,WaterTable),On(Softdrink,Table1)} -{At(Robot,WaterTable),On(Softdrink,Table2)} -{At(Robot,WaterTable),On(Softdrink,Table3)} -{At(Robot,WaterTable),On(BottledDrink,Bar)} -{At(Robot,WaterTable),On(BottledDrink,WaterTable)} -{At(Robot,WaterTable),On(BottledDrink,CoffeeTable)} -{At(Robot,WaterTable),On(BottledDrink,Bar2)} -{At(Robot,WaterTable),On(BottledDrink,Table1)} -{At(Robot,WaterTable),On(BottledDrink,Table2)} -{At(Robot,WaterTable),On(BottledDrink,Table3)} -{At(Robot,WaterTable),On(Yogurt,Bar)} -{At(Robot,WaterTable),On(Yogurt,WaterTable)} -{At(Robot,WaterTable),On(Yogurt,CoffeeTable)} -{At(Robot,WaterTable),On(Yogurt,Bar2)} -{At(Robot,WaterTable),On(Yogurt,Table1)} -{At(Robot,WaterTable),On(Yogurt,Table2)} -{At(Robot,WaterTable),On(Yogurt,Table3)} -{At(Robot,WaterTable),On(ADMilk,Bar)} -{At(Robot,WaterTable),On(ADMilk,WaterTable)} -{At(Robot,WaterTable),On(ADMilk,CoffeeTable)} -{At(Robot,WaterTable),On(ADMilk,Bar2)} -{At(Robot,WaterTable),On(ADMilk,Table1)} -{At(Robot,WaterTable),On(ADMilk,Table2)} -{At(Robot,WaterTable),On(ADMilk,Table3)} -{At(Robot,WaterTable),On(MilkDrink,Bar)} -{At(Robot,WaterTable),On(MilkDrink,WaterTable)} -{At(Robot,WaterTable),On(MilkDrink,CoffeeTable)} -{At(Robot,WaterTable),On(MilkDrink,Bar2)} -{At(Robot,WaterTable),On(MilkDrink,Table1)} -{At(Robot,WaterTable),On(MilkDrink,Table2)} -{At(Robot,WaterTable),On(MilkDrink,Table3)} -{At(Robot,WaterTable),On(Milk,Bar)} -{At(Robot,WaterTable),On(Milk,WaterTable)} -{At(Robot,WaterTable),On(Milk,CoffeeTable)} -{At(Robot,WaterTable),On(Milk,Bar2)} -{At(Robot,WaterTable),On(Milk,Table1)} -{At(Robot,WaterTable),On(Milk,Table2)} -{At(Robot,WaterTable),On(Milk,Table3)} -{At(Robot,WaterTable),On(VacuumCup,Bar)} -{At(Robot,WaterTable),On(VacuumCup,WaterTable)} -{At(Robot,WaterTable),On(VacuumCup,CoffeeTable)} -{At(Robot,WaterTable),On(VacuumCup,Bar2)} -{At(Robot,WaterTable),On(VacuumCup,Table1)} -{At(Robot,WaterTable),On(VacuumCup,Table2)} -{At(Robot,WaterTable),On(VacuumCup,Table3)} -{At(Robot,CoffeeTable),On(Softdrink,Bar)} -{At(Robot,CoffeeTable),On(Softdrink,WaterTable)} -{At(Robot,CoffeeTable),On(Softdrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(Softdrink,Bar2)} -{At(Robot,CoffeeTable),On(Softdrink,Table1)} -{At(Robot,CoffeeTable),On(Softdrink,Table2)} -{At(Robot,CoffeeTable),On(Softdrink,Table3)} -{At(Robot,CoffeeTable),On(BottledDrink,Bar)} -{At(Robot,CoffeeTable),On(BottledDrink,WaterTable)} -{At(Robot,CoffeeTable),On(BottledDrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(BottledDrink,Bar2)} -{At(Robot,CoffeeTable),On(BottledDrink,Table1)} -{At(Robot,CoffeeTable),On(BottledDrink,Table2)} -{At(Robot,CoffeeTable),On(BottledDrink,Table3)} -{At(Robot,CoffeeTable),On(Yogurt,Bar)} -{At(Robot,CoffeeTable),On(Yogurt,WaterTable)} -{At(Robot,CoffeeTable),On(Yogurt,CoffeeTable)} -{At(Robot,CoffeeTable),On(Yogurt,Bar2)} -{At(Robot,CoffeeTable),On(Yogurt,Table1)} -{At(Robot,CoffeeTable),On(Yogurt,Table2)} -{At(Robot,CoffeeTable),On(Yogurt,Table3)} -{At(Robot,CoffeeTable),On(ADMilk,Bar)} -{At(Robot,CoffeeTable),On(ADMilk,WaterTable)} -{At(Robot,CoffeeTable),On(ADMilk,CoffeeTable)} -{At(Robot,CoffeeTable),On(ADMilk,Bar2)} -{At(Robot,CoffeeTable),On(ADMilk,Table1)} -{At(Robot,CoffeeTable),On(ADMilk,Table2)} -{At(Robot,CoffeeTable),On(ADMilk,Table3)} -{At(Robot,CoffeeTable),On(MilkDrink,Bar)} -{At(Robot,CoffeeTable),On(MilkDrink,WaterTable)} -{At(Robot,CoffeeTable),On(MilkDrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(MilkDrink,Bar2)} -{At(Robot,CoffeeTable),On(MilkDrink,Table1)} -{At(Robot,CoffeeTable),On(MilkDrink,Table2)} -{At(Robot,CoffeeTable),On(MilkDrink,Table3)} -{At(Robot,CoffeeTable),On(Milk,Bar)} -{At(Robot,CoffeeTable),On(Milk,WaterTable)} -{At(Robot,CoffeeTable),On(Milk,CoffeeTable)} -{At(Robot,CoffeeTable),On(Milk,Bar2)} -{At(Robot,CoffeeTable),On(Milk,Table1)} -{At(Robot,CoffeeTable),On(Milk,Table2)} -{At(Robot,CoffeeTable),On(Milk,Table3)} -{At(Robot,CoffeeTable),On(VacuumCup,Bar)} -{At(Robot,CoffeeTable),On(VacuumCup,WaterTable)} -{At(Robot,CoffeeTable),On(VacuumCup,CoffeeTable)} -{At(Robot,CoffeeTable),On(VacuumCup,Bar2)} -{At(Robot,CoffeeTable),On(VacuumCup,Table1)} -{At(Robot,CoffeeTable),On(VacuumCup,Table2)} -{At(Robot,CoffeeTable),On(VacuumCup,Table3)} -{At(Robot,Bar2),On(Softdrink,Bar)} -{At(Robot,Bar2),On(Softdrink,WaterTable)} -{At(Robot,Bar2),On(Softdrink,CoffeeTable)} -{At(Robot,Bar2),On(Softdrink,Bar2)} -{At(Robot,Bar2),On(Softdrink,Table1)} -{At(Robot,Bar2),On(Softdrink,Table2)} -{At(Robot,Bar2),On(Softdrink,Table3)} -{At(Robot,Bar2),On(BottledDrink,Bar)} -{At(Robot,Bar2),On(BottledDrink,WaterTable)} -{At(Robot,Bar2),On(BottledDrink,CoffeeTable)} -{At(Robot,Bar2),On(BottledDrink,Bar2)} -{At(Robot,Bar2),On(BottledDrink,Table1)} -{At(Robot,Bar2),On(BottledDrink,Table2)} -{At(Robot,Bar2),On(BottledDrink,Table3)} -{At(Robot,Bar2),On(Yogurt,Bar)} -{At(Robot,Bar2),On(Yogurt,WaterTable)} -{At(Robot,Bar2),On(Yogurt,CoffeeTable)} -{At(Robot,Bar2),On(Yogurt,Bar2)} -{At(Robot,Bar2),On(Yogurt,Table1)} -{At(Robot,Bar2),On(Yogurt,Table2)} -{At(Robot,Bar2),On(Yogurt,Table3)} -{At(Robot,Bar2),On(ADMilk,Bar)} -{At(Robot,Bar2),On(ADMilk,WaterTable)} -{At(Robot,Bar2),On(ADMilk,CoffeeTable)} -{At(Robot,Bar2),On(ADMilk,Bar2)} -{At(Robot,Bar2),On(ADMilk,Table1)} -{At(Robot,Bar2),On(ADMilk,Table2)} -{At(Robot,Bar2),On(ADMilk,Table3)} -{At(Robot,Bar2),On(MilkDrink,Bar)} -{At(Robot,Bar2),On(MilkDrink,WaterTable)} -{At(Robot,Bar2),On(MilkDrink,CoffeeTable)} -{At(Robot,Bar2),On(MilkDrink,Bar2)} -{At(Robot,Bar2),On(MilkDrink,Table1)} -{At(Robot,Bar2),On(MilkDrink,Table2)} -{At(Robot,Bar2),On(MilkDrink,Table3)} -{At(Robot,Bar2),On(Milk,Bar)} -{At(Robot,Bar2),On(Milk,WaterTable)} -{At(Robot,Bar2),On(Milk,CoffeeTable)} -{At(Robot,Bar2),On(Milk,Bar2)} -{At(Robot,Bar2),On(Milk,Table1)} -{At(Robot,Bar2),On(Milk,Table2)} -{At(Robot,Bar2),On(Milk,Table3)} -{At(Robot,Bar2),On(VacuumCup,Bar)} -{At(Robot,Bar2),On(VacuumCup,WaterTable)} -{At(Robot,Bar2),On(VacuumCup,CoffeeTable)} -{At(Robot,Bar2),On(VacuumCup,Bar2)} -{At(Robot,Bar2),On(VacuumCup,Table1)} -{At(Robot,Bar2),On(VacuumCup,Table2)} -{At(Robot,Bar2),On(VacuumCup,Table3)} -{At(Robot,Table1),On(Softdrink,Bar)} -{At(Robot,Table1),On(Softdrink,WaterTable)} -{At(Robot,Table1),On(Softdrink,CoffeeTable)} -{At(Robot,Table1),On(Softdrink,Bar2)} -{At(Robot,Table1),On(Softdrink,Table1)} -{At(Robot,Table1),On(Softdrink,Table2)} -{At(Robot,Table1),On(Softdrink,Table3)} -{At(Robot,Table1),On(BottledDrink,Bar)} -{At(Robot,Table1),On(BottledDrink,WaterTable)} -{At(Robot,Table1),On(BottledDrink,CoffeeTable)} -{At(Robot,Table1),On(BottledDrink,Bar2)} -{At(Robot,Table1),On(BottledDrink,Table1)} -{At(Robot,Table1),On(BottledDrink,Table2)} -{At(Robot,Table1),On(BottledDrink,Table3)} -{At(Robot,Table1),On(Yogurt,Bar)} -{At(Robot,Table1),On(Yogurt,WaterTable)} -{At(Robot,Table1),On(Yogurt,CoffeeTable)} -{At(Robot,Table1),On(Yogurt,Bar2)} -{At(Robot,Table1),On(Yogurt,Table1)} -{At(Robot,Table1),On(Yogurt,Table2)} -{At(Robot,Table1),On(Yogurt,Table3)} -{At(Robot,Table1),On(ADMilk,Bar)} -{At(Robot,Table1),On(ADMilk,WaterTable)} -{At(Robot,Table1),On(ADMilk,CoffeeTable)} -{At(Robot,Table1),On(ADMilk,Bar2)} -{At(Robot,Table1),On(ADMilk,Table1)} -{At(Robot,Table1),On(ADMilk,Table2)} -{At(Robot,Table1),On(ADMilk,Table3)} -{At(Robot,Table1),On(MilkDrink,Bar)} -{At(Robot,Table1),On(MilkDrink,WaterTable)} -{At(Robot,Table1),On(MilkDrink,CoffeeTable)} -{At(Robot,Table1),On(MilkDrink,Bar2)} -{At(Robot,Table1),On(MilkDrink,Table1)} -{At(Robot,Table1),On(MilkDrink,Table2)} -{At(Robot,Table1),On(MilkDrink,Table3)} -{At(Robot,Table1),On(Milk,Bar)} -{At(Robot,Table1),On(Milk,WaterTable)} -{At(Robot,Table1),On(Milk,CoffeeTable)} -{At(Robot,Table1),On(Milk,Bar2)} -{At(Robot,Table1),On(Milk,Table1)} -{At(Robot,Table1),On(Milk,Table2)} -{At(Robot,Table1),On(Milk,Table3)} -{At(Robot,Table1),On(VacuumCup,Bar)} -{At(Robot,Table1),On(VacuumCup,WaterTable)} -{At(Robot,Table1),On(VacuumCup,CoffeeTable)} -{At(Robot,Table1),On(VacuumCup,Bar2)} -{At(Robot,Table1),On(VacuumCup,Table1)} -{At(Robot,Table1),On(VacuumCup,Table2)} -{At(Robot,Table1),On(VacuumCup,Table3)} -{At(Robot,Table2),On(Softdrink,Bar)} -{At(Robot,Table2),On(Softdrink,WaterTable)} -{At(Robot,Table2),On(Softdrink,CoffeeTable)} -{At(Robot,Table2),On(Softdrink,Bar2)} -{At(Robot,Table2),On(Softdrink,Table1)} -{At(Robot,Table2),On(Softdrink,Table2)} -{At(Robot,Table2),On(Softdrink,Table3)} -{At(Robot,Table2),On(BottledDrink,Bar)} -{At(Robot,Table2),On(BottledDrink,WaterTable)} -{At(Robot,Table2),On(BottledDrink,CoffeeTable)} -{At(Robot,Table2),On(BottledDrink,Bar2)} -{At(Robot,Table2),On(BottledDrink,Table1)} -{At(Robot,Table2),On(BottledDrink,Table2)} -{At(Robot,Table2),On(BottledDrink,Table3)} -{At(Robot,Table2),On(Yogurt,Bar)} -{At(Robot,Table2),On(Yogurt,WaterTable)} -{At(Robot,Table2),On(Yogurt,CoffeeTable)} -{At(Robot,Table2),On(Yogurt,Bar2)} -{At(Robot,Table2),On(Yogurt,Table1)} -{At(Robot,Table2),On(Yogurt,Table2)} -{At(Robot,Table2),On(Yogurt,Table3)} -{At(Robot,Table2),On(ADMilk,Bar)} -{At(Robot,Table2),On(ADMilk,WaterTable)} -{At(Robot,Table2),On(ADMilk,CoffeeTable)} -{At(Robot,Table2),On(ADMilk,Bar2)} -{At(Robot,Table2),On(ADMilk,Table1)} -{At(Robot,Table2),On(ADMilk,Table2)} -{At(Robot,Table2),On(ADMilk,Table3)} -{At(Robot,Table2),On(MilkDrink,Bar)} -{At(Robot,Table2),On(MilkDrink,WaterTable)} -{At(Robot,Table2),On(MilkDrink,CoffeeTable)} -{At(Robot,Table2),On(MilkDrink,Bar2)} -{At(Robot,Table2),On(MilkDrink,Table1)} -{At(Robot,Table2),On(MilkDrink,Table2)} -{At(Robot,Table2),On(MilkDrink,Table3)} -{At(Robot,Table2),On(Milk,Bar)} -{At(Robot,Table2),On(Milk,WaterTable)} -{At(Robot,Table2),On(Milk,CoffeeTable)} -{At(Robot,Table2),On(Milk,Bar2)} -{At(Robot,Table2),On(Milk,Table1)} -{At(Robot,Table2),On(Milk,Table2)} -{At(Robot,Table2),On(Milk,Table3)} -{At(Robot,Table2),On(VacuumCup,Bar)} -{At(Robot,Table2),On(VacuumCup,WaterTable)} -{At(Robot,Table2),On(VacuumCup,CoffeeTable)} -{At(Robot,Table2),On(VacuumCup,Bar2)} -{At(Robot,Table2),On(VacuumCup,Table1)} -{At(Robot,Table2),On(VacuumCup,Table2)} -{At(Robot,Table2),On(VacuumCup,Table3)} -{At(Robot,Table3),On(Softdrink,Bar)} -{At(Robot,Table3),On(Softdrink,WaterTable)} -{At(Robot,Table3),On(Softdrink,CoffeeTable)} -{At(Robot,Table3),On(Softdrink,Bar2)} -{At(Robot,Table3),On(Softdrink,Table1)} -{At(Robot,Table3),On(Softdrink,Table2)} -{At(Robot,Table3),On(Softdrink,Table3)} -{At(Robot,Table3),On(BottledDrink,Bar)} -{At(Robot,Table3),On(BottledDrink,WaterTable)} -{At(Robot,Table3),On(BottledDrink,CoffeeTable)} -{At(Robot,Table3),On(BottledDrink,Bar2)} -{At(Robot,Table3),On(BottledDrink,Table1)} -{At(Robot,Table3),On(BottledDrink,Table2)} -{At(Robot,Table3),On(BottledDrink,Table3)} -{At(Robot,Table3),On(Yogurt,Bar)} -{At(Robot,Table3),On(Yogurt,WaterTable)} -{At(Robot,Table3),On(Yogurt,CoffeeTable)} -{At(Robot,Table3),On(Yogurt,Bar2)} -{At(Robot,Table3),On(Yogurt,Table1)} -{At(Robot,Table3),On(Yogurt,Table2)} -{At(Robot,Table3),On(Yogurt,Table3)} -{At(Robot,Table3),On(ADMilk,Bar)} -{At(Robot,Table3),On(ADMilk,WaterTable)} -{At(Robot,Table3),On(ADMilk,CoffeeTable)} -{At(Robot,Table3),On(ADMilk,Bar2)} -{At(Robot,Table3),On(ADMilk,Table1)} -{At(Robot,Table3),On(ADMilk,Table2)} -{At(Robot,Table3),On(ADMilk,Table3)} -{At(Robot,Table3),On(MilkDrink,Bar)} -{At(Robot,Table3),On(MilkDrink,WaterTable)} -{At(Robot,Table3),On(MilkDrink,CoffeeTable)} -{At(Robot,Table3),On(MilkDrink,Bar2)} -{At(Robot,Table3),On(MilkDrink,Table1)} -{At(Robot,Table3),On(MilkDrink,Table2)} -{At(Robot,Table3),On(MilkDrink,Table3)} -{At(Robot,Table3),On(Milk,Bar)} -{At(Robot,Table3),On(Milk,WaterTable)} -{At(Robot,Table3),On(Milk,CoffeeTable)} -{At(Robot,Table3),On(Milk,Bar2)} -{At(Robot,Table3),On(Milk,Table1)} -{At(Robot,Table3),On(Milk,Table2)} -{At(Robot,Table3),On(Milk,Table3)} -{At(Robot,Table3),On(VacuumCup,Bar)} -{At(Robot,Table3),On(VacuumCup,WaterTable)} -{At(Robot,Table3),On(VacuumCup,CoffeeTable)} -{At(Robot,Table3),On(VacuumCup,Bar2)} -{At(Robot,Table3),On(VacuumCup,Table1)} -{At(Robot,Table3),On(VacuumCup,Table2)} -{At(Robot,Table3),On(VacuumCup,Table3)} -{At(Robot,Bar),On(Softdrink,Bar)} -{At(Robot,Bar),On(Softdrink,WaterTable)} -{At(Robot,Bar),On(Softdrink,CoffeeTable)} -{At(Robot,Bar),On(Softdrink,Bar2)} -{At(Robot,Bar),On(Softdrink,Table1)} -{At(Robot,Bar),On(Softdrink,Table2)} -{At(Robot,Bar),On(Softdrink,Table3)} -{At(Robot,Bar),On(BottledDrink,Bar)} -{At(Robot,Bar),On(BottledDrink,WaterTable)} -{At(Robot,Bar),On(BottledDrink,CoffeeTable)} -{At(Robot,Bar),On(BottledDrink,Bar2)} -{At(Robot,Bar),On(BottledDrink,Table1)} -{At(Robot,Bar),On(BottledDrink,Table2)} -{At(Robot,Bar),On(BottledDrink,Table3)} -{At(Robot,Bar),On(Yogurt,Bar)} -{At(Robot,Bar),On(Yogurt,WaterTable)} -{At(Robot,Bar),On(Yogurt,CoffeeTable)} -{At(Robot,Bar),On(Yogurt,Bar2)} -{At(Robot,Bar),On(Yogurt,Table1)} -{At(Robot,Bar),On(Yogurt,Table2)} -{At(Robot,Bar),On(Yogurt,Table3)} -{At(Robot,Bar),On(ADMilk,Bar)} -{At(Robot,Bar),On(ADMilk,WaterTable)} -{At(Robot,Bar),On(ADMilk,CoffeeTable)} -{At(Robot,Bar),On(ADMilk,Bar2)} -{At(Robot,Bar),On(ADMilk,Table1)} -{At(Robot,Bar),On(ADMilk,Table2)} -{At(Robot,Bar),On(ADMilk,Table3)} -{At(Robot,Bar),On(MilkDrink,Bar)} -{At(Robot,Bar),On(MilkDrink,WaterTable)} -{At(Robot,Bar),On(MilkDrink,CoffeeTable)} -{At(Robot,Bar),On(MilkDrink,Bar2)} -{At(Robot,Bar),On(MilkDrink,Table1)} -{At(Robot,Bar),On(MilkDrink,Table2)} -{At(Robot,Bar),On(MilkDrink,Table3)} -{At(Robot,Bar),On(Milk,Bar)} -{At(Robot,Bar),On(Milk,WaterTable)} -{At(Robot,Bar),On(Milk,CoffeeTable)} -{At(Robot,Bar),On(Milk,Bar2)} -{At(Robot,Bar),On(Milk,Table1)} -{At(Robot,Bar),On(Milk,Table2)} -{At(Robot,Bar),On(Milk,Table3)} -{At(Robot,Bar),On(VacuumCup,Bar)} -{At(Robot,Bar),On(VacuumCup,WaterTable)} -{At(Robot,Bar),On(VacuumCup,CoffeeTable)} -{At(Robot,Bar),On(VacuumCup,Bar2)} -{At(Robot,Bar),On(VacuumCup,Table1)} -{At(Robot,Bar),On(VacuumCup,Table2)} -{At(Robot,Bar),On(VacuumCup,Table3)} -{At(Robot,WaterTable),On(Softdrink,Bar)} -{At(Robot,WaterTable),On(Softdrink,WaterTable)} -{At(Robot,WaterTable),On(Softdrink,CoffeeTable)} -{At(Robot,WaterTable),On(Softdrink,Bar2)} -{At(Robot,WaterTable),On(Softdrink,Table1)} -{At(Robot,WaterTable),On(Softdrink,Table2)} -{At(Robot,WaterTable),On(Softdrink,Table3)} -{At(Robot,WaterTable),On(BottledDrink,Bar)} -{At(Robot,WaterTable),On(BottledDrink,WaterTable)} -{At(Robot,WaterTable),On(BottledDrink,CoffeeTable)} -{At(Robot,WaterTable),On(BottledDrink,Bar2)} -{At(Robot,WaterTable),On(BottledDrink,Table1)} -{At(Robot,WaterTable),On(BottledDrink,Table2)} -{At(Robot,WaterTable),On(BottledDrink,Table3)} -{At(Robot,WaterTable),On(Yogurt,Bar)} -{At(Robot,WaterTable),On(Yogurt,WaterTable)} -{At(Robot,WaterTable),On(Yogurt,CoffeeTable)} -{At(Robot,WaterTable),On(Yogurt,Bar2)} -{At(Robot,WaterTable),On(Yogurt,Table1)} -{At(Robot,WaterTable),On(Yogurt,Table2)} -{At(Robot,WaterTable),On(Yogurt,Table3)} -{At(Robot,WaterTable),On(ADMilk,Bar)} -{At(Robot,WaterTable),On(ADMilk,WaterTable)} -{At(Robot,WaterTable),On(ADMilk,CoffeeTable)} -{At(Robot,WaterTable),On(ADMilk,Bar2)} -{At(Robot,WaterTable),On(ADMilk,Table1)} -{At(Robot,WaterTable),On(ADMilk,Table2)} -{At(Robot,WaterTable),On(ADMilk,Table3)} -{At(Robot,WaterTable),On(MilkDrink,Bar)} -{At(Robot,WaterTable),On(MilkDrink,WaterTable)} -{At(Robot,WaterTable),On(MilkDrink,CoffeeTable)} -{At(Robot,WaterTable),On(MilkDrink,Bar2)} -{At(Robot,WaterTable),On(MilkDrink,Table1)} -{At(Robot,WaterTable),On(MilkDrink,Table2)} -{At(Robot,WaterTable),On(MilkDrink,Table3)} -{At(Robot,WaterTable),On(Milk,Bar)} -{At(Robot,WaterTable),On(Milk,WaterTable)} -{At(Robot,WaterTable),On(Milk,CoffeeTable)} -{At(Robot,WaterTable),On(Milk,Bar2)} -{At(Robot,WaterTable),On(Milk,Table1)} -{At(Robot,WaterTable),On(Milk,Table2)} -{At(Robot,WaterTable),On(Milk,Table3)} -{At(Robot,WaterTable),On(VacuumCup,Bar)} -{At(Robot,WaterTable),On(VacuumCup,WaterTable)} -{At(Robot,WaterTable),On(VacuumCup,CoffeeTable)} -{At(Robot,WaterTable),On(VacuumCup,Bar2)} -{At(Robot,WaterTable),On(VacuumCup,Table1)} -{At(Robot,WaterTable),On(VacuumCup,Table2)} -{At(Robot,WaterTable),On(VacuumCup,Table3)} -{At(Robot,CoffeeTable),On(Softdrink,Bar)} -{At(Robot,CoffeeTable),On(Softdrink,WaterTable)} -{At(Robot,CoffeeTable),On(Softdrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(Softdrink,Bar2)} -{At(Robot,CoffeeTable),On(Softdrink,Table1)} -{At(Robot,CoffeeTable),On(Softdrink,Table2)} -{At(Robot,CoffeeTable),On(Softdrink,Table3)} -{At(Robot,CoffeeTable),On(BottledDrink,Bar)} -{At(Robot,CoffeeTable),On(BottledDrink,WaterTable)} -{At(Robot,CoffeeTable),On(BottledDrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(BottledDrink,Bar2)} -{At(Robot,CoffeeTable),On(BottledDrink,Table1)} -{At(Robot,CoffeeTable),On(BottledDrink,Table2)} -{At(Robot,CoffeeTable),On(BottledDrink,Table3)} -{At(Robot,CoffeeTable),On(Yogurt,Bar)} -{At(Robot,CoffeeTable),On(Yogurt,WaterTable)} -{At(Robot,CoffeeTable),On(Yogurt,CoffeeTable)} -{At(Robot,CoffeeTable),On(Yogurt,Bar2)} -{At(Robot,CoffeeTable),On(Yogurt,Table1)} -{At(Robot,CoffeeTable),On(Yogurt,Table2)} -{At(Robot,CoffeeTable),On(Yogurt,Table3)} -{At(Robot,CoffeeTable),On(ADMilk,Bar)} -{At(Robot,CoffeeTable),On(ADMilk,WaterTable)} -{At(Robot,CoffeeTable),On(ADMilk,CoffeeTable)} -{At(Robot,CoffeeTable),On(ADMilk,Bar2)} -{At(Robot,CoffeeTable),On(ADMilk,Table1)} -{At(Robot,CoffeeTable),On(ADMilk,Table2)} -{At(Robot,CoffeeTable),On(ADMilk,Table3)} -{At(Robot,CoffeeTable),On(MilkDrink,Bar)} -{At(Robot,CoffeeTable),On(MilkDrink,WaterTable)} -{At(Robot,CoffeeTable),On(MilkDrink,CoffeeTable)} -{At(Robot,CoffeeTable),On(MilkDrink,Bar2)} -{At(Robot,CoffeeTable),On(MilkDrink,Table1)} -{At(Robot,CoffeeTable),On(MilkDrink,Table2)} -{At(Robot,CoffeeTable),On(MilkDrink,Table3)} -{At(Robot,CoffeeTable),On(Milk,Bar)} -{At(Robot,CoffeeTable),On(Milk,WaterTable)} -{At(Robot,CoffeeTable),On(Milk,CoffeeTable)} -{At(Robot,CoffeeTable),On(Milk,Bar2)} -{At(Robot,CoffeeTable),On(Milk,Table1)} -{At(Robot,CoffeeTable),On(Milk,Table2)} -{At(Robot,CoffeeTable),On(Milk,Table3)} -{At(Robot,CoffeeTable),On(VacuumCup,Bar)} -{At(Robot,CoffeeTable),On(VacuumCup,WaterTable)} -{At(Robot,CoffeeTable),On(VacuumCup,CoffeeTable)} -{At(Robot,CoffeeTable),On(VacuumCup,Bar2)} -{At(Robot,CoffeeTable),On(VacuumCup,Table1)} -{At(Robot,CoffeeTable),On(VacuumCup,Table2)} -{At(Robot,CoffeeTable),On(VacuumCup,Table3)} -{At(Robot,Bar2),On(Softdrink,Bar)} -{At(Robot,Bar2),On(Softdrink,WaterTable)} -{At(Robot,Bar2),On(Softdrink,CoffeeTable)} -{At(Robot,Bar2),On(Softdrink,Bar2)} -{At(Robot,Bar2),On(Softdrink,Table1)} -{At(Robot,Bar2),On(Softdrink,Table2)} -{At(Robot,Bar2),On(Softdrink,Table3)} -{At(Robot,Bar2),On(BottledDrink,Bar)} -{At(Robot,Bar2),On(BottledDrink,WaterTable)} -{At(Robot,Bar2),On(BottledDrink,CoffeeTable)} -{At(Robot,Bar),Is(AC,Off)} -{At(Robot,Bar),Is(AC,On)} -{At(Robot,Bar),Is(ACTemperature,Up)} -{At(Robot,Bar),Is(ACTemperature,Down)} -{At(Robot,Bar),Is(HallLight,Off)} -{At(Robot,Bar),Is(HallLight,On)} -{At(Robot,Bar),Is(TubeLight,Off)} -{At(Robot,Bar),Is(TubeLight,On)} -{At(Robot,Bar),Is(Curtain,Off)} -{At(Robot,Bar),Is(Curtain,On)} -{At(Robot,Bar),Is(Chairs,Dirty)} -{At(Robot,Bar),Is(Chairs,Clean)} -{At(Robot,Bar),Is(Floor,Dirty)} -{At(Robot,Bar),Is(Floor,Clean)} -{At(Robot,Bar),Is(Table1,Dirty)} -{At(Robot,Bar),Is(Table1,Clean)} -{At(Robot,WaterTable),Is(AC,Off)} -{At(Robot,WaterTable),Is(AC,On)} -{At(Robot,WaterTable),Is(ACTemperature,Up)} -{At(Robot,WaterTable),Is(ACTemperature,Down)} -{At(Robot,WaterTable),Is(HallLight,Off)} -{At(Robot,WaterTable),Is(HallLight,On)} -{At(Robot,WaterTable),Is(TubeLight,Off)} -{At(Robot,WaterTable),Is(TubeLight,On)} -{At(Robot,WaterTable),Is(Curtain,Off)} -{At(Robot,WaterTable),Is(Curtain,On)} -{At(Robot,WaterTable),Is(Chairs,Dirty)} -{At(Robot,WaterTable),Is(Chairs,Clean)} -{At(Robot,WaterTable),Is(Floor,Dirty)} -{At(Robot,WaterTable),Is(Floor,Clean)} -{At(Robot,WaterTable),Is(Table1,Dirty)} -{At(Robot,WaterTable),Is(Table1,Clean)} -{At(Robot,CoffeeTable),Is(AC,Off)} -{At(Robot,CoffeeTable),Is(AC,On)} -{At(Robot,CoffeeTable),Is(ACTemperature,Up)} -{At(Robot,CoffeeTable),Is(ACTemperature,Down)} -{At(Robot,CoffeeTable),Is(HallLight,Off)} -{At(Robot,CoffeeTable),Is(HallLight,On)} -{At(Robot,CoffeeTable),Is(TubeLight,Off)} -{At(Robot,CoffeeTable),Is(TubeLight,On)} -{At(Robot,CoffeeTable),Is(Curtain,Off)} -{At(Robot,CoffeeTable),Is(Curtain,On)} -{At(Robot,CoffeeTable),Is(Chairs,Dirty)} -{At(Robot,CoffeeTable),Is(Chairs,Clean)} -{At(Robot,CoffeeTable),Is(Floor,Dirty)} -{At(Robot,CoffeeTable),Is(Floor,Clean)} -{At(Robot,CoffeeTable),Is(Table1,Dirty)} -{At(Robot,CoffeeTable),Is(Table1,Clean)} -{At(Robot,Bar2),Is(AC,Off)} -{At(Robot,Bar2),Is(AC,On)} -{At(Robot,Bar2),Is(ACTemperature,Up)} -{At(Robot,Bar2),Is(ACTemperature,Down)} -{At(Robot,Bar2),Is(HallLight,Off)} -{At(Robot,Bar2),Is(HallLight,On)} -{At(Robot,Bar2),Is(TubeLight,Off)} -{At(Robot,Bar2),Is(TubeLight,On)} -{At(Robot,Bar2),Is(Curtain,Off)} -{At(Robot,Bar2),Is(Curtain,On)} -{At(Robot,Bar2),Is(Chairs,Dirty)} -{At(Robot,Bar2),Is(Chairs,Clean)} -{At(Robot,Bar2),Is(Floor,Dirty)} -{At(Robot,Bar2),Is(Floor,Clean)} -{At(Robot,Bar2),Is(Table1,Dirty)} -{At(Robot,Bar2),Is(Table1,Clean)} -{At(Robot,Table1),Is(AC,Off)} -{At(Robot,Table1),Is(AC,On)} -{At(Robot,Table1),Is(ACTemperature,Up)} -{At(Robot,Table1),Is(ACTemperature,Down)} -{At(Robot,Table1),Is(HallLight,Off)} -{At(Robot,Table1),Is(HallLight,On)} -{At(Robot,Table1),Is(TubeLight,Off)} -{At(Robot,Table1),Is(TubeLight,On)} -{At(Robot,Table1),Is(Curtain,Off)} -{At(Robot,Table1),Is(Curtain,On)} -{At(Robot,Table1),Is(Chairs,Dirty)} -{At(Robot,Table1),Is(Chairs,Clean)} -{At(Robot,Table1),Is(Floor,Dirty)} -{At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table1,Dirty)} -{At(Robot,Table1),Is(Table1,Clean)} -{At(Robot,Table2),Is(AC,Off)} -{At(Robot,Table2),Is(AC,On)} -{At(Robot,Table2),Is(ACTemperature,Up)} -{At(Robot,Table2),Is(ACTemperature,Down)} -{At(Robot,Table2),Is(HallLight,Off)} -{At(Robot,Table2),Is(HallLight,On)} -{At(Robot,Table2),Is(TubeLight,Off)} -{At(Robot,Table2),Is(TubeLight,On)} -{At(Robot,Table2),Is(Curtain,Off)} -{At(Robot,Table2),Is(Curtain,On)} -{At(Robot,Table2),Is(Chairs,Dirty)} -{At(Robot,Table2),Is(Chairs,Clean)} -{At(Robot,Table2),Is(Floor,Dirty)} -{At(Robot,Table2),Is(Floor,Clean)} -{At(Robot,Table2),Is(Table1,Dirty)} -{At(Robot,Table2),Is(Table1,Clean)} -{At(Robot,Table3),Is(AC,Off)} -{At(Robot,Table3),Is(AC,On)} -{At(Robot,Table3),Is(ACTemperature,Up)} -{At(Robot,Table3),Is(ACTemperature,Down)} -{At(Robot,Table3),Is(HallLight,Off)} -{At(Robot,Table3),Is(HallLight,On)} -{At(Robot,Table3),Is(TubeLight,Off)} -{At(Robot,Table3),Is(TubeLight,On)} -{At(Robot,Table3),Is(Curtain,Off)} -{At(Robot,Table3),Is(Curtain,On)} -{At(Robot,Table3),Is(Chairs,Dirty)} -{At(Robot,Table3),Is(Chairs,Clean)} -{At(Robot,Table3),Is(Floor,Dirty)} -{At(Robot,Table3),Is(Floor,Clean)} -{At(Robot,Table3),Is(Table1,Dirty)} -{At(Robot,Table3),Is(Table1,Clean)} -{At(Robot,Bar),Is(AC,Off)} -{At(Robot,Bar),Is(AC,On)} -{At(Robot,Bar),Is(ACTemperature,Up)} -{At(Robot,Bar),Is(ACTemperature,Down)} -{At(Robot,Bar),Is(HallLight,Off)} -{At(Robot,Bar),Is(HallLight,On)} -{At(Robot,Bar),Is(TubeLight,Off)} -{At(Robot,Bar),Is(TubeLight,On)} -{At(Robot,Bar),Is(Curtain,Off)} -{At(Robot,Bar),Is(Curtain,On)} -{At(Robot,Bar),Is(Chairs,Dirty)} -{At(Robot,Bar),Is(Chairs,Clean)} -{At(Robot,Bar),Is(Floor,Dirty)} -{At(Robot,Bar),Is(Floor,Clean)} -{At(Robot,Bar),Is(Table1,Dirty)} -{At(Robot,Bar),Is(Table1,Clean)} -{At(Robot,WaterTable),Is(AC,Off)} -{At(Robot,WaterTable),Is(AC,On)} -{At(Robot,WaterTable),Is(ACTemperature,Up)} -{At(Robot,WaterTable),Is(ACTemperature,Down)} -{At(Robot,WaterTable),Is(HallLight,Off)} -{At(Robot,WaterTable),Is(HallLight,On)} -{At(Robot,WaterTable),Is(TubeLight,Off)} -{At(Robot,WaterTable),Is(TubeLight,On)} -{At(Robot,WaterTable),Is(Curtain,Off)} -{At(Robot,WaterTable),Is(Curtain,On)} -{At(Robot,WaterTable),Is(Chairs,Dirty)} -{At(Robot,WaterTable),Is(Chairs,Clean)} -{At(Robot,WaterTable),Is(Floor,Dirty)} -{At(Robot,WaterTable),Is(Floor,Clean)} -{At(Robot,WaterTable),Is(Table1,Dirty)} -{At(Robot,WaterTable),Is(Table1,Clean)} -{At(Robot,CoffeeTable),Is(AC,Off)} -{At(Robot,CoffeeTable),Is(AC,On)} -{At(Robot,CoffeeTable),Is(ACTemperature,Up)} -{At(Robot,CoffeeTable),Is(ACTemperature,Down)} -{At(Robot,CoffeeTable),Is(HallLight,Off)} -{At(Robot,CoffeeTable),Is(HallLight,On)} -{At(Robot,CoffeeTable),Is(TubeLight,Off)} -{At(Robot,CoffeeTable),Is(TubeLight,On)} -{At(Robot,CoffeeTable),Is(Curtain,Off)} -{At(Robot,CoffeeTable),Is(Curtain,On)} -{At(Robot,CoffeeTable),Is(Chairs,Dirty)} -{At(Robot,CoffeeTable),Is(Chairs,Clean)} -{At(Robot,CoffeeTable),Is(Floor,Dirty)} -{At(Robot,CoffeeTable),Is(Floor,Clean)} -{At(Robot,CoffeeTable),Is(Table1,Dirty)} -{At(Robot,CoffeeTable),Is(Table1,Clean)} -{At(Robot,Bar2),Is(AC,Off)} -{At(Robot,Bar2),Is(AC,On)} -{At(Robot,Bar2),Is(ACTemperature,Up)} -{At(Robot,Bar2),Is(ACTemperature,Down)} -{At(Robot,Bar2),Is(HallLight,Off)} -{At(Robot,Bar2),Is(HallLight,On)} -{At(Robot,Bar2),Is(TubeLight,Off)} -{At(Robot,Bar2),Is(TubeLight,On)} -{At(Robot,Bar2),Is(Curtain,Off)} -{At(Robot,Bar2),Is(Curtain,On)} -{At(Robot,Bar2),Is(Chairs,Dirty)} -{At(Robot,Bar2),Is(Chairs,Clean)} -{At(Robot,Bar2),Is(Floor,Dirty)} -{At(Robot,Bar2),Is(Floor,Clean)} -{At(Robot,Bar2),Is(Table1,Dirty)} -{At(Robot,Bar2),Is(Table1,Clean)} -{At(Robot,Table1),Is(AC,Off)} -{At(Robot,Table1),Is(AC,On)} -{At(Robot,Table1),Is(ACTemperature,Up)} -{At(Robot,Table1),Is(ACTemperature,Down)} -{At(Robot,Table1),Is(HallLight,Off)} -{At(Robot,Table1),Is(HallLight,On)} -{At(Robot,Table1),Is(TubeLight,Off)} -{At(Robot,Table1),Is(TubeLight,On)} -{At(Robot,Table1),Is(Curtain,Off)} -{At(Robot,Table1),Is(Curtain,On)} -{At(Robot,Table1),Is(Chairs,Dirty)} -{At(Robot,Table1),Is(Chairs,Clean)} -{At(Robot,Table1),Is(Floor,Dirty)} -{At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table1,Dirty)} -{At(Robot,Table1),Is(Table1,Clean)} -{At(Robot,Table2),Is(AC,Off)} -{At(Robot,Table2),Is(AC,On)} -{At(Robot,Table2),Is(ACTemperature,Up)} -{At(Robot,Table2),Is(ACTemperature,Down)} -{At(Robot,Table2),Is(HallLight,Off)} -{At(Robot,Table2),Is(HallLight,On)} -{At(Robot,Table2),Is(TubeLight,Off)} -{At(Robot,Table2),Is(TubeLight,On)} -{At(Robot,Table2),Is(Curtain,Off)} -{At(Robot,Table2),Is(Curtain,On)} -{At(Robot,Table2),Is(Chairs,Dirty)} -{At(Robot,Table2),Is(Chairs,Clean)} -{At(Robot,Table2),Is(Floor,Dirty)} -{At(Robot,Table2),Is(Floor,Clean)} -{At(Robot,Table2),Is(Table1,Dirty)} -{At(Robot,Table2),Is(Table1,Clean)} -{At(Robot,Table3),Is(AC,Off)} -{At(Robot,Table3),Is(AC,On)} -{At(Robot,Table3),Is(ACTemperature,Up)} -{At(Robot,Table3),Is(ACTemperature,Down)} -{At(Robot,Table3),Is(HallLight,Off)} -{At(Robot,Table3),Is(HallLight,On)} -{At(Robot,Table3),Is(TubeLight,Off)} -{At(Robot,Table3),Is(TubeLight,On)} -{At(Robot,Table3),Is(Curtain,Off)} -{At(Robot,Table3),Is(Curtain,On)} -{At(Robot,Table3),Is(Chairs,Dirty)} -{At(Robot,Table3),Is(Chairs,Clean)} -{At(Robot,Table3),Is(Floor,Dirty)} -{At(Robot,Table3),Is(Floor,Clean)} -{At(Robot,Table3),Is(Table1,Dirty)} -{At(Robot,Table3),Is(Table1,Clean)} -{At(Robot,Bar),Is(AC,Off)} -{At(Robot,Bar),Is(AC,On)} -{At(Robot,Bar),Is(ACTemperature,Up)} -{At(Robot,Bar),Is(ACTemperature,Down)} -{At(Robot,Bar),Is(HallLight,Off)} -{At(Robot,Bar),Is(HallLight,On)} -{At(Robot,Bar),Is(TubeLight,Off)} -{At(Robot,Bar),Is(TubeLight,On)} -{At(Robot,Bar),Is(Curtain,Off)} -{At(Robot,Bar),Is(Curtain,On)} -{At(Robot,Bar),Is(Chairs,Dirty)} -{At(Robot,Bar),Is(Chairs,Clean)} -{At(Robot,Bar),Is(Floor,Dirty)} -{At(Robot,Bar),Is(Floor,Clean)} -{At(Robot,Bar),Is(Table1,Dirty)} -{At(Robot,Bar),Is(Table1,Clean)} -{At(Robot,WaterTable),Is(AC,Off)} -{At(Robot,WaterTable),Is(AC,On)} -{At(Robot,WaterTable),Is(ACTemperature,Up)} -{At(Robot,WaterTable),Is(ACTemperature,Down)} -{At(Robot,WaterTable),Is(HallLight,Off)} -{At(Robot,WaterTable),Is(HallLight,On)} -{At(Robot,WaterTable),Is(TubeLight,Off)} -{At(Robot,WaterTable),Is(TubeLight,On)} -{At(Robot,WaterTable),Is(Curtain,Off)} -{At(Robot,WaterTable),Is(Curtain,On)} -{At(Robot,WaterTable),Is(Chairs,Dirty)} -{At(Robot,WaterTable),Is(Chairs,Clean)} -{At(Robot,WaterTable),Is(Floor,Dirty)} -{At(Robot,WaterTable),Is(Floor,Clean)} -{At(Robot,WaterTable),Is(Table1,Dirty)} -{At(Robot,WaterTable),Is(Table1,Clean)} -{At(Robot,CoffeeTable),Is(AC,Off)} -{At(Robot,CoffeeTable),Is(AC,On)} -{At(Robot,CoffeeTable),Is(ACTemperature,Up)} -{At(Robot,CoffeeTable),Is(ACTemperature,Down)} -{At(Robot,CoffeeTable),Is(HallLight,Off)} -{At(Robot,CoffeeTable),Is(HallLight,On)} -{At(Robot,CoffeeTable),Is(TubeLight,Off)} -{At(Robot,CoffeeTable),Is(TubeLight,On)} -{At(Robot,CoffeeTable),Is(Curtain,Off)} -{At(Robot,CoffeeTable),Is(Curtain,On)} -{At(Robot,CoffeeTable),Is(Chairs,Dirty)} -{At(Robot,CoffeeTable),Is(Chairs,Clean)} -{At(Robot,CoffeeTable),Is(Floor,Dirty)} -{At(Robot,CoffeeTable),Is(Floor,Clean)} -{At(Robot,CoffeeTable),Is(Table1,Dirty)} -{At(Robot,CoffeeTable),Is(Table1,Clean)} -{At(Robot,Bar2),Is(AC,Off)} -{At(Robot,Bar2),Is(AC,On)} -{At(Robot,Bar2),Is(ACTemperature,Up)} -{At(Robot,Bar2),Is(ACTemperature,Down)} -{At(Robot,Bar2),Is(HallLight,Off)} -{At(Robot,Bar2),Is(HallLight,On)} -{At(Robot,Bar2),Is(TubeLight,Off)} -{At(Robot,Bar2),Is(TubeLight,On)} -{At(Robot,Bar2),Is(Curtain,Off)} -{At(Robot,Bar2),Is(Curtain,On)} -{At(Robot,Bar2),Is(Chairs,Dirty)} -{At(Robot,Bar2),Is(Chairs,Clean)} -{At(Robot,Bar2),Is(Floor,Dirty)} -{At(Robot,Bar2),Is(Floor,Clean)} -{At(Robot,Bar2),Is(Table1,Dirty)} -{At(Robot,Bar2),Is(Table1,Clean)} -{At(Robot,Table1),Is(AC,Off)} -{At(Robot,Table1),Is(AC,On)} -{At(Robot,Table1),Is(ACTemperature,Up)} -{At(Robot,Table1),Is(ACTemperature,Down)} -{At(Robot,Table1),Is(HallLight,Off)} -{At(Robot,Table1),Is(HallLight,On)} -{At(Robot,Table1),Is(TubeLight,Off)} -{At(Robot,Table1),Is(TubeLight,On)} -{At(Robot,Table1),Is(Curtain,Off)} -{At(Robot,Table1),Is(Curtain,On)} -{At(Robot,Table1),Is(Chairs,Dirty)} -{At(Robot,Table1),Is(Chairs,Clean)} -{At(Robot,Table1),Is(Floor,Dirty)} -{At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table1,Dirty)} -{At(Robot,Table1),Is(Table1,Clean)} -{At(Robot,Table2),Is(AC,Off)} -{At(Robot,Table2),Is(AC,On)} -{At(Robot,Table2),Is(ACTemperature,Up)} -{At(Robot,Table2),Is(ACTemperature,Down)} -{At(Robot,Table2),Is(HallLight,Off)} -{At(Robot,Table2),Is(HallLight,On)} -{At(Robot,Table2),Is(TubeLight,Off)} -{At(Robot,Table2),Is(TubeLight,On)} -{At(Robot,Table2),Is(Curtain,Off)} -{At(Robot,Table2),Is(Curtain,On)} -{At(Robot,Table2),Is(Chairs,Dirty)} -{At(Robot,Table2),Is(Chairs,Clean)} -{At(Robot,Table2),Is(Floor,Dirty)} -{At(Robot,Table2),Is(Floor,Clean)} -{At(Robot,Table2),Is(Table1,Dirty)} -{At(Robot,Table2),Is(Table1,Clean)} -{At(Robot,Table3),Is(AC,Off)} -{At(Robot,Table3),Is(AC,On)} -{At(Robot,Table3),Is(ACTemperature,Up)} -{At(Robot,Table3),Is(ACTemperature,Down)} -{At(Robot,Table3),Is(HallLight,Off)} -{At(Robot,Table3),Is(HallLight,On)} -{At(Robot,Table3),Is(TubeLight,Off)} -{At(Robot,Table3),Is(TubeLight,On)} -{At(Robot,Table3),Is(Curtain,Off)} -{At(Robot,Table3),Is(Curtain,On)} -{At(Robot,Table3),Is(Chairs,Dirty)} -{At(Robot,Table3),Is(Chairs,Clean)} -{At(Robot,Table3),Is(Floor,Dirty)} -{At(Robot,Table3),Is(Floor,Clean)} -{At(Robot,Table3),Is(Table1,Dirty)} -{At(Robot,Table3),Is(Table1,Clean)} -{At(Robot,Bar),Is(AC,Off)} -{At(Robot,Bar),Is(AC,On)} -{At(Robot,Bar),Is(ACTemperature,Up)} -{At(Robot,Bar),Is(ACTemperature,Down)} -{At(Robot,Bar),Is(HallLight,Off)} -{At(Robot,Bar),Is(HallLight,On)} -{At(Robot,Bar),Is(TubeLight,Off)} -{At(Robot,Bar),Is(TubeLight,On)} -{At(Robot,Bar),Is(Curtain,Off)} -{At(Robot,Bar),Is(Curtain,On)} -{At(Robot,Bar),Is(Chairs,Dirty)} -{At(Robot,Bar),Is(Chairs,Clean)} -{At(Robot,Bar),Is(Floor,Dirty)} -{At(Robot,Bar),Is(Floor,Clean)} -{At(Robot,Bar),Is(Table1,Dirty)} -{At(Robot,Bar),Is(Table1,Clean)} -{At(Robot,WaterTable),Is(AC,Off)} -{At(Robot,WaterTable),Is(AC,On)} -{At(Robot,WaterTable),Is(ACTemperature,Up)} -{At(Robot,WaterTable),Is(ACTemperature,Down)} -{At(Robot,WaterTable),Is(HallLight,Off)} -{At(Robot,WaterTable),Is(HallLight,On)} -{At(Robot,WaterTable),Is(TubeLight,Off)} -{At(Robot,WaterTable),Is(TubeLight,On)} -{At(Robot,WaterTable),Is(Curtain,Off)} -{At(Robot,WaterTable),Is(Curtain,On)} -{At(Robot,WaterTable),Is(Chairs,Dirty)} -{At(Robot,WaterTable),Is(Chairs,Clean)} -{At(Robot,WaterTable),Is(Floor,Dirty)} -{At(Robot,WaterTable),Is(Floor,Clean)} -{At(Robot,WaterTable),Is(Table1,Dirty)} -{At(Robot,WaterTable),Is(Table1,Clean)} -{At(Robot,CoffeeTable),Is(AC,Off)} -{At(Robot,CoffeeTable),Is(AC,On)} -{At(Robot,CoffeeTable),Is(ACTemperature,Up)} -{At(Robot,CoffeeTable),Is(ACTemperature,Down)} -{At(Robot,CoffeeTable),Is(HallLight,Off)} -{At(Robot,CoffeeTable),Is(HallLight,On)} -{At(Robot,CoffeeTable),Is(TubeLight,Off)} -{At(Robot,CoffeeTable),Is(TubeLight,On)} -{At(Robot,CoffeeTable),Is(Curtain,Off)} -{At(Robot,CoffeeTable),Is(Curtain,On)} -{At(Robot,CoffeeTable),Is(Chairs,Dirty)} -{At(Robot,CoffeeTable),Is(Chairs,Clean)} -{At(Robot,CoffeeTable),Is(Floor,Dirty)} -{At(Robot,CoffeeTable),Is(Floor,Clean)} -{At(Robot,CoffeeTable),Is(Table1,Dirty)} -{At(Robot,CoffeeTable),Is(Table1,Clean)} -{At(Robot,Bar2),Is(AC,Off)} -{At(Robot,Bar2),Is(AC,On)} -{At(Robot,Bar2),Is(ACTemperature,Up)} -{At(Robot,Bar2),Is(ACTemperature,Down)} -{At(Robot,Bar2),Is(HallLight,Off)} -{At(Robot,Bar2),Is(HallLight,On)} -{At(Robot,Bar2),Is(TubeLight,Off)} -{At(Robot,Bar2),Is(TubeLight,On)} -{At(Robot,Bar2),Is(Curtain,Off)} -{At(Robot,Bar2),Is(Curtain,On)} -{At(Robot,Bar2),Is(Chairs,Dirty)} -{At(Robot,Bar2),Is(Chairs,Clean)} -{At(Robot,Bar2),Is(Floor,Dirty)} -{At(Robot,Bar2),Is(Floor,Clean)} -{At(Robot,Bar2),Is(Table1,Dirty)} -{At(Robot,Bar2),Is(Table1,Clean)} -{At(Robot,Table1),Is(AC,Off)} -{At(Robot,Table1),Is(AC,On)} -{At(Robot,Table1),Is(ACTemperature,Up)} -{At(Robot,Table1),Is(ACTemperature,Down)} -{At(Robot,Table1),Is(HallLight,Off)} -{At(Robot,Table1),Is(HallLight,On)} -{At(Robot,Table1),Is(TubeLight,Off)} -{At(Robot,Table1),Is(TubeLight,On)} -{At(Robot,Table1),Is(Curtain,Off)} -{At(Robot,Table1),Is(Curtain,On)} -{At(Robot,Table1),Is(Chairs,Dirty)} -{At(Robot,Table1),Is(Chairs,Clean)} -{At(Robot,Table1),Is(Floor,Dirty)} -{At(Robot,Table1),Is(Floor,Clean)} -{At(Robot,Table1),Is(Table1,Dirty)} -{At(Robot,Table1),Is(Table1,Clean)} -{At(Robot,Table2),Is(AC,Off)} -{At(Robot,Table2),Is(AC,On)} -{At(Robot,Table2),Is(ACTemperature,Up)} -{At(Robot,Table2),Is(ACTemperature,Down)} -{At(Robot,Table2),Is(HallLight,Off)} -{At(Robot,Table2),Is(HallLight,On)} -{At(Robot,Table2),Is(TubeLight,Off)} -{At(Robot,Table2),Is(TubeLight,On)} -{At(Robot,Table2),Is(Curtain,Off)} -{At(Robot,Table2),Is(Curtain,On)} -{At(Robot,Table2),Is(Chairs,Dirty)} -{At(Robot,Table2),Is(Chairs,Clean)} -{At(Robot,Table2),Is(Floor,Dirty)} -{At(Robot,Table2),Is(Floor,Clean)} -{At(Robot,Table2),Is(Table1,Dirty)} -{At(Robot,Table2),Is(Table1,Clean)} -{At(Robot,Table3),Is(AC,Off)} -{At(Robot,Table3),Is(AC,On)} -{At(Robot,Table3),Is(ACTemperature,Up)} -{At(Robot,Table3),Is(ACTemperature,Down)} -{At(Robot,Table3),Is(HallLight,Off)} -{At(Robot,Table3),Is(HallLight,On)} -{At(Robot,Table3),Is(TubeLight,Off)} -{At(Robot,Table3),Is(TubeLight,On)} -{At(Robot,Table3),Is(Curtain,Off)} 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-{On(Dessert,Table1),Is(Floor,Clean)} -{On(Dessert,Table1),Is(Table1,Dirty)} -{On(Dessert,Table1),Is(Table1,Clean)} -{On(Dessert,Table2),Is(AC,Off)} -{On(Dessert,Table2),Is(AC,On)} -{On(Dessert,Table2),Is(ACTemperature,Up)} -{On(Dessert,Table2),Is(ACTemperature,Down)} -{On(Dessert,Table2),Is(HallLight,Off)} -{On(Dessert,Table2),Is(HallLight,On)} -{On(Dessert,Table2),Is(TubeLight,Off)} -{On(Dessert,Table2),Is(TubeLight,On)} -{On(Dessert,Table2),Is(Curtain,Off)} -{On(Dessert,Table2),Is(Curtain,On)} -{On(Dessert,Table2),Is(Chairs,Dirty)} -{On(Dessert,Table2),Is(Chairs,Clean)} -{On(Dessert,Table2),Is(Floor,Dirty)} -{On(Dessert,Table2),Is(Floor,Clean)} -{On(Dessert,Table2),Is(Table1,Dirty)} -{On(Dessert,Table2),Is(Table1,Clean)} -{On(Dessert,Table3),Is(AC,Off)} -{On(Dessert,Table3),Is(AC,On)} -{On(Dessert,Table3),Is(ACTemperature,Up)} -{On(Dessert,Table3),Is(ACTemperature,Down)} -{On(Dessert,Table3),Is(HallLight,Off)} -{On(Dessert,Table3),Is(HallLight,On)} -{On(Dessert,Table3),Is(TubeLight,Off)} -{On(Dessert,Table3),Is(TubeLight,On)} -{On(Dessert,Table3),Is(Curtain,Off)} -{On(Dessert,Table3),Is(Curtain,On)} -{On(Dessert,Table3),Is(Chairs,Dirty)} -{On(Dessert,Table3),Is(Chairs,Clean)} -{On(Dessert,Table3),Is(Floor,Dirty)} -{On(Dessert,Table3),Is(Floor,Clean)} -{On(Dessert,Table3),Is(Table1,Dirty)} -{On(Dessert,Table3),Is(Table1,Clean)} -{On(Coffee,Bar),Is(AC,Off)} -{On(Coffee,Bar),Is(AC,On)} -{On(Coffee,Bar),Is(ACTemperature,Up)} -{On(Coffee,Bar),Is(ACTemperature,Down)} -{On(Coffee,Bar),Is(HallLight,Off)} -{On(Coffee,Bar),Is(HallLight,On)} -{On(Coffee,Bar),Is(TubeLight,Off)} -{On(Coffee,Bar),Is(TubeLight,On)} -{On(Coffee,Bar),Is(Curtain,Off)} -{On(Coffee,Bar),Is(Curtain,On)} -{On(Coffee,Bar),Is(Chairs,Dirty)} -{On(Coffee,Bar),Is(Chairs,Clean)} -{On(Coffee,Bar),Is(Floor,Dirty)} -{On(Coffee,Bar),Is(Floor,Clean)} -{On(Coffee,Bar),Is(Table1,Dirty)} -{On(Coffee,Bar),Is(Table1,Clean)} -{On(Coffee,WaterTable),Is(AC,Off)} -{On(Coffee,WaterTable),Is(AC,On)} -{On(Coffee,WaterTable),Is(ACTemperature,Up)} -{On(Coffee,WaterTable),Is(ACTemperature,Down)} -{On(Coffee,WaterTable),Is(HallLight,Off)} -{On(Coffee,WaterTable),Is(HallLight,On)} -{On(Coffee,WaterTable),Is(TubeLight,Off)} -{On(Coffee,WaterTable),Is(TubeLight,On)} -{On(Coffee,WaterTable),Is(Curtain,Off)} -{On(Coffee,WaterTable),Is(Curtain,On)} -{On(Coffee,WaterTable),Is(Chairs,Dirty)} -{On(Coffee,WaterTable),Is(Chairs,Clean)} -{On(Coffee,WaterTable),Is(Floor,Dirty)} -{On(Coffee,WaterTable),Is(Floor,Clean)} -{On(Coffee,WaterTable),Is(Table1,Dirty)} -{On(Coffee,WaterTable),Is(Table1,Clean)} -{On(Coffee,CoffeeTable),Is(AC,Off)} -{On(Coffee,CoffeeTable),Is(AC,On)} -{On(Coffee,CoffeeTable),Is(ACTemperature,Up)} -{On(Coffee,CoffeeTable),Is(ACTemperature,Down)} -{On(Coffee,CoffeeTable),Is(HallLight,Off)} -{On(Coffee,CoffeeTable),Is(HallLight,On)} -{On(Coffee,CoffeeTable),Is(TubeLight,Off)} -{On(Coffee,CoffeeTable),Is(TubeLight,On)} -{On(Coffee,CoffeeTable),Is(Curtain,Off)} -{On(Coffee,CoffeeTable),Is(Curtain,On)} -{On(Coffee,CoffeeTable),Is(Chairs,Dirty)} -{On(Coffee,CoffeeTable),Is(Chairs,Clean)} -{On(Coffee,CoffeeTable),Is(Floor,Dirty)} -{On(Coffee,CoffeeTable),Is(Floor,Clean)} -{On(Coffee,CoffeeTable),Is(Table1,Dirty)} -{On(Coffee,CoffeeTable),Is(Table1,Clean)} -{On(Coffee,Bar2),Is(AC,Off)} -{On(Coffee,Bar2),Is(AC,On)} -{On(Coffee,Bar2),Is(ACTemperature,Up)} -{On(Coffee,Bar2),Is(ACTemperature,Down)} -{On(Coffee,Bar2),Is(HallLight,Off)} -{On(Coffee,Bar2),Is(HallLight,On)} -{On(Coffee,Bar2),Is(TubeLight,Off)} -{On(Coffee,Bar2),Is(TubeLight,On)} -{On(Coffee,Bar2),Is(Curtain,Off)} -{On(Coffee,Bar2),Is(Curtain,On)} -{On(Coffee,Bar2),Is(Chairs,Dirty)} -{On(Coffee,Bar2),Is(Chairs,Clean)} -{On(Coffee,Bar2),Is(Floor,Dirty)} -{On(Coffee,Bar2),Is(Floor,Clean)} -{On(Coffee,Bar2),Is(Table1,Dirty)} -{On(Coffee,Bar2),Is(Table1,Clean)} -{On(Coffee,Table1),Is(AC,Off)} -{On(Coffee,Table1),Is(AC,On)} -{On(Coffee,Table1),Is(ACTemperature,Up)} -{On(Coffee,Table1),Is(ACTemperature,Down)} -{On(Coffee,Table1),Is(HallLight,Off)} -{On(Coffee,Table1),Is(HallLight,On)} -{On(Coffee,Table1),Is(TubeLight,Off)} -{On(Coffee,Table1),Is(TubeLight,On)} -{On(Coffee,Table1),Is(Curtain,Off)} -{On(Coffee,Table1),Is(Curtain,On)} -{On(Coffee,Table1),Is(Chairs,Dirty)} -{On(Coffee,Table1),Is(Chairs,Clean)} -{On(Coffee,Table1),Is(Floor,Dirty)} -{On(Coffee,Table1),Is(Floor,Clean)} -{On(Coffee,Table1),Is(Table1,Dirty)} -{On(Coffee,Table1),Is(Table1,Clean)} -{On(Coffee,Table2),Is(AC,Off)} -{On(Coffee,Table2),Is(AC,On)} -{On(Coffee,Table2),Is(ACTemperature,Up)} -{On(Coffee,Table2),Is(ACTemperature,Down)} -{On(Coffee,Table2),Is(HallLight,Off)} -{On(Coffee,Table2),Is(HallLight,On)} -{On(Coffee,Table2),Is(TubeLight,Off)} -{On(Coffee,Table2),Is(TubeLight,On)} -{On(Coffee,Table2),Is(Curtain,Off)} -{On(Coffee,Table2),Is(Curtain,On)} -{On(Coffee,Table2),Is(Chairs,Dirty)} -{On(Coffee,Table2),Is(Chairs,Clean)} -{On(Coffee,Table2),Is(Floor,Dirty)} -{On(Coffee,Table2),Is(Floor,Clean)} -{On(Coffee,Table2),Is(Table1,Dirty)} -{On(Coffee,Table2),Is(Table1,Clean)} -{On(Coffee,Table3),Is(AC,Off)} -{On(Coffee,Table3),Is(AC,On)} -{On(Coffee,Table3),Is(ACTemperature,Up)} -{On(Coffee,Table3),Is(ACTemperature,Down)} -{On(Coffee,Table3),Is(HallLight,Off)} -{On(Coffee,Table3),Is(HallLight,On)} -{On(Coffee,Table3),Is(TubeLight,Off)} -{On(Coffee,Table3),Is(TubeLight,On)} -{On(Coffee,Table3),Is(Curtain,Off)} -{On(Coffee,Table3),Is(Curtain,On)} -{On(Coffee,Table3),Is(Chairs,Dirty)} -{On(Coffee,Table3),Is(Chairs,Clean)} -{On(Coffee,Table3),Is(Floor,Dirty)} -{On(Coffee,Table3),Is(Floor,Clean)} -{On(Coffee,Table3),Is(Table1,Dirty)} -{On(Coffee,Table3),Is(Table1,Clean)} -{On(Water,Bar),Is(AC,Off)} -{On(Water,Bar),Is(AC,On)} -{On(Water,Bar),Is(ACTemperature,Up)} -{On(Water,Bar),Is(ACTemperature,Down)} -{On(Water,Bar),Is(HallLight,Off)} -{On(Water,Bar),Is(HallLight,On)} -{On(Water,Bar),Is(TubeLight,Off)} -{On(Water,Bar),Is(TubeLight,On)} -{On(Water,Bar),Is(Curtain,Off)} -{On(Water,Bar),Is(Curtain,On)} -{On(Water,Bar),Is(Chairs,Dirty)} -{On(Water,Bar),Is(Chairs,Clean)} -{On(Water,Bar),Is(Floor,Dirty)} -{On(Water,Bar),Is(Floor,Clean)} -{On(Water,Bar),Is(Table1,Dirty)} -{On(Water,Bar),Is(Table1,Clean)} -{On(Water,WaterTable),Is(AC,Off)} -{On(Water,WaterTable),Is(AC,On)} -{On(Water,WaterTable),Is(ACTemperature,Up)} -{On(Water,WaterTable),Is(ACTemperature,Down)} -{On(Water,WaterTable),Is(HallLight,Off)} -{On(Water,WaterTable),Is(HallLight,On)} -{On(Water,WaterTable),Is(TubeLight,Off)} -{On(Water,WaterTable),Is(TubeLight,On)} -{On(Water,WaterTable),Is(Curtain,Off)} -{On(Water,WaterTable),Is(Curtain,On)} -{On(Water,WaterTable),Is(Chairs,Dirty)} -{On(Water,WaterTable),Is(Chairs,Clean)} -{On(Water,WaterTable),Is(Floor,Dirty)} -{On(Water,WaterTable),Is(Floor,Clean)} -{On(Water,WaterTable),Is(Table1,Dirty)} -{On(Water,WaterTable),Is(Table1,Clean)} -{On(Water,CoffeeTable),Is(AC,Off)} -{On(Water,CoffeeTable),Is(AC,On)} -{On(Water,CoffeeTable),Is(ACTemperature,Up)} -{On(Water,CoffeeTable),Is(ACTemperature,Down)} -{On(Water,CoffeeTable),Is(HallLight,Off)} -{On(Water,CoffeeTable),Is(HallLight,On)} -{On(Water,CoffeeTable),Is(TubeLight,Off)} -{On(Water,CoffeeTable),Is(TubeLight,On)} -{On(Water,CoffeeTable),Is(Curtain,Off)} -{On(Water,CoffeeTable),Is(Curtain,On)} -{On(Water,CoffeeTable),Is(Chairs,Dirty)} -{On(Water,CoffeeTable),Is(Chairs,Clean)} -{On(Water,CoffeeTable),Is(Floor,Dirty)} -{On(Water,CoffeeTable),Is(Floor,Clean)} -{On(Water,CoffeeTable),Is(Table1,Dirty)} -{On(Water,CoffeeTable),Is(Table1,Clean)} -{On(Water,Bar2),Is(AC,Off)} -{On(Water,Bar2),Is(AC,On)} -{On(Water,Bar2),Is(ACTemperature,Up)} -{On(Water,Bar2),Is(ACTemperature,Down)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py deleted file mode 100644 index 382f646..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py +++ /dev/null @@ -1,310 +0,0 @@ -# the empty string '' represents robot holds nothing -import os -import re - -Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup'] - -Cookable = ['Coffee', 'Water', 'Dessert'] - -Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3'] - -Entity = ['Robot', 'Customer'] - -Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table1'] - -import random - - -def single_predict_generation(oplist_1, oplist_2, predict_pattern) -> str: - index_1 = random.randint(0, len(oplist_1) - 1) - if oplist_2: - index_2 = random.randint(0, len(oplist_2) - 1) - - match predict_pattern: - case 'at': - return f'At({oplist_1[index_1]}, {oplist_2[index_2]})' - case 'is': - return f'Is({oplist_1[index_1]}, {oplist_2[index_2]})' - case 'hold': - return f'Holding({oplist_1[index_1]})' - case 'on': - return f'On({oplist_1[index_1]}, {oplist_2[index_2]})' - case _: - raise RuntimeError('Incorrect predict pattern!') - - -def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: - count = 0 - res = [] - - match predict_pattern: - case 'at': - pattern = f'At(%s,%s)' - case 'is': - pattern = f'Is(%s,%s)' - case 'hold': - pattern = f'Holding(%s)' - case 'on': - pattern = f'On(%s,%s)' - case _: - raise RuntimeError('Incorrect predict pattern!') - - for str_1 in oplist_1: - if oplist_2: - for str_2 in oplist_2: - count += 1 - res.append(pattern % (str_1, str_2)) - else: - count += 1 - res.append(pattern % str_1) - - return count, res - - -def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): - # res stores lists of sets, while each state represent in set. - res = [] - - # goal states for VLN - for i in range(vln_num): - res.append({single_predict_generation(['Robot'], Place, 'at')}) - - # goal states for VLM - for i in range(int(vlm_num)): - for j in range(int(vlm_num)): - res.append( - { - single_predict_generation(['Robot'], Place, 'at'), - single_predict_generation(Operable, ['0', '1'], 'is') - } - ) - - # goal states for Open-task-1 - for i in range(int(opentask_num)): - for j in range(int(opentask_num)): - res.append( - { - single_predict_generation(['Robot'], Place, 'at'), - single_predict_generation(Object, Place, 'on') - } - ) - - print(res) - print(len(res)) - - return res - - -def enumerate_goal_states(total: int): - res = [] - - point_15 = int(total * .15) - point_10 = int(total * .10) - - # goal states for VLN, .15 - count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') - list_vln = ['{%s}' % i for i in list_vln] - if count_vln < point_15: - list_vln *= point_15 // count_vln - for i in range(0, point_15 - len(list_vln)): - list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at')) - # print(f'VLN 任务的目标状态数：{count_vln}') - res += list_vln - - # goal states for VLM-1, 0.15 - count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') - list_vlm_1 = ['{%s}' % i for i in list_vlm_1] - if count_vlm_1 < point_15: - list_vlm_1 *= point_15 // count_vlm_1 - for i in range(0, point_15 - len(list_vlm_1)): - list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on'))) - res += list_vlm_1 - - # goal states for VLM-2, 0.15 - count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - list_vlm_2 = ['{%s}' % i for i in list_vlm_2] - if count_vlm_2 < point_15: - list_vlm_2 *= point_15 // count_vlm_2 - for i in range(0, point_15 - len(list_vlm_2)): - list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is')) - res += list_vlm_2 - - # goal states for VLM-3, 0.1 - count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], None, 'hold') - list_vlm_3 = ['{%s}' % i for i in list_vlm_3] - if count_vlm_3 < point_10: - list_vlm_3 *= point_10 // count_vlm_3 - for i in range(0, point_10 - len(list_vlm_3)): - list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold')) - res += list_vlm_3 - - # goal states for OT, 0.15 - count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') - list_ot = ['{%s}' % i for i in list_ot] - if count_ot < point_15: - list_ot *= point_15 // count_ot - for i in range(0, point_15 - len(list_ot)): - list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on')) - res += list_ot - - # goal states for compound-1, 0.1 - count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') - count_2, list_2 = enumerate_predict(Object, Place, 'on') - list_tmp = [] - for i in list_1: - for j in list_2: - list_tmp.append('{%s,%s}' % (i, j)) - if len(list_tmp) < point_10: - list_tmp *= point_10 // len(list_tmp) - list_tmp += list_tmp[0:point_10 - len(list_tmp)] - else: - list_tmp = list_tmp[:point_10] - res += list_tmp - - # goal states for compound-2, 0.1 - count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') - count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') - list_tmp = [] - for i in list_1: - for j in list_2: - list_tmp.append('{%s,%s}' % (i, j)) - if len(list_tmp) < point_10: - list_tmp *= point_10 // len(list_tmp) - list_tmp += list_tmp[0:point_10 - len(list_tmp)] - else: - list_tmp = list_tmp[:point_10] - res += list_tmp - - # goal states for compound-3, 0.1 - count_1, list_1 = enumerate_predict(Cookable, Place, 'on') - count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') - list_tmp = [] - for i in list_1: - for j in list_2: - list_tmp.append('{%s,%s}' % (i, j)) - if len(list_tmp) < point_10: - list_tmp *= point_10 // len(list_tmp) - list_tmp += list_tmp[0:point_10 - len(list_tmp)] - else: - list_tmp = list_tmp[:point_10] - res += list_tmp - - # # goal states for VLM-1, 0.15 - # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') - # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') - # - # # goal states for open-task - # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') - # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') - # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') - - with open(os.path.join('./goal_states.txt'), 'w+') as file: - for i in res: - if 'Is' in i and 'ACTemperature' in i: - i = re.sub(',0', ',Up', i) - i = re.sub(',1', ',Down', i) - elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): - i = re.sub(',0', ',Off', i) - i = re.sub(',1', ',On', i) - elif 'Is' in i and ('Chairs' in i or 'Floor' in i or 'Table' in i): - i = re.sub(',0', ',Dirty', i) - i = re.sub(',1', ',Clean', i) - - file.write(i + '\n') - - -def translate_zero_one(i: str) -> str: - if 'ACTemperature' in i: - i = re.sub('On\)', '调高', i) - i = re.sub('Off\)', '调低', i) - elif 'AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i: - i = re.sub('On\)', '关闭', i) - i = re.sub('Off\)', '打开', i) - elif 'Chairs' in i or 'Floor' in i or 'Table' in i: - i = re.sub('On\)', '脏', i) - i = re.sub('Off\)', '打扫干净', i) - - return i - - -def enumerate_goal_states_with_describe() -> str: - with open(os.path.join('./goal_states_with_description.txt'), 'w', encoding='utf-8') as file: - # vln - count, res = enumerate_predict(['Robot'], Place, 'at') - print(count) - for i in range(count): - tmp = '#' + res[i].split(',')[-1][:-1] - file.write(f'{res[i]}\t你能过来一下吗？我在{tmp}这里。\n') - file.write(f'{res[i]}\t麻烦你去一下{tmp}。\n') - file.write(f'{res[i]}\t你能去{tmp}那个位置吗？\n') - - # vlm, on - count, res = enumerate_predict(Object, Place, 'on') - print(count) - for i in range(count): - tmp = res[i].split(',') - obj = '#' + tmp[0][3:] - pla = '#' + tmp[-1][:-1] - file.write(f'{res[i]}\t麻烦你把{obj}放到{pla}那个位置。\n') - file.write(f'{res[i]}\t请你拿一下{obj}到{pla}位置。\n') - file.write(f'{res[i]}\t你好，我在{pla}，请你拿一下{obj}到位置。\n') - - # vlm, is - count, res = enumerate_predict(Operable, ['On', 'Off'], 'is') - print(count) - for i in res: - tmp = i.split(',') - thing, op = '#' + tmp[0][3:], '#' + tmp[-1] - file.write('%s\t%s\n' % (i, translate_zero_one(f'你能把{thing}{op}一下吗？'))) - - # vlm, holding - count, res = enumerate_predict(Object + ['Nothing'], None, 'hold') - print(count) - for i in res: - tmp = '#' + i.split('(')[-1][:-1] - if tmp == 'Nothing': - file.write(f'{i}\t你手里是没有东西的吗？\n') - continue - file.write(f'{i}\t你能把{tmp}抓在手里吗？\n') - file.write(f'{i}\t你能一直拿着{tmp}吗？\n') - - count, res = enumerate_predict(Cookable, Place, 'on') - print(count) - for i in res: - tmp = i.split(',') - thing, pla = '#' + tmp[0][3:], '#' + tmp[-1][:-1] - - file.write(f'{i}\t你能制作{thing}并把它端到{pla}这里来吗？\n') - file.write(f'{i}\t给我来点{thing}，并把它端到{pla}这里来。\n') - return './goal_states_with_description.txt' - - -from copy import deepcopy - - -def mutex(path: str): - with open(os.path.join(path), 'r', encoding='utf-8') as file: - lines = "".join(file.readlines()) - new_line = deepcopy(lines) - - check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#Coffee', '#Water', - '#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', - '#AC', - '#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1'] - repla = ['#另一个吧台', '#茶水桌', '#咖啡桌', '#吧台', '#第一张桌子', '#第二张桌子', '#第三张桌子', '#咖啡', '#水', - '#点心或者甜品', '#盒装冰红茶', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶味的饮料', '#牛奶', '#保温杯', '#空调', - '#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#第一张桌子'] - - for i, j in zip(check, repla): - new_line = re.sub(i, j, new_line) - new_line = re.sub('#', '', new_line) - lines = re.sub('#', '', lines) - - with open(os.path.join(path), 'w', encoding='utf-8') as file: - file.write(new_line) - - -# generate_goal_states(30, 6, 6) -# enumerate_goal_states(5000) -mutex(enumerate_goal_states_with_describe()) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl deleted file mode 100644 index fd2b862..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl +++ /dev/null @@ -1,193 +0,0 @@ -{"title":"你能过来一下吗？我在吧台这里。","text":"At(Robot,Bar)"} -{"title":"麻烦你去一下吧台。","text":"At(Robot,Bar)"} -{"title":"你能去吧台那个位置吗？","text":"At(Robot,Bar)"} -{"title":"你能过来一下吗？我在茶水桌这里。","text":"At(Robot,WaterTable)"} -{"title":"麻烦你去一下茶水桌。","text":"At(Robot,WaterTable)"} -{"title":"你能去茶水桌那个位置吗？","text":"At(Robot,WaterTable)"} -{"title":"你能过来一下吗？我在咖啡桌这里。","text":"At(Robot,CoffeeTable)"} -{"title":"麻烦你去一下咖啡桌。","text":"At(Robot,CoffeeTable)"} -{"title":"你能去咖啡桌那个位置吗？","text":"At(Robot,CoffeeTable)"} -{"title":"你能过来一下吗？我在另一个吧台这里。","text":"At(Robot,Bar2)"} -{"title":"麻烦你去一下另一个吧台。","text":"At(Robot,Bar2)"} -{"title":"你能去另一个吧台那个位置吗？","text":"At(Robot,Bar2)"} -{"title":"你能过来一下吗？我在第一张桌子这里。","text":"At(Robot,Table1)"} -{"title":"麻烦你去一下第一张桌子。","text":"At(Robot,Table1)"} -{"title":"你能去第一张桌子那个位置吗？","text":"At(Robot,Table1)"} -{"title":"你能过来一下吗？我在第二张桌子这里。","text":"At(Robot,Table2)"} -{"title":"麻烦你去一下第二张桌子。","text":"At(Robot,Table2)"} -{"title":"你能去第二张桌子那个位置吗？","text":"At(Robot,Table2)"} -{"title":"你能过来一下吗？我在第三张桌子这里。","text":"At(Robot,Table3)"} -{"title":"麻烦你去一下第三张桌子。","text":"At(Robot,Table3)"} -{"title":"你能去第三张桌子那个位置吗？","text":"At(Robot,Table3)"} -{"title":"麻烦你把盒装冰红茶放到吧台那个位置。","text":"On(Softdrink,Bar)"} -{"title":"请你拿一下盒装冰红茶到吧台位置。","text":"On(Softdrink,Bar)"} -{"title":"麻烦你把盒装冰红茶放到茶水桌那个位置。","text":"On(Softdrink,WaterTable)"} -{"title":"请你拿一下盒装冰红茶到茶水桌位置。","text":"On(Softdrink,WaterTable)"} -{"title":"麻烦你把盒装冰红茶放到咖啡桌那个位置。","text":"On(Softdrink,CoffeeTable)"} -{"title":"请你拿一下盒装冰红茶到咖啡桌位置。","text":"On(Softdrink,CoffeeTable)"} -{"title":"麻烦你把盒装冰红茶放到另一个吧台那个位置。","text":"On(Softdrink,Bar2)"} -{"title":"请你拿一下盒装冰红茶到另一个吧台位置。","text":"On(Softdrink,Bar2)"} -{"title":"麻烦你把盒装冰红茶放到第一张桌子那个位置。","text":"On(Softdrink,Table1)"} -{"title":"请你拿一下盒装冰红茶到第一张桌子位置。","text":"On(Softdrink,Table1)"} -{"title":"麻烦你把盒装冰红茶放到第二张桌子那个位置。","text":"On(Softdrink,Table2)"} -{"title":"请你拿一下盒装冰红茶到第二张桌子位置。","text":"On(Softdrink,Table2)"} -{"title":"麻烦你把盒装冰红茶放到第三张桌子那个位置。","text":"On(Softdrink,Table3)"} -{"title":"请你拿一下盒装冰红茶到第三张桌子位置。","text":"On(Softdrink,Table3)"} -{"title":"麻烦你把瓶装饮料放到吧台那个位置。","text":"On(BottledDrink,Bar)"} -{"title":"请你拿一下瓶装饮料到吧台位置。","text":"On(BottledDrink,Bar)"} -{"title":"麻烦你把瓶装饮料放到茶水桌那个位置。","text":"On(BottledDrink,WaterTable)"} -{"title":"请你拿一下瓶装饮料到茶水桌位置。","text":"On(BottledDrink,WaterTable)"} -{"title":"麻烦你把瓶装饮料放到咖啡桌那个位置。","text":"On(BottledDrink,CoffeeTable)"} -{"title":"请你拿一下瓶装饮料到咖啡桌位置。","text":"On(BottledDrink,CoffeeTable)"} -{"title":"麻烦你把瓶装饮料放到另一个吧台那个位置。","text":"On(BottledDrink,Bar2)"} -{"title":"请你拿一下瓶装饮料到另一个吧台位置。","text":"On(BottledDrink,Bar2)"} -{"title":"麻烦你把瓶装饮料放到第一张桌子那个位置。","text":"On(BottledDrink,Table1)"} -{"title":"请你拿一下瓶装饮料到第一张桌子位置。","text":"On(BottledDrink,Table1)"} -{"title":"麻烦你把瓶装饮料放到第二张桌子那个位置。","text":"On(BottledDrink,Table2)"} -{"title":"请你拿一下瓶装饮料到第二张桌子位置。","text":"On(BottledDrink,Table2)"} -{"title":"麻烦你把瓶装饮料放到第三张桌子那个位置。","text":"On(BottledDrink,Table3)"} -{"title":"请你拿一下瓶装饮料到第三张桌子位置。","text":"On(BottledDrink,Table3)"} -{"title":"麻烦你把酸奶放到吧台那个位置。","text":"On(Yogurt,Bar)"} -{"title":"请你拿一下酸奶到吧台位置。","text":"On(Yogurt,Bar)"} -{"title":"麻烦你把酸奶放到茶水桌那个位置。","text":"On(Yogurt,WaterTable)"} -{"title":"请你拿一下酸奶到茶水桌位置。","text":"On(Yogurt,WaterTable)"} -{"title":"麻烦你把酸奶放到咖啡桌那个位置。","text":"On(Yogurt,CoffeeTable)"} -{"title":"请你拿一下酸奶到咖啡桌位置。","text":"On(Yogurt,CoffeeTable)"} -{"title":"麻烦你把酸奶放到另一个吧台那个位置。","text":"On(Yogurt,Bar2)"} -{"title":"请你拿一下酸奶到另一个吧台位置。","text":"On(Yogurt,Bar2)"} -{"title":"麻烦你把酸奶放到第一张桌子那个位置。","text":"On(Yogurt,Table1)"} -{"title":"请你拿一下酸奶到第一张桌子位置。","text":"On(Yogurt,Table1)"} -{"title":"麻烦你把酸奶放到第二张桌子那个位置。","text":"On(Yogurt,Table2)"} -{"title":"请你拿一下酸奶到第二张桌子位置。","text":"On(Yogurt,Table2)"} -{"title":"麻烦你把酸奶放到第三张桌子那个位置。","text":"On(Yogurt,Table3)"} -{"title":"请你拿一下酸奶到第三张桌子位置。","text":"On(Yogurt,Table3)"} -{"title":"麻烦你把AD钙奶放到吧台那个位置。","text":"On(ADMilk,Bar)"} -{"title":"请你拿一下AD钙奶到吧台位置。","text":"On(ADMilk,Bar)"} -{"title":"麻烦你把AD钙奶放到茶水桌那个位置。","text":"On(ADMilk,WaterTable)"} -{"title":"请你拿一下AD钙奶到茶水桌位置。","text":"On(ADMilk,WaterTable)"} -{"title":"麻烦你把AD钙奶放到咖啡桌那个位置。","text":"On(ADMilk,CoffeeTable)"} -{"title":"请你拿一下AD钙奶到咖啡桌位置。","text":"On(ADMilk,CoffeeTable)"} -{"title":"麻烦你把AD钙奶放到另一个吧台那个位置。","text":"On(ADMilk,Bar2)"} -{"title":"请你拿一下AD钙奶到另一个吧台位置。","text":"On(ADMilk,Bar2)"} -{"title":"麻烦你把AD钙奶放到第一张桌子那个位置。","text":"On(ADMilk,Table1)"} -{"title":"请你拿一下AD钙奶到第一张桌子位置。","text":"On(ADMilk,Table1)"} -{"title":"麻烦你把AD钙奶放到第二张桌子那个位置。","text":"On(ADMilk,Table2)"} -{"title":"请你拿一下AD钙奶到第二张桌子位置。","text":"On(ADMilk,Table2)"} -{"title":"麻烦你把AD钙奶放到第三张桌子那个位置。","text":"On(ADMilk,Table3)"} -{"title":"请你拿一下AD钙奶到第三张桌子位置。","text":"On(ADMilk,Table3)"} -{"title":"麻烦你把牛奶味的饮料放到吧台那个位置。","text":"On(MilkDrink,Bar)"} -{"title":"请你拿一下牛奶味的饮料到吧台位置。","text":"On(MilkDrink,Bar)"} -{"title":"麻烦你把牛奶味的饮料放到茶水桌那个位置。","text":"On(MilkDrink,WaterTable)"} -{"title":"请你拿一下牛奶味的饮料到茶水桌位置。","text":"On(MilkDrink,WaterTable)"} -{"title":"麻烦你把牛奶味的饮料放到咖啡桌那个位置。","text":"On(MilkDrink,CoffeeTable)"} -{"title":"请你拿一下牛奶味的饮料到咖啡桌位置。","text":"On(MilkDrink,CoffeeTable)"} -{"title":"麻烦你把牛奶味的饮料放到另一个吧台那个位置。","text":"On(MilkDrink,Bar2)"} -{"title":"请你拿一下牛奶味的饮料到另一个吧台位置。","text":"On(MilkDrink,Bar2)"} -{"title":"麻烦你把牛奶味的饮料放到第一张桌子那个位置。","text":"On(MilkDrink,Table1)"} -{"title":"请你拿一下牛奶味的饮料到第一张桌子位置。","text":"On(MilkDrink,Table1)"} -{"title":"麻烦你把牛奶味的饮料放到第二张桌子那个位置。","text":"On(MilkDrink,Table2)"} -{"title":"请你拿一下牛奶味的饮料到第二张桌子位置。","text":"On(MilkDrink,Table2)"} -{"title":"麻烦你把牛奶味的饮料放到第三张桌子那个位置。","text":"On(MilkDrink,Table3)"} -{"title":"请你拿一下牛奶味的饮料到第三张桌子位置。","text":"On(MilkDrink,Table3)"} -{"title":"麻烦你把牛奶放到吧台那个位置。","text":"On(Milk,Bar)"} -{"title":"请你拿一下牛奶到吧台位置。","text":"On(Milk,Bar)"} -{"title":"麻烦你把牛奶放到茶水桌那个位置。","text":"On(Milk,WaterTable)"} -{"title":"请你拿一下牛奶到茶水桌位置。","text":"On(Milk,WaterTable)"} -{"title":"麻烦你把牛奶放到咖啡桌那个位置。","text":"On(Milk,CoffeeTable)"} -{"title":"请你拿一下牛奶到咖啡桌位置。","text":"On(Milk,CoffeeTable)"} -{"title":"麻烦你把牛奶放到另一个吧台那个位置。","text":"On(Milk,Bar2)"} -{"title":"请你拿一下牛奶到另一个吧台位置。","text":"On(Milk,Bar2)"} -{"title":"麻烦你把牛奶放到第一张桌子那个位置。","text":"On(Milk,Table1)"} -{"title":"请你拿一下牛奶到第一张桌子位置。","text":"On(Milk,Table1)"} -{"title":"麻烦你把牛奶放到第二张桌子那个位置。","text":"On(Milk,Table2)"} -{"title":"请你拿一下牛奶到第二张桌子位置。","text":"On(Milk,Table2)"} -{"title":"麻烦你把牛奶放到第三张桌子那个位置。","text":"On(Milk,Table3)"} -{"title":"请你拿一下牛奶到第三张桌子位置。","text":"On(Milk,Table3)"} -{"title":"麻烦你把保温杯放到吧台那个位置。","text":"On(VacuumCup,Bar)"} -{"title":"请你拿一下保温杯到吧台位置。","text":"On(VacuumCup,Bar)"} -{"title":"麻烦你把保温杯放到茶水桌那个位置。","text":"On(VacuumCup,WaterTable)"} -{"title":"请你拿一下保温杯到茶水桌位置。","text":"On(VacuumCup,WaterTable)"} -{"title":"麻烦你把保温杯放到咖啡桌那个位置。","text":"On(VacuumCup,CoffeeTable)"} -{"title":"请你拿一下保温杯到咖啡桌位置。","text":"On(VacuumCup,CoffeeTable)"} -{"title":"麻烦你把保温杯放到另一个吧台那个位置。","text":"On(VacuumCup,Bar2)"} -{"title":"请你拿一下保温杯到另一个吧台位置。","text":"On(VacuumCup,Bar2)"} -{"title":"麻烦你把保温杯放到第一张桌子那个位置。","text":"On(VacuumCup,Table1)"} -{"title":"请你拿一下保温杯到第一张桌子位置。","text":"On(VacuumCup,Table1)"} -{"title":"麻烦你把保温杯放到第二张桌子那个位置。","text":"On(VacuumCup,Table2)"} -{"title":"请你拿一下保温杯到第二张桌子位置。","text":"On(VacuumCup,Table2)"} -{"title":"麻烦你把保温杯放到第三张桌子那个位置。","text":"On(VacuumCup,Table3)"} -{"title":"请你拿一下保温杯到第三张桌子位置。","text":"On(VacuumCup,Table3)"} -{"title":"你能把空调关闭一下吗？","text":"Is(AC,On)"} -{"title":"你能把空调打开一下吗？","text":"Is(AC,Off)"} -{"title":"你能把空调Temperature调高一下吗？","text":"Is(ACTemperature,On)"} -{"title":"你能把空调Temperature调低一下吗？","text":"Is(ACTemperature,Off)"} -{"title":"你能把大厅灯关闭一下吗？","text":"Is(HallLight,On)"} -{"title":"你能把大厅灯打开一下吗？","text":"Is(HallLight,Off)"} -{"title":"你能把筒灯关闭一下吗？","text":"Is(TubeLight,On)"} -{"title":"你能把筒灯打开一下吗？","text":"Is(TubeLight,Off)"} -{"title":"你能把窗帘关闭一下吗？","text":"Is(Curtain,On)"} -{"title":"你能把窗帘打开一下吗？","text":"Is(Curtain,Off)"} -{"title":"你能把椅子脏一下吗？","text":"Is(Chairs,On)"} -{"title":"你能把椅子打扫干净一下吗？","text":"Is(Chairs,Off)"} -{"title":"你能把地板脏一下吗？","text":"Is(Floor,On)"} -{"title":"你能把地板打扫干净一下吗？","text":"Is(Floor,Off)"} -{"title":"你能把第一张桌子脏一下吗？","text":"Is(Table1,On)"} -{"title":"你能把第一张桌子打扫干净一下吗？","text":"Is(Table1,Off)"} -{"title":"你能把盒装冰红茶抓在手里吗？","text":"Holding(Softdrink)"} -{"title":"你能一直拿着盒装冰红茶吗？","text":"Holding(Softdrink)"} -{"title":"你能把瓶装饮料抓在手里吗？","text":"Holding(BottledDrink)"} -{"title":"你能一直拿着瓶装饮料吗？","text":"Holding(BottledDrink)"} -{"title":"你能把酸奶抓在手里吗？","text":"Holding(Yogurt)"} -{"title":"你能一直拿着酸奶吗？","text":"Holding(Yogurt)"} -{"title":"你能把AD钙奶抓在手里吗？","text":"Holding(ADMilk)"} -{"title":"你能一直拿着AD钙奶吗？","text":"Holding(ADMilk)"} -{"title":"你能把牛奶味的饮料抓在手里吗？","text":"Holding(MilkDrink)"} -{"title":"你能一直拿着牛奶味的饮料吗？","text":"Holding(MilkDrink)"} -{"title":"你能把牛奶抓在手里吗？","text":"Holding(Milk)"} -{"title":"你能一直拿着牛奶吗？","text":"Holding(Milk)"} -{"title":"你能把保温杯抓在手里吗？","text":"Holding(VacuumCup)"} -{"title":"你能一直拿着保温杯吗？","text":"Holding(VacuumCup)"} -{"title":"你能把Nothing抓在手里吗？","text":"Holding(Nothing)"} -{"title":"你能一直拿着Nothing吗？","text":"Holding(Nothing)"} -{"title":"你能制作咖啡并把它端到吧台这里来吗？","text":"On(Coffee,Bar)"} -{"title":"给我来点咖啡，并把它端到吧台这里来。","text":"On(Coffee,Bar)"} -{"title":"你能制作咖啡并把它端到茶水桌这里来吗？","text":"On(Coffee,WaterTable)"} -{"title":"给我来点咖啡，并把它端到茶水桌这里来。","text":"On(Coffee,WaterTable)"} -{"title":"你能制作咖啡并把它端到咖啡桌这里来吗？","text":"On(Coffee,CoffeeTable)"} -{"title":"给我来点咖啡，并把它端到咖啡桌这里来。","text":"On(Coffee,CoffeeTable)"} -{"title":"你能制作咖啡并把它端到另一个吧台这里来吗？","text":"On(Coffee,Bar2)"} -{"title":"给我来点咖啡，并把它端到另一个吧台这里来。","text":"On(Coffee,Bar2)"} -{"title":"你能制作咖啡并把它端到第一张桌子这里来吗？","text":"On(Coffee,Table1)"} -{"title":"给我来点咖啡，并把它端到第一张桌子这里来。","text":"On(Coffee,Table1)"} -{"title":"你能制作咖啡并把它端到第二张桌子这里来吗？","text":"On(Coffee,Table2)"} -{"title":"给我来点咖啡，并把它端到第二张桌子这里来。","text":"On(Coffee,Table2)"} -{"title":"你能制作咖啡并把它端到第三张桌子这里来吗？","text":"On(Coffee,Table3)"} -{"title":"给我来点咖啡，并把它端到第三张桌子这里来。","text":"On(Coffee,Table3)"} -{"title":"你能制作水并把它端到吧台这里来吗？","text":"On(Water,Bar)"} -{"title":"给我来点水，并把它端到吧台这里来。","text":"On(Water,Bar)"} -{"title":"你能制作水并把它端到茶水桌这里来吗？","text":"On(Water,WaterTable)"} -{"title":"给我来点水，并把它端到茶水桌这里来。","text":"On(Water,WaterTable)"} -{"title":"你能制作水并把它端到咖啡桌这里来吗？","text":"On(Water,CoffeeTable)"} -{"title":"给我来点水，并把它端到咖啡桌这里来。","text":"On(Water,CoffeeTable)"} -{"title":"你能制作水并把它端到另一个吧台这里来吗？","text":"On(Water,Bar2)"} -{"title":"给我来点水，并把它端到另一个吧台这里来。","text":"On(Water,Bar2)"} -{"title":"你能制作水并把它端到第一张桌子这里来吗？","text":"On(Water,Table1)"} -{"title":"给我来点水，并把它端到第一张桌子这里来。","text":"On(Water,Table1)"} -{"title":"你能制作水并把它端到第二张桌子这里来吗？","text":"On(Water,Table2)"} -{"title":"给我来点水，并把它端到第二张桌子这里来。","text":"On(Water,Table2)"} -{"title":"你能制作水并把它端到第三张桌子这里来吗？","text":"On(Water,Table3)"} -{"title":"给我来点水，并把它端到第三张桌子这里来。","text":"On(Water,Table3)"} -{"title":"你能制作点心或者甜品并把它端到吧台这里来吗？","text":"On(Dessert,Bar)"} -{"title":"给我来点点心或者甜品，并把它端到吧台这里来。","text":"On(Dessert,Bar)"} -{"title":"你能制作点心或者甜品并把它端到茶水桌这里来吗？","text":"On(Dessert,WaterTable)"} -{"title":"给我来点点心或者甜品，并把它端到茶水桌这里来。","text":"On(Dessert,WaterTable)"} -{"title":"你能制作点心或者甜品并把它端到咖啡桌这里来吗？","text":"On(Dessert,CoffeeTable)"} -{"title":"给我来点点心或者甜品，并把它端到咖啡桌这里来。","text":"On(Dessert,CoffeeTable)"} -{"title":"你能制作点心或者甜品并把它端到另一个吧台这里来吗？","text":"On(Dessert,Bar2)"} -{"title":"给我来点点心或者甜品，并把它端到另一个吧台这里来。","text":"On(Dessert,Bar2)"} -{"title":"你能制作点心或者甜品并把它端到第一张桌子这里来吗？","text":"On(Dessert,Table1)"} -{"title":"给我来点点心或者甜品，并把它端到第一张桌子这里来。","text":"On(Dessert,Table1)"} -{"title":"你能制作点心或者甜品并把它端到第二张桌子这里来吗？","text":"On(Dessert,Table2)"} -{"title":"给我来点点心或者甜品，并把它端到第二张桌子这里来。","text":"On(Dessert,Table2)"} -{"title":"你能制作点心或者甜品并把它端到第三张桌子这里来吗？","text":"On(Dessert,Table3)"} -{"title":"给我来点点心或者甜品，并把它端到第三张桌子这里来。","text":"On(Dessert,Table3)"} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt deleted file mode 100644 index fa81cb2..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt +++ /dev/null @@ -1,193 +0,0 @@ -At(Robot,Bar) 你能过来一下吗？我在吧台这里。 -At(Robot,Bar) 麻烦你去一下吧台。 -At(Robot,Bar) 你能去吧台那个位置吗？ -At(Robot,WaterTable) 你能过来一下吗？我在茶水桌这里。 -At(Robot,WaterTable) 麻烦你去一下茶水桌。 -At(Robot,WaterTable) 你能去茶水桌那个位置吗？ -At(Robot,CoffeeTable) 你能过来一下吗？我在咖啡桌这里。 -At(Robot,CoffeeTable) 麻烦你去一下咖啡桌。 -At(Robot,CoffeeTable) 你能去咖啡桌那个位置吗？ -At(Robot,Bar2) 你能过来一下吗？我在另一个吧台这里。 -At(Robot,Bar2) 麻烦你去一下另一个吧台。 -At(Robot,Bar2) 你能去另一个吧台那个位置吗？ -At(Robot,Table1) 你能过来一下吗？我在第一张桌子这里。 -At(Robot,Table1) 麻烦你去一下第一张桌子。 -At(Robot,Table1) 你能去第一张桌子那个位置吗？ -At(Robot,Table2) 你能过来一下吗？我在第二张桌子这里。 -At(Robot,Table2) 麻烦你去一下第二张桌子。 -At(Robot,Table2) 你能去第二张桌子那个位置吗？ -At(Robot,Table3) 你能过来一下吗？我在第三张桌子这里。 -At(Robot,Table3) 麻烦你去一下第三张桌子。 -At(Robot,Table3) 你能去第三张桌子那个位置吗？ -On(Softdrink,Bar) 麻烦你把盒装冰红茶放到吧台那个位置。 -On(Softdrink,Bar) 请你拿一下盒装冰红茶到吧台位置。 -On(Softdrink,WaterTable) 麻烦你把盒装冰红茶放到茶水桌那个位置。 -On(Softdrink,WaterTable) 请你拿一下盒装冰红茶到茶水桌位置。 -On(Softdrink,CoffeeTable) 麻烦你把盒装冰红茶放到咖啡桌那个位置。 -On(Softdrink,CoffeeTable) 请你拿一下盒装冰红茶到咖啡桌位置。 -On(Softdrink,Bar2) 麻烦你把盒装冰红茶放到另一个吧台那个位置。 -On(Softdrink,Bar2) 请你拿一下盒装冰红茶到另一个吧台位置。 -On(Softdrink,Table1) 麻烦你把盒装冰红茶放到第一张桌子那个位置。 -On(Softdrink,Table1) 请你拿一下盒装冰红茶到第一张桌子位置。 -On(Softdrink,Table2) 麻烦你把盒装冰红茶放到第二张桌子那个位置。 -On(Softdrink,Table2) 请你拿一下盒装冰红茶到第二张桌子位置。 -On(Softdrink,Table3) 麻烦你把盒装冰红茶放到第三张桌子那个位置。 -On(Softdrink,Table3) 请你拿一下盒装冰红茶到第三张桌子位置。 -On(BottledDrink,Bar) 麻烦你把瓶装饮料放到吧台那个位置。 -On(BottledDrink,Bar) 请你拿一下瓶装饮料到吧台位置。 -On(BottledDrink,WaterTable) 麻烦你把瓶装饮料放到茶水桌那个位置。 -On(BottledDrink,WaterTable) 请你拿一下瓶装饮料到茶水桌位置。 -On(BottledDrink,CoffeeTable) 麻烦你把瓶装饮料放到咖啡桌那个位置。 -On(BottledDrink,CoffeeTable) 请你拿一下瓶装饮料到咖啡桌位置。 -On(BottledDrink,Bar2) 麻烦你把瓶装饮料放到另一个吧台那个位置。 -On(BottledDrink,Bar2) 请你拿一下瓶装饮料到另一个吧台位置。 -On(BottledDrink,Table1) 麻烦你把瓶装饮料放到第一张桌子那个位置。 -On(BottledDrink,Table1) 请你拿一下瓶装饮料到第一张桌子位置。 -On(BottledDrink,Table2) 麻烦你把瓶装饮料放到第二张桌子那个位置。 -On(BottledDrink,Table2) 请你拿一下瓶装饮料到第二张桌子位置。 -On(BottledDrink,Table3) 麻烦你把瓶装饮料放到第三张桌子那个位置。 -On(BottledDrink,Table3) 请你拿一下瓶装饮料到第三张桌子位置。 -On(Yogurt,Bar) 麻烦你把酸奶放到吧台那个位置。 -On(Yogurt,Bar) 请你拿一下酸奶到吧台位置。 -On(Yogurt,WaterTable) 麻烦你把酸奶放到茶水桌那个位置。 -On(Yogurt,WaterTable) 请你拿一下酸奶到茶水桌位置。 -On(Yogurt,CoffeeTable) 麻烦你把酸奶放到咖啡桌那个位置。 -On(Yogurt,CoffeeTable) 请你拿一下酸奶到咖啡桌位置。 -On(Yogurt,Bar2) 麻烦你把酸奶放到另一个吧台那个位置。 -On(Yogurt,Bar2) 请你拿一下酸奶到另一个吧台位置。 -On(Yogurt,Table1) 麻烦你把酸奶放到第一张桌子那个位置。 -On(Yogurt,Table1) 请你拿一下酸奶到第一张桌子位置。 -On(Yogurt,Table2) 麻烦你把酸奶放到第二张桌子那个位置。 -On(Yogurt,Table2) 请你拿一下酸奶到第二张桌子位置。 -On(Yogurt,Table3) 麻烦你把酸奶放到第三张桌子那个位置。 -On(Yogurt,Table3) 请你拿一下酸奶到第三张桌子位置。 -On(ADMilk,Bar) 麻烦你把AD钙奶放到吧台那个位置。 -On(ADMilk,Bar) 请你拿一下AD钙奶到吧台位置。 -On(ADMilk,WaterTable) 麻烦你把AD钙奶放到茶水桌那个位置。 -On(ADMilk,WaterTable) 请你拿一下AD钙奶到茶水桌位置。 -On(ADMilk,CoffeeTable) 麻烦你把AD钙奶放到咖啡桌那个位置。 -On(ADMilk,CoffeeTable) 请你拿一下AD钙奶到咖啡桌位置。 -On(ADMilk,Bar2) 麻烦你把AD钙奶放到另一个吧台那个位置。 -On(ADMilk,Bar2) 请你拿一下AD钙奶到另一个吧台位置。 -On(ADMilk,Table1) 麻烦你把AD钙奶放到第一张桌子那个位置。 -On(ADMilk,Table1) 请你拿一下AD钙奶到第一张桌子位置。 -On(ADMilk,Table2) 麻烦你把AD钙奶放到第二张桌子那个位置。 -On(ADMilk,Table2) 请你拿一下AD钙奶到第二张桌子位置。 -On(ADMilk,Table3) 麻烦你把AD钙奶放到第三张桌子那个位置。 -On(ADMilk,Table3) 请你拿一下AD钙奶到第三张桌子位置。 -On(MilkDrink,Bar) 麻烦你把牛奶味的饮料放到吧台那个位置。 -On(MilkDrink,Bar) 请你拿一下牛奶味的饮料到吧台位置。 -On(MilkDrink,WaterTable) 麻烦你把牛奶味的饮料放到茶水桌那个位置。 -On(MilkDrink,WaterTable) 请你拿一下牛奶味的饮料到茶水桌位置。 -On(MilkDrink,CoffeeTable) 麻烦你把牛奶味的饮料放到咖啡桌那个位置。 -On(MilkDrink,CoffeeTable) 请你拿一下牛奶味的饮料到咖啡桌位置。 -On(MilkDrink,Bar2) 麻烦你把牛奶味的饮料放到另一个吧台那个位置。 -On(MilkDrink,Bar2) 请你拿一下牛奶味的饮料到另一个吧台位置。 -On(MilkDrink,Table1) 麻烦你把牛奶味的饮料放到第一张桌子那个位置。 -On(MilkDrink,Table1) 请你拿一下牛奶味的饮料到第一张桌子位置。 -On(MilkDrink,Table2) 麻烦你把牛奶味的饮料放到第二张桌子那个位置。 -On(MilkDrink,Table2) 请你拿一下牛奶味的饮料到第二张桌子位置。 -On(MilkDrink,Table3) 麻烦你把牛奶味的饮料放到第三张桌子那个位置。 -On(MilkDrink,Table3) 请你拿一下牛奶味的饮料到第三张桌子位置。 -On(Milk,Bar) 麻烦你把牛奶放到吧台那个位置。 -On(Milk,Bar) 请你拿一下牛奶到吧台位置。 -On(Milk,WaterTable) 麻烦你把牛奶放到茶水桌那个位置。 -On(Milk,WaterTable) 请你拿一下牛奶到茶水桌位置。 -On(Milk,CoffeeTable) 麻烦你把牛奶放到咖啡桌那个位置。 -On(Milk,CoffeeTable) 请你拿一下牛奶到咖啡桌位置。 -On(Milk,Bar2) 麻烦你把牛奶放到另一个吧台那个位置。 -On(Milk,Bar2) 请你拿一下牛奶到另一个吧台位置。 -On(Milk,Table1) 麻烦你把牛奶放到第一张桌子那个位置。 -On(Milk,Table1) 请你拿一下牛奶到第一张桌子位置。 -On(Milk,Table2) 麻烦你把牛奶放到第二张桌子那个位置。 -On(Milk,Table2) 请你拿一下牛奶到第二张桌子位置。 -On(Milk,Table3) 麻烦你把牛奶放到第三张桌子那个位置。 -On(Milk,Table3) 请你拿一下牛奶到第三张桌子位置。 -On(VacuumCup,Bar) 麻烦你把保温杯放到吧台那个位置。 -On(VacuumCup,Bar) 请你拿一下保温杯到吧台位置。 -On(VacuumCup,WaterTable) 麻烦你把保温杯放到茶水桌那个位置。 -On(VacuumCup,WaterTable) 请你拿一下保温杯到茶水桌位置。 -On(VacuumCup,CoffeeTable) 麻烦你把保温杯放到咖啡桌那个位置。 -On(VacuumCup,CoffeeTable) 请你拿一下保温杯到咖啡桌位置。 -On(VacuumCup,Bar2) 麻烦你把保温杯放到另一个吧台那个位置。 -On(VacuumCup,Bar2) 请你拿一下保温杯到另一个吧台位置。 -On(VacuumCup,Table1) 麻烦你把保温杯放到第一张桌子那个位置。 -On(VacuumCup,Table1) 请你拿一下保温杯到第一张桌子位置。 -On(VacuumCup,Table2) 麻烦你把保温杯放到第二张桌子那个位置。 -On(VacuumCup,Table2) 请你拿一下保温杯到第二张桌子位置。 -On(VacuumCup,Table3) 麻烦你把保温杯放到第三张桌子那个位置。 -On(VacuumCup,Table3) 请你拿一下保温杯到第三张桌子位置。 -Is(AC,On) 你能把空调关闭一下吗？ -Is(AC,Off) 你能把空调打开一下吗？ -Is(ACTemperature,On) 你能把空调Temperature调高一下吗？ -Is(ACTemperature,Off) 你能把空调Temperature调低一下吗？ -Is(HallLight,On) 你能把大厅灯关闭一下吗？ -Is(HallLight,Off) 你能把大厅灯打开一下吗？ -Is(TubeLight,On) 你能把筒灯关闭一下吗？ -Is(TubeLight,Off) 你能把筒灯打开一下吗？ -Is(Curtain,On) 你能把窗帘关闭一下吗？ -Is(Curtain,Off) 你能把窗帘打开一下吗？ -Is(Chairs,On) 你能把椅子脏一下吗？ -Is(Chairs,Off) 你能把椅子打扫干净一下吗？ -Is(Floor,On) 你能把地板脏一下吗？ -Is(Floor,Off) 你能把地板打扫干净一下吗？ -Is(Table1,On) 你能把第一张桌子脏一下吗？ -Is(Table1,Off) 你能把第一张桌子打扫干净一下吗？ -Holding(Softdrink) 你能把盒装冰红茶抓在手里吗？ -Holding(Softdrink) 你能一直拿着盒装冰红茶吗？ -Holding(BottledDrink) 你能把瓶装饮料抓在手里吗？ -Holding(BottledDrink) 你能一直拿着瓶装饮料吗？ -Holding(Yogurt) 你能把酸奶抓在手里吗？ -Holding(Yogurt) 你能一直拿着酸奶吗？ -Holding(ADMilk) 你能把AD钙奶抓在手里吗？ -Holding(ADMilk) 你能一直拿着AD钙奶吗？ -Holding(MilkDrink) 你能把牛奶味的饮料抓在手里吗？ -Holding(MilkDrink) 你能一直拿着牛奶味的饮料吗？ -Holding(Milk) 你能把牛奶抓在手里吗？ -Holding(Milk) 你能一直拿着牛奶吗？ -Holding(VacuumCup) 你能把保温杯抓在手里吗？ -Holding(VacuumCup) 你能一直拿着保温杯吗？ -Holding(Nothing) 你能把Nothing抓在手里吗？ -Holding(Nothing) 你能一直拿着Nothing吗？ -On(Coffee,Bar) 你能制作咖啡并把它端到吧台这里来吗？ -On(Coffee,Bar) 给我来点咖啡，并把它端到吧台这里来。 -On(Coffee,WaterTable) 你能制作咖啡并把它端到茶水桌这里来吗？ -On(Coffee,WaterTable) 给我来点咖啡，并把它端到茶水桌这里来。 -On(Coffee,CoffeeTable) 你能制作咖啡并把它端到咖啡桌这里来吗？ -On(Coffee,CoffeeTable) 给我来点咖啡，并把它端到咖啡桌这里来。 -On(Coffee,Bar2) 你能制作咖啡并把它端到另一个吧台这里来吗？ -On(Coffee,Bar2) 给我来点咖啡，并把它端到另一个吧台这里来。 -On(Coffee,Table1) 你能制作咖啡并把它端到第一张桌子这里来吗？ -On(Coffee,Table1) 给我来点咖啡，并把它端到第一张桌子这里来。 -On(Coffee,Table2) 你能制作咖啡并把它端到第二张桌子这里来吗？ -On(Coffee,Table2) 给我来点咖啡，并把它端到第二张桌子这里来。 -On(Coffee,Table3) 你能制作咖啡并把它端到第三张桌子这里来吗？ -On(Coffee,Table3) 给我来点咖啡，并把它端到第三张桌子这里来。 -On(Water,Bar) 你能制作水并把它端到吧台这里来吗？ -On(Water,Bar) 给我来点水，并把它端到吧台这里来。 -On(Water,WaterTable) 你能制作水并把它端到茶水桌这里来吗？ -On(Water,WaterTable) 给我来点水，并把它端到茶水桌这里来。 -On(Water,CoffeeTable) 你能制作水并把它端到咖啡桌这里来吗？ -On(Water,CoffeeTable) 给我来点水，并把它端到咖啡桌这里来。 -On(Water,Bar2) 你能制作水并把它端到另一个吧台这里来吗？ -On(Water,Bar2) 给我来点水，并把它端到另一个吧台这里来。 -On(Water,Table1) 你能制作水并把它端到第一张桌子这里来吗？ -On(Water,Table1) 给我来点水，并把它端到第一张桌子这里来。 -On(Water,Table2) 你能制作水并把它端到第二张桌子这里来吗？ -On(Water,Table2) 给我来点水，并把它端到第二张桌子这里来。 -On(Water,Table3) 你能制作水并把它端到第三张桌子这里来吗？ -On(Water,Table3) 给我来点水，并把它端到第三张桌子这里来。 -On(Dessert,Bar) 你能制作点心或者甜品并把它端到吧台这里来吗？ -On(Dessert,Bar) 给我来点点心或者甜品，并把它端到吧台这里来。 -On(Dessert,WaterTable) 你能制作点心或者甜品并把它端到茶水桌这里来吗？ -On(Dessert,WaterTable) 给我来点点心或者甜品，并把它端到茶水桌这里来。 -On(Dessert,CoffeeTable) 你能制作点心或者甜品并把它端到咖啡桌这里来吗？ -On(Dessert,CoffeeTable) 给我来点点心或者甜品，并把它端到咖啡桌这里来。 -On(Dessert,Bar2) 你能制作点心或者甜品并把它端到另一个吧台这里来吗？ -On(Dessert,Bar2) 给我来点点心或者甜品，并把它端到另一个吧台这里来。 -On(Dessert,Table1) 你能制作点心或者甜品并把它端到第一张桌子这里来吗？ -On(Dessert,Table1) 给我来点点心或者甜品，并把它端到第一张桌子这里来。 -On(Dessert,Table2) 你能制作点心或者甜品并把它端到第二张桌子这里来吗？ -On(Dessert,Table2) 给我来点点心或者甜品，并把它端到第二张桌子这里来。 -On(Dessert,Table3) 你能制作点心或者甜品并把它端到第三张桌子这里来吗？ -On(Dessert,Table3) 给我来点点心或者甜品，并把它端到第三张桌子这里来。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py deleted file mode 100644 index 9b673be..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py +++ /dev/null @@ -1,10 +0,0 @@ -import os - -with open(os.path.join('./goal_states_with_description.txt'), 'r', encoding='utf-8') as file: - lines = file.readlines() - -with open(os.path.join('./goal_states_with_description.jsonl'), 'w', encoding='utf-8') as file: - - for line in lines: - tmp = line[:-1].split('\t') - file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py deleted file mode 100644 index 5cd2be4..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py +++ /dev/null @@ -1,61 +0,0 @@ -import os -import requests -import urllib3 -from tqdm import tqdm - -######################################## -# 该文件实现了与大模型的简单通信 -######################################## - -# 忽略https的安全性警告 -urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning) - - -def single_round(question, prefix=""): - url = "https://45.125.46.134:25344/v1/chat/completions" - headers = {"Content-Type": "application/json"} - data = { - "model": "RoboWaiter", - "messages": [ - { - "role": "system", - # "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" - "content": """ - 假设现在你是咖啡厅的一个顾客，请将以下你对咖啡厅服务员说的话改写成更清晰更合理的顾客表述。注意：句中的你指的是咖啡厅服务员，也不要说能帮我。 - 例如：麻烦你去一下吧台。可以转述成：服务员，你能去下吧台吗？ - 另一个例子：请你拿一下酸奶到吧台位置。可以转述成：服务员，拿一杯酸奶来吧台。 - - """ - }, - { - "role": "user", - "content": prefix + question - } - ] - } - - response = requests.post(url, headers=headers, json=data, verify=False) - - if response.status_code == 200: - result = response.json() - return result['choices'][0]['message']['content'].strip() - else: - return "大模型请求失败:", response.status_code - - -if __name__ == '__main__': - with open('./goal_states_with_description.txt', 'r', encoding='utf-8') as file: - lines = file.readlines() - - output_file = './expansion_out/output2.txt' - with open(output_file, 'a', encoding='utf-8') as file: - file.truncate(0) - for line in tqdm(lines): - tmp = line[:-1].split('\t') - # file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) - question = tmp[1] - # print(single_round(question)) - # print(tmp[1]) - with open(output_file, 'a', encoding='utf-8') as file: - file.write(tmp[0] + "\t" + single_round(question, prefix="现在改写一下句子：") + '\n') - print("输出完成") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model deleted file mode 100644 index 8a38237..0000000 Binary files a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model and /dev/null differ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output.txt deleted file mode 100644 index 929c465..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output.txt +++ /dev/null @@ -1,386 +0,0 @@ -At(Robot,Bar) 请给我带来菜单。 -At(Robot,Bar) 请帮我前往吧台。 -At(Robot,Bar) 您好，我需要去吧台那个位置，请问可以帮我吗？ -At(Robot,WaterTable) 请送一些茶水到茶水桌。 -At(Robot,WaterTable) 请帮我前往茶水桌。 -At(Robot,WaterTable) 您好，请问您需要我前往哪个位置呢？ -At(Robot,CoffeeTable) 请问能帮我来到这个咖啡桌吗？ -At(Robot,CoffeeTable) 请前往咖啡桌。 -At(Robot,CoffeeTable) 您好！请问您能帮我前往咖啡桌的位置吗？ -At(Robot,Bar2) 您好，请问您需要前往哪个吧台呢？ -At(Robot,Bar2) 请帮我前往另一个吧台。 -At(Robot,Bar2) 您好，机器人服务员！请问您能告诉我如何前往另一个吧台的位置吗？ -At(Robot,Table1) 请给我送一份菜单到第一桌。 -At(Robot,Table1) 请帮我前往第一桌，谢谢！ -At(Robot,Table1) 您好，我是一名AI助手，请问有什么我可以帮您的？ -At(Robot,Table2) 请帮我来到第二张桌子。 -At(Robot,Table2) 请帮我前往第二桌，谢谢！ -At(Robot,Table2) 您好，机器人服务员！请问您能否前往第二桌的位置提供服务？ -At(Robot,Table3) 请给我带来第三桌子的服务。 -At(Robot,Table3) 请前往第三张桌子。 -At(Robot,Table3) 您好，请问您需要我前往第三张桌子所在的方位吗？ -On(Softdrink,Bar) 请将软饮料放在吧台那个位置。 -On(Softdrink,Bar) 请将软饮料拿到吧台位置。 -On(Softdrink,WaterTable) 请将软饮料放在茶水桌那个位置。 -On(Softdrink,WaterTable) 请给我拿一罐软饮料，放在茶水桌的位置。 -On(Softdrink,CoffeeTable) 请将软饮料放在咖啡桌上的指定位置。 -On(Softdrink,CoffeeTable) 请把软饮料拿到我的咖啡桌位置。 -On(Softdrink,Bar2) 请将软饮料放在另一个酒吧台的位置。 -On(Softdrink,Bar2) 请将软饮料拿到另一个酒吧台位置。 -On(Softdrink,Table1) 请将软饮料放在第一桌的指定位置。 -On(Softdrink,Table1) 请给我拿一罐软饮料,放在第一桌子的位置。 -On(Softdrink,Table2) 请将软饮料放在第二桌的位置。 -On(Softdrink,Table2) 请帮我从一个位置(可能是吧台或货架)取来一瓶软饮料,然后将其放在第二张桌子上。 -On(Softdrink,Table3) 请将软饮料放在第三桌的具体位置。 -On(Softdrink,Table3) 请给我拿一罐软饮料，放 到第三张桌子的位置。 -On(BottledDrink,Bar) 您好，我想让您将瓶装饮料放在吧台那个位置。 -On(BottledDrink,Bar) 请帮我取一下瓶装饮料，放到吧台那里。 -On(BottledDrink,WaterTable) 您好,机器人服务员,我想让您放一瓶饮料在茶水桌上,可以吗? -On(BottledDrink,WaterTable) 请帮我拿一下瓶装饮料，放到茶水桌的位置。 -On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌上的指定位置。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料拿到我的咖啡桌位置。 -On(BottledDrink,Bar2) 请将瓶装饮料放在另一个酒吧台的位置。 -On(BottledDrink,Bar2) 请帮我从一个吧台位置取一个瓶装饮料,然后将其拿到另一个吧台位置。 -On(BottledDrink,Table1) 请将瓶装饮料放在第一桌的指定位置。 -On(BottledDrink,Table1) 您好，我需要您帮忙将瓶装饮料拿到第一桌的位置。 -On(BottledDrink,Table2) 您好，我需要您帮助将瓶装饮料放在第二桌的具体位置。 -On(BottledDrink,Table2) 请给我拿一罐饮料,放在第二桌的位置。 -On(BottledDrink,Table3) 请将瓶装饮料放在第三桌的位置。 -On(BottledDrink,Table3) 请给我取一瓶饮料，放到了第三桌子上。 -On(Yogurt,Bar) 您好，我需要您将酸奶放在吧台上的哪个位置。 -On(Yogurt,Bar) 请您把酸奶拿到吧台。 -On(Yogurt,WaterTable) 请将酸奶放在茶水桌那个位置。 -On(Yogurt,WaterTable) 请将酸奶放在茶水桌的位置。 -On(Yogurt,CoffeeTable) 请将酸奶放在咖啡桌上的指定位置。 -On(Yogurt,CoffeeTable) 请把酸奶放在咖啡桌的位置。 -On(Yogurt,Bar2) 请将酸奶放在另一个吧台上的那个位置。 -On(Yogurt,Bar2) 您好，机器人服务员！请问您可以帮我拿一下酸奶，放到那个靠近窗户的吧台位置吗？谢谢！ -On(Yogurt,Table1) 请将酸奶放在第一桌的第一位置。 -On(Yogurt,Table1) 请将酸奶放在第一桌的位置。 -On(Yogurt,Table2) 您好，请问能帮我将酸奶放在第二张桌子的位置吗？谢谢！ -On(Yogurt,Table2) 请把酸奶放在第二桌的位置。 -On(Yogurt,Table3) 您好,机器人服务员,我想让您把酸奶放到第三张桌子的位置。谢谢! -On(Yogurt,Table3) 请把酸奶放在第三桌的位置。 -On(ADMilk,Bar) 请将AD钙奶放在吧台那个位置。 -On(ADMilk,Bar) 请把AD钙奶放到 bar 位置。 -On(ADMilk,WaterTable) 请将AD钙奶放在茶水桌那个位置。 -On(ADMilk,WaterTable) 请帮我取一份AD钙奶，放在茶水桌的位置上。 -On(ADMilk,CoffeeTable) 请将AD钙奶放在咖啡桌上的指定位置。 -On(ADMilk,CoffeeTable) 请将AD钙奶送到我的咖啡桌位置。 -On(ADMilk,Bar2) 请将AD钙奶放在另一个酒吧台的位置。 -On(ADMilk,Bar2) 您好，机器人服务员！请问能帮我拿一下AD钙奶，放到另一个吧台位置吗？谢谢！ -On(ADMilk,Table1) 请将AD钙奶放在第一桌的指定位置。 -On(ADMilk,Table1) 请把AD钙奶放在第一桌的位置。 -On(ADMilk,Table2) 请将AD钙奶放在第二桌的位置。 -On(ADMilk,Table2) 请把AD钙奶放在第二桌的位置。 -On(ADMilk,Table3) 您好,机器人服务员!请问能帮我将AD钙奶放到第三张桌子的位置吗?谢谢! -On(ADMilk,Table3) 请帮我取一份AD钙奶，放至第三桌。 -On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 -On(MilkDrink,Bar) 请帮我拿一罐牛奶饮料放到吧台的位置。 -On(MilkDrink,WaterTable) 请将牛奶饮料放在茶水桌那个位置。 -On(MilkDrink,WaterTable) 请帮我递一下牛奶饮料，放到茶水桌的位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌上的指定位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在我的咖啡桌上。 -On(MilkDrink,Bar2) 请将牛奶饮料放在另一个酒吧台的位置。 -On(MilkDrink,Bar2) 您好，机器人服务员！请问能否帮我拿一下牛奶饮料，并将其放在另一个吧台位置？谢谢！ -On(MilkDrink,Table1) 请将牛奶饮料放在第一桌的指定位置。 -On(MilkDrink,Table1) 请将牛奶饮料拿到第一桌。 -On(MilkDrink,Table2) 请将牛奶饮料放在第二桌的位置上。 -On(MilkDrink,Table2) 请给我拿一罐牛奶饮料,放在第二桌的位置。 -On(MilkDrink,Table3) 请将牛奶饮料放在第三桌的具体位置。 -On(MilkDrink,Table3) 请给我拿一罐牛奶饮料，放到第三张桌子的位置。 -On(Milk,Bar) 请将牛奶放在吧台那个地方。 -On(Milk,Bar) 请把牛奶拿到吧台。 -On(Milk,WaterTable) 请将牛奶放在茶水桌那个位置。 -On(Milk,WaterTable) 请将牛奶放在茶水桌附近。 -On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 -On(Milk,CoffeeTable) 请把牛奶放在我的咖啡桌上。 -On(Milk,Bar2) 请将牛奶放在另一个酒吧台的位置上。 -On(Milk,Bar2) 请将牛奶拿到另一个吧台位置。 -On(Milk,Table1) 请将牛奶放在第一桌的位置上。 -On(Milk,Table1) 请把牛奶放在第一桌的位置上。 -On(Milk,Table2) 请将牛奶放在第二桌那个位置。 -On(Milk,Table2) 请给我拿一罐牛奶，放的第二张桌子上。 -On(Milk,Table3) 您好，我需要您将牛奶放在第三张桌子的位置。谢谢！ -On(Milk,Table3) 请给我拿一罐牛奶，放到第三桌子的位置。 -On(VacuumCup,Bar) 请将我的保温杯放在吧台上的那个位置。 -On(VacuumCup,Bar) 请将我的保温杯拿到吧台。 -On(VacuumCup,WaterTable) 请将我的保温杯放在茶水桌那个地方。 -On(VacuumCup,WaterTable) 请将保温杯拿到茶水桌那里。 -On(VacuumCup,CoffeeTable) 请将保温杯放置在咖啡桌上的指定位置。 -On(VacuumCup,CoffeeTable) 请把保温杯放在咖啡桌附近。 -On(VacuumCup,Bar2) 请将我的保温杯放在另一个酒吧台上的那个位置。 -On(VacuumCup,Bar2) 请帮我把保温杯拿到另一个吧台位置。 -On(VacuumCup,Table1) 请将保温杯放在第一桌的指定位置。 -On(VacuumCup,Table1) 请把保温杯拿到第一桌子的位置。 -On(VacuumCup,Table2) 请将保温杯放在第二桌的具体位置。 -On(VacuumCup,Table2) 请帮我递一个保温杯到第二桌。 -On(VacuumCup,Table3) 请将保温杯放在第三桌的指定位置。 -On(VacuumCup,Table3) 请把保温杯拿到第三桌的位置。 -Is(AC,0) 当然可以，请问需要我为您执行这个操作吗？ -Is(AC,1) 您好！请问您需要我为您打开空调吗？ -Is(ACTemperature,0) 尊敬的服务员，可以请您把空调温度调高一些吗？谢谢！ -Is(ACTemperature,1) 尊敬的服务员，能否请您将空调温度调低一些呢？ -Is(HallLight,0) 当然可以，请您稍等，我这就帮您关闭大厅灯。 -Is(HallLight,1) 您好！请问您需要我为您做些什么呢？ -Is(TubeLight,0) 尊敬的服务员，请问你能把筒灯调暗一些吗？ -Is(TubeLight,1) 您好，请问您需要我帮您打开筒灯吗？ -Is(Curtain,0) 您好，我能为您做什么？ -Is(Curtain,1) 您好，请问您需要我帮您打开窗帘吗？ -Is(Chairs,0) 您好！请问需要我为您做什么？ -Is(Chairs,1) 您好，请问能帮我清理一下座位上的灰尘吗？ -Is(Floor,0) 抱歉,我理解您的意思了。请问需要我帮忙做些什么来清理地板呢? -Is(Floor,1) 请问你能帮我打扫一下地板吗？ -Is(Table1,0) 您好，请问需要我帮助您做什么呢？如果您需要我清理桌子的灰尘或者污渍，麻烦您告诉我哪一张桌子需要清洁。 -Is(Table1,1) 请帮我清理一下这张桌子的灰尘和垃圾。 -Holding(Softdrink) 您好，我是您的机器人服务员。请问您需要什么帮助呢？ -Holding(Softdrink) 您好,我是一个机器人服务员。请问您需要什么帮助?如果您想要点软饮料,您可以告诉我您的喜好,我会为您推荐一些适合的选项。 -Holding(BottledDrink) 您好，请问您需要什么帮助？我会尽力满足您的需求。 -Holding(BottledDrink) 您好,我是一名机器人服务员。请问您需要我帮忙拿着一瓶装饮料吗? -Holding(Yogurt) 您好，我可以帮助您点餐和回答问题。请问您需要什么食物或饮料？ -Holding(Yogurt) 请问你能一直帮我拿着这个酸奶吗？ -Holding(ADMilk) 你好，尊敬的服务员！能否帮我抓住AD钙奶并递给我呢？ -Holding(ADMilk) 您好,我无法长时间拿着 AD 钙奶。作为一个机器人服务员,我的任务是帮助您解决问题和回答问题,而不是提供物理服务。如果您需要AD钙奶,我可以告诉您在哪里可以找到它,或者指导您如何自己获取它。 -Holding(MilkDrink) 您好！请问有什么我可以帮您的吗？ -Holding(MilkDrink) 您好，我是您的机器人服务员。请问您需要我为您一直拿着这杯牛奶饮料吗？ -Holding(Milk) 你好，尊敬的服务员，能帮我拿一下牛奶吗？ -Holding(Milk) 请问你能一直拿着牛奶吗？ -Holding(VacuumCup) 您好，请问您需要什么帮助？我可以为您提供服务。 -Holding(VacuumCup) 您好，我是一名AI机器人，无法直接为您拿保温杯。但是，我可以为您提供购买保温杯的建议，或者推荐其他相关商品。请问您需要什么帮助吗？ -Holding(Nothing) 抱歉,我需要更多的信息来理解您的请求。请问您能告诉我您具体想要什么帮助吗?我会尽力回答您的问题。 -Holding(Nothing) 请问您能一直拿着无所事事吗？ -On(Coffee,Bar) 您好，我需要一杯咖啡，并希望它能够被送到吧台。 -On(Coffee,Bar) 请帮我准备一杯咖啡,然后把咖啡端到吧台这里。 -On(Coffee,WaterTable) 您好！请问您能帮我制作一杯咖啡并将其端到茶水桌 here 吗？谢谢！ -On(Coffee,WaterTable) 请帮我准备一杯咖啡,然后将它端到茶水桌旁边。 -On(Coffee,CoffeeTable) 当然可以，请问您想喝什么类型的咖啡呢？ -On(Coffee,CoffeeTable) 请帮我准备一杯咖啡,然后将它端到这个咖啡桌上来。 -On(Coffee,Bar2) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后把咖啡端到这个吧台这里来吗？谢谢！ -On(Coffee,Bar2) 请帮我准备一杯咖啡,然后把咖啡端到这个吧台这里。 -On(Coffee,Table1) 您好，我是一名人工智能助手。请问您需要什么帮助？ -On(Coffee,Table1) 请给我一杯咖啡,并将其放在第一桌子上。 -On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并且希望它能够被送到第二张桌子上。 -On(Coffee,Table2) 请为我准备一杯咖啡,并将其送到第二桌。 -On(Coffee,Table3) 您好！请问您能否帮我制作一杯咖啡，然后把咖啡端到第三张桌子上呢？谢谢！ -On(Coffee,Table3) 请为我准备一杯咖啡,并将其送到第三张桌子上。 -On(Water,Bar) 您好，我需要一杯水，并且希望它能够被端到吧台那里。 -On(Water,Bar) 请为我准备一杯水,并将其送到吧台。 -On(Water,WaterTable) 您好，我需要一杯水，并希望您能将其端到茶水桌这里。 -On(Water,WaterTable) 请为我送一杯水,并将其放在茶水桌上。 -On(Water,CoffeeTable) 您好，我是一名机器人服务员。请问您需要一杯水，我可以为您制作并在准备好后将其端到咖啡桌旁边。 -On(Water,CoffeeTable) 请给我一杯水,并将其递送到我的咖啡桌上。 -On(Water,Bar2) 您好，机器人服务员！请问你能帮我制作一杯水，然后将其端到距离这里较远的另一个吧台吗？谢谢！ -On(Water,Bar2) 请给我倒一杯水,然后把水端到这个吧台这里。 -On(Water,Table1) 您好，我需要一杯水，并希望它能够被送到我所在的桌子上。 -On(Water,Table1) 请为我准备一杯水,并将其送到这张桌子的位置上。 -On(Water,Table2) 您好，我需要一杯水，并希望你能将它端到第二张桌子上。 -On(Water,Table2) 请给我倒一杯水,并把水杯端到第二桌子上。 -On(Water,Table3) 您好，机器人服务员！请问能否为您制作一杯水，并将其送到第三张桌子呢？ -On(Water,Table3) 请为我准备一杯水,并将其送到第三桌。 -On(Dessert,Bar) 您好，我需要点心和甜品。请帮我制作一下，然后把它们带到吧台来。 -On(Dessert,Bar) 您好，我可以帮您点一些点心或甜品，然后将它们送到吧台。请问您想点什么？ -On(Dessert,WaterTable) 您好，我需要点心和甜品，并将它们端到茶水桌 here。 -On(Dessert,WaterTable) 请为我准备一些点心或甜品,并将其递送到我的茶水桌子上。 -On(Dessert,CoffeeTable) 您好，我是一个人工智能助手，虽然我不能直接为您制作点心或甜品，但我可以帮助您找到附近的餐厅或店铺，为您推荐美味的点心或甜品，您可以品尝一下。如果您有其他需要帮助的地方，也请随时告诉我。 -On(Dessert,CoffeeTable) 请为我准备一些点心或甜品，然后将其放置在咖啡桌附近。 -On(Dessert,Bar2) 您好，我需要点心和甜品。请问您能帮我制作吗？然后把它们端到这里来。谢谢！ -On(Dessert,Bar2) 请帮我点一份点心或甜品,然后把它端到另一个吧台那里。 -On(Dessert,Table1) 您好，我是一位AI助手，无法直接为您制作点心或甜品。但我可以为您推荐菜单上的点心或甜品，或者帮您下单购买。请问您需要什么帮助？ -On(Dessert,Table1) 请帮我点一些点心或甜品，并把它们放在这张桌子上。 -On(Dessert,Table2) 您好，机器人服务员！我需要点心和甜品，可以帮我制作吗？把它们送到第二桌来，谢谢！ -On(Dessert,Table2) 您好，请问有什么我可以帮您的吗？您可以点一些点心或甜品，然后告诉我放在哪一张桌子上，我会马上为您送过去。 -On(Dessert,Table3) 您好，我需要点心和甜品，请把它们送到第三桌。 -On(Dessert,Table3) 您好,机器人服务员!请问您能帮我点些点心或甜品吗?我要把它们送到第三桌。 -At(Robot,Bar) 您好，机器人服务员！请问您能带路来到 Bar 吗？我想要一杯饮料和一些小吃。谢谢！ -At(Robot,Bar) 请帮我前往Bar。 -At(Robot,Bar) 请问你能带我前往Bar位置吗？ -At(Robot,WaterTable) 请帮我找到WaterTable。 -At(Robot,WaterTable) 您好，机器人服务员！请问您能帮我订一张去WaterTable的桌子吗？ -At(Robot,WaterTable) 当然可以！请问您需要我向WaterTable位置发送消息吗？ -At(Robot,CoffeeTable) 请把咖啡机移到CoffeeTable附近。 -At(Robot,CoffeeTable) 请前往CoffeeTable。 -At(Robot,CoffeeTable) 您好，我是一名人工智能助手，请问有什么我可以帮您的？ -At(Robot,Bar2) 您好，我需要去Bar2。 -At(Robot,Bar2) 您好，机器人服务员，请问您能帮我前往Bar2吗？ -At(Robot,Bar2) 您好，我是一名AI助手，无法移动到特定的位置。但我会尽力为您提供帮助。您想前往Bar2吗？如果有其他问题，欢迎随时告诉我。 -At(Robot,Table1) 请把菜单送到Table 1。 -At(Robot,Table1) 请前往Table1。 -At(Robot,Table1) 您好，我能前往Table1位置吗？ -At(Robot,Table2) 请带领我到Table 2。 -At(Robot,Table2) 请前往Table2。 -At(Robot,Table2) 您好！请问您需要我前往Table2位置吗？ -At(Robot,Table3) 请把服务生叫来Table 3。 -At(Robot,Table3) 请去Table3。 -At(Robot,Table3) 您好，我需要您前往Table3位置。 -On(Softdrink,Bar) 请将Softdrink放在Bar那个位置。 -On(Softdrink,Bar) 请把Softdrink拿到Bar位置。 -On(Softdrink,WaterTable) 您好，机器人服务员！请问能帮我将Softdrink放在WaterTable的位置上吗？谢谢！ -On(Softdrink,WaterTable) 请把Softdrink拿到WaterTable的位置。 -On(Softdrink,CoffeeTable) 请将Softdrink放在CoffeeTable那个位置。 -On(Softdrink,CoffeeTable) 请将Softdrink拿到CoffeeTable的位置。 -On(Softdrink,Bar2) 您好，机器人服务员！请问能否帮我放一下Softdrink到Bar2的位置呢？谢谢！ -On(Softdrink,Bar2) 请把Softdrink拿到Bar2的位置。 -On(Softdrink,Table1) 请将Softdrink放在Table1的位置。 -On(Softdrink,Table1) 请把Softdrink拿到Table 1的位置。 -On(Softdrink,Table2) 您好，机器人服务员！请将Softdrink放在Table 2的位置。谢谢！ -On(Softdrink,Table2) 请将Softdrink拿到Table 2的位置。 -On(Softdrink,Table3) 您好，机器人服务员！请问能否将Softdrink放在Table3的位置上？ -On(Softdrink,Table3) 请将Softdrink拿到Table 3的位置。 -On(BottledDrink,Bar) 请将瓶装饮料放在酒吧那个位置。 -On(BottledDrink,Bar) 请将瓶装饮料送到酒吧区域。 -On(BottledDrink,WaterTable) 请将瓶装饮料放在水桌那个位置。 -On(BottledDrink,WaterTable) 请把瓶装饮料拿到水桌的位置。 -On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌那个位置。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料放在咖啡桌的位置。 -On(BottledDrink,Bar2) 请将瓶装饮料放在 Bar 2 的位置。 -On(BottledDrink,Bar2) 请把瓶装饮料送到酒吧2号位置。 -On(BottledDrink,Table1) 您好，机器人服务员！请将瓶装饮料放在Table1的位置上。谢谢！ -On(BottledDrink,Table1) 请将瓶装饮料拿到Table 1的位置。 -On(BottledDrink,Table2) 请将Bottled Drink放在Table 2的位置。 -On(BottledDrink,Table2) 请把瓶装饮料送到Table2位置。 -On(BottledDrink,Table3) 请将瓶装饮料放在Table3的位置上。 -On(BottledDrink,Table3) 请把瓶装饮料拿到Table3的位置。 -On(Yogurt,Bar) 您好，请问您需要将酸奶放在哪个位置？ -On(Yogurt,Bar) 请把Yogurt送到Bar位置。 -On(Yogurt,WaterTable) 请将Yogurt放在WaterTable的位置上。 -On(Yogurt,WaterTable) 请把Yogurt送到WaterTable位置。 -On(Yogurt,CoffeeTable) 请将Yogurt放在CoffeeTable那个位置。 -On(Yogurt,CoffeeTable) 请把Yogurt送到CoffeeTable那里。 -On(Yogurt,Bar2) 您好，机器人服务员！请帮我将酸奶（Yogurt）放在 Bar2 的位置上。谢谢！ -On(Yogurt,Bar2) 请将Yogurt送到Bar2位置。 -On(Yogurt,Table1) 您好，机器人服务员！请将酸奶（Yogurt）放到Table1的位置上。谢谢！ -On(Yogurt,Table1) 请将Yogurt拿到Table 1的位置。 -On(Yogurt,Table2) 请将 Yogurt 放在 Table2 的那个位置。 -On(Yogurt,Table2) 请将 Yogurt 拿到 Table 2 的位置。 -On(Yogurt,Table3) 您好，请问可以帮我将Yogurt放在Table3的位置吗？ -On(Yogurt,Table3) 请将Yogurt放在Table 3的位置上。 -On(ADMilk,Bar) 请将AD Milk放在Bar位置。 -On(ADMilk,Bar) 请把ADMilk拿到Bar位置。 -On(ADMilk,WaterTable) 请将AD Milk放在 WaterTable 的那个位置。 -On(ADMilk,WaterTable) 您好，请问能帮我拿一下ADMilk到WaterTable的位置吗？ -On(ADMilk,CoffeeTable) 您好，我需要您将ADMilk放在CoffeeTable那个位置。 -On(ADMilk,CoffeeTable) 请将AD Milk拿到Coffee Table的位置。 -On(ADMilk,Bar2) 请将AD Milk放置在Bar 2的位置。 -On(ADMilk,Bar2) 请把ADMilk拿到Bar2位置。 -On(ADMilk,Table1) 请将ADMilk放到Table1的位置。 -On(ADMilk,Table1) 请将ADMilk搬到Table1的位置。 -On(ADMilk,Table2) 请将ADMilk放在Table2的位置。 -On(ADMilk,Table2) 请把ADMilk搬到Table2的位置。 -On(ADMilk,Table3) 请将ADMilk放在Table3的位置。 -On(ADMilk,Table3) 您好，服务员！能帮我拿一下ADMilk到Table3位置吗？ -On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 -On(MilkDrink,Bar) 请把牛奶饮料拿到酒吧位置。 -On(MilkDrink,WaterTable) 请将牛奶饮料放在水桌那个位置。 -On(MilkDrink,WaterTable) 请把牛奶饮料拿到水 table 位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌那个位置。 -On(MilkDrink,CoffeeTable) 请将牛奶饮料递送到咖啡桌位置。 -On(MilkDrink,Bar2) 请将牛奶饮料放在吧台2的位置。 -On(MilkDrink,Bar2) 请把牛奶饮料递送到酒吧2号位置。 -On(MilkDrink,Table1) 请将牛奶饮料放在Table1的位置上。 -On(MilkDrink,Table1) 请把牛奶饮料拿到Table1的位置。 -On(MilkDrink,Table2) 请将牛奶饮料放到桌子2的位置。 -On(MilkDrink,Table2) 请把牛奶饮料送到Table2位置。 -On(MilkDrink,Table3) 请将牛奶饮料放在桌3的位置。 -On(MilkDrink,Table3) 请将牛奶饮料拿到 table 3 的位置。 -On(Milk,Bar) 请将牛奶放在酒吧那个位置。 -On(Milk,Bar) 请把牛奶拿到酒吧位置。 -On(Milk,WaterTable) 请将牛奶放在水 table 的那个位置。 -On(Milk,WaterTable) 请把牛奶拿到 WaterTable 那里。 -On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 -On(Milk,CoffeeTable) 请把牛奶拿到咖啡桌的位置。 -On(Milk,Bar2) 请将牛奶放在 Bar2 的位置。 -On(Milk,Bar2) 请把牛奶放到Bar2的位置。 -On(Milk,Table1) 您好，机器人服务员！请将牛奶放在Table1的位置。 -On(Milk,Table1) 请把牛奶拿到Table1的位置。 -On(Milk,Table2) 请将牛奶放在Table2的位置。 -On(Milk,Table2) 请把牛奶放在Table2的位置上。 -On(Milk,Table3) 请将牛奶放在Table3的位置上。 -On(Milk,Table3) 请把牛奶拿到Table3的位置。 -On(VacuumCup,Bar) 请将VacuumCup放置在Bar位置。 -On(VacuumCup,Bar) 请把VacuumCup放到Bar位置。 -On(VacuumCup,WaterTable) 请将VacuumCup放置在WaterTable上。 -On(VacuumCup,WaterTable) 请把VacuumCup放到WaterTable的位置。 -On(VacuumCup,CoffeeTable) 请将VacuumCup放在CoffeeTable那个地方。 -On(VacuumCup,CoffeeTable) 请把VacuumCup放到CoffeeTable上。 -On(VacuumCup,Bar2) 请将VacuumCup放置在Bar2的位置上。 -On(VacuumCup,Bar2) 请把VacuumCup移到Bar2的位置。 -On(VacuumCup,Table1) 请将VacuumCup放置在Table1的位置上。 -On(VacuumCup,Table1) 请把VacuumCup移到Table1的位置。 -On(VacuumCup,Table2) 请将VacuumCup放到Table2的位置。 -On(VacuumCup,Table2) 请把VacuumCup放到Table2的位置。 -On(VacuumCup,Table3) 请将VacuumCup放置在Table3的位置上。 -On(VacuumCup,Table3) 请将VacuumCup移至Table3位置。 -Is(AC,0) 请问你能帮我关掉AC吗？ -Is(AC,1) 请问你能帮我打开空调吗？ -Is(ACTemperature,0) 尊敬的服务员，请问您能否将温度调高一些呢？ -Is(ACTemperature,1) 请问你能将咖啡厅的温度调低一些吗? -Is(HallLight,0) 当然可以，请问需要我使用哪个开关来关闭HallLight呢？ -Is(HallLight,1) 您好！请问您需要我帮助您开启还是关闭HallLight呢？ -Is(TubeLight,0) 当然可以，请问您需要我使用哪个遥控器来关闭它呢？ -Is(TubeLight,1) 您好，机器人服务员！请问您能帮我打开一下 tube light 吗？谢谢！ -Is(Curtain,0) 请问你能把窗帘关上吗？ -Is(Curtain,1) 请问你能把窗户帘打开一下吗？ -Is(Chairs,0) 您好，请问您需要我帮助清理座位上的污渍吗？ -Is(Chairs,1) 您好，我是您的顾客。我想请问您是否能帮我清理一下座位上的灰尘和垃圾？ -Is(Floor,0) 您好，我能为您做些什么呢？如果您需要我帮忙打扫地板，请告诉我哪里需要清理，我会尽快为您处理。 -Is(Floor,1) 您好，我需要您帮助打扫一下地板。 -Is(Table1,0) 您好！请问您需要我为您做什么呢？如果您需要我清理Table1，请您告诉我需要使用什么清洁用品，我会按照您的指示进行操作。 -Is(Table1,1) 您好，请问需要我帮您打扫Table1吗？ -Holding(Softdrink) 您好，我是一款人工智能助手，无法直接与现实世界进行交互。但我可以为您提供有关如何抓饮料的信息。您可以尝试用手指将Softdrink抓在手中。如果您需要更多帮助，请随时告诉我。 -Holding(Softdrink) 您好，我是您的机器人服务员。我能帮您拿住Softdrink吗？ -Holding(BottledDrink) 我能帮我拿起那瓶饮料吗？ -Holding(BottledDrink) 您好！请问您需要我帮您一直拿着这瓶饮料吗？ -Holding(Yogurt) 请问你能帮我拿一下 yogurt 吗？ -Holding(Yogurt) 您好，我可以帮助您更好地理解和使用我们的服务。请问您需要我为您拿取什么商品呢？ -Holding(ADMilk) 你能帮我拿一下AD Milk吗？ -Holding(ADMilk) 您好,我需要点一杯AD Milk。麻烦您能帮我拿一下吗? -Holding(MilkDrink) 我想要一杯牛奶饮料,能帮我把它端过来吗? -Holding(MilkDrink) 我需要你一直拿着牛奶饮料。 -Holding(Milk) 您好，请问有什么我可以帮助您的？ -Holding(Milk) 您好，我是您的机器人服务员。请问有什么我可以帮助您的吗？ -Holding(VacuumCup) 您好！请问您需要什么帮助？ -Holding(VacuumCup) 您好！请问您需要我帮助您一直拿着VacuumCup吗？ -Holding(Nothing) 你能帮我把"Nothing"拿在手里吗？ -Holding(Nothing) 您好！作为您的机器人服务员，我会尽力满足您的要求。请问您需要我帮忙做什么呢？ -On(Coffee,Bar) 当然可以！请问您想要什么口味的咖啡呢？ -On(Coffee,Bar) 请给我一杯咖啡，并将其送到吧台。 -On(Coffee,WaterTable) 当然可以，请告诉我您想喝的咖啡口味，我会为您制作一杯美味的咖啡，然后将其送到WaterTable桌旁。 -On(Coffee,WaterTable) 请给我一杯咖啡，并将其送到 WaterTable 那里。 -On(Coffee,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作一杯咖啡，并将其端到CoffeeTable上吗？ -On(Coffee,CoffeeTable) 请给我一杯咖啡，并把它送到Coffee Table那里。 -On(Coffee,Bar2) 当然可以，请告诉我您想要什么口味的咖啡，我会为您制作并在准备好后把咖啡端到Bar 2。 -On(Coffee,Bar2) 请给我一杯咖啡，并将其送到Bar2。 -On(Coffee,Table1) 当然可以！请问您需要什么口味的咖啡呢？ -On(Coffee,Table1) 请给我一杯咖啡，并将其送到Table1。 -On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并希望它能够被送到 Table 2。 -On(Coffee,Table2) 请为我准备一杯咖啡，并将其送到Table 2。 -On(Coffee,Table3) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后将其端到Table 3吗？谢谢！ -On(Coffee,Table3) 请为我准备一杯咖啡，并将其送到Table 3。 -On(Water,Bar) 您好，我需要一杯水，请能帮我制作并送到酒吧处谢谢！ -On(Water,Bar) 我需要一杯水,并希望它能够被送到酒吧区域。 -On(Water,WaterTable) 您好，我需要一杯水，并将它送到水桌子上。 -On(Water,WaterTable) 请为我准备一些水，并将其送到水桌 here。 -On(Water,CoffeeTable) 您好，我需要一杯水，并将它送到咖啡桌 here。 -On(Water,CoffeeTable) 请给我倒一杯水，然后将其放在咖啡桌子上。 -On(Water,Bar2) 当然可以！请问您在哪个咖啡厅？我想请您把水送到 Bar 2。 -On(Water,Bar2) 我需要一杯水,并希望它能够被送到Bar2那里。 -On(Water,Table1) 您好，我是一名机器人服务员。请问您需要什么帮助？ -On(Water,Table1) 请给我一杯水，并将其送到Table1位置。 -On(Water,Table2) 当然可以！请问您需要什么温度的水呢？并且您想要在哪个桌子上 receiving 水呢？ -On(Water,Table2) 请给我倒一杯水,并把水送到Table 2那里。 -On(Water,Table3) 您好，机器人服务员！请问您能给我准备一杯水，然后将其送到 Table 3 位置吗？谢谢！ -On(Water,Table3) 请给我倒一杯水,并将其送到 Table 3 桌子上。 -On(Dessert,Bar) 您好，我需要一份甜点并将其送到吧台。 -On(Dessert,Bar) 请送一些甜点来，并将其送到吧台处。 -On(Dessert,WaterTable) 您好，我需要一份甜点，并希望它能够被送到名为"WaterTable"的水 table 那里。 -On(Dessert,WaterTable) 请为我准备一些甜点，并将它送到watertable来。 -On(Dessert,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作甜点，并将其送到咖啡桌旁边。请问您想点什么类型的甜点呢？ -On(Dessert,CoffeeTable) 请为我准备一些甜点，并将其送到咖啡桌这里。 -On(Dessert,Bar2) 您好，我需要一份甜点，并希望它能够被送到酒吧2。 -On(Dessert,Bar2) 请为我准备一些甜点，并将其送到Bar2。 -On(Dessert,Table1) 您好，机器人服务员！我想要一份甜点，并希望它能够被送到Table1那里。 -On(Dessert,Table1) 请为我准备一些甜点，并将其送到Table1。 -On(Dessert,Table2) 您好，我是一名机器人服务员。我能为您制作甜点并将它送到Table 2吗？ -On(Dessert,Table2) 请给我上甜点，并将它送到Table2那里。 -On(Dessert,Table3) 您好，机器人服务员！请问您能帮我制作一份甜点并将其送到Table 3吗？ -On(Dessert,Table3) 请为我准备一些甜点，并将其送到Table3桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt deleted file mode 100644 index ddbd385..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt +++ /dev/null @@ -1,388 +0,0 @@ -At(Robot,Bar) 嘿，来酒吧了啊？ -At(Robot,Bar) 你可以去前台一下吗？ -At(Robot,Bar) 当然可以，我可以过去帮忙吗？ -At(Robot,WaterTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯茶水。 -At(Robot,WaterTable) 嘿，你能帮我再去茶水桌那儿拿一下水吗？ -At(Robot,WaterTable) 当然可以啊，我马上就去茶水桌那儿。 -At(Robot,CoffeeTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯咖啡。 -At(Robot,CoffeeTable) 你可以去 coffee table 一下哦。 -At(Robot,CoffeeTable) 当然可以呀！你可以去咖啡桌的那边坐下来，我就在这边的桌子旁陪着你。 -At(Robot,Bar2) 好的，我可以到另一个吧台帮忙吗？ -At(Robot,Bar2) 你可以去另一个酒吧台坐坐吗？ -At(Robot,Bar2) 当然可以，您想让我去哪个吧台呢？ -At(Robot,Table1) 好的,我來試著把第一張桌子搬起來。 -At(Robot,Table1) 你可以去第一桌啊，那里的东西比较好吃。 -At(Robot,Table1) 当然可以,你可以帮我稳住身体,然后我就能过去坐在第一张桌子上啦! -At(Robot,Table2) 请把第二桌子的东西拿过来。 -At(Robot,Table2) 你可以去第二桌啊。 -At(Robot,Table2) 当然可以,你想去哪一张桌子呢? -At(Robot,Table3) 好的，我马上去拿第三张桌子。 -At(Robot,Table3) 请你到第三桌子上坐一下。 -At(Robot,Table3) 当然可以，移到第三张桌子那边怎么样？ -On(Softdrink,Bar) 请把饮料放到酒吧柜台上。 -On(Softdrink,Bar) 嘿，能帮我拿一下饮料吗？放到酒吧台上谢谢！ -On(Softdrink,WaterTable) 你可以把软饮放在茶水桌那个地方哦。 -On(Softdrink,WaterTable) 你可以把饮料放到茶水桌那儿呀。 -On(Softdrink,CoffeeTable) 你可以把饮料放在咖啡桌那个地方呀。 -On(Softdrink,CoffeeTable) 你可以把饮料放到咖啡桌附近呀。 -On(Softdrink,Bar2) 请你把饮料放在另一个酒吧台的位置。 -On(Softdrink,Bar2) 请帮我从一个酒吧台拿杯饮料，放到另一个酒吧台吧。 -On(Softdrink,Table1) 请你把饮料放在第一桌的位子上面。 -On(Softdrink,Table1) 请把饮料放到第一桌的位子上。 -On(Softdrink,Table2) 请你把饮料放到第二桌那个地方。 -On(Softdrink,Table2) 请你把饮料放到第二桌的位置。 -On(Softdrink,Table3) 请你把饮料放到第三桌那个地方。 -On(Softdrink,Table3) 请给我一瓶饮料，放到第三桌子上。 -On(BottledDrink,Bar) 请把瓶装饮料放到酒吧那个地方。 -On(BottledDrink,Bar) 你可以把瓶装饮料放到酒吧台面上。 -On(BottledDrink,WaterTable) 你可以把瓶装饮料放在茶水桌那个地方呀。 -On(BottledDrink,WaterTable) 请把瓶装饮料放到茶水桌那儿吧。 -On(BottledDrink,CoffeeTable) 把瓶装饮料放到咖啡桌那个地方吧。 -On(BottledDrink,CoffeeTable) 请把瓶装饮料放到咖啡桌附近。 -On(BottledDrink,Bar2) 请把瓶装饮料放 到另一个酒吧那个地方。 -On(BottledDrink,Bar2) 你可以把瓶装饮料拿到另一个酒吧台的位置。 -On(BottledDrink,Table1) 请把瓶装饮料放在第一桌的相应位置。 -On(BottledDrink,Table1) 请你把瓶装饮料放到第一桌子的位置。 -On(BottledDrink,Table2) 请你把瓶装饮料放到第二大桌子的那个位置。 -On(BottledDrink,Table2) 请您把瓶装饮料放到第二桌的位置。 -On(BottledDrink,Table3) 请把瓶装饮料放到第三桌的那一边。 -On(BottledDrink,Table3) 请您把瓶装饮料放到第三桌子上。 -On(Yogurt,Bar) 把酸奶放在吧台那个位置。 -On(Yogurt,Bar) 请把酸奶放到吧台哦！ -On(Yogurt,WaterTable) 把酸奶放到茶水桌那个地方哦。 -On(Yogurt,WaterTable) 你可以把酸奶放到茶水桌附近呀。 -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌附近。 -On(Yogurt,Bar2) 请你把酸奶放到另一个吧台那个位置。 -On(Yogurt,Bar2) 请把酸奶放到另一个台子的位置吧。 -On(Yogurt,Table1) 请把酸奶放在第一桌的位置哦！ -On(Yogurt,Table1) 请把酸奶放到第一桌的位置。 -On(Yogurt,Table2) 请把酸奶放到第二桌那个位置哦！ -On(Yogurt,Table2) 你可以把酸奶放到第二桌的位置呀。 -On(Yogurt,Table3) 请把酸奶放到第三桌的那儿吧。 -On(Yogurt,Table3) 请你把酸奶放到第三桌子上。 -On(ADMilk,Bar) 把AD钙奶放到吧台那个地方。 -On(ADMilk,Bar) 请把AD钙奶放到吧台哦！ -On(ADMilk,WaterTable) 好的，我帮你把AD钙奶放到茶水桌那个地方。 -On(ADMilk,WaterTable) 你可以把AD钙奶放到茶水桌附近呀。 -On(ADMilk,CoffeeTable) 好的，AD钙奶就放在咖啡桌那个地方吧。 -On(ADMilk,CoffeeTable) 你可以把AD钙奶放到咖啡桌旁边呀。 -On(ADMilk,Bar2) 你能否把AD钙奶放到另一个吧台的位置呢？ -On(ADMilk,Bar2) 你可以把AD钙奶放到另一个酒吧台的位置上。 -On(ADMilk,Table1) 请把AD钙奶放到第一桌的位子上面。 -On(ADMilk,Table1) 请把AD钙奶放到第一桌的位置。 -On(ADMilk,Table2) 请把AD钙奶放到第二桌的那儿吧。 -On(ADMilk,Table2) 请把AD钙奶放到第二桌的位置。 -On(ADMilk,Table3) 请把AD钙奶放到第三桌的那儿吧。 -On(ADMilk,Table3) 请把AD钙奶放到第三桌子的位置。 -On(MilkDrink,Bar) 把牛奶饮料放到吧台那个地方。 -On(MilkDrink,Bar) 你可以把牛奶饮料拿到吧台前面。 -On(MilkDrink,WaterTable) 你可以把牛奶饮料放在茶水桌那个地方哦。 -On(MilkDrink,WaterTable) 你可以把牛奶饮料放到茶水桌附近呀。 -On(MilkDrink,CoffeeTable) 你可以把牛奶放到了咖啡桌那个地方哦。 -On(MilkDrink,CoffeeTable) 请你把牛奶饮料放到咖啡桌附近呀。 -On(MilkDrink,Bar2) 请你把牛奶饮料放到另一个吧台那个位置,好吗? -On(MilkDrink,Bar2) 请把牛奶饮料放到另一个酒吧台的位置。 -On(MilkDrink,Table1) 请把牛奶放第一桌的位置哦！ -On(MilkDrink,Table1) 请把牛奶饮料放到第一桌的位子上。 -On(MilkDrink,Table2) 你可以把牛奶放 到这张桌子的第二個位置。 -On(MilkDrink,Table2) 请你把牛奶饮料放到第二桌的位置。 -On(MilkDrink,Table3) 请你把牛奶放到第三桌的那儿吧。 -On(MilkDrink,Table3) 请你把牛奶饮料放到第三桌子上。 -On(Milk,Bar) 请把牛奶放到吧台那个地方。 -On(Milk,Bar) 请把牛奶放到吧台的位置哦。 -On(Milk,WaterTable) 你可以把牛奶放到茶水桌那个地方哦。 -On(Milk,WaterTable) 请你把牛奶放到茶水桌那个地方。 -On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌上的那个地方哦。 -On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌旁边呀，这样就能方便地喝牛奶了。 -On(Milk,Bar2) 请你把牛奶放到另一个吧台那个位置。 -On(Milk,Bar2) 你可以把牛奶放过去一点。 -On(Milk,Table1) 请把牛奶放到第一桌子的位置。 -On(Milk,Table1) 请你把牛奶放到第一桌的位置。 -On(Milk,Table2) 请把牛奶放到第二桌子的那个位置哦！ -On(Milk,Table2) 请你把牛奶放到第二桌的位置。 -On(Milk,Table3) 你可以把牛奶放 third table 的那个位置哦！ -On(Milk,Table3) 请把牛奶放到第三桌子上。 -On(VacuumCup,Bar) 请把保温杯放 到吧台那个地方。 -On(VacuumCup,Bar) 你可以把保温杯放到吧台哦。 -On(VacuumCup,WaterTable) 请把保温杯放茶水桌那个地方哦。 -On(VacuumCup,WaterTable) 请你把保温杯放到茶水桌那儿。 -On(VacuumCup,CoffeeTable) 你可以把你的保温杯放到咖啡桌那个地方呀。 -On(VacuumCup,CoffeeTable) 请把保温杯放到咖啡桌那里。 -On(VacuumCup,Bar2) 你可以把保温杯放到另一个吧台那个地方呀。 -On(VacuumCup,Bar2) 你可以把保温杯放到另一个酒吧台的位置呀。 -On(VacuumCup,Table1) 请把保温杯放到第一桌子的那个位置。 -On(VacuumCup,Table1) 请把保温杯放到第一桌子的位置。 -On(VacuumCup,Table2) 请把保温杯放到第二桌子的那个位置。 -On(VacuumCup,Table2) 你可以把保温杯放到第二桌子的地方。 -On(VacuumCup,Table3) 请把保温杯放到了第三张桌子的那个地方。 -On(VacuumCup,Table3) 请把保温杯放到第三桌子的地方。 -Is(AC,0) 当然可以，您想什么时候关呢？ -Is(AC,1) 当然可以，我马上为您打开空调。 -Is(ACTemperature,0) 当然可以！你把空调的温度调高一点吗？ -Is(ACTemperature,1) 可以啊，您要把空调的温度调低一些吗？ -Is(HallLight,0) 当然可以，我马上为您关掉大厅的灯。 -Is(HallLight,1) 当然可以，我马上为你开启大厅的灯光。 -Is(TubeLight,0) 当然可以，你只需按一下筒灯的开关按钮即可。 -Is(TubeLight,1) 当然可以，请告诉我你想要多亮度的筒灯呢？ -Is(Curtain,0) 好的，我马上帮您关窗帘。 -Is(Curtain,1) 当然可以，您想让阳光照进房间吗？ -Is(Chairs,0) 当然可以，把椅子弄脏一点没问题。不过要注意，我是一个人工智能助手，虽然可以理解您的请求，但实际操作能力有限，可能不能非常完美地完成这个任务。 -Is(Chairs,1) 当然可以，亲爱的。把椅子擦干净需要一些努力和耐心，但我会帮您做得干干净净的。 -Is(Floor,0) 你能把地板弄脏一点吗？ -Is(Floor,1) 能帮我打扫下地板吗？ -Is(Table1,0) 第一，你可以把桌子弄脏一点。 -Is(Table1,1) 当然可以,你想要我尽快完成这个任务吗? -Holding(Softdrink) 你能抓住软饮吗？ -Holding(Softdrink) 你能不能一直拿着软饮呢？ -Holding(BottledDrink) 能抓住瓶装饮料吗?当然可以啊! -Holding(BottledDrink) 你能一直拿着瓶装饮料吗?当然可以啊,只要喜欢喝 bottled water 或者饮料,就可以一直拿着瓶装饮料。不过要注意保持卫生,不要让瓶子变得太脏或者有细菌。如果觉得手持瓶装饮料不方便,也可以选择使用杯子或者其他更方便的容器来盛放饮料。 -Holding(Yogurt) 您可以把酸奶捏在手里,就像您捏着冰淇淋一样。 -Holding(Yogurt) 嗯，我可以理解你想要一直吃酸奶的想法，但是要注意不要过量食用。酸奶是非常健康的食品，富含蛋白质和钙质，对身体有很多好处。不过，每个人的身体状况和需求不同，所以要根据自己的实际情况来适量食用。如果你想要更好地享受酸奶的好处，可以尝试搭配一些水果或者坚果，让口感更丰富多彩。 -Holding(ADMilk) 你能捧起一罐AD钙奶吗？ -Holding(ADMilk) 你能不能一直拿着AD钙奶呀？ -Holding(MilkDrink) 你能把牛奶饮料抓在手里啊？ -Holding(MilkDrink) 你能一直拿著牛奶 drink 嗎? -Holding(Milk) 哈哈，当然可以啦！你可以把牛奶抓在手里，就像你抓住一个球一样。不过要小心，不要让牛奶洒出来哦！ -Holding(Milk) 嘿，你可以一直拿着牛奶，不过我得提醒你，牛奶保质期短，不要喝坏掉的哦！ -Holding(VacuumCup) 你能 hand 住保温杯 吗？ -Holding(VacuumCup) 你能不能一直拿著保温杯呢？ -Holding(Nothing) 哈哈，把"nothing"抓在手里啊。这个表达好像不太对哦，英文里"nothing"是指没有任何东西的意思，不能被抓住。你是要问如何应对"无所适从"的情况吗？可以理解为"nothing happens"或者"没有什么事情发生"。 -Holding(Nothing) 当然可以！如果你觉得需要一直拿着某个东西，那完全可以。 -On(Coffee,Bar) 当然可以！请问您需要什么口味的咖啡呢？我可以为您制作一杯美味的咖啡，然后端到吧台供您享用。 -On(Coffee,Bar) 嘿，老板，能不能给我弄杯咖啡，然后把咖啡杯拿到吧台上来？ -On(Coffee,WaterTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到茶水桌上来。 -On(Coffee,WaterTable) 好的,主人。请给我来杯咖啡,然后把咖啡端到茶水桌这里来。谢谢! -On(Coffee,CoffeeTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到咖啡桌上来。 -On(Coffee,CoffeeTable) 好的,主人。请给我一杯咖啡,然后把咖啡端到这个咖啡桌上来,谢谢! -On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后端到这个吧台这里来。 -On(Coffee,Bar2) 好的,我给你拿杯咖啡,放在另一个吧台给你。 -On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到第一张桌子上来。 -On(Coffee,Table1) 请给我拿杯咖啡，然后把它放到这张桌子的位置上。 -On(Coffee,Table2) 当然可以！你想要什么口味的咖啡呢？然后我就可以把咖啡端到你所在的桌子了。 -On(Coffee,Table2) 嘿，老板，我想喝杯咖啡，然后你能把它端到这里来吗？ -On(Coffee,Table3) 当然可以！请问您需要什么口味的咖啡呢？我好准备给您制作。 -On(Coffee,Table3) 嘿，老板，能不能给我来杯咖啡？然后把咖啡端到这张桌子的 third 位置上来，谢谢！ -On(Water,Bar) 当然可以！您可以告诉我您需要多少水，然后我会给您端过来。 -On(Water,Bar) 好的，我给您倒杯水，然后就放在吧台这里。 -On(Water,WaterTable) 当然可以！请问您需要我怎么制作水呢？ -On(Water,WaterTable) 好的,我给你倒杯水,然后把它放在茶水桌上。 -On(Water,CoffeeTable) 当然可以！我立刻为您制作一杯水，然后把它端到咖啡桌上来。请问您需要加些什么其他的配料呢？ -On(Water,CoffeeTable) 好的,主人,请给我倒杯水,然后把水端到咖啡桌上来,谢谢! -On(Water,Bar2) 当然可以！我马上为您制作一杯水，然后端到这里来。 -On(Water,Bar2) 好的,请给我倒一杯水,然后把它端到这个吧台这里来。 -On(Water,Table1) 当然可以！请问你需要多少水呢？我一会儿就去烧开水，然后把它端到第一张桌子上。 -On(Water,Table1) 好的，我给你倒杯水，然后把它放在第一桌子上。 -On(Water,Table2) 当然可以！我马上给您拿来。 -On(Water,Table2) 能不能给我倒杯水啊?然后把水端到这张桌子的另一边去。 -On(Water,Table3) 当然可以！请您把第三张桌子的位置告诉我，我马上为您制作一杯水送到那儿去。 -On(Water,Table3) 好的,请给我一杯水,然后把它放在第三张桌子上。 -On(Dessert,Bar) 当然可以！我特别擅长制作各种美味的点心、甜品和糕点。如果您需要的话，我可以在吧台为您准备一份精致的小点心或甜品品尝。 -On(Dessert,Bar) 行啊，点些小吃或甜品，然后让它们送到酒吧台这附近来。 -On(Dessert,WaterTable) 你能不能帮我做些点心或甜品，然后把它端到茶水桌这儿呀？ -On(Dessert,WaterTable) 好的，请给我点些小吃或甜品，然后把它端到茶水桌这里来。 -On(Dessert,CoffeeTable) 当然可以！我是一个人工智能助手，虽然不能亲自制作点心或甜品，但我可以为您提供各种食谱和做法。您可以根据我的建议，尝试在家自己制作美味的点心或甜品，然后带到咖啡桌分享。这样不仅可以享受美食，还可以一起度过美好时光。 -On(Dessert,CoffeeTable) 行啊，您想尝点什么点心或甜品呢？然后我给您端过来，放在这咖啡桌上。 -On(Dessert,Bar2) 当然可以！我擅长制作各种美味的点心与甜品，可以随时为你端来。请问你需要什么口味或样式的点心呢？ -On(Dessert,Bar2) 行啊，点些小吃或甜品，然后给您端过去。 -On(Dessert,Table1) 当然可以，我 ability做点心和甜品，把它们放在桌子上给你吃。 -On(Dessert,Table1) 好的，我给你准备了一些小吃和甜品，现在 brings it to your table.（请注意，这里用 "brings" 代替 "portrays" 以符合口语化的风格。） -On(Dessert,Table2) 当然可以！我可以在第一张桌子上制作点心或甜品，然后把它们端到第二张桌子那里。请问你有什么特别喜欢的点心或甜品口味吗？ -On(Dessert,Table2) 好的,主人。请给我提供一些点心或甜品,我会把它们放在第二张桌子上。 -On(Dessert,Table3) 当然可以！我马上为您制作一些美味的点心或甜品，然后 brings it to the third table for you to enjoy. -On(Dessert,Table3) 好的，请问您想点什么种类的点心或甜品呢？然后我会把它们端到第三张桌子上。 -At(Robot,Bar) 好的，那我们来聊聊吧。你想聊什么呢？ -At(Robot,Bar) 你去一下bar吧。 -At(Robot,Bar) 你能到那个酒吧的哪个位置吗？ -At(Robot,WaterTable) 当然可以！ WaterTable 是一个很棒的实时水文气象数据平台。你想了解哪个地区的天气情况呢？ -At(Robot,WaterTable) 你去一下WaterTable吧！ -At(Robot,WaterTable) 当然可以啊！你想要去哪个地方呢？ -At(Robot,CoffeeTable) 嘿，我能去拿一下咖啡桌吗？ -At(Robot,CoffeeTable) 你去一下CoffeeTable吧。 -At(Robot,CoffeeTable) 当然可以，我马上就到CoffeeTable那儿。 -At(Robot,Bar2) 好的，我来试试看 Bar 2。 -At(Robot,Bar2) 你能去bar2吗？ -At(Robot,Bar2) 当然可以啊，我马上就去Bar2那儿！ -At(Robot,Table1) 当然可以！请您提供一下 Table1 的内容，我会尽量用更口语化和合理化的方式来表述它。 -At(Robot,Table1) 嘿，你能不能去一下Table1呢？ -At(Robot,Table1) 当然可以呀，我马上就过去。 -At(Robot,Table2) 当然可以！请您提供一下Table2的内容和您想要我为您做什么，我会尽量帮您进行合理的调整和优化。 -At(Robot,Table2) 好的，我去一下Table2。 -At(Robot,Table2) 当然可以，我马上就过去。 -At(Robot,Table3) 当然可以！请问您需要我帮忙做什么呢？ -At(Robot,Table3) 嘿，去Table3看看怎么样？可能有新东西哦！ -At(Robot,Table3) 当然可以，我马上就到Table3那儿。 -On(Softdrink,Bar) 你可以这样跟Bar说：“嘿，Bar，你能帮我把Softdrink放好吗？谢谢！” -On(Softdrink,Bar) 请把Softdrink拿到Bar那儿。 -On(Softdrink,WaterTable) 你可以把软饮放在水桌那个地方哦。 -On(Softdrink,WaterTable) 你可以把Soft drink拿到水桌的位置呀。 -On(Softdrink,CoffeeTable) 您可以尝试这样说：“嘿，能否帮我把软饮料放在咖啡桌那个位置呀？” -On(Softdrink,CoffeeTable) 你可以把Softdrink拿到CoffeeTable前面啊。 -On(Softdrink,Bar2) 你可以把软饮放在酒吧2的位置。 -On(Softdrink,Bar2) 你可以把Softdrink拿到Bar2的位置呀。 -On(Softdrink,Table1) 你可以把这个软饮料放到表格1的第二行。 -On(Softdrink,Table1) 请把Softdrink放到Table1的位置上。 -On(Softdrink,Table2) 你可以把 Softdrink 放到 Table2 的那个位置哦！ -On(Softdrink,Table2) 你可以把Softdrink移到Table2的位置呀。 -On(Softdrink,Table3) 你可以把 Softdrink 放到 Table3 的那个位置哦！ -On(Softdrink,Table3) 你可以把Softdrink拿到Table3那里。 -On(BottledDrink,Bar) 请你把Bottled Drink放到Bar那个地方。 -On(BottledDrink,Bar) 请把 bottled drink 拿到 Bar 那里。 -On(BottledDrink,WaterTable) 你能把 bottled drink 放到 water table 那个地方吗？ -On(BottledDrink,WaterTable) 你可以把瓶装饮料放到水桌上了吗？ -On(BottledDrink,CoffeeTable) 将瓶装饮料放在咖啡桌那个地方。 -On(BottledDrink,CoffeeTable) 你可以把 bottled drink 拿到咖啡桌 (CoffeeTable) 上。 -On(BottledDrink,Bar2) 你能把 "BottledDrink" 放到 "Bar2" 的位置上吗？ -On(BottledDrink,Bar2) 请把 bottled drink 拿到 Bar2 的位置。 -On(BottledDrink,Table1) 你可以把"Bottled Drink"放到"Table1"的位置。 -On(BottledDrink,Table1) 请你把瓶装饮料拿到Table1那儿。 -On(BottledDrink,Table2) 你把Bottled Drink放到Table2那个地方吧。 -On(BottledDrink,Table2) 你可以把 bottled drink 拿到 Table 2 那里。 -On(BottledDrink,Table3) 你想把瓶装饮料放在Table3那个地方吗？ -On(BottledDrink,Table3) 请把瓶装饮料放到桌子的第三位置。 -On(Yogurt,Bar) 你可以把酸奶放在吧台那个位置哦。 -On(Yogurt,Bar) 嘿，能否帮我拿一下酸奶（Yogurt）到酒吧（Bar）的位置呀？ -On(Yogurt,WaterTable) 你可以把酸奶放在水 table 的那个地方。 -On(Yogurt,WaterTable) 你可以把酸奶放到水 table 那里一下吗？ -On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 -On(Yogurt,CoffeeTable) 你可以把酸奶放到咖啡桌的位置。 -On(Yogurt,Bar2) 把Yogurt放到Bar2那个地方。 -On(Yogurt,Bar2) 你可以把酸奶放到酒吧的第二的位置。 -On(Yogurt,Table1) 请把酸奶放到表格1那个位置哦！ -On(Yogurt,Table1) 请你把Yogurt移到Table1的位置上。 -On(Yogurt,Table2) 你可以把酸奶放到表格2那个位置哦。 -On(Yogurt,Table2) 你可以把酸奶放到桌子第二的位置。 -On(Yogurt,Table3) 您可以把酸奶放到表格三那个位置哦。 -On(Yogurt,Table3) 你可以把酸奶放到桌子第三的位置。 -On(ADMilk,Bar) 你能把ADMilk放到Bar那个地方吗？ -On(ADMilk,Bar) 你可以把ADMilk放到Bar那里。 -On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable那个地方。 -On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable的位置啊。 -On(ADMilk,CoffeeTable) 你可以把ADMilk放到咖啡桌那个地方。 -On(ADMilk,CoffeeTable) 你可以把AD Milk放到咖啡桌旁边呀。 -On(ADMilk,Bar2) 请把ADMilk放到Bar2那个位置哦！ -On(ADMilk,Bar2) 你可以把ADMilk放到Bar2的位置呀。 -On(ADMilk,Table1) 请把ADMilk放到Table1那个位置啦！ -On(ADMilk,Table1) 能否帮我将ADMilk放到Table1的位置呢？ -On(ADMilk,Table2) 你可以把ADMilk放到Table2那个地方哦。 -On(ADMilk,Table2) 你可以把ADMilk放到Table2的位置呀。 -On(ADMilk,Table3) 你能把ADMilk放到Table3那个地方吗？ -On(ADMilk,Table3) 你可以把ADMilk放到Table3的位置呀。 -On(MilkDrink,Bar) 你可以这样说：“把牛奶饮料放到酒吧那个位置。” -On(MilkDrink,Bar) 你可以把牛奶带到酒吧位置吗？ -On(MilkDrink,WaterTable) 你能将"MilkDrink"放到"WaterTable"的那个地方吗？ -On(MilkDrink,WaterTable) 你可以把牛奶放到水桌的位置。 -On(MilkDrink,CoffeeTable) 你好！你可以把"MilkDrink"放到"CoffeeTable"那个地方。 -On(MilkDrink,CoffeeTable) 你可以把牛奶放到咖啡桌上了吗？ -On(MilkDrink,Bar2) 你可以把"MilkDrink"放到"Bar2"那个地方。 -On(MilkDrink,Bar2) 请把牛奶饮料拿到酒吧2号位置。 -On(MilkDrink,Table1) 你可以这样跟朋友说：嘿，你知道吗，把"MilkDrink"放到"Table1"那个位置吧！ -On(MilkDrink,Table1) 你可以把牛奶带到Table1那里吗？ -On(MilkDrink,Table2) 你能把"MilkDrink"放到Table2那个地方吗？ -On(MilkDrink,Table2) 你可以把牛奶饮料端到桌子2的位置吗？ -On(MilkDrink,Table3) 你好！我明白你的要求，但是我没有找到与“MilkDrink”相关的内容。如果你能提供更多的信息或者上下文，我会更好地帮助你完成任务。 -On(MilkDrink,Table3) 你可以把牛奶带到桌子3去。 -On(Milk,Bar) 你把牛奶放酒吧的位置吧。 -On(Milk,Bar) 你可以帮我把牛奶放到酒吧的位置吗？ -On(Milk,WaterTable) 你能帮我把牛奶放到水 table 那个地方吗？ -On(Milk,WaterTable) 你可以把牛奶放到水 table 附近吗？ -On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌那个地方。 -On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌的位置。 -On(Milk,Bar2) 你可以把牛奶放到酒吧2的位置。 -On(Milk,Bar2) 你可以把牛奶放到酒吧的第二個位置。 -On(Milk,Table1) 你可以这样跟Table1说：“Hey Table1， could you please move the Milk to that spot over there？” -On(Milk,Table1) 你可以把牛奶放到桌子的第一位置呀。 -On(Milk,Table2) 请把牛奶放到表2的那个位置。 -On(Milk,Table2) 请你把牛奶放到Table2的位置上。 -On(Milk,Table3) 你可以把牛奶放到表格三那个位置哦。 -On(Milk,Table3) 你可以把牛奶放到桌子的第三格里呀。 -On(VacuumCup,Bar) 你能把VacuumCup放到Bar的位置吗？ -On(VacuumCup,Bar) 你可以把吸管杯放到酒吧位置吗？ -On(VacuumCup,WaterTable) 你可以尝试这样说：“嘿，把VacuumCup放到WaterTable的位置吧。”这样更加口语化和亲近。 -On(VacuumCup,WaterTable) 你可以把吸尘器杯放在水 table 位置吗？ -On(VacuumCup,CoffeeTable) 你可以把吸尘器杯放在咖啡桌那个地方。 -On(VacuumCup,CoffeeTable) 你可以把吸尘器(VacuumCup)放到咖啡桌(CoffeeTable)的位置。 -On(VacuumCup,Bar2) 你能把VacuumCup放到Bar2那个地方吗？ -On(VacuumCup,Bar2) 你可以把VacuumCup放到Bar2的地方哦。 -On(VacuumCup,Table1) 你可以把这些内容换成： "把 VacuumCup 放到 Table1 的那个地方"。 -On(VacuumCup,Table1) 你可以把VacuumCup放到Table1的位置呀。 -On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那个地方哦。 -On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那里呀。 -On(VacuumCup,Table3) 你可以把这个吸管杯放到表格3的位置。 -On(VacuumCup,Table3) 你可以把VacuumCup放到Table3的位置呀。 -Is(AC,0) 当然可以，您需要我帮您关闭AC吗？ -Is(AC,1) 你好，我能帮你做什么呢？关于打开AC的问题，我可能不太明白你的具体意思。如果你是想打开空调，请告诉我具体是哪个品牌的空调，这样我才能更好地帮助你。 -Is(ACTemperature,0) 当然可以！请告诉我您想将温度调到多少度呢？ -Is(ACTemperature,1) 当然可以，你想要把温度调到多少度呢？ -Is(HallLight,0) 当然可以，HallLight怎么样了？需要我帮你做些什么吗？ -Is(HallLight,1) 当然可以！请问你需要我怎么操作呢？ -Is(TubeLight,0) 当然可以！你想要立即关掉TubeLight吗？ -Is(TubeLight,1) 当然可以！你只需按住"开”按钮，或在屏幕上点击一下就可以开启TubeLight了。 -Is(Curtain,0) 当然可以，您想关闭窗帘吗？ -Is(Curtain,1) 当然可以，curtain（窗帘）打开了。 -Is(Chairs,0) 当然可以，你能把椅子弄脏一点吗？ -Is(Chairs,1) 当然可以，你能帮我打扫一下椅子吗？ -Is(Floor,0) 当然可以，不过我需要先声明一下，作为人工智能助手，我没有实体形象，所以不能直接去“操作”或“改变”现实环境。但我可以提供一些建议或者指导来帮助你完成任务。如果你想要打扫房间，可以告诉我具体是哪个部位需要清洁，然后我会给你相应的建议和步骤。 -Is(Floor,1) 当然可以，你让我来吧！ -Is(Table1,0) 当然可以！不过我需要先了解一下 Table1 包含哪些内容，以及您想要修改的具体是哪方面。这样我才能更好地帮助您进行操作。 -Is(Table1,1) 当然可以，你有什么特别要求吗？比如需要清理什么物品或者怎么清洁？ -Holding(Softdrink) 你能不能把soft drink抓在手里啊？ -Holding(Softdrink) 你能一直拿着一罐饮料吗? -Holding(BottledDrink) 你能把瓶装饮料抓在手里吗? -Holding(BottledDrink) 你能一直拿着这瓶饮料吗？ -Holding(Yogurt) 你能把酸奶抓在手里吗? -Holding(Yogurt) 你能一直抱着羊酸奶吗? -Holding(ADMilk) 你能捧着 AD Milk 吗？ -Holding(ADMilk) 你能一直拿着AD Milk吗? - -如果我能一直拿着AD Milk,那我会很开心,因为我很喜欢喝这个品牌的牛奶。不过,我不确定我能否一直拿着它,因为我需要考虑到我的健康和生活方式。 -Holding(MilkDrink) 哦,你是指那个牛奶饮料品牌“MilkDrink”吗?当然可以啊,你可以像拿任何 other 饮料一样拿起它来。 -Holding(MilkDrink) 你好呀！我能一直拿着这个牛奶饮料吗？ -Holding(Milk) 你能把牛奶抓在手里吗?当然可以,只要你抓住瓶子或者盒子,就可以把牛奶抓在手里。不过要注意,不要把牛奶撒出来哦! -Holding(Milk) 你能不能一直拿着牛奶呀？ -Holding(VacuumCup) 你能把吸尘器杯收入手中吗？ -Holding(VacuumCup) 你能一直拿着吸尘器杯吗? -Holding(Nothing) 你能把“nothing”这个单词抓在手里吗？ -Holding(Nothing) 当然可以啊！如果你说的“ Nothing”是指没有任何事物或事情的话，那我可以一直保持这样的状态。不过，如果你指的是某个具体的事物或场景，那可能就需要根据实际情况来分析了。 -On(Coffee,Bar) 当然可以！我马上为你制作一杯咖啡，然后端到吧台给你。 -On(Coffee,Bar) 给我倒杯咖啡，然后把它端到酒吧这里来。 -On(Coffee,WaterTable) 当然可以！我马上为你制作一杯咖啡，然后端到水 table 这里来。 -On(Coffee,WaterTable) 好的，我给你倒杯咖啡，然后端到水 table 这里来。 -On(Coffee,CoffeeTable) 当然可以！我为您制作一杯咖啡，然后把它端到咖啡桌那里吧。 -On(Coffee,CoffeeTable) 行吗？能不能帮我倒杯咖啡，然后把咖啡端到咖啡桌上来呀？ -On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后送到Bar 2那里。请问您喜欢什么口味的咖啡呢？ -On(Coffee,Bar2) 好的，我给您准备了一杯咖啡，现在就端到 Bar 2 这里来。 -On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到Table1这里来。请问您喜欢什么口味的咖啡呢？ -On(Coffee,Table1) 好的,请给我一杯咖啡,然后把它送到 Table1 这里来,谢谢! -On(Coffee,Table2) 当然可以！我马上为您制作一杯咖啡，然后端到Table2这里来。 -On(Coffee,Table2) 好的,我给你拿杯咖啡,放Table2那里。 -On(Coffee,Table3) 当然可以！我马上为你制作一杯咖啡，然后端到你面前的桌子上。 -On(Coffee,Table3) 行吗?我可以给你拿杯咖啡,然后放到了Table 3这里。 -On(Water,Bar) 当然可以！去吧，我给你端来水。 -On(Water,Bar) 好的，让我给您倒一杯水，然后把它端到酒吧这里来。 -On(Water,WaterTable) 当然可以！我可以帮你制作水，然后把水送到水 table 这里来。 -On(Water,WaterTable) 好的，我给你倒一杯水，然后把它放在水 table 上。 -On(Water,CoffeeTable) 当然可以！我马上为您制作水，并把水端到咖啡桌这里来。 -On(Water,CoffeeTable) 好的，我马上给您倒杯水，然后把水端到咖啡桌这里来。 -On(Water,Bar2) 当然可以！我可以帮你制作水，然后把水端到酒吧2（Bar 2）那里。你需要我马上去做吗？ -On(Water,Bar2) 好的，我来给您倒杯水，送到酒吧2怎么样？ -On(Water,Table1) 当然可以！请问你需要多少量的水呢？我会尽快为您准备好的。 -On(Water,Table1) 好的,我给你倒一杯水,你想要端到哪个桌子呢? -On(Water,Table2) 当然可以！我马上帮你制作水，然后把它送到 Table2 这里来。 -On(Water,Table2) 好的,我给你倒一杯水,稍等一下。 -On(Water,Table3) 当然可以！我马上帮您把水送到 Table 3 这里来。 -On(Water,Table3) 好的,我给您倒一杯水,稍等一下,我现在就去拿。请问您要放在哪个桌子上呢?是Table 1还是Table 2?还是您想要自己拿杯子接? -On(Dessert,Bar) 你好！当然可以。Dessert（甜点）是餐后享用的食物，有很多美味的选择，比如蛋糕、饼干、布丁等。请问你想制作哪一种甜点呢？我可以帮你准备材料和制作方法。制作完成后，我们可以一起把甜点带到酒吧享用。 -On(Dessert,Bar) 请给我一点甜点，然后把它送到酒吧这里来。 -On(Dessert,WaterTable) 你能否把甜点做好，然后拿到水 table 那里去呢？ -On(Dessert,WaterTable) 好的，我给您准备了一些甜点，现在就端到水 table 这里来。您觉得怎么样？ -On(Dessert,CoffeeTable) 当然可以！我给您制作一些甜点，然后拿到咖啡桌上去吧。请问您想尝试哪种甜点呢？ -On(Dessert,CoffeeTable) 行啊，那给我来点甜点，然后把它放到咖啡桌子上。 -On(Dessert,Bar2) 当然可以！我会做一些美味的甜点，然后带到酒吧2（Bar 2）来。您想尝尝吗？ -On(Dessert,Bar2) 好的，我给你准备了一些甜点，现在就端到你所在的酒吧2。 -On(Dessert,Table1) 当然可以！我马上为您制作甜点，然后把它端到Table1这里来。 -On(Dessert,Table1) 好的，我给您准备了一些美味的甜点，现在 bring it to Table1 这里。 -On(Dessert,Table2) 当然可以！我马上为您制作甜点，然后端到Table2这里来。 -On(Dessert,Table2) 好的，我给你准备了一些甜点，现在端到你面前的桌子上。 -On(Dessert,Table3) 当然可以！我马上为您制作甜点，然后把它送到Table3这里来。 -On(Dessert,Table3) 好的，我给你准备了一些甜点，现在就端到你面前的桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt deleted file mode 100644 index 9c06989..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt +++ /dev/null @@ -1,57 +0,0 @@ -At(Robot,Bar) 请问您需要什么帮助吗？我就在吧台附近，能否请您自己过来呢？ -At(Robot,Bar) 请问你能去一下吧台吗？ -At(Robot,Bar) 请问你能帮我到吧台那个位置吗？ -At(Robot,WaterTable) 请问你能过来一下吗？我正在茶水桌旁。 -At(Robot,WaterTable) 请问你可以去茶水桌一下吗？ -At(Robot,WaterTable) 你能带路去茶水桌吗？ -At(Robot,CoffeeTable) 请问你可以过来一下吗？我在这张咖啡桌旁边。 -At(Robot,CoffeeTable) 请问你可以帮我一下，去一下咖啡桌吗？ -At(Robot,CoffeeTable) 请问你能帮我前往咖啡桌那个位置吗？ -At(Robot,Bar2) 您好，请问您需要什么帮助吗？我正在另一个吧台处理一些事情。 -At(Robot,Bar2) 请问你可以去一下另一个吧台吗？ -At(Robot,Bar2) 你能去另一个吧台的位置吗？ -At(Robot,Table1) 请问你能过来一下吗？我目前在第一桌，需要你的帮助。 -At(Robot,Table1) 请问你能去一下第一桌吗？ -At(Robot,Table1) 请问你能帮我到第一张桌子那个位置吗？ -At(Robot,Table2) 请问您能过来一下吗？我正在第二张桌子这里。 -At(Robot,Table2) 请问你可以去第二张桌子一下吗？ -At(Robot,Table2) 请问你能帮我前往第二桌吗？ -At(Robot,Table3) 请问你能过来一下吗？我正在第三张桌子旁。 -At(Robot,Table3) 请问你能去第三张桌子一下吗？ -At(Robot,Table3) 你能告诉我第三张桌子的位置在哪里吗？ -On(Softdrink,Bar) 您好，请问您需要我帮您把盒装冰红茶放到哪个位置呢？ -On(Softdrink,Bar) 服务员，能否帮我拿来一盒冰红茶放到吧台呢？ -On(Softdrink,WaterTable) 您好，请问您需要我帮忙将盒装冰红茶放到哪个位置吗？ -On(Softdrink,WaterTable) 服务员，能否帮我把盒装冰红茶拿到茶水桌呢？ -On(Softdrink,CoffeeTable) 请问你能把盒装冰红茶放到咖啡桌那个位置吗？ -On(Softdrink,CoffeeTable) 服务员，把盒装冰红茶拿到咖啡桌 position 好吗？ -On(Softdrink,Bar2) 请问你能把盒装冰红茶放到另一个吧台的位置吗？ -On(Softdrink,Bar2) 请问你能把盒装冰红茶拿到另一个吧台位置吗？ -On(Softdrink,Table1) 请问您能否把盒装冰红茶放在第一桌的指定位置呢？ -On(Softdrink,Table1) 请您把盒装冰红茶拿到第一桌的位置。 -On(Softdrink,Table2) 服务员，您好，请问能否帮我將這盒裝冰红茶放 到第二張桌子那個位置呢？ -On(Softdrink,Table2) 服务员，请把盒装冰红茶拿到第二张桌子的位置。 -On(Softdrink,Table3) 请问你可以把盒装冰红茶放到第三张桌子的那个位置吗？ -On(Softdrink,Table3) 请问你能把盒装冰红茶拿到第三张桌子的位置吗？ -On(BottledDrink,Bar) 您好，请问您需要我将瓶装饮料放到哪个位置呢？ -On(BottledDrink,Bar) 请把瓶装饮料拿到吧台的位置。 -On(BottledDrink,WaterTable) 请问你可以把瓶装饮料放到茶水桌那个位置吗？ -On(BottledDrink,WaterTable) 请问你能把瓶装饮料拿到茶水桌位置吗？ -On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料放在咖啡桌那个位置呢？ -On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料拿到咖啡桌附近呢？ -On(BottledDrink,Bar2) 请问你能把瓶装饮料放到另一个吧台的那个位置吗？ -On(BottledDrink,Bar2) 请把瓶装饮料拿到另一个吧台位置。 -On(BottledDrink,Table1) 请问您能否帮我將瓶裝飲料放至第一張桌子的那個位置呢？ -On(BottledDrink,Table1) 请问你能把瓶装饮料拿到第一桌的位置吗？ -On(BottledDrink,Table2) 请问，你可以把瓶装饮料放到第二张桌子的那个位置吗？ -On(BottledDrink,Table2) 请问你能把瓶装饮料拿到第二张桌子的位置吗？ -On(BottledDrink,Table3) 请问，你能把瓶装饮料放到第三桌的哪个位置吗？ -On(BottledDrink,Table3) 请问你能把瓶装饮料拿到第三张桌子的位置吗？ -On(Yogurt,Bar) 请问你能把酸奶放到吧台那个位置吗？ -On(Yogurt,Bar) 请问你能把酸奶拿到吧台位置吗？ -On(Yogurt,WaterTable) 请问你能把酸奶放到茶水桌那个位置吗？ -On(Yogurt,WaterTable) 服务员，请把酸奶拿到茶水桌的位置。 -On(Yogurt,CoffeeTable) 请问，你能把酸奶放在咖啡桌那个位置吗？ -On(Yogurt,CoffeeTable) 服务员，能否把酸奶拿到咖啡桌的位置呢？ -On(Yogurt,Bar2) 请问你能把酸奶放到另一个吧台的那个位置吗？ -On(Yogurt,Bar2) 请问你能把酸奶拿到另一个吧台位置吗？ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py deleted file mode 100644 index 58c6d67..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py +++ /dev/null @@ -1,172 +0,0 @@ -import copy -import re -import spacy -nlp_en = spacy.load('en_core_web_lg') - -reply = "at(coffee,Table)" -# 正则表达式 -replay_words = re.sub(r'[^A-Za-z0-9]', ' ', reply) -replay_words = replay_words.split() #['at','coffee','Table'] - -noun_words_ls = [['At','On','Is'],[]]# 完整文档n*2(动作，单词) -together_words_ls = [] -# 示例代码：如何使用Python逐行读取txt文件 -# 打开一个示例的txt文件（这里假设文件名为example.txt） -file_path = './goal_states_unique.txt' -try: - with open(file_path, 'r', encoding='utf-8') as file: - # 逐行读取文件 - for line in file: - cleaned_line = re.sub(r'[^A-Za-z0-9]', ' ', line) - words = cleaned_line.split() - # print(words) - noun_words_ls[-1].extend(words) - # print(line.strip()) # 打印每一行内容，去除行尾的换行符 - - cleaned_line = line.replace("{", "").replace("}", "").replace("\n", "") - together_words_ls.append(cleaned_line) - -except FileNotFoundError: - print(f"File not found: {file_path}") -except Exception as e: - print(f"An error occurred: {e}") - - -# 建立语料库 - -file_path = './goal_states_unique.txt' -try: - with open(file_path, 'r', encoding='utf-8') as file: - # 逐行读取文件 - for line in file: - cleaned_line = re.sub(r'[^A-Za-z0-9]', ' ', line) - words = cleaned_line.split() - # print(words) - noun_words_ls[-1].extend(words) - # print(line.strip()) # 打印每一行内容，去除行尾的换行符 - - cleaned_line = line.replace("{", "").replace("}", "").replace("\n", "") - together_words_ls.append(cleaned_line) - -except FileNotFoundError: - print(f"File not found: {file_path}") -except Exception as e: - print(f"An error occurred: {e}") - - - -# import datetime -# from gensim.models import word2vec -# import numpy as np -# from scipy import spatial -# pre_time=datetime.datetime.now() -# model = word2vec.Word2Vec(together_words_ls, -# vector_size=10,#特征向量的维度 -# alpha=0.04,#学习率 -# window=5,#一个句子内，当前词和预测词之间的最大距离 文本（window）大小：skip-gram通常在10附近，CBOW通常在5附近 -# min_count=0,#最低词频 没有大的变化 -# max_vocab_size=None, -# sample=0.0001, #随机下采样的阈值 -# seed=1,#随机数种子 -# workers=10,#进程数 -# min_alpha=0.00001,#学习率下降的最小值 -# sg=1, #训练算法的选择，sg=1，采用skip-gram，sg=0，采用CBOW---skip-gram（慢、对罕见字有利）vs CBOW（快） -# hs=1,# hs=1,采用hierarchica·softmax，hs=0,采用negative sampling -# #分层softmax（对罕见字有利）vs 负采样（对常见词和低纬向量有利） -# negative=0,#这个值大于0，使用negative sampling去掉'noise words'的个数（通常设置5-20）；为0，不使用negative sampling -# #cbow_mean=1,#为0，使用词向量的和，为1，使用均值；只适用于cbow的情况 -# null_word = 0, -# trim_rule = None, #裁剪词汇规则，使用None（会使用最小min_count） -# sorted_vocab =1,#对词汇降序排序 -# batch_words = 8192,#训练时，每一批次的单词数量 -# compute_loss = False, -# callbacks = ()) -# model.train(together_words_ls, total_examples=len(together_words_ls), epochs=10) -# model.save("./W2V_CI.model") # 保存模型 -# post_time=datetime.datetime.now() -# print("word2vec模型训练保存结束，时间为: ",(post_time-pre_time).seconds*1.0)#1106.0s -# -# w2v_model = word2vec.Word2Vec.load("./W2V_CI.model") -# # w2v_model[word] -# -# def replay_together_w2v(reply): -# return model.wv.most_similar(reply) -# # max_similarity = -1 -# # similar_word = None -# # query_token = w2v_model[reply] -# # for state in together_words_ls: -# # word_token = w2v_model[state] -# # # 计算余弦相似度. spatial.distance.cosine 函数计算的是余弦距离 -# # # 余弦相似度（Cosine similarity），如在 Word2Vec 模型中用来比较两个向量的相似性，其值的范围是 -1 到 1。 -# # similarity = 1 - spatial.distance.cosine(query_token, word_token) -# # # print("similarity:",similarity,real_obj_name) -# # if similarity > max_similarity: -# # max_similarity = similarity -# # similar_word = state -# # if similar_word==None: -# # print("Error: Not Match!") -# # else: -# # return similar_word - - - -def replay_one_by_one(replay_words): - replace_ind = [] - replace_word = [] - for i,word in enumerate(replay_words): - query_token = nlp_en(word) - k=1 - if i==0: k=0 - if not word in noun_words_ls[k]: - max_similarity = 0 - similar_word = None - for act in noun_words_ls[k]: - word_token = nlp_en(act) - # print(act) - # print(word_token) - similarity = query_token.similarity(word_token) - # print("similarity:",similarity,real_obj_name) - if similarity > max_similarity: - max_similarity = similarity - similar_word = act - if similar_word==None: - print("Error: Not Match!") - else: - replay_words[i]=similar_word - # replace_word.append(similar_word) - # replace_ind.append(i) - new_replay = f'{replay_words[0]}({replay_words[1]},{replay_words[2]})' - return new_replay - - # print(replace_word) - # print(replace_ind) - # replace_word = ['on','Table1'] - # replace_ind = [0,2] - # 替换reply中单词 - # for new_word,ind in zip(replace_word,replace_ind): - # 把第 ind 个单词替换成 new_word - -def replay_together(reply): - max_similarity = 0 - similar_word = None - query_token = nlp_en(reply) - for state in together_words_ls: - word_token = nlp_en(state) - similarity = query_token.similarity(word_token) - # print("similarity:",similarity,real_obj_name) - if similarity > max_similarity: - max_similarity = similarity - similar_word = state - if similar_word==None: - print("Error: Not Match!") - else: - return similar_word - -print("原来的：",reply) -new_replay = replay_one_by_one(copy.deepcopy(replay_words)) -print("逐个比较后的现在的：",new_replay) -new_replay2 = replay_together(copy.deepcopy(reply)) -print("集体比较后的现在的：",new_replay2) -# new_replay3 = replay_together_w2v(copy.deepcopy(reply)) -# print("W2V比较后的现在的：",new_replay3) - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt deleted file mode 100644 index a29c86d..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt +++ /dev/null @@ -1,3250 +0,0 @@ -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,Bar)} -{At(Robot,Bar)} -{At(Robot,Table1)} -{At(Robot,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} 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-{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} -{Exist(Yogurt)} -{Exist(VacuumCup)} -{Exist(SpringWater)} -{Exist(Bernachon)} -{Exist(NFCJuice)} -{Exist(Coffee)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(Water)} -{Exist(Coffee)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py deleted file mode 100644 index 35991f9..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py +++ /dev/null @@ -1,322 +0,0 @@ -# the empty string '' represents robot holds nothing -import os -import re - -Object = ['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'SpringWater'] -Cookable = ['Coffee', 'Water', 'Dessert'] -Place = ['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'] -Entity = ['Robot'] -Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table1'] - -import random - - -def single_predict_generation(oplist_1, oplist_2, predict_pattern) -> str: - index_1 = random.randint(0, len(oplist_1) - 1) - if oplist_2: - index_2 = random.randint(0, len(oplist_2) - 1) - - match predict_pattern: - case 'at': - return f'At({oplist_1[index_1]},{oplist_2[index_2]})' - case 'is': - return f'Is({oplist_1[index_1]},{oplist_2[index_2]})' - case 'hold': - return f'Holding({oplist_1[index_1]})' - case 'on': - return f'On({oplist_1[index_1]},{oplist_2[index_2]})' - case 'exist': - return f'Exist({oplist_1[index_1]})' - case _: - raise RuntimeError('Incorrect predict pattern!') - - -def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: - count = 0 - res = [] - - match predict_pattern: - case 'at': - pattern = f'At(%s,%s)' - case 'is': - pattern = f'Is(%s,%s)' - case 'hold': - pattern = f'Holding(%s)' - case 'on': - pattern = f'On(%s,%s)' - case 'exist': - pattern = f'Exist(%s)' - case _: - raise RuntimeError('Incorrect predict pattern!') - - for str_1 in oplist_1: - if oplist_2: - for str_2 in oplist_2: - count += 1 - res.append(pattern % (str_1, str_2)) - else: - count += 1 - res.append(pattern % str_1) - - return count, res - - -def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): - # res stores lists of sets, while each state represent in set. - res = [] - - # goal states for VLN - for i in range(vln_num): - res.append({single_predict_generation(['Robot'], Place, 'at')}) - - # goal states for VLM - for i in range(int(vlm_num)): - for j in range(int(vlm_num)): - res.append( - { - single_predict_generation(['Robot'], Place, 'at'), - single_predict_generation(Operable, ['0', '1'], 'is') - } - ) - - # goal states for Open-task-1 - for i in range(int(opentask_num)): - for j in range(int(opentask_num)): - res.append( - { - single_predict_generation(['Robot'], Place, 'at'), - single_predict_generation(Object, Place, 'on') - } - ) - - print(res) - print(len(res)) - - return res - - -def enumerate_goal_states(total: int): - res = [] - - point_15 = int(total * .15) - point_10 = int(total * .10) - - # goal states for VLN, .15 - count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') - list_vln = ['{%s}' % i for i in list_vln] - if count_vln < point_15: - list_vln *= point_15 // count_vln - for i in range(0, point_15 - len(list_vln)): - list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at')) - # print(f'VLN 任务的目标状态数：{count_vln}') - res += list_vln - - # goal states for VLM-1, 0.15 - count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') - list_vlm_1 = ['{%s}' % i for i in list_vlm_1] - if count_vlm_1 < point_15: - list_vlm_1 *= point_15 // count_vlm_1 - for i in range(0, point_15 - len(list_vlm_1)): - list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on'))) - res += list_vlm_1 - - # goal states for VLM-2, 0.15 - count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - list_vlm_2 = ['{%s}' % i for i in list_vlm_2] - if count_vlm_2 < point_15: - list_vlm_2 *= point_15 // count_vlm_2 - for i in range(0, point_15 - len(list_vlm_2)): - list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is')) - res += list_vlm_2 - - # goal states for VLM-3, 0.1 - count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], None, 'hold') - list_vlm_3 = ['{%s}' % i for i in list_vlm_3] - if count_vlm_3 < point_10: - list_vlm_3 *= point_10 // count_vlm_3 - for i in range(0, point_10 - len(list_vlm_3)): - list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold')) - res += list_vlm_3 - - count_vlm_4, list_vlm_4 = enumerate_predict(Object, None, 'exist') - list_vlm_4 = ['{%s}' % i for i in list_vlm_4] - if count_vlm_4 < point_10: - list_vlm_4 *= point_10 // count_vlm_4 - for i in range(0, point_10 - len(list_vlm_4)): - list_vlm_4.append('{%s}' % single_predict_generation(Object, None, 'exist')) - res += list_vlm_4 - - # goal states for OT, 0.15 - # count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') - # list_ot = ['{%s}' % i for i in list_ot] - # if count_ot < point_15: - # list_ot *= point_15 // count_ot - # for i in range(0, point_15 - len(list_ot)): - # list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on')) - # res += list_ot - - # goal states for compound-1, 0.1 - # count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') - # count_2, list_2 = enumerate_predict(Object, Place, 'on') - # list_tmp = [] - # for i in list_1: - # for j in list_2: - # list_tmp.append('{%s,%s}' % (i, j)) - # if len(list_tmp) < point_10: - # list_tmp *= point_10 // len(list_tmp) - # list_tmp += list_tmp[0:point_10 - len(list_tmp)] - # else: - # list_tmp = list_tmp[:point_10] - # res += list_tmp - - # goal states for compound-2, 0.1 - # count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') - # count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') - # list_tmp = [] - # for i in list_1: - # for j in list_2: - # list_tmp.append('{%s,%s}' % (i, j)) - # if len(list_tmp) < point_10: - # list_tmp *= point_10 // len(list_tmp) - # list_tmp += list_tmp[0:point_10 - len(list_tmp)] - # else: - # list_tmp = list_tmp[:point_10] - # res += list_tmp - - # goal states for compound-3, 0.1 - # count_1, list_1 = enumerate_predict(Cookable, Place, 'on') - # count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') - # list_tmp = [] - # for i in list_1: - # for j in list_2: - # list_tmp.append('{%s,%s}' % (i, j)) - # if len(list_tmp) < point_10: - # list_tmp *= point_10 // len(list_tmp) - # list_tmp += list_tmp[0:point_10 - len(list_tmp)] - # else: - # list_tmp = list_tmp[:point_10] - # res += list_tmp - - # # goal states for VLM-1, 0.15 - # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') - # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') - # - # # goal states for open-task - # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') - # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') - # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') - - with open(os.path.join('./goal_states.txt'), 'w+') as file: - for i in res: - if 'Is' in i and 'ACTemperature' in i: - i = re.sub(',0', ',Up', i) - i = re.sub(',1', ',Down', i) - elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): - i = re.sub(',0', ',Off', i) - i = re.sub(',1', ',On', i) - elif 'Is' in i and ('Chairs' in i or 'Floor' in i or 'Table' in i): - i = re.sub(',0', ',Dirty', i) - i = re.sub(',1', ',Clean', i) - - file.write(i + '\n') - - -def translate_zero_one(i: str) -> str: - if 'ACTemperature' in i: - i = re.sub('On\)', '调高', i) - i = re.sub('Off\)', '调低', i) - elif 'AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i: - i = re.sub('On\)', '关闭', i) - i = re.sub('Off\)', '打开', i) - elif 'Chairs' in i or 'Floor' in i or 'Table' in i: - i = re.sub('On\)', '脏', i) - i = re.sub('Off\)', '打扫干净', i) - - return i - - -def enumerate_goal_states_with_describe() -> str: - with open(os.path.join('./goal_states_with_description.txt'), 'w', encoding='utf-8') as file: - # vln - count, res = enumerate_predict(['Robot'], Place, 'at') - print(count) - for i in range(count): - tmp = '#' + res[i].split(',')[-1][:-1] - file.write(f'{res[i]}\t你能过来一下吗？我在{tmp}这里。\n') - file.write(f'{res[i]}\t麻烦你去一下{tmp}。\n') - file.write(f'{res[i]}\t你能去{tmp}那个位置吗？\n') - - # vlm, on - count, res = enumerate_predict(Object, Place, 'on') - print(count) - for i in range(count): - tmp = res[i].split(',') - obj = '#' + tmp[0][3:] - pla = '#' + tmp[-1][:-1] - file.write(f'{res[i]}\t麻烦你把{obj}放到{pla}那个位置。\n') - file.write(f'{res[i]}\t请你拿一下{obj}到{pla}位置。\n') - file.write(f'{res[i]}\t你好，我在{pla}，请你拿一下{obj}到位置。\n') - - # vlm, is - count, res = enumerate_predict(Operable, ['On', 'Off'], 'is') - print(count) - for i in res: - tmp = i.split(',') - thing, op = '#' + tmp[0][3:], '#' + tmp[-1] - file.write('%s\t%s\n' % (i, translate_zero_one(f'你能把{thing}{op}一下吗？'))) - - - # vlm, holding - count, res = enumerate_predict(Object + ['Nothing'], None, 'hold') - print(count) - for i in res: - tmp = '#' + i.split('(')[-1][:-1] - if tmp == 'Nothing': - file.write(f'{i}\t你手里是没有东西的吗？\n') - continue - file.write(f'{i}\t你能把{tmp}抓在手里吗？\n') - file.write(f'{i}\t你能一直拿着{tmp}吗？\n') - - - count, res = enumerate_predict(Cookable, Place, 'on') - print(count) - for i in res: - tmp = i.split(',') - thing, pla = '#' + tmp[0][3:], '#' + tmp[-1][:-1] - - file.write(f'{i}\t你能制作{thing}并把它端到{pla}这里来吗？\n') - file.write(f'{i}\t给我来点{thing}，并把它端到{pla}这里来。\n') - return './goal_states_with_description.txt' - - -from copy import deepcopy - - -def mutex(path: str): - with open(os.path.join(path), 'r', encoding='utf-8') as file: - lines = "".join(file.readlines()) - new_line = deepcopy(lines) - - check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#BrightTable6', - '#Coffee', '#Water','#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', - '#Chips', '#NFCJuice', '#Bernachon', '#SpringWater', - '#AC', - '#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1'] - repla = ['#另一侧的吧台', '#茶水桌', '#咖啡桌', '#吧台', '#前门斜桌子', '#大厅长桌子西侧', '#大厅长桌子东侧', '#后门靠窗边圆桌', '#咖啡', '#水', - '#点心', '#盒装冰红茶', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶味的饮料', '#牛奶', '#保温杯', - '#薯片', '#NFC果汁', '#贝纳颂咖啡', '#矿泉水', - '#空调', - '#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#前门斜桌子'] - - for i, j in zip(check, repla): - new_line = re.sub(i, j, new_line) - new_line = re.sub('#', '', new_line) - lines = re.sub('#', '', lines) - - with open(os.path.join(path), 'w', encoding='utf-8') as file: - file.write(new_line) - -# generate_goal_states(30, 6, 6) -enumerate_goal_states(5000) -mutex(enumerate_goal_states_with_describe()) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt deleted file mode 100644 index bacfa3e..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt +++ /dev/null @@ -1,165 +0,0 @@ -{At(Robot,Bar)} -{At(Robot,Bar2)} -{At(Robot,WaterTable)} -{At(Robot,CoffeeTable)} -{At(Robot,Table1)} -{At(Robot,Table2)} -{At(Robot,Table3)} -{At(Robot,BrightTable6)} -{On(Coffee,Bar)} -{On(Coffee,Bar2)} -{On(Coffee,WaterTable)} -{On(Coffee,CoffeeTable)} -{On(Coffee,Table1)} -{On(Coffee,Table2)} -{On(Coffee,Table3)} -{On(Coffee,BrightTable6)} -{On(Water,Bar)} -{On(Water,Bar2)} -{On(Water,WaterTable)} -{On(Water,CoffeeTable)} -{On(Water,Table1)} -{On(Water,Table2)} -{On(Water,Table3)} -{On(Water,BrightTable6)} -{On(Dessert,Bar)} -{On(Dessert,Bar2)} -{On(Dessert,WaterTable)} -{On(Dessert,CoffeeTable)} -{On(Dessert,Table1)} -{On(Dessert,Table2)} -{On(Dessert,Table3)} -{On(Dessert,BrightTable6)} -{On(Softdrink,Bar)} -{On(Softdrink,Bar2)} -{On(Softdrink,WaterTable)} -{On(Softdrink,CoffeeTable)} -{On(Softdrink,Table1)} -{On(Softdrink,Table2)} -{On(Softdrink,Table3)} -{On(Softdrink,BrightTable6)} -{On(BottledDrink,Bar)} -{On(BottledDrink,Bar2)} -{On(BottledDrink,WaterTable)} -{On(BottledDrink,CoffeeTable)} -{On(BottledDrink,Table1)} -{On(BottledDrink,Table2)} -{On(BottledDrink,Table3)} -{On(BottledDrink,BrightTable6)} -{On(Yogurt,Bar)} -{On(Yogurt,Bar2)} -{On(Yogurt,WaterTable)} -{On(Yogurt,CoffeeTable)} -{On(Yogurt,Table1)} -{On(Yogurt,Table2)} -{On(Yogurt,Table3)} -{On(Yogurt,BrightTable6)} -{On(ADMilk,Bar)} -{On(ADMilk,Bar2)} -{On(ADMilk,WaterTable)} -{On(ADMilk,CoffeeTable)} -{On(ADMilk,Table1)} -{On(ADMilk,Table2)} -{On(ADMilk,Table3)} -{On(ADMilk,BrightTable6)} -{On(MilkDrink,Bar)} -{On(MilkDrink,Bar2)} -{On(MilkDrink,WaterTable)} -{On(MilkDrink,CoffeeTable)} -{On(MilkDrink,Table1)} -{On(MilkDrink,Table2)} -{On(MilkDrink,Table3)} -{On(MilkDrink,BrightTable6)} -{On(Milk,Bar)} -{On(Milk,Bar2)} -{On(Milk,WaterTable)} -{On(Milk,CoffeeTable)} -{On(Milk,Table1)} -{On(Milk,Table2)} -{On(Milk,Table3)} -{On(Milk,BrightTable6)} -{On(VacuumCup,Bar)} -{On(VacuumCup,Bar2)} -{On(VacuumCup,WaterTable)} -{On(VacuumCup,CoffeeTable)} -{On(VacuumCup,Table1)} -{On(VacuumCup,Table2)} -{On(VacuumCup,Table3)} -{On(VacuumCup,BrightTable6)} -{On(Chips,Bar)} -{On(Chips,Bar2)} -{On(Chips,WaterTable)} -{On(Chips,CoffeeTable)} -{On(Chips,Table1)} -{On(Chips,Table2)} -{On(Chips,Table3)} -{On(Chips,BrightTable6)} -{On(NFCJuice,Bar)} -{On(NFCJuice,Bar2)} -{On(NFCJuice,WaterTable)} -{On(NFCJuice,CoffeeTable)} -{On(NFCJuice,Table1)} -{On(NFCJuice,Table2)} -{On(NFCJuice,Table3)} -{On(NFCJuice,BrightTable6)} -{On(Bernachon,Bar)} -{On(Bernachon,Bar2)} -{On(Bernachon,WaterTable)} -{On(Bernachon,CoffeeTable)} -{On(Bernachon,Table1)} -{On(Bernachon,Table2)} -{On(Bernachon,Table3)} -{On(Bernachon,BrightTable6)} -{On(SpringWater,Bar)} -{On(SpringWater,Bar2)} -{On(SpringWater,WaterTable)} -{On(SpringWater,CoffeeTable)} -{On(SpringWater,Table1)} -{On(SpringWater,Table2)} -{On(SpringWater,Table3)} -{On(SpringWater,BrightTable6)} -{Is(AC,Off)} -{Is(AC,On)} -{Is(ACTemperature,Up)} -{Is(ACTemperature,Down)} -{Is(HallLight,Off)} -{Is(HallLight,On)} -{Is(TubeLight,Off)} -{Is(TubeLight,On)} -{Is(Curtain,Off)} -{Is(Curtain,On)} -{Is(Chairs,Dirty)} -{Is(Chairs,Clean)} -{Is(Floor,Dirty)} -{Is(Floor,Clean)} -{Is(Table1,Dirty)} -{Is(Table1,Clean)} -{Holding(Coffee)} -{Holding(Water)} -{Holding(Dessert)} -{Holding(Softdrink)} -{Holding(BottledDrink)} -{Holding(Yogurt)} -{Holding(ADMilk)} -{Holding(MilkDrink)} -{Holding(Milk)} -{Holding(VacuumCup)} -{Holding(Chips)} -{Holding(NFCJuice)} -{Holding(Bernachon)} -{Holding(SpringWater)} -{Holding(Nothing)} -{Exist(Coffee)} -{Exist(Water)} -{Exist(Dessert)} -{Exist(Softdrink)} -{Exist(BottledDrink)} -{Exist(Yogurt)} -{Exist(ADMilk)} -{Exist(MilkDrink)} -{Exist(Milk)} -{Exist(VacuumCup)} -{Exist(Chips)} -{Exist(NFCJuice)} -{Exist(Bernachon)} -{Exist(SpringWater)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl deleted file mode 100644 index fd2b862..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl +++ /dev/null @@ -1,193 +0,0 @@ -{"title":"你能过来一下吗？我在吧台这里。","text":"At(Robot,Bar)"} -{"title":"麻烦你去一下吧台。","text":"At(Robot,Bar)"} -{"title":"你能去吧台那个位置吗？","text":"At(Robot,Bar)"} -{"title":"你能过来一下吗？我在茶水桌这里。","text":"At(Robot,WaterTable)"} -{"title":"麻烦你去一下茶水桌。","text":"At(Robot,WaterTable)"} -{"title":"你能去茶水桌那个位置吗？","text":"At(Robot,WaterTable)"} -{"title":"你能过来一下吗？我在咖啡桌这里。","text":"At(Robot,CoffeeTable)"} -{"title":"麻烦你去一下咖啡桌。","text":"At(Robot,CoffeeTable)"} -{"title":"你能去咖啡桌那个位置吗？","text":"At(Robot,CoffeeTable)"} -{"title":"你能过来一下吗？我在另一个吧台这里。","text":"At(Robot,Bar2)"} -{"title":"麻烦你去一下另一个吧台。","text":"At(Robot,Bar2)"} -{"title":"你能去另一个吧台那个位置吗？","text":"At(Robot,Bar2)"} -{"title":"你能过来一下吗？我在第一张桌子这里。","text":"At(Robot,Table1)"} -{"title":"麻烦你去一下第一张桌子。","text":"At(Robot,Table1)"} -{"title":"你能去第一张桌子那个位置吗？","text":"At(Robot,Table1)"} -{"title":"你能过来一下吗？我在第二张桌子这里。","text":"At(Robot,Table2)"} -{"title":"麻烦你去一下第二张桌子。","text":"At(Robot,Table2)"} -{"title":"你能去第二张桌子那个位置吗？","text":"At(Robot,Table2)"} -{"title":"你能过来一下吗？我在第三张桌子这里。","text":"At(Robot,Table3)"} -{"title":"麻烦你去一下第三张桌子。","text":"At(Robot,Table3)"} -{"title":"你能去第三张桌子那个位置吗？","text":"At(Robot,Table3)"} -{"title":"麻烦你把盒装冰红茶放到吧台那个位置。","text":"On(Softdrink,Bar)"} -{"title":"请你拿一下盒装冰红茶到吧台位置。","text":"On(Softdrink,Bar)"} -{"title":"麻烦你把盒装冰红茶放到茶水桌那个位置。","text":"On(Softdrink,WaterTable)"} -{"title":"请你拿一下盒装冰红茶到茶水桌位置。","text":"On(Softdrink,WaterTable)"} -{"title":"麻烦你把盒装冰红茶放到咖啡桌那个位置。","text":"On(Softdrink,CoffeeTable)"} -{"title":"请你拿一下盒装冰红茶到咖啡桌位置。","text":"On(Softdrink,CoffeeTable)"} -{"title":"麻烦你把盒装冰红茶放到另一个吧台那个位置。","text":"On(Softdrink,Bar2)"} -{"title":"请你拿一下盒装冰红茶到另一个吧台位置。","text":"On(Softdrink,Bar2)"} -{"title":"麻烦你把盒装冰红茶放到第一张桌子那个位置。","text":"On(Softdrink,Table1)"} -{"title":"请你拿一下盒装冰红茶到第一张桌子位置。","text":"On(Softdrink,Table1)"} -{"title":"麻烦你把盒装冰红茶放到第二张桌子那个位置。","text":"On(Softdrink,Table2)"} -{"title":"请你拿一下盒装冰红茶到第二张桌子位置。","text":"On(Softdrink,Table2)"} -{"title":"麻烦你把盒装冰红茶放到第三张桌子那个位置。","text":"On(Softdrink,Table3)"} -{"title":"请你拿一下盒装冰红茶到第三张桌子位置。","text":"On(Softdrink,Table3)"} -{"title":"麻烦你把瓶装饮料放到吧台那个位置。","text":"On(BottledDrink,Bar)"} -{"title":"请你拿一下瓶装饮料到吧台位置。","text":"On(BottledDrink,Bar)"} -{"title":"麻烦你把瓶装饮料放到茶水桌那个位置。","text":"On(BottledDrink,WaterTable)"} -{"title":"请你拿一下瓶装饮料到茶水桌位置。","text":"On(BottledDrink,WaterTable)"} -{"title":"麻烦你把瓶装饮料放到咖啡桌那个位置。","text":"On(BottledDrink,CoffeeTable)"} -{"title":"请你拿一下瓶装饮料到咖啡桌位置。","text":"On(BottledDrink,CoffeeTable)"} -{"title":"麻烦你把瓶装饮料放到另一个吧台那个位置。","text":"On(BottledDrink,Bar2)"} -{"title":"请你拿一下瓶装饮料到另一个吧台位置。","text":"On(BottledDrink,Bar2)"} -{"title":"麻烦你把瓶装饮料放到第一张桌子那个位置。","text":"On(BottledDrink,Table1)"} -{"title":"请你拿一下瓶装饮料到第一张桌子位置。","text":"On(BottledDrink,Table1)"} -{"title":"麻烦你把瓶装饮料放到第二张桌子那个位置。","text":"On(BottledDrink,Table2)"} -{"title":"请你拿一下瓶装饮料到第二张桌子位置。","text":"On(BottledDrink,Table2)"} -{"title":"麻烦你把瓶装饮料放到第三张桌子那个位置。","text":"On(BottledDrink,Table3)"} -{"title":"请你拿一下瓶装饮料到第三张桌子位置。","text":"On(BottledDrink,Table3)"} -{"title":"麻烦你把酸奶放到吧台那个位置。","text":"On(Yogurt,Bar)"} -{"title":"请你拿一下酸奶到吧台位置。","text":"On(Yogurt,Bar)"} -{"title":"麻烦你把酸奶放到茶水桌那个位置。","text":"On(Yogurt,WaterTable)"} -{"title":"请你拿一下酸奶到茶水桌位置。","text":"On(Yogurt,WaterTable)"} -{"title":"麻烦你把酸奶放到咖啡桌那个位置。","text":"On(Yogurt,CoffeeTable)"} -{"title":"请你拿一下酸奶到咖啡桌位置。","text":"On(Yogurt,CoffeeTable)"} -{"title":"麻烦你把酸奶放到另一个吧台那个位置。","text":"On(Yogurt,Bar2)"} -{"title":"请你拿一下酸奶到另一个吧台位置。","text":"On(Yogurt,Bar2)"} -{"title":"麻烦你把酸奶放到第一张桌子那个位置。","text":"On(Yogurt,Table1)"} -{"title":"请你拿一下酸奶到第一张桌子位置。","text":"On(Yogurt,Table1)"} -{"title":"麻烦你把酸奶放到第二张桌子那个位置。","text":"On(Yogurt,Table2)"} -{"title":"请你拿一下酸奶到第二张桌子位置。","text":"On(Yogurt,Table2)"} -{"title":"麻烦你把酸奶放到第三张桌子那个位置。","text":"On(Yogurt,Table3)"} -{"title":"请你拿一下酸奶到第三张桌子位置。","text":"On(Yogurt,Table3)"} -{"title":"麻烦你把AD钙奶放到吧台那个位置。","text":"On(ADMilk,Bar)"} -{"title":"请你拿一下AD钙奶到吧台位置。","text":"On(ADMilk,Bar)"} -{"title":"麻烦你把AD钙奶放到茶水桌那个位置。","text":"On(ADMilk,WaterTable)"} -{"title":"请你拿一下AD钙奶到茶水桌位置。","text":"On(ADMilk,WaterTable)"} -{"title":"麻烦你把AD钙奶放到咖啡桌那个位置。","text":"On(ADMilk,CoffeeTable)"} -{"title":"请你拿一下AD钙奶到咖啡桌位置。","text":"On(ADMilk,CoffeeTable)"} -{"title":"麻烦你把AD钙奶放到另一个吧台那个位置。","text":"On(ADMilk,Bar2)"} -{"title":"请你拿一下AD钙奶到另一个吧台位置。","text":"On(ADMilk,Bar2)"} -{"title":"麻烦你把AD钙奶放到第一张桌子那个位置。","text":"On(ADMilk,Table1)"} -{"title":"请你拿一下AD钙奶到第一张桌子位置。","text":"On(ADMilk,Table1)"} -{"title":"麻烦你把AD钙奶放到第二张桌子那个位置。","text":"On(ADMilk,Table2)"} -{"title":"请你拿一下AD钙奶到第二张桌子位置。","text":"On(ADMilk,Table2)"} -{"title":"麻烦你把AD钙奶放到第三张桌子那个位置。","text":"On(ADMilk,Table3)"} -{"title":"请你拿一下AD钙奶到第三张桌子位置。","text":"On(ADMilk,Table3)"} -{"title":"麻烦你把牛奶味的饮料放到吧台那个位置。","text":"On(MilkDrink,Bar)"} -{"title":"请你拿一下牛奶味的饮料到吧台位置。","text":"On(MilkDrink,Bar)"} -{"title":"麻烦你把牛奶味的饮料放到茶水桌那个位置。","text":"On(MilkDrink,WaterTable)"} -{"title":"请你拿一下牛奶味的饮料到茶水桌位置。","text":"On(MilkDrink,WaterTable)"} -{"title":"麻烦你把牛奶味的饮料放到咖啡桌那个位置。","text":"On(MilkDrink,CoffeeTable)"} -{"title":"请你拿一下牛奶味的饮料到咖啡桌位置。","text":"On(MilkDrink,CoffeeTable)"} -{"title":"麻烦你把牛奶味的饮料放到另一个吧台那个位置。","text":"On(MilkDrink,Bar2)"} -{"title":"请你拿一下牛奶味的饮料到另一个吧台位置。","text":"On(MilkDrink,Bar2)"} -{"title":"麻烦你把牛奶味的饮料放到第一张桌子那个位置。","text":"On(MilkDrink,Table1)"} -{"title":"请你拿一下牛奶味的饮料到第一张桌子位置。","text":"On(MilkDrink,Table1)"} -{"title":"麻烦你把牛奶味的饮料放到第二张桌子那个位置。","text":"On(MilkDrink,Table2)"} -{"title":"请你拿一下牛奶味的饮料到第二张桌子位置。","text":"On(MilkDrink,Table2)"} -{"title":"麻烦你把牛奶味的饮料放到第三张桌子那个位置。","text":"On(MilkDrink,Table3)"} -{"title":"请你拿一下牛奶味的饮料到第三张桌子位置。","text":"On(MilkDrink,Table3)"} -{"title":"麻烦你把牛奶放到吧台那个位置。","text":"On(Milk,Bar)"} -{"title":"请你拿一下牛奶到吧台位置。","text":"On(Milk,Bar)"} -{"title":"麻烦你把牛奶放到茶水桌那个位置。","text":"On(Milk,WaterTable)"} -{"title":"请你拿一下牛奶到茶水桌位置。","text":"On(Milk,WaterTable)"} -{"title":"麻烦你把牛奶放到咖啡桌那个位置。","text":"On(Milk,CoffeeTable)"} -{"title":"请你拿一下牛奶到咖啡桌位置。","text":"On(Milk,CoffeeTable)"} -{"title":"麻烦你把牛奶放到另一个吧台那个位置。","text":"On(Milk,Bar2)"} -{"title":"请你拿一下牛奶到另一个吧台位置。","text":"On(Milk,Bar2)"} -{"title":"麻烦你把牛奶放到第一张桌子那个位置。","text":"On(Milk,Table1)"} -{"title":"请你拿一下牛奶到第一张桌子位置。","text":"On(Milk,Table1)"} -{"title":"麻烦你把牛奶放到第二张桌子那个位置。","text":"On(Milk,Table2)"} -{"title":"请你拿一下牛奶到第二张桌子位置。","text":"On(Milk,Table2)"} -{"title":"麻烦你把牛奶放到第三张桌子那个位置。","text":"On(Milk,Table3)"} -{"title":"请你拿一下牛奶到第三张桌子位置。","text":"On(Milk,Table3)"} -{"title":"麻烦你把保温杯放到吧台那个位置。","text":"On(VacuumCup,Bar)"} -{"title":"请你拿一下保温杯到吧台位置。","text":"On(VacuumCup,Bar)"} -{"title":"麻烦你把保温杯放到茶水桌那个位置。","text":"On(VacuumCup,WaterTable)"} -{"title":"请你拿一下保温杯到茶水桌位置。","text":"On(VacuumCup,WaterTable)"} -{"title":"麻烦你把保温杯放到咖啡桌那个位置。","text":"On(VacuumCup,CoffeeTable)"} -{"title":"请你拿一下保温杯到咖啡桌位置。","text":"On(VacuumCup,CoffeeTable)"} -{"title":"麻烦你把保温杯放到另一个吧台那个位置。","text":"On(VacuumCup,Bar2)"} -{"title":"请你拿一下保温杯到另一个吧台位置。","text":"On(VacuumCup,Bar2)"} -{"title":"麻烦你把保温杯放到第一张桌子那个位置。","text":"On(VacuumCup,Table1)"} -{"title":"请你拿一下保温杯到第一张桌子位置。","text":"On(VacuumCup,Table1)"} -{"title":"麻烦你把保温杯放到第二张桌子那个位置。","text":"On(VacuumCup,Table2)"} -{"title":"请你拿一下保温杯到第二张桌子位置。","text":"On(VacuumCup,Table2)"} -{"title":"麻烦你把保温杯放到第三张桌子那个位置。","text":"On(VacuumCup,Table3)"} -{"title":"请你拿一下保温杯到第三张桌子位置。","text":"On(VacuumCup,Table3)"} -{"title":"你能把空调关闭一下吗？","text":"Is(AC,On)"} -{"title":"你能把空调打开一下吗？","text":"Is(AC,Off)"} -{"title":"你能把空调Temperature调高一下吗？","text":"Is(ACTemperature,On)"} -{"title":"你能把空调Temperature调低一下吗？","text":"Is(ACTemperature,Off)"} -{"title":"你能把大厅灯关闭一下吗？","text":"Is(HallLight,On)"} -{"title":"你能把大厅灯打开一下吗？","text":"Is(HallLight,Off)"} -{"title":"你能把筒灯关闭一下吗？","text":"Is(TubeLight,On)"} -{"title":"你能把筒灯打开一下吗？","text":"Is(TubeLight,Off)"} -{"title":"你能把窗帘关闭一下吗？","text":"Is(Curtain,On)"} -{"title":"你能把窗帘打开一下吗？","text":"Is(Curtain,Off)"} -{"title":"你能把椅子脏一下吗？","text":"Is(Chairs,On)"} -{"title":"你能把椅子打扫干净一下吗？","text":"Is(Chairs,Off)"} -{"title":"你能把地板脏一下吗？","text":"Is(Floor,On)"} -{"title":"你能把地板打扫干净一下吗？","text":"Is(Floor,Off)"} -{"title":"你能把第一张桌子脏一下吗？","text":"Is(Table1,On)"} -{"title":"你能把第一张桌子打扫干净一下吗？","text":"Is(Table1,Off)"} -{"title":"你能把盒装冰红茶抓在手里吗？","text":"Holding(Softdrink)"} -{"title":"你能一直拿着盒装冰红茶吗？","text":"Holding(Softdrink)"} -{"title":"你能把瓶装饮料抓在手里吗？","text":"Holding(BottledDrink)"} -{"title":"你能一直拿着瓶装饮料吗？","text":"Holding(BottledDrink)"} -{"title":"你能把酸奶抓在手里吗？","text":"Holding(Yogurt)"} -{"title":"你能一直拿着酸奶吗？","text":"Holding(Yogurt)"} -{"title":"你能把AD钙奶抓在手里吗？","text":"Holding(ADMilk)"} -{"title":"你能一直拿着AD钙奶吗？","text":"Holding(ADMilk)"} -{"title":"你能把牛奶味的饮料抓在手里吗？","text":"Holding(MilkDrink)"} -{"title":"你能一直拿着牛奶味的饮料吗？","text":"Holding(MilkDrink)"} -{"title":"你能把牛奶抓在手里吗？","text":"Holding(Milk)"} -{"title":"你能一直拿着牛奶吗？","text":"Holding(Milk)"} -{"title":"你能把保温杯抓在手里吗？","text":"Holding(VacuumCup)"} -{"title":"你能一直拿着保温杯吗？","text":"Holding(VacuumCup)"} -{"title":"你能把Nothing抓在手里吗？","text":"Holding(Nothing)"} -{"title":"你能一直拿着Nothing吗？","text":"Holding(Nothing)"} -{"title":"你能制作咖啡并把它端到吧台这里来吗？","text":"On(Coffee,Bar)"} -{"title":"给我来点咖啡，并把它端到吧台这里来。","text":"On(Coffee,Bar)"} -{"title":"你能制作咖啡并把它端到茶水桌这里来吗？","text":"On(Coffee,WaterTable)"} -{"title":"给我来点咖啡，并把它端到茶水桌这里来。","text":"On(Coffee,WaterTable)"} -{"title":"你能制作咖啡并把它端到咖啡桌这里来吗？","text":"On(Coffee,CoffeeTable)"} -{"title":"给我来点咖啡，并把它端到咖啡桌这里来。","text":"On(Coffee,CoffeeTable)"} -{"title":"你能制作咖啡并把它端到另一个吧台这里来吗？","text":"On(Coffee,Bar2)"} -{"title":"给我来点咖啡，并把它端到另一个吧台这里来。","text":"On(Coffee,Bar2)"} -{"title":"你能制作咖啡并把它端到第一张桌子这里来吗？","text":"On(Coffee,Table1)"} -{"title":"给我来点咖啡，并把它端到第一张桌子这里来。","text":"On(Coffee,Table1)"} -{"title":"你能制作咖啡并把它端到第二张桌子这里来吗？","text":"On(Coffee,Table2)"} -{"title":"给我来点咖啡，并把它端到第二张桌子这里来。","text":"On(Coffee,Table2)"} -{"title":"你能制作咖啡并把它端到第三张桌子这里来吗？","text":"On(Coffee,Table3)"} -{"title":"给我来点咖啡，并把它端到第三张桌子这里来。","text":"On(Coffee,Table3)"} -{"title":"你能制作水并把它端到吧台这里来吗？","text":"On(Water,Bar)"} -{"title":"给我来点水，并把它端到吧台这里来。","text":"On(Water,Bar)"} -{"title":"你能制作水并把它端到茶水桌这里来吗？","text":"On(Water,WaterTable)"} -{"title":"给我来点水，并把它端到茶水桌这里来。","text":"On(Water,WaterTable)"} -{"title":"你能制作水并把它端到咖啡桌这里来吗？","text":"On(Water,CoffeeTable)"} -{"title":"给我来点水，并把它端到咖啡桌这里来。","text":"On(Water,CoffeeTable)"} -{"title":"你能制作水并把它端到另一个吧台这里来吗？","text":"On(Water,Bar2)"} -{"title":"给我来点水，并把它端到另一个吧台这里来。","text":"On(Water,Bar2)"} -{"title":"你能制作水并把它端到第一张桌子这里来吗？","text":"On(Water,Table1)"} -{"title":"给我来点水，并把它端到第一张桌子这里来。","text":"On(Water,Table1)"} -{"title":"你能制作水并把它端到第二张桌子这里来吗？","text":"On(Water,Table2)"} -{"title":"给我来点水，并把它端到第二张桌子这里来。","text":"On(Water,Table2)"} -{"title":"你能制作水并把它端到第三张桌子这里来吗？","text":"On(Water,Table3)"} -{"title":"给我来点水，并把它端到第三张桌子这里来。","text":"On(Water,Table3)"} -{"title":"你能制作点心或者甜品并把它端到吧台这里来吗？","text":"On(Dessert,Bar)"} -{"title":"给我来点点心或者甜品，并把它端到吧台这里来。","text":"On(Dessert,Bar)"} -{"title":"你能制作点心或者甜品并把它端到茶水桌这里来吗？","text":"On(Dessert,WaterTable)"} -{"title":"给我来点点心或者甜品，并把它端到茶水桌这里来。","text":"On(Dessert,WaterTable)"} -{"title":"你能制作点心或者甜品并把它端到咖啡桌这里来吗？","text":"On(Dessert,CoffeeTable)"} -{"title":"给我来点点心或者甜品，并把它端到咖啡桌这里来。","text":"On(Dessert,CoffeeTable)"} -{"title":"你能制作点心或者甜品并把它端到另一个吧台这里来吗？","text":"On(Dessert,Bar2)"} -{"title":"给我来点点心或者甜品，并把它端到另一个吧台这里来。","text":"On(Dessert,Bar2)"} -{"title":"你能制作点心或者甜品并把它端到第一张桌子这里来吗？","text":"On(Dessert,Table1)"} -{"title":"给我来点点心或者甜品，并把它端到第一张桌子这里来。","text":"On(Dessert,Table1)"} -{"title":"你能制作点心或者甜品并把它端到第二张桌子这里来吗？","text":"On(Dessert,Table2)"} -{"title":"给我来点点心或者甜品，并把它端到第二张桌子这里来。","text":"On(Dessert,Table2)"} -{"title":"你能制作点心或者甜品并把它端到第三张桌子这里来吗？","text":"On(Dessert,Table3)"} -{"title":"给我来点点心或者甜品，并把它端到第三张桌子这里来。","text":"On(Dessert,Table3)"} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt deleted file mode 100644 index 7434478..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt +++ /dev/null @@ -1,454 +0,0 @@ -At(Robot,Bar) 你能过来一下吗？我在吧台这里。 -At(Robot,Bar) 麻烦你去一下吧台。 -At(Robot,Bar) 你能去吧台那个位置吗？ -At(Robot,Bar2) 你能过来一下吗？我在另一侧的吧台这里。 -At(Robot,Bar2) 麻烦你去一下另一侧的吧台。 -At(Robot,Bar2) 你能去另一侧的吧台那个位置吗？ -At(Robot,WaterTable) 你能过来一下吗？我在茶水桌这里。 -At(Robot,WaterTable) 麻烦你去一下茶水桌。 -At(Robot,WaterTable) 你能去茶水桌那个位置吗？ -At(Robot,CoffeeTable) 你能过来一下吗？我在咖啡桌这里。 -At(Robot,CoffeeTable) 麻烦你去一下咖啡桌。 -At(Robot,CoffeeTable) 你能去咖啡桌那个位置吗？ -At(Robot,Table1) 你能过来一下吗？我在前门斜桌子这里。 -At(Robot,Table1) 麻烦你去一下前门斜桌子。 -At(Robot,Table1) 你能去前门斜桌子那个位置吗？ -At(Robot,Table2) 你能过来一下吗？我在大厅长桌子西侧这里。 -At(Robot,Table2) 麻烦你去一下大厅长桌子西侧。 -At(Robot,Table2) 你能去大厅长桌子西侧那个位置吗？ -At(Robot,Table3) 你能过来一下吗？我在大厅长桌子东侧这里。 -At(Robot,Table3) 麻烦你去一下大厅长桌子东侧。 -At(Robot,Table3) 你能去大厅长桌子东侧那个位置吗？ -At(Robot,BrightTable6) 你能过来一下吗？我在后门靠窗边圆桌这里。 -At(Robot,BrightTable6) 麻烦你去一下后门靠窗边圆桌。 -At(Robot,BrightTable6) 你能去后门靠窗边圆桌那个位置吗？ -On(Coffee,Bar) 麻烦你把咖啡放到吧台那个位置。 -On(Coffee,Bar) 请你拿一下咖啡到吧台位置。 -On(Coffee,Bar) 你好，我在吧台，请你拿一下咖啡到位置。 -On(Coffee,Bar2) 麻烦你把咖啡放到另一侧的吧台那个位置。 -On(Coffee,Bar2) 请你拿一下咖啡到另一侧的吧台位置。 -On(Coffee,Bar2) 你好，我在另一侧的吧台，请你拿一下咖啡到位置。 -On(Coffee,WaterTable) 麻烦你把咖啡放到茶水桌那个位置。 -On(Coffee,WaterTable) 请你拿一下咖啡到茶水桌位置。 -On(Coffee,WaterTable) 你好，我在茶水桌，请你拿一下咖啡到位置。 -On(Coffee,CoffeeTable) 麻烦你把咖啡放到咖啡桌那个位置。 -On(Coffee,CoffeeTable) 请你拿一下咖啡到咖啡桌位置。 -On(Coffee,CoffeeTable) 你好，我在咖啡桌，请你拿一下咖啡到位置。 -On(Coffee,Table1) 麻烦你把咖啡放到前门斜桌子那个位置。 -On(Coffee,Table1) 请你拿一下咖啡到前门斜桌子位置。 -On(Coffee,Table1) 你好，我在前门斜桌子，请你拿一下咖啡到位置。 -On(Coffee,Table2) 麻烦你把咖啡放到大厅长桌子西侧那个位置。 -On(Coffee,Table2) 请你拿一下咖啡到大厅长桌子西侧位置。 -On(Coffee,Table2) 你好，我在大厅长桌子西侧，请你拿一下咖啡到位置。 -On(Coffee,Table3) 麻烦你把咖啡放到大厅长桌子东侧那个位置。 -On(Coffee,Table3) 请你拿一下咖啡到大厅长桌子东侧位置。 -On(Coffee,Table3) 你好，我在大厅长桌子东侧，请你拿一下咖啡到位置。 -On(Coffee,BrightTable6) 麻烦你把咖啡放到后门靠窗边圆桌那个位置。 -On(Coffee,BrightTable6) 请你拿一下咖啡到后门靠窗边圆桌位置。 -On(Coffee,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下咖啡到位置。 -On(Water,Bar) 麻烦你把水放到吧台那个位置。 -On(Water,Bar) 请你拿一下水到吧台位置。 -On(Water,Bar) 你好，我在吧台，请你拿一下水到位置。 -On(Water,Bar2) 麻烦你把水放到另一侧的吧台那个位置。 -On(Water,Bar2) 请你拿一下水到另一侧的吧台位置。 -On(Water,Bar2) 你好，我在另一侧的吧台，请你拿一下水到位置。 -On(Water,WaterTable) 麻烦你把水放到茶水桌那个位置。 -On(Water,WaterTable) 请你拿一下水到茶水桌位置。 -On(Water,WaterTable) 你好，我在茶水桌，请你拿一下水到位置。 -On(Water,CoffeeTable) 麻烦你把水放到咖啡桌那个位置。 -On(Water,CoffeeTable) 请你拿一下水到咖啡桌位置。 -On(Water,CoffeeTable) 你好，我在咖啡桌，请你拿一下水到位置。 -On(Water,Table1) 麻烦你把水放到前门斜桌子那个位置。 -On(Water,Table1) 请你拿一下水到前门斜桌子位置。 -On(Water,Table1) 你好，我在前门斜桌子，请你拿一下水到位置。 -On(Water,Table2) 麻烦你把水放到大厅长桌子西侧那个位置。 -On(Water,Table2) 请你拿一下水到大厅长桌子西侧位置。 -On(Water,Table2) 你好，我在大厅长桌子西侧，请你拿一下水到位置。 -On(Water,Table3) 麻烦你把水放到大厅长桌子东侧那个位置。 -On(Water,Table3) 请你拿一下水到大厅长桌子东侧位置。 -On(Water,Table3) 你好，我在大厅长桌子东侧，请你拿一下水到位置。 -On(Water,BrightTable6) 麻烦你把水放到后门靠窗边圆桌那个位置。 -On(Water,BrightTable6) 请你拿一下水到后门靠窗边圆桌位置。 -On(Water,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下水到位置。 -On(Dessert,Bar) 麻烦你把点心放到吧台那个位置。 -On(Dessert,Bar) 请你拿一下点心到吧台位置。 -On(Dessert,Bar) 你好，我在吧台，请你拿一下点心到位置。 -On(Dessert,Bar2) 麻烦你把点心放到另一侧的吧台那个位置。 -On(Dessert,Bar2) 请你拿一下点心到另一侧的吧台位置。 -On(Dessert,Bar2) 你好，我在另一侧的吧台，请你拿一下点心到位置。 -On(Dessert,WaterTable) 麻烦你把点心放到茶水桌那个位置。 -On(Dessert,WaterTable) 请你拿一下点心到茶水桌位置。 -On(Dessert,WaterTable) 你好，我在茶水桌，请你拿一下点心到位置。 -On(Dessert,CoffeeTable) 麻烦你把点心放到咖啡桌那个位置。 -On(Dessert,CoffeeTable) 请你拿一下点心到咖啡桌位置。 -On(Dessert,CoffeeTable) 你好，我在咖啡桌，请你拿一下点心到位置。 -On(Dessert,Table1) 麻烦你把点心放到前门斜桌子那个位置。 -On(Dessert,Table1) 请你拿一下点心到前门斜桌子位置。 -On(Dessert,Table1) 你好，我在前门斜桌子，请你拿一下点心到位置。 -On(Dessert,Table2) 麻烦你把点心放到大厅长桌子西侧那个位置。 -On(Dessert,Table2) 请你拿一下点心到大厅长桌子西侧位置。 -On(Dessert,Table2) 你好，我在大厅长桌子西侧，请你拿一下点心到位置。 -On(Dessert,Table3) 麻烦你把点心放到大厅长桌子东侧那个位置。 -On(Dessert,Table3) 请你拿一下点心到大厅长桌子东侧位置。 -On(Dessert,Table3) 你好，我在大厅长桌子东侧，请你拿一下点心到位置。 -On(Dessert,BrightTable6) 麻烦你把点心放到后门靠窗边圆桌那个位置。 -On(Dessert,BrightTable6) 请你拿一下点心到后门靠窗边圆桌位置。 -On(Dessert,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下点心到位置。 -On(Softdrink,Bar) 麻烦你把盒装冰红茶放到吧台那个位置。 -On(Softdrink,Bar) 请你拿一下盒装冰红茶到吧台位置。 -On(Softdrink,Bar) 你好，我在吧台，请你拿一下盒装冰红茶到位置。 -On(Softdrink,Bar2) 麻烦你把盒装冰红茶放到另一侧的吧台那个位置。 -On(Softdrink,Bar2) 请你拿一下盒装冰红茶到另一侧的吧台位置。 -On(Softdrink,Bar2) 你好，我在另一侧的吧台，请你拿一下盒装冰红茶到位置。 -On(Softdrink,WaterTable) 麻烦你把盒装冰红茶放到茶水桌那个位置。 -On(Softdrink,WaterTable) 请你拿一下盒装冰红茶到茶水桌位置。 -On(Softdrink,WaterTable) 你好，我在茶水桌，请你拿一下盒装冰红茶到位置。 -On(Softdrink,CoffeeTable) 麻烦你把盒装冰红茶放到咖啡桌那个位置。 -On(Softdrink,CoffeeTable) 请你拿一下盒装冰红茶到咖啡桌位置。 -On(Softdrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下盒装冰红茶到位置。 -On(Softdrink,Table1) 麻烦你把盒装冰红茶放到前门斜桌子那个位置。 -On(Softdrink,Table1) 请你拿一下盒装冰红茶到前门斜桌子位置。 -On(Softdrink,Table1) 你好，我在前门斜桌子，请你拿一下盒装冰红茶到位置。 -On(Softdrink,Table2) 麻烦你把盒装冰红茶放到大厅长桌子西侧那个位置。 -On(Softdrink,Table2) 请你拿一下盒装冰红茶到大厅长桌子西侧位置。 -On(Softdrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下盒装冰红茶到位置。 -On(Softdrink,Table3) 麻烦你把盒装冰红茶放到大厅长桌子东侧那个位置。 -On(Softdrink,Table3) 请你拿一下盒装冰红茶到大厅长桌子东侧位置。 -On(Softdrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下盒装冰红茶到位置。 -On(Softdrink,BrightTable6) 麻烦你把盒装冰红茶放到后门靠窗边圆桌那个位置。 -On(Softdrink,BrightTable6) 请你拿一下盒装冰红茶到后门靠窗边圆桌位置。 -On(Softdrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下盒装冰红茶到位置。 -On(BottledDrink,Bar) 麻烦你把瓶装饮料放到吧台那个位置。 -On(BottledDrink,Bar) 请你拿一下瓶装饮料到吧台位置。 -On(BottledDrink,Bar) 你好，我在吧台，请你拿一下瓶装饮料到位置。 -On(BottledDrink,Bar2) 麻烦你把瓶装饮料放到另一侧的吧台那个位置。 -On(BottledDrink,Bar2) 请你拿一下瓶装饮料到另一侧的吧台位置。 -On(BottledDrink,Bar2) 你好，我在另一侧的吧台，请你拿一下瓶装饮料到位置。 -On(BottledDrink,WaterTable) 麻烦你把瓶装饮料放到茶水桌那个位置。 -On(BottledDrink,WaterTable) 请你拿一下瓶装饮料到茶水桌位置。 -On(BottledDrink,WaterTable) 你好，我在茶水桌，请你拿一下瓶装饮料到位置。 -On(BottledDrink,CoffeeTable) 麻烦你把瓶装饮料放到咖啡桌那个位置。 -On(BottledDrink,CoffeeTable) 请你拿一下瓶装饮料到咖啡桌位置。 -On(BottledDrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下瓶装饮料到位置。 -On(BottledDrink,Table1) 麻烦你把瓶装饮料放到前门斜桌子那个位置。 -On(BottledDrink,Table1) 请你拿一下瓶装饮料到前门斜桌子位置。 -On(BottledDrink,Table1) 你好，我在前门斜桌子，请你拿一下瓶装饮料到位置。 -On(BottledDrink,Table2) 麻烦你把瓶装饮料放到大厅长桌子西侧那个位置。 -On(BottledDrink,Table2) 请你拿一下瓶装饮料到大厅长桌子西侧位置。 -On(BottledDrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下瓶装饮料到位置。 -On(BottledDrink,Table3) 麻烦你把瓶装饮料放到大厅长桌子东侧那个位置。 -On(BottledDrink,Table3) 请你拿一下瓶装饮料到大厅长桌子东侧位置。 -On(BottledDrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下瓶装饮料到位置。 -On(BottledDrink,BrightTable6) 麻烦你把瓶装饮料放到后门靠窗边圆桌那个位置。 -On(BottledDrink,BrightTable6) 请你拿一下瓶装饮料到后门靠窗边圆桌位置。 -On(BottledDrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下瓶装饮料到位置。 -On(Yogurt,Bar) 麻烦你把酸奶放到吧台那个位置。 -On(Yogurt,Bar) 请你拿一下酸奶到吧台位置。 -On(Yogurt,Bar) 你好，我在吧台，请你拿一下酸奶到位置。 -On(Yogurt,Bar2) 麻烦你把酸奶放到另一侧的吧台那个位置。 -On(Yogurt,Bar2) 请你拿一下酸奶到另一侧的吧台位置。 -On(Yogurt,Bar2) 你好，我在另一侧的吧台，请你拿一下酸奶到位置。 -On(Yogurt,WaterTable) 麻烦你把酸奶放到茶水桌那个位置。 -On(Yogurt,WaterTable) 请你拿一下酸奶到茶水桌位置。 -On(Yogurt,WaterTable) 你好，我在茶水桌，请你拿一下酸奶到位置。 -On(Yogurt,CoffeeTable) 麻烦你把酸奶放到咖啡桌那个位置。 -On(Yogurt,CoffeeTable) 请你拿一下酸奶到咖啡桌位置。 -On(Yogurt,CoffeeTable) 你好，我在咖啡桌，请你拿一下酸奶到位置。 -On(Yogurt,Table1) 麻烦你把酸奶放到前门斜桌子那个位置。 -On(Yogurt,Table1) 请你拿一下酸奶到前门斜桌子位置。 -On(Yogurt,Table1) 你好，我在前门斜桌子，请你拿一下酸奶到位置。 -On(Yogurt,Table2) 麻烦你把酸奶放到大厅长桌子西侧那个位置。 -On(Yogurt,Table2) 请你拿一下酸奶到大厅长桌子西侧位置。 -On(Yogurt,Table2) 你好，我在大厅长桌子西侧，请你拿一下酸奶到位置。 -On(Yogurt,Table3) 麻烦你把酸奶放到大厅长桌子东侧那个位置。 -On(Yogurt,Table3) 请你拿一下酸奶到大厅长桌子东侧位置。 -On(Yogurt,Table3) 你好，我在大厅长桌子东侧，请你拿一下酸奶到位置。 -On(Yogurt,BrightTable6) 麻烦你把酸奶放到后门靠窗边圆桌那个位置。 -On(Yogurt,BrightTable6) 请你拿一下酸奶到后门靠窗边圆桌位置。 -On(Yogurt,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下酸奶到位置。 -On(ADMilk,Bar) 麻烦你把AD钙奶放到吧台那个位置。 -On(ADMilk,Bar) 请你拿一下AD钙奶到吧台位置。 -On(ADMilk,Bar) 你好，我在吧台，请你拿一下AD钙奶到位置。 -On(ADMilk,Bar2) 麻烦你把AD钙奶放到另一侧的吧台那个位置。 -On(ADMilk,Bar2) 请你拿一下AD钙奶到另一侧的吧台位置。 -On(ADMilk,Bar2) 你好，我在另一侧的吧台，请你拿一下AD钙奶到位置。 -On(ADMilk,WaterTable) 麻烦你把AD钙奶放到茶水桌那个位置。 -On(ADMilk,WaterTable) 请你拿一下AD钙奶到茶水桌位置。 -On(ADMilk,WaterTable) 你好，我在茶水桌，请你拿一下AD钙奶到位置。 -On(ADMilk,CoffeeTable) 麻烦你把AD钙奶放到咖啡桌那个位置。 -On(ADMilk,CoffeeTable) 请你拿一下AD钙奶到咖啡桌位置。 -On(ADMilk,CoffeeTable) 你好，我在咖啡桌，请你拿一下AD钙奶到位置。 -On(ADMilk,Table1) 麻烦你把AD钙奶放到前门斜桌子那个位置。 -On(ADMilk,Table1) 请你拿一下AD钙奶到前门斜桌子位置。 -On(ADMilk,Table1) 你好，我在前门斜桌子，请你拿一下AD钙奶到位置。 -On(ADMilk,Table2) 麻烦你把AD钙奶放到大厅长桌子西侧那个位置。 -On(ADMilk,Table2) 请你拿一下AD钙奶到大厅长桌子西侧位置。 -On(ADMilk,Table2) 你好，我在大厅长桌子西侧，请你拿一下AD钙奶到位置。 -On(ADMilk,Table3) 麻烦你把AD钙奶放到大厅长桌子东侧那个位置。 -On(ADMilk,Table3) 请你拿一下AD钙奶到大厅长桌子东侧位置。 -On(ADMilk,Table3) 你好，我在大厅长桌子东侧，请你拿一下AD钙奶到位置。 -On(ADMilk,BrightTable6) 麻烦你把AD钙奶放到后门靠窗边圆桌那个位置。 -On(ADMilk,BrightTable6) 请你拿一下AD钙奶到后门靠窗边圆桌位置。 -On(ADMilk,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下AD钙奶到位置。 -On(MilkDrink,Bar) 麻烦你把牛奶味的饮料放到吧台那个位置。 -On(MilkDrink,Bar) 请你拿一下牛奶味的饮料到吧台位置。 -On(MilkDrink,Bar) 你好，我在吧台，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,Bar2) 麻烦你把牛奶味的饮料放到另一侧的吧台那个位置。 -On(MilkDrink,Bar2) 请你拿一下牛奶味的饮料到另一侧的吧台位置。 -On(MilkDrink,Bar2) 你好，我在另一侧的吧台，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,WaterTable) 麻烦你把牛奶味的饮料放到茶水桌那个位置。 -On(MilkDrink,WaterTable) 请你拿一下牛奶味的饮料到茶水桌位置。 -On(MilkDrink,WaterTable) 你好，我在茶水桌，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,CoffeeTable) 麻烦你把牛奶味的饮料放到咖啡桌那个位置。 -On(MilkDrink,CoffeeTable) 请你拿一下牛奶味的饮料到咖啡桌位置。 -On(MilkDrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,Table1) 麻烦你把牛奶味的饮料放到前门斜桌子那个位置。 -On(MilkDrink,Table1) 请你拿一下牛奶味的饮料到前门斜桌子位置。 -On(MilkDrink,Table1) 你好，我在前门斜桌子，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,Table2) 麻烦你把牛奶味的饮料放到大厅长桌子西侧那个位置。 -On(MilkDrink,Table2) 请你拿一下牛奶味的饮料到大厅长桌子西侧位置。 -On(MilkDrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,Table3) 麻烦你把牛奶味的饮料放到大厅长桌子东侧那个位置。 -On(MilkDrink,Table3) 请你拿一下牛奶味的饮料到大厅长桌子东侧位置。 -On(MilkDrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下牛奶味的饮料到位置。 -On(MilkDrink,BrightTable6) 麻烦你把牛奶味的饮料放到后门靠窗边圆桌那个位置。 -On(MilkDrink,BrightTable6) 请你拿一下牛奶味的饮料到后门靠窗边圆桌位置。 -On(MilkDrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下牛奶味的饮料到位置。 -On(Milk,Bar) 麻烦你把牛奶放到吧台那个位置。 -On(Milk,Bar) 请你拿一下牛奶到吧台位置。 -On(Milk,Bar) 你好，我在吧台，请你拿一下牛奶到位置。 -On(Milk,Bar2) 麻烦你把牛奶放到另一侧的吧台那个位置。 -On(Milk,Bar2) 请你拿一下牛奶到另一侧的吧台位置。 -On(Milk,Bar2) 你好，我在另一侧的吧台，请你拿一下牛奶到位置。 -On(Milk,WaterTable) 麻烦你把牛奶放到茶水桌那个位置。 -On(Milk,WaterTable) 请你拿一下牛奶到茶水桌位置。 -On(Milk,WaterTable) 你好，我在茶水桌，请你拿一下牛奶到位置。 -On(Milk,CoffeeTable) 麻烦你把牛奶放到咖啡桌那个位置。 -On(Milk,CoffeeTable) 请你拿一下牛奶到咖啡桌位置。 -On(Milk,CoffeeTable) 你好，我在咖啡桌，请你拿一下牛奶到位置。 -On(Milk,Table1) 麻烦你把牛奶放到前门斜桌子那个位置。 -On(Milk,Table1) 请你拿一下牛奶到前门斜桌子位置。 -On(Milk,Table1) 你好，我在前门斜桌子，请你拿一下牛奶到位置。 -On(Milk,Table2) 麻烦你把牛奶放到大厅长桌子西侧那个位置。 -On(Milk,Table2) 请你拿一下牛奶到大厅长桌子西侧位置。 -On(Milk,Table2) 你好，我在大厅长桌子西侧，请你拿一下牛奶到位置。 -On(Milk,Table3) 麻烦你把牛奶放到大厅长桌子东侧那个位置。 -On(Milk,Table3) 请你拿一下牛奶到大厅长桌子东侧位置。 -On(Milk,Table3) 你好，我在大厅长桌子东侧，请你拿一下牛奶到位置。 -On(Milk,BrightTable6) 麻烦你把牛奶放到后门靠窗边圆桌那个位置。 -On(Milk,BrightTable6) 请你拿一下牛奶到后门靠窗边圆桌位置。 -On(Milk,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下牛奶到位置。 -On(VacuumCup,Bar) 麻烦你把保温杯放到吧台那个位置。 -On(VacuumCup,Bar) 请你拿一下保温杯到吧台位置。 -On(VacuumCup,Bar) 你好，我在吧台，请你拿一下保温杯到位置。 -On(VacuumCup,Bar2) 麻烦你把保温杯放到另一侧的吧台那个位置。 -On(VacuumCup,Bar2) 请你拿一下保温杯到另一侧的吧台位置。 -On(VacuumCup,Bar2) 你好，我在另一侧的吧台，请你拿一下保温杯到位置。 -On(VacuumCup,WaterTable) 麻烦你把保温杯放到茶水桌那个位置。 -On(VacuumCup,WaterTable) 请你拿一下保温杯到茶水桌位置。 -On(VacuumCup,WaterTable) 你好，我在茶水桌，请你拿一下保温杯到位置。 -On(VacuumCup,CoffeeTable) 麻烦你把保温杯放到咖啡桌那个位置。 -On(VacuumCup,CoffeeTable) 请你拿一下保温杯到咖啡桌位置。 -On(VacuumCup,CoffeeTable) 你好，我在咖啡桌，请你拿一下保温杯到位置。 -On(VacuumCup,Table1) 麻烦你把保温杯放到前门斜桌子那个位置。 -On(VacuumCup,Table1) 请你拿一下保温杯到前门斜桌子位置。 -On(VacuumCup,Table1) 你好，我在前门斜桌子，请你拿一下保温杯到位置。 -On(VacuumCup,Table2) 麻烦你把保温杯放到大厅长桌子西侧那个位置。 -On(VacuumCup,Table2) 请你拿一下保温杯到大厅长桌子西侧位置。 -On(VacuumCup,Table2) 你好，我在大厅长桌子西侧，请你拿一下保温杯到位置。 -On(VacuumCup,Table3) 麻烦你把保温杯放到大厅长桌子东侧那个位置。 -On(VacuumCup,Table3) 请你拿一下保温杯到大厅长桌子东侧位置。 -On(VacuumCup,Table3) 你好，我在大厅长桌子东侧，请你拿一下保温杯到位置。 -On(VacuumCup,BrightTable6) 麻烦你把保温杯放到后门靠窗边圆桌那个位置。 -On(VacuumCup,BrightTable6) 请你拿一下保温杯到后门靠窗边圆桌位置。 -On(VacuumCup,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下保温杯到位置。 -On(Chips,Bar) 麻烦你把薯片放到吧台那个位置。 -On(Chips,Bar) 请你拿一下薯片到吧台位置。 -On(Chips,Bar) 你好，我在吧台，请你拿一下薯片到位置。 -On(Chips,Bar2) 麻烦你把薯片放到另一侧的吧台那个位置。 -On(Chips,Bar2) 请你拿一下薯片到另一侧的吧台位置。 -On(Chips,Bar2) 你好，我在另一侧的吧台，请你拿一下薯片到位置。 -On(Chips,WaterTable) 麻烦你把薯片放到茶水桌那个位置。 -On(Chips,WaterTable) 请你拿一下薯片到茶水桌位置。 -On(Chips,WaterTable) 你好，我在茶水桌，请你拿一下薯片到位置。 -On(Chips,CoffeeTable) 麻烦你把薯片放到咖啡桌那个位置。 -On(Chips,CoffeeTable) 请你拿一下薯片到咖啡桌位置。 -On(Chips,CoffeeTable) 你好，我在咖啡桌，请你拿一下薯片到位置。 -On(Chips,Table1) 麻烦你把薯片放到前门斜桌子那个位置。 -On(Chips,Table1) 请你拿一下薯片到前门斜桌子位置。 -On(Chips,Table1) 你好，我在前门斜桌子，请你拿一下薯片到位置。 -On(Chips,Table2) 麻烦你把薯片放到大厅长桌子西侧那个位置。 -On(Chips,Table2) 请你拿一下薯片到大厅长桌子西侧位置。 -On(Chips,Table2) 你好，我在大厅长桌子西侧，请你拿一下薯片到位置。 -On(Chips,Table3) 麻烦你把薯片放到大厅长桌子东侧那个位置。 -On(Chips,Table3) 请你拿一下薯片到大厅长桌子东侧位置。 -On(Chips,Table3) 你好，我在大厅长桌子东侧，请你拿一下薯片到位置。 -On(Chips,BrightTable6) 麻烦你把薯片放到后门靠窗边圆桌那个位置。 -On(Chips,BrightTable6) 请你拿一下薯片到后门靠窗边圆桌位置。 -On(Chips,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下薯片到位置。 -On(NFCJuice,Bar) 麻烦你把NFC果汁放到吧台那个位置。 -On(NFCJuice,Bar) 请你拿一下NFC果汁到吧台位置。 -On(NFCJuice,Bar) 你好，我在吧台，请你拿一下NFC果汁到位置。 -On(NFCJuice,Bar2) 麻烦你把NFC果汁放到另一侧的吧台那个位置。 -On(NFCJuice,Bar2) 请你拿一下NFC果汁到另一侧的吧台位置。 -On(NFCJuice,Bar2) 你好，我在另一侧的吧台，请你拿一下NFC果汁到位置。 -On(NFCJuice,WaterTable) 麻烦你把NFC果汁放到茶水桌那个位置。 -On(NFCJuice,WaterTable) 请你拿一下NFC果汁到茶水桌位置。 -On(NFCJuice,WaterTable) 你好，我在茶水桌，请你拿一下NFC果汁到位置。 -On(NFCJuice,CoffeeTable) 麻烦你把NFC果汁放到咖啡桌那个位置。 -On(NFCJuice,CoffeeTable) 请你拿一下NFC果汁到咖啡桌位置。 -On(NFCJuice,CoffeeTable) 你好，我在咖啡桌，请你拿一下NFC果汁到位置。 -On(NFCJuice,Table1) 麻烦你把NFC果汁放到前门斜桌子那个位置。 -On(NFCJuice,Table1) 请你拿一下NFC果汁到前门斜桌子位置。 -On(NFCJuice,Table1) 你好，我在前门斜桌子，请你拿一下NFC果汁到位置。 -On(NFCJuice,Table2) 麻烦你把NFC果汁放到大厅长桌子西侧那个位置。 -On(NFCJuice,Table2) 请你拿一下NFC果汁到大厅长桌子西侧位置。 -On(NFCJuice,Table2) 你好，我在大厅长桌子西侧，请你拿一下NFC果汁到位置。 -On(NFCJuice,Table3) 麻烦你把NFC果汁放到大厅长桌子东侧那个位置。 -On(NFCJuice,Table3) 请你拿一下NFC果汁到大厅长桌子东侧位置。 -On(NFCJuice,Table3) 你好，我在大厅长桌子东侧，请你拿一下NFC果汁到位置。 -On(NFCJuice,BrightTable6) 麻烦你把NFC果汁放到后门靠窗边圆桌那个位置。 -On(NFCJuice,BrightTable6) 请你拿一下NFC果汁到后门靠窗边圆桌位置。 -On(NFCJuice,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下NFC果汁到位置。 -On(Bernachon,Bar) 麻烦你把贝纳颂咖啡放到吧台那个位置。 -On(Bernachon,Bar) 请你拿一下贝纳颂咖啡到吧台位置。 -On(Bernachon,Bar) 你好，我在吧台，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,Bar2) 麻烦你把贝纳颂咖啡放到另一侧的吧台那个位置。 -On(Bernachon,Bar2) 请你拿一下贝纳颂咖啡到另一侧的吧台位置。 -On(Bernachon,Bar2) 你好，我在另一侧的吧台，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,WaterTable) 麻烦你把贝纳颂咖啡放到茶水桌那个位置。 -On(Bernachon,WaterTable) 请你拿一下贝纳颂咖啡到茶水桌位置。 -On(Bernachon,WaterTable) 你好，我在茶水桌，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,CoffeeTable) 麻烦你把贝纳颂咖啡放到咖啡桌那个位置。 -On(Bernachon,CoffeeTable) 请你拿一下贝纳颂咖啡到咖啡桌位置。 -On(Bernachon,CoffeeTable) 你好，我在咖啡桌，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,Table1) 麻烦你把贝纳颂咖啡放到前门斜桌子那个位置。 -On(Bernachon,Table1) 请你拿一下贝纳颂咖啡到前门斜桌子位置。 -On(Bernachon,Table1) 你好，我在前门斜桌子，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,Table2) 麻烦你把贝纳颂咖啡放到大厅长桌子西侧那个位置。 -On(Bernachon,Table2) 请你拿一下贝纳颂咖啡到大厅长桌子西侧位置。 -On(Bernachon,Table2) 你好，我在大厅长桌子西侧，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,Table3) 麻烦你把贝纳颂咖啡放到大厅长桌子东侧那个位置。 -On(Bernachon,Table3) 请你拿一下贝纳颂咖啡到大厅长桌子东侧位置。 -On(Bernachon,Table3) 你好，我在大厅长桌子东侧，请你拿一下贝纳颂咖啡到位置。 -On(Bernachon,BrightTable6) 麻烦你把贝纳颂咖啡放到后门靠窗边圆桌那个位置。 -On(Bernachon,BrightTable6) 请你拿一下贝纳颂咖啡到后门靠窗边圆桌位置。 -On(Bernachon,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下贝纳颂咖啡到位置。 -On(SpringWater,Bar) 麻烦你把矿泉水放到吧台那个位置。 -On(SpringWater,Bar) 请你拿一下矿泉水到吧台位置。 -On(SpringWater,Bar) 你好，我在吧台，请你拿一下矿泉水到位置。 -On(SpringWater,Bar2) 麻烦你把矿泉水放到另一侧的吧台那个位置。 -On(SpringWater,Bar2) 请你拿一下矿泉水到另一侧的吧台位置。 -On(SpringWater,Bar2) 你好，我在另一侧的吧台，请你拿一下矿泉水到位置。 -On(SpringWater,WaterTable) 麻烦你把矿泉水放到茶水桌那个位置。 -On(SpringWater,WaterTable) 请你拿一下矿泉水到茶水桌位置。 -On(SpringWater,WaterTable) 你好，我在茶水桌，请你拿一下矿泉水到位置。 -On(SpringWater,CoffeeTable) 麻烦你把矿泉水放到咖啡桌那个位置。 -On(SpringWater,CoffeeTable) 请你拿一下矿泉水到咖啡桌位置。 -On(SpringWater,CoffeeTable) 你好，我在咖啡桌，请你拿一下矿泉水到位置。 -On(SpringWater,Table1) 麻烦你把矿泉水放到前门斜桌子那个位置。 -On(SpringWater,Table1) 请你拿一下矿泉水到前门斜桌子位置。 -On(SpringWater,Table1) 你好，我在前门斜桌子，请你拿一下矿泉水到位置。 -On(SpringWater,Table2) 麻烦你把矿泉水放到大厅长桌子西侧那个位置。 -On(SpringWater,Table2) 请你拿一下矿泉水到大厅长桌子西侧位置。 -On(SpringWater,Table2) 你好，我在大厅长桌子西侧，请你拿一下矿泉水到位置。 -On(SpringWater,Table3) 麻烦你把矿泉水放到大厅长桌子东侧那个位置。 -On(SpringWater,Table3) 请你拿一下矿泉水到大厅长桌子东侧位置。 -On(SpringWater,Table3) 你好，我在大厅长桌子东侧，请你拿一下矿泉水到位置。 -On(SpringWater,BrightTable6) 麻烦你把矿泉水放到后门靠窗边圆桌那个位置。 -On(SpringWater,BrightTable6) 请你拿一下矿泉水到后门靠窗边圆桌位置。 -On(SpringWater,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下矿泉水到位置。 -Is(AC,On) 你能把空调关闭一下吗？ -Is(AC,Off) 你能把空调打开一下吗？ -Is(ACTemperature,On) 你能把空调Temperature调高一下吗？ -Is(ACTemperature,Off) 你能把空调Temperature调低一下吗？ -Is(HallLight,On) 你能把大厅灯关闭一下吗？ -Is(HallLight,Off) 你能把大厅灯打开一下吗？ -Is(TubeLight,On) 你能把筒灯关闭一下吗？ -Is(TubeLight,Off) 你能把筒灯打开一下吗？ -Is(Curtain,On) 你能把窗帘关闭一下吗？ -Is(Curtain,Off) 你能把窗帘打开一下吗？ -Is(Chairs,On) 你能把椅子脏一下吗？ -Is(Chairs,Off) 你能把椅子打扫干净一下吗？ -Is(Floor,On) 你能把地板脏一下吗？ -Is(Floor,Off) 你能把地板打扫干净一下吗？ -Is(Table1,On) 你能把前门斜桌子脏一下吗？ -Is(Table1,Off) 你能把前门斜桌子打扫干净一下吗？ -Holding(Coffee) 你能把咖啡抓在手里吗？ -Holding(Coffee) 你能一直拿着咖啡吗？ -Holding(Water) 你能把水抓在手里吗？ -Holding(Water) 你能一直拿着水吗？ -Holding(Dessert) 你能把点心抓在手里吗？ -Holding(Dessert) 你能一直拿着点心吗？ -Holding(Softdrink) 你能把盒装冰红茶抓在手里吗？ -Holding(Softdrink) 你能一直拿着盒装冰红茶吗？ -Holding(BottledDrink) 你能把瓶装饮料抓在手里吗？ -Holding(BottledDrink) 你能一直拿着瓶装饮料吗？ -Holding(Yogurt) 你能把酸奶抓在手里吗？ -Holding(Yogurt) 你能一直拿着酸奶吗？ -Holding(ADMilk) 你能把AD钙奶抓在手里吗？ -Holding(ADMilk) 你能一直拿着AD钙奶吗？ -Holding(MilkDrink) 你能把牛奶味的饮料抓在手里吗？ -Holding(MilkDrink) 你能一直拿着牛奶味的饮料吗？ -Holding(Milk) 你能把牛奶抓在手里吗？ -Holding(Milk) 你能一直拿着牛奶吗？ -Holding(VacuumCup) 你能把保温杯抓在手里吗？ -Holding(VacuumCup) 你能一直拿着保温杯吗？ -Holding(Chips) 你能把薯片抓在手里吗？ -Holding(Chips) 你能一直拿着薯片吗？ -Holding(NFCJuice) 你能把NFC果汁抓在手里吗？ -Holding(NFCJuice) 你能一直拿着NFC果汁吗？ -Holding(Bernachon) 你能把贝纳颂咖啡抓在手里吗？ -Holding(Bernachon) 你能一直拿着贝纳颂咖啡吗？ -Holding(SpringWater) 你能把矿泉水抓在手里吗？ -Holding(SpringWater) 你能一直拿着矿泉水吗？ -Holding(Nothing) 你能把Nothing抓在手里吗？ -Holding(Nothing) 你能一直拿着Nothing吗？ -On(Coffee,Bar) 你能制作咖啡并把它端到吧台这里来吗？ -On(Coffee,Bar) 给我来点咖啡，并把它端到吧台这里来。 -On(Coffee,Bar2) 你能制作咖啡并把它端到另一侧的吧台这里来吗？ -On(Coffee,Bar2) 给我来点咖啡，并把它端到另一侧的吧台这里来。 -On(Coffee,WaterTable) 你能制作咖啡并把它端到茶水桌这里来吗？ -On(Coffee,WaterTable) 给我来点咖啡，并把它端到茶水桌这里来。 -On(Coffee,CoffeeTable) 你能制作咖啡并把它端到咖啡桌这里来吗？ -On(Coffee,CoffeeTable) 给我来点咖啡，并把它端到咖啡桌这里来。 -On(Coffee,Table1) 你能制作咖啡并把它端到前门斜桌子这里来吗？ -On(Coffee,Table1) 给我来点咖啡，并把它端到前门斜桌子这里来。 -On(Coffee,Table2) 你能制作咖啡并把它端到大厅长桌子西侧这里来吗？ -On(Coffee,Table2) 给我来点咖啡，并把它端到大厅长桌子西侧这里来。 -On(Coffee,Table3) 你能制作咖啡并把它端到大厅长桌子东侧这里来吗？ -On(Coffee,Table3) 给我来点咖啡，并把它端到大厅长桌子东侧这里来。 -On(Coffee,BrightTable6) 你能制作咖啡并把它端到后门靠窗边圆桌这里来吗？ -On(Coffee,BrightTable6) 给我来点咖啡，并把它端到后门靠窗边圆桌这里来。 -On(Water,Bar) 你能制作水并把它端到吧台这里来吗？ -On(Water,Bar) 给我来点水，并把它端到吧台这里来。 -On(Water,Bar2) 你能制作水并把它端到另一侧的吧台这里来吗？ -On(Water,Bar2) 给我来点水，并把它端到另一侧的吧台这里来。 -On(Water,WaterTable) 你能制作水并把它端到茶水桌这里来吗？ -On(Water,WaterTable) 给我来点水，并把它端到茶水桌这里来。 -On(Water,CoffeeTable) 你能制作水并把它端到咖啡桌这里来吗？ -On(Water,CoffeeTable) 给我来点水，并把它端到咖啡桌这里来。 -On(Water,Table1) 你能制作水并把它端到前门斜桌子这里来吗？ -On(Water,Table1) 给我来点水，并把它端到前门斜桌子这里来。 -On(Water,Table2) 你能制作水并把它端到大厅长桌子西侧这里来吗？ -On(Water,Table2) 给我来点水，并把它端到大厅长桌子西侧这里来。 -On(Water,Table3) 你能制作水并把它端到大厅长桌子东侧这里来吗？ -On(Water,Table3) 给我来点水，并把它端到大厅长桌子东侧这里来。 -On(Water,BrightTable6) 你能制作水并把它端到后门靠窗边圆桌这里来吗？ -On(Water,BrightTable6) 给我来点水，并把它端到后门靠窗边圆桌这里来。 -On(Dessert,Bar) 你能制作点心并把它端到吧台这里来吗？ -On(Dessert,Bar) 给我来点点心，并把它端到吧台这里来。 -On(Dessert,Bar2) 你能制作点心并把它端到另一侧的吧台这里来吗？ -On(Dessert,Bar2) 给我来点点心，并把它端到另一侧的吧台这里来。 -On(Dessert,WaterTable) 你能制作点心并把它端到茶水桌这里来吗？ -On(Dessert,WaterTable) 给我来点点心，并把它端到茶水桌这里来。 -On(Dessert,CoffeeTable) 你能制作点心并把它端到咖啡桌这里来吗？ -On(Dessert,CoffeeTable) 给我来点点心，并把它端到咖啡桌这里来。 -On(Dessert,Table1) 你能制作点心并把它端到前门斜桌子这里来吗？ -On(Dessert,Table1) 给我来点点心，并把它端到前门斜桌子这里来。 -On(Dessert,Table2) 你能制作点心并把它端到大厅长桌子西侧这里来吗？ -On(Dessert,Table2) 给我来点点心，并把它端到大厅长桌子西侧这里来。 -On(Dessert,Table3) 你能制作点心并把它端到大厅长桌子东侧这里来吗？ -On(Dessert,Table3) 给我来点点心，并把它端到大厅长桌子东侧这里来。 -On(Dessert,BrightTable6) 你能制作点心并把它端到后门靠窗边圆桌这里来吗？ -On(Dessert,BrightTable6) 给我来点点心，并把它端到后门靠窗边圆桌这里来。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py deleted file mode 100644 index 9b673be..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py +++ /dev/null @@ -1,10 +0,0 @@ -import os - -with open(os.path.join('./goal_states_with_description.txt'), 'r', encoding='utf-8') as file: - lines = file.readlines() - -with open(os.path.join('./goal_states_with_description.jsonl'), 'w', encoding='utf-8') as file: - - for line in lines: - tmp = line[:-1].split('\t') - file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py deleted file mode 100644 index 5cd2be4..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py +++ /dev/null @@ -1,61 +0,0 @@ -import os -import requests -import urllib3 -from tqdm import tqdm - -######################################## -# 该文件实现了与大模型的简单通信 -######################################## - -# 忽略https的安全性警告 -urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning) - - -def single_round(question, prefix=""): - url = "https://45.125.46.134:25344/v1/chat/completions" - headers = {"Content-Type": "application/json"} - data = { - "model": "RoboWaiter", - "messages": [ - { - "role": "system", - # "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" - "content": """ - 假设现在你是咖啡厅的一个顾客，请将以下你对咖啡厅服务员说的话改写成更清晰更合理的顾客表述。注意：句中的你指的是咖啡厅服务员，也不要说能帮我。 - 例如：麻烦你去一下吧台。可以转述成：服务员，你能去下吧台吗？ - 另一个例子：请你拿一下酸奶到吧台位置。可以转述成：服务员，拿一杯酸奶来吧台。 - - """ - }, - { - "role": "user", - "content": prefix + question - } - ] - } - - response = requests.post(url, headers=headers, json=data, verify=False) - - if response.status_code == 200: - result = response.json() - return result['choices'][0]['message']['content'].strip() - else: - return "大模型请求失败:", response.status_code - - -if __name__ == '__main__': - with open('./goal_states_with_description.txt', 'r', encoding='utf-8') as file: - lines = file.readlines() - - output_file = './expansion_out/output2.txt' - with open(output_file, 'a', encoding='utf-8') as file: - file.truncate(0) - for line in tqdm(lines): - tmp = line[:-1].split('\t') - # file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) - question = tmp[1] - # print(single_round(question)) - # print(tmp[1]) - with open(output_file, 'a', encoding='utf-8') as file: - file.write(tmp[0] + "\t" + single_round(question, prefix="现在改写一下句子：") + '\n') - print("输出完成") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py deleted file mode 100644 index c8f3878..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py +++ /dev/null @@ -1,95 +0,0 @@ - -#叶结点 -class Leaf: - def __init__(self,type,content,mincost=0): - self.type=type - self.content=content #conditionset or action - self.parent=None - self.parent_index=0 - self.mincost=mincost - - # tick 叶节点，返回返回值以及对应的条件或行动对象self.content - def tick(self,state): - if self.type=='cond': - if self.content <= state: - return 'success',self.content - else: - return 'failure',self.content - if self.type=='act': - if self.content.pre<=state: - return 'running',self.content #action - else: - return 'failure',self.content - - def __str__(self): - print( self.content) - return '' - - def print_nodes(self): - print(self.content) - - def count_size(self): - return 1 - - -#可能包含控制结点的行为树 -class ControlBT: - def __init__(self,type): - self.type=type - self.children=[] - self.parent=None - self.parent_index=0 - - - def add_child(self,subtree_list): - for subtree in subtree_list: - self.children.append(subtree) - subtree.parent=self - subtree.parent_index=len(self.children)-1 - - # tick行为树，根据不同控制结点逻辑tick子结点 - def tick(self,state): - if len(self.children) < 1: - print("error,no child") - if self.type =='?':#选择结点，即或结点 - for child in self.children: - val,obj=child.tick(state) - if val=='success': - return val,obj - if val=='running': - return val,obj - return 'failure','?fails' - if self.type =='>':#顺序结点，即与结点 - for child in self.children: - val,obj=child.tick(state) - if val=='failure': - return val,obj - if val=='running': - return val,obj - return 'success', '>success' - if self.type =='act':#行动结点 - return self.children[0].tick(state) - if self.type =='cond':#条件结点 - return self.children[0].tick(state) - - def getFirstChild(self): - return self.children[0] - - def __str__(self): - print(self.type+'\n') - for child in self.children: - print (child) - return '' - - def print_nodes(self): - print(self.type) - for child in self.children: - child.print_nodes() - - # 递归统计树中结点数 - def count_size(self): - result=1 - for child in self.children: - result+= child.count_size() - return result - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml deleted file mode 100644 index d2f0b28..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml +++ /dev/null @@ -1,59 +0,0 @@ -selector{ -cond At(Table,Coffee) -selector{ -cond Holding(Coffee), At(Robot,Table) -act PutDown(Table,Coffee) -} -selector{ -cond NotHolding, At(Robot,Coffee), At(Robot,Table) -act PickUp(Coffee) -} -selector{ -cond Holding(Coffee), Available(Table) -act MoveTo(Table) -} -selector{ -cond Holding(VacuumCup), At(Robot,Coffee), At(Robot,Table) -act PutDown(Table,VacuumCup) -} -selector{ -cond NotHolding, At(Robot,CoffeeMachine), At(Robot,Table) -act OpCoffeeMachine -} -selector{ -cond NotHolding, Available(Table), At(Robot,Coffee) -act PickUp(Coffee) -} -selector{ -cond Holding(VacuumCup), At(Robot,Table), At(Robot,CoffeeMachine) -act PutDown(Table,VacuumCup) -} -selector{ -cond NotHolding, Available(Coffee), Available(Table) -act MoveTo(Coffee) -} -selector{ -cond NotHolding, Available(Table), At(Robot,CoffeeMachine) -act OpCoffeeMachine -} -selector{ -cond Holding(VacuumCup), Available(Coffee), Available(Table), At(Robot,Table) -act PutDown(Table,VacuumCup) -} -selector{ -cond Available(CoffeeMachine), NotHolding, Available(Table) -act MoveTo(CoffeeMachine) -} -selector{ -cond Holding(VacuumCup), Available(Coffee), Available(Table) -act MoveTo(Table) -} -selector{ -cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table), At(Robot,Table) -act PutDown(Table,VacuumCup) -} -selector{ -cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table) -act MoveTo(Table) -} -} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.assets/image-20231103191141047.png b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.assets/image-20231103191141047.png deleted file mode 100644 index 6453647..0000000 Binary files a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.assets/image-20231103191141047.png and /dev/null differ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.md b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.md deleted file mode 100644 index 1ddd4a6..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.md +++ /dev/null @@ -1,125 +0,0 @@ - - -## 代码说明 - -### 1. `BehaviorTree.py` 实现行为树叶子结点和非叶子结点的定义 - -- **Leaf**：表示叶节点，可以是动作（`act`）或条件（`cond`）。 -- **ControlBT**：代表可能包含控制节点的行为树。它们可以是选择器（`?`）、序列（`>`）、动作节点（`act`）或条件节点（`cond`）。 -- 上述两个类都包含 `tick` 方法。 - -### 2. `OptimalBTExpansionAlgorithm.py` 实现最优行为树扩展算法 - -![image-20231103191141047](README.assets/image-20231103191141047.png) - -定义行动类 -```python -#定义行动类，行动包括前提、增加和删除影响 -class Action: - def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): - self.pre=copy.deepcopy(pre) - self.add=copy.deepcopy(add) - self.del_set=copy.deepcopy(del_set) - self.name=name - self.cost=cost - - def __str__(self): - return self.name -``` - -调用算法 -```python -algo = OptBTExpAlgorithm(verbose=True) -algo.clear() -algo.run_algorithm(start, goal, actions) # 使用算法得到行为树在 algo.bt -algo.print_solution() # 打印行为树 -val, obj = algo.bt.tick(state) # 执行行为树 -algo.save_ptml_file("bt.ptml") # 保存行为树为 ptml 文件 -``` - -### 3. **`tools.py`** 实现打印数据、行为树测试等模块 - -使用方法 - -```python -print_action_data_table(goal,start,actions) # 打印所有变量 - -# 行为树鲁棒性测试，随机生成规划问题 -# 设置生成规划问题集的超参数：文字数、解深度、迭代次数 -seed=1 -literals_num=10 -depth = 10 -iters= 10 -BTTest(seed=seed,literals_num=literals_num,depth=depth,iters=iters) -``` - -### 4. `example.py` 中设计规划案例 goals, start, actions - -```python -def MoveBtoB (): - actions=[] - a = Action(name="Move(b,ab)") - a.pre={'Free(ab)','WayClear'} - a.add={'At(b,ab)'} - a.del_set= {'Free(ab)','At(b,pb)'} - a.cost = 1 - actions.append(a) - - a=Action(name="Move(s,ab)") - a.pre={'Free(ab)'} - a.add={'Free(ab)','WayClear'} - a.del_set={'Free(ab)','At(s,ps)'} - a.cost = 1 - actions.append(a) - - a=Action(name="Move(s,as)") - a.pre={'Free(as)'} - a.add={'At(s,ps)','WayClear'} - a.del_set={'Free(as)','At(s,ps)'} - a.cost = 1 - actions.append(a) - - start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} - goal= {'At(b,ab)'} - return goal,start,actions -``` - -### 5. `opt_bt_exp_main.py` 为主函数，在此演示如何调用最优行为树扩展算法得到完全扩展最优行为树 - -初始化的时候：传入 actions (包含 pre,add,del,cost). -调用的时候，传入 goal 状态集合 (set类型)，返回完全最优扩展行为树的 ptml 形式 (string类型) - -```python -actions=[ - Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1) - ………… -] -algo = BTOptExpInterface(actions) - -goal = {'At(Table,Coffee)'} -ptml_string = algo.process(goal,start) -print(ptml_string) - -``` -两种检测方法，用于检测当前状态 `start` 能否到达目标状态 `goal` - -```python -# 判断初始状态能否到达目标状态 -start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} - -# 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态 -right_bt = algo.find_all_leaf_states_contain_start(start) -if not right_bt: - print("ERROR1: The current state cannot reach the goal state!") -else: - print("Right1: The current state can reach the goal state!") - -# 方法二：预先跑一边行为树，看能否到达目标状态 -right_bt2 = algo.run_bt_from_start(goal,start) -if not right_bt2: - print("ERROR2: The current state cannot reach the goal state!") -else: - print("Right2: The current state can reach the goal state!") - -``` - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py deleted file mode 100644 index f2d52e4..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py +++ /dev/null @@ -1,174 +0,0 @@ - -from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action - - - -def MakeCoffee(): - actions=[ - Action(name='Put(Table,Coffee)', pre={'Holding(Coffee)','At(Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), - Action(name='Put(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), - - Action(name='Grasp(Coffee)', pre={'NotHolding','At(Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), - - Action(name='MoveTo(Table)', pre={'Exist(Table)'}, add={'At(Table)'}, del_set={'At(FrontDesk)','At(Coffee)','At(CoffeeMachine)'}, cost=1), - Action(name='MoveTo(Coffee)', pre={'Exist(Coffee)'}, add={'At(Coffee)'}, del_set={'At(FrontDesk)','At(Table)','At(CoffeeMachine)'}, cost=1), - Action(name='MoveTo(CoffeeMachine)', pre={'Exist(CoffeeMachine)'}, add={'At(CoffeeMachine)'}, del_set={'At(FrontDesk)','At(Coffee)','At(Table)'}, cost=1), - - Action(name='OpCoffeeMachine', pre={'At(CoffeeMachine)','NotHolding'}, add={'Exist(Coffee)','At(Coffee)'}, del_set=set(), cost=1), - ] - - start = {'At(FrontDesk)','Holding(VacuumCup)','Exist(Table)','Exist(CoffeeMachine)','Exist(FrontDesk)'} - goal = {'At(Table,Coffee)'} - return goal,start,actions - -# 本例子中，将 VacuumCup 放到 FrontDesk，比 MoveTo(Table) 再 Put(Table,VacuumCup) 的 cost 要小 -def MakeCoffeeCost(): - actions=[ - Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), - Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), - - Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), - - Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1), - Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1), - Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1), - - Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1), - ] - - start = {'At(Robot,Bar)','Holding(VacuumCup)','Available(Table)','Available(CoffeeMachine)','Available(FrontDesk)'} - goal = {'At(Table,Coffee)'} - - return goal,start,actions - - -# test -def Test(): - actions=[ - Action(name='a1', pre={6}, add={0,2,4}, del_set={1,5}, cost=1), - Action(name='a2', pre=set(), add={0,1}, del_set=set(), cost=1), - Action(name='a3', pre={1,6}, add={0,2,3,5}, del_set={1,6}, cost=1), - Action(name='a4', pre={0,2,3}, add={4,5}, del_set={0,6}, cost=1), - Action(name='a5', pre={0,1,4}, add={2,3,6}, del_set={0}, cost=1), - ] - - start = {1,2,6} - goal={0,1,2,4,6} - return goal,start,actions - -# def Test(): -# actions=[ -# Action(name='a1', pre={2}, add={1}, del_set=set(), cost=1), -# Action(name='a2', pre=set(), add={1}, del_set={0,2}, cost=1), -# Action(name='a3', pre={1}, add=set(), del_set={0,2}, cost=1), -# Action(name='a4', pre=set(), add={0}, del_set=set(), cost=1), -# Action(name='a5', pre={1}, add={0,2}, del_set={1}, cost=1), -# Action(name='a6', pre={1}, add=set(), del_set={0,1,2}, cost=1), -# Action(name='a7', pre={1}, add={2}, del_set={0, 2}, cost=1), -# ] -# -# start = {1,2} -# goal={0,1} -# return goal,start,actions - - -# todo: 最原始的例子 -def MoveBtoB_num (): - actions=[] - a = Action(name='a1') - a.pre={1,4} - a.add={"c_goal"} - a.del_set={1,4} - a.cost = 1 - actions.append(a) - - a=Action(name='a2') - a.pre={1,2,3} - a.add={"c_goal"} - a.del_set={1,2,3} - a.cost = 1 - actions.append(a) - - a=Action(name='a3') - a.pre={1,2} - a.add={4} - a.del_set={2} - a.cost = 1 - actions.append(a) - - a=Action(name='a4') - a.pre={"c_start"} - a.add={1,2,3} - a.del_set={"c_start",4} - a.cost = 1 - actions.append(a) - - start = {"c_start"} - goal={"c_goal"} - return goal,start,actions - - -# todo: 最原始的例子 -def MoveBtoB (): - actions=[] - a = Action(name="Move(b,ab)") #'movebtob' - a.pre={'Free(ab)','WayClear'} #{1,2} - a.add={'At(b,ab)'} #{3} - a.del_set= {'Free(ab)','At(b,pb)'} #{1,4} - a.cost = 1 - actions.append(a) - - a=Action(name="Move(s,ab)") #'moveatob' - a.pre={'Free(ab)'} #{1} - a.add={'Free(ab)','WayClear'} #{5,2} - a.del_set={'Free(ab)','At(s,ps)'} #{1,6} - a.cost = 1 - actions.append(a) - - a=Action(name="Move(s,as)") #'moveatoa' - a.pre={'Free(as)'} #{7} - a.add={'At(s,ps)','WayClear'} #{8,2} - a.del_set={'Free(as)','At(s,ps)'} #{7,6} - a.cost = 1 - actions.append(a) - - start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} #{1,7,4,6} - goal= {'At(b,ab)'} #{3} - return goal,start,actions - - -# 小蔡师兄论文里的例子 -def Cond2BelongsToCond3(): - actions=[] - a = Action(name='a1') - a.pre={1,4} - a.add={"c_goal"} - a.del_set={1,4} - a.cost = 1 - actions.append(a) - - a=Action(name='a2') - a.pre={1,2,3} - a.add={"c_goal"} - a.del_set={1,2,3} - a.cost = 100 - actions.append(a) - - a=Action(name='a3') - a.pre={1,2} - a.add={4} - a.del_set={2} - a.cost = 1 - actions.append(a) - - a=Action(name='a4') - a.pre={"c_start"} - a.add={1,2,3} - a.del_set={"c_start",4} - a.cost = 1 - actions.append(a) - - start = {"c_start"} - goal={"c_goal"} - return goal,start,actions - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py deleted file mode 100644 index 112d144..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py +++ /dev/null @@ -1,131 +0,0 @@ - -from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm,state_transition # 调用最优行为树扩展算法 -from robowaiter.behavior_tree.obtea.BTExpansionAlgorithm import BTalgorithm # 调用最优行为树扩展算法 - -from robowaiter.behavior_tree.obtea.examples import * - - -# 封装好的主接口 -class BTOptExpInterface: - def __init__(self, action_list,scene): - """ - Initialize the BTOptExpansion with a list of actions. - :param action_list: A list of actions to be used in the behavior tree. - """ - # self.actions = [] - # for act in action_list: - # a = Action(name=act.name) - # a.pre=act['pre'] - # a.add=act['add'] - # a.del_set= act['del_set'] - # a.cost = 1 - # self.actions.append(a) - self.actions = action_list - self.has_processed = False - - self.scene = scene - self.bt_algo_opt = self.scene.bt_algo_opt - - - def process(self, goal): - """ - Process the input sets and return a string result. - :param input_set: The set of goal states and the set of initial states. - :return: A PTML string representing the outcome of the behavior tree. - """ - self.goal = goal - if self.bt_algo_opt: - self.algo = OptBTExpAlgorithm(verbose=False) - else: - self.algo = BTalgorithm(verbose=False) - - self.algo.clear() - self.algo.run_algorithm(self.scene.state["condition_set"],self.goal, self.actions) # 调用算法得到行为树保存至 algo.bt - - - self.ptml_string = self.algo.get_ptml() - self.has_processed = True - # algo.print_solution() # print behavior tree - - return self.ptml_string - - # 方法一：查找所有初始状态是否包含当前状态 - def find_all_leaf_states_contain_start(self,start): - if not self.has_processed: - raise RuntimeError("The process method must be called before find_all_leaf_states_contain_start!") - # 返回所有能到达目标状态的初始状态 - state_leafs = self.algo.get_all_state_leafs() - for state in state_leafs: - if start >= state: - return True - return False - - # 方法二：模拟跑一遍行为树，看 start 能够通过执行一系列动作到达 goal - def run_bt_from_start(self,goal,start): - if not self.has_processed: - raise RuntimeError("The process method must be called before run_bt_from_start!") - # 检查是否能到达目标 - right_bt = True - state = start - steps = 0 - val, obj = self.algo.bt.tick(state) - while val != 'success' and val != 'failure': - state = state_transition(state, obj) - val, obj = self.algo.bt.tick(state) - if (val == 'failure'): - # print("bt fails at step", steps) - right_bt = False - steps += 1 - if not goal <= state: - # print("wrong solution", steps) - right_bt = False - else: - pass - # print("right solution", steps) - return right_bt - - - - -if __name__ == '__main__' : - - # todo: Example Cafe - # todo: Define goal, start, actions - actions=[ - Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), - Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), - - Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), - - Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1), - Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1), - Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1), - - Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1), - ] - algo = BTOptExpInterface(actions) - - - goal = {'At(Table,Coffee)'} - ptml_string = algo.process(goal) - print(ptml_string) - - file_name = "sub_task" - with open(f'./{file_name}.ptml', 'w') as file: - file.write(ptml_string) - - - # 判断初始状态能否到达目标状态 - start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} - # 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态 - right_bt = algo.find_all_leaf_states_contain_start(start) - if not right_bt: - print("ERROR1: The current state cannot reach the goal state!") - else: - print("Right1: The current state can reach the goal state!") - # 方法二：预先跑一边行为树，看能否到达目标状态 - right_bt2 = algo.run_bt_from_start(goal,start) - if not right_bt2: - print("ERROR2: The current state cannot reach the goal state!") - else: - print("Right2: The current state can reach the goal state!") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py deleted file mode 100644 index c705ce5..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py +++ /dev/null @@ -1,167 +0,0 @@ - - -from tabulate import tabulate -import numpy as np -import random -from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm -import time - - -def print_action_data_table(goal,start,actions): - data = [] - for a in actions: - data.append([a.name , a.pre , a.add , a.del_set , a.cost]) - data.append(["Goal" ,goal ," " ,"Start" ,start]) - print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid - - -# 从状态随机生成一个行动 -def generate_from_state(act,state,num): - for i in range(0,num): - if i in state: - if random.random() >0.5: - act.pre.add(i) - if random.random() >0.5: - act.del_set.add(i) - continue - if random.random() > 0.5: - act.add.add(i) - continue - if random.random() >0.5: - act.del_set.add(i) - -def print_action(act): - print (act.pre) - print(act.add) - print(act.del_set) - - - -#行为树测试代码 -def BTTest(seed=1,literals_num=10,depth=10,iters=10,total_count=1000): - print("============= BT Test ==============") - random.seed(seed) - # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 - literals_num=literals_num - depth = depth - iters= iters - total_tree_size = [] - total_action_num = [] - total_state_num = [] - total_steps_num=[] - #fail_count=0 - #danger_count=0 - success_count =0 - failure_count = 0 - planning_time_total = 0.0 - # 实验1000次 - for count in range (total_count): - - action_num = 1 - - # 生成一个规划问题，包括随机的状态和行动，以及目标状态 - states = [] - actions = [] - start = generate_random_state(literals_num) - state = start - states.append(state) - #print (state) - for i in range (0,depth): - a = Action() - generate_from_state(a,state,literals_num) - if not a in actions: - a.name = "a"+str(action_num) - action_num+=1 - actions.append(a) - state = state_transition(state,a) - if state in states: - pass - else: - states.append(state) - #print(state) - - goal = states[-1] - state = start - for i in range (0,iters): - a = Action() - generate_from_state(a,state,literals_num) - if not a in actions: - a.name = "a"+str(action_num) - action_num+=1 - actions.append(a) - state = state_transition(state,a) - if state in states: - pass - else: - states.append(state) - state = random.sample(states,1)[0] - - # 选择测试本文算法btalgorithm，或对比算法weakalgorithm - algo = OptBTExpAlgorithm() - #algo = Weakalgorithm() - start_time = time.time() - # print_action_data_table(goal, start, list(actions)) - if algo.run_algorithm(start, goal, actions):#运行算法，规划后行为树为algo.bt - total_tree_size.append( algo.bt.count_size()-1) - # algo.print_solution() # 打印行为树 - else: - print ("error") - end_time = time.time() - planning_time_total += (end_time-start_time) - - #开始从初始状态运行行为树，测试 - state=start - steps=0 - val, obj = algo.bt.tick(state)#tick行为树，obj为所运行的行动 - while val !='success' and val !='failure':#运行直到行为树成功或失败 - state = state_transition(state,obj) - val, obj = algo.bt.tick(state) - if(val == 'failure'): - print("bt fails at step",steps) - steps+=1 - if(steps>=500):#至多运行500步 - break - if not goal <= state:#错误解，目标条件不在执行后状态满足 - #print ("wrong solution",steps) - failure_count+=1 - - else:#正确解，满足目标条件 - #print ("right solution",steps) - success_count+=1 - total_steps_num.append(steps) - algo.clear() - total_action_num.append(len(actions)) - total_state_num.append(len(states)) - - print ("success:",success_count,"failure:",failure_count)#算法成功和失败次数 - print("Total Tree Size: mean=",np.mean(total_tree_size), "std=",np.std(total_tree_size, ddof=1))#1000次测试树大小 - print ("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1)) - print ("Average number of states:",np.mean(total_state_num))#1000次问题的平均状态数 - print ("Average number of actions",np.mean(total_action_num))#1000次问题的平均行动数 - print("Planning Time Total:",planning_time_total,planning_time_total/1000.0) - print("============ End BT Test ===========") - - # xiao cai - # success: 1000 failure: 0 - # Total Tree Size: mean= 35.303 std= 29.71336526001515 - # Total Steps Num: mean= 1.898 std= 0.970844240101644 - # Average number of states: 20.678 - # Average number of actions 20.0 - # Planning Time Total: 0.6280641555786133 0.0006280641555786133 - - # our start - # success: 1000 failure: 0 - # Total Tree Size: mean= 17.945 std= 12.841997192488865 - # Total Steps Num: mean= 1.785 std= 0.8120556843187752 - # Average number of states: 20.678 - # Average number of actions 20.0 - # Planning Time Total: 1.4748523235321045 0.0014748523235321046 - - # our - # success: 1000 failure: 0 - # Total Tree Size: mean= 48.764 std= 20.503626574406358 - # Total Steps Num: mean= 1.785 std= 0.8120556843187752 - # Average number of states: 20.678 - # Average number of actions 20.0 - # Planning Time Total: 3.3271877765655518 0.0033271877765655516 - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh deleted file mode 100644 index 9b84246..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh +++ /dev/null @@ -1,2 +0,0 @@ -cd ./robowaiter/behavior_tree/ptml -antlr4 -Dlanguage=Python3 ptml.g4 \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 deleted file mode 100644 index 24f0c03..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 +++ /dev/null @@ -1,20 +0,0 @@ -grammar ptml; - -root : tree+ EOF; - -tree : internal_node '{' (action_sign|tree)* '}' ; -internal_node : 'sequence' | 'selector' | 'parallel' Integer ; -action_sign : ('act'|'cond') String '(' action_parm? ')'; -action_parm : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ; -// var_decls : var_type Names ; -// var_type : 'int' | 'float' | 'bool' | 'string' ; -boolean : 'True' | 'False' ; - -String : [a-zA-Z_][a-zA-Z_0-9]* ; -Integer : '-'?[1-9][0-9]* | '0' ; -Float : [0-9]+'.'[0-9]* | '.'[0-9]+ ; - -// comments -LINE_COMMENT : '//' .*? '\r'?'\n' -> skip ; -// useless -WS : [ \t\u000C\r\n]+ -> skip ; diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp deleted file mode 100644 index 4edd60b..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp +++ /dev/null @@ -1,51 +0,0 @@ -token literal names: -null -'{' -'}' -'sequence' -'selector' -'parallel' -'act' -'cond' -'(' -')' -',' -'True' -'False' -null -null -null -null -null - -token symbolic names: -null -null -null -null -null -null -null -null -null -null -null -null -null -String -Integer -Float -LINE_COMMENT -WS - -rule names: -root -tree -internal_node -action_sign -action_parm -boolean - - -atn: -[4, 1, 17, 65, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 41, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 49, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 56, 8, 4, 5, 4, 58, 8, 4, 10, 4, 12, 4, 61, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 71, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 36, 1, 0, 0, 0, 8, 48, 1, 0, 0, 0, 10, 62, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 25, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 14, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 37, 7, 0, 0, 0, 37, 38, 5, 13, 0, 0, 38, 40, 5, 8, 0, 0, 39, 41, 3, 8, 4, 0, 40, 39, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 1, 0, 0, 0, 42, 43, 5, 9, 0, 0, 43, 7, 1, 0, 0, 0, 44, 49, 5, 14, 0, 0, 45, 49, 5, 15, 0, 0, 46, 49, 3, 10, 5, 0, 47, 49, 5, 13, 0, 0, 48, 44, 1, 0, 0, 0, 48, 45, 1, 0, 0, 0, 48, 46, 1, 0, 0, 0, 48, 47, 1, 0, 0, 0, 49, 59, 1, 0, 0, 0, 50, 55, 5, 10, 0, 0, 51, 56, 5, 14, 0, 0, 52, 56, 5, 15, 0, 0, 53, 56, 3, 10, 5, 0, 54, 56, 5, 13, 0, 0, 55, 51, 1, 0, 0, 0, 55, 52, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 54, 1, 0, 0, 0, 56, 58, 1, 0, 0, 0, 57, 50, 1, 0, 0, 0, 58, 61, 1, 0, 0, 0, 59, 57, 1, 0, 0, 0, 59, 60, 1, 0, 0, 0, 60, 9, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 62, 63, 7, 1, 0, 0, 63, 11, 1, 0, 0, 0, 8, 15, 23, 25, 34, 40, 48, 55, 59] \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens deleted file mode 100644 index 6f604be..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens +++ /dev/null @@ -1,29 +0,0 @@ -T__0=1 -T__1=2 -T__2=3 -T__3=4 -T__4=5 -T__5=6 -T__6=7 -T__7=8 -T__8=9 -T__9=10 -T__10=11 -T__11=12 -String=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 -'{'=1 -'}'=2 -'sequence'=3 -'selector'=4 -'parallel'=5 -'act'=6 -'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py deleted file mode 100644 index 4f3f061..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py +++ /dev/null @@ -1,208 +0,0 @@ -import os -import sys -from antlr4 import * - -if "." in __name__: - from .ptmlTranslator import ptmlTranslator - from .ptmlParser import ptmlParser as Parser - from .ptmlLexer import ptmlLexer as Lexer - -else: - from ptmlTranslator import ptmlTranslator - from ptmlParser import ptmlParser as Parser - from ptmlLexer import ptmlLexer as Lexer - - -def load(scene, ptml_path: str, behaviour_lib_path: str): - """_summary_ - - Args: - ptml_path (str): _description_ - behaviour_lib_path (str): _description_ - - Raises: - FileNotFoundError: _description_ - FileNotFoundError: _description_ - """ - # error handle - if not os.path.exists(ptml_path): - raise FileNotFoundError("Given a fault ptml path: {}".format(ptml_path)) - if not os.path.exists(behaviour_lib_path): - raise FileNotFoundError( - "Given a fault behaviour library path: {}".format(behaviour_lib_path) - ) - - # noting fault, go next - ptml_path = format_trans_to_bracket(ptml_path) - # print(ptml_path) - input_stream = FileStream(ptml_path, encoding="utf-8") - - lexer = Lexer(input_stream) - stream = CommonTokenStream(lexer) - parser = Parser(stream) - tree = parser.root() - - walker = ParseTreeWalker() - - sys.path.append(os.path.join(behaviour_lib_path, "cond")) - sys.path.append(os.path.join(behaviour_lib_path, "act")) - - ptml = ptmlTranslator(scene, behaviour_lib_path) # listener mode - walker.walk(ptml, tree) - - return ptml.bt_root - -def parse_indentation(text): - tree = {} - stack = [(-1, tree)] # 使用栈来跟踪节点层级和父节点 - - for line in text.splitlines(): - indent = len(line) - len(line.lstrip()) - content = line.strip() - - if not content: - continue # 跳过空行 - - # 找到当前行的父级 - while stack and stack[-1][0] >= indent: - stack.pop() - - # 确保栈不为空 - if not stack: - raise ValueError("缩进错误") - - # 检查当前行是否已存在于父级中 - parent = stack[-1][1] - if content not in parent: - parent[content] = [] - - # 添加新节点 - node = {} - parent[content].append(node) - stack.append((indent, node)) - - return tree - -def format_nested_dict(d, indent=0, outermost=True): - """ 格式化嵌套字典为特定字符串格式，如果没有子级就不添加大括号 """ - indention = " " * indent # 用空格表示缩进 - formatted_str = "" - - if (not outermost) and d: # 添加大括号，除非是空字典 - formatted_str += "{\n" - - for key, value_list in d.items(): - for value in value_list: # 遍历列表中的每个字典 - formatted_str += f"{indention}{' ' if (not outermost) and d else ''}{key}\n" - - if isinstance(value, dict): - # 如果值是字典，则递归调用 - formatted_str += format_nested_dict(value, indent + (0 if outermost else 1), False) - else: - # 否则，直接添加值 - formatted_str += f"{indention}{' ' * 2}{value}\n" - - if (not outermost) and d: # 如果不是空字典，才关闭大括号 - formatted_str += indention + "}\n" - - return formatted_str.strip() - -def format_trans_to_bracket(file_path: str) -> str: - """_summary_ - - Args: - file_path (str): _description_ - - Raises: - FileNotFoundError: _description_ - - Returns: - str: the path tp temp file with '{}' form. - """ - import autopep8 - - if not os.path.exists(file_path): - raise FileNotFoundError("Given a fault ptml path: {}".format(file_path)) - - with open(file_path, 'r') as file: - f = file.read().strip() - if "{" in f: - return file_path - - parsed_tree = parse_indentation(f) - - formatted_output = format_nested_dict(parsed_tree) - - # def counter_(input: str) -> int: - # length = 0 - # for i in range(len(input)): - # if input[i] == ' ': - # length += 1 - # else: - # if length % 4 != 0: - # raise TabError('Tab length in ptml file should be 4.') - # return length - # - # with open(file_path, 'r') as file: - # ptml_new = '' - # ptml_tab = file.readlines() - # - # level = 0 - # for i in ptml_tab: - # - # if i.startswith('//'): - # continue - # - # new_level = counter_(i) // 4 - # if new_level == level: - # ptml_new += i - # elif new_level > level: - # ptml_new += '{\n' + i - # level += 1 - # elif new_level < level: - # ptml_new += '\n}' + i - # level -= 1 - # for i in range(level): - # ptml_new += '}' - - file_name = os.path.basename(file_path).split(".")[0] - dir_path = os.path.dirname(file_path) - # import re - # new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path) - new_path = os.path.join(dir_path,file_name+"_bracket.ptml") - with open(new_path, 'w') as file: - file.write(formatted_output) - return new_path - -# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\test\\Default.ptml') - -if __name__ == '__main__': - # 示例文本 - text = """ -selector - sequence - cond Chatting() - act DealChat() - sequence - cond HasSubTask() - sequence - act SubTaskPlaceHolder() - sequence - cond FocusingCustomer() - act ServeCustomer() - sequence - cond NewCustomer() - selector - cond At(Robot,Bar) - act MoveTo(Bar) - act GreetCustomer() - sequence - cond AnomalyDetected() - act ResolveAnomaly() - """ - - parsed_tree = parse_indentation(text) - print(parsed_tree) - - formatted_output = format_nested_dict(parsed_tree) - print(formatted_output) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp deleted file mode 100644 index a624c96..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp +++ /dev/null @@ -1,68 +0,0 @@ -token literal names: -null -'{' -'}' -'sequence' -'selector' -'parallel' -'act' -'cond' -'(' -')' -',' -'True' -'False' -null -null -null -null -null - -token symbolic names: -null -null -null -null -null -null -null -null -null -null -null -null -null -String -Integer -Float -LINE_COMMENT -WS - -rule names: -T__0 -T__1 -T__2 -T__3 -T__4 -T__5 -T__6 -T__7 -T__8 -T__9 -T__10 -T__11 -String -Integer -Float -LINE_COMMENT -WS - -channel names: -DEFAULT_TOKEN_CHANNEL -HIDDEN - -mode names: -DEFAULT_MODE - -atn: -[4, 0, 17, 155, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 5, 12, 95, 8, 12, 10, 12, 12, 12, 98, 9, 12, 1, 13, 3, 13, 101, 8, 13, 1, 13, 1, 13, 5, 13, 105, 8, 13, 10, 13, 12, 13, 108, 9, 13, 1, 13, 3, 13, 111, 8, 13, 1, 14, 4, 14, 114, 8, 14, 11, 14, 12, 14, 115, 1, 14, 1, 14, 5, 14, 120, 8, 14, 10, 14, 12, 14, 123, 9, 14, 1, 14, 1, 14, 4, 14, 127, 8, 14, 11, 14, 12, 14, 128, 3, 14, 131, 8, 14, 1, 15, 1, 15, 1, 15, 1, 15, 5, 15, 137, 8, 15, 10, 15, 12, 15, 140, 9, 15, 1, 15, 3, 15, 143, 8, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 4, 16, 150, 8, 16, 11, 16, 12, 16, 151, 1, 16, 1, 16, 1, 138, 0, 17, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 165, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 1, 35, 1, 0, 0, 0, 3, 37, 1, 0, 0, 0, 5, 39, 1, 0, 0, 0, 7, 48, 1, 0, 0, 0, 9, 57, 1, 0, 0, 0, 11, 66, 1, 0, 0, 0, 13, 70, 1, 0, 0, 0, 15, 75, 1, 0, 0, 0, 17, 77, 1, 0, 0, 0, 19, 79, 1, 0, 0, 0, 21, 81, 1, 0, 0, 0, 23, 86, 1, 0, 0, 0, 25, 92, 1, 0, 0, 0, 27, 110, 1, 0, 0, 0, 29, 130, 1, 0, 0, 0, 31, 132, 1, 0, 0, 0, 33, 149, 1, 0, 0, 0, 35, 36, 5, 123, 0, 0, 36, 2, 1, 0, 0, 0, 37, 38, 5, 125, 0, 0, 38, 4, 1, 0, 0, 0, 39, 40, 5, 115, 0, 0, 40, 41, 5, 101, 0, 0, 41, 42, 5, 113, 0, 0, 42, 43, 5, 117, 0, 0, 43, 44, 5, 101, 0, 0, 44, 45, 5, 110, 0, 0, 45, 46, 5, 99, 0, 0, 46, 47, 5, 101, 0, 0, 47, 6, 1, 0, 0, 0, 48, 49, 5, 115, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 108, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 99, 0, 0, 53, 54, 5, 116, 0, 0, 54, 55, 5, 111, 0, 0, 55, 56, 5, 114, 0, 0, 56, 8, 1, 0, 0, 0, 57, 58, 5, 112, 0, 0, 58, 59, 5, 97, 0, 0, 59, 60, 5, 114, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 108, 0, 0, 62, 63, 5, 108, 0, 0, 63, 64, 5, 101, 0, 0, 64, 65, 5, 108, 0, 0, 65, 10, 1, 0, 0, 0, 66, 67, 5, 97, 0, 0, 67, 68, 5, 99, 0, 0, 68, 69, 5, 116, 0, 0, 69, 12, 1, 0, 0, 0, 70, 71, 5, 99, 0, 0, 71, 72, 5, 111, 0, 0, 72, 73, 5, 110, 0, 0, 73, 74, 5, 100, 0, 0, 74, 14, 1, 0, 0, 0, 75, 76, 5, 40, 0, 0, 76, 16, 1, 0, 0, 0, 77, 78, 5, 41, 0, 0, 78, 18, 1, 0, 0, 0, 79, 80, 5, 44, 0, 0, 80, 20, 1, 0, 0, 0, 81, 82, 5, 84, 0, 0, 82, 83, 5, 114, 0, 0, 83, 84, 5, 117, 0, 0, 84, 85, 5, 101, 0, 0, 85, 22, 1, 0, 0, 0, 86, 87, 5, 70, 0, 0, 87, 88, 5, 97, 0, 0, 88, 89, 5, 108, 0, 0, 89, 90, 5, 115, 0, 0, 90, 91, 5, 101, 0, 0, 91, 24, 1, 0, 0, 0, 92, 96, 7, 0, 0, 0, 93, 95, 7, 1, 0, 0, 94, 93, 1, 0, 0, 0, 95, 98, 1, 0, 0, 0, 96, 94, 1, 0, 0, 0, 96, 97, 1, 0, 0, 0, 97, 26, 1, 0, 0, 0, 98, 96, 1, 0, 0, 0, 99, 101, 5, 45, 0, 0, 100, 99, 1, 0, 0, 0, 100, 101, 1, 0, 0, 0, 101, 102, 1, 0, 0, 0, 102, 106, 7, 2, 0, 0, 103, 105, 7, 3, 0, 0, 104, 103, 1, 0, 0, 0, 105, 108, 1, 0, 0, 0, 106, 104, 1, 0, 0, 0, 106, 107, 1, 0, 0, 0, 107, 111, 1, 0, 0, 0, 108, 106, 1, 0, 0, 0, 109, 111, 5, 48, 0, 0, 110, 100, 1, 0, 0, 0, 110, 109, 1, 0, 0, 0, 111, 28, 1, 0, 0, 0, 112, 114, 7, 3, 0, 0, 113, 112, 1, 0, 0, 0, 114, 115, 1, 0, 0, 0, 115, 113, 1, 0, 0, 0, 115, 116, 1, 0, 0, 0, 116, 117, 1, 0, 0, 0, 117, 121, 5, 46, 0, 0, 118, 120, 7, 3, 0, 0, 119, 118, 1, 0, 0, 0, 120, 123, 1, 0, 0, 0, 121, 119, 1, 0, 0, 0, 121, 122, 1, 0, 0, 0, 122, 131, 1, 0, 0, 0, 123, 121, 1, 0, 0, 0, 124, 126, 5, 46, 0, 0, 125, 127, 7, 3, 0, 0, 126, 125, 1, 0, 0, 0, 127, 128, 1, 0, 0, 0, 128, 126, 1, 0, 0, 0, 128, 129, 1, 0, 0, 0, 129, 131, 1, 0, 0, 0, 130, 113, 1, 0, 0, 0, 130, 124, 1, 0, 0, 0, 131, 30, 1, 0, 0, 0, 132, 133, 5, 47, 0, 0, 133, 134, 5, 47, 0, 0, 134, 138, 1, 0, 0, 0, 135, 137, 9, 0, 0, 0, 136, 135, 1, 0, 0, 0, 137, 140, 1, 0, 0, 0, 138, 139, 1, 0, 0, 0, 138, 136, 1, 0, 0, 0, 139, 142, 1, 0, 0, 0, 140, 138, 1, 0, 0, 0, 141, 143, 5, 13, 0, 0, 142, 141, 1, 0, 0, 0, 142, 143, 1, 0, 0, 0, 143, 144, 1, 0, 0, 0, 144, 145, 5, 10, 0, 0, 145, 146, 1, 0, 0, 0, 146, 147, 6, 15, 0, 0, 147, 32, 1, 0, 0, 0, 148, 150, 7, 4, 0, 0, 149, 148, 1, 0, 0, 0, 150, 151, 1, 0, 0, 0, 151, 149, 1, 0, 0, 0, 151, 152, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 154, 6, 16, 0, 0, 154, 34, 1, 0, 0, 0, 12, 0, 96, 100, 106, 110, 115, 121, 128, 130, 138, 142, 151, 1, 6, 0, 0] \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py deleted file mode 100644 index 0cee05f..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py +++ /dev/null @@ -1,118 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -from antlr4 import * -from io import StringIO -import sys -if sys.version_info[1] > 5: - from typing import TextIO -else: - from typing.io import TextIO - - -def serializedATN(): - return [ - 4,0,17,155,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5, - 2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2, - 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1, - 2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1, - 4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,6,1,6,1,6,1, - 6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,1,11, - 1,11,1,11,1,11,1,11,1,12,1,12,5,12,95,8,12,10,12,12,12,98,9,12,1, - 13,3,13,101,8,13,1,13,1,13,5,13,105,8,13,10,13,12,13,108,9,13,1, - 13,3,13,111,8,13,1,14,4,14,114,8,14,11,14,12,14,115,1,14,1,14,5, - 14,120,8,14,10,14,12,14,123,9,14,1,14,1,14,4,14,127,8,14,11,14,12, - 14,128,3,14,131,8,14,1,15,1,15,1,15,1,15,5,15,137,8,15,10,15,12, - 15,140,9,15,1,15,3,15,143,8,15,1,15,1,15,1,15,1,15,1,16,4,16,150, - 8,16,11,16,12,16,151,1,16,1,16,1,138,0,17,1,1,3,2,5,3,7,4,9,5,11, - 6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,33,17, - 1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,1,0,49, - 57,1,0,48,57,3,0,9,10,12,13,32,32,165,0,1,1,0,0,0,0,3,1,0,0,0,0, - 5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0,0,0,15, - 1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0,0,0,25, - 1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,0,1,35, - 1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,0,11,66, - 1,0,0,0,13,70,1,0,0,0,15,75,1,0,0,0,17,77,1,0,0,0,19,79,1,0,0,0, - 21,81,1,0,0,0,23,86,1,0,0,0,25,92,1,0,0,0,27,110,1,0,0,0,29,130, - 1,0,0,0,31,132,1,0,0,0,33,149,1,0,0,0,35,36,5,123,0,0,36,2,1,0,0, - 0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,0,0,41, - 42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,0,0,45, - 46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,49,50,5, - 101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,54,5,116, - 0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,5,112,0,0, - 58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,108,0,0,62, - 63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,0,0,0,66,67, - 5,97,0,0,67,68,5,99,0,0,68,69,5,116,0,0,69,12,1,0,0,0,70,71,5,99, - 0,0,71,72,5,111,0,0,72,73,5,110,0,0,73,74,5,100,0,0,74,14,1,0,0, - 0,75,76,5,40,0,0,76,16,1,0,0,0,77,78,5,41,0,0,78,18,1,0,0,0,79,80, - 5,44,0,0,80,20,1,0,0,0,81,82,5,84,0,0,82,83,5,114,0,0,83,84,5,117, - 0,0,84,85,5,101,0,0,85,22,1,0,0,0,86,87,5,70,0,0,87,88,5,97,0,0, - 88,89,5,108,0,0,89,90,5,115,0,0,90,91,5,101,0,0,91,24,1,0,0,0,92, - 96,7,0,0,0,93,95,7,1,0,0,94,93,1,0,0,0,95,98,1,0,0,0,96,94,1,0,0, - 0,96,97,1,0,0,0,97,26,1,0,0,0,98,96,1,0,0,0,99,101,5,45,0,0,100, - 99,1,0,0,0,100,101,1,0,0,0,101,102,1,0,0,0,102,106,7,2,0,0,103,105, - 7,3,0,0,104,103,1,0,0,0,105,108,1,0,0,0,106,104,1,0,0,0,106,107, - 1,0,0,0,107,111,1,0,0,0,108,106,1,0,0,0,109,111,5,48,0,0,110,100, - 1,0,0,0,110,109,1,0,0,0,111,28,1,0,0,0,112,114,7,3,0,0,113,112,1, - 0,0,0,114,115,1,0,0,0,115,113,1,0,0,0,115,116,1,0,0,0,116,117,1, - 0,0,0,117,121,5,46,0,0,118,120,7,3,0,0,119,118,1,0,0,0,120,123,1, - 0,0,0,121,119,1,0,0,0,121,122,1,0,0,0,122,131,1,0,0,0,123,121,1, - 0,0,0,124,126,5,46,0,0,125,127,7,3,0,0,126,125,1,0,0,0,127,128,1, - 0,0,0,128,126,1,0,0,0,128,129,1,0,0,0,129,131,1,0,0,0,130,113,1, - 0,0,0,130,124,1,0,0,0,131,30,1,0,0,0,132,133,5,47,0,0,133,134,5, - 47,0,0,134,138,1,0,0,0,135,137,9,0,0,0,136,135,1,0,0,0,137,140,1, - 0,0,0,138,139,1,0,0,0,138,136,1,0,0,0,139,142,1,0,0,0,140,138,1, - 0,0,0,141,143,5,13,0,0,142,141,1,0,0,0,142,143,1,0,0,0,143,144,1, - 0,0,0,144,145,5,10,0,0,145,146,1,0,0,0,146,147,6,15,0,0,147,32,1, - 0,0,0,148,150,7,4,0,0,149,148,1,0,0,0,150,151,1,0,0,0,151,149,1, - 0,0,0,151,152,1,0,0,0,152,153,1,0,0,0,153,154,6,16,0,0,154,34,1, - 0,0,0,12,0,96,100,106,110,115,121,128,130,138,142,151,1,6,0,0 - ] - -class ptmlLexer(Lexer): - - atn = ATNDeserializer().deserialize(serializedATN()) - - decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] - - T__0 = 1 - T__1 = 2 - T__2 = 3 - T__3 = 4 - T__4 = 5 - T__5 = 6 - T__6 = 7 - T__7 = 8 - T__8 = 9 - T__9 = 10 - T__10 = 11 - T__11 = 12 - String = 13 - Integer = 14 - Float = 15 - LINE_COMMENT = 16 - WS = 17 - - channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ] - - modeNames = [ "DEFAULT_MODE" ] - - literalNames = [ "", - "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", - "'cond'", "'('", "')'", "','", "'True'", "'False'" ] - - symbolicNames = [ "", - "String", "Integer", "Float", "LINE_COMMENT", "WS" ] - - ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6", - "T__7", "T__8", "T__9", "T__10", "T__11", "String", "Integer", - "Float", "LINE_COMMENT", "WS" ] - - grammarFileName = "ptml.g4" - - def __init__(self, input=None, output:TextIO = sys.stdout): - super().__init__(input, output) - self.checkVersion("4.13.1") - self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache()) - self._actions = None - self._predicates = None - - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens deleted file mode 100644 index 6f604be..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens +++ /dev/null @@ -1,29 +0,0 @@ -T__0=1 -T__1=2 -T__2=3 -T__3=4 -T__4=5 -T__5=6 -T__6=7 -T__7=8 -T__8=9 -T__9=10 -T__10=11 -T__11=12 -String=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 -'{'=1 -'}'=2 -'sequence'=3 -'selector'=4 -'parallel'=5 -'act'=6 -'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py deleted file mode 100644 index 536aaf2..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py +++ /dev/null @@ -1,66 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -from antlr4 import * -if "." in __name__: - from .ptmlParser import ptmlParser -else: - from ptmlParser import ptmlParser - -# This class defines a complete listener for a parse tree produced by ptmlParser. -class ptmlListener(ParseTreeListener): - - # Enter a parse tree produced by ptmlParser#root. - def enterRoot(self, ctx:ptmlParser.RootContext): - pass - - # Exit a parse tree produced by ptmlParser#root. - def exitRoot(self, ctx:ptmlParser.RootContext): - pass - - - # Enter a parse tree produced by ptmlParser#tree. - def enterTree(self, ctx:ptmlParser.TreeContext): - pass - - # Exit a parse tree produced by ptmlParser#tree. - def exitTree(self, ctx:ptmlParser.TreeContext): - pass - - - # Enter a parse tree produced by ptmlParser#internal_node. - def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext): - pass - - # Exit a parse tree produced by ptmlParser#internal_node. - def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext): - pass - - - # Enter a parse tree produced by ptmlParser#action_sign. - def enterAction_sign(self, ctx:ptmlParser.Action_signContext): - pass - - # Exit a parse tree produced by ptmlParser#action_sign. - def exitAction_sign(self, ctx:ptmlParser.Action_signContext): - pass - - - # Enter a parse tree produced by ptmlParser#action_parm. - def enterAction_parm(self, ctx:ptmlParser.Action_parmContext): - pass - - # Exit a parse tree produced by ptmlParser#action_parm. - def exitAction_parm(self, ctx:ptmlParser.Action_parmContext): - pass - - - # Enter a parse tree produced by ptmlParser#boolean. - def enterBoolean(self, ctx:ptmlParser.BooleanContext): - pass - - # Exit a parse tree produced by ptmlParser#boolean. - def exitBoolean(self, ctx:ptmlParser.BooleanContext): - pass - - - -del ptmlParser \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py deleted file mode 100644 index a3dd2d4..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py +++ /dev/null @@ -1,528 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -# encoding: utf-8 -from antlr4 import * -from io import StringIO -import sys -if sys.version_info[1] > 5: - from typing import TextIO -else: - from typing.io import TextIO - -def serializedATN(): - return [ - 4,1,17,65,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4, - 0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,5,1,24,8,1,10,1,12, - 1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,1,3,1,3,3,3, - 41,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,49,8,4,1,4,1,4,1,4,1,4,1,4,3, - 4,56,8,4,5,4,58,8,4,10,4,12,4,61,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8, - 10,0,2,1,0,6,7,1,0,11,12,71,0,13,1,0,0,0,2,19,1,0,0,0,4,34,1,0,0, - 0,6,36,1,0,0,0,8,48,1,0,0,0,10,62,1,0,0,0,12,14,3,2,1,0,13,12,1, - 0,0,0,14,15,1,0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17, - 18,5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,25,5,1,0,0,21,24,3,6,3, - 0,22,24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,27,1,0,0,0,25,23, - 1,0,0,0,25,26,1,0,0,0,26,28,1,0,0,0,27,25,1,0,0,0,28,29,5,2,0,0, - 29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5,0,0,33,35,5,14, - 0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35,5,1,0,0,0,36,37, - 7,0,0,0,37,38,5,13,0,0,38,40,5,8,0,0,39,41,3,8,4,0,40,39,1,0,0,0, - 40,41,1,0,0,0,41,42,1,0,0,0,42,43,5,9,0,0,43,7,1,0,0,0,44,49,5,14, - 0,0,45,49,5,15,0,0,46,49,3,10,5,0,47,49,5,13,0,0,48,44,1,0,0,0,48, - 45,1,0,0,0,48,46,1,0,0,0,48,47,1,0,0,0,49,59,1,0,0,0,50,55,5,10, - 0,0,51,56,5,14,0,0,52,56,5,15,0,0,53,56,3,10,5,0,54,56,5,13,0,0, - 55,51,1,0,0,0,55,52,1,0,0,0,55,53,1,0,0,0,55,54,1,0,0,0,56,58,1, - 0,0,0,57,50,1,0,0,0,58,61,1,0,0,0,59,57,1,0,0,0,59,60,1,0,0,0,60, - 9,1,0,0,0,61,59,1,0,0,0,62,63,7,1,0,0,63,11,1,0,0,0,8,15,23,25,34, - 40,48,55,59 - ] - -class ptmlParser ( Parser ): - - grammarFileName = "ptml.g4" - - atn = ATNDeserializer().deserialize(serializedATN()) - - decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] - - sharedContextCache = PredictionContextCache() - - literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'", - "'parallel'", "'act'", "'cond'", "'('", "')'", "','", - "'True'", "'False'" ] - - symbolicNames = [ "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "String", "Integer", "Float", "LINE_COMMENT", - "WS" ] - - RULE_root = 0 - RULE_tree = 1 - RULE_internal_node = 2 - RULE_action_sign = 3 - RULE_action_parm = 4 - RULE_boolean = 5 - - ruleNames = [ "root", "tree", "internal_node", "action_sign", "action_parm", - "boolean" ] - - EOF = Token.EOF - T__0=1 - T__1=2 - T__2=3 - T__3=4 - T__4=5 - T__5=6 - T__6=7 - T__7=8 - T__8=9 - T__9=10 - T__10=11 - T__11=12 - String=13 - Integer=14 - Float=15 - LINE_COMMENT=16 - WS=17 - - def __init__(self, input:TokenStream, output:TextIO = sys.stdout): - super().__init__(input, output) - self.checkVersion("4.13.1") - self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache) - self._predicates = None - - - - - class RootContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def EOF(self): - return self.getToken(ptmlParser.EOF, 0) - - def tree(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.TreeContext) - else: - return self.getTypedRuleContext(ptmlParser.TreeContext,i) - - - def getRuleIndex(self): - return ptmlParser.RULE_root - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterRoot" ): - listener.enterRoot(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitRoot" ): - listener.exitRoot(self) - - - - - def root(self): - - localctx = ptmlParser.RootContext(self, self._ctx, self.state) - self.enterRule(localctx, 0, self.RULE_root) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 13 - self._errHandler.sync(self) - _la = self._input.LA(1) - while True: - self.state = 12 - self.tree() - self.state = 15 - self._errHandler.sync(self) - _la = self._input.LA(1) - if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)): - break - - self.state = 17 - self.match(ptmlParser.EOF) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class TreeContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def internal_node(self): - return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0) - - - def action_sign(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.Action_signContext) - else: - return self.getTypedRuleContext(ptmlParser.Action_signContext,i) - - - def tree(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.TreeContext) - else: - return self.getTypedRuleContext(ptmlParser.TreeContext,i) - - - def getRuleIndex(self): - return ptmlParser.RULE_tree - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterTree" ): - listener.enterTree(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitTree" ): - listener.exitTree(self) - - - - - def tree(self): - - localctx = ptmlParser.TreeContext(self, self._ctx, self.state) - self.enterRule(localctx, 2, self.RULE_tree) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 19 - self.internal_node() - self.state = 20 - self.match(ptmlParser.T__0) - self.state = 25 - self._errHandler.sync(self) - _la = self._input.LA(1) - while (((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0): - self.state = 23 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [6, 7]: - self.state = 21 - self.action_sign() - pass - elif token in [3, 4, 5]: - self.state = 22 - self.tree() - pass - else: - raise NoViableAltException(self) - - self.state = 27 - self._errHandler.sync(self) - _la = self._input.LA(1) - - self.state = 28 - self.match(ptmlParser.T__1) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Internal_nodeContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def Integer(self): - return self.getToken(ptmlParser.Integer, 0) - - def getRuleIndex(self): - return ptmlParser.RULE_internal_node - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterInternal_node" ): - listener.enterInternal_node(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitInternal_node" ): - listener.exitInternal_node(self) - - - - - def internal_node(self): - - localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state) - self.enterRule(localctx, 4, self.RULE_internal_node) - try: - self.state = 34 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [3]: - self.enterOuterAlt(localctx, 1) - self.state = 30 - self.match(ptmlParser.T__2) - pass - elif token in [4]: - self.enterOuterAlt(localctx, 2) - self.state = 31 - self.match(ptmlParser.T__3) - pass - elif token in [5]: - self.enterOuterAlt(localctx, 3) - self.state = 32 - self.match(ptmlParser.T__4) - self.state = 33 - self.match(ptmlParser.Integer) - pass - else: - raise NoViableAltException(self) - - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Action_signContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def String(self): - return self.getToken(ptmlParser.String, 0) - - def action_parm(self): - return self.getTypedRuleContext(ptmlParser.Action_parmContext,0) - - - def getRuleIndex(self): - return ptmlParser.RULE_action_sign - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterAction_sign" ): - listener.enterAction_sign(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitAction_sign" ): - listener.exitAction_sign(self) - - - - - def action_sign(self): - - localctx = ptmlParser.Action_signContext(self, self._ctx, self.state) - self.enterRule(localctx, 6, self.RULE_action_sign) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 36 - _la = self._input.LA(1) - if not(_la==6 or _la==7): - self._errHandler.recoverInline(self) - else: - self._errHandler.reportMatch(self) - self.consume() - self.state = 37 - self.match(ptmlParser.String) - self.state = 38 - self.match(ptmlParser.T__7) - self.state = 40 - self._errHandler.sync(self) - _la = self._input.LA(1) - if (((_la) & ~0x3f) == 0 and ((1 << _la) & 63488) != 0): - self.state = 39 - self.action_parm() - - - self.state = 42 - self.match(ptmlParser.T__8) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Action_parmContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def Integer(self, i:int=None): - if i is None: - return self.getTokens(ptmlParser.Integer) - else: - return self.getToken(ptmlParser.Integer, i) - - def Float(self, i:int=None): - if i is None: - return self.getTokens(ptmlParser.Float) - else: - return self.getToken(ptmlParser.Float, i) - - def boolean(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.BooleanContext) - else: - return self.getTypedRuleContext(ptmlParser.BooleanContext,i) - - - def String(self, i:int=None): - if i is None: - return self.getTokens(ptmlParser.String) - else: - return self.getToken(ptmlParser.String, i) - - def getRuleIndex(self): - return ptmlParser.RULE_action_parm - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterAction_parm" ): - listener.enterAction_parm(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitAction_parm" ): - listener.exitAction_parm(self) - - - - - def action_parm(self): - - localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state) - self.enterRule(localctx, 8, self.RULE_action_parm) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 48 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [14]: - self.state = 44 - self.match(ptmlParser.Integer) - pass - elif token in [15]: - self.state = 45 - self.match(ptmlParser.Float) - pass - elif token in [11, 12]: - self.state = 46 - self.boolean() - pass - elif token in [13]: - self.state = 47 - self.match(ptmlParser.String) - pass - else: - raise NoViableAltException(self) - - self.state = 59 - self._errHandler.sync(self) - _la = self._input.LA(1) - while _la==10: - self.state = 50 - self.match(ptmlParser.T__9) - self.state = 55 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [14]: - self.state = 51 - self.match(ptmlParser.Integer) - pass - elif token in [15]: - self.state = 52 - self.match(ptmlParser.Float) - pass - elif token in [11, 12]: - self.state = 53 - self.boolean() - pass - elif token in [13]: - self.state = 54 - self.match(ptmlParser.String) - pass - else: - raise NoViableAltException(self) - - self.state = 61 - self._errHandler.sync(self) - _la = self._input.LA(1) - - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class BooleanContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - - def getRuleIndex(self): - return ptmlParser.RULE_boolean - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterBoolean" ): - listener.enterBoolean(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitBoolean" ): - listener.exitBoolean(self) - - - - - def boolean(self): - - localctx = ptmlParser.BooleanContext(self, self._ctx, self.state) - self.enterRule(localctx, 10, self.RULE_boolean) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 62 - _la = self._input.LA(1) - if not(_la==11 or _la==12): - self._errHandler.recoverInline(self) - else: - self._errHandler.reportMatch(self) - self.consume() - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - - - diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py deleted file mode 100644 index ecd89f0..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py +++ /dev/null @@ -1,119 +0,0 @@ -import shortuuid -import py_trees as ptree -from EXP.behavior_lib._base import Selector, Sequence -from antlr4 import * - -if "." in __name__: - from .ptmlListener import ptmlListener - from .ptmlParser import ptmlParser -else: - from ptmlListener import ptmlListener - from ptmlParser import ptmlParser - -short_uuid = lambda: shortuuid.ShortUUID().random(length=8) - - -class ptmlTranslator(ptmlListener): - """Translate the ptml language to BT. - - Args: - ptmlListener (_type_): _description_ - """ - - def __init__(self, scene, behaviour_lib_path) -> None: - super().__init__() - self.bt_root = None - self.stack = [] - self.scene = scene - self.behaviour_lib_path = behaviour_lib_path - - # Enter a parse tree produced by ptmlParser#root. - def enterRoot(self, ctx: ptmlParser.RootContext): - pass - - # Exit a parse tree produced by ptmlParser#root. - def exitRoot(self, ctx: ptmlParser.RootContext): - pass - - # Enter a parse tree produced by ptmlParser#tree. - def enterTree(self, ctx: ptmlParser.TreeContext): - type = str(ctx.internal_node().children[0]) - - if type== "sequence": - node = Sequence(name="Sequence", memory=False) - elif type=="selector": - node = Selector(name="Selector", memory=False) - elif type== "parallel": - tag = "parallel_" + short_uuid() - # threshold = int(ctx.children[1]) - # default policy, success on all - node = ptree.composites.Parallel( - name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll - ) - else: - raise TypeError("Unknown Composite Type: {}".format(type)) - - self.stack.append(node) - - # Exit a parse tree produced by ptmlParser#tree. - def exitTree(self, ctx: ptmlParser.TreeContext): - if len(self.stack) >= 2: - child = self.stack.pop() - self.stack[-1].add_child(child) - else: - self.bt_root = self.stack[0] - - # Enter a parse tree produced by ptmlParser#internal_node. - def enterInternal_node(self, ctx: ptmlParser.Internal_nodeContext): - pass - - # Exit a parse tree produced by ptmlParser#internal_node. - def exitInternal_node(self, ctx: ptmlParser.Internal_nodeContext): - pass - - # Enter a parse tree produced by ptmlParser#action_sign. - def enterAction_sign(self, ctx: ptmlParser.Action_signContext): - # cond / act - node_type = str(ctx.children[0]) - name = str(ctx.String()) - - # if have params - args = [] - if len(ctx.children) > 4: - params = ctx.action_parm() - for i in params.children: - if isinstance(i, ptmlParser.BooleanContext): - args.append(str(i.children[0])) - elif str(i) == ',': - args.append(',') - else: - args.append(f"'{i}'") - args = "".join(args) - - exec(f"from {name} import {name}") - # tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid() - - node = eval(f"{name}({args})") - node.set_scene(self.scene) - # connect - self.stack[-1].add_child(node) - - # Exit a parse tree produced by ptmlParser#action_sign. - def exitAction_sign(self, ctx: ptmlParser.Action_signContext): - pass - - # Enter a parse tree produced by ptmlParser#action_parm. - def enterAction_parm(self, ctx: ptmlParser.Action_parmContext): - pass - - # Exit a parse tree produced by ptmlParser#action_parm. - def exitAction_parm(self, ctx: ptmlParser.Action_parmContext): - pass - - # Enter a parse tree produced by ptmlParser#boolean. - def enterBoolean(self, ctx: ptmlParser.BooleanContext): - pass - - # Exit a parse tree produced by ptmlParser#boolean. - def exitBoolean(self, ctx: ptmlParser.BooleanContext): - pass diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml deleted file mode 100644 index f6ce360..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml +++ /dev/null @@ -1,35 +0,0 @@ -//sequence: -// act action1() -// act action2(2, 2.3, True) -// -// parallel 2: -// act action3(int a, float b) -// act action4() - -sequence{ - selector{ - cond CoffeeCupFound() - act FindCoffeeCup() - sequence{ - cond SeqTest() - act Move(1.2, 2, 2.3, True) - act Grasp() - parallel 3 { - cond Isact() - act Testact() - } - } - } - selector{ - cond CoffeeCupGrasped() - act GraspCoffeeCup() - } - selector{ - cond DestinationAReached() - act ReachDestinationA() - } - selector{ - cond CoffeeCupPlaced() - act PlaceCoffeeCup() - } -} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml deleted file mode 100644 index be4dc5e..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml +++ /dev/null @@ -1,12 +0,0 @@ -selector - selector - cond HasMap() - act ExploreEnv() - sequence - cond Chatting() - act DealChat() - sequence - cond HasSubTask() - sequence - cond At(Robot,Table) - // cond At(Robot,Table) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml deleted file mode 100644 index 62564fa..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml +++ /dev/null @@ -1,7 +0,0 @@ -selector{ - sequence{ - cond Chatting() - act DealChat() - } - act At(Coffee,Table) -} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml deleted file mode 100644 index 7ac38d6..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml +++ /dev/null @@ -1,20 +0,0 @@ -selector -{ - selector -{ - cond HasMap() - act ExploreEnv() - -} sequence -{ - cond Chatting() - act DealChat() - -} sequence -{ - cond HasSubTask() - sequence -{ - cond At(Robot,Table) - -} // cond At(Robot,Table)}} \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py deleted file mode 100644 index 70d629f..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py +++ /dev/null @@ -1,25 +0,0 @@ -# from robowaiter.scene.scene import Scene -# from robowaiter.behavior_tree.ptml.ptmlCompiler import load - -import os -from robowaiter import Robot, task_map -from robowaiter.utils.bt.draw import render_dot_tree - -if __name__ == '__main__': - TASK_NAME = 'OT' - - # create robot - project_path = "../../../" - ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/Default.ptml') - behavior_lib_path = os.path.join(project_path, 'behavior_lib') - - robot = Robot(ptml_path, behavior_lib_path) - - # create task - task = task_map[TASK_NAME](robot) - - render_dot_tree(robot.bt.root,name="test") - # build and tick - # scene.BT = ptree.trees.BehaviourTree(scene.BT) - # todo: tick this bt - print(robot.bt) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot deleted file mode 100644 index 1efeebd..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot +++ /dev/null @@ -1,29 +0,0 @@ -digraph pastafarianism { -ordering=out; -graph [fontname="times-roman"]; -node [fontname="times-roman"]; -edge [fontname="times-roman"]; -"34d1cf8a-42d6-49de-a458-0c7d3bffc436" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label="?", shape=diamond, style=filled, width=0.01]; -"33446211-2d5c-4e1d-bdb5-5ded443a713c" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label="?", shape=diamond, style=filled, width=0.01]; -"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "33446211-2d5c-4e1d-bdb5-5ded443a713c"; -"96622c49-e2f6-4de9-9284-0c5eabbdd741" [fillcolor=yellow, fontcolor=black, fontsize=20, label=HasMap, shape=ellipse, style=filled]; -"33446211-2d5c-4e1d-bdb5-5ded443a713c" -> "96622c49-e2f6-4de9-9284-0c5eabbdd741"; -"dc007c72-0338-4616-bac2-bc39c81d2b77" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label=ExploreEnv, shape=box, style=filled]; -"33446211-2d5c-4e1d-bdb5-5ded443a713c" -> "dc007c72-0338-4616-bac2-bc39c81d2b77"; -"6fe9e522-557f-473a-a582-2f0d17d1a4f1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; -"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "6fe9e522-557f-473a-a582-2f0d17d1a4f1"; -"cf3e4033-88b1-41bb-a638-26cc06e7a3dd" [fillcolor=yellow, fontcolor=black, fontsize=20, label=Chatting, shape=ellipse, style=filled]; -"6fe9e522-557f-473a-a582-2f0d17d1a4f1" -> "cf3e4033-88b1-41bb-a638-26cc06e7a3dd"; -"d2e8364e-dd83-4abb-8234-8466ff0c0483" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label=DealChat, shape=box, style=filled]; -"6fe9e522-557f-473a-a582-2f0d17d1a4f1" -> "d2e8364e-dd83-4abb-8234-8466ff0c0483"; -"d78eaf31-cc9d-484d-b564-dbd5912378fa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; -"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "d78eaf31-cc9d-484d-b564-dbd5912378fa"; -"85284b02-fc8e-4418-8d6b-7a154d2004f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label=HasSubTask, shape=ellipse, style=filled]; -"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "85284b02-fc8e-4418-8d6b-7a154d2004f6"; -"eb1bba56-55b1-4a71-8b31-0381812f588a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; -"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "eb1bba56-55b1-4a71-8b31-0381812f588a"; -"20b57b46-d59d-4b04-a4ed-eff12e6adc91" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table)", shape=ellipse, style=filled]; -"eb1bba56-55b1-4a71-8b31-0381812f588a" -> "20b57b46-d59d-4b04-a4ed-eff12e6adc91"; -"3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table)", shape=ellipse, style=filled]; -"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8"; -} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.png b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.png deleted file mode 100644 index df4a1f9..0000000 Binary files a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.png and /dev/null differ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.svg b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.svg deleted file mode 100644 index fe9b90e..0000000 --- a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.svg +++ /dev/null @@ -1,151 +0,0 @@ - - - - - - -pastafarianism - - - -34d1cf8a-42d6-49de-a458-0c7d3bffc436 - -? - - - -33446211-2d5c-4e1d-bdb5-5ded443a713c - -? - - - -34d1cf8a-42d6-49de-a458-0c7d3bffc436->33446211-2d5c-4e1d-bdb5-5ded443a713c - - - - - -6fe9e522-557f-473a-a582-2f0d17d1a4f1 - -> - - - -34d1cf8a-42d6-49de-a458-0c7d3bffc436->6fe9e522-557f-473a-a582-2f0d17d1a4f1 - - - - - -d78eaf31-cc9d-484d-b564-dbd5912378fa - -> - - - -34d1cf8a-42d6-49de-a458-0c7d3bffc436->d78eaf31-cc9d-484d-b564-dbd5912378fa - - - - - -96622c49-e2f6-4de9-9284-0c5eabbdd741 - -HasMap - - - -33446211-2d5c-4e1d-bdb5-5ded443a713c->96622c49-e2f6-4de9-9284-0c5eabbdd741 - - - - - -dc007c72-0338-4616-bac2-bc39c81d2b77 - -ExploreEnv - - - -33446211-2d5c-4e1d-bdb5-5ded443a713c->dc007c72-0338-4616-bac2-bc39c81d2b77 - - - - - -cf3e4033-88b1-41bb-a638-26cc06e7a3dd - -Chatting - - - -6fe9e522-557f-473a-a582-2f0d17d1a4f1->cf3e4033-88b1-41bb-a638-26cc06e7a3dd - - - - - -d2e8364e-dd83-4abb-8234-8466ff0c0483 - -DealChat - - - -6fe9e522-557f-473a-a582-2f0d17d1a4f1->d2e8364e-dd83-4abb-8234-8466ff0c0483 - - - - - 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symbols, Not, Or, And, to_dnf -from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm -from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法 -import time - - -# todo: 行为树鲁棒性测试，随机生成规划问题 -# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 -seed =1 -# BTTest(bt_algo_opt=True ,seed=seed) -# print("\n") -# BTTest(bt_algo_opt=False ,seed=seed ) - -def collect_action_nodes(): - action_list = [] - behavior_dict = load_behavior_tree_lib() - for cls in behavior_dict["act"].values(): - if cls.can_be_expanded: - print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") - if cls.num_args == 0: - for num in range(2): - cost = random.randint(1, 100) - info = cls.get_info() - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name()+str(num),cost=cost, **info)) - if cls.num_args == 1: - for num in range(2): - for arg in cls.valid_args: - cost = random.randint(1, 100) - info = cls.get_info(arg) - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name(arg)+str(num),cost=cost, **info)) - if cls.num_args > 1: - for num in range(2): - for args in cls.valid_args: - cost = random.randint(1, 100) - info = cls.get_info(*args) - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name(*args)+str(num),cost=cost, **info)) - return action_list -action_list = collect_action_nodes() - -start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', - 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', - 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', - 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', - 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', - 'Holding(Nothing)', - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} - -def print_action_data_table(goal,start,actions): - data = [] - for a in actions: - data.append([a.name ,a.pre ,a.add ,a.del_set ,a.cost]) - data.append(["Goal" ,goal ," " ,"Start" ,start]) - print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid - -def state_transition(state,action): - if not action.pre <= state: - print ('error: action not applicable') - return state - new_state=(state | action.add) - action.del_set - return new_state - - - -total_tree_size = [] -total_action_num = [] -total_state_num = [] -total_steps_num=[] -total_cost=[] -total_tick=[] -success_count =0 -failure_count = 0 -planning_time_total = 0.0 - -error = False - -goal_states = [] -# Open the file and read the lines -with open('easy.txt', 'r') as file: - for line in file: - # Strip newline characters and any leading/trailing whitespace - clean_line = line.strip() - # Add the cleaned line to the list - goal_states.append(clean_line) -# Now goal_states list contains all the lines from easy.txt -print(goal_states) - - -def goal_transfer_str(goal): - goal_dnf = str(to_dnf(goal, simplify=True)) - # print(goal_dnf) - goal_set = [] - if ('|' in goal or '&' in goal or 'Not' in goal) or not '(' in goal: - goal_ls = goal_dnf.split("|") - for g in goal_ls: - g_set = set() - g = g.replace(" ", "").replace("(", "").replace(")", "") - g = g.split("&") - for literal in g: - if '_' in literal: - first_part, rest = literal.split('_', 1) - literal = first_part + '(' + rest - # 添加 ')' 到末尾 - literal += ')' - # 替换剩余的 '_' 为 ',' - literal = literal.replace('_', ',') - g_set.add(literal) - goal_set.append(g_set) - - else: - g_set = set() - w = goal.split(")") - g_set.add(w[0] + ")") - if len(w) > 1: - for x in w[1:]: - if x != "": - g_set.add(x[1:] + ")") - goal_set.append(g_set) - return goal_set - -# 实验1000次 -for count,goal_str in enumerate(goal_states): - - # if count>=2: - # break - - goal = copy.deepcopy(goal_transfer_str(goal_str)) - print("count:",count,"goal:",goal) - - - # 生成一个规划问题，包括随机的状态和行动，以及目标状态 - states = [] - actions = copy.deepcopy(action_list) - start = copy.deepcopy(start_robowaiter) - state = copy.deepcopy(start) - states.append(state) - - # algo = OptBTExpAlgorithm(verbose=False) - algo = BTExpAlgorithm(verbose=False) - algo.clear() - - #algo = Weakalgorithm() - start_time = time.time() - # if count == 11 : #874: - # print_action_data_table(goal, start, list(actions)) - print_action_data_table(goal, start, list(actions)) - if algo.run_algorithm(start, goal, actions):#运行算法，规划后行为树为algo.bt - total_tree_size.append( algo.bt.count_size()-1) - # if count==11: - # algo.print_solution() - algo.print_solution() # 打印行为树 - else: - print ("error") - end_time = time.time() - planning_time_total += (end_time-start_time) - - #开始从初始状态运行行为树，测试 - state=start - steps=0 - current_cost = 0 - current_tick_time=0 - val, obj, cost, tick_time = algo.bt.cost_tick(state,0,0)#tick行为树，obj为所运行的行动 - - current_tick_time+=tick_time - current_cost += cost - while val !='success' and val !='failure':#运行直到行为树成功或失败 - state = state_transition(state,obj) - val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0) - current_cost += cost - current_tick_time += tick_time - if(val == 'failure'): - print("bt fails at step",steps) - error = True - break - steps+=1 - if(steps>=500):#至多运行500步 - break - if not goal[0] <= state:#错误解，目标条件不在执行后状态满足 - #print ("wrong solution",steps) - failure_count+=1 - error = True - else:#正确解，满足目标条件 - #print ("right solution",steps) - success_count+=1 - total_steps_num.append(steps) - if error: - print_action_data_table(goal, start, list(actions)) - algo.print_solution() - break - - - algo.clear() - total_action_num.append(len(actions)) - total_state_num.append(len(states)) - total_cost.append(current_cost) - total_tick.append(current_tick_time) - -print("success:",success_count,"failure:",failure_count)#算法成功和失败次数 -print("Total Tree Size: mean=",np.mean(total_tree_size), "std=",np.std(total_tree_size, ddof=1))#1000次测试树大小 -print("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1)) -print("Average Number of States:",np.mean(total_state_num))#1000次问题的平均状态数 -print("Average Number of Actions",np.mean(total_action_num))#1000次问题的平均行动数 -print("Planning Time Total:",planning_time_total,planning_time_total/1000.0) -print("Average Number of Ticks", np.mean(total_tick),"std=",np.std(total_tick,ddof=1)) -print("Average Cost of Execution:", np.mean(total_cost),"std=",np.std(total_cost,ddof=1)) - diff --git a/BTExpansionCode/EXP/EXP/exp2.py b/BTExpansionCode/EXP/EXP/exp2.py deleted file mode 100644 index ebbc75b..0000000 --- a/BTExpansionCode/EXP/EXP/exp2.py +++ /dev/null @@ -1,45 +0,0 @@ - -from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes -import copy -import random -seed = 1 -random.seed(seed) - -action_list = collect_action_nodes(random) -# for act in action_list: -# print(act.name,act.cost) - -start_robowaiter = get_start() - -# 计算state总数 -num = collect_cond_nodes() -print("states num: ",num) - -goal_states = [] -with open('easy.txt', 'r') as file: - for line in file: - clean_line = line.strip() - goal_states.append(clean_line) -print(goal_states) - -# goal_set_ls=[] -# for count, goal_str in enumerate(goal_states): -# goal = copy.deepcopy(goal_transfer_str(goal_str)) -# goal_set_ls.append(goal) -# print(goal_set_ls) - -# goal_states={"On_Dessert_Bar"} -# goal_states={"On_MilkDrink_Bar2"} -# goal_states={"Is_TubeLight_On"} -# goal_states = goal_set_ls -# goal_states = {'On(VacuumCup,WaterTable)'} -# goal_states = {'At(Robot,WaterTable)'} -# goal_states = {'Is(Table1,Clean)'} - -# todo: 行为树鲁棒性测试，随机生成规划问题 -# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 - -BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) -print("\n") -# 对比 -BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/exp_tools.py b/BTExpansionCode/EXP/EXP/exp_tools.py deleted file mode 100644 index 5717554..0000000 --- a/BTExpansionCode/EXP/EXP/exp_tools.py +++ /dev/null @@ -1,276 +0,0 @@ - - - -from utils.bt.load import load_behavior_tree_lib -from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm - -import copy -from tabulate import tabulate -import numpy as np -import os - -from sympy import symbols, Not, Or, And, to_dnf -from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm -from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法 -import time -from utils.bt.draw import render_dot_tree -from utils.bt.load import load_bt_from_ptml -root_path = os.path.abspath( - os.path.join(__file__, "../../..") - ) -def goal_transfer_str(goal): - goal_dnf = str(to_dnf(goal, simplify=True)) - # print(goal_dnf) - goal_set = [] - if ('|' in goal or '&' in goal or 'Not' in goal) or not '(' in goal: - goal_ls = goal_dnf.split("|") - for g in goal_ls: - g_set = set() - g = g.replace(" ", "").replace("(", "").replace(")", "") - g = g.split("&") - for literal in g: - if '_' in literal: - first_part, rest = literal.split('_', 1) - literal = first_part + '(' + rest - # 添加 ')' 到末尾 - literal += ')' - # 替换剩余的 '_' 为 ',' - literal = literal.replace('_', ',') - g_set.add(literal) - goal_set.append(g_set) - - else: - g_set = set() - w = goal.split(")") - g_set.add(w[0] + ")") - if len(w) > 1: - for x in w[1:]: - if x != "": - g_set.add(x[1:] + ")") - goal_set.append(g_set) - return goal_set - - -def collect_action_nodes(random): - multiple_num=2 - action_list = [] - behavior_dict = load_behavior_tree_lib() - - for cls in behavior_dict["act"].values(): - if cls.can_be_expanded: - print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") - if cls.num_args == 0: - for num in range(multiple_num): - info = cls.get_info() - action_list.append(Action(name=cls.get_ins_name() + str(num), **info)) - if cls.num_args == 1: - for num in range(multiple_num): - for arg in cls.valid_args: - info = cls.get_info(arg) - action_list.append(Action(name=cls.get_ins_name(arg) + str(num), **info)) - if cls.num_args > 1: - for num in range(multiple_num): - for args in cls.valid_args: - info = cls.get_info(*args) - action_list.append(Action(name=cls.get_ins_name(*args) + str(num),**info)) - - action_list = sorted(action_list, key=lambda x: x.name) - for i in range(len(action_list)): - cost = random.randint(1, 100) - action_list[i].cost=cost - return action_list - -def collect_action_nodes_old(random): - action_list = [] - behavior_dict = load_behavior_tree_lib() - behavior_ls = list() - # behavior_ls.sort() - - behavior_ls = [cls for cls in behavior_ls] - behavior_ls = sorted(behavior_ls, key=lambda x: x.__class__.__name__) - - for cls in behavior_ls: - if cls.can_be_expanded: - print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") - if cls.num_args == 0: - for num in range(2): - cost = random.randint(1, 100) - info = cls.get_info() - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name()+str(num),cost=cost, **info)) - if cls.num_args == 1: - for num in range(2): - for arg in cls.valid_args: - cost = random.randint(1, 100) - info = cls.get_info(arg) - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name(arg)+str(num),cost=cost, **info)) - if cls.num_args > 1: - for num in range(2): - for args in cls.valid_args: - cost = random.randint(1, 100) - info = cls.get_info(*args) - info.pop('cost', None) - action_list.append(Action(name=cls.get_ins_name(*args)+str(num),cost=cost, **info)) - return action_list - - -def collect_cond_nodes(): - action_list = [] - behavior_dict = load_behavior_tree_lib() - num=0 - for cls in behavior_dict["cond"].values(): - if cls.can_be_expanded: - print(f"可扩展条件：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") - num+=len(cls.valid_args) - return num - - -def get_start(): - start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', - 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', - 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', - 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', - 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', - 'Holding(Nothing)', - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} - return start_robowaiter - - -def print_action_data_table(goal,start,actions): - data = [] - for a in actions: - data.append([a.name ,a.pre ,a.add ,a.del_set ,a.cost]) - data.append(["Goal" ,goal ," " ,"Start" ,start]) - print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid - - -def state_transition(state,action): - if not action.pre <= state: - print ('error: action not applicable') - return state - new_state=(state | action.add) - action.del_set - return new_state - - -def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): - - if bt_algo_opt: - print("============= OptBT Test ==============") - else: - print("============= XiaoCai BT Test ==============") - - total_tree_size = [] - total_action_num = [] - total_state_num = [] - total_steps_num = [] - total_cost = [] - total_tick = [] - success_count = 0 - failure_count = 0 - planning_time_total = 0.0 - states=[] ####？？？ - actions = copy.deepcopy(action_list) - start = copy.deepcopy(start_robowaiter) - - error=False - - for count, goal_str in enumerate(goal_states): - - goal = copy.deepcopy(goal_transfer_str(goal_str)) - print("count:", count, "goal:", goal) - - - if bt_algo_opt: - # if count==874: - # algo = OptBTExpAlgorithm(verbose=False) - # else: - algo = OptBTExpAlgorithm(verbose=False) - else: - algo = BTExpAlgorithm(verbose=False) - algo.clear() - - # algo = Weakalgorithm() - start_time = time.time() - # if count == 11 : #874: - # print_action_data_table(goal, start, list(actions)) - # print_action_data_table(goal, start, list(actions)) - if algo.run_algorithm(start, goal, actions): # 运行算法，规划后行为树为algo.bt - total_tree_size.append(algo.bt.count_size() - 1) - # if count==10: - # algo.print_solution() - # algo.print_solution() # 打印行为树 - - # 画出行为树 - # if count == 11: - # ptml_string = algo.get_ptml_many_act() - # file_name = "sub_task" - # file_path = f'./{file_name}.ptml' - # with open(file_path, 'w') as file: - # file.write(ptml_string) - # ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml') - # behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib') - # bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path) - # if bt_algo_opt: - # render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False) - # else: - # render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False) - - else: - print("error") - end_time = time.time() - planning_time_total += (end_time - start_time) - - # 开始从初始状态运行行为树，测试 - state = start - steps = 0 - current_cost = 0 - current_tick_time = 0 - val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) # tick行为树，obj为所运行的行动 - - current_tick_time += tick_time - current_cost += cost - while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 - state = state_transition(state, obj) - val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) - current_cost += cost - current_tick_time += tick_time - if (val == 'failure'): - print("bt fails at step", steps) - error = True - break - steps += 1 - if (steps >= 500): # 至多运行500步 - break - if not goal[0] <= state: # 错误解，目标条件不在执行后状态满足 - # print ("wrong solution",steps) - failure_count += 1 - error = True - else: # 正确解，满足目标条件 - # print ("right solution",steps) - success_count += 1 - total_steps_num.append(steps) - if error: - print_action_data_table(goal, start, list(actions)) - algo.print_solution() - break - - algo.clear() - total_action_num.append(len(actions)) - total_state_num.append(len(states)) - total_cost.append(current_cost) - total_tick.append(current_tick_time) - - print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 - print("Total Tree Size: mean=", np.mean(total_tree_size), "std=", np.std(total_tree_size, ddof=1)) # 1000次测试树大小 - print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) - print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 - print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 - print("Planning Time Total:", planning_time_total, planning_time_total / 1000.0) - print("Average Number of Ticks", np.mean(total_tick), "std=", np.std(total_tick, ddof=1)) - print("Average Cost of Execution:", np.mean(total_cost), "std=", np.std(total_cost, ddof=1)) - - diff --git a/BTExpansionCode/EXP/EXP/expanded_bt_obt.dot b/BTExpansionCode/EXP/EXP/expanded_bt_obt.dot deleted file mode 100644 index 91d0a17..0000000 --- a/BTExpansionCode/EXP/EXP/expanded_bt_obt.dot +++ /dev/null @@ -1,3463 +0,0 @@ -digraph pastafarianism { -ordering=out; -graph [fontname="times-roman"]; -node [fontname="times-roman"]; -edge [fontname="times-roman"]; -"907c9cc7-0491-4cd1-9e87-7ebbfc7d3af6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"c98d3c4f-a361-49ba-9243-59937dab3a87" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(MilkDrink,Bar2)", shape=ellipse, style=filled]; -"907c9cc7-0491-4cd1-9e87-7ebbfc7d3af6" -> "c98d3c4f-a361-49ba-9243-59937dab3a87"; 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[fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"2cd34070-8965-4976-8a9e-2c33c6c58451" -> "536cd52c-b59d-477d-ab85-fc2ac82f22cf"; -"c9206c5f-988d-4e1a-b338-d12c9684f503" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"536cd52c-b59d-477d-ab85-fc2ac82f22cf" -> "c9206c5f-988d-4e1a-b338-d12c9684f503"; -"e2097b24-0043-4672-9a17-2588fe6a5702" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"c9206c5f-988d-4e1a-b338-d12c9684f503" -> "e2097b24-0043-4672-9a17-2588fe6a5702"; -"42779d54-c1e7-4437-b8ee-8fdbd9fab767" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e2097b24-0043-4672-9a17-2588fe6a5702" -> "42779d54-c1e7-4437-b8ee-8fdbd9fab767"; -"6e9f0dfd-9fb6-4457-ace9-e535a8f6445d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, 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-> "b170a1d5-5316-44b0-a548-2ba26e761fe0"; -"6f4d70e9-d60f-405c-9303-1240b1db3eac" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"b170a1d5-5316-44b0-a548-2ba26e761fe0" -> "6f4d70e9-d60f-405c-9303-1240b1db3eac"; -"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"6f4d70e9-d60f-405c-9303-1240b1db3eac" -> "552ba4ab-1f0a-4b3d-be89-7b2c0e68a506"; -"7c8070d3-8878-49fa-a316-bcb565c1d7a6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" -> "7c8070d3-8878-49fa-a316-bcb565c1d7a6"; -"8f8b6712-c336-41c9-a958-3bbc0f7917b4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"7c8070d3-8878-49fa-a316-bcb565c1d7a6" -> "8f8b6712-c336-41c9-a958-3bbc0f7917b4"; 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[fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"eb6a1163-b9cb-4d0a-a39e-68f2f14323e4" -> "81c99573-0eea-464f-8d51-b799ee18a835"; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"81c99573-0eea-464f-8d51-b799ee18a835" -> "2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb"; -"b848d27d-4503-4031-8bae-893393b7123d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "b848d27d-4503-4031-8bae-893393b7123d"; -"7cc0efc9-e201-4447-9b3f-165742aab289" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "7cc0efc9-e201-4447-9b3f-165742aab289"; -"2a5b95c5-f343-4db2-a907-71c7a3e5ccb9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "2a5b95c5-f343-4db2-a907-71c7a3e5ccb9"; -"513473c0-d65c-4d90-967b-fef1bbd23a52" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"81c99573-0eea-464f-8d51-b799ee18a835" -> "513473c0-d65c-4d90-967b-fef1bbd23a52"; -"72eb9fcb-8c48-48b6-b674-46450ae09d36" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "72eb9fcb-8c48-48b6-b674-46450ae09d36"; -"3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49"; -"b867df19-ca63-4f47-9e0d-7aa9a10d4018" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "b867df19-ca63-4f47-9e0d-7aa9a10d4018"; -"9d85da11-9565-437e-b88c-d86bab73887a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"eb6a1163-b9cb-4d0a-a39e-68f2f14323e4" -> "9d85da11-9565-437e-b88c-d86bab73887a"; -"00eaf19f-462b-486a-a79e-36316549be89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"9d85da11-9565-437e-b88c-d86bab73887a" -> "00eaf19f-462b-486a-a79e-36316549be89"; -"08f160b8-20de-480b-9236-b66121e6dce2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"9d85da11-9565-437e-b88c-d86bab73887a" -> "08f160b8-20de-480b-9236-b66121e6dce2"; -"f73ea383-7619-464b-9394-e3c9a618a559" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"9d85da11-9565-437e-b88c-d86bab73887a" -> "f73ea383-7619-464b-9394-e3c9a618a559"; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b36051c2-dd84-4a0c-9326-8d37be3809b6" -> "ded7ee1c-6186-4f48-a8a0-bb43c3c2a857"; -"f5627266-d96c-4669-93b9-be258441a1ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "f5627266-d96c-4669-93b9-be258441a1ad"; -"15670bd3-4a8e-4a9e-afdd-e732ec602959" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "15670bd3-4a8e-4a9e-afdd-e732ec602959"; -"da5fe5f3-6d23-4c1f-beec-cba7d3164266" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "da5fe5f3-6d23-4c1f-beec-cba7d3164266"; -"ce69e82a-5c3b-48db-966c-ec177602bae0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f3df9e91-27bf-4ca6-b5ef-f9547adb35a2" -> "ce69e82a-5c3b-48db-966c-ec177602bae0"; -"bbc29cc6-20b2-4193-b1dd-7a32f39050e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"ce69e82a-5c3b-48db-966c-ec177602bae0" -> "bbc29cc6-20b2-4193-b1dd-7a32f39050e9"; -"c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"ce69e82a-5c3b-48db-966c-ec177602bae0" -> "c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba"; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ac31a68d-e995-4d21-8da1-9b370463554a" -> "c1af8498-5904-4d8e-bc02-7924ea94bfbc"; -"c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e"; -"b44b27d2-05fa-4162-acce-dfdcb94bfadb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "b44b27d2-05fa-4162-acce-dfdcb94bfadb"; -"1d16f199-e2a2-4e10-abb1-f6884b8bce40" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "1d16f199-e2a2-4e10-abb1-f6884b8bce40"; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8f8b6712-c336-41c9-a958-3bbc0f7917b4" -> "02e1f562-c2e1-4334-b34a-f92ca4e260af"; -"5ce7094e-7654-41b9-8465-820ea36c399c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "5ce7094e-7654-41b9-8465-820ea36c399c"; -"429753fc-fff9-471e-9576-7faf02c6d2c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "429753fc-fff9-471e-9576-7faf02c6d2c6"; -"d8103559-25b8-4419-b8b3-3e7d9c44ad0e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "d8103559-25b8-4419-b8b3-3e7d9c44ad0e"; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7c8070d3-8878-49fa-a316-bcb565c1d7a6" -> "9c8a5901-1909-4f5a-8f9f-58967edd194e"; -"37077af7-5ba7-477e-a986-728ed85232b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "37077af7-5ba7-477e-a986-728ed85232b5"; -"32c1e73f-ec6a-4e6c-8587-1aadccb33a06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "32c1e73f-ec6a-4e6c-8587-1aadccb33a06"; -"7bd333c9-5b85-4f6e-9581-338117923a32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "7bd333c9-5b85-4f6e-9581-338117923a32"; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" -> "5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48"; -"9d26bd30-b5e3-404a-83e1-02c034f42606" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "9d26bd30-b5e3-404a-83e1-02c034f42606"; -"f8e546b1-0afa-45a7-ae22-0a298bd06d48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "f8e546b1-0afa-45a7-ae22-0a298bd06d48"; -"862ffa6c-152b-4f9f-a196-2dbf57a7a1e1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "862ffa6c-152b-4f9f-a196-2dbf57a7a1e1"; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6f4d70e9-d60f-405c-9303-1240b1db3eac" -> "7a296eef-a4d2-4281-8864-9ac00ab561b0"; -"85fd988a-7627-4ae8-99f5-34f3c476dd98" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "85fd988a-7627-4ae8-99f5-34f3c476dd98"; -"878b7df8-4cbd-44a4-9dca-0f8ee4a669a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "878b7df8-4cbd-44a4-9dca-0f8ee4a669a9"; -"d77e461f-d702-4532-b8c7-8b5f8463ce5a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "d77e461f-d702-4532-b8c7-8b5f8463ce5a"; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b170a1d5-5316-44b0-a548-2ba26e761fe0" -> "c1d52509-e83c-4a74-a13d-d1f2b122c7f9"; -"73b964fc-8513-4a02-9396-c2a493f95c40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "73b964fc-8513-4a02-9396-c2a493f95c40"; -"26324ea7-77a7-41e4-8079-6d6d81d54e73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "26324ea7-77a7-41e4-8079-6d6d81d54e73"; -"877ae462-8b57-4127-babe-bb5bed8b88f0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "877ae462-8b57-4127-babe-bb5bed8b88f0"; -"f0a3fd38-7073-49f7-ba1f-385e18a22bf5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c6eb1df9-c639-411c-8a5d-4df6ee1b8ac1" -> "f0a3fd38-7073-49f7-ba1f-385e18a22bf5"; -"0ef2be89-71d2-47bc-b8ec-2e7bc50ec5c4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"f0a3fd38-7073-49f7-ba1f-385e18a22bf5" -> "0ef2be89-71d2-47bc-b8ec-2e7bc50ec5c4"; -"1ea5269d-2bfa-4407-a59b-c30774437fbd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"f0a3fd38-7073-49f7-ba1f-385e18a22bf5" -> "1ea5269d-2bfa-4407-a59b-c30774437fbd"; -"08d0835b-8eee-400c-83de-db2e9494440d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; -"f0a3fd38-7073-49f7-ba1f-385e18a22bf5" -> "08d0835b-8eee-400c-83de-db2e9494440d"; -"90d8126a-a304-4b5b-a923-ff3392ad2822" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"cf804881-0a96-4f87-8a1f-ba8950351479" -> "90d8126a-a304-4b5b-a923-ff3392ad2822"; -"030df637-c783-4a10-9185-b6b969f5ea8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "030df637-c783-4a10-9185-b6b969f5ea8c"; -"cc2987ee-ed16-4131-943f-d6ac0e4a82b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "cc2987ee-ed16-4131-943f-d6ac0e4a82b7"; -"5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6"; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e9b393c4-d19c-49cb-b6d5-32c23b24502e" -> "5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c"; -"59cf5c8e-eb75-49f2-8577-fdfa4f41add5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" -> "59cf5c8e-eb75-49f2-8577-fdfa4f41add5"; -"5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" -> "5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0"; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6df244a9-d0e3-4afb-acc0-3c57e1f849fa" -> "6dd6157e-d4ea-4770-acf9-e7060c1df669"; -"fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2"; -"c34d1128-1f88-449d-b313-6a1c9e6e5e80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "c34d1128-1f88-449d-b313-6a1c9e6e5e80"; -"068c9e38-5227-48db-8296-2654c69e49ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "068c9e38-5227-48db-8296-2654c69e49ba"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"04ce46f1-7778-4ea2-b47a-89a792555690" -> "a915c4d2-1caf-4f1a-a1a5-eb3137cb6403"; -"35135e9d-aef5-46df-ba0b-0514ac1af341" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "35135e9d-aef5-46df-ba0b-0514ac1af341"; -"61e6593c-573f-4dde-a4fe-abf2848f4914" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "61e6593c-573f-4dde-a4fe-abf2848f4914"; -"9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2"; -"719569ea-8870-4a87-8bd8-28eeae2db12d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8dd3e990-6ca4-4192-a239-b59c873c149b" -> "719569ea-8870-4a87-8bd8-28eeae2db12d"; -"4eda9db4-70bc-4b20-a5ed-110ad74d8c64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "4eda9db4-70bc-4b20-a5ed-110ad74d8c64"; -"b1033a4c-90c2-4eb9-98bb-f84b08613d02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "b1033a4c-90c2-4eb9-98bb-f84b08613d02"; -"cc9b0fc3-e0d4-44eb-9a88-5537b048fa29" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "cc9b0fc3-e0d4-44eb-9a88-5537b048fa29"; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"00a847a2-7a8a-4032-ae26-c71813e90091" -> "07a942b0-d8d0-41f3-bf04-f0c506ef90f5"; -"3b59f776-30ce-489e-b723-179344b8b5e5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "3b59f776-30ce-489e-b723-179344b8b5e5"; -"f088619c-7a18-4a50-87f8-a60abe2c58cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "f088619c-7a18-4a50-87f8-a60abe2c58cd"; -"657dc27a-b44c-4940-b904-e46926e3db9f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "657dc27a-b44c-4940-b904-e46926e3db9f"; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c0317628-ede8-4066-88fb-d1957c0a29f4" -> "293f6e2d-378c-4060-8770-c6ad0eb9a5b6"; -"9cca3ce0-e527-486f-a66e-f09d9b64a42a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "9cca3ce0-e527-486f-a66e-f09d9b64a42a"; -"cfcfe867-8611-4701-a0e0-297bc54131e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "cfcfe867-8611-4701-a0e0-297bc54131e6"; -"179f6a23-8805-4039-b51a-89d4c915fac9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "179f6a23-8805-4039-b51a-89d4c915fac9"; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"20099c42-d264-44b2-986e-d403c9afb4e3" -> "f2f5b020-a6ff-4f32-835d-a429b39f8b86"; -"6d3417d9-e755-42d6-9e7d-88733fffe19a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "6d3417d9-e755-42d6-9e7d-88733fffe19a"; -"a2c30457-2c24-496d-9ffe-d826b860eb11" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "a2c30457-2c24-496d-9ffe-d826b860eb11"; -"1f3a7ef4-3bc9-472d-9505-6d34a647d74c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "1f3a7ef4-3bc9-472d-9505-6d34a647d74c"; -"107e4167-8879-4b30-948c-3c622bc506f6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b6bf0eb8-fb4f-4948-922c-6007d7f4d95d" -> "107e4167-8879-4b30-948c-3c622bc506f6"; -"d782f876-319b-4fa5-949a-b34bd84ea5d1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "d782f876-319b-4fa5-949a-b34bd84ea5d1"; -"5297618c-5248-4d0a-abe1-9647b8548439" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "5297618c-5248-4d0a-abe1-9647b8548439"; -"4cbaca17-c610-489a-bcc0-00e620e1b0c9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "4cbaca17-c610-489a-bcc0-00e620e1b0c9"; -"db441cec-2dc9-4706-9444-0f99751c73bc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"943d2ebd-7a6c-4d62-afa4-ad75f1576722" -> "db441cec-2dc9-4706-9444-0f99751c73bc"; -"698a89b1-6ddb-4cde-8434-8fb5d60aeca5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "698a89b1-6ddb-4cde-8434-8fb5d60aeca5"; -"2fcfe3f0-1959-483d-b129-e23d429cd9eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "2fcfe3f0-1959-483d-b129-e23d429cd9eb"; -"0dcb2f43-c240-4320-8937-850b5dd3dd82" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "0dcb2f43-c240-4320-8937-850b5dd3dd82"; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a3ae9b62-12f3-47f0-8489-f9864bbd47e3" -> "2a6a2d27-f063-4de6-b244-b90ca23c3c78"; -"77e6ae5a-b6c3-486f-96b0-0c895f51cbd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "77e6ae5a-b6c3-486f-96b0-0c895f51cbd2"; -"849851d3-61b3-464f-b5dc-499aeecd0260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "849851d3-61b3-464f-b5dc-499aeecd0260"; -"cd486532-ca39-4bd4-a7ae-267cfbb5f4fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "cd486532-ca39-4bd4-a7ae-267cfbb5f4fd"; -"3cad833d-9229-4d43-97c6-6d718860125c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"afa95aff-d179-44e6-9e02-0d8a50d51ed3" -> "3cad833d-9229-4d43-97c6-6d718860125c"; -"51bafe6f-8600-4d81-ad69-17fafccfe59c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "51bafe6f-8600-4d81-ad69-17fafccfe59c"; -"d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492"; -"83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67"; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1dab6884-ebe3-43bc-812f-fd9c7402e7db" -> "f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc"; -"bba488a3-9fad-44bb-94c7-d1f1d02c8e46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "bba488a3-9fad-44bb-94c7-d1f1d02c8e46"; -"6c9bc359-3bda-430c-8385-69bc1ce6f7d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "6c9bc359-3bda-430c-8385-69bc1ce6f7d7"; -"b8e33d4b-c0f0-4ba8-ab74-452190ccdd52" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "b8e33d4b-c0f0-4ba8-ab74-452190ccdd52"; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"01d064d6-8151-40c7-b7ae-557a71a7f01b" -> "7951884c-58df-4bcc-9bbd-8be5c12c90f6"; -"0284ed1b-b681-44da-96ce-09a1255ca6cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "0284ed1b-b681-44da-96ce-09a1255ca6cd"; -"bbf5e382-c3ad-468d-a4f8-f374be01feb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "bbf5e382-c3ad-468d-a4f8-f374be01feb5"; -"a2c16372-f6fb-4d86-80ec-236cbabcb9a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "a2c16372-f6fb-4d86-80ec-236cbabcb9a0"; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8e1356da-b49b-4dca-961c-9c40e512f07c" -> "86314a58-2ccc-4fb7-91d9-73bc3b279053"; -"31e7ae3f-615e-4736-90d6-566a0a889fd0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" -> "31e7ae3f-615e-4736-90d6-566a0a889fd0"; -"1a81935f-de2d-40b6-be72-b1e73dc50d3e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" -> "1a81935f-de2d-40b6-be72-b1e73dc50d3e"; -"cd38cbad-3544-49a6-b04f-ceba780e5105" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1e10f9b8-7550-43f8-abd0-af0bec88f1b5" -> "cd38cbad-3544-49a6-b04f-ceba780e5105"; -"2b5d947e-86c7-4793-8589-5b078d23c3ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"cd38cbad-3544-49a6-b04f-ceba780e5105" -> "2b5d947e-86c7-4793-8589-5b078d23c3ae"; -"293b1666-f500-4299-a2ee-58624788a5ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"cd38cbad-3544-49a6-b04f-ceba780e5105" -> "293b1666-f500-4299-a2ee-58624788a5ce"; -"785bee13-46ed-42c7-b1c2-afd5071767f7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3e15b5fb-b9e0-4998-a5c6-cf6d9a2bc485" -> "785bee13-46ed-42c7-b1c2-afd5071767f7"; -"b901f988-aa6b-49a1-a92c-92ca244bef51" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "b901f988-aa6b-49a1-a92c-92ca244bef51"; -"fb91924f-ffda-4973-a837-34943d54e8d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "fb91924f-ffda-4973-a837-34943d54e8d8"; -"338f2150-e9d1-4f72-bdb2-096aca18f084" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "338f2150-e9d1-4f72-bdb2-096aca18f084"; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"093cee6f-557c-41cf-abe9-4c44c3b97182" -> "c83d3a89-967b-4f36-8744-24f6d8eec61d"; -"4cd9a3e4-72f6-4b1b-b391-11bd91854db8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "4cd9a3e4-72f6-4b1b-b391-11bd91854db8"; -"d176519d-5e57-49d2-b0bc-eb7e2e4891b1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "d176519d-5e57-49d2-b0bc-eb7e2e4891b1"; -"8e340491-cb49-446c-a3d3-afa9892b3d70" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "8e340491-cb49-446c-a3d3-afa9892b3d70"; -"28e1249c-6624-4afa-ac64-6efbcf95164c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ada34932-96e6-406b-ac1a-3b5f4d9a46fd" -> "28e1249c-6624-4afa-ac64-6efbcf95164c"; -"ded7865f-6577-4dfe-ad38-c7a8fd18a83b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "ded7865f-6577-4dfe-ad38-c7a8fd18a83b"; -"7b9ee1d6-9c06-4a88-a65b-4ea2441259f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "7b9ee1d6-9c06-4a88-a65b-4ea2441259f1"; -"8a974333-e215-46e3-8f39-8d30d76f8bbe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "8a974333-e215-46e3-8f39-8d30d76f8bbe"; -"d9a4f305-e312-4d82-86be-d5a8810b9207" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0956cf2a-6459-4bf1-967a-aa398a8ac30c" -> "d9a4f305-e312-4d82-86be-d5a8810b9207"; -"d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef"; -"f89231f1-a4b1-4924-986b-2f686df09cdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "f89231f1-a4b1-4924-986b-2f686df09cdd"; -"c9534f28-0e44-4dfa-9761-59541e9b8473" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "c9534f28-0e44-4dfa-9761-59541e9b8473"; -"1f9494fb-5549-4899-bc6d-07c1e5b31fde" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f2397a99-284e-47a7-a5c6-4906fe3e469d" -> "1f9494fb-5549-4899-bc6d-07c1e5b31fde"; -"9db0055a-6599-4c65-b0c3-7255395fd5be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "9db0055a-6599-4c65-b0c3-7255395fd5be"; -"76679c05-648f-49c6-9cd4-3fb270f78148" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "76679c05-648f-49c6-9cd4-3fb270f78148"; -"6158fe20-cb1a-4068-9658-2277d81916dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "6158fe20-cb1a-4068-9658-2277d81916dd"; -"4f947b7c-c82c-44cd-8a07-02f766e680ad" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"91e05fca-fbb5-4003-92b4-55baac05b1d1" -> "4f947b7c-c82c-44cd-8a07-02f766e680ad"; -"a99949a0-15f0-419d-b245-0aa9993d581c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"4f947b7c-c82c-44cd-8a07-02f766e680ad" -> "a99949a0-15f0-419d-b245-0aa9993d581c"; -"121c6258-04b4-4533-9cc3-3c7fdf4f6adb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"4f947b7c-c82c-44cd-8a07-02f766e680ad" -> "121c6258-04b4-4533-9cc3-3c7fdf4f6adb"; -"8b489962-a822-491d-86df-aa48341bd7cb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"21fd7093-eb00-471a-99a3-ee5a755724cd" -> "8b489962-a822-491d-86df-aa48341bd7cb"; -"2a650737-30ca-42c5-a57f-092be0af0aae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "2a650737-30ca-42c5-a57f-092be0af0aae"; -"7bdbbd94-4abd-4082-9c0c-0a3a65977b67" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "7bdbbd94-4abd-4082-9c0c-0a3a65977b67"; -"1bf2e458-810a-4990-b2e7-feffcca5ab56" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "1bf2e458-810a-4990-b2e7-feffcca5ab56"; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"36be88ea-4675-456b-b0df-2a6187d48de7" -> "fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0"; -"f2058ab0-1533-4839-b91d-c0d9cb653575" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "f2058ab0-1533-4839-b91d-c0d9cb653575"; -"cf91265c-4dd2-4f6a-9d12-b3891e0a0da9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "cf91265c-4dd2-4f6a-9d12-b3891e0a0da9"; -"d9f00865-e753-4e72-85c0-159cdba091fb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable)", shape=box, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "d9f00865-e753-4e72-85c0-159cdba091fb"; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d1a9ed2-1f2f-4746-ad55-c4636aaad48b" -> "4eba4835-fbda-4597-aa37-cd13062bd8ce"; -"079925a4-43ce-42ba-92ba-8154ca889611" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "079925a4-43ce-42ba-92ba-8154ca889611"; -"c23686f2-ac6d-4cbe-9de3-311246b1be61" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "c23686f2-ac6d-4cbe-9de3-311246b1be61"; -"973b988d-12f0-4411-b2cd-8fb2c5abd591" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "973b988d-12f0-4411-b2cd-8fb2c5abd591"; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"19a064ff-4ff2-4a56-b208-d7cc0aca3a80" -> "029b689e-f1f1-4b03-9f6f-4c7e9edbfadb"; -"17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1"; -"d9025c0c-6766-47a9-a80c-38e8706abb94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "d9025c0c-6766-47a9-a80c-38e8706abb94"; -"92424231-7640-4a42-a287-e3c36a02d3a6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "92424231-7640-4a42-a287-e3c36a02d3a6"; -"77b582a1-d0ba-4db0-85b8-571d478869cf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"89288e52-97e1-4145-a293-2f9706b0dfca" -> "77b582a1-d0ba-4db0-85b8-571d478869cf"; -"2851f753-cf4e-4320-9366-f2cdcbf16531" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "2851f753-cf4e-4320-9366-f2cdcbf16531"; -"2f9b2c68-b7a4-4680-9594-c5aa2b967eee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "2f9b2c68-b7a4-4680-9594-c5aa2b967eee"; -"462362be-ae45-4d66-bb6b-583826e1e2be" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "462362be-ae45-4d66-bb6b-583826e1e2be"; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"21308556-c633-49f0-91b8-7bb278eeb026" -> "e52df62e-50ef-4ee3-8489-df240fb1bf46"; -"cdd772ef-0c50-4390-8e1f-642bf45921b4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "cdd772ef-0c50-4390-8e1f-642bf45921b4"; -"049acd36-669b-4c0b-9e12-f0ab7aa43980" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "049acd36-669b-4c0b-9e12-f0ab7aa43980"; -"5c3f3a34-3212-451e-9e8a-e644dcc3335c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "5c3f3a34-3212-451e-9e8a-e644dcc3335c"; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d7df84ac-9fe8-481b-b80b-dc57492ee0aa" -> "c72d5831-0a6e-4fc3-94df-dc91ca6defa2"; -"13748cf9-e4bf-4fe3-8bcf-255b1233108e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" -> "13748cf9-e4bf-4fe3-8bcf-255b1233108e"; -"839c7fe5-8cc8-4fba-b740-8286eb20c0a3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" -> "839c7fe5-8cc8-4fba-b740-8286eb20c0a3"; -"7940c6e2-05bc-4843-9432-3a2d88bfda8b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a107a801-1676-4df5-9ee2-53bf3bcdf4a2" -> "7940c6e2-05bc-4843-9432-3a2d88bfda8b"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9" -> "0187f0c8-fdd0-4c14-9216-1652e1f72092"; -"282013fb-5596-4c1f-bb6b-c218b7d5ef65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9" -> "282013fb-5596-4c1f-bb6b-c218b7d5ef65"; -"be3cb027-b354-483b-94f8-ecc57564dfc3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable)", shape=box, style=filled]; -"d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9" -> "be3cb027-b354-483b-94f8-ecc57564dfc3"; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1d00a068-b9b8-45b5-a158-687d809a5058" -> "7042d7d5-4a12-48a8-9d28-66476ffa4961"; -"f4452fb6-2840-4e8e-b744-c0d9ddfff0a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "f4452fb6-2840-4e8e-b744-c0d9ddfff0a3"; -"81fc32e0-aaf7-49db-9ce9-530c0a79d86c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "81fc32e0-aaf7-49db-9ce9-530c0a79d86c"; -"bcc42379-a0e1-45cd-86cd-4781e7f91414" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "bcc42379-a0e1-45cd-86cd-4781e7f91414"; -"5c6608df-a2bf-4e90-9641-96143a879210" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2c18d376-5138-4a46-827e-6cf134091ec5" -> "5c6608df-a2bf-4e90-9641-96143a879210"; -"f5e0deb8-77b8-45b7-a2e4-27e6254241fe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"015c3bb3-e629-4f45-a269-98b4516acc38" -> "2cdb744a-663a-492e-94b6-d8dee71b5782"; -"2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2eaaa920-ca34-4887-99c3-d7c61a39d397" -> "2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91"; -"45b23a1e-766b-4cc9-b741-8c9e2d72e71a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91" -> "45b23a1e-766b-4cc9-b741-8c9e2d72e71a"; -"8fe2d3fe-5fee-462c-befb-73417b25b79f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91" -> "8fe2d3fe-5fee-462c-befb-73417b25b79f"; -"0266af83-dfad-4865-9431-8d3e5b34f318" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91" -> "0266af83-dfad-4865-9431-8d3e5b34f318"; -"efbb2289-f4de-4436-bbec-d98af14cf7c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7da565d2-dcc3-4251-aea7-e35220decbd7" -> "efbb2289-f4de-4436-bbec-d98af14cf7c9"; -"5c733d9b-a057-436c-9671-59525fc69916" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"efbb2289-f4de-4436-bbec-d98af14cf7c9" -> "5c733d9b-a057-436c-9671-59525fc69916"; -"30a0deaf-92f0-4721-9f86-ec2d1fba966c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"efbb2289-f4de-4436-bbec-d98af14cf7c9" -> "30a0deaf-92f0-4721-9f86-ec2d1fba966c"; -"114e600a-4afb-4dfb-9cb8-d3418e9e4474" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6c02e9ae-74c2-4b96-84ef-7263bb905598" -> "e79a386a-9ffe-486e-a0dd-b16ebea4549c"; -"da651ac6-fa9c-4046-b8f7-ba70b1a3ce02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"e79a386a-9ffe-486e-a0dd-b16ebea4549c" -> "da651ac6-fa9c-4046-b8f7-ba70b1a3ce02"; -"fad875ab-1d11-419d-819b-dedbde9951e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"e79a386a-9ffe-486e-a0dd-b16ebea4549c" -> "fad875ab-1d11-419d-819b-dedbde9951e4"; -"69b0fac3-7b9f-4fba-a75d-0e351996e85e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"e79a386a-9ffe-486e-a0dd-b16ebea4549c" -> "69b0fac3-7b9f-4fba-a75d-0e351996e85e"; -"9208773f-bf26-4d18-a620-ed2b05d3c611" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"128867ea-8b98-4274-8f6a-fae2b37d9303" -> "9208773f-bf26-4d18-a620-ed2b05d3c611"; -"8c91ef51-4e0b-420d-ad64-8f3ae97978c4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"9208773f-bf26-4d18-a620-ed2b05d3c611" -> "8c91ef51-4e0b-420d-ad64-8f3ae97978c4"; -"ff6e50f9-ad14-48bd-bfad-ba373febf01a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"9208773f-bf26-4d18-a620-ed2b05d3c611" -> "ff6e50f9-ad14-48bd-bfad-ba373febf01a"; -"0c5a79f2-9966-4f5f-8dac-870297c858fb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"9208773f-bf26-4d18-a620-ed2b05d3c611" -> "0c5a79f2-9966-4f5f-8dac-870297c858fb"; -"4a329bfb-bcd2-48d5-85c6-c6ca4fab4829" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6c8fc24f-cb94-4f70-b908-f98131cc8383" -> "4a329bfb-bcd2-48d5-85c6-c6ca4fab4829"; -"24abb813-51f8-4366-bd4b-bf6a332637be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"4a329bfb-bcd2-48d5-85c6-c6ca4fab4829" -> "24abb813-51f8-4366-bd4b-bf6a332637be"; -"72945395-ef11-417d-8b9c-d74c39cbaaa0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"4a329bfb-bcd2-48d5-85c6-c6ca4fab4829" -> "72945395-ef11-417d-8b9c-d74c39cbaaa0"; -"61bfa8b0-cacf-47df-910e-9760176ed8e4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"4a329bfb-bcd2-48d5-85c6-c6ca4fab4829" -> "61bfa8b0-cacf-47df-910e-9760176ed8e4"; -"897789de-2ba2-4fc2-a545-a9d063ec1eb0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"417d9e62-684c-41dd-a93a-d57f8d814688" -> 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label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"bc5af95b-492d-4768-b42e-c2b5be92250e" -> "4cc79ad1-2752-4ab6-8ffb-1d490fda9100"; -"77d10f24-c970-4110-bbc0-aca52bf714d7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f5213de8-46d3-4031-bf7a-50b67a4aad8b" -> "77d10f24-c970-4110-bbc0-aca52bf714d7"; -"40a718d4-43c8-4837-8d12-3f3952542ffc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"77d10f24-c970-4110-bbc0-aca52bf714d7" -> "40a718d4-43c8-4837-8d12-3f3952542ffc"; -"44c30be2-9b4d-4d49-910a-e7fb8577a1db" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"77d10f24-c970-4110-bbc0-aca52bf714d7" -> "44c30be2-9b4d-4d49-910a-e7fb8577a1db"; -"236d2b90-d441-4151-903e-8996c6d6ee17" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, 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"a148de94-cb05-4ea4-a480-430ffd476823"; -"1cfae803-8aef-476e-a0fb-614d05a2afe8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9efe26dc-6d9e-40df-9da8-612f26f2f526" -> "1cfae803-8aef-476e-a0fb-614d05a2afe8"; -"17da88a0-d365-40e2-9980-09f74969873e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"1cfae803-8aef-476e-a0fb-614d05a2afe8" -> "17da88a0-d365-40e2-9980-09f74969873e"; -"5a1e0833-bd3c-402b-ba7a-1d34955b459f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"1cfae803-8aef-476e-a0fb-614d05a2afe8" -> "5a1e0833-bd3c-402b-ba7a-1d34955b459f"; -"6c4815b0-4817-4a33-9a05-ae6ac9732eeb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"1cfae803-8aef-476e-a0fb-614d05a2afe8" -> "6c4815b0-4817-4a33-9a05-ae6ac9732eeb"; -"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"445ff676-c820-4321-b420-3e25bad2fa46" -> "1dbbd4f6-6335-4999-8bb1-3fe5970a740f"; -"6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4"; -"93ad1052-46d3-482d-8d4e-f77bcd3fff9a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "93ad1052-46d3-482d-8d4e-f77bcd3fff9a"; -"299b9ea7-2b9a-4592-a8b3-21253fb55b0f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "299b9ea7-2b9a-4592-a8b3-21253fb55b0f"; -"fddb3fd3-3a80-46d4-800f-27c85188ac35" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dd811019-5e94-4b7a-a8f3-dfaacd919e60" -> "fddb3fd3-3a80-46d4-800f-27c85188ac35"; -"837526c8-3f87-4888-803e-2a7230ab4d24" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "837526c8-3f87-4888-803e-2a7230ab4d24"; -"19e02c66-29a9-4903-8052-93d83a36cdaf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "19e02c66-29a9-4903-8052-93d83a36cdaf"; -"588a88fc-3193-4125-8c92-4af744142949" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "588a88fc-3193-4125-8c92-4af744142949"; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8abbbe14-7bb3-4cdd-a878-f771d9a76405" -> "4420c96e-5dc0-472f-9b43-583bb8881e0a"; -"57570039-5327-4562-9eac-fe0cff3859cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "57570039-5327-4562-9eac-fe0cff3859cc"; -"3579af47-3ccd-4228-8cb7-4504cd60641e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "3579af47-3ccd-4228-8cb7-4504cd60641e"; -"d19fe253-149b-41f5-b8ee-3c7ed46eca1d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "d19fe253-149b-41f5-b8ee-3c7ed46eca1d"; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b44901e-bc2e-43f7-8184-38a882f90b21" -> "828d319d-b761-4e6d-a4a0-8e849b5e518a"; -"b38b6526-ce1c-4d10-b611-80e2e37c40c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "b38b6526-ce1c-4d10-b611-80e2e37c40c6"; -"a2447d54-5597-4ce9-8c57-57a65fe5623d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "a2447d54-5597-4ce9-8c57-57a65fe5623d"; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"91a774b2-afce-4652-a025-0833b932cfad" -> "2fdc5379-f4d4-493a-8833-6f67ab5f4d09"; -"00553d6b-5309-47c5-88d4-01f1223178ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "00553d6b-5309-47c5-88d4-01f1223178ff"; -"e71843bd-491d-47c9-a038-ba1c4db024ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "e71843bd-491d-47c9-a038-ba1c4db024ff"; -"f542972b-e9e4-43a8-a70d-762ceb041785" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "f542972b-e9e4-43a8-a70d-762ceb041785"; -"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"75a64a3c-9acb-4edd-b73a-fc9da0dd4042" -> "5c5f3a4f-4ccd-41e3-8ce3-feb81296a181"; -"5e06de8f-6a5c-419d-b364-e9a6ae8a36bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "5e06de8f-6a5c-419d-b364-e9a6ae8a36bf"; -"6a1d6f5e-38f0-460e-a92d-a0e309ef2de3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "6a1d6f5e-38f0-460e-a92d-a0e309ef2de3"; -"65bce72b-bd43-42a7-b43e-15ac243d8e92" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "65bce72b-bd43-42a7-b43e-15ac243d8e92"; -"42464321-f838-4c84-94f1-278d8cba1140" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f6c0e26b-991d-4556-8188-fb33372c1db1" -> "42464321-f838-4c84-94f1-278d8cba1140"; -"a0c4f1da-a957-4af7-8a18-a94fa81ba8b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"42464321-f838-4c84-94f1-278d8cba1140" -> "a0c4f1da-a957-4af7-8a18-a94fa81ba8b3"; -"f7b41db3-1716-4ffd-88d1-ea4046494846" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"42464321-f838-4c84-94f1-278d8cba1140" -> "f7b41db3-1716-4ffd-88d1-ea4046494846"; -"dbd2c7b0-0b19-4d89-909c-bff63e2306b9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"42464321-f838-4c84-94f1-278d8cba1140" -> "dbd2c7b0-0b19-4d89-909c-bff63e2306b9"; -"bf325ccd-77c2-405a-9f65-5b8f708b1318" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b23bd517-39e5-4ade-a10b-9954cc314de3" -> "bf325ccd-77c2-405a-9f65-5b8f708b1318"; -"5e782315-7d35-4678-b6ae-ff7185280f93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "5e782315-7d35-4678-b6ae-ff7185280f93"; -"ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e"; -"78266c3d-83f5-40d0-91a6-1cc154dc1b80" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "78266c3d-83f5-40d0-91a6-1cc154dc1b80"; -"dc2264f0-e947-4060-ad89-0907a5c9d54d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"22b0f4df-118b-4921-bf88-e29e667a20df" -> "dc2264f0-e947-4060-ad89-0907a5c9d54d"; -"58382970-74a2-49ce-b81a-70111007f373" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "58382970-74a2-49ce-b81a-70111007f373"; -"b2c0b744-0e4c-4bf8-938c-27fe48b2c993" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "b2c0b744-0e4c-4bf8-938c-27fe48b2c993"; -"a5353d30-768a-475c-b5a8-7234de505cac" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"975b80c6-d9a3-4a36-a09d-01e3baf3b861" -> "a5353d30-768a-475c-b5a8-7234de505cac"; -"9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0"; -"5ff437fc-cf02-4f45-9fee-88ce714e4218" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "5ff437fc-cf02-4f45-9fee-88ce714e4218"; -"34fcacac-b8ec-4d08-80f2-8a8693a20b6d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "34fcacac-b8ec-4d08-80f2-8a8693a20b6d"; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c7bced11-3911-4897-89f7-1954bff7e8e5" -> "110e9c91-6bd5-4ea6-b1d1-8e557eab3918"; -"c82038f2-4c62-4776-8757-9da9c47990a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "c82038f2-4c62-4776-8757-9da9c47990a5"; -"6047e98a-b183-425e-9a3a-762c595da13a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "6047e98a-b183-425e-9a3a-762c595da13a"; -"4dd29ff1-8ec0-4af7-b775-54cff7026216" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "4dd29ff1-8ec0-4af7-b775-54cff7026216"; -"d4d510fa-1141-41dc-8a50-c7fde736e019" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3801ed79-9e8b-413f-b2b4-7081c7160187" -> "d4d510fa-1141-41dc-8a50-c7fde736e019"; -"06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c"; -"f01f92ad-44cf-4fe3-888c-ff0a216176c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "f01f92ad-44cf-4fe3-888c-ff0a216176c8"; -"51e777b5-00b7-4178-a663-0ba485c0d490" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "51e777b5-00b7-4178-a663-0ba485c0d490"; -"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b98c289f-eeae-4d76-aa6b-8b8ec4b93334" -> "a49b9ddb-78ba-47d2-8e05-962e3f1521a8"; -"9be1d6ba-d537-4e47-a97f-f8d3cc339b24" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "9be1d6ba-d537-4e47-a97f-f8d3cc339b24"; -"b5da0763-457f-443a-ba43-59ee3367b59f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "b5da0763-457f-443a-ba43-59ee3367b59f"; -"a92fe07e-ee29-438d-a0fc-a645bb24c1f1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "a92fe07e-ee29-438d-a0fc-a645bb24c1f1"; -"770de18c-016a-41a8-9edf-140f8c9e470a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b98236b8-ac11-4588-b3de-75785853b33d" -> "770de18c-016a-41a8-9edf-140f8c9e470a"; -"a848b8e4-8954-48d6-9142-13734142c8a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "a848b8e4-8954-48d6-9142-13734142c8a3"; -"14123744-dc27-4d50-815a-d74803618ab4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "14123744-dc27-4d50-815a-d74803618ab4"; -"8335c2e3-e3d0-4173-b9d0-1efb7f76d50a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "8335c2e3-e3d0-4173-b9d0-1efb7f76d50a"; -"19d8afdb-494e-4c22-83ec-df322276364a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a92fba10-9dad-43f4-96b6-1f44f8a80d18" -> "19d8afdb-494e-4c22-83ec-df322276364a"; -"cbbbdf9b-8e80-4160-a45d-f847ab12ac2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"19d8afdb-494e-4c22-83ec-df322276364a" -> "cbbbdf9b-8e80-4160-a45d-f847ab12ac2d"; -"b5c29a9a-3466-4d25-9758-5da2f1c28bb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"19d8afdb-494e-4c22-83ec-df322276364a" -> "b5c29a9a-3466-4d25-9758-5da2f1c28bb5"; -"d3beea2e-1911-44d2-bb78-9dac64dd50e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"19d8afdb-494e-4c22-83ec-df322276364a" -> "d3beea2e-1911-44d2-bb78-9dac64dd50e0"; -"6e81f6ba-deda-47bd-b738-0f4d45250e6e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e8f116c7-9b98-4aa7-9bbe-bba05d4eb196" -> "6e81f6ba-deda-47bd-b738-0f4d45250e6e"; -"80486efa-ad51-4499-86df-2702e88f813f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"6e81f6ba-deda-47bd-b738-0f4d45250e6e" -> "80486efa-ad51-4499-86df-2702e88f813f"; -"5f863430-26a9-4950-8c7b-f3a87ef9be46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"6e81f6ba-deda-47bd-b738-0f4d45250e6e" -> "5f863430-26a9-4950-8c7b-f3a87ef9be46"; -"2d4c04c3-db2a-4009-8590-379a46ea5a8d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,WaterTable)", shape=box, style=filled]; -"6e81f6ba-deda-47bd-b738-0f4d45250e6e" -> "2d4c04c3-db2a-4009-8590-379a46ea5a8d"; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ea8bf2ce-f82a-4664-8e81-ebd92617e2e7" -> "ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042"; -"3b5cef66-1203-4c9f-bb6c-579f43865fd6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "3b5cef66-1203-4c9f-bb6c-579f43865fd6"; -"a9c352d8-c0ba-46c6-834f-d578e4117c41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "a9c352d8-c0ba-46c6-834f-d578e4117c41"; -"b8522f83-3f41-4a92-b94b-046ee1e05b98" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "b8522f83-3f41-4a92-b94b-046ee1e05b98"; -"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"10016163-9e6a-4af0-88f7-55cef970d54a" -> "7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe"; -"880f5dad-cdf4-485e-9fde-dc4af658c30c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "880f5dad-cdf4-485e-9fde-dc4af658c30c"; -"8ab7e758-ee22-46f2-a95a-9a2bc8d105ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "8ab7e758-ee22-46f2-a95a-9a2bc8d105ec"; -"af304235-f3c4-4d16-b562-6bf44dc5c2e5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "af304235-f3c4-4d16-b562-6bf44dc5c2e5"; -"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5d229a97-2d12-4200-8cbe-d09f317acf60" -> "96b7cc8b-243d-4ad8-9a07-b66c7452d38b"; -"7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" -> "7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af"; -"816c6c49-1721-4ded-aa4e-181aada7027d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" -> "816c6c49-1721-4ded-aa4e-181aada7027d"; -"d6a74623-9c9e-4531-8433-97e96815385f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"13503e59-ca4e-4874-8bb1-8a1301d2dff9" -> "d6a74623-9c9e-4531-8433-97e96815385f"; -"f8a2f962-83b6-4f71-ad32-a7780324272e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "f8a2f962-83b6-4f71-ad32-a7780324272e"; -"08eab795-08c6-4a34-8a85-edc19fce6434" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "08eab795-08c6-4a34-8a85-edc19fce6434"; -"c478713f-1362-46b6-b624-e2a66a8f2ee2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "c478713f-1362-46b6-b624-e2a66a8f2ee2"; -"c886baab-cc44-4b81-991e-9f94b5d832dd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0a5da1ce-9977-4e10-9689-b870ece14a6e" -> "c886baab-cc44-4b81-991e-9f94b5d832dd"; -"951ce9ee-cde9-4f12-adea-57de340229b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"c886baab-cc44-4b81-991e-9f94b5d832dd" -> "951ce9ee-cde9-4f12-adea-57de340229b6"; -"04e41bce-c822-4b1f-804d-65eb164e7624" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"c886baab-cc44-4b81-991e-9f94b5d832dd" -> "04e41bce-c822-4b1f-804d-65eb164e7624"; 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fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"77f2cd0c-2116-47c6-9d2f-ec78902dc7d8" -> "5fe49bcd-96cd-4fef-910d-5cc2f52b8944"; -"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"37674f9e-2668-4867-85e5-87ff7872d728" -> "d56ffac4-40cc-4a6f-9015-8f69d5bcf242"; -"d5bbc537-6a78-4a9f-a8eb-fe00b1fac138" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" -> "d5bbc537-6a78-4a9f-a8eb-fe00b1fac138"; -"9f492abf-3bcd-438f-83a7-b777b2df4187" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" -> "9f492abf-3bcd-438f-83a7-b777b2df4187"; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f83aae1b-2c2f-423a-b976-27be5c041f96" -> "3de47dc2-1b1d-49f8-bba1-75b84143f082"; -"961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4"; -"709cad57-8f58-4cff-9035-c683406d2d41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "709cad57-8f58-4cff-9035-c683406d2d41"; -"9eef9e79-7b05-44d6-811c-e076f3a84fe7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "9eef9e79-7b05-44d6-811c-e076f3a84fe7"; -"e48f0f38-110d-4b0b-9a9c-72c997bd67fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; 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"c4af5d27-b619-4f9d-94c6-95dd4d624e65"; -"92d4a20e-07f7-4491-bd05-a8bb0ea70024" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled]; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" -> "92d4a20e-07f7-4491-bd05-a8bb0ea70024"; -"69533f5f-ba30-4e69-9331-13b8988e84ba" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"59083db9-409f-4a7f-a4b3-4f1a133c2e09" -> "69533f5f-ba30-4e69-9331-13b8988e84ba"; -"362283a2-9150-4cd5-a1c7-053d08bcc222" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"69533f5f-ba30-4e69-9331-13b8988e84ba" -> "362283a2-9150-4cd5-a1c7-053d08bcc222"; -"804a782a-9b7a-4605-9861-0afcc05d37d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"69533f5f-ba30-4e69-9331-13b8988e84ba" -> "804a782a-9b7a-4605-9861-0afcc05d37d2"; -"69092d6a-0062-4bcd-b014-17f3b2923387" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"69533f5f-ba30-4e69-9331-13b8988e84ba" -> "69092d6a-0062-4bcd-b014-17f3b2923387"; -"c9a0a70f-839c-40db-a494-1038fd35858a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable)", shape=box, style=filled]; -"69533f5f-ba30-4e69-9331-13b8988e84ba" -> "c9a0a70f-839c-40db-a494-1038fd35858a"; -"3d8b8b44-b647-424b-9537-b8b8fd44e205" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a2a7636-ef61-4c94-80b2-ae942007f317" -> "3d8b8b44-b647-424b-9537-b8b8fd44e205"; -"780aa568-1076-44e9-867c-772b7bbf89f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3d8b8b44-b647-424b-9537-b8b8fd44e205" -> "780aa568-1076-44e9-867c-772b7bbf89f1"; -"e3146bad-d503-41a0-982d-432fc406d0cf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"3d8b8b44-b647-424b-9537-b8b8fd44e205" -> "e3146bad-d503-41a0-982d-432fc406d0cf"; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a542388b-fb34-42c8-8331-a7bb8dab6228" -> "c28cc49f-4cc9-4b40-acc7-58181fbedfa5"; -"43b8292e-5cf6-4600-91a8-84500c1cbf1a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "43b8292e-5cf6-4600-91a8-84500c1cbf1a"; -"6b2fb587-f191-4b57-bf6a-bf1b80b3103b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "6b2fb587-f191-4b57-bf6a-bf1b80b3103b"; -"da59efbb-cdad-48a7-9d33-d37834666a3b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "da59efbb-cdad-48a7-9d33-d37834666a3b"; -"3c431ab3-b142-4266-aab9-ad3af3005506" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "3c431ab3-b142-4266-aab9-ad3af3005506"; -"777943a8-4870-4f42-b54e-7c34c65c0348" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f8ba80cb-0f09-4dda-b8ee-85afa7a211b4" -> "777943a8-4870-4f42-b54e-7c34c65c0348"; -"91e811e6-e031-421c-9277-dcfc5e92d55f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "91e811e6-e031-421c-9277-dcfc5e92d55f"; -"81190fe2-6954-4659-9a71-6de9e0f921ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "81190fe2-6954-4659-9a71-6de9e0f921ef"; -"627a5490-1b04-4db7-b031-d0804771aeba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "627a5490-1b04-4db7-b031-d0804771aeba"; -"92cfcb89-7041-4f3c-9257-ab20a8c6b054" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "92cfcb89-7041-4f3c-9257-ab20a8c6b054"; -"6a51f1ac-7a21-4648-b76d-655473560d8f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b04d93a8-bbcd-4a75-baff-bd7ab1740cfd" -> "6a51f1ac-7a21-4648-b76d-655473560d8f"; -"f69f13ce-8182-45a8-b94f-aa46dac09dc2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "f69f13ce-8182-45a8-b94f-aa46dac09dc2"; -"4034f176-0054-4141-bfce-7f86b3c3ffe4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "4034f176-0054-4141-bfce-7f86b3c3ffe4"; -"1fd02b0a-89c3-41ac-a090-b917999f8dc5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "1fd02b0a-89c3-41ac-a090-b917999f8dc5"; -"635f029d-7e8e-43bb-af73-f59982b883c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"deef9627-5620-4faf-81c8-9c370f8f41c8" -> "635f029d-7e8e-43bb-af73-f59982b883c9"; -"c3f3a059-5a3a-4057-875a-cf4d319c916b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "c3f3a059-5a3a-4057-875a-cf4d319c916b"; -"d38c3e99-6cb5-4686-a6a7-4077aee3f0c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "d38c3e99-6cb5-4686-a6a7-4077aee3f0c3"; -"4dcf28ca-7477-4205-b07a-d01baa2c16a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "4dcf28ca-7477-4205-b07a-d01baa2c16a2"; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0c06bf3b-4753-4a80-b0cf-d478dcae5f3f" -> "cddbabf5-4840-46df-9106-fa9b8c39db4a"; -"a733e528-055b-4803-a44b-4971dadcb9cb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" -> "a733e528-055b-4803-a44b-4971dadcb9cb"; -"a92088f3-d7c7-4a6e-8961-e559230bdba0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" -> "a92088f3-d7c7-4a6e-8961-e559230bdba0"; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a03c2de-1bd5-46e8-a39a-7bf3dcd16cbb" -> "c48d43c6-b345-4dcf-9501-bf3d2d43626d"; -"066d2cb3-1353-4a8d-9a90-6ca5886b51d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "066d2cb3-1353-4a8d-9a90-6ca5886b51d2"; -"7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c"; -"e024f87f-9eec-4ad8-ad36-c4fd5e09afd0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "e024f87f-9eec-4ad8-ad36-c4fd5e09afd0"; -"95643fcf-702f-4dfc-8f62-9f8665035ea9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "95643fcf-702f-4dfc-8f62-9f8665035ea9"; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"12132635-0693-4f02-824a-f5316ed392bd" -> "394b9d67-70bf-4cb6-9d37-9fb3bb761ed1"; -"27e7d307-3b9f-4a14-a704-8a1360a3c9bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "27e7d307-3b9f-4a14-a704-8a1360a3c9bc"; -"28a1c50d-c9b9-46a2-906b-6fa5d70a2f23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "28a1c50d-c9b9-46a2-906b-6fa5d70a2f23"; -"ea09bee9-38e8-4d36-887d-83192d009059" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "ea09bee9-38e8-4d36-887d-83192d009059"; -"a868a464-99dd-4340-9c17-88ff206817d3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "a868a464-99dd-4340-9c17-88ff206817d3"; -"5901b814-dc74-410c-996e-9df4d7702e21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"918a212f-a881-4a48-bf9c-24545a9fbe15" -> "5901b814-dc74-410c-996e-9df4d7702e21"; -"4104e161-9132-4700-ae53-41aab7632651" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "4104e161-9132-4700-ae53-41aab7632651"; -"a0a196c8-6894-4131-8a72-752a96ff1e53" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "a0a196c8-6894-4131-8a72-752a96ff1e53"; -"f385e5d4-a4de-4bfa-9961-50b78d68742d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "f385e5d4-a4de-4bfa-9961-50b78d68742d"; -"ac75c0eb-1604-4171-b420-9ec922baf009" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0bd98a5d-756a-49a2-ab3a-d3370b8e123e" -> "ac75c0eb-1604-4171-b420-9ec922baf009"; -"f500c207-e3fc-4461-8131-12faed45d4e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"ac75c0eb-1604-4171-b420-9ec922baf009" -> "f500c207-e3fc-4461-8131-12faed45d4e4"; -"e3e4b8fd-0f24-4220-b1cb-e5effc9952e2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"ac75c0eb-1604-4171-b420-9ec922baf009" -> "e3e4b8fd-0f24-4220-b1cb-e5effc9952e2"; -"0b1343f6-cd35-4117-b74a-367ec4b107fa" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; -"ac75c0eb-1604-4171-b420-9ec922baf009" -> "0b1343f6-cd35-4117-b74a-367ec4b107fa"; -"b3dd9303-135f-4282-a733-40e66a08acd4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a6a03915-2780-4144-a136-e27071f04ae3" -> "b3dd9303-135f-4282-a733-40e66a08acd4"; -"3fc67e68-bc9d-43cd-9433-2286980b6b68" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "3fc67e68-bc9d-43cd-9433-2286980b6b68"; -"e6c0889a-dd7c-4824-9377-f623393530ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "e6c0889a-dd7c-4824-9377-f623393530ff"; -"92fdc637-7f76-467a-bba8-5c7d7ec0d0ab" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "92fdc637-7f76-467a-bba8-5c7d7ec0d0ab"; -"e186f38d-9873-4327-9047-f7936f3c51b4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4e9a10b7-1cef-4d7b-b687-fdc5eaa2e157" -> "e186f38d-9873-4327-9047-f7936f3c51b4"; -"85a0756b-fe6d-44c2-9fa0-ee5423898151" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "85a0756b-fe6d-44c2-9fa0-ee5423898151"; -"4466e5fa-331e-45c2-9a5e-49ba9c45d6d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "4466e5fa-331e-45c2-9a5e-49ba9c45d6d8"; -"eb79f110-620f-45cb-bc62-ca347951ba4a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "eb79f110-620f-45cb-bc62-ca347951ba4a"; -"eaa97337-c32e-4296-9a9c-2991e4cde892" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "eaa97337-c32e-4296-9a9c-2991e4cde892"; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"46b863fb-fc32-4621-807c-ee9d7ecaf437" -> "e1f7d896-fa19-4d37-b398-8cec46b2b123"; -"20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1"; -"6645a93c-0c9e-4ad0-b7a5-3e820378eb59" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "6645a93c-0c9e-4ad0-b7a5-3e820378eb59"; -"9e2ca20a-3fd4-4a57-8984-e7a4a4e00847" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "9e2ca20a-3fd4-4a57-8984-e7a4a4e00847"; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"875f0032-4ffc-4976-bc28-4a935ce6ec9e" -> "ddb50a39-d2d4-45f9-aff1-a9be3f00293d"; -"cb541a51-94db-4332-8064-27af46ca10a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "cb541a51-94db-4332-8064-27af46ca10a4"; -"b46e955f-3fdb-4413-a5f6-6762e8ee52ba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "b46e955f-3fdb-4413-a5f6-6762e8ee52ba"; -"b7cb7041-27ac-43ad-8aba-587d346ee76e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "b7cb7041-27ac-43ad-8aba-587d346ee76e"; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6d188403-a068-4ad0-ab75-95f9e68b0005" -> "bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a"; -"1b8d7129-9d8b-4426-96c3-c81c43853723" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "1b8d7129-9d8b-4426-96c3-c81c43853723"; -"71c78c86-36d6-4b4a-8b5d-1467b3b67681" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "71c78c86-36d6-4b4a-8b5d-1467b3b67681"; -"6ab33c24-dd49-494a-acfa-1bb7c7399b4a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "6ab33c24-dd49-494a-acfa-1bb7c7399b4a"; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7daa64a6-e717-4779-83b9-2f5262385dba" -> "2ea5c9b7-401b-4771-98b9-0cb9f84cf93f"; -"7412ef88-9056-4fc4-b1a6-d2d7de96aa96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "7412ef88-9056-4fc4-b1a6-d2d7de96aa96"; -"b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d"; -"5d331ec1-31e0-491f-9f2d-02ef63288bf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "5d331ec1-31e0-491f-9f2d-02ef63288bf2"; -"3192259d-0ac1-42c6-8055-17a50c6931ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "3192259d-0ac1-42c6-8055-17a50c6931ba"; -"f727407f-28e9-4157-be0e-0776c8c9b234" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dd20004b-9276-47ff-85ca-58620d796052" -> "f727407f-28e9-4157-be0e-0776c8c9b234"; -"0c2d75f1-03b8-4a2e-aea4-40274c78b40a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "0c2d75f1-03b8-4a2e-aea4-40274c78b40a"; -"d5d61d09-8054-4c71-97c9-aaa51a5fcb94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "d5d61d09-8054-4c71-97c9-aaa51a5fcb94"; -"ffc98d8c-20e4-4a74-99c4-950b72b08f33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "ffc98d8c-20e4-4a74-99c4-950b72b08f33"; -"26198c04-22c4-46a7-8468-254c45f85a1b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "26198c04-22c4-46a7-8468-254c45f85a1b"; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"11d8b598-758e-4eb5-95b7-5e131116b4c7" -> "7f627d97-bdce-4478-8fbe-7f693fd142f3"; -"40d08376-a513-4f21-b26e-414499dd24c1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "40d08376-a513-4f21-b26e-414499dd24c1"; -"0478d81a-07c2-4833-9f24-1350d4104005" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "0478d81a-07c2-4833-9f24-1350d4104005"; -"2763af4f-1892-4959-b003-198e47990442" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "2763af4f-1892-4959-b003-198e47990442"; -"62e4898d-5171-483e-a228-8f9a42a15d5e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ff69c7fb-8568-47c9-b834-0eb33d45fe4c" -> "62e4898d-5171-483e-a228-8f9a42a15d5e"; -"e9fb5b22-f970-4d3d-b0a6-8520344eca95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "e9fb5b22-f970-4d3d-b0a6-8520344eca95"; -"61086fc2-68ac-4c53-be58-23f7f4cde3c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "61086fc2-68ac-4c53-be58-23f7f4cde3c2"; -"43692518-19ba-4c06-b0b4-ee872f43a223" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "43692518-19ba-4c06-b0b4-ee872f43a223"; -"5a643705-c422-4be1-bd03-ab97e650e6d2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2228dd03-f9f2-4278-b48e-5a9193f1e732" -> "5a643705-c422-4be1-bd03-ab97e650e6d2"; -"ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d"; -"878f5fb0-f80f-443b-b82b-ca9172dda9a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "878f5fb0-f80f-443b-b82b-ca9172dda9a2"; -"aec37d57-bdda-46f1-854f-f524dc17e96a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "aec37d57-bdda-46f1-854f-f524dc17e96a"; -"54f16326-fb05-4358-94c5-800240d91cc9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8937cf83-4a84-43ea-9287-974867ba5d4a" -> "54f16326-fb05-4358-94c5-800240d91cc9"; -"ad378294-328c-4168-bdb9-e11a53f3f391" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "ad378294-328c-4168-bdb9-e11a53f3f391"; -"709eff6e-629e-4cf0-b3e1-f7638cbd485b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "709eff6e-629e-4cf0-b3e1-f7638cbd485b"; -"6c257551-94b8-402f-9b8b-2da373da7400" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "6c257551-94b8-402f-9b8b-2da373da7400"; -"c0bb2a92-f285-479f-973a-d496e08a32ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "c0bb2a92-f285-479f-973a-d496e08a32ce"; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"65d3cf0f-75ba-4923-8f85-38c6abbee3df" -> "da34b6e2-6a1e-4240-8270-e8c15221daa5"; -"604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf"; -"ce32a4ed-7d51-4545-a382-eca150065ade" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "ce32a4ed-7d51-4545-a382-eca150065ade"; -"c2f9c606-8021-40a3-9b11-91e271005078" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "c2f9c606-8021-40a3-9b11-91e271005078"; -"806e24e2-e0a5-48f6-93ba-28af6529e656" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "806e24e2-e0a5-48f6-93ba-28af6529e656"; -"9fd64a3c-7f94-47ee-a67a-31905d90ac92" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6344bd65-9080-4112-8108-f0591a0e9ffc" -> "9fd64a3c-7f94-47ee-a67a-31905d90ac92"; -"957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"9fd64a3c-7f94-47ee-a67a-31905d90ac92" -> "957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70"; -"e7be60d6-3117-42d9-b998-82b3b57d1f07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9fd64a3c-7f94-47ee-a67a-31905d90ac92" -> "e7be60d6-3117-42d9-b998-82b3b57d1f07"; -"75187baf-fe88-4226-9863-3b25fb809ff2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"9fd64a3c-7f94-47ee-a67a-31905d90ac92" -> "75187baf-fe88-4226-9863-3b25fb809ff2"; -"3675c0db-86c1-4ad2-be97-fc04c66aad17" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"9fd64a3c-7f94-47ee-a67a-31905d90ac92" -> "3675c0db-86c1-4ad2-be97-fc04c66aad17"; -"bb02971f-4aae-471f-8dab-09dff9c8f696" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8ea19ab2-f32f-4012-bc3b-ce5755487f43" -> "bb02971f-4aae-471f-8dab-09dff9c8f696"; -"cba7e126-a209-4c34-bde4-8c80a9566e31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "cba7e126-a209-4c34-bde4-8c80a9566e31"; -"1bfc4fb5-f58b-452a-a0a5-1ffca35407cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "1bfc4fb5-f58b-452a-a0a5-1ffca35407cc"; -"15de4356-531c-4f01-9866-e36c803c73bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "15de4356-531c-4f01-9866-e36c803c73bd"; -"c503ca42-c06d-44a1-8d3b-cb6ce26435df" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "c503ca42-c06d-44a1-8d3b-cb6ce26435df"; -"21973779-00b7-4010-a639-5132ed55acec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0322cea6-8fbc-4d89-ad84-c15d4a984d38" -> "21973779-00b7-4010-a639-5132ed55acec"; -"ff36f6be-0589-41ea-be22-20cd30bc22fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"21973779-00b7-4010-a639-5132ed55acec" -> "ff36f6be-0589-41ea-be22-20cd30bc22fc"; -"b1fc8b04-8e06-46b3-8503-3f778dc7ee9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"21973779-00b7-4010-a639-5132ed55acec" -> "b1fc8b04-8e06-46b3-8503-3f778dc7ee9f"; -"c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"21973779-00b7-4010-a639-5132ed55acec" -> "c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816"; -"97864247-400f-4c30-9bda-e3efb2b65f09" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"750b6912-f074-4612-b12f-dc2718b285fc" -> "97864247-400f-4c30-9bda-e3efb2b65f09"; -"cb8009a2-d064-4d1b-adb3-76ec0ccc3682" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"97864247-400f-4c30-9bda-e3efb2b65f09" -> "cb8009a2-d064-4d1b-adb3-76ec0ccc3682"; -"a7233cbd-b043-4cf3-b66b-75bf4f5b45b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"97864247-400f-4c30-9bda-e3efb2b65f09" -> "a7233cbd-b043-4cf3-b66b-75bf4f5b45b5"; -"4687c2ea-e137-4135-9c6e-96f4d8b5ede2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"97864247-400f-4c30-9bda-e3efb2b65f09" -> "4687c2ea-e137-4135-9c6e-96f4d8b5ede2"; -"4014f6fe-14e4-471a-8fea-66ab305f6127" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9a8ff6ee-7344-4adb-9452-5aeaaa3cb29a" -> "4014f6fe-14e4-471a-8fea-66ab305f6127"; -"3c52ce20-1816-45d3-a5a7-3167587c0919" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "3c52ce20-1816-45d3-a5a7-3167587c0919"; -"255c1613-cd3a-4785-9d6e-fc9fc432133a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "255c1613-cd3a-4785-9d6e-fc9fc432133a"; -"b92f24c8-7392-4a9c-b39c-e9d4b55b69d0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "b92f24c8-7392-4a9c-b39c-e9d4b55b69d0"; -"8dd7e518-0a93-4774-ace7-d4ee136e8fef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"cdebe500-7ce8-48b0-9351-012ebdaabf09" -> "8dd7e518-0a93-4774-ace7-d4ee136e8fef"; -"75c95506-08e9-42a7-8419-b9abe291ed7b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "75c95506-08e9-42a7-8419-b9abe291ed7b"; -"be696c22-3ab1-47ea-95d9-36c25544fb72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "be696c22-3ab1-47ea-95d9-36c25544fb72"; -"bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882"; -"43fec34b-8178-4e3f-a124-b9f408b481ca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "43fec34b-8178-4e3f-a124-b9f408b481ca"; -"16e95ea7-900d-4c9b-9b41-136ba8e71113" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7f81c8e8-5fe7-4def-89b8-f108e4c3d790" -> "16e95ea7-900d-4c9b-9b41-136ba8e71113"; -"c3ddd6c6-6a50-456a-8904-477d8d2a6bca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"16e95ea7-900d-4c9b-9b41-136ba8e71113" -> "c3ddd6c6-6a50-456a-8904-477d8d2a6bca"; -"5f80db81-2a79-4e65-98da-0be87c709964" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"16e95ea7-900d-4c9b-9b41-136ba8e71113" -> "5f80db81-2a79-4e65-98da-0be87c709964"; -"074409a8-d0bc-4350-8835-37e0e00d43ac" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"16e95ea7-900d-4c9b-9b41-136ba8e71113" -> "074409a8-d0bc-4350-8835-37e0e00d43ac"; -"7494652d-64a1-48b9-9956-b4fe65019ad8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"64b751a5-e2e9-4fda-add8-fd4006d5258e" -> "7494652d-64a1-48b9-9956-b4fe65019ad8"; -"49799868-71db-487b-8fd0-055781c1d41e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"7494652d-64a1-48b9-9956-b4fe65019ad8" -> "49799868-71db-487b-8fd0-055781c1d41e"; -"b3f91120-5de5-42a5-825b-59a18c8675c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7494652d-64a1-48b9-9956-b4fe65019ad8" -> "b3f91120-5de5-42a5-825b-59a18c8675c6"; -"0a60d085-830d-4959-9197-9ab252e65b35" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"7494652d-64a1-48b9-9956-b4fe65019ad8" -> "0a60d085-830d-4959-9197-9ab252e65b35"; -"e7c0766e-5de8-4816-9ec4-7147c68b6592" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"03022e80-ad4d-4ab9-bfb0-2a8f13501f93" -> "e7c0766e-5de8-4816-9ec4-7147c68b6592"; -"ddfed584-480c-40f4-bde0-7e9b21473a3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e7c0766e-5de8-4816-9ec4-7147c68b6592" -> "ddfed584-480c-40f4-bde0-7e9b21473a3d"; -"70b36b68-61bd-445e-baae-61f7fd08bee0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"e7c0766e-5de8-4816-9ec4-7147c68b6592" -> "70b36b68-61bd-445e-baae-61f7fd08bee0"; -"e077fbfb-4cbf-418c-8257-e01eb13126a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"e7c0766e-5de8-4816-9ec4-7147c68b6592" -> "e077fbfb-4cbf-418c-8257-e01eb13126a2"; -"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c0eaae0d-4e66-4287-a9e9-4e15d751dc0c" -> "d6c17b61-b091-44ff-b2b8-b13bd2c7badf"; -"819edd5a-4068-4585-887b-13a2c716cc77" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "819edd5a-4068-4585-887b-13a2c716cc77"; -"203e3db6-229e-4c7d-8db5-898be8f94d79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "203e3db6-229e-4c7d-8db5-898be8f94d79"; -"9ba782db-dd98-401c-b1ec-342d22ee0dab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "9ba782db-dd98-401c-b1ec-342d22ee0dab"; -"aa0d480f-32fe-405f-a187-0a4942239a15" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "aa0d480f-32fe-405f-a187-0a4942239a15"; -"13835c1d-0502-4e60-882b-4bb846b43271" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"eb09ed02-bc8b-4849-a77e-1093c6f91298" -> "13835c1d-0502-4e60-882b-4bb846b43271"; -"f3108373-0c05-4447-aca9-d55cdd021ec5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"13835c1d-0502-4e60-882b-4bb846b43271" -> "f3108373-0c05-4447-aca9-d55cdd021ec5"; -"4855d77d-4f6d-4afa-977d-52379a4615cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"13835c1d-0502-4e60-882b-4bb846b43271" -> "4855d77d-4f6d-4afa-977d-52379a4615cc"; -"348fe856-9357-4d0d-bed5-2f051ed1a179" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"13835c1d-0502-4e60-882b-4bb846b43271" -> "348fe856-9357-4d0d-bed5-2f051ed1a179"; -"27d91b91-06ea-4939-b286-0742662eb8e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"13835c1d-0502-4e60-882b-4bb846b43271" -> "27d91b91-06ea-4939-b286-0742662eb8e0"; -"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"232af14c-bc2c-4fac-b0b4-a73ab8ebe388" -> "4a460311-2bb1-43b5-baf2-fcbf1afed5f2"; -"603b1dcd-e423-4877-80da-388e20057bb2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" -> "603b1dcd-e423-4877-80da-388e20057bb2"; -"63813d31-143f-4104-b73e-07ebcf000398" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" -> "63813d31-143f-4104-b73e-07ebcf000398"; -"6df0bbdd-0d3b-43a9-9be3-e762fb72f770" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" -> "6df0bbdd-0d3b-43a9-9be3-e762fb72f770"; -"2116f1d5-78c8-4630-8691-850709ba7098" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5f582cf9-b773-4b21-a895-6fb51da47bb9" -> "2116f1d5-78c8-4630-8691-850709ba7098"; -"1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2116f1d5-78c8-4630-8691-850709ba7098" -> "1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42"; -"6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81"; -"18d11699-9155-4776-80e0-4f781207e44d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "18d11699-9155-4776-80e0-4f781207e44d"; -"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b8a71a53-e324-41b4-90a3-c3c22ac99495" -> "a1fa30b6-280f-4a5f-9f7d-0e78025a2e66"; -"38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f"; -"2ed978ae-a160-48a9-8a3f-6d7fcda113ba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "2ed978ae-a160-48a9-8a3f-6d7fcda113ba"; -"91b82c9c-b659-4f2e-89ef-88849128f1db" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "91b82c9c-b659-4f2e-89ef-88849128f1db"; -"19c105f0-a4f5-490c-97d1-673e80c12e0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d97956b7-d14f-4527-a10f-d81f3efced53" -> "19c105f0-a4f5-490c-97d1-673e80c12e0a"; -"cd9dcedc-1f87-4f17-a108-d0a9b7729f33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; 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"c30b4742-6aaf-4efb-9255-547c5b4754fd"; -"680fb62b-2d9e-4f12-a8a5-e094839a5dfe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "680fb62b-2d9e-4f12-a8a5-e094839a5dfe"; -"906b6039-76b7-44af-9b39-f6054b265dd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "906b6039-76b7-44af-9b39-f6054b265dd5"; -"3fcce7d9-5fab-435a-b7d5-40bb2df70bb2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "3fcce7d9-5fab-435a-b7d5-40bb2df70bb2"; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2ead2019-1dad-47f3-ad5f-7057bf1a4527" -> "fa9691bb-77c7-447d-88d2-9c89dd0a6613"; -"09b47fc1-08cd-4fb7-a32f-c9c5963deb1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "09b47fc1-08cd-4fb7-a32f-c9c5963deb1f"; -"f08535d8-d598-4ae0-b597-ab2483605a7b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "f08535d8-d598-4ae0-b597-ab2483605a7b"; -"f7d8ef5e-6e4d-488b-861d-1ad6413ced1a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "f7d8ef5e-6e4d-488b-861d-1ad6413ced1a"; -"4ab320b6-025a-4df8-8c02-c69080b47b87" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"36acfc44-2032-42c3-bed2-fc59565dab3b" -> "4ab320b6-025a-4df8-8c02-c69080b47b87"; -"eac40a1e-d6c4-4bb2-9380-12b92d5f7cef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "eac40a1e-d6c4-4bb2-9380-12b92d5f7cef"; -"8a54e21a-8890-4687-8850-41e07c4a4d99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "8a54e21a-8890-4687-8850-41e07c4a4d99"; -"0682a0df-2d52-4c68-9b05-dfdc3656d33d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "0682a0df-2d52-4c68-9b05-dfdc3656d33d"; -"02384e82-67c4-4289-9635-30cdebc7bc58" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1e033c88-f144-443b-a7f4-64f7a6139d14" -> "02384e82-67c4-4289-9635-30cdebc7bc58"; -"5ca0dc91-08e8-4172-9294-de3ec48de710" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"02384e82-67c4-4289-9635-30cdebc7bc58" -> "5ca0dc91-08e8-4172-9294-de3ec48de710"; -"13183db8-06a3-4e34-bd92-3d247e796af1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"02384e82-67c4-4289-9635-30cdebc7bc58" -> "13183db8-06a3-4e34-bd92-3d247e796af1"; -"eaefc7de-fa28-4e98-b306-772277184bfb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"02384e82-67c4-4289-9635-30cdebc7bc58" -> "eaefc7de-fa28-4e98-b306-772277184bfb"; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b017079-e14d-4e13-8491-1a1777242d0a" -> "625d83d9-e08c-4ac3-aa8a-e3e4c340793e"; -"f8d2716c-b3f2-4702-a731-bff0e2453004" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "f8d2716c-b3f2-4702-a731-bff0e2453004"; -"07c73914-6168-4138-a92b-32d93b6c535d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "07c73914-6168-4138-a92b-32d93b6c535d"; -"837cf8fc-dfe5-4efa-82ac-d29c4fd6014b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "837cf8fc-dfe5-4efa-82ac-d29c4fd6014b"; -"6c15552d-d4fe-4036-bc72-eb08079ddc2e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "6c15552d-d4fe-4036-bc72-eb08079ddc2e"; -"5aabe81e-933c-452a-b8fa-7ee52b405253" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ef63e609-7d1d-4031-b60c-d4b2f310a824" -> "5aabe81e-933c-452a-b8fa-7ee52b405253"; -"f0c3f2de-0d5d-46ce-8904-4626e610f7ba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "f0c3f2de-0d5d-46ce-8904-4626e610f7ba"; -"dabf9a96-b681-4ef2-8a49-34d4fd6024fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "dabf9a96-b681-4ef2-8a49-34d4fd6024fb"; -"2294d0da-fe1c-4f6b-8680-f8411a95a150" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "2294d0da-fe1c-4f6b-8680-f8411a95a150"; -"52389270-6462-46a5-a742-a7d9302a4b25" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "52389270-6462-46a5-a742-a7d9302a4b25"; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5687d0f9-e491-46fe-a422-5f5020557463" -> "5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2"; -"46c992aa-02de-49e7-baab-57463d4c3e05" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "46c992aa-02de-49e7-baab-57463d4c3e05"; -"51f22fe4-8b5d-4834-983b-b422e3167246" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "51f22fe4-8b5d-4834-983b-b422e3167246"; -"eae5ef7d-a86c-4862-bbc7-99732ea6921f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "eae5ef7d-a86c-4862-bbc7-99732ea6921f"; -"9ecdc792-6c23-4258-a882-8812b08de238" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ae4c6211-be9c-451e-a1c9-3d223b3c93c1" -> "9ecdc792-6c23-4258-a882-8812b08de238"; -"0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> "0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa"; -"f2a3d02d-9b72-4c1c-9848-980098a4ca40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> "f2a3d02d-9b72-4c1c-9848-980098a4ca40"; -"9702bf65-61eb-45fa-8e61-5973bc125718" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> "9702bf65-61eb-45fa-8e61-5973bc125718"; -"5b0aeaaa-901b-409e-a31f-906cc3047dc5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> "5b0aeaaa-901b-409e-a31f-906cc3047dc5"; -"837db8e3-e199-408f-8e5f-82e5bd6a3551" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4600ac63-1962-48d3-9ee3-75196c266733" -> "837db8e3-e199-408f-8e5f-82e5bd6a3551"; -"2c7b61ab-29d0-4d26-beaa-0f359d31f244" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"837db8e3-e199-408f-8e5f-82e5bd6a3551" -> "2c7b61ab-29d0-4d26-beaa-0f359d31f244"; -"0874e5a1-7f91-46d4-b195-e2abf697cf24" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"837db8e3-e199-408f-8e5f-82e5bd6a3551" -> "0874e5a1-7f91-46d4-b195-e2abf697cf24"; -"9ff5dab6-dad6-4796-9efc-b6a476852716" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"837db8e3-e199-408f-8e5f-82e5bd6a3551" -> "9ff5dab6-dad6-4796-9efc-b6a476852716"; -"30a71bb2-440c-4665-9807-46b4e8b76a05" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6e1e9dd7-8cdd-455d-b782-23d06884073a" -> "30a71bb2-440c-4665-9807-46b4e8b76a05"; -"ea83bc85-0e59-45b3-9b6e-d06224a88791" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "ea83bc85-0e59-45b3-9b6e-d06224a88791"; -"4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc"; -"7376f71b-e73c-4bf6-9d2e-aab526e8afe0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "7376f71b-e73c-4bf6-9d2e-aab526e8afe0"; 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width=0.01]; -"2600578a-a1ec-47d6-a7b8-f7e9568eb7ae" -> "81c08679-1907-4f4d-885e-08a1ddc4e4e7"; -"86bf4fe6-7320-4a6f-816e-5aad92292910" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "86bf4fe6-7320-4a6f-816e-5aad92292910"; -"ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd"; -"7e047adb-babc-421e-a145-d8bf04c6c8ff" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "7e047adb-babc-421e-a145-d8bf04c6c8ff"; -"866cf8fb-2136-4d2b-be9b-5d9caa6f88c1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"86c955fd-85d8-48f5-9df9-f37a8f99e614" -> 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style=filled, width=0.01]; -"880cf0dc-d72a-40ed-9cd0-863be06a4fe9" -> "5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b"; -"5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f"; -"f633a9af-8e3f-4440-a544-0fdcb05c9f20" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "f633a9af-8e3f-4440-a544-0fdcb05c9f20"; -"5c392f47-73ed-4668-bf87-d212be015365" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "5c392f47-73ed-4668-bf87-d212be015365"; -"6640e386-7fac-4f4f-bb6e-362337ea39fe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> 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fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"e2613b89-1da0-4c31-bb3f-ff2aedaf5e33" -> "d61ad8ae-3924-4268-82b3-4e3ef6cd1b9f"; -"742cd464-34ba-43a5-a707-6842be075743" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; -"e2613b89-1da0-4c31-bb3f-ff2aedaf5e33" -> "742cd464-34ba-43a5-a707-6842be075743"; -"4a153e7e-15b5-40d8-9fe1-9124aa295094" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"07cbc80f-9d93-41ff-ba03-4a5843a59bc1" -> "4a153e7e-15b5-40d8-9fe1-9124aa295094"; -"beb45a9a-96eb-4a27-b053-a4737c60836e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"4a153e7e-15b5-40d8-9fe1-9124aa295094" -> "beb45a9a-96eb-4a27-b053-a4737c60836e"; -"0a163006-2d3e-422c-9d9c-b0da6ba0d002" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"220a843b-0088-4622-b35e-d03c48ff01d5" -> "c321bbb9-98cd-4577-b495-c802dbfd1941"; -"2501c271-687e-4344-a2ce-4054e5aef3ad" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e569c310-4e0d-4fba-81f6-fa5af4009be5" -> "2501c271-687e-4344-a2ce-4054e5aef3ad"; -"62716efd-8fd7-4864-9bdc-b7533f28bbc3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"2501c271-687e-4344-a2ce-4054e5aef3ad" -> "62716efd-8fd7-4864-9bdc-b7533f28bbc3"; -"92fddbf9-472f-48b6-aacf-f2bbfd424e26" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"2501c271-687e-4344-a2ce-4054e5aef3ad" -> "92fddbf9-472f-48b6-aacf-f2bbfd424e26"; -"2509b6fc-47b8-4568-9860-edf7abb4b277" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"2501c271-687e-4344-a2ce-4054e5aef3ad" -> "2509b6fc-47b8-4568-9860-edf7abb4b277"; -"ae105f85-f01a-4c79-9a74-3fab543f9978" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b1837f13-91df-4680-9a3f-eeff143a8f15" -> "ae105f85-f01a-4c79-9a74-3fab543f9978"; -"6672a974-12d2-4a02-810b-246e8dc40a84" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "6672a974-12d2-4a02-810b-246e8dc40a84"; -"efde675d-48b0-4ed9-b0b0-9a1f059b654f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "efde675d-48b0-4ed9-b0b0-9a1f059b654f"; -"7a497311-39b3-4751-a208-228e6461c483" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "7a497311-39b3-4751-a208-228e6461c483"; -"58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d"; -"e5effab4-b593-4905-aebb-01d31111f402" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"80f17411-eab1-40af-b212-d24e30cde1fd" -> "e5effab4-b593-4905-aebb-01d31111f402"; -"0f5e077f-a059-4b93-836d-9c971a37d1e8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0f5e077f-a059-4b93-836d-9c971a37d1e8"; -"0de58d1f-03c7-4199-898e-4ebd4be7fce6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0de58d1f-03c7-4199-898e-4ebd4be7fce6"; -"0612c6db-d68e-42b6-b50c-cc4a1b5b08f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0612c6db-d68e-42b6-b50c-cc4a1b5b08f9"; -"9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce"; -"7080ae36-c007-407e-a090-ec88b3ef4784" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"faed8aa8-7da2-4ea4-ad68-0d4e5c5e2a67" -> "7080ae36-c007-407e-a090-ec88b3ef4784"; -"5789ffe7-51d4-4e1f-9a5a-f23af71931d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"7080ae36-c007-407e-a090-ec88b3ef4784" -> "5789ffe7-51d4-4e1f-9a5a-f23af71931d3"; -"b49d9f11-3784-42d6-9787-4156a31da0fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7080ae36-c007-407e-a090-ec88b3ef4784" -> "b49d9f11-3784-42d6-9787-4156a31da0fa"; -"f4d13eaa-3b34-4971-947c-a729d3209c9a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"7080ae36-c007-407e-a090-ec88b3ef4784" -> "f4d13eaa-3b34-4971-947c-a729d3209c9a"; -"6c3b4421-1846-494f-b6f6-549905c18991" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled]; -"7080ae36-c007-407e-a090-ec88b3ef4784" -> "6c3b4421-1846-494f-b6f6-549905c18991"; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b21ac636-949e-4516-a2a7-e34b22cc370e" -> "956ed16a-05f0-4cd8-beed-cf07b2cce3e5"; -"49d388b2-26b1-4723-935c-f1e519831d13" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" -> "49d388b2-26b1-4723-935c-f1e519831d13"; -"c7257cea-13d5-4660-b455-35bcd02f485a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" -> "c7257cea-13d5-4660-b455-35bcd02f485a"; -"32a33d52-b759-4494-8f23-8f2b30500b94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" -> "32a33d52-b759-4494-8f23-8f2b30500b94"; -"a79786be-a702-42c6-8c99-1ff095b8c7e4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" -> "a79786be-a702-42c6-8c99-1ff095b8c7e4"; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"65e8de80-6b8f-438e-a384-c17d1b0d8073" -> "54ddbef1-d8ef-496b-b604-1e7f19f24c19"; -"6062aef1-a27f-4b14-b0e8-4490596bba0b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "6062aef1-a27f-4b14-b0e8-4490596bba0b"; -"3e22a516-4936-4550-a936-1929e951fc1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "3e22a516-4936-4550-a936-1929e951fc1f"; -"f00a8e84-4991-44d4-b88b-a351f692845c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "f00a8e84-4991-44d4-b88b-a351f692845c"; -"57af8aec-39c6-4229-9f3e-ee46c9e7eba5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "57af8aec-39c6-4229-9f3e-ee46c9e7eba5"; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8f465d03-72ee-4195-80eb-ea52f1c76f62" -> "a69bd96b-9db6-49de-95d4-6de549aabfb3"; -"bb928c1c-f780-4403-bc36-4af636006525" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" -> "bb928c1c-f780-4403-bc36-4af636006525"; -"66710455-8f8f-4caa-bad5-b91b810cc331" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" -> "66710455-8f8f-4caa-bad5-b91b810cc331"; -"6bc26454-fe9e-4878-a5f2-8f3741230eb3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" -> "6bc26454-fe9e-4878-a5f2-8f3741230eb3"; -"aff42b81-f528-4d7e-85de-4dcf531b057e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7678f211-e3f5-424f-a13b-613e5d49f6a4" -> "aff42b81-f528-4d7e-85de-4dcf531b057e"; -"92264400-fad1-480a-a1f3-26da0e8137e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "92264400-fad1-480a-a1f3-26da0e8137e9"; -"2389f72e-3704-4c9a-8e82-538a610254ce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "2389f72e-3704-4c9a-8e82-538a610254ce"; -"6f9def00-382b-4a5f-a052-d1318890e049" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "6f9def00-382b-4a5f-a052-d1318890e049"; -"2e06a655-0f3f-4064-a249-f58ae557ffc3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable)", shape=box, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "2e06a655-0f3f-4064-a249-f58ae557ffc3"; -"cbf7b199-6629-412c-9137-692cf2a5d42c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b870b46-c11c-48f3-ae42-efa9bcc80bf6" -> "cbf7b199-6629-412c-9137-692cf2a5d42c"; -"21cf96ff-e94a-40a3-80dc-b17e38731d82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "21cf96ff-e94a-40a3-80dc-b17e38731d82"; -"13efdb93-b016-4304-870a-18e8d8aafdbe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "13efdb93-b016-4304-870a-18e8d8aafdbe"; -"87119439-531e-4661-b8a1-44efe26cf124" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "87119439-531e-4661-b8a1-44efe26cf124"; -"efd7fd42-a6d7-4203-a978-6cfa89268981" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "efd7fd42-a6d7-4203-a978-6cfa89268981"; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f8c96a86-adb3-42cd-8c08-9ad29a839191" -> "3aac1498-9cbd-47fc-9279-fd9df032ffe0"; -"c0c06538-5e97-4ecd-82c9-7e8e203af45b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "c0c06538-5e97-4ecd-82c9-7e8e203af45b"; -"e61e9b1b-8594-449e-b8f7-ec253c475aba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "e61e9b1b-8594-449e-b8f7-ec253c475aba"; -"9cb90b6a-2c29-4b34-addb-b0561a9fcee8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "9cb90b6a-2c29-4b34-addb-b0561a9fcee8"; -"2c33e1f7-af3b-4fc9-8046-a556e7af9d77" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "2c33e1f7-af3b-4fc9-8046-a556e7af9d77"; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"79c089ff-c9df-4d57-b38d-06a107557312" -> "f71fd15d-367c-4cc6-8b2b-0024d9369f77"; -"19ff069d-85f6-4d66-8736-d44dc5d76317" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "19ff069d-85f6-4d66-8736-d44dc5d76317"; -"d32f5f55-13fb-4d9d-88cd-c6bea827c3b0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "d32f5f55-13fb-4d9d-88cd-c6bea827c3b0"; -"1d0b443f-4c6f-4158-9df2-1f2b8fa0f483" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "1d0b443f-4c6f-4158-9df2-1f2b8fa0f483"; -"3cb754ba-c534-42bc-ba6e-4c4b88b271f6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "3cb754ba-c534-42bc-ba6e-4c4b88b271f6"; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ce1f06c-48ff-49b0-abaa-7fe6256dff31" -> "0713f79f-1dc8-485f-83b5-9ac2e15bdd02"; -"127a9013-ea01-4f30-a92f-831b088b62ce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "127a9013-ea01-4f30-a92f-831b088b62ce"; -"1f0ae071-5dcd-4438-9a1a-159a2e81ad3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "1f0ae071-5dcd-4438-9a1a-159a2e81ad3d"; -"7f9beeff-e7d6-49b1-9898-1a60351e2092" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "7f9beeff-e7d6-49b1-9898-1a60351e2092"; -"eb6139cb-d6c4-4acf-9481-edf3894b3511" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"08436766-f477-43dd-a09d-b5617b70f31d" -> "eb6139cb-d6c4-4acf-9481-edf3894b3511"; -"8b86c7ad-f2ee-4a4a-9644-7f14d5be3535" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, 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"d6e52e33-b65f-41da-8e5e-bf2227b42589"; -"247c0ccd-9707-4a6c-bb1d-566c91b6aac9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "247c0ccd-9707-4a6c-bb1d-566c91b6aac9"; -"6fb8a925-6be7-4a8b-b0ee-be91f220850a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "6fb8a925-6be7-4a8b-b0ee-be91f220850a"; -"6d35016c-e20b-4da7-b20e-c0f469e87258" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e2663fe2-b6b8-46b6-b144-aaed69b30e67" -> "6d35016c-e20b-4da7-b20e-c0f469e87258"; -"c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b"; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "402b0fee-e30e-40b8-895b-0baef293a2ea"; -"ca818b84-6b8f-41b8-9f42-546cb1dd0267" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "ca818b84-6b8f-41b8-9f42-546cb1dd0267"; -"69ed2fe0-5613-4e88-b17b-cb6c6e696e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "69ed2fe0-5613-4e88-b17b-cb6c6e696e4e"; -"088c04d4-7fe8-4370-bfdd-639f973f036a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "088c04d4-7fe8-4370-bfdd-639f973f036a"; -"08700f66-ea41-48ef-8047-80f0085084e3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a" -> "08700f66-ea41-48ef-8047-80f0085084e3"; -"36c90cfe-877c-4b67-9f0b-098409e534df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "36c90cfe-877c-4b67-9f0b-098409e534df"; -"93c1130d-b14a-4e3e-8955-0c5959faa0c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "93c1130d-b14a-4e3e-8955-0c5959faa0c5"; -"9e6ede65-3570-4c5c-80b9-693b96226195" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "9e6ede65-3570-4c5c-80b9-693b96226195"; -"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"6da04b02-dd38-4464-8dd5-d4bff3780df8"; -"c347772b-1b37-4a39-aed1-d8e73230199d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "c347772b-1b37-4a39-aed1-d8e73230199d"; -"2506ae41-6951-4276-88b1-9aaa46e43b50" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "2506ae41-6951-4276-88b1-9aaa46e43b50"; -"e949b1b9-8027-4247-95bb-d90461635a32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable)", shape=box, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "e949b1b9-8027-4247-95bb-d90461635a32"; -"09002791-8297-479a-a8d0-b3dd78543323" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"bc3d1324-628a-4e9a-967f-e1a34dc200b8" -> "09002791-8297-479a-a8d0-b3dd78543323"; -"8957447b-bb99-4e33-b429-695946b66b15" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "8957447b-bb99-4e33-b429-695946b66b15"; -"0c1e2234-19ad-4045-acaf-ff0fbc730aee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "0c1e2234-19ad-4045-acaf-ff0fbc730aee"; -"7632732a-9148-431b-9bcc-ee0676180390" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "7632732a-9148-431b-9bcc-ee0676180390"; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f01b3a96-2a8d-43da-b1af-3e1a55d29d7f" -> "1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec"; -"08fb72b5-5e16-49a8-8c2d-35af6baa434b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "08fb72b5-5e16-49a8-8c2d-35af6baa434b"; -"efa96bda-e5a8-4391-97ea-18fb600eca96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "efa96bda-e5a8-4391-97ea-18fb600eca96"; -"9b3c54e8-6412-4364-bac8-836051dc2a9a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "9b3c54e8-6412-4364-bac8-836051dc2a9a"; -"c16ae82a-98fe-4915-8a2f-e169039236fa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"62564879-2a5b-441f-b3a4-5f8b716f2bd1" -> "c16ae82a-98fe-4915-8a2f-e169039236fa"; -"76bddc29-f789-4ce1-bf9d-4f38ca5a604e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "76bddc29-f789-4ce1-bf9d-4f38ca5a604e"; -"c5c291d4-5657-44c3-a404-f135a9ffb299" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "c5c291d4-5657-44c3-a404-f135a9ffb299"; -"480811b7-3f6a-49c4-9b7f-e0a554ac1ec6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "480811b7-3f6a-49c4-9b7f-e0a554ac1ec6"; -"f284902f-86e8-49aa-bfa2-a12089ee906d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "f284902f-86e8-49aa-bfa2-a12089ee906d"; -"0af98ad1-14e8-4ca5-831a-0043a32b9a20" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"010f9273-c7ba-45e3-9908-6527bed01f29"; -"d5cb51ce-3c07-429e-a9ea-d984bda522a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "d5cb51ce-3c07-429e-a9ea-d984bda522a2"; -"0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e"; -"d0dbecb7-081d-46d3-83b8-e6fe57beb9ca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "d0dbecb7-081d-46d3-83b8-e6fe57beb9ca"; -"fea09512-494d-4115-ae6f-8a8b6821bd76" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "fea09512-494d-4115-ae6f-8a8b6821bd76"; 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b06a8fa4-471c-4501-b756-146b03cfc2b3" -> "eeea53a2-4bcd-431c-b158-f2fb0f1b7044"; -"cbfa0254-2deb-42fb-8c86-fc8ae1bf2591" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "cbfa0254-2deb-42fb-8c86-fc8ae1bf2591"; -"b6cfce40-21e4-470f-af31-a7779576ff93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "b6cfce40-21e4-470f-af31-a7779576ff93"; -"357d4961-3535-45fe-a4cf-9a2d9710acbb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "357d4961-3535-45fe-a4cf-9a2d9710acbb"; -"de252508-e970-4614-8c46-1c9dc16c6381" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "de252508-e970-4614-8c46-1c9dc16c6381"; -"2ecaa42a-192e-404b-9eef-0859b7572009" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"84b0c8f4-7297-4441-ba47-cefa147440ac" -> "2ecaa42a-192e-404b-9eef-0859b7572009"; -"8c9ab08f-b132-448d-bbe2-84752d5fce37" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "8c9ab08f-b132-448d-bbe2-84752d5fce37"; -"c9ab5c24-50c4-4583-9e40-76fd9ebece5a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "c9ab5c24-50c4-4583-9e40-76fd9ebece5a"; -"435e064b-f46e-4847-9a57-6f334e5d52e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"1634729f-d45a-4b59-8e13-79af29cab73a" -> "385a432b-feff-488c-ad9f-fea1df09e1b6"; -"cd922a50-219f-4f78-9b9e-b2a4edba2eec" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"1634729f-d45a-4b59-8e13-79af29cab73a" -> "cd922a50-219f-4f78-9b9e-b2a4edba2eec"; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d7b0a2e-59c5-4dd8-8c24-dd38e29c9004" -> "e776c240-7b60-496c-8e3f-55a5ed3a5a52"; -"232e52fe-9a3d-4e6d-9546-46c9f5e23702" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" -> "232e52fe-9a3d-4e6d-9546-46c9f5e23702"; -"1c06496a-7850-4dd1-81ef-8d4ec5418e42" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" -> "1c06496a-7850-4dd1-81ef-8d4ec5418e42"; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"585af931-ed55-4d38-a75c-aa1c24489338" -> "89795a18-6ed6-4754-bdc1-4908fc7dbf01"; -"475ed724-d8b1-4282-ac39-d03de0c393c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "475ed724-d8b1-4282-ac39-d03de0c393c0"; -"a299c8dd-9b0f-4385-9d74-159ee44e1941" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "a299c8dd-9b0f-4385-9d74-159ee44e1941"; -"8fc18784-3f1e-49f4-9aad-6020b02be8d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "a45497a8-c919-4735-b932-250c523b7086"; -"221eedef-8c3a-40d0-bfde-7dd4881dcf2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "221eedef-8c3a-40d0-bfde-7dd4881dcf2b"; -"feb19577-0313-4793-a2ce-6d7a7e5e49e5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "feb19577-0313-4793-a2ce-6d7a7e5e49e5"; -"bc953241-c9dc-452d-b3e3-71550b2394fc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ade49021-14f5-4075-82c7-d73d779e734d" -> "bc953241-c9dc-452d-b3e3-71550b2394fc"; -"2bc3725a-afe7-4440-ac02-d9d2b4d21b06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "2bc3725a-afe7-4440-ac02-d9d2b4d21b06"; -"c7e388c8-3eac-4aac-a37e-ac2e383570af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "c7e388c8-3eac-4aac-a37e-ac2e383570af"; -"b1371f8c-e0b8-4c8d-9803-4cea839bf384" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "b1371f8c-e0b8-4c8d-9803-4cea839bf384"; -"2b279313-d461-45a1-acac-0725886258e1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c0fc0fab-7a5c-42b7-8a1b-91056c192280" -> "2b279313-d461-45a1-acac-0725886258e1"; -"ecc679b4-d702-4385-8e24-5f3a04a84e07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"7f02976d-51e7-496f-a792-4b910402af26" -> "7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1"; -"c6ebbfc3-2a2e-458d-960c-0a17379b49dc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"7f02976d-51e7-496f-a792-4b910402af26" -> "c6ebbfc3-2a2e-458d-960c-0a17379b49dc"; -"28dabec8-b3c3-448b-897e-d7d0c6560b42" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"18a30aed-ba20-4b43-922e-f83be5f9bfbd" -> "28dabec8-b3c3-448b-897e-d7d0c6560b42"; -"d30d0972-9127-46eb-af8c-f8256b93530e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"28dabec8-b3c3-448b-897e-d7d0c6560b42" -> "d30d0972-9127-46eb-af8c-f8256b93530e"; -"7c7d5164-90c3-4c65-8d54-3a2cc03c981d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"28dabec8-b3c3-448b-897e-d7d0c6560b42" -> "7c7d5164-90c3-4c65-8d54-3a2cc03c981d"; -"0ed18b24-f6fd-4aae-a45c-4770206eb880" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; -"28dabec8-b3c3-448b-897e-d7d0c6560b42" -> "0ed18b24-f6fd-4aae-a45c-4770206eb880"; -"3f64b5a2-59df-4ec4-b8c6-c7b516580e4a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d1c710c7-ed10-4a46-8e99-828eff86718b" -> "3f64b5a2-59df-4ec4-b8c6-c7b516580e4a"; -"39fb2a74-8d7d-4e77-9dde-b943d874cbbb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"3f64b5a2-59df-4ec4-b8c6-c7b516580e4a" -> "39fb2a74-8d7d-4e77-9dde-b943d874cbbb"; -"a071a359-b49f-45f0-b923-f678feca625f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; 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"0624cd1b-7c6b-4581-ae97-bcc97e2f6061"; -"fd553284-ac8c-492b-9d15-34a9340bab9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "fd553284-ac8c-492b-9d15-34a9340bab9b"; -"e3df8b28-45ab-4c42-b362-a9729e3688dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "e3df8b28-45ab-4c42-b362-a9729e3688dd"; -"1c943ba7-9df6-4a0d-bda3-19ed00830ef1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3c737c2d-d671-4a24-b6bb-dd333ffc9ac6" -> "1c943ba7-9df6-4a0d-bda3-19ed00830ef1"; -"93004468-66a9-4a62-a772-644ad58ba08a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"1c943ba7-9df6-4a0d-bda3-19ed00830ef1" -> "93004468-66a9-4a62-a772-644ad58ba08a"; -"ead2890d-69ab-47a4-844c-dc4cdffc2f67" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"1c943ba7-9df6-4a0d-bda3-19ed00830ef1" -> "ead2890d-69ab-47a4-844c-dc4cdffc2f67"; -"1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"1c943ba7-9df6-4a0d-bda3-19ed00830ef1" -> "1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb"; -"c76a17bc-4969-491e-a3f4-8178a43377fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dfb64018-04a9-46df-8fd1-193f227cae97" -> "c76a17bc-4969-491e-a3f4-8178a43377fd"; -"bf150465-54c0-4bf6-89f8-9c955648cf0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "bf150465-54c0-4bf6-89f8-9c955648cf0f"; -"be7a44cf-af69-4586-afd6-a49918778d2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "be7a44cf-af69-4586-afd6-a49918778d2c"; -"77a3fc89-aee3-4f3e-a679-b4a1d3223847" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "77a3fc89-aee3-4f3e-a679-b4a1d3223847"; -"78c5bcb3-62c3-42b3-ba2b-d2ca943b258e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d0ae5c1-0f42-4d5d-82a9-b99342e37ed0" -> "78c5bcb3-62c3-42b3-ba2b-d2ca943b258e"; -"1cda3f69-17e4-4e80-9d6f-ba56d9177e75" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"78c5bcb3-62c3-42b3-ba2b-d2ca943b258e" -> "1cda3f69-17e4-4e80-9d6f-ba56d9177e75"; -"2305c412-9ec6-4a73-8e88-7e66574b6b33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"78c5bcb3-62c3-42b3-ba2b-d2ca943b258e" -> "2305c412-9ec6-4a73-8e88-7e66574b6b33"; -"d93dfd10-096e-44b3-988e-a2bc245ae79c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"78c5bcb3-62c3-42b3-ba2b-d2ca943b258e" -> "d93dfd10-096e-44b3-988e-a2bc245ae79c"; -"338562f0-39f0-4e20-9602-2aa051361e0e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"18a1e5ed-fb26-468f-8e57-94c734016075" -> "338562f0-39f0-4e20-9602-2aa051361e0e"; -"d4c8235d-675b-4739-9954-0932ad3c7391" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "d4c8235d-675b-4739-9954-0932ad3c7391"; -"ee89dc28-891b-499f-bdb8-18a2d50ff9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "ee89dc28-891b-499f-bdb8-18a2d50ff9d4"; -"f0d1222e-6ea2-4bf5-abcc-1708ec86e011" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "f0d1222e-6ea2-4bf5-abcc-1708ec86e011"; -"a3aa157a-e2d2-4bc3-8f55-9cc20775e766" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "a3aa157a-e2d2-4bc3-8f55-9cc20775e766"; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"fd3ca530-82e7-4c54-865a-97a3bb36c61a" -> "5289ce83-20c8-4325-8f9b-8dbba6206dd3"; -"9c895931-a6b3-4d7d-8be1-5a37ed88a53a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "9c895931-a6b3-4d7d-8be1-5a37ed88a53a"; -"97d0584b-41e5-4570-af42-797891b7be6f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "97d0584b-41e5-4570-af42-797891b7be6f"; -"8db697cf-3b54-4463-ad3e-737c2552fcbc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "8db697cf-3b54-4463-ad3e-737c2552fcbc"; -"8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6"; -"514c2581-7577-4869-8783-e45e9cb48631" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"90bbd217-2fd1-4b42-bd2f-f4c2716b77b4" -> "514c2581-7577-4869-8783-e45e9cb48631"; -"882d28f2-1dcd-4a4f-a22e-d55b8a7f8220" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "882d28f2-1dcd-4a4f-a22e-d55b8a7f8220"; -"d3e0a545-bf05-44bc-a758-47a929891289" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "d3e0a545-bf05-44bc-a758-47a929891289"; -"bff51aa2-1c73-4c6e-b091-0b08ec95a7fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "bff51aa2-1c73-4c6e-b091-0b08ec95a7fb"; -"68fb962a-25c0-4879-af34-75b631d26c6d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "68fb962a-25c0-4879-af34-75b631d26c6d"; -"ddd046e2-ee86-425e-8c5d-179cdf95e1df" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e1ed5374-f8e7-4f7c-9dae-f74870072721" -> "ddd046e2-ee86-425e-8c5d-179cdf95e1df"; -"e767bc9c-ce6f-42c5-ab1b-04e59876e5f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"ddd046e2-ee86-425e-8c5d-179cdf95e1df" -> "e767bc9c-ce6f-42c5-ab1b-04e59876e5f0"; -"00962160-1052-458f-9871-ede403f9c35c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"ddd046e2-ee86-425e-8c5d-179cdf95e1df" -> "00962160-1052-458f-9871-ede403f9c35c"; -"8d2fb99c-7a9d-4e62-81dc-7db5e26649f4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"ddd046e2-ee86-425e-8c5d-179cdf95e1df" -> "8d2fb99c-7a9d-4e62-81dc-7db5e26649f4"; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4f33e409-1e85-4707-a192-21c7c4488517" -> "6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1"; -"e79b3589-51f0-439b-84ec-999fe883f296" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "e79b3589-51f0-439b-84ec-999fe883f296"; -"48b12dd8-7543-46f5-add0-bbbe2c8a0224" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "48b12dd8-7543-46f5-add0-bbbe2c8a0224"; -"1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4"; -"83843420-1b90-4385-89b5-a9f9736efe3b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a09e8739-7fce-49fd-bdd9-16ce943bfd39" -> 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shape=ellipse, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "a0c4c448-51d0-4b28-a81f-b744d6d41eb3"; -"bd677783-e320-4287-a012-03d76a574232" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "bd677783-e320-4287-a012-03d76a574232"; -"c7bcbd70-f236-4e20-88ed-db330f433028" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "c7bcbd70-f236-4e20-88ed-db330f433028"; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ebbb4c4f-cac9-4ae0-8caa-51eb6f2d4745" -> "b7054641-bfd4-432f-88f3-4879e28bb4cb"; -"3c0e4816-5aa0-436e-8a9c-0629089207b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a830835-5e01-4227-8032-062fcba8a54e" -> "20265943-985d-41af-ac10-fd9457336358"; -"ff2c4207-85d0-4c10-a476-bbce149c63a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "ff2c4207-85d0-4c10-a476-bbce149c63a3"; -"06dd468e-f94f-4635-aa4e-f31b9b602516" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "06dd468e-f94f-4635-aa4e-f31b9b602516"; -"d54188e9-b47a-4074-a477-e108d8c3072f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "d54188e9-b47a-4074-a477-e108d8c3072f"; -"b7b5b7cc-e176-461e-a546-2c9ab90ecd3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "b7b5b7cc-e176-461e-a546-2c9ab90ecd3a"; -"81a41ef9-359f-4f50-911f-02a6765fc40d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e0905c84-ce1d-47e5-8fea-c39592969026" -> "81a41ef9-359f-4f50-911f-02a6765fc40d"; -"0267bae9-a581-4015-88db-64e3a188ead7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> "0267bae9-a581-4015-88db-64e3a188ead7"; -"55b61f3d-a1f2-45c9-bc60-32ac0d4b743c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> "55b61f3d-a1f2-45c9-bc60-32ac0d4b743c"; -"82f11715-6aba-42e2-b04b-238ae19fe8b4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> 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fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"42779d54-c1e7-4437-b8ee-8fdbd9fab767" -> "ebc43b27-c2b0-4f00-9df1-9c585e62f31b"; -"8501bdba-5e11-4f62-a73e-ceca589d9ec8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ebc43b27-c2b0-4f00-9df1-9c585e62f31b" -> "8501bdba-5e11-4f62-a73e-ceca589d9ec8"; -"1ed16c26-8320-4cb3-82ba-99b0132f936e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"ebc43b27-c2b0-4f00-9df1-9c585e62f31b" -> "1ed16c26-8320-4cb3-82ba-99b0132f936e"; -"3d21ac06-f36a-4397-b6ad-f4115c97704b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"ebc43b27-c2b0-4f00-9df1-9c585e62f31b" -> "3d21ac06-f36a-4397-b6ad-f4115c97704b"; -"ecb78259-c0ff-4d26-906f-b305f777afa2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; 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"43c56c83-4fc1-42ca-a163-8772840e3237"; -"d380e7dc-1796-4396-82b6-3c186b7b210b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c9206c5f-988d-4e1a-b338-d12c9684f503" -> "d380e7dc-1796-4396-82b6-3c186b7b210b"; -"7e3335d0-7899-4a29-b980-81010e0962d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "7e3335d0-7899-4a29-b980-81010e0962d4"; -"5459e8c0-3515-4e0a-8c9e-327f743eaded" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "5459e8c0-3515-4e0a-8c9e-327f743eaded"; -"7c13618b-c3e6-4861-9be9-bb01c1c6617e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "7c13618b-c3e6-4861-9be9-bb01c1c6617e"; 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; -"f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9" -> "047c2c08-a7b0-4fc8-a578-839a0ffcba95"; -"177d1f3b-65bc-4b34-9503-9470b49aede7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2cd34070-8965-4976-8a9e-2c33c6c58451" -> "177d1f3b-65bc-4b34-9503-9470b49aede7"; -"95b6c99d-7b8d-4a53-b8d5-69c4dce933de" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "95b6c99d-7b8d-4a53-b8d5-69c4dce933de"; -"c230ed39-df7d-47dc-b5f5-a30e54a60053" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "c230ed39-df7d-47dc-b5f5-a30e54a60053"; -"2958eb51-9948-4750-9f94-18df6c505a70" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "2958eb51-9948-4750-9f94-18df6c505a70"; -"9f499f30-73bb-480e-a39f-b587d90426f5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2f82702d-34c4-46cd-b7f9-4b2e2ca0635e" -> "9f499f30-73bb-480e-a39f-b587d90426f5"; -"6be54bb0-915e-4eb6-8a25-c349e6b6931c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "6be54bb0-915e-4eb6-8a25-c349e6b6931c"; -"a97dea86-290b-4b81-bae0-0734085e47c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "a97dea86-290b-4b81-bae0-0734085e47c3"; -"f557d0f3-df7e-4b26-8143-f90fd5606c59" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "f557d0f3-df7e-4b26-8143-f90fd5606c59"; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"94af08c0-5d38-4f1d-990f-2e4602df2554" -> "56db291e-98df-4d96-82ff-0ce1151d9e3f"; -"9b366298-aa3d-4b67-886f-d3b6921b5f93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "9b366298-aa3d-4b67-886f-d3b6921b5f93"; -"015369b8-b257-4452-9059-237b57a2d15d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "015369b8-b257-4452-9059-237b57a2d15d"; -"c52b0601-dda3-479b-8694-0ec10abc776d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "c52b0601-dda3-479b-8694-0ec10abc776d"; -"44f3ea46-8af6-483b-9120-8ac48e0235fc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "44f3ea46-8af6-483b-9120-8ac48e0235fc"; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"87233bdc-4529-4173-ab2c-4fc9c9a72c0a" -> "0395eea3-0e86-482d-bb5b-2e7c14153c48"; -"c1eb1bc7-cf06-4b3a-93dd-bfb636beb887" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "c1eb1bc7-cf06-4b3a-93dd-bfb636beb887"; -"afa4a407-c318-474e-b873-9a0cb468041d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "afa4a407-c318-474e-b873-9a0cb468041d"; -"10a2e40f-810b-4c9e-b737-4242459e7330" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "10a2e40f-810b-4c9e-b737-4242459e7330"; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"43623d97-bc75-4f0a-b2db-d164bad8e2be" -> "16d0bb61-c6dd-4aff-b253-23eadb38f42d"; -"a66afc4c-1c4d-43a1-9365-18a072604ecc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "a66afc4c-1c4d-43a1-9365-18a072604ecc"; -"448c08bc-a093-4b82-b818-2454d660c4ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "448c08bc-a093-4b82-b818-2454d660c4ef"; -"e15cd32b-0302-49db-bb70-92a5e04d762e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "e15cd32b-0302-49db-bb70-92a5e04d762e"; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4224d467-afe3-425d-8a83-07ac80640952" -> "733bf35b-5e4a-47e7-8ed0-f3725793ff40"; -"c869b2e5-0248-4fc2-baf6-76a216e7facb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "c869b2e5-0248-4fc2-baf6-76a216e7facb"; -"1fe9a706-4d65-4be2-aee1-ae50d9b69021" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "1fe9a706-4d65-4be2-aee1-ae50d9b69021"; -"c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926"; -"39846621-25aa-4670-8867-127115cc2b63" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "39846621-25aa-4670-8867-127115cc2b63"; -"68460c52-faf1-4213-b3b9-87ad0b40c757" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d4e6522e-6461-4e45-9d8f-d599937d1687" -> "68460c52-faf1-4213-b3b9-87ad0b40c757"; -"5c80761b-44c3-44ae-8a43-b6dc9af5d05b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "5c80761b-44c3-44ae-8a43-b6dc9af5d05b"; -"ddf0ae84-86f2-41c4-98a8-1f2a7e761353" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "ddf0ae84-86f2-41c4-98a8-1f2a7e761353"; -"3f97f67c-7668-4ccb-9df9-29c8062bed8d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "3f97f67c-7668-4ccb-9df9-29c8062bed8d"; -"4a2983d3-f81a-4411-985b-6cc021e16708" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"daa4024d-cc1b-4a5e-89c2-8f28691d4c60" -> "4a2983d3-f81a-4411-985b-6cc021e16708"; -"0f32ff49-f822-40ea-9212-d74c02e0f257" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"4a2983d3-f81a-4411-985b-6cc021e16708" -> "0f32ff49-f822-40ea-9212-d74c02e0f257"; -"f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"4a2983d3-f81a-4411-985b-6cc021e16708" -> 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style=filled, width=0.01]; -"e35245fd-9dec-4330-ac85-b7cab237cb10" -> "0183c1db-974c-4bb1-93ec-5eb2f9857390"; -"cc36e32b-a9e0-454d-9640-8060f831a762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "cc36e32b-a9e0-454d-9640-8060f831a762"; -"30c89365-7725-46ab-a962-b5bec5900b29" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "30c89365-7725-46ab-a962-b5bec5900b29"; -"0541a12a-5038-4e9e-b172-b301ed795e09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "0541a12a-5038-4e9e-b172-b301ed795e09"; -"764584e3-f242-4c4c-b5d9-e0c8020523a1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "bee4b51a-4377-4526-ab9c-01e78f041974"; -"0aabe889-857d-4736-85d7-44ed700407b3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "0aabe889-857d-4736-85d7-44ed700407b3"; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e680d8b9-3c9e-4a0d-8a62-4ef521a289f7" -> "62848b20-c257-4ad8-99a6-b64ff83dee7b"; -"fb74a922-5cda-4f0f-a676-d18d4b4c5499" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "fb74a922-5cda-4f0f-a676-d18d4b4c5499"; -"ed00b51c-9bfb-4fba-9e5c-b15f0ef82671" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "ed00b51c-9bfb-4fba-9e5c-b15f0ef82671"; -"a17e7daa-80d8-437b-9904-3b1a9da510f5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "a17e7daa-80d8-437b-9904-3b1a9da510f5"; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"637c8817-f35b-4ac7-9fc6-b5ed12b5c45e" -> "3fdb8f04-11f0-4603-bb21-39bacbb4ec17"; -"8b5b19d6-0f6d-485d-a6e3-acf861582841" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" -> "8b5b19d6-0f6d-485d-a6e3-acf861582841"; -"0d543dd4-1331-4bf0-85bb-7e9ab977b9a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"baaa005c-da87-4b6c-9040-8e02130dab8c" -> "47571a97-fdca-4f8d-9ab6-14119d7333f3"; -"9a9aba7b-5eee-42f9-a35b-3a9217e2a517" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"baaa005c-da87-4b6c-9040-8e02130dab8c" -> "9a9aba7b-5eee-42f9-a35b-3a9217e2a517"; -"719d9cc7-1237-49a8-9603-66635c4562f1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"baaa005c-da87-4b6c-9040-8e02130dab8c" -> "719d9cc7-1237-49a8-9603-66635c4562f1"; -"e4b71d0e-1540-4fac-8b9b-c72bb3bf9219" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9f51ef0c-f9dc-42ba-a72f-2afaf94980c8" -> "e4b71d0e-1540-4fac-8b9b-c72bb3bf9219"; -"c0bbe708-d077-4adb-8392-fbd6347bca23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"e4b71d0e-1540-4fac-8b9b-c72bb3bf9219" -> "c0bbe708-d077-4adb-8392-fbd6347bca23"; -"237f902d-4711-405e-945e-dc015603a877" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"e4b71d0e-1540-4fac-8b9b-c72bb3bf9219" -> "237f902d-4711-405e-945e-dc015603a877"; -"c428230d-f1a7-4111-aee2-b1b126208ae0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"e4b71d0e-1540-4fac-8b9b-c72bb3bf9219" -> "c428230d-f1a7-4111-aee2-b1b126208ae0"; -"b0749180-be7a-401d-a8b5-d056bcd5374e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d0ceabd1-d59b-48e4-ae9f-c083faf26b4d" -> "b0749180-be7a-401d-a8b5-d056bcd5374e"; -"e4dcb3c7-6a9f-4a91-a6f4-5f996e45f26a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"b0749180-be7a-401d-a8b5-d056bcd5374e" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"75d670a0-fdc0-41ae-aa1a-8d7742157c5b" -> "685092ab-d4ae-4cba-85cc-8ac7973da19d"; -"631d2ce5-11d6-42e7-9058-ee0af3b2c871" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"75d670a0-fdc0-41ae-aa1a-8d7742157c5b" -> "631d2ce5-11d6-42e7-9058-ee0af3b2c871"; -"7d368ce9-8a73-41f0-9b86-4d62decfa5bf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"75d670a0-fdc0-41ae-aa1a-8d7742157c5b" -> "7d368ce9-8a73-41f0-9b86-4d62decfa5bf"; -"811cd52e-7a37-47f0-b79d-1e567114ee9f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"98514241-a181-42e4-a0f4-7aeea836e89c" -> "811cd52e-7a37-47f0-b79d-1e567114ee9f"; -"e00805de-5c78-4457-915f-6a478c0e6a60" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"811cd52e-7a37-47f0-b79d-1e567114ee9f" -> "e00805de-5c78-4457-915f-6a478c0e6a60"; -"99987cc1-cbd4-43ce-a0a1-c21b06f2c76b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"811cd52e-7a37-47f0-b79d-1e567114ee9f" -> "99987cc1-cbd4-43ce-a0a1-c21b06f2c76b"; -"33596d50-442e-4bd0-97fd-424a4fc9f376" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"811cd52e-7a37-47f0-b79d-1e567114ee9f" -> "33596d50-442e-4bd0-97fd-424a4fc9f376"; -"b53b5e45-b474-4fbb-9ff6-bb403b23d3c5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d167ca09-032a-48f0-89d8-23ccc311818c" -> "b53b5e45-b474-4fbb-9ff6-bb403b23d3c5"; -"f08e1df5-585f-4c1b-a445-754acdce1b6b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; 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"d43f44e8-87a3-4206-bd1a-cb7c05c2024c"; -"92598cc5-c10c-42dd-91e1-e98b8139d9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "92598cc5-c10c-42dd-91e1-e98b8139d9d4"; -"0f702082-b16b-4006-ab92-e64b966dcb44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "0f702082-b16b-4006-ab92-e64b966dcb44"; -"f4c91ee4-fad5-4eca-87e1-76bd556df233" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "f4c91ee4-fad5-4eca-87e1-76bd556df233"; -"52222621-50a8-4044-a292-97c7c4ae2c69" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ff4e492b-e302-4014-8ba1-8c888c8fb517" -> "52222621-50a8-4044-a292-97c7c4ae2c69"; -"17e70025-d31f-4bfb-a8ca-f362a8e6061a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"52222621-50a8-4044-a292-97c7c4ae2c69" -> "17e70025-d31f-4bfb-a8ca-f362a8e6061a"; -"a192a75c-a813-4018-af51-e3b438754132" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"52222621-50a8-4044-a292-97c7c4ae2c69" -> "a192a75c-a813-4018-af51-e3b438754132"; -"b0d98124-acb8-4455-a5f4-8d03f63108bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"52222621-50a8-4044-a292-97c7c4ae2c69" -> "b0d98124-acb8-4455-a5f4-8d03f63108bc"; -"e6ece130-a668-4880-b89d-a2b303ee7003" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled]; -"52222621-50a8-4044-a292-97c7c4ae2c69" -> "e6ece130-a668-4880-b89d-a2b303ee7003"; -"85ef915d-9cf1-4551-9bc1-33b402f32d98" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a1bdb1c9-c536-4895-82b9-4a391941ab8f" -> "85ef915d-9cf1-4551-9bc1-33b402f32d98"; -"e87748cd-345a-4bb0-85b8-462dd36f3572" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"85ef915d-9cf1-4551-9bc1-33b402f32d98" -> "e87748cd-345a-4bb0-85b8-462dd36f3572"; -"675f8b14-47fd-444f-92eb-566bd97bfcb4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"85ef915d-9cf1-4551-9bc1-33b402f32d98" -> "675f8b14-47fd-444f-92eb-566bd97bfcb4"; -"fa4a7948-e631-4f7a-86b1-e26da0e486a1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"85ef915d-9cf1-4551-9bc1-33b402f32d98" -> "fa4a7948-e631-4f7a-86b1-e26da0e486a1"; -"0b3a0742-c11b-413e-b7db-54389340e3b0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ef4b9363-8426-4ea1-8f60-04b4a6635fca" -> "0b3a0742-c11b-413e-b7db-54389340e3b0"; -"9c91a8d7-3a0b-4c4b-8e99-0c2661f59682" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"0b3a0742-c11b-413e-b7db-54389340e3b0" -> "9c91a8d7-3a0b-4c4b-8e99-0c2661f59682"; -"a574e051-50a7-462e-b4c2-90ade280dfbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"0b3a0742-c11b-413e-b7db-54389340e3b0" -> "a574e051-50a7-462e-b4c2-90ade280dfbf"; -"363419d4-ba53-47f4-a1e7-e1d4f16a6b05" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0b3a0742-c11b-413e-b7db-54389340e3b0" -> "363419d4-ba53-47f4-a1e7-e1d4f16a6b05"; -"c11224fc-b599-4fb2-855c-3167a2474f7e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; 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"3f2f961f-ed99-4efa-b3d0-c96a67045623"; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"11bb2765-fafb-452f-8667-dffb225daa9c" -> "363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6"; -"84871e91-93af-4dc6-9633-149e0a2a9c0c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" -> "84871e91-93af-4dc6-9633-149e0a2a9c0c"; -"f458ed65-6c31-4108-abfe-1e638245f767" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" -> "f458ed65-6c31-4108-abfe-1e638245f767"; -"59222ab9-cdc9-4f1e-981d-e143533dbf96" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" -> "59222ab9-cdc9-4f1e-981d-e143533dbf96"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ae241c9-0d7e-4330-8dfa-7e3659869c4e" -> "b78235fd-b312-4f3c-b2db-522346d6334b"; -"24f347cd-a573-43b8-8aeb-fba3821f19c9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "24f347cd-a573-43b8-8aeb-fba3821f19c9"; -"af0acce2-0523-4715-a7f0-5ea33d64baaf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "af0acce2-0523-4715-a7f0-5ea33d64baaf"; -"7446585c-7884-4b51-9123-a4687db8ae2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "7446585c-7884-4b51-9123-a4687db8ae2c"; -"300db2e4-2b2d-4973-a2e5-68c6fca3342d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "300db2e4-2b2d-4973-a2e5-68c6fca3342d"; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"baf1177f-3f68-4597-a8be-73fab71fe07c" -> "44b5bd4e-b292-4f35-a08c-62c6c8ee6afb"; -"9dc377a0-802a-4938-9557-d2484887e2c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "9dc377a0-802a-4938-9557-d2484887e2c8"; -"eed4c344-508b-4271-a3f3-b65659894c2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "eed4c344-508b-4271-a3f3-b65659894c2a"; -"236d682d-2465-4ad9-87d2-efcaa2174de8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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"a5fdd66f-1934-43ba-be76-ce75f456f80b"; -"b3c5bbe0-0730-4d71-83c3-d433d1967bc8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; -"3de1c2a4-bec7-465c-a7ab-d34169f30c88" -> "b3c5bbe0-0730-4d71-83c3-d433d1967bc8"; -"c4758168-fcec-4f27-af96-33187081f78f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1003765f-f36b-4327-bef7-3c6124abe494" -> "c4758168-fcec-4f27-af96-33187081f78f"; -"e0a0db31-5c35-4a84-b31b-1edf381ae1c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "e0a0db31-5c35-4a84-b31b-1edf381ae1c6"; -"756cf405-74c3-40bf-8b93-17ce64f5a837" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "756cf405-74c3-40bf-8b93-17ce64f5a837"; -"e878b930-8bfb-4953-a63b-a9237815f18a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "e878b930-8bfb-4953-a63b-a9237815f18a"; -"f285fd67-1400-4727-9581-5a861e886c7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"18986915-a3c3-44fb-ba64-6b3c6fb0701d" -> "f285fd67-1400-4727-9581-5a861e886c7b"; -"a15c1760-a84c-404f-99cd-92f1f80468af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "a15c1760-a84c-404f-99cd-92f1f80468af"; -"3617af51-2e8c-4d2e-91e5-89431bccf003" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "3617af51-2e8c-4d2e-91e5-89431bccf003"; -"72d2f650-b16f-44ff-8b5f-793dd7d1094d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable)", shape=box, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "72d2f650-b16f-44ff-8b5f-793dd7d1094d"; -"8d953b09-a3e1-4896-b2de-305ed11747c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"c0e15c1f-0cb4-4458-9e5f-3dd0e251f1fe" -> "8d953b09-a3e1-4896-b2de-305ed11747c4"; -"89492c29-fbf6-44ba-a996-06db94f78073" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"363a8a50-ecf1-4ae8-9853-98761c6f0710" -> "89492c29-fbf6-44ba-a996-06db94f78073"; -"ba251089-126c-47f7-ad69-34918cadcac9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "ba251089-126c-47f7-ad69-34918cadcac9"; -"9c1612a8-8571-44e1-92da-d9ffeb32b8c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "9c1612a8-8571-44e1-92da-d9ffeb32b8c5"; -"7b93fa6e-339f-45c5-b78f-7d30c196824f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "7b93fa6e-339f-45c5-b78f-7d30c196824f"; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"78b5fe64-0f4a-4a9c-aacf-3c960917a552" -> "027384f4-79f9-4882-8b91-0ed3a677cc5a"; -"0387e629-3b69-4b83-bbdb-29c46476dc58" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" -> "0387e629-3b69-4b83-bbdb-29c46476dc58"; -"cf0fe3c7-a17f-4a99-bd47-0e7964fede6b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; 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"32cf3641-33af-4478-8557-e24ac074977c"; -"67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" -> "67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322"; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e2526972-9479-4ff1-842c-4934730759ee" -> "3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe"; -"98b367c0-2ad3-4c3b-9e43-548a7b324274" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "98b367c0-2ad3-4c3b-9e43-548a7b324274"; -"5d50943c-e92c-4fb2-8777-12b0c363afb0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "5d50943c-e92c-4fb2-8777-12b0c363afb0"; -"3ff61034-f0f0-4b3d-a8cf-6650e4197374" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "3ff61034-f0f0-4b3d-a8cf-6650e4197374"; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e966e843-c2c1-42a2-9467-434be3dc2079" -> "3c001919-c566-45d8-8a3e-ece15d47ff4e"; -"aa79fb13-82d1-4cff-ae00-7372a8d8512c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "aa79fb13-82d1-4cff-ae00-7372a8d8512c"; -"941718c7-c6a7-4433-83be-28138785ed12" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "941718c7-c6a7-4433-83be-28138785ed12"; -"be6f0429-1347-4e55-8400-3ae0a2625869" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "be6f0429-1347-4e55-8400-3ae0a2625869"; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"92bc4b9e-cf77-4744-8947-87a8b252cb8f" -> "60b60bf9-6bef-4cd0-8b2e-4dff52e21df9"; -"97714157-6033-471b-b0ec-3ab685c8fbf7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "97714157-6033-471b-b0ec-3ab685c8fbf7"; -"e53a85c8-fc0a-44be-a0c6-31d6fcfad294" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "e53a85c8-fc0a-44be-a0c6-31d6fcfad294"; -"3ffab793-f8bb-4c86-ab1a-474549d5fc79" [fillcolor=lightgreen, fontcolor=black, fontsize=20, 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-eb6a1163-b9cb-4d0a-a39e-68f2f14323e4->81c99573-0eea-464f-8d51-b799ee18a835 - - - - - -9d85da11-9565-437e-b88c-d86bab73887a - -→ - - - -eb6a1163-b9cb-4d0a-a39e-68f2f14323e4->9d85da11-9565-437e-b88c-d86bab73887a - - - - - -2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb - -→ - - - -81c99573-0eea-464f-8d51-b799ee18a835->2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb - - - - - -513473c0-d65c-4d90-967b-fef1bbd23a52 - -→ - - - -81c99573-0eea-464f-8d51-b799ee18a835->513473c0-d65c-4d90-967b-fef1bbd23a52 - - - - - -b848d27d-4503-4031-8bae-893393b7123d - -Holding(ADMilk) - - - -2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb->b848d27d-4503-4031-8bae-893393b7123d - - - - - -7cc0efc9-e201-4447-9b3f-165742aab289 - -At(Robot,Table1) - - - -2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb->7cc0efc9-e201-4447-9b3f-165742aab289 - - - - - -2a5b95c5-f343-4db2-a907-71c7a3e5ccb9 - -PutDown(ADMilk,Table) - - - -2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb->2a5b95c5-f343-4db2-a907-71c7a3e5ccb9 - - - - - -72eb9fcb-8c48-48b6-b674-46450ae09d36 - -At(Robot,BrightTable6) - - - -513473c0-d65c-4d90-967b-fef1bbd23a52->72eb9fcb-8c48-48b6-b674-46450ae09d36 - - - - - -3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49 - -Holding(Coffee) - - - -513473c0-d65c-4d90-967b-fef1bbd23a52->3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49 - - - - - -b867df19-ca63-4f47-9e0d-7aa9a10d4018 - -PutDown(Coffee,BrightTable) - - - -513473c0-d65c-4d90-967b-fef1bbd23a52->b867df19-ca63-4f47-9e0d-7aa9a10d4018 - - - - - -00eaf19f-462b-486a-a79e-36316549be89 - -Holding(Softdrink) - - - -9d85da11-9565-437e-b88c-d86bab73887a->00eaf19f-462b-486a-a79e-36316549be89 - - - - - -08f160b8-20de-480b-9236-b66121e6dce2 - -At(Robot,BrightTable6) - - - -9d85da11-9565-437e-b88c-d86bab73887a->08f160b8-20de-480b-9236-b66121e6dce2 - - - - - -f73ea383-7619-464b-9394-e3c9a618a559 - -PutDown(Softdrink,BrightTable) - - - -9d85da11-9565-437e-b88c-d86bab73887a->f73ea383-7619-464b-9394-e3c9a618a559 - - - - - -f5627266-d96c-4669-93b9-be258441a1ad - -At(Robot,WaterTable) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->f5627266-d96c-4669-93b9-be258441a1ad - - - - - -15670bd3-4a8e-4a9e-afdd-e732ec602959 - -Holding(Coffee) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->15670bd3-4a8e-4a9e-afdd-e732ec602959 - - - - - -da5fe5f3-6d23-4c1f-beec-cba7d3164266 - -PutDown(Coffee,WaterTable) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->da5fe5f3-6d23-4c1f-beec-cba7d3164266 - - - - - -bbc29cc6-20b2-4193-b1dd-7a32f39050e9 - -Holding(NFCJuice) - - - -ce69e82a-5c3b-48db-966c-ec177602bae0->bbc29cc6-20b2-4193-b1dd-7a32f39050e9 - - - - - -c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba - -PutDown(NFCJuice,Bar) - - - -ce69e82a-5c3b-48db-966c-ec177602bae0->c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba - - - - - -c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e - -At(Robot,WaterTable) - - - -c1af8498-5904-4d8e-bc02-7924ea94bfbc->c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e - - - - - -b44b27d2-05fa-4162-acce-dfdcb94bfadb - -Holding(SpringWater) - - - -c1af8498-5904-4d8e-bc02-7924ea94bfbc->b44b27d2-05fa-4162-acce-dfdcb94bfadb - - - - - -1d16f199-e2a2-4e10-abb1-f6884b8bce40 - -PutDown(SpringWater,WaterTable) - - - -c1af8498-5904-4d8e-bc02-7924ea94bfbc->1d16f199-e2a2-4e10-abb1-f6884b8bce40 - - - - - -5ce7094e-7654-41b9-8465-820ea36c399c - -Holding(VacuumCup) - - - -02e1f562-c2e1-4334-b34a-f92ca4e260af->5ce7094e-7654-41b9-8465-820ea36c399c - - - - - -429753fc-fff9-471e-9576-7faf02c6d2c6 - -At(Robot,Table1) - - - -02e1f562-c2e1-4334-b34a-f92ca4e260af->429753fc-fff9-471e-9576-7faf02c6d2c6 - - - - - -d8103559-25b8-4419-b8b3-3e7d9c44ad0e - -PutDown(VacuumCup,Table) - - - -02e1f562-c2e1-4334-b34a-f92ca4e260af->d8103559-25b8-4419-b8b3-3e7d9c44ad0e - - - - - -37077af7-5ba7-477e-a986-728ed85232b5 - -Holding(ADMilk) - - - -9c8a5901-1909-4f5a-8f9f-58967edd194e->37077af7-5ba7-477e-a986-728ed85232b5 - - - - - -32c1e73f-ec6a-4e6c-8587-1aadccb33a06 - -At(Robot,Table2) - - - -9c8a5901-1909-4f5a-8f9f-58967edd194e->32c1e73f-ec6a-4e6c-8587-1aadccb33a06 - - - - - -7bd333c9-5b85-4f6e-9581-338117923a32 - -PutDown(ADMilk,Table) - - - -9c8a5901-1909-4f5a-8f9f-58967edd194e->7bd333c9-5b85-4f6e-9581-338117923a32 - - - - - -9d26bd30-b5e3-404a-83e1-02c034f42606 - -At(Robot,Bar) - - - -5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48->9d26bd30-b5e3-404a-83e1-02c034f42606 - - - - - -f8e546b1-0afa-45a7-ae22-0a298bd06d48 - -Holding(SpringWater) - - - -5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48->f8e546b1-0afa-45a7-ae22-0a298bd06d48 - - - - - -862ffa6c-152b-4f9f-a196-2dbf57a7a1e1 - -PutDown(SpringWater,Bar) - - - -5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48->862ffa6c-152b-4f9f-a196-2dbf57a7a1e1 - - - - - -85fd988a-7627-4ae8-99f5-34f3c476dd98 - -At(Robot,Bar) - - - -7a296eef-a4d2-4281-8864-9ac00ab561b0->85fd988a-7627-4ae8-99f5-34f3c476dd98 - - - - - -878b7df8-4cbd-44a4-9dca-0f8ee4a669a9 - -Holding(Chips) - - - -7a296eef-a4d2-4281-8864-9ac00ab561b0->878b7df8-4cbd-44a4-9dca-0f8ee4a669a9 - - - - - -d77e461f-d702-4532-b8c7-8b5f8463ce5a - -PutDown(Chips,Bar) - - - -7a296eef-a4d2-4281-8864-9ac00ab561b0->d77e461f-d702-4532-b8c7-8b5f8463ce5a - - - - - -73b964fc-8513-4a02-9396-c2a493f95c40 - -Holding(Softdrink) - - - -c1d52509-e83c-4a74-a13d-d1f2b122c7f9->73b964fc-8513-4a02-9396-c2a493f95c40 - - - - - -26324ea7-77a7-41e4-8079-6d6d81d54e73 - -At(Robot,Table3) - - - -c1d52509-e83c-4a74-a13d-d1f2b122c7f9->26324ea7-77a7-41e4-8079-6d6d81d54e73 - - - - - -877ae462-8b57-4127-babe-bb5bed8b88f0 - -PutDown(Softdrink,Table) - - - -c1d52509-e83c-4a74-a13d-d1f2b122c7f9->877ae462-8b57-4127-babe-bb5bed8b88f0 - - - - - -0ef2be89-71d2-47bc-b8ec-2e7bc50ec5c4 - -At(Robot,WaterTable) - - - -f0a3fd38-7073-49f7-ba1f-385e18a22bf5->0ef2be89-71d2-47bc-b8ec-2e7bc50ec5c4 - - - - - -1ea5269d-2bfa-4407-a59b-c30774437fbd - -Holding(Dessert) - - - -f0a3fd38-7073-49f7-ba1f-385e18a22bf5->1ea5269d-2bfa-4407-a59b-c30774437fbd - - - - - -08d0835b-8eee-400c-83de-db2e9494440d - -PutDown(Dessert,WaterTable) - - - -f0a3fd38-7073-49f7-ba1f-385e18a22bf5->08d0835b-8eee-400c-83de-db2e9494440d - - - - - -030df637-c783-4a10-9185-b6b969f5ea8c - -At(Robot,Bar) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->030df637-c783-4a10-9185-b6b969f5ea8c - - - - - -cc2987ee-ed16-4131-943f-d6ac0e4a82b7 - -Holding(Dessert) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->cc2987ee-ed16-4131-943f-d6ac0e4a82b7 - - - - - -5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6 - -PutDown(Dessert,Bar) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6 - - - - - -59cf5c8e-eb75-49f2-8577-fdfa4f41add5 - -Holding(SpringWater) - - - -5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c->59cf5c8e-eb75-49f2-8577-fdfa4f41add5 - - - - - -5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0 - -PutDown(SpringWater,Bar) - - - -5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c->5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0 - - - - - -fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2 - -At(Robot,BrightTable6) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2 - - - - - -c34d1128-1f88-449d-b313-6a1c9e6e5e80 - -Holding(SpringWater) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->c34d1128-1f88-449d-b313-6a1c9e6e5e80 - - - - - -068c9e38-5227-48db-8296-2654c69e49ba - -PutDown(SpringWater,BrightTable) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->068c9e38-5227-48db-8296-2654c69e49ba - - - - - -1b091b64-58ef-46a2-a252-0bf441aef507 - -At(Robot,Bar) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->1b091b64-58ef-46a2-a252-0bf441aef507 - - - - - -7219e198-b69a-4fe7-957d-7164945e9d58 - -Holding(Dessert) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->7219e198-b69a-4fe7-957d-7164945e9d58 - - - - - -516c552f-1a5c-47a3-a2cd-a3008a417817 - -PutDown(Dessert,Bar) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->516c552f-1a5c-47a3-a2cd-a3008a417817 - - - - - -35135e9d-aef5-46df-ba0b-0514ac1af341 - -Holding(Coffee) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->35135e9d-aef5-46df-ba0b-0514ac1af341 - - - - - -61e6593c-573f-4dde-a4fe-abf2848f4914 - -At(Robot,Table2) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->61e6593c-573f-4dde-a4fe-abf2848f4914 - - - - - -9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2 - -PutDown(Coffee,Table) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2 - - - - - -4eda9db4-70bc-4b20-a5ed-110ad74d8c64 - -Holding(VacuumCup) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->4eda9db4-70bc-4b20-a5ed-110ad74d8c64 - - - - - -b1033a4c-90c2-4eb9-98bb-f84b08613d02 - -At(Robot,Table3) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->b1033a4c-90c2-4eb9-98bb-f84b08613d02 - - - - - -cc9b0fc3-e0d4-44eb-9a88-5537b048fa29 - -PutDown(VacuumCup,Table) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->cc9b0fc3-e0d4-44eb-9a88-5537b048fa29 - - - - - -3b59f776-30ce-489e-b723-179344b8b5e5 - -Holding(Yogurt) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->3b59f776-30ce-489e-b723-179344b8b5e5 - - - - - -f088619c-7a18-4a50-87f8-a60abe2c58cd - -At(Robot,Table2) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->f088619c-7a18-4a50-87f8-a60abe2c58cd - - - - - -657dc27a-b44c-4940-b904-e46926e3db9f - -PutDown(Yogurt,Table) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->657dc27a-b44c-4940-b904-e46926e3db9f - - - - - -9cca3ce0-e527-486f-a66e-f09d9b64a42a - -Holding(ADMilk) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->9cca3ce0-e527-486f-a66e-f09d9b64a42a - - - - - -cfcfe867-8611-4701-a0e0-297bc54131e6 - -At(Robot,Bar) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->cfcfe867-8611-4701-a0e0-297bc54131e6 - - - - - -179f6a23-8805-4039-b51a-89d4c915fac9 - -PutDown(ADMilk,Bar) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->179f6a23-8805-4039-b51a-89d4c915fac9 - - - - - -6d3417d9-e755-42d6-9e7d-88733fffe19a - -At(Robot,BrightTable6) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->6d3417d9-e755-42d6-9e7d-88733fffe19a - - - - - -a2c30457-2c24-496d-9ffe-d826b860eb11 - -Holding(Water) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->a2c30457-2c24-496d-9ffe-d826b860eb11 - - - - - -1f3a7ef4-3bc9-472d-9505-6d34a647d74c - -PutDown(Water,BrightTable) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->1f3a7ef4-3bc9-472d-9505-6d34a647d74c - - - - - -d782f876-319b-4fa5-949a-b34bd84ea5d1 - -Holding(Dessert) - - - -107e4167-8879-4b30-948c-3c622bc506f6->d782f876-319b-4fa5-949a-b34bd84ea5d1 - - - - - -5297618c-5248-4d0a-abe1-9647b8548439 - -At(Robot,Table2) - - - -107e4167-8879-4b30-948c-3c622bc506f6->5297618c-5248-4d0a-abe1-9647b8548439 - - - - - -4cbaca17-c610-489a-bcc0-00e620e1b0c9 - -PutDown(Dessert,Table) - - - -107e4167-8879-4b30-948c-3c622bc506f6->4cbaca17-c610-489a-bcc0-00e620e1b0c9 - - - - - -698a89b1-6ddb-4cde-8434-8fb5d60aeca5 - -Holding(Milk) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->698a89b1-6ddb-4cde-8434-8fb5d60aeca5 - - - - - -2fcfe3f0-1959-483d-b129-e23d429cd9eb - -At(Robot,WaterTable) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->2fcfe3f0-1959-483d-b129-e23d429cd9eb - - - - - -0dcb2f43-c240-4320-8937-850b5dd3dd82 - -PutDown(Milk,WaterTable) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->0dcb2f43-c240-4320-8937-850b5dd3dd82 - - - - - -77e6ae5a-b6c3-486f-96b0-0c895f51cbd2 - -Holding(BottledDrink) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->77e6ae5a-b6c3-486f-96b0-0c895f51cbd2 - - - - - -849851d3-61b3-464f-b5dc-499aeecd0260 - -At(Robot,Table2) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->849851d3-61b3-464f-b5dc-499aeecd0260 - - - - - -cd486532-ca39-4bd4-a7ae-267cfbb5f4fd - -PutDown(BottledDrink,Table) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->cd486532-ca39-4bd4-a7ae-267cfbb5f4fd - - - - - -51bafe6f-8600-4d81-ad69-17fafccfe59c - -Holding(Softdrink) - - - -3cad833d-9229-4d43-97c6-6d718860125c->51bafe6f-8600-4d81-ad69-17fafccfe59c - - - - - -d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492 - -At(Robot,WaterTable) - - - -3cad833d-9229-4d43-97c6-6d718860125c->d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492 - - - - - -83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67 - -PutDown(Softdrink,WaterTable) - - - -3cad833d-9229-4d43-97c6-6d718860125c->83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67 - - - - - -bba488a3-9fad-44bb-94c7-d1f1d02c8e46 - -At(Robot,Table3) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->bba488a3-9fad-44bb-94c7-d1f1d02c8e46 - - - - - -6c9bc359-3bda-430c-8385-69bc1ce6f7d7 - -Holding(SpringWater) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->6c9bc359-3bda-430c-8385-69bc1ce6f7d7 - - - - - -b8e33d4b-c0f0-4ba8-ab74-452190ccdd52 - -PutDown(SpringWater,Table) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->b8e33d4b-c0f0-4ba8-ab74-452190ccdd52 - - - - - -0284ed1b-b681-44da-96ce-09a1255ca6cd - -At(Robot,BrightTable6) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->0284ed1b-b681-44da-96ce-09a1255ca6cd - - - - - -bbf5e382-c3ad-468d-a4f8-f374be01feb5 - -Holding(Yogurt) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->bbf5e382-c3ad-468d-a4f8-f374be01feb5 - - - - - -a2c16372-f6fb-4d86-80ec-236cbabcb9a0 - -PutDown(Yogurt,BrightTable) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->a2c16372-f6fb-4d86-80ec-236cbabcb9a0 - - - - - -31e7ae3f-615e-4736-90d6-566a0a889fd0 - -Holding(NFCJuice) - - - -86314a58-2ccc-4fb7-91d9-73bc3b279053->31e7ae3f-615e-4736-90d6-566a0a889fd0 - - - - - -1a81935f-de2d-40b6-be72-b1e73dc50d3e - -PutDown(NFCJuice,Bar) - - - -86314a58-2ccc-4fb7-91d9-73bc3b279053->1a81935f-de2d-40b6-be72-b1e73dc50d3e - - - - - -2b5d947e-86c7-4793-8589-5b078d23c3ae - -Holding(ADMilk) - - - -cd38cbad-3544-49a6-b04f-ceba780e5105->2b5d947e-86c7-4793-8589-5b078d23c3ae - - - - - -293b1666-f500-4299-a2ee-58624788a5ce - -PutDown(ADMilk,Bar) - - - -cd38cbad-3544-49a6-b04f-ceba780e5105->293b1666-f500-4299-a2ee-58624788a5ce - - - - - -b901f988-aa6b-49a1-a92c-92ca244bef51 - -At(Robot,Bar) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->b901f988-aa6b-49a1-a92c-92ca244bef51 - - - - - -fb91924f-ffda-4973-a837-34943d54e8d8 - -Holding(Milk) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->fb91924f-ffda-4973-a837-34943d54e8d8 - - - - - -338f2150-e9d1-4f72-bdb2-096aca18f084 - -PutDown(Milk,Bar) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->338f2150-e9d1-4f72-bdb2-096aca18f084 - - - - - -4cd9a3e4-72f6-4b1b-b391-11bd91854db8 - -Holding(NFCJuice) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->4cd9a3e4-72f6-4b1b-b391-11bd91854db8 - - - - - -d176519d-5e57-49d2-b0bc-eb7e2e4891b1 - -At(Robot,BrightTable6) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->d176519d-5e57-49d2-b0bc-eb7e2e4891b1 - - - - - -8e340491-cb49-446c-a3d3-afa9892b3d70 - -PutDown(NFCJuice,BrightTable) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->8e340491-cb49-446c-a3d3-afa9892b3d70 - - - - - -ded7865f-6577-4dfe-ad38-c7a8fd18a83b - -Holding(SpringWater) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->ded7865f-6577-4dfe-ad38-c7a8fd18a83b - - - - - -7b9ee1d6-9c06-4a88-a65b-4ea2441259f1 - -At(Robot,Table1) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->7b9ee1d6-9c06-4a88-a65b-4ea2441259f1 - - - - - -8a974333-e215-46e3-8f39-8d30d76f8bbe - -PutDown(SpringWater,Table) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->8a974333-e215-46e3-8f39-8d30d76f8bbe - - - - - -d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef - -At(Robot,Bar) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef - - - - - -f89231f1-a4b1-4924-986b-2f686df09cdd - -Holding(Yogurt) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->f89231f1-a4b1-4924-986b-2f686df09cdd - - - - - -c9534f28-0e44-4dfa-9761-59541e9b8473 - -PutDown(Yogurt,Bar) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->c9534f28-0e44-4dfa-9761-59541e9b8473 - - - - - -9db0055a-6599-4c65-b0c3-7255395fd5be - -Holding(Bernachon) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->9db0055a-6599-4c65-b0c3-7255395fd5be - - - - - -76679c05-648f-49c6-9cd4-3fb270f78148 - -At(Robot,Bar) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->76679c05-648f-49c6-9cd4-3fb270f78148 - - - - - -6158fe20-cb1a-4068-9658-2277d81916dd - -PutDown(Bernachon,Bar) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->6158fe20-cb1a-4068-9658-2277d81916dd - - - - - -a99949a0-15f0-419d-b245-0aa9993d581c - -Holding(Bernachon) - - - -4f947b7c-c82c-44cd-8a07-02f766e680ad->a99949a0-15f0-419d-b245-0aa9993d581c - - - - - -121c6258-04b4-4533-9cc3-3c7fdf4f6adb - -PutDown(Bernachon,Bar) - - - -4f947b7c-c82c-44cd-8a07-02f766e680ad->121c6258-04b4-4533-9cc3-3c7fdf4f6adb - - - - - -2a650737-30ca-42c5-a57f-092be0af0aae - -At(Robot,Bar) - - - -8b489962-a822-491d-86df-aa48341bd7cb->2a650737-30ca-42c5-a57f-092be0af0aae - - - - - -7bdbbd94-4abd-4082-9c0c-0a3a65977b67 - -Holding(Milk) - - - -8b489962-a822-491d-86df-aa48341bd7cb->7bdbbd94-4abd-4082-9c0c-0a3a65977b67 - - - - - -1bf2e458-810a-4990-b2e7-feffcca5ab56 - -PutDown(Milk,Bar) - - - -8b489962-a822-491d-86df-aa48341bd7cb->1bf2e458-810a-4990-b2e7-feffcca5ab56 - - - - - -f2058ab0-1533-4839-b91d-c0d9cb653575 - -At(Robot,BrightTable6) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->f2058ab0-1533-4839-b91d-c0d9cb653575 - - - - - -cf91265c-4dd2-4f6a-9d12-b3891e0a0da9 - -Holding(Milk) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->cf91265c-4dd2-4f6a-9d12-b3891e0a0da9 - - - - - -d9f00865-e753-4e72-85c0-159cdba091fb - -PutDown(Milk,BrightTable) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->d9f00865-e753-4e72-85c0-159cdba091fb - - - - - -079925a4-43ce-42ba-92ba-8154ca889611 - -Holding(VacuumCup) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->079925a4-43ce-42ba-92ba-8154ca889611 - - - - - -c23686f2-ac6d-4cbe-9de3-311246b1be61 - -At(Robot,BrightTable6) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->c23686f2-ac6d-4cbe-9de3-311246b1be61 - - - - - -973b988d-12f0-4411-b2cd-8fb2c5abd591 - -PutDown(VacuumCup,BrightTable) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->973b988d-12f0-4411-b2cd-8fb2c5abd591 - - - - - -17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1 - -At(Robot,CoffeeTable) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1 - - - - - -d9025c0c-6766-47a9-a80c-38e8706abb94 - -Holding(Coffee) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->d9025c0c-6766-47a9-a80c-38e8706abb94 - - - - - -92424231-7640-4a42-a287-e3c36a02d3a6 - -PutDown(Coffee,CoffeeTable) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->92424231-7640-4a42-a287-e3c36a02d3a6 - - - - - -2851f753-cf4e-4320-9366-f2cdcbf16531 - -Holding(Coffee) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->2851f753-cf4e-4320-9366-f2cdcbf16531 - - - - - -2f9b2c68-b7a4-4680-9594-c5aa2b967eee - -At(Robot,Table2) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->2f9b2c68-b7a4-4680-9594-c5aa2b967eee - - - - - -462362be-ae45-4d66-bb6b-583826e1e2be - -PutDown(Coffee,Table) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->462362be-ae45-4d66-bb6b-583826e1e2be - - - - - -cdd772ef-0c50-4390-8e1f-642bf45921b4 - -At(Robot,Table3) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->cdd772ef-0c50-4390-8e1f-642bf45921b4 - - - - - -049acd36-669b-4c0b-9e12-f0ab7aa43980 - -Holding(Dessert) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->049acd36-669b-4c0b-9e12-f0ab7aa43980 - - - - - -5c3f3a34-3212-451e-9e8a-e644dcc3335c - -PutDown(Dessert,Table) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->5c3f3a34-3212-451e-9e8a-e644dcc3335c - - - - - -13748cf9-e4bf-4fe3-8bcf-255b1233108e - -Holding(Water) - - - -c72d5831-0a6e-4fc3-94df-dc91ca6defa2->13748cf9-e4bf-4fe3-8bcf-255b1233108e - - - - - -839c7fe5-8cc8-4fba-b740-8286eb20c0a3 - -PutDown(Water,Bar) - - - -c72d5831-0a6e-4fc3-94df-dc91ca6defa2->839c7fe5-8cc8-4fba-b740-8286eb20c0a3 - - - - - -4fdc6c0a-9b37-440f-84e5-8d141774790f - -Holding(Bernachon) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->4fdc6c0a-9b37-440f-84e5-8d141774790f - - - - - -513a902d-f746-4813-b2a6-b21d43ddcf59 - -At(Robot,CoffeeTable) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->513a902d-f746-4813-b2a6-b21d43ddcf59 - - - - - -faf295b0-9cab-47c0-b466-f63995f8516b - -PutDown(Bernachon,CoffeeTable) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->faf295b0-9cab-47c0-b466-f63995f8516b - - - - - -0187f0c8-fdd0-4c14-9216-1652e1f72092 - -At(Robot,BrightTable6) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->0187f0c8-fdd0-4c14-9216-1652e1f72092 - - - - - -282013fb-5596-4c1f-bb6b-c218b7d5ef65 - -Holding(Chips) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->282013fb-5596-4c1f-bb6b-c218b7d5ef65 - - - - - -be3cb027-b354-483b-94f8-ecc57564dfc3 - -PutDown(Chips,BrightTable) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->be3cb027-b354-483b-94f8-ecc57564dfc3 - - - - - -f4452fb6-2840-4e8e-b744-c0d9ddfff0a3 - -Holding(VacuumCup) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->f4452fb6-2840-4e8e-b744-c0d9ddfff0a3 - - - - - -81fc32e0-aaf7-49db-9ce9-530c0a79d86c - -At(Robot,Table2) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->81fc32e0-aaf7-49db-9ce9-530c0a79d86c - - - - - -bcc42379-a0e1-45cd-86cd-4781e7f91414 - -PutDown(VacuumCup,Table) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->bcc42379-a0e1-45cd-86cd-4781e7f91414 - - - - - -f5e0deb8-77b8-45b7-a2e4-27e6254241fe - -Holding(Yogurt) - - - -5c6608df-a2bf-4e90-9641-96143a879210->f5e0deb8-77b8-45b7-a2e4-27e6254241fe - - - - - -1b1bd566-436d-4fa6-8367-98d5e09ffd26 - -PutDown(Yogurt,Bar) - - - -5c6608df-a2bf-4e90-9641-96143a879210->1b1bd566-436d-4fa6-8367-98d5e09ffd26 - - - - - -a176c3f2-399e-4444-a32b-f2684a01309f - -Holding(BottledDrink) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->a176c3f2-399e-4444-a32b-f2684a01309f - - - - - -1cb42d57-d7de-4257-8678-25de6e6be32d - -At(Robot,WaterTable) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->1cb42d57-d7de-4257-8678-25de6e6be32d - - - - - -b6938345-3572-4ab4-be18-6ee9a69fdcd6 - -PutDown(BottledDrink,WaterTable) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->b6938345-3572-4ab4-be18-6ee9a69fdcd6 - - - - - -e0a055b6-d453-4143-a167-feab69c9f2e2 - -Holding(VacuumCup) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->e0a055b6-d453-4143-a167-feab69c9f2e2 - - - - - -32f9bb5c-f679-4656-82e5-6e522143a8c8 - -At(Robot,WaterTable) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->32f9bb5c-f679-4656-82e5-6e522143a8c8 - - - - - -3080fe69-51a7-48ec-9c69-b7aab7115ec9 - -PutDown(VacuumCup,WaterTable) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->3080fe69-51a7-48ec-9c69-b7aab7115ec9 - - - - - -75d9767d-845e-4710-88ee-cb0e3370e821 - -At(Robot,Bar) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->75d9767d-845e-4710-88ee-cb0e3370e821 - - - - - -d8a528d5-4935-46cc-aac6-f04facd611fb - -Holding(SpringWater) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->d8a528d5-4935-46cc-aac6-f04facd611fb - - - - - -2cdb744a-663a-492e-94b6-d8dee71b5782 - -PutDown(SpringWater,Bar) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->2cdb744a-663a-492e-94b6-d8dee71b5782 - - - - - -45b23a1e-766b-4cc9-b741-8c9e2d72e71a - -Holding(VacuumCup) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->45b23a1e-766b-4cc9-b741-8c9e2d72e71a - - - - - -8fe2d3fe-5fee-462c-befb-73417b25b79f - -At(Robot,Bar) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->8fe2d3fe-5fee-462c-befb-73417b25b79f - - - - - -0266af83-dfad-4865-9431-8d3e5b34f318 - -PutDown(VacuumCup,Bar) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->0266af83-dfad-4865-9431-8d3e5b34f318 - - - - - -5c733d9b-a057-436c-9671-59525fc69916 - -Holding(Yogurt) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->5c733d9b-a057-436c-9671-59525fc69916 - - - - - -30a0deaf-92f0-4721-9f86-ec2d1fba966c - -At(Robot,Table1) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->30a0deaf-92f0-4721-9f86-ec2d1fba966c - - - - - -114e600a-4afb-4dfb-9cb8-d3418e9e4474 - -PutDown(Yogurt,Table) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->114e600a-4afb-4dfb-9cb8-d3418e9e4474 - - - - - -e03896f2-6351-4758-aabb-f72f6aafa6bc - -Holding(NFCJuice) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->e03896f2-6351-4758-aabb-f72f6aafa6bc - - - - - -d41bf27e-27fa-40d1-ae8e-e006e4283d5f - -At(Robot,Table3) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->d41bf27e-27fa-40d1-ae8e-e006e4283d5f - - - - - -44a1ea8a-c2ca-42bc-923f-a6de619202bb - -PutDown(NFCJuice,Table) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->44a1ea8a-c2ca-42bc-923f-a6de619202bb - - - - - -231329a9-9300-4adc-812f-569f12ec8021 - -Holding(Softdrink) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->231329a9-9300-4adc-812f-569f12ec8021 - - - - - -7fc5a790-2626-427e-b294-ec7873ad2caf - -At(Robot,Bar) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->7fc5a790-2626-427e-b294-ec7873ad2caf - - - - - -ac2ef713-ebb8-46e6-80b1-bd8b49463924 - -PutDown(Softdrink,Bar) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->ac2ef713-ebb8-46e6-80b1-bd8b49463924 - - - - - -d4d74652-5e42-4ae1-852d-dc34d1757f2b - -Holding(Bernachon) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->d4d74652-5e42-4ae1-852d-dc34d1757f2b - - - - - -dcb6bfbe-5f56-4486-8d82-1568062d8075 - -At(Robot,BrightTable6) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->dcb6bfbe-5f56-4486-8d82-1568062d8075 - - - - - -55722123-89a3-4197-a99d-9444210aca1b - -PutDown(Bernachon,BrightTable) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->55722123-89a3-4197-a99d-9444210aca1b - - - - - -da651ac6-fa9c-4046-b8f7-ba70b1a3ce02 - -Holding(Bernachon) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->da651ac6-fa9c-4046-b8f7-ba70b1a3ce02 - - - - - -fad875ab-1d11-419d-819b-dedbde9951e4 - -At(Robot,Table2) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->fad875ab-1d11-419d-819b-dedbde9951e4 - - - - - -69b0fac3-7b9f-4fba-a75d-0e351996e85e - -PutDown(Bernachon,Table) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->69b0fac3-7b9f-4fba-a75d-0e351996e85e - - - - - -8c91ef51-4e0b-420d-ad64-8f3ae97978c4 - -At(Robot,BrightTable6) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->8c91ef51-4e0b-420d-ad64-8f3ae97978c4 - - - - - -ff6e50f9-ad14-48bd-bfad-ba373febf01a - -Holding(Coffee) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->ff6e50f9-ad14-48bd-bfad-ba373febf01a - - - - - -0c5a79f2-9966-4f5f-8dac-870297c858fb - -PutDown(Coffee,BrightTable) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->0c5a79f2-9966-4f5f-8dac-870297c858fb - - - - - -24abb813-51f8-4366-bd4b-bf6a332637be - -Holding(Dessert) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->24abb813-51f8-4366-bd4b-bf6a332637be - - - - - -72945395-ef11-417d-8b9c-d74c39cbaaa0 - -At(Robot,Table1) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->72945395-ef11-417d-8b9c-d74c39cbaaa0 - - - - - -61bfa8b0-cacf-47df-910e-9760176ed8e4 - -PutDown(Dessert,Table) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->61bfa8b0-cacf-47df-910e-9760176ed8e4 - - - - - -5aa25411-045b-4652-8b40-fa8b0a78e7c2 - -At(Robot,Table3) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->5aa25411-045b-4652-8b40-fa8b0a78e7c2 - - - - - -f569a560-f1c0-47da-b8c0-dbbdd7528719 - -Holding(Coffee) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->f569a560-f1c0-47da-b8c0-dbbdd7528719 - - - - - -02969dae-62e1-4fc3-a1f6-4223a6076102 - -PutDown(Coffee,Table) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->02969dae-62e1-4fc3-a1f6-4223a6076102 - - - - - -65265be7-cf4b-4c66-9bca-384ead7e954f - -Holding(Milk) - - - -365b26f3-7e3a-42a0-b2ee-3f242b3811aa->65265be7-cf4b-4c66-9bca-384ead7e954f - - - - - -7dbff78b-87a2-4e07-952c-8d3a6b200a01 - -PutDown(Milk,Bar) - - - -365b26f3-7e3a-42a0-b2ee-3f242b3811aa->7dbff78b-87a2-4e07-952c-8d3a6b200a01 - - - - - -a0d36e83-396c-4cdd-b794-0c06c3d7f85a - -Holding(SpringWater) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->a0d36e83-396c-4cdd-b794-0c06c3d7f85a - - - - - -1d41d3c3-5722-4179-b6ac-2068ac52466f - -At(Robot,Table2) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->1d41d3c3-5722-4179-b6ac-2068ac52466f - - - - - -38ec4631-59cd-4047-ad4f-bcdc962703b5 - -PutDown(SpringWater,Table) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->38ec4631-59cd-4047-ad4f-bcdc962703b5 - - - - - -d345a96c-5dcf-477f-a4c9-6447645a52f6 - -Holding(BottledDrink) - - - -74432b94-a528-4201-908a-f1684b28412f->d345a96c-5dcf-477f-a4c9-6447645a52f6 - - - - - -ccbf7f0c-0bd6-4bfd-9741-e2af0b012968 - -At(Robot,Bar) - - - -74432b94-a528-4201-908a-f1684b28412f->ccbf7f0c-0bd6-4bfd-9741-e2af0b012968 - - - - - -fb5a8dc4-b76c-4ed0-bfa1-dde1373c0da5 - -PutDown(BottledDrink,Bar) - - - -74432b94-a528-4201-908a-f1684b28412f->fb5a8dc4-b76c-4ed0-bfa1-dde1373c0da5 - - - - - -17fabf45-c50a-4239-8c8c-6f67f1dfe832 - -Holding(Dessert) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->17fabf45-c50a-4239-8c8c-6f67f1dfe832 - - - - - -bfb65f98-d483-4e76-846f-feddfe3965c3 - -At(Robot,Table1) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->bfb65f98-d483-4e76-846f-feddfe3965c3 - - - - - -9ddefa75-8db8-43f8-9b4a-a277fa208997 - -PutDown(Dessert,Table) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->9ddefa75-8db8-43f8-9b4a-a277fa208997 - - - - - -745b23c4-ba17-4963-b689-963e32c5cfa7 - -At(Robot,CoffeeTable) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->745b23c4-ba17-4963-b689-963e32c5cfa7 - - - - - -2cd53937-5571-4f9f-9841-a7506faef46d - -Holding(Milk) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->2cd53937-5571-4f9f-9841-a7506faef46d - - - - - -290d1011-05e6-4c78-a48b-73d5aa194d48 - -PutDown(Milk,CoffeeTable) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->290d1011-05e6-4c78-a48b-73d5aa194d48 - - - - - -c7a4fee5-377d-4cf1-ab4e-6b15ec8ab317 - -Holding(Yogurt) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->c7a4fee5-377d-4cf1-ab4e-6b15ec8ab317 - - - - - -442e8e16-2578-4921-9dd3-f33111394cae - -At(Robot,Table1) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->442e8e16-2578-4921-9dd3-f33111394cae - - - - - -8b9fecfd-9aaa-42db-8c15-14ec2321d313 - -PutDown(Yogurt,Table) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->8b9fecfd-9aaa-42db-8c15-14ec2321d313 - - - - - -f4e257fc-ce55-4346-94f2-59b5a8e6ea3e - -At(Robot,CoffeeTable) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->f4e257fc-ce55-4346-94f2-59b5a8e6ea3e - - - - - -691b9a12-ef49-4461-8121-9b9aadc39f7f - -Holding(Dessert) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->691b9a12-ef49-4461-8121-9b9aadc39f7f - - - - - -88699af8-d85c-418f-9af9-2b691b80e236 - -PutDown(Dessert,CoffeeTable) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->88699af8-d85c-418f-9af9-2b691b80e236 - - - - - -84ec9743-85a0-4179-b3dc-2d835af0ef31 - -At(Robot,WaterTable) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->84ec9743-85a0-4179-b3dc-2d835af0ef31 - - - - - -a4d0a06a-6e49-4dde-988e-20706904d93a - -Holding(Water) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->a4d0a06a-6e49-4dde-988e-20706904d93a - - - - - -4cc79ad1-2752-4ab6-8ffb-1d490fda9100 - -PutDown(Water,WaterTable) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->4cc79ad1-2752-4ab6-8ffb-1d490fda9100 - - - - - -40a718d4-43c8-4837-8d12-3f3952542ffc - -At(Robot,WaterTable) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->40a718d4-43c8-4837-8d12-3f3952542ffc - - - - - -44c30be2-9b4d-4d49-910a-e7fb8577a1db - -Holding(Dessert) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->44c30be2-9b4d-4d49-910a-e7fb8577a1db - - - - - -236d2b90-d441-4151-903e-8996c6d6ee17 - -PutDown(Dessert,WaterTable) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->236d2b90-d441-4151-903e-8996c6d6ee17 - - - - - -92194c48-047c-4448-b344-d896fd89d789 - -Holding(Milk) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->92194c48-047c-4448-b344-d896fd89d789 - - - - - -27259794-486e-492a-8055-a7b1ad77f0d4 - -At(Robot,Table1) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->27259794-486e-492a-8055-a7b1ad77f0d4 - - - - - -a148de94-cb05-4ea4-a480-430ffd476823 - -PutDown(Milk,Table) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->a148de94-cb05-4ea4-a480-430ffd476823 - - - - - -17da88a0-d365-40e2-9980-09f74969873e - -Holding(Water) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->17da88a0-d365-40e2-9980-09f74969873e - - - - - -5a1e0833-bd3c-402b-ba7a-1d34955b459f - -At(Robot,Table1) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->5a1e0833-bd3c-402b-ba7a-1d34955b459f - - - - - -6c4815b0-4817-4a33-9a05-ae6ac9732eeb - -PutDown(Water,Table) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->6c4815b0-4817-4a33-9a05-ae6ac9732eeb - - - - - -6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4 - -Holding(Softdrink) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4 - - - - - -93ad1052-46d3-482d-8d4e-f77bcd3fff9a - -At(Robot,WaterTable) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->93ad1052-46d3-482d-8d4e-f77bcd3fff9a - - - - - -299b9ea7-2b9a-4592-a8b3-21253fb55b0f - -PutDown(Softdrink,WaterTable) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->299b9ea7-2b9a-4592-a8b3-21253fb55b0f - - - - - -837526c8-3f87-4888-803e-2a7230ab4d24 - -At(Robot,CoffeeTable) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->837526c8-3f87-4888-803e-2a7230ab4d24 - - - - - -19e02c66-29a9-4903-8052-93d83a36cdaf - -Holding(SpringWater) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->19e02c66-29a9-4903-8052-93d83a36cdaf - - - - - -588a88fc-3193-4125-8c92-4af744142949 - -PutDown(SpringWater,CoffeeTable) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->588a88fc-3193-4125-8c92-4af744142949 - - - - - -57570039-5327-4562-9eac-fe0cff3859cc - -Holding(ADMilk) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->57570039-5327-4562-9eac-fe0cff3859cc - - - - - -3579af47-3ccd-4228-8cb7-4504cd60641e - -At(Robot,Table3) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->3579af47-3ccd-4228-8cb7-4504cd60641e - - - - - -d19fe253-149b-41f5-b8ee-3c7ed46eca1d - -PutDown(ADMilk,Table) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->d19fe253-149b-41f5-b8ee-3c7ed46eca1d - - - - - -b38b6526-ce1c-4d10-b611-80e2e37c40c6 - -Holding(SpringWater) - - - -828d319d-b761-4e6d-a4a0-8e849b5e518a->b38b6526-ce1c-4d10-b611-80e2e37c40c6 - - - - - -a2447d54-5597-4ce9-8c57-57a65fe5623d - -PutDown(SpringWater,Bar) - - - -828d319d-b761-4e6d-a4a0-8e849b5e518a->a2447d54-5597-4ce9-8c57-57a65fe5623d - - - - - -00553d6b-5309-47c5-88d4-01f1223178ff - -At(Robot,BrightTable6) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->00553d6b-5309-47c5-88d4-01f1223178ff - - - - - -e71843bd-491d-47c9-a038-ba1c4db024ff - -Holding(SpringWater) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->e71843bd-491d-47c9-a038-ba1c4db024ff - - - - - -f542972b-e9e4-43a8-a70d-762ceb041785 - -PutDown(SpringWater,BrightTable) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->f542972b-e9e4-43a8-a70d-762ceb041785 - - - - - -5e06de8f-6a5c-419d-b364-e9a6ae8a36bf - -At(Robot,Table3) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->5e06de8f-6a5c-419d-b364-e9a6ae8a36bf - - - - - -6a1d6f5e-38f0-460e-a92d-a0e309ef2de3 - -Holding(Milk) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->6a1d6f5e-38f0-460e-a92d-a0e309ef2de3 - - - - - -65bce72b-bd43-42a7-b43e-15ac243d8e92 - -PutDown(Milk,Table) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->65bce72b-bd43-42a7-b43e-15ac243d8e92 - - - - - -a0c4f1da-a957-4af7-8a18-a94fa81ba8b3 - -Holding(Softdrink) - - - -42464321-f838-4c84-94f1-278d8cba1140->a0c4f1da-a957-4af7-8a18-a94fa81ba8b3 - - - - - -f7b41db3-1716-4ffd-88d1-ea4046494846 - -At(Robot,Table1) - - - -42464321-f838-4c84-94f1-278d8cba1140->f7b41db3-1716-4ffd-88d1-ea4046494846 - - - - - -dbd2c7b0-0b19-4d89-909c-bff63e2306b9 - -PutDown(Softdrink,Table) - - - -42464321-f838-4c84-94f1-278d8cba1140->dbd2c7b0-0b19-4d89-909c-bff63e2306b9 - - - - - -5e782315-7d35-4678-b6ae-ff7185280f93 - -At(Robot,Table3) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->5e782315-7d35-4678-b6ae-ff7185280f93 - - - - - -ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e - -Holding(Water) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e - - - - - -78266c3d-83f5-40d0-91a6-1cc154dc1b80 - -PutDown(Water,Table) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->78266c3d-83f5-40d0-91a6-1cc154dc1b80 - - - - - -58382970-74a2-49ce-b81a-70111007f373 - -Holding(Yogurt) - - - -dc2264f0-e947-4060-ad89-0907a5c9d54d->58382970-74a2-49ce-b81a-70111007f373 - - - - - -b2c0b744-0e4c-4bf8-938c-27fe48b2c993 - -PutDown(Yogurt,Bar) - - - -dc2264f0-e947-4060-ad89-0907a5c9d54d->b2c0b744-0e4c-4bf8-938c-27fe48b2c993 - - - - - -9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0 - -At(Robot,Bar) - - - -a5353d30-768a-475c-b5a8-7234de505cac->9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0 - - - - - -5ff437fc-cf02-4f45-9fee-88ce714e4218 - -Holding(Coffee) - - - -a5353d30-768a-475c-b5a8-7234de505cac->5ff437fc-cf02-4f45-9fee-88ce714e4218 - - - - - -34fcacac-b8ec-4d08-80f2-8a8693a20b6d - -PutDown(Coffee,Bar) - - - -a5353d30-768a-475c-b5a8-7234de505cac->34fcacac-b8ec-4d08-80f2-8a8693a20b6d - - - - - -c82038f2-4c62-4776-8757-9da9c47990a5 - -At(Robot,CoffeeTable) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->c82038f2-4c62-4776-8757-9da9c47990a5 - - - - - -6047e98a-b183-425e-9a3a-762c595da13a - -Holding(Yogurt) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->6047e98a-b183-425e-9a3a-762c595da13a - - - - - -4dd29ff1-8ec0-4af7-b775-54cff7026216 - -PutDown(Yogurt,CoffeeTable) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->4dd29ff1-8ec0-4af7-b775-54cff7026216 - - - - - -06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c - -Holding(Bernachon) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c - - - - - -f01f92ad-44cf-4fe3-888c-ff0a216176c8 - -At(Robot,Table3) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->f01f92ad-44cf-4fe3-888c-ff0a216176c8 - - - - - -51e777b5-00b7-4178-a663-0ba485c0d490 - -PutDown(Bernachon,Table) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->51e777b5-00b7-4178-a663-0ba485c0d490 - - - - - -9be1d6ba-d537-4e47-a97f-f8d3cc339b24 - -Holding(Chips) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->9be1d6ba-d537-4e47-a97f-f8d3cc339b24 - - - - - -b5da0763-457f-443a-ba43-59ee3367b59f - -At(Robot,Table2) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->b5da0763-457f-443a-ba43-59ee3367b59f - - - - - -a92fe07e-ee29-438d-a0fc-a645bb24c1f1 - -PutDown(Chips,Table) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->a92fe07e-ee29-438d-a0fc-a645bb24c1f1 - - - - - -a848b8e4-8954-48d6-9142-13734142c8a3 - -At(Robot,Table3) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->a848b8e4-8954-48d6-9142-13734142c8a3 - - - - - -14123744-dc27-4d50-815a-d74803618ab4 - -Holding(Dessert) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->14123744-dc27-4d50-815a-d74803618ab4 - - - - - -8335c2e3-e3d0-4173-b9d0-1efb7f76d50a - -PutDown(Dessert,Table) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->8335c2e3-e3d0-4173-b9d0-1efb7f76d50a - - - - - -cbbbdf9b-8e80-4160-a45d-f847ab12ac2d - -Holding(VacuumCup) - - - -19d8afdb-494e-4c22-83ec-df322276364a->cbbbdf9b-8e80-4160-a45d-f847ab12ac2d - - - - - -b5c29a9a-3466-4d25-9758-5da2f1c28bb5 - -At(Robot,Table3) - - - -19d8afdb-494e-4c22-83ec-df322276364a->b5c29a9a-3466-4d25-9758-5da2f1c28bb5 - - - - - -d3beea2e-1911-44d2-bb78-9dac64dd50e0 - -PutDown(VacuumCup,Table) - - - -19d8afdb-494e-4c22-83ec-df322276364a->d3beea2e-1911-44d2-bb78-9dac64dd50e0 - - - - - -80486efa-ad51-4499-86df-2702e88f813f - -At(Robot,WaterTable) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->80486efa-ad51-4499-86df-2702e88f813f - - - - - -5f863430-26a9-4950-8c7b-f3a87ef9be46 - -Holding(Yogurt) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->5f863430-26a9-4950-8c7b-f3a87ef9be46 - - - - - -2d4c04c3-db2a-4009-8590-379a46ea5a8d - -PutDown(Yogurt,WaterTable) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->2d4c04c3-db2a-4009-8590-379a46ea5a8d - - - - - -3b5cef66-1203-4c9f-bb6c-579f43865fd6 - -Holding(Bernachon) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->3b5cef66-1203-4c9f-bb6c-579f43865fd6 - - - - - -a9c352d8-c0ba-46c6-834f-d578e4117c41 - -At(Robot,WaterTable) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->a9c352d8-c0ba-46c6-834f-d578e4117c41 - - - - - -b8522f83-3f41-4a92-b94b-046ee1e05b98 - -PutDown(Bernachon,WaterTable) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->b8522f83-3f41-4a92-b94b-046ee1e05b98 - - - - - -880f5dad-cdf4-485e-9fde-dc4af658c30c - -Holding(Chips) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->880f5dad-cdf4-485e-9fde-dc4af658c30c - - - - - -8ab7e758-ee22-46f2-a95a-9a2bc8d105ec - -At(Robot,Table1) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->8ab7e758-ee22-46f2-a95a-9a2bc8d105ec - - - - - -af304235-f3c4-4d16-b562-6bf44dc5c2e5 - -PutDown(Chips,Table) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->af304235-f3c4-4d16-b562-6bf44dc5c2e5 - - - - - -7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af - -Holding(Chips) - - - -96b7cc8b-243d-4ad8-9a07-b66c7452d38b->7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af - - - - - -816c6c49-1721-4ded-aa4e-181aada7027d - -PutDown(Chips,Bar) - - - -96b7cc8b-243d-4ad8-9a07-b66c7452d38b->816c6c49-1721-4ded-aa4e-181aada7027d - - - - - -f8a2f962-83b6-4f71-ad32-a7780324272e - -Holding(ADMilk) - - - -d6a74623-9c9e-4531-8433-97e96815385f->f8a2f962-83b6-4f71-ad32-a7780324272e - - - - - -08eab795-08c6-4a34-8a85-edc19fce6434 - -At(Robot,CoffeeTable) - - - -d6a74623-9c9e-4531-8433-97e96815385f->08eab795-08c6-4a34-8a85-edc19fce6434 - - - - - -c478713f-1362-46b6-b624-e2a66a8f2ee2 - -PutDown(ADMilk,CoffeeTable) - - - -d6a74623-9c9e-4531-8433-97e96815385f->c478713f-1362-46b6-b624-e2a66a8f2ee2 - - - - - -951ce9ee-cde9-4f12-adea-57de340229b6 - -Holding(VacuumCup) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->951ce9ee-cde9-4f12-adea-57de340229b6 - - - - - -04e41bce-c822-4b1f-804d-65eb164e7624 - -At(Robot,Table2) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->04e41bce-c822-4b1f-804d-65eb164e7624 - - - - - -9d19f16b-4883-4dcb-afb3-8ce0b7b04136 - -PutDown(VacuumCup,Table) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->9d19f16b-4883-4dcb-afb3-8ce0b7b04136 - - - - - -14a6240a-e776-4415-9407-67f445a56e09 - -At(Robot,Table3) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->14a6240a-e776-4415-9407-67f445a56e09 - - - - - -309a5205-11f5-4127-89f2-a4eb3c847a4c - -Holding(Yogurt) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->309a5205-11f5-4127-89f2-a4eb3c847a4c - - - - - -5fe49bcd-96cd-4fef-910d-5cc2f52b8944 - -PutDown(Yogurt,Table) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->5fe49bcd-96cd-4fef-910d-5cc2f52b8944 - - - - - -d5bbc537-6a78-4a9f-a8eb-fe00b1fac138 - -Holding(Nothing) - - - -d56ffac4-40cc-4a6f-9015-8f69d5bcf242->d5bbc537-6a78-4a9f-a8eb-fe00b1fac138 - - - - - -9f492abf-3bcd-438f-83a7-b777b2df4187 - -PickUp(MilkDrink) - - - -d56ffac4-40cc-4a6f-9015-8f69d5bcf242->9f492abf-3bcd-438f-83a7-b777b2df4187 - - - - - -961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4 - -Holding(BottledDrink) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4 - - - - - -709cad57-8f58-4cff-9035-c683406d2d41 - -At(Robot,CoffeeTable) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->709cad57-8f58-4cff-9035-c683406d2d41 - - - - - -9eef9e79-7b05-44d6-811c-e076f3a84fe7 - -At(Robot,Bar2) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->9eef9e79-7b05-44d6-811c-e076f3a84fe7 - - - - - -e48f0f38-110d-4b0b-9a9c-72c997bd67fd - -PutDown(BottledDrink,CoffeeTable) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->e48f0f38-110d-4b0b-9a9c-72c997bd67fd - - - - - -a2a71737-a1f1-4dd0-8ccd-215aecae969b - -At(Robot,CoffeeTable) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->a2a71737-a1f1-4dd0-8ccd-215aecae969b - - - - - -8c624e84-2758-47e7-b4c5-d796aa5eb00c - -At(Robot,Bar2) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->8c624e84-2758-47e7-b4c5-d796aa5eb00c - - - - - -c4af5d27-b619-4f9d-94c6-95dd4d624e65 - -Holding(Water) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->c4af5d27-b619-4f9d-94c6-95dd4d624e65 - - - - - -92d4a20e-07f7-4491-bd05-a8bb0ea70024 - -PutDown(Water,CoffeeTable) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->92d4a20e-07f7-4491-bd05-a8bb0ea70024 - - - - - -362283a2-9150-4cd5-a1c7-053d08bcc222 - -At(Robot,BrightTable6) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->362283a2-9150-4cd5-a1c7-053d08bcc222 - - - - - -804a782a-9b7a-4605-9861-0afcc05d37d2 - -Holding(ADMilk) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->804a782a-9b7a-4605-9861-0afcc05d37d2 - - - - - -69092d6a-0062-4bcd-b014-17f3b2923387 - -At(Robot,Bar2) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->69092d6a-0062-4bcd-b014-17f3b2923387 - - - - - -c9a0a70f-839c-40db-a494-1038fd35858a - -PutDown(ADMilk,BrightTable) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->c9a0a70f-839c-40db-a494-1038fd35858a - - - - - -780aa568-1076-44e9-867c-772b7bbf89f1 - -At(Robot,Bar2) - - - -3d8b8b44-b647-424b-9537-b8b8fd44e205->780aa568-1076-44e9-867c-772b7bbf89f1 - - - - - -e3146bad-d503-41a0-982d-432fc406d0cf - -PutDown(Anything,Anywhere) - - - -3d8b8b44-b647-424b-9537-b8b8fd44e205->e3146bad-d503-41a0-982d-432fc406d0cf - - - - - -43b8292e-5cf6-4600-91a8-84500c1cbf1a - -Holding(NFCJuice) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->43b8292e-5cf6-4600-91a8-84500c1cbf1a - - - - - -6b2fb587-f191-4b57-bf6a-bf1b80b3103b - -At(Robot,Bar) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->6b2fb587-f191-4b57-bf6a-bf1b80b3103b - - - - - -da59efbb-cdad-48a7-9d33-d37834666a3b - -At(Robot,Bar2) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->da59efbb-cdad-48a7-9d33-d37834666a3b - - - - - -3c431ab3-b142-4266-aab9-ad3af3005506 - -PutDown(NFCJuice,Bar) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->3c431ab3-b142-4266-aab9-ad3af3005506 - - - - - -91e811e6-e031-421c-9277-dcfc5e92d55f - -Holding(Softdrink) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->91e811e6-e031-421c-9277-dcfc5e92d55f - - - - - -81190fe2-6954-4659-9a71-6de9e0f921ef - -At(Robot,BrightTable6) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->81190fe2-6954-4659-9a71-6de9e0f921ef - - - - - -627a5490-1b04-4db7-b031-d0804771aeba - -At(Robot,Bar2) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->627a5490-1b04-4db7-b031-d0804771aeba - - - - - -92cfcb89-7041-4f3c-9257-ab20a8c6b054 - -PutDown(Softdrink,BrightTable) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->92cfcb89-7041-4f3c-9257-ab20a8c6b054 - - - - - -f69f13ce-8182-45a8-b94f-aa46dac09dc2 - -Holding(BottledDrink) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->f69f13ce-8182-45a8-b94f-aa46dac09dc2 - - - - - -4034f176-0054-4141-bfce-7f86b3c3ffe4 - -At(Robot,CoffeeTable) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->4034f176-0054-4141-bfce-7f86b3c3ffe4 - - - - - -1fd02b0a-89c3-41ac-a090-b917999f8dc5 - -PutDown(BottledDrink,CoffeeTable) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->1fd02b0a-89c3-41ac-a090-b917999f8dc5 - - - - - -c3f3a059-5a3a-4057-875a-cf4d319c916b - -At(Robot,Table3) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->c3f3a059-5a3a-4057-875a-cf4d319c916b - - - - - -d38c3e99-6cb5-4686-a6a7-4077aee3f0c3 - -Holding(Chips) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->d38c3e99-6cb5-4686-a6a7-4077aee3f0c3 - - - - - -4dcf28ca-7477-4205-b07a-d01baa2c16a2 - -PutDown(Chips,Table) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->4dcf28ca-7477-4205-b07a-d01baa2c16a2 - - - - - -a733e528-055b-4803-a44b-4971dadcb9cb - -Holding(Nothing) - - - -cddbabf5-4840-46df-9106-fa9b8c39db4a->a733e528-055b-4803-a44b-4971dadcb9cb - - - - - -a92088f3-d7c7-4a6e-8961-e559230bdba0 - -PickUp(MilkDrink) - - - -cddbabf5-4840-46df-9106-fa9b8c39db4a->a92088f3-d7c7-4a6e-8961-e559230bdba0 - - - - - -066d2cb3-1353-4a8d-9a90-6ca5886b51d2 - -Holding(Bernachon) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->066d2cb3-1353-4a8d-9a90-6ca5886b51d2 - - - - - -7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c - -At(Robot,Bar2) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c - - - - - -e024f87f-9eec-4ad8-ad36-c4fd5e09afd0 - -At(Robot,Table2) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->e024f87f-9eec-4ad8-ad36-c4fd5e09afd0 - - - - - -95643fcf-702f-4dfc-8f62-9f8665035ea9 - -PutDown(Bernachon,Table) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->95643fcf-702f-4dfc-8f62-9f8665035ea9 - - - - - -27e7d307-3b9f-4a14-a704-8a1360a3c9bc - -At(Robot,Bar2) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->27e7d307-3b9f-4a14-a704-8a1360a3c9bc - - - - - -28a1c50d-c9b9-46a2-906b-6fa5d70a2f23 - -At(Robot,WaterTable) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->28a1c50d-c9b9-46a2-906b-6fa5d70a2f23 - - - - - -ea09bee9-38e8-4d36-887d-83192d009059 - -Holding(Water) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->ea09bee9-38e8-4d36-887d-83192d009059 - - - - - -a868a464-99dd-4340-9c17-88ff206817d3 - -PutDown(Water,WaterTable) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->a868a464-99dd-4340-9c17-88ff206817d3 - - - - - -4104e161-9132-4700-ae53-41aab7632651 - -Holding(Bernachon) - - - -5901b814-dc74-410c-996e-9df4d7702e21->4104e161-9132-4700-ae53-41aab7632651 - - - - - -a0a196c8-6894-4131-8a72-752a96ff1e53 - -At(Robot,BrightTable6) - - - -5901b814-dc74-410c-996e-9df4d7702e21->a0a196c8-6894-4131-8a72-752a96ff1e53 - - - - - -f385e5d4-a4de-4bfa-9961-50b78d68742d - -PutDown(Bernachon,BrightTable) - - - -5901b814-dc74-410c-996e-9df4d7702e21->f385e5d4-a4de-4bfa-9961-50b78d68742d - - - - - -f500c207-e3fc-4461-8131-12faed45d4e4 - -At(Robot,BrightTable6) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->f500c207-e3fc-4461-8131-12faed45d4e4 - - - - - -e3e4b8fd-0f24-4220-b1cb-e5effc9952e2 - -Holding(Dessert) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->e3e4b8fd-0f24-4220-b1cb-e5effc9952e2 - - - - - -0b1343f6-cd35-4117-b74a-367ec4b107fa - -PutDown(Dessert,BrightTable) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->0b1343f6-cd35-4117-b74a-367ec4b107fa - - - - - -3fc67e68-bc9d-43cd-9433-2286980b6b68 - -At(Robot,Table3) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->3fc67e68-bc9d-43cd-9433-2286980b6b68 - - - - - -e6c0889a-dd7c-4824-9377-f623393530ff - -Holding(SpringWater) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->e6c0889a-dd7c-4824-9377-f623393530ff - - - - - -92fdc637-7f76-467a-bba8-5c7d7ec0d0ab - -PutDown(SpringWater,Table) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->92fdc637-7f76-467a-bba8-5c7d7ec0d0ab - - - - - -85a0756b-fe6d-44c2-9fa0-ee5423898151 - -Holding(Chips) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->85a0756b-fe6d-44c2-9fa0-ee5423898151 - - - - - -4466e5fa-331e-45c2-9a5e-49ba9c45d6d8 - -At(Robot,CoffeeTable) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->4466e5fa-331e-45c2-9a5e-49ba9c45d6d8 - - - - - -eb79f110-620f-45cb-bc62-ca347951ba4a - -At(Robot,Bar2) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->eb79f110-620f-45cb-bc62-ca347951ba4a - - - - - -eaa97337-c32e-4296-9a9c-2991e4cde892 - -PutDown(Chips,CoffeeTable) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->eaa97337-c32e-4296-9a9c-2991e4cde892 - - - - - -20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1 - -Holding(NFCJuice) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1 - - - - - -6645a93c-0c9e-4ad0-b7a5-3e820378eb59 - -At(Robot,Bar) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->6645a93c-0c9e-4ad0-b7a5-3e820378eb59 - - - - - -9e2ca20a-3fd4-4a57-8984-e7a4a4e00847 - -PutDown(NFCJuice,Bar) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->9e2ca20a-3fd4-4a57-8984-e7a4a4e00847 - - - - - -cb541a51-94db-4332-8064-27af46ca10a4 - -Holding(Water) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->cb541a51-94db-4332-8064-27af46ca10a4 - - - - - -b46e955f-3fdb-4413-a5f6-6762e8ee52ba - -At(Robot,Table2) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->b46e955f-3fdb-4413-a5f6-6762e8ee52ba - - - - - -b7cb7041-27ac-43ad-8aba-587d346ee76e - -PutDown(Water,Table) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->b7cb7041-27ac-43ad-8aba-587d346ee76e - - - - - -1b8d7129-9d8b-4426-96c3-c81c43853723 - -At(Robot,Bar) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->1b8d7129-9d8b-4426-96c3-c81c43853723 - - - - - -71c78c86-36d6-4b4a-8b5d-1467b3b67681 - -Holding(Yogurt) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->71c78c86-36d6-4b4a-8b5d-1467b3b67681 - - - - - -6ab33c24-dd49-494a-acfa-1bb7c7399b4a - -PutDown(Yogurt,Bar) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->6ab33c24-dd49-494a-acfa-1bb7c7399b4a - - - - - -7412ef88-9056-4fc4-b1a6-d2d7de96aa96 - -Holding(Chips) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->7412ef88-9056-4fc4-b1a6-d2d7de96aa96 - - - - - -b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d - -At(Robot,Bar2) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d - - - - - -5d331ec1-31e0-491f-9f2d-02ef63288bf2 - -At(Robot,Table2) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->5d331ec1-31e0-491f-9f2d-02ef63288bf2 - - - - - -3192259d-0ac1-42c6-8055-17a50c6931ba - -PutDown(Chips,Table) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->3192259d-0ac1-42c6-8055-17a50c6931ba - - - - - -0c2d75f1-03b8-4a2e-aea4-40274c78b40a - -At(Robot,Bar2) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->0c2d75f1-03b8-4a2e-aea4-40274c78b40a - - - - - -d5d61d09-8054-4c71-97c9-aaa51a5fcb94 - -Holding(SpringWater) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->d5d61d09-8054-4c71-97c9-aaa51a5fcb94 - - - - - -ffc98d8c-20e4-4a74-99c4-950b72b08f33 - -At(Robot,Table1) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->ffc98d8c-20e4-4a74-99c4-950b72b08f33 - - - - - -26198c04-22c4-46a7-8468-254c45f85a1b - -PutDown(SpringWater,Table) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->26198c04-22c4-46a7-8468-254c45f85a1b - - - - - -40d08376-a513-4f21-b26e-414499dd24c1 - -Holding(ADMilk) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->40d08376-a513-4f21-b26e-414499dd24c1 - - - - - -0478d81a-07c2-4833-9f24-1350d4104005 - -At(Robot,Table1) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->0478d81a-07c2-4833-9f24-1350d4104005 - - - - - -2763af4f-1892-4959-b003-198e47990442 - -PutDown(ADMilk,Table) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->2763af4f-1892-4959-b003-198e47990442 - - - - - -e9fb5b22-f970-4d3d-b0a6-8520344eca95 - -At(Robot,BrightTable6) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->e9fb5b22-f970-4d3d-b0a6-8520344eca95 - - - - - -61086fc2-68ac-4c53-be58-23f7f4cde3c2 - -Holding(Coffee) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->61086fc2-68ac-4c53-be58-23f7f4cde3c2 - - - - - -43692518-19ba-4c06-b0b4-ee872f43a223 - -PutDown(Coffee,BrightTable) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->43692518-19ba-4c06-b0b4-ee872f43a223 - - - - - -ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d - -At(Robot,BrightTable6) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d - - - - - -878f5fb0-f80f-443b-b82b-ca9172dda9a2 - -Holding(Softdrink) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->878f5fb0-f80f-443b-b82b-ca9172dda9a2 - - - - - -aec37d57-bdda-46f1-854f-f524dc17e96a - -PutDown(Softdrink,BrightTable) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->aec37d57-bdda-46f1-854f-f524dc17e96a - - - - - -ad378294-328c-4168-bdb9-e11a53f3f391 - -Holding(BottledDrink) - - - -54f16326-fb05-4358-94c5-800240d91cc9->ad378294-328c-4168-bdb9-e11a53f3f391 - - - - - -709eff6e-629e-4cf0-b3e1-f7638cbd485b - -At(Robot,Bar2) - - - -54f16326-fb05-4358-94c5-800240d91cc9->709eff6e-629e-4cf0-b3e1-f7638cbd485b - - - - - -6c257551-94b8-402f-9b8b-2da373da7400 - -At(Robot,WaterTable) - - - -54f16326-fb05-4358-94c5-800240d91cc9->6c257551-94b8-402f-9b8b-2da373da7400 - - - - - -c0bb2a92-f285-479f-973a-d496e08a32ce - -PutDown(BottledDrink,WaterTable) - - - -54f16326-fb05-4358-94c5-800240d91cc9->c0bb2a92-f285-479f-973a-d496e08a32ce - - - - - -604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf - -Holding(NFCJuice) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf - - - - - -ce32a4ed-7d51-4545-a382-eca150065ade - -At(Robot,Bar2) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->ce32a4ed-7d51-4545-a382-eca150065ade - - - - - -c2f9c606-8021-40a3-9b11-91e271005078 - -At(Robot,Table2) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->c2f9c606-8021-40a3-9b11-91e271005078 - - - - - -806e24e2-e0a5-48f6-93ba-28af6529e656 - -PutDown(NFCJuice,Table) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->806e24e2-e0a5-48f6-93ba-28af6529e656 - - - - - -957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70 - -Holding(Softdrink) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70 - - - - - -e7be60d6-3117-42d9-b998-82b3b57d1f07 - -At(Robot,Bar2) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->e7be60d6-3117-42d9-b998-82b3b57d1f07 - - - - - -75187baf-fe88-4226-9863-3b25fb809ff2 - -At(Robot,Table2) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->75187baf-fe88-4226-9863-3b25fb809ff2 - - - - - -3675c0db-86c1-4ad2-be97-fc04c66aad17 - -PutDown(Softdrink,Table) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->3675c0db-86c1-4ad2-be97-fc04c66aad17 - - - - - -cba7e126-a209-4c34-bde4-8c80a9566e31 - -At(Robot,CoffeeTable) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->cba7e126-a209-4c34-bde4-8c80a9566e31 - - - - - -1bfc4fb5-f58b-452a-a0a5-1ffca35407cc - -At(Robot,Bar2) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->1bfc4fb5-f58b-452a-a0a5-1ffca35407cc - - - - - -15de4356-531c-4f01-9866-e36c803c73bd - -Holding(Yogurt) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->15de4356-531c-4f01-9866-e36c803c73bd - - - - - -c503ca42-c06d-44a1-8d3b-cb6ce26435df - -PutDown(Yogurt,CoffeeTable) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->c503ca42-c06d-44a1-8d3b-cb6ce26435df - - - - - -ff36f6be-0589-41ea-be22-20cd30bc22fc - -At(Robot,WaterTable) - - - -21973779-00b7-4010-a639-5132ed55acec->ff36f6be-0589-41ea-be22-20cd30bc22fc - - - - - -b1fc8b04-8e06-46b3-8503-3f778dc7ee9f - -Holding(Coffee) - - - -21973779-00b7-4010-a639-5132ed55acec->b1fc8b04-8e06-46b3-8503-3f778dc7ee9f - - - - - -c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816 - -PutDown(Coffee,WaterTable) - - - -21973779-00b7-4010-a639-5132ed55acec->c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816 - - - - - -cb8009a2-d064-4d1b-adb3-76ec0ccc3682 - -At(Robot,WaterTable) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->cb8009a2-d064-4d1b-adb3-76ec0ccc3682 - - - - - -a7233cbd-b043-4cf3-b66b-75bf4f5b45b5 - -Holding(SpringWater) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->a7233cbd-b043-4cf3-b66b-75bf4f5b45b5 - - - - - -4687c2ea-e137-4135-9c6e-96f4d8b5ede2 - -PutDown(SpringWater,WaterTable) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->4687c2ea-e137-4135-9c6e-96f4d8b5ede2 - - - - - -3c52ce20-1816-45d3-a5a7-3167587c0919 - -Holding(VacuumCup) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->3c52ce20-1816-45d3-a5a7-3167587c0919 - - - - - -255c1613-cd3a-4785-9d6e-fc9fc432133a - -At(Robot,Table1) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->255c1613-cd3a-4785-9d6e-fc9fc432133a - - - - - -b92f24c8-7392-4a9c-b39c-e9d4b55b69d0 - -PutDown(VacuumCup,Table) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->b92f24c8-7392-4a9c-b39c-e9d4b55b69d0 - - - - - -75c95506-08e9-42a7-8419-b9abe291ed7b - -At(Robot,Bar) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->75c95506-08e9-42a7-8419-b9abe291ed7b - - - - - -be696c22-3ab1-47ea-95d9-36c25544fb72 - -At(Robot,Bar2) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->be696c22-3ab1-47ea-95d9-36c25544fb72 - - - - - -bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882 - -Holding(Water) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882 - - - - - -43fec34b-8178-4e3f-a124-b9f408b481ca - -PutDown(Water,Bar) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->43fec34b-8178-4e3f-a124-b9f408b481ca - - - - - -c3ddd6c6-6a50-456a-8904-477d8d2a6bca - -Holding(ADMilk) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->c3ddd6c6-6a50-456a-8904-477d8d2a6bca - - - - - -5f80db81-2a79-4e65-98da-0be87c709964 - -At(Robot,Table2) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->5f80db81-2a79-4e65-98da-0be87c709964 - - - - - -074409a8-d0bc-4350-8835-37e0e00d43ac - -PutDown(ADMilk,Table) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->074409a8-d0bc-4350-8835-37e0e00d43ac - - - - - -49799868-71db-487b-8fd0-055781c1d41e - -At(Robot,Bar) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->49799868-71db-487b-8fd0-055781c1d41e - - - - - -b3f91120-5de5-42a5-825b-59a18c8675c6 - -Holding(SpringWater) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->b3f91120-5de5-42a5-825b-59a18c8675c6 - - - - - -0a60d085-830d-4959-9197-9ab252e65b35 - -PutDown(SpringWater,Bar) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->0a60d085-830d-4959-9197-9ab252e65b35 - - - - - -ddfed584-480c-40f4-bde0-7e9b21473a3d - -At(Robot,Bar2) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->ddfed584-480c-40f4-bde0-7e9b21473a3d - - - - - -70b36b68-61bd-445e-baae-61f7fd08bee0 - -Holding(Dessert) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->70b36b68-61bd-445e-baae-61f7fd08bee0 - - - - - -e077fbfb-4cbf-418c-8257-e01eb13126a2 - -PutDown(Dessert,Bar) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->e077fbfb-4cbf-418c-8257-e01eb13126a2 - - - - - -819edd5a-4068-4585-887b-13a2c716cc77 - -Holding(NFCJuice) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->819edd5a-4068-4585-887b-13a2c716cc77 - - - - - -203e3db6-229e-4c7d-8db5-898be8f94d79 - -At(Robot,CoffeeTable) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->203e3db6-229e-4c7d-8db5-898be8f94d79 - - - - - -9ba782db-dd98-401c-b1ec-342d22ee0dab - -At(Robot,Bar2) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->9ba782db-dd98-401c-b1ec-342d22ee0dab - - - - - -aa0d480f-32fe-405f-a187-0a4942239a15 - -PutDown(NFCJuice,CoffeeTable) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->aa0d480f-32fe-405f-a187-0a4942239a15 - - - - - -f3108373-0c05-4447-aca9-d55cdd021ec5 - -Holding(Softdrink) - - - -13835c1d-0502-4e60-882b-4bb846b43271->f3108373-0c05-4447-aca9-d55cdd021ec5 - - - - - -4855d77d-4f6d-4afa-977d-52379a4615cc - -At(Robot,Bar) - - - -13835c1d-0502-4e60-882b-4bb846b43271->4855d77d-4f6d-4afa-977d-52379a4615cc - - - - - -348fe856-9357-4d0d-bed5-2f051ed1a179 - -At(Robot,Bar2) - - - -13835c1d-0502-4e60-882b-4bb846b43271->348fe856-9357-4d0d-bed5-2f051ed1a179 - - - - - -27d91b91-06ea-4939-b286-0742662eb8e0 - -PutDown(Softdrink,Bar) - - - -13835c1d-0502-4e60-882b-4bb846b43271->27d91b91-06ea-4939-b286-0742662eb8e0 - - - - - -603b1dcd-e423-4877-80da-388e20057bb2 - -At(Robot,Bar) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->603b1dcd-e423-4877-80da-388e20057bb2 - - - - - -63813d31-143f-4104-b73e-07ebcf000398 - -Holding(Chips) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->63813d31-143f-4104-b73e-07ebcf000398 - - - - - -6df0bbdd-0d3b-43a9-9be3-e762fb72f770 - -PutDown(Chips,Bar) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->6df0bbdd-0d3b-43a9-9be3-e762fb72f770 - - - - - -1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc - -Holding(Softdrink) - - - -2116f1d5-78c8-4630-8691-850709ba7098->1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc - - - - - -16e3f098-2f52-4d4b-8812-3699be1caee6 - -At(Robot,Table3) - - - -2116f1d5-78c8-4630-8691-850709ba7098->16e3f098-2f52-4d4b-8812-3699be1caee6 - - - - - -7d4f6389-a2a7-4a2b-9e41-d9b14b5bdcb7 - -PutDown(Softdrink,Table) - - - -2116f1d5-78c8-4630-8691-850709ba7098->7d4f6389-a2a7-4a2b-9e41-d9b14b5bdcb7 - - - - - -a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488 - -Holding(BottledDrink) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488 - - - - - -2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42 - -At(Robot,Bar) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42 - - - - - -6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81 - -At(Robot,Bar2) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81 - - - - - -18d11699-9155-4776-80e0-4f781207e44d - -PutDown(BottledDrink,Bar) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->18d11699-9155-4776-80e0-4f781207e44d - - - - - -38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f - -At(Robot,Bar2) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f - - - - - -2ed978ae-a160-48a9-8a3f-6d7fcda113ba - -Holding(Coffee) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->2ed978ae-a160-48a9-8a3f-6d7fcda113ba - - - - - -91b82c9c-b659-4f2e-89ef-88849128f1db - -PutDown(Coffee,Bar) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->91b82c9c-b659-4f2e-89ef-88849128f1db - - - - - -cd9dcedc-1f87-4f17-a108-d0a9b7729f33 - -Holding(Milk) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->cd9dcedc-1f87-4f17-a108-d0a9b7729f33 - - - - - -477407bf-b361-4061-ad94-b35c1745d21a - -At(Robot,Bar2) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->477407bf-b361-4061-ad94-b35c1745d21a - - - - - -d05c6f3f-be0d-4171-aa77-a0e9a19a4488 - -At(Robot,Table2) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->d05c6f3f-be0d-4171-aa77-a0e9a19a4488 - - - - - -dd638b54-b43d-48d9-be54-be6cd89e04a9 - -PutDown(Milk,Table) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->dd638b54-b43d-48d9-be54-be6cd89e04a9 - - - - - -680fb62b-2d9e-4f12-a8a5-e094839a5dfe - -Holding(VacuumCup) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->680fb62b-2d9e-4f12-a8a5-e094839a5dfe - - - - - -906b6039-76b7-44af-9b39-f6054b265dd5 - -At(Robot,Bar2) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->906b6039-76b7-44af-9b39-f6054b265dd5 - - - - - -3fcce7d9-5fab-435a-b7d5-40bb2df70bb2 - -PutDown(VacuumCup,Bar) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->3fcce7d9-5fab-435a-b7d5-40bb2df70bb2 - - - - - -09b47fc1-08cd-4fb7-a32f-c9c5963deb1f - -At(Robot,WaterTable) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->09b47fc1-08cd-4fb7-a32f-c9c5963deb1f - - - - - -f08535d8-d598-4ae0-b597-ab2483605a7b - -Holding(Dessert) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->f08535d8-d598-4ae0-b597-ab2483605a7b - - - - - -f7d8ef5e-6e4d-488b-861d-1ad6413ced1a - -PutDown(Dessert,WaterTable) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->f7d8ef5e-6e4d-488b-861d-1ad6413ced1a - - - - - -eac40a1e-d6c4-4bb2-9380-12b92d5f7cef - -At(Robot,Bar) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->eac40a1e-d6c4-4bb2-9380-12b92d5f7cef - - - - - -8a54e21a-8890-4687-8850-41e07c4a4d99 - -Holding(Dessert) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->8a54e21a-8890-4687-8850-41e07c4a4d99 - - - - - -0682a0df-2d52-4c68-9b05-dfdc3656d33d - -PutDown(Dessert,Bar) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->0682a0df-2d52-4c68-9b05-dfdc3656d33d - - - - - -5ca0dc91-08e8-4172-9294-de3ec48de710 - -At(Robot,BrightTable6) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->5ca0dc91-08e8-4172-9294-de3ec48de710 - - - - - -13183db8-06a3-4e34-bd92-3d247e796af1 - -Holding(SpringWater) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->13183db8-06a3-4e34-bd92-3d247e796af1 - - - - - -eaefc7de-fa28-4e98-b306-772277184bfb - -PutDown(SpringWater,BrightTable) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->eaefc7de-fa28-4e98-b306-772277184bfb - - - - - -f8d2716c-b3f2-4702-a731-bff0e2453004 - -Holding(ADMilk) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->f8d2716c-b3f2-4702-a731-bff0e2453004 - - - - - -07c73914-6168-4138-a92b-32d93b6c535d - -At(Robot,Bar2) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->07c73914-6168-4138-a92b-32d93b6c535d - - - - - -837cf8fc-dfe5-4efa-82ac-d29c4fd6014b - -At(Robot,Table2) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->837cf8fc-dfe5-4efa-82ac-d29c4fd6014b - - - - - -6c15552d-d4fe-4036-bc72-eb08079ddc2e - -PutDown(ADMilk,Table) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->6c15552d-d4fe-4036-bc72-eb08079ddc2e - - - - - -f0c3f2de-0d5d-46ce-8904-4626e610f7ba - -At(Robot,Bar2) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->f0c3f2de-0d5d-46ce-8904-4626e610f7ba - - - - - -dabf9a96-b681-4ef2-8a49-34d4fd6024fb - -Holding(Milk) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->dabf9a96-b681-4ef2-8a49-34d4fd6024fb - - - - - -2294d0da-fe1c-4f6b-8680-f8411a95a150 - -At(Robot,WaterTable) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->2294d0da-fe1c-4f6b-8680-f8411a95a150 - - - - - -52389270-6462-46a5-a742-a7d9302a4b25 - -PutDown(Milk,WaterTable) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->52389270-6462-46a5-a742-a7d9302a4b25 - - - - - -46c992aa-02de-49e7-baab-57463d4c3e05 - -At(Robot,Bar) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->46c992aa-02de-49e7-baab-57463d4c3e05 - - - - - -51f22fe4-8b5d-4834-983b-b422e3167246 - -Holding(Dessert) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->51f22fe4-8b5d-4834-983b-b422e3167246 - - - - - -eae5ef7d-a86c-4862-bbc7-99732ea6921f - -PutDown(Dessert,Bar) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->eae5ef7d-a86c-4862-bbc7-99732ea6921f - - - - - -0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa - -At(Robot,Bar) - - - -9ecdc792-6c23-4258-a882-8812b08de238->0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa - - - - - -f2a3d02d-9b72-4c1c-9848-980098a4ca40 - -At(Robot,Bar2) - - - -9ecdc792-6c23-4258-a882-8812b08de238->f2a3d02d-9b72-4c1c-9848-980098a4ca40 - - - - - -9702bf65-61eb-45fa-8e61-5973bc125718 - -Holding(Chips) - - - -9ecdc792-6c23-4258-a882-8812b08de238->9702bf65-61eb-45fa-8e61-5973bc125718 - - - - - -5b0aeaaa-901b-409e-a31f-906cc3047dc5 - -PutDown(Chips,Bar) - - - -9ecdc792-6c23-4258-a882-8812b08de238->5b0aeaaa-901b-409e-a31f-906cc3047dc5 - - - - - -2c7b61ab-29d0-4d26-beaa-0f359d31f244 - -Holding(Coffee) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->2c7b61ab-29d0-4d26-beaa-0f359d31f244 - - - - - -0874e5a1-7f91-46d4-b195-e2abf697cf24 - -At(Robot,Table2) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->0874e5a1-7f91-46d4-b195-e2abf697cf24 - - - - - -9ff5dab6-dad6-4796-9efc-b6a476852716 - -PutDown(Coffee,Table) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->9ff5dab6-dad6-4796-9efc-b6a476852716 - - - - - -ea83bc85-0e59-45b3-9b6e-d06224a88791 - -Holding(ADMilk) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->ea83bc85-0e59-45b3-9b6e-d06224a88791 - - - - - -4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc - -At(Robot,CoffeeTable) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc - - - - - -7376f71b-e73c-4bf6-9d2e-aab526e8afe0 - -At(Robot,Bar2) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->7376f71b-e73c-4bf6-9d2e-aab526e8afe0 - - - - - -7d8b59d4-7068-43ac-9f99-51680c4798cd - -PutDown(ADMilk,CoffeeTable) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->7d8b59d4-7068-43ac-9f99-51680c4798cd - - - - - -4b0c79aa-f9a1-47c8-9b80-6af7614ff47f - -Holding(Chips) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->4b0c79aa-f9a1-47c8-9b80-6af7614ff47f - - - - - -7f2a2034-1341-44b2-92b8-84051dc89801 - -At(Robot,Bar2) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->7f2a2034-1341-44b2-92b8-84051dc89801 - - - - - -4b5d2c4d-32f6-4393-93b3-fac150f53c31 - -At(Robot,Table1) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->4b5d2c4d-32f6-4393-93b3-fac150f53c31 - - - - - -3934305d-97bd-4407-94f2-a95d81917dab - -PutDown(Chips,Table) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->3934305d-97bd-4407-94f2-a95d81917dab - - - - - -7c74da8b-f45f-4d07-b985-0d1051a3fd80 - -Holding(VacuumCup) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->7c74da8b-f45f-4d07-b985-0d1051a3fd80 - - - - - -fbcb8673-994d-425f-aa9d-4c717747ab5e - -At(Robot,Table3) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->fbcb8673-994d-425f-aa9d-4c717747ab5e - - - - - -2428964a-46c6-40f7-9f89-4131dba49a6c - -PutDown(VacuumCup,Table) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->2428964a-46c6-40f7-9f89-4131dba49a6c - - - - - -b409b69e-1cc1-4231-80cd-cc9c74c88863 - -Holding(Yogurt) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->b409b69e-1cc1-4231-80cd-cc9c74c88863 - - - - - -81221ff5-61a2-419b-a416-0e6913f12299 - -At(Robot,Table2) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->81221ff5-61a2-419b-a416-0e6913f12299 - - - - - -4c4ef890-0e95-46d7-a599-bbd582445249 - -PutDown(Yogurt,Table) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->4c4ef890-0e95-46d7-a599-bbd582445249 - - - - - -e0d3fc13-3bef-486a-bc4d-cee686b94f4d - -At(Robot,Table3) - - - -eba32320-02c3-4245-a359-623281600d5b->e0d3fc13-3bef-486a-bc4d-cee686b94f4d - - - - - -ae2a63cf-ff64-403c-b01c-225ce7f74ab4 - -Holding(Milk) - - - -eba32320-02c3-4245-a359-623281600d5b->ae2a63cf-ff64-403c-b01c-225ce7f74ab4 - - - - - -f97c5a74-0d4e-4046-9ed8-afd6c5619d11 - -At(Robot,Bar2) - - - -eba32320-02c3-4245-a359-623281600d5b->f97c5a74-0d4e-4046-9ed8-afd6c5619d11 - - - - - -afa82b45-f6cb-4d4b-b818-581fa9ec2a4c - -PutDown(Milk,Table) - - - -eba32320-02c3-4245-a359-623281600d5b->afa82b45-f6cb-4d4b-b818-581fa9ec2a4c - - - - - -2bc72737-927d-4dfc-9a64-b9a5371aa307 - -At(Robot,BrightTable6) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->2bc72737-927d-4dfc-9a64-b9a5371aa307 - - - - - -3aeb35ca-ca9b-4884-9877-842076a21309 - -At(Robot,Bar2) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->3aeb35ca-ca9b-4884-9877-842076a21309 - - - - - -924a2907-dda0-43e7-a0bb-35852d7211ef - -Holding(Water) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->924a2907-dda0-43e7-a0bb-35852d7211ef - - - - - -c610d253-f0f5-40a1-9081-08b8f4beff57 - -PutDown(Water,BrightTable) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->c610d253-f0f5-40a1-9081-08b8f4beff57 - - - - - -e311e6ac-1378-4532-9ee8-99541008156d - -At(Robot,Bar2) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->e311e6ac-1378-4532-9ee8-99541008156d - - - - - -38f3c5ff-4194-40c1-bc77-0203e14945bb - -Holding(Water) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->38f3c5ff-4194-40c1-bc77-0203e14945bb - - - - - -979c77e0-e6b6-40c6-a32d-4c443743c52f - -At(Robot,Table2) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->979c77e0-e6b6-40c6-a32d-4c443743c52f - - - - - -59d9da32-d653-46c1-817f-023f6741825b - -PutDown(Water,Table) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->59d9da32-d653-46c1-817f-023f6741825b - - - - - -86bf4fe6-7320-4a6f-816e-5aad92292910 - -Holding(ADMilk) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->86bf4fe6-7320-4a6f-816e-5aad92292910 - - - - - -ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd - -At(Robot,Bar) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd - - - - - -7e047adb-babc-421e-a145-d8bf04c6c8ff - -PutDown(ADMilk,Bar) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->7e047adb-babc-421e-a145-d8bf04c6c8ff - - - - - -dacf4ccb-2925-4291-8e90-32cf688ea6a4 - -At(Robot,BrightTable6) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->dacf4ccb-2925-4291-8e90-32cf688ea6a4 - - - - - -dc21dcd4-519d-4fe8-aded-ee9bf1d36d17 - -Holding(Water) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->dc21dcd4-519d-4fe8-aded-ee9bf1d36d17 - - - - - -80195ff0-a958-49e1-99dd-3b077e5e78a0 - -PutDown(Water,BrightTable) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->80195ff0-a958-49e1-99dd-3b077e5e78a0 - - - - - -812f018b-4ca7-46b9-8695-cc82e65b1980 - -Holding(Bernachon) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->812f018b-4ca7-46b9-8695-cc82e65b1980 - - - - - -da1b6ab0-8b4a-4848-b5a7-3374914c8fae - -At(Robot,Bar2) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->da1b6ab0-8b4a-4848-b5a7-3374914c8fae - - - - - -c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06 - -PutDown(Bernachon,Bar) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06 - - - - - -1002d801-1e43-40f3-b1fb-b8657f104a60 - -Holding(Chips) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->1002d801-1e43-40f3-b1fb-b8657f104a60 - - - - - -a9c3df84-17f9-470f-b388-57b2c002bd46 - -At(Robot,CoffeeTable) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->a9c3df84-17f9-470f-b388-57b2c002bd46 - - - - - -426b2690-3855-4227-a1b6-b240ce1b2322 - -At(Robot,Bar2) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->426b2690-3855-4227-a1b6-b240ce1b2322 - - - - - -a3ab5026-3dd6-4723-9dd0-57317c53bf38 - -PutDown(Chips,CoffeeTable) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->a3ab5026-3dd6-4723-9dd0-57317c53bf38 - - - - - -5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f - -Holding(NFCJuice) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f - - - - - -f633a9af-8e3f-4440-a544-0fdcb05c9f20 - -At(Robot,Bar2) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->f633a9af-8e3f-4440-a544-0fdcb05c9f20 - - - - - -5c392f47-73ed-4668-bf87-d212be015365 - -At(Robot,Table1) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->5c392f47-73ed-4668-bf87-d212be015365 - - - - - -6640e386-7fac-4f4f-bb6e-362337ea39fe - -PutDown(NFCJuice,Table) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->6640e386-7fac-4f4f-bb6e-362337ea39fe - - - - - -c53b9468-f979-43a9-aa91-83804e2f0219 - -At(Robot,Bar2) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->c53b9468-f979-43a9-aa91-83804e2f0219 - - - - - -19442f4a-44ca-4c2b-901f-c98b80abc3a0 - -Holding(Water) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->19442f4a-44ca-4c2b-901f-c98b80abc3a0 - - - - - -75e404b0-f802-4296-9d68-3d32b8ce5a27 - -At(Robot,Table1) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->75e404b0-f802-4296-9d68-3d32b8ce5a27 - - - - - -c6749d61-32be-4dfa-ac1d-9343defcc8fc - -PutDown(Water,Table) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->c6749d61-32be-4dfa-ac1d-9343defcc8fc - - - - - -14d89893-b1f2-4345-adf6-6e6ca7494451 - -Holding(Dessert) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->14d89893-b1f2-4345-adf6-6e6ca7494451 - - - - - -a0711cd0-2e11-4afd-b816-b3d1ee9c77fa - -At(Robot,Table2) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->a0711cd0-2e11-4afd-b816-b3d1ee9c77fa - - - - - -de174e5b-56eb-4fee-8ed3-fadddc0385fb - -PutDown(Dessert,Table) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->de174e5b-56eb-4fee-8ed3-fadddc0385fb - - - - - -1f741667-90e3-4938-8294-91be3ced97ca - -Holding(Milk) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->1f741667-90e3-4938-8294-91be3ced97ca - - - - - -ea3d6a75-51fe-40cf-8ff3-465534fa2a80 - -At(Robot,WaterTable) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->ea3d6a75-51fe-40cf-8ff3-465534fa2a80 - - - - - -d6d15ce7-6c6e-4bfd-98c3-02f4fa788563 - -PutDown(Milk,WaterTable) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->d6d15ce7-6c6e-4bfd-98c3-02f4fa788563 - - - - - -1e3808d9-ba4e-4871-b2a6-d4caeec0f160 - -Holding(ADMilk) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->1e3808d9-ba4e-4871-b2a6-d4caeec0f160 - - - - - -37a167fc-0841-4c3b-86f7-b3e200dd4173 - -At(Robot,Bar) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->37a167fc-0841-4c3b-86f7-b3e200dd4173 - - - - - -4d5fdf86-30f0-475a-951b-ebc90e379711 - -At(Robot,Bar2) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->4d5fdf86-30f0-475a-951b-ebc90e379711 - - - - - -a9a65a59-3064-46a7-b68e-a68088dd3df3 - -PutDown(ADMilk,Bar) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->a9a65a59-3064-46a7-b68e-a68088dd3df3 - - - - - -e8801653-4327-4c67-a64e-c158c82ec58f - -Holding(Bernachon) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->e8801653-4327-4c67-a64e-c158c82ec58f - - - - - -4a3aade2-f0d2-41dd-a9d1-51a0e74f50e5 - -At(Robot,Table3) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->4a3aade2-f0d2-41dd-a9d1-51a0e74f50e5 - - - - - -87233aa7-548f-4235-b21f-e7046e2c9698 - -At(Robot,Bar2) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->87233aa7-548f-4235-b21f-e7046e2c9698 - - - - - -25fca8ad-03af-47fa-9821-0dc9ae4aec00 - -PutDown(Bernachon,Table) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->25fca8ad-03af-47fa-9821-0dc9ae4aec00 - - - - - -988609e6-e7ab-41d3-a965-1b5f961b6996 - -Holding(BottledDrink) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->988609e6-e7ab-41d3-a965-1b5f961b6996 - - - - - -e49dfb23-7ada-4206-b054-e13a61f99c10 - -At(Robot,Bar2) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->e49dfb23-7ada-4206-b054-e13a61f99c10 - - - - - -89c79c64-ee14-4ae4-a1d6-f6cbbf8bc40a - -At(Robot,Table1) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->89c79c64-ee14-4ae4-a1d6-f6cbbf8bc40a - - - - - -7e27c85a-8cae-4dfe-bf24-a2181aee6ca8 - -PutDown(BottledDrink,Table) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->7e27c85a-8cae-4dfe-bf24-a2181aee6ca8 - - - - - -14fc00f8-4d49-40c2-8e55-c21bdfe679e3 - -Holding(VacuumCup) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->14fc00f8-4d49-40c2-8e55-c21bdfe679e3 - - - - - -52489c95-f25f-431e-93db-42c4d353315d - -At(Robot,Bar2) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->52489c95-f25f-431e-93db-42c4d353315d - - - - - -2583f711-e135-4b41-82b2-34739dc7fe72 - -At(Robot,Table1) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->2583f711-e135-4b41-82b2-34739dc7fe72 - - - - - -0c4698a7-feb5-486f-aa01-541afe43c7dc - -PutDown(VacuumCup,Table) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->0c4698a7-feb5-486f-aa01-541afe43c7dc - - - - - -13a43656-501b-48e5-9fe4-299c3c185ca2 - -At(Robot,BrightTable6) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->13a43656-501b-48e5-9fe4-299c3c185ca2 - - - - - -bcc9062e-9b44-44e2-8375-1a1d21206978 - -Holding(ADMilk) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->bcc9062e-9b44-44e2-8375-1a1d21206978 - - - - - -1e8e052c-6424-446c-9eb0-b6e282077121 - -At(Robot,Bar2) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->1e8e052c-6424-446c-9eb0-b6e282077121 - - - - - -aabb1583-238d-44a8-82de-f57ad7f14f45 - -PutDown(ADMilk,BrightTable) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->aabb1583-238d-44a8-82de-f57ad7f14f45 - - - - - -80d4e364-c68e-4948-9991-08d3486100b6 - -Holding(BottledDrink) - - - -babcc445-5325-41ab-8093-803796ee6dc8->80d4e364-c68e-4948-9991-08d3486100b6 - - - - - -aac3e302-a5e6-496b-80e0-d489adb8a968 - -At(Robot,Bar2) - - - -babcc445-5325-41ab-8093-803796ee6dc8->aac3e302-a5e6-496b-80e0-d489adb8a968 - - - - - -8e380f1b-816e-4839-afa7-042e27102c38 - -At(Robot,Table2) - - - -babcc445-5325-41ab-8093-803796ee6dc8->8e380f1b-816e-4839-afa7-042e27102c38 - - - - - -0d5e5203-f1df-4437-9d54-37f68d5145af - -PutDown(BottledDrink,Table) - - - -babcc445-5325-41ab-8093-803796ee6dc8->0d5e5203-f1df-4437-9d54-37f68d5145af - - - - - -4b590a3a-fea6-4292-a0a8-5ad34cfd6a02 - -Holding(NFCJuice) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->4b590a3a-fea6-4292-a0a8-5ad34cfd6a02 - - - - - -1567c5cc-5c63-4a8c-a98b-4a9b7cc2201d - -At(Robot,Bar2) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->1567c5cc-5c63-4a8c-a98b-4a9b7cc2201d - - - - - -d61ad8ae-3924-4268-82b3-4e3ef6cd1b9f - -At(Robot,WaterTable) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->d61ad8ae-3924-4268-82b3-4e3ef6cd1b9f - - - - - -742cd464-34ba-43a5-a707-6842be075743 - -PutDown(NFCJuice,WaterTable) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->742cd464-34ba-43a5-a707-6842be075743 - - - - - -beb45a9a-96eb-4a27-b053-a4737c60836e - -Holding(BottledDrink) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->beb45a9a-96eb-4a27-b053-a4737c60836e - - - - - -0a163006-2d3e-422c-9d9c-b0da6ba0d002 - -At(Robot,Table2) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->0a163006-2d3e-422c-9d9c-b0da6ba0d002 - - - - - -c3706352-c0c6-44b0-a36f-5e38d887b7c1 - -PutDown(BottledDrink,Table) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->c3706352-c0c6-44b0-a36f-5e38d887b7c1 - - - - - -a7060826-7c13-4267-9c70-03c3e2bb0b9f - -Holding(Softdrink) - - - -23802024-3113-45c2-917f-a4b4790437e9->a7060826-7c13-4267-9c70-03c3e2bb0b9f - - - - - -31330f4c-7607-4e3b-9a52-916601af3344 - -At(Robot,WaterTable) - - - -23802024-3113-45c2-917f-a4b4790437e9->31330f4c-7607-4e3b-9a52-916601af3344 - - - - - -605aca0d-387d-4dc4-ac4e-a90b2c384e97 - -PutDown(Softdrink,WaterTable) - - - -23802024-3113-45c2-917f-a4b4790437e9->605aca0d-387d-4dc4-ac4e-a90b2c384e97 - - - - - -5699fc12-546c-4c1a-b3ae-c3d87e15d822 - -At(Robot,Table3) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->5699fc12-546c-4c1a-b3ae-c3d87e15d822 - - - - - -a1e9ca93-8ad1-4157-9f02-38b2989e88bc - -Holding(SpringWater) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->a1e9ca93-8ad1-4157-9f02-38b2989e88bc - - - - - -0ee1e970-b7e9-468e-b483-59b3163d9437 - -PutDown(SpringWater,Table) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->0ee1e970-b7e9-468e-b483-59b3163d9437 - - - - - -6adbd380-443d-4045-9349-abe57cc179f0 - -At(Robot,Bar2) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->6adbd380-443d-4045-9349-abe57cc179f0 - - - - - -89b4e18d-9a55-412f-8253-ecf4cade4b44 - -Holding(Milk) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->89b4e18d-9a55-412f-8253-ecf4cade4b44 - - - - - -798beb99-f0f2-4d5d-b001-efc0b999d452 - -PutDown(Milk,Bar) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->798beb99-f0f2-4d5d-b001-efc0b999d452 - - - - - -ffa656f3-8c1d-4bf7-b902-264cf3be6958 - -Holding(Softdrink) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->ffa656f3-8c1d-4bf7-b902-264cf3be6958 - - - - - -88266ee8-a355-4f80-9836-c7758be8ef6b - -At(Robot,Bar2) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->88266ee8-a355-4f80-9836-c7758be8ef6b - - - - - -c321bbb9-98cd-4577-b495-c802dbfd1941 - -PutDown(Softdrink,Bar) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->c321bbb9-98cd-4577-b495-c802dbfd1941 - - - - - -62716efd-8fd7-4864-9bdc-b7533f28bbc3 - -At(Robot,BrightTable6) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->62716efd-8fd7-4864-9bdc-b7533f28bbc3 - - - - - -92fddbf9-472f-48b6-aacf-f2bbfd424e26 - -Holding(Yogurt) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->92fddbf9-472f-48b6-aacf-f2bbfd424e26 - - - - - -2509b6fc-47b8-4568-9860-edf7abb4b277 - -PutDown(Yogurt,BrightTable) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->2509b6fc-47b8-4568-9860-edf7abb4b277 - - - - - -6672a974-12d2-4a02-810b-246e8dc40a84 - -At(Robot,Table3) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->6672a974-12d2-4a02-810b-246e8dc40a84 - - - - - -efde675d-48b0-4ed9-b0b0-9a1f059b654f - -At(Robot,Bar2) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->efde675d-48b0-4ed9-b0b0-9a1f059b654f - - - - - -7a497311-39b3-4751-a208-228e6461c483 - -Holding(Chips) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->7a497311-39b3-4751-a208-228e6461c483 - - - - - -58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d - -PutDown(Chips,Table) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d - - - - - -0f5e077f-a059-4b93-836d-9c971a37d1e8 - -Holding(Bernachon) - - - -e5effab4-b593-4905-aebb-01d31111f402->0f5e077f-a059-4b93-836d-9c971a37d1e8 - - - - - -0de58d1f-03c7-4199-898e-4ebd4be7fce6 - -At(Robot,Bar2) - - - -e5effab4-b593-4905-aebb-01d31111f402->0de58d1f-03c7-4199-898e-4ebd4be7fce6 - - - - - -0612c6db-d68e-42b6-b50c-cc4a1b5b08f9 - -At(Robot,Table1) - - - -e5effab4-b593-4905-aebb-01d31111f402->0612c6db-d68e-42b6-b50c-cc4a1b5b08f9 - - - - - -9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce - -PutDown(Bernachon,Table) - - - -e5effab4-b593-4905-aebb-01d31111f402->9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce - - - - - -5789ffe7-51d4-4e1f-9a5a-f23af71931d3 - -Holding(Chips) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->5789ffe7-51d4-4e1f-9a5a-f23af71931d3 - - - - - -b49d9f11-3784-42d6-9787-4156a31da0fa - -At(Robot,Bar2) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->b49d9f11-3784-42d6-9787-4156a31da0fa - - - - - -f4d13eaa-3b34-4971-947c-a729d3209c9a - -At(Robot,WaterTable) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->f4d13eaa-3b34-4971-947c-a729d3209c9a - - - - - -6c3b4421-1846-494f-b6f6-549905c18991 - -PutDown(Chips,WaterTable) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->6c3b4421-1846-494f-b6f6-549905c18991 - - - - - -49d388b2-26b1-4723-935c-f1e519831d13 - -Holding(NFCJuice) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->49d388b2-26b1-4723-935c-f1e519831d13 - - - - - -c7257cea-13d5-4660-b455-35bcd02f485a - -At(Robot,Bar2) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->c7257cea-13d5-4660-b455-35bcd02f485a - - - - - -32a33d52-b759-4494-8f23-8f2b30500b94 - -At(Robot,Table2) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->32a33d52-b759-4494-8f23-8f2b30500b94 - - - - - -a79786be-a702-42c6-8c99-1ff095b8c7e4 - -PutDown(NFCJuice,Table) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->a79786be-a702-42c6-8c99-1ff095b8c7e4 - - - - - -6062aef1-a27f-4b14-b0e8-4490596bba0b - -Holding(Bernachon) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->6062aef1-a27f-4b14-b0e8-4490596bba0b - - - - - -3e22a516-4936-4550-a936-1929e951fc1f - -At(Robot,Bar2) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->3e22a516-4936-4550-a936-1929e951fc1f - - - - - -f00a8e84-4991-44d4-b88b-a351f692845c - -At(Robot,Table1) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->f00a8e84-4991-44d4-b88b-a351f692845c - - - - - -57af8aec-39c6-4229-9f3e-ee46c9e7eba5 - -PutDown(Bernachon,Table) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->57af8aec-39c6-4229-9f3e-ee46c9e7eba5 - - - - - -bb928c1c-f780-4403-bc36-4af636006525 - -Holding(BottledDrink) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->bb928c1c-f780-4403-bc36-4af636006525 - - - - - -66710455-8f8f-4caa-bad5-b91b810cc331 - -At(Robot,Bar2) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->66710455-8f8f-4caa-bad5-b91b810cc331 - - - - - -6bc26454-fe9e-4878-a5f2-8f3741230eb3 - -PutDown(BottledDrink,Bar) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->6bc26454-fe9e-4878-a5f2-8f3741230eb3 - - - - - -92264400-fad1-480a-a1f3-26da0e8137e9 - -At(Robot,BrightTable6) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->92264400-fad1-480a-a1f3-26da0e8137e9 - - - - - -2389f72e-3704-4c9a-8e82-538a610254ce - -Holding(Chips) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->2389f72e-3704-4c9a-8e82-538a610254ce - - - - - -6f9def00-382b-4a5f-a052-d1318890e049 - -At(Robot,Bar2) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->6f9def00-382b-4a5f-a052-d1318890e049 - - - - - -2e06a655-0f3f-4064-a249-f58ae557ffc3 - -PutDown(Chips,BrightTable) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->2e06a655-0f3f-4064-a249-f58ae557ffc3 - - - - - -21cf96ff-e94a-40a3-80dc-b17e38731d82 - -At(Robot,Bar2) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->21cf96ff-e94a-40a3-80dc-b17e38731d82 - - - - - -13efdb93-b016-4304-870a-18e8d8aafdbe - -Holding(Coffee) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->13efdb93-b016-4304-870a-18e8d8aafdbe - - - - - -87119439-531e-4661-b8a1-44efe26cf124 - -At(Robot,Table1) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->87119439-531e-4661-b8a1-44efe26cf124 - - - - - -efd7fd42-a6d7-4203-a978-6cfa89268981 - -PutDown(Coffee,Table) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->efd7fd42-a6d7-4203-a978-6cfa89268981 - - - - - -c0c06538-5e97-4ecd-82c9-7e8e203af45b - -At(Robot,Table3) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->c0c06538-5e97-4ecd-82c9-7e8e203af45b - - - - - -e61e9b1b-8594-449e-b8f7-ec253c475aba - -At(Robot,Bar2) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->e61e9b1b-8594-449e-b8f7-ec253c475aba - - - - - -9cb90b6a-2c29-4b34-addb-b0561a9fcee8 - -Holding(Coffee) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->9cb90b6a-2c29-4b34-addb-b0561a9fcee8 - - - - - -2c33e1f7-af3b-4fc9-8046-a556e7af9d77 - -PutDown(Coffee,Table) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->2c33e1f7-af3b-4fc9-8046-a556e7af9d77 - - - - - -19ff069d-85f6-4d66-8736-d44dc5d76317 - -At(Robot,Table3) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->19ff069d-85f6-4d66-8736-d44dc5d76317 - - - - - -d32f5f55-13fb-4d9d-88cd-c6bea827c3b0 - -At(Robot,Bar2) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->d32f5f55-13fb-4d9d-88cd-c6bea827c3b0 - - - - - -1d0b443f-4c6f-4158-9df2-1f2b8fa0f483 - -Holding(Yogurt) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->1d0b443f-4c6f-4158-9df2-1f2b8fa0f483 - - - - - -3cb754ba-c534-42bc-ba6e-4c4b88b271f6 - -PutDown(Yogurt,Table) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->3cb754ba-c534-42bc-ba6e-4c4b88b271f6 - - - - - -127a9013-ea01-4f30-a92f-831b088b62ce - -At(Robot,Bar) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->127a9013-ea01-4f30-a92f-831b088b62ce - - - - - -1f0ae071-5dcd-4438-9a1a-159a2e81ad3d - -Holding(Milk) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->1f0ae071-5dcd-4438-9a1a-159a2e81ad3d - - - - - -7f9beeff-e7d6-49b1-9898-1a60351e2092 - -PutDown(Milk,Bar) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->7f9beeff-e7d6-49b1-9898-1a60351e2092 - - - - - -8b86c7ad-f2ee-4a4a-9644-7f14d5be3535 - -Holding(NFCJuice) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->8b86c7ad-f2ee-4a4a-9644-7f14d5be3535 - - - - - -fa21fcf0-619e-4d21-87ca-148123cbc14d - -At(Robot,BrightTable6) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->fa21fcf0-619e-4d21-87ca-148123cbc14d - - - - - -e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca - -PutDown(NFCJuice,BrightTable) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca - - - - - -7b8d4254-e73e-4af1-a00e-697b22c184bd - -Holding(SpringWater) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->7b8d4254-e73e-4af1-a00e-697b22c184bd - - - - - -15f2d53d-fcbc-4e74-b1e6-9109d6105dba - -At(Robot,Table1) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->15f2d53d-fcbc-4e74-b1e6-9109d6105dba - - - - - -90ab23d5-2916-45fd-b0fc-322de36c14e0 - -PutDown(SpringWater,Table) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->90ab23d5-2916-45fd-b0fc-322de36c14e0 - - - - - -d6e52e33-b65f-41da-8e5e-bf2227b42589 - -At(Robot,Bar) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->d6e52e33-b65f-41da-8e5e-bf2227b42589 - - - - - -247c0ccd-9707-4a6c-bb1d-566c91b6aac9 - -Holding(Yogurt) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->247c0ccd-9707-4a6c-bb1d-566c91b6aac9 - - - - - -6fb8a925-6be7-4a8b-b0ee-be91f220850a - -PutDown(Yogurt,Bar) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->6fb8a925-6be7-4a8b-b0ee-be91f220850a - - - - - -c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b - -Holding(BottledDrink) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b - - - - - -53e07dc5-d8cc-417b-8d7f-1bbfaf272315 - -At(Robot,Table3) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->53e07dc5-d8cc-417b-8d7f-1bbfaf272315 - - - - - -6a170051-1032-4004-85a6-3d71d91f408d - -At(Robot,Bar2) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->6a170051-1032-4004-85a6-3d71d91f408d - - - - - -5acf912c-6ac0-4461-90cf-da19390f2655 - -PutDown(BottledDrink,Table) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->5acf912c-6ac0-4461-90cf-da19390f2655 - - - - - -402b0fee-e30e-40b8-895b-0baef293a2ea - -At(Robot,Bar2) - - - -7b991051-6f88-42a4-b316-9801bc229121->402b0fee-e30e-40b8-895b-0baef293a2ea - - - - - -ca818b84-6b8f-41b8-9f42-546cb1dd0267 - -At(Robot,WaterTable) - - - -7b991051-6f88-42a4-b316-9801bc229121->ca818b84-6b8f-41b8-9f42-546cb1dd0267 - - - - - -69ed2fe0-5613-4e88-b17b-cb6c6e696e4e - -Holding(SpringWater) - - - -7b991051-6f88-42a4-b316-9801bc229121->69ed2fe0-5613-4e88-b17b-cb6c6e696e4e - - - - - -088c04d4-7fe8-4370-bfdd-639f973f036a - -PutDown(SpringWater,WaterTable) - - - -7b991051-6f88-42a4-b316-9801bc229121->088c04d4-7fe8-4370-bfdd-639f973f036a - - - - - -36c90cfe-877c-4b67-9f0b-098409e534df - -Holding(Bernachon) - - - -08700f66-ea41-48ef-8047-80f0085084e3->36c90cfe-877c-4b67-9f0b-098409e534df - - - - - -93c1130d-b14a-4e3e-8955-0c5959faa0c5 - -At(Robot,Bar) - - - -08700f66-ea41-48ef-8047-80f0085084e3->93c1130d-b14a-4e3e-8955-0c5959faa0c5 - - - - - -9e6ede65-3570-4c5c-80b9-693b96226195 - -PutDown(Bernachon,Bar) - - - -08700f66-ea41-48ef-8047-80f0085084e3->9e6ede65-3570-4c5c-80b9-693b96226195 - - - - - -2c0604bf-2fb6-4c52-9db1-9a95562fab32 - -At(Robot,Bar) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->2c0604bf-2fb6-4c52-9db1-9a95562fab32 - - - - - -f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0 - -Holding(Milk) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0 - - - - - -5589dee3-0240-49e0-a18a-7824f4d6513d - -PutDown(Milk,Bar) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->5589dee3-0240-49e0-a18a-7824f4d6513d - - - - - -c347772b-1b37-4a39-aed1-d8e73230199d - -At(Robot,BrightTable6) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->c347772b-1b37-4a39-aed1-d8e73230199d - - - - - -2506ae41-6951-4276-88b1-9aaa46e43b50 - -Holding(Milk) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->2506ae41-6951-4276-88b1-9aaa46e43b50 - - - - - -e949b1b9-8027-4247-95bb-d90461635a32 - -PutDown(Milk,BrightTable) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->e949b1b9-8027-4247-95bb-d90461635a32 - - - - - -8957447b-bb99-4e33-b429-695946b66b15 - -Holding(VacuumCup) - - - -09002791-8297-479a-a8d0-b3dd78543323->8957447b-bb99-4e33-b429-695946b66b15 - - - - - -0c1e2234-19ad-4045-acaf-ff0fbc730aee - -At(Robot,BrightTable6) - - - -09002791-8297-479a-a8d0-b3dd78543323->0c1e2234-19ad-4045-acaf-ff0fbc730aee - - - - - -7632732a-9148-431b-9bcc-ee0676180390 - -PutDown(VacuumCup,BrightTable) - - - -09002791-8297-479a-a8d0-b3dd78543323->7632732a-9148-431b-9bcc-ee0676180390 - - - - - -08fb72b5-5e16-49a8-8c2d-35af6baa434b - -At(Robot,Bar2) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->08fb72b5-5e16-49a8-8c2d-35af6baa434b - - - - - -efa96bda-e5a8-4391-97ea-18fb600eca96 - -Holding(Chips) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->efa96bda-e5a8-4391-97ea-18fb600eca96 - - - - - -9b3c54e8-6412-4364-bac8-836051dc2a9a - -PutDown(Chips,Bar) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->9b3c54e8-6412-4364-bac8-836051dc2a9a - - - - - -76bddc29-f789-4ce1-bf9d-4f38ca5a604e - -At(Robot,Bar2) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->76bddc29-f789-4ce1-bf9d-4f38ca5a604e - - - - - -c5c291d4-5657-44c3-a404-f135a9ffb299 - -Holding(SpringWater) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->c5c291d4-5657-44c3-a404-f135a9ffb299 - - - - - -480811b7-3f6a-49c4-9b7f-e0a554ac1ec6 - -At(Robot,Table2) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->480811b7-3f6a-49c4-9b7f-e0a554ac1ec6 - - - - - -f284902f-86e8-49aa-bfa2-a12089ee906d - -PutDown(SpringWater,Table) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->f284902f-86e8-49aa-bfa2-a12089ee906d - - - - - -865bddb7-988d-42fa-9e65-c876ab15dfe7 - -Holding(VacuumCup) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->865bddb7-988d-42fa-9e65-c876ab15dfe7 - - - - - -efa8eb89-2b75-4156-beeb-00edfc54f281 - -At(Robot,Bar2) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->efa8eb89-2b75-4156-beeb-00edfc54f281 - - - - - -98a38739-268c-42de-b329-a6b57dff58b2 - -PutDown(VacuumCup,Bar) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->98a38739-268c-42de-b329-a6b57dff58b2 - - - - - -d5cb51ce-3c07-429e-a9ea-d984bda522a2 - -At(Robot,BrightTable6) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->d5cb51ce-3c07-429e-a9ea-d984bda522a2 - - - - - -0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e - -At(Robot,Bar2) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e - - - - - -d0dbecb7-081d-46d3-83b8-e6fe57beb9ca - -Holding(Yogurt) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->d0dbecb7-081d-46d3-83b8-e6fe57beb9ca - - - - - -fea09512-494d-4115-ae6f-8a8b6821bd76 - -PutDown(Yogurt,BrightTable) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->fea09512-494d-4115-ae6f-8a8b6821bd76 - - - - - -e8765ae0-75a2-4bf2-96fb-162a1b82c7c1 - -At(Robot,CoffeeTable) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->e8765ae0-75a2-4bf2-96fb-162a1b82c7c1 - - - - - -4e7bcb74-b675-487d-938e-9293c9eb423f - -Holding(Coffee) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->4e7bcb74-b675-487d-938e-9293c9eb423f - - - - - -e4b3fae3-7eff-4edc-bd29-686589619154 - -PutDown(Coffee,CoffeeTable) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->e4b3fae3-7eff-4edc-bd29-686589619154 - - - - - -cbfa0254-2deb-42fb-8c86-fc8ae1bf2591 - -Holding(Bernachon) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->cbfa0254-2deb-42fb-8c86-fc8ae1bf2591 - - - - - -b6cfce40-21e4-470f-af31-a7779576ff93 - -At(Robot,Bar2) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->b6cfce40-21e4-470f-af31-a7779576ff93 - - - - - -357d4961-3535-45fe-a4cf-9a2d9710acbb - -At(Robot,WaterTable) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->357d4961-3535-45fe-a4cf-9a2d9710acbb - - - - - -de252508-e970-4614-8c46-1c9dc16c6381 - -PutDown(Bernachon,WaterTable) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->de252508-e970-4614-8c46-1c9dc16c6381 - - - - - -8c9ab08f-b132-448d-bbe2-84752d5fce37 - -Holding(Softdrink) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->8c9ab08f-b132-448d-bbe2-84752d5fce37 - - - - - -c9ab5c24-50c4-4583-9e40-76fd9ebece5a - -At(Robot,CoffeeTable) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->c9ab5c24-50c4-4583-9e40-76fd9ebece5a - - - - - -435e064b-f46e-4847-9a57-6f334e5d52e4 - -At(Robot,Bar2) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->435e064b-f46e-4847-9a57-6f334e5d52e4 - - - - - -9dd1f173-e14b-426a-a6cb-9457c220706e - -PutDown(Softdrink,CoffeeTable) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->9dd1f173-e14b-426a-a6cb-9457c220706e - - - - - -2f677de5-f029-4a7c-bcbe-2a6cc31a2084 - -Holding(VacuumCup) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->2f677de5-f029-4a7c-bcbe-2a6cc31a2084 - - - - - -abddf89c-3766-46b6-81ac-db57268a04f6 - -At(Robot,Bar2) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->abddf89c-3766-46b6-81ac-db57268a04f6 - - - - - -0ad53ec7-dc55-43b1-b3fd-631b6c89ddba - -At(Robot,WaterTable) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->0ad53ec7-dc55-43b1-b3fd-631b6c89ddba - - - - - -77d5c904-3e85-4f7b-8973-e3961633b0ec - -PutDown(VacuumCup,WaterTable) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->77d5c904-3e85-4f7b-8973-e3961633b0ec - - - - - -47f5dd59-63fc-4a4d-806f-ba4d84d4ed44 - -Holding(Coffee) - - - -8b447805-a48b-4409-86da-05560e618a02->47f5dd59-63fc-4a4d-806f-ba4d84d4ed44 - - - - - -0966966e-9d54-4d56-9e87-21e9e0bf94d6 - -At(Robot,Table2) - - - -8b447805-a48b-4409-86da-05560e618a02->0966966e-9d54-4d56-9e87-21e9e0bf94d6 - - - - - -af13e152-f421-46bc-8b20-74eae82aabeb - -PutDown(Coffee,Table) - - - -8b447805-a48b-4409-86da-05560e618a02->af13e152-f421-46bc-8b20-74eae82aabeb - - - - - -2396e8ce-7164-4155-9bde-32a759e9851c - -At(Robot,Table3) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->2396e8ce-7164-4155-9bde-32a759e9851c - - - - - -385a432b-feff-488c-ad9f-fea1df09e1b6 - -Holding(Dessert) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->385a432b-feff-488c-ad9f-fea1df09e1b6 - - - - - -cd922a50-219f-4f78-9b9e-b2a4edba2eec - -PutDown(Dessert,Table) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->cd922a50-219f-4f78-9b9e-b2a4edba2eec - - - - - -232e52fe-9a3d-4e6d-9546-46c9f5e23702 - -At(Robot,Bar2) - - - -e776c240-7b60-496c-8e3f-55a5ed3a5a52->232e52fe-9a3d-4e6d-9546-46c9f5e23702 - - - - - -1c06496a-7850-4dd1-81ef-8d4ec5418e42 - -PutDown(Anything,Anywhere) - - - -e776c240-7b60-496c-8e3f-55a5ed3a5a52->1c06496a-7850-4dd1-81ef-8d4ec5418e42 - - - - - -475ed724-d8b1-4282-ac39-d03de0c393c0 - -At(Robot,Bar2) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->475ed724-d8b1-4282-ac39-d03de0c393c0 - - - - - -a299c8dd-9b0f-4385-9d74-159ee44e1941 - -Holding(Coffee) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->a299c8dd-9b0f-4385-9d74-159ee44e1941 - - - - - -8fc18784-3f1e-49f4-9aad-6020b02be8d4 - -At(Robot,Table1) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->8fc18784-3f1e-49f4-9aad-6020b02be8d4 - - - - - -b036a3af-39f7-4009-bf78-75ecde237758 - -PutDown(Coffee,Table) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->b036a3af-39f7-4009-bf78-75ecde237758 - - - - - -aa776227-73d3-42ad-9c61-cd3bafb76a8e - -Holding(ADMilk) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->aa776227-73d3-42ad-9c61-cd3bafb76a8e - - - - - -d969c149-738c-4fbc-b93a-ffccf9f23cd2 - -At(Robot,Bar2) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->d969c149-738c-4fbc-b93a-ffccf9f23cd2 - - - - - -f48c7470-ba27-405c-986f-0b51d0101e44 - -At(Robot,WaterTable) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->f48c7470-ba27-405c-986f-0b51d0101e44 - - - - - -a4451b8a-2605-4c0f-ba28-89abe5733b53 - -PutDown(ADMilk,WaterTable) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->a4451b8a-2605-4c0f-ba28-89abe5733b53 - - - - - -e756e00f-048a-47af-b314-3d4f1c0ea203 - -Holding(VacuumCup) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->e756e00f-048a-47af-b314-3d4f1c0ea203 - - - - - -a45497a8-c919-4735-b932-250c523b7086 - -At(Robot,Bar) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->a45497a8-c919-4735-b932-250c523b7086 - - - - - -221eedef-8c3a-40d0-bfde-7dd4881dcf2b - -At(Robot,Bar2) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->221eedef-8c3a-40d0-bfde-7dd4881dcf2b - - - - - -feb19577-0313-4793-a2ce-6d7a7e5e49e5 - -PutDown(VacuumCup,Bar) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->feb19577-0313-4793-a2ce-6d7a7e5e49e5 - - - - - -2bc3725a-afe7-4440-ac02-d9d2b4d21b06 - -At(Robot,Bar2) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->2bc3725a-afe7-4440-ac02-d9d2b4d21b06 - - - - - -c7e388c8-3eac-4aac-a37e-ac2e383570af - -Holding(Water) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->c7e388c8-3eac-4aac-a37e-ac2e383570af - - - - - -b1371f8c-e0b8-4c8d-9803-4cea839bf384 - -PutDown(Water,Bar) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->b1371f8c-e0b8-4c8d-9803-4cea839bf384 - - - - - -ecc679b4-d702-4385-8e24-5f3a04a84e07 - -Holding(Bernachon) - - - -2b279313-d461-45a1-acac-0725886258e1->ecc679b4-d702-4385-8e24-5f3a04a84e07 - - - - - -b861368e-9dc0-472f-b614-14211d39072d - -At(Robot,CoffeeTable) - - - -2b279313-d461-45a1-acac-0725886258e1->b861368e-9dc0-472f-b614-14211d39072d - - - - - -c70a97c8-d14d-48e3-8984-95e9f573a76b - -PutDown(Bernachon,CoffeeTable) - - - -2b279313-d461-45a1-acac-0725886258e1->c70a97c8-d14d-48e3-8984-95e9f573a76b - - - - - -9e6d0c93-fb21-49eb-b0e0-caa3247f2386 - -At(Robot,BrightTable6) - - - -294882bd-86af-43da-8748-6624e459f264->9e6d0c93-fb21-49eb-b0e0-caa3247f2386 - - - - - -abeffd9e-56bc-4d2e-bf27-75d28c0d1c09 - -Holding(Chips) - - - -294882bd-86af-43da-8748-6624e459f264->abeffd9e-56bc-4d2e-bf27-75d28c0d1c09 - - - - - -9fc32118-179f-4614-9572-78eb70f12863 - -PutDown(Chips,BrightTable) - - - -294882bd-86af-43da-8748-6624e459f264->9fc32118-179f-4614-9572-78eb70f12863 - - - - - -c875d596-63df-40ed-9fc8-0d88af80fa7a - -Holding(VacuumCup) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->c875d596-63df-40ed-9fc8-0d88af80fa7a - - - - - -3185e9c6-884d-4c01-a4d9-8e295f9c9c65 - -At(Robot,Table2) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->3185e9c6-884d-4c01-a4d9-8e295f9c9c65 - - - - - -48c3848f-f8e3-4036-8665-d0f1b070e650 - -PutDown(VacuumCup,Table) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->48c3848f-f8e3-4036-8665-d0f1b070e650 - - - - - -82a9ffc3-ac4a-4b31-8a83-5220a4b873b5 - -At(Robot,Bar2) - - - -7f02976d-51e7-496f-a792-4b910402af26->82a9ffc3-ac4a-4b31-8a83-5220a4b873b5 - - - - - -7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1 - -Holding(Coffee) - - - -7f02976d-51e7-496f-a792-4b910402af26->7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1 - - - - - -c6ebbfc3-2a2e-458d-960c-0a17379b49dc - -PutDown(Coffee,Bar) - - - -7f02976d-51e7-496f-a792-4b910402af26->c6ebbfc3-2a2e-458d-960c-0a17379b49dc - - - - - -d30d0972-9127-46eb-af8c-f8256b93530e - -Holding(BottledDrink) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->d30d0972-9127-46eb-af8c-f8256b93530e - - - - - -7c7d5164-90c3-4c65-8d54-3a2cc03c981d - -At(Robot,WaterTable) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->7c7d5164-90c3-4c65-8d54-3a2cc03c981d - - - - - -0ed18b24-f6fd-4aae-a45c-4770206eb880 - -PutDown(BottledDrink,WaterTable) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->0ed18b24-f6fd-4aae-a45c-4770206eb880 - - - - - -39fb2a74-8d7d-4e77-9dde-b943d874cbbb - -Holding(VacuumCup) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->39fb2a74-8d7d-4e77-9dde-b943d874cbbb - - - - - -a071a359-b49f-45f0-b923-f678feca625f - -At(Robot,WaterTable) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->a071a359-b49f-45f0-b923-f678feca625f - - - - - -213e1f32-d906-486b-a60c-18818e68a75f - -PutDown(VacuumCup,WaterTable) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->213e1f32-d906-486b-a60c-18818e68a75f - - - - - -f7314b03-4a39-46e1-a450-c120803062a2 - -Holding(BottledDrink) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->f7314b03-4a39-46e1-a450-c120803062a2 - - - - - -0624cd1b-7c6b-4581-ae97-bcc97e2f6061 - -At(Robot,BrightTable6) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->0624cd1b-7c6b-4581-ae97-bcc97e2f6061 - - - - - -fd553284-ac8c-492b-9d15-34a9340bab9b - -At(Robot,Bar2) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->fd553284-ac8c-492b-9d15-34a9340bab9b - - - - - -e3df8b28-45ab-4c42-b362-a9729e3688dd - -PutDown(BottledDrink,BrightTable) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->e3df8b28-45ab-4c42-b362-a9729e3688dd - - - - - -93004468-66a9-4a62-a772-644ad58ba08a - -At(Robot,Bar) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->93004468-66a9-4a62-a772-644ad58ba08a - - - - - -ead2890d-69ab-47a4-844c-dc4cdffc2f67 - -Holding(SpringWater) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->ead2890d-69ab-47a4-844c-dc4cdffc2f67 - - - - - -1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb - -PutDown(SpringWater,Bar) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb - - - - - -bf150465-54c0-4bf6-89f8-9c955648cf0f - -Holding(VacuumCup) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->bf150465-54c0-4bf6-89f8-9c955648cf0f - - - - - -be7a44cf-af69-4586-afd6-a49918778d2c - -At(Robot,Bar) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->be7a44cf-af69-4586-afd6-a49918778d2c - - - - - -77a3fc89-aee3-4f3e-a679-b4a1d3223847 - -PutDown(VacuumCup,Bar) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->77a3fc89-aee3-4f3e-a679-b4a1d3223847 - - - - - -1cda3f69-17e4-4e80-9d6f-ba56d9177e75 - -Holding(Yogurt) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->1cda3f69-17e4-4e80-9d6f-ba56d9177e75 - - - - - -2305c412-9ec6-4a73-8e88-7e66574b6b33 - -At(Robot,Table1) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->2305c412-9ec6-4a73-8e88-7e66574b6b33 - - - - - -d93dfd10-096e-44b3-988e-a2bc245ae79c - -PutDown(Yogurt,Table) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->d93dfd10-096e-44b3-988e-a2bc245ae79c - - - - - -d4c8235d-675b-4739-9954-0932ad3c7391 - -Holding(ADMilk) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->d4c8235d-675b-4739-9954-0932ad3c7391 - - - - - -ee89dc28-891b-499f-bdb8-18a2d50ff9d4 - -At(Robot,Bar2) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->ee89dc28-891b-499f-bdb8-18a2d50ff9d4 - - - - - -f0d1222e-6ea2-4bf5-abcc-1708ec86e011 - -At(Robot,WaterTable) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->f0d1222e-6ea2-4bf5-abcc-1708ec86e011 - - - - - -a3aa157a-e2d2-4bc3-8f55-9cc20775e766 - -PutDown(ADMilk,WaterTable) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->a3aa157a-e2d2-4bc3-8f55-9cc20775e766 - - - - - -9c895931-a6b3-4d7d-8be1-5a37ed88a53a - -At(Robot,Bar) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->9c895931-a6b3-4d7d-8be1-5a37ed88a53a - - - - - -97d0584b-41e5-4570-af42-797891b7be6f - -At(Robot,Bar2) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->97d0584b-41e5-4570-af42-797891b7be6f - - - - - -8db697cf-3b54-4463-ad3e-737c2552fcbc - -Holding(Coffee) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->8db697cf-3b54-4463-ad3e-737c2552fcbc - - - - - -8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6 - -PutDown(Coffee,Bar) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6 - - - - - -882d28f2-1dcd-4a4f-a22e-d55b8a7f8220 - -At(Robot,Table3) - - - -514c2581-7577-4869-8783-e45e9cb48631->882d28f2-1dcd-4a4f-a22e-d55b8a7f8220 - - - - - -d3e0a545-bf05-44bc-a758-47a929891289 - -At(Robot,Bar2) - - - -514c2581-7577-4869-8783-e45e9cb48631->d3e0a545-bf05-44bc-a758-47a929891289 - - - - - -bff51aa2-1c73-4c6e-b091-0b08ec95a7fb - -Holding(Water) - - - -514c2581-7577-4869-8783-e45e9cb48631->bff51aa2-1c73-4c6e-b091-0b08ec95a7fb - - - - - -68fb962a-25c0-4879-af34-75b631d26c6d - -PutDown(Water,Table) - - - -514c2581-7577-4869-8783-e45e9cb48631->68fb962a-25c0-4879-af34-75b631d26c6d - - - - - -e767bc9c-ce6f-42c5-ab1b-04e59876e5f0 - -Holding(NFCJuice) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->e767bc9c-ce6f-42c5-ab1b-04e59876e5f0 - - - - - -00962160-1052-458f-9871-ede403f9c35c - -At(Robot,Table3) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->00962160-1052-458f-9871-ede403f9c35c - - - - - -8d2fb99c-7a9d-4e62-81dc-7db5e26649f4 - -PutDown(NFCJuice,Table) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->8d2fb99c-7a9d-4e62-81dc-7db5e26649f4 - - - - - -e79b3589-51f0-439b-84ec-999fe883f296 - -Holding(Softdrink) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->e79b3589-51f0-439b-84ec-999fe883f296 - - - - - -48b12dd8-7543-46f5-add0-bbbe2c8a0224 - -At(Robot,Bar) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->48b12dd8-7543-46f5-add0-bbbe2c8a0224 - - - - - -1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4 - -PutDown(Softdrink,Bar) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4 - - - - - -3124d5cc-ef98-487f-a196-fc5aeca8dbec - -Holding(Chips) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->3124d5cc-ef98-487f-a196-fc5aeca8dbec - - - - - -f774812c-d3a9-4f3b-ae2f-115501b34066 - -At(Robot,Bar2) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->f774812c-d3a9-4f3b-ae2f-115501b34066 - - - - - -05d7003c-2568-4f82-bdb5-fe680208feff - -At(Robot,WaterTable) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->05d7003c-2568-4f82-bdb5-fe680208feff - - - - - -4a4670cf-51cb-480a-b8e5-e58381acb089 - -PutDown(Chips,WaterTable) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->4a4670cf-51cb-480a-b8e5-e58381acb089 - - - - - -0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f - -At(Robot,Bar2) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f - - - - - -cdfebe6c-15a5-4e36-82f9-681eadd325ad - -Holding(Dessert) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->cdfebe6c-15a5-4e36-82f9-681eadd325ad - - - - - -514a549e-4bc7-43ce-b428-0083c3f1804f - -At(Robot,Table2) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->514a549e-4bc7-43ce-b428-0083c3f1804f - - - - - -fec2478a-3ade-4426-83bb-d5276b7c93f9 - -PutDown(Dessert,Table) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->fec2478a-3ade-4426-83bb-d5276b7c93f9 - - - - - -9093df31-a3f0-47a4-917d-5eeae09ef843 - -Holding(VacuumCup) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->9093df31-a3f0-47a4-917d-5eeae09ef843 - - - - - -3129f976-24c9-42ae-b244-49c29370dc68 - -At(Robot,CoffeeTable) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->3129f976-24c9-42ae-b244-49c29370dc68 - - - - - -b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f - -At(Robot,Bar2) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f - - - - - -9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e - -PutDown(VacuumCup,CoffeeTable) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e - - - - - -dacb5ff2-4a54-4f5c-9ad7-aa558af78f87 - -Holding(Bernachon) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->dacb5ff2-4a54-4f5c-9ad7-aa558af78f87 - - - - - -8c5f8a76-da42-4306-9569-ed8edb7a2279 - -At(Robot,BrightTable6) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->8c5f8a76-da42-4306-9569-ed8edb7a2279 - - - - - -ef61694c-ced0-446f-af9e-4611a9214972 - -PutDown(Bernachon,BrightTable) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->ef61694c-ced0-446f-af9e-4611a9214972 - - - - - -dcf30978-087b-46fa-80c6-359f6ca278f2 - -Holding(Bernachon) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->dcf30978-087b-46fa-80c6-359f6ca278f2 - - - - - -4ff62126-c3ec-4bf4-ad71-f81e75912179 - -At(Robot,Table2) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->4ff62126-c3ec-4bf4-ad71-f81e75912179 - - - - - -4b4c4220-7cc9-48b7-a0de-bfaa63832abf - -PutDown(Bernachon,Table) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->4b4c4220-7cc9-48b7-a0de-bfaa63832abf - - - - - -8b6b2872-1cbf-42bd-9b0b-09411689657e - -At(Robot,BrightTable6) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->8b6b2872-1cbf-42bd-9b0b-09411689657e - - - - - -43683008-65f6-40b3-b3bf-ccacc277f93b - -Holding(Coffee) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->43683008-65f6-40b3-b3bf-ccacc277f93b - - - - - -855257b6-eea6-450f-afd0-1b8c5c117d19 - -PutDown(Coffee,BrightTable) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->855257b6-eea6-450f-afd0-1b8c5c117d19 - - - - - -b5f4d66f-5aad-4f56-88d3-7c6c2e443cec - -Holding(NFCJuice) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->b5f4d66f-5aad-4f56-88d3-7c6c2e443cec - - - - - -e8cf00f3-e3ea-4be3-af55-b29bb68bd064 - -At(Robot,Table3) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->e8cf00f3-e3ea-4be3-af55-b29bb68bd064 - - - - - -28f19662-89e8-402c-91ed-941d5491ded9 - -At(Robot,Bar2) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->28f19662-89e8-402c-91ed-941d5491ded9 - - - - - -af203b76-012b-4800-9b05-162dfff01fdf - -PutDown(NFCJuice,Table) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->af203b76-012b-4800-9b05-162dfff01fdf - - - - - -dcacce3e-2265-4c33-9dc2-a0157ae14cf2 - -Holding(Softdrink) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->dcacce3e-2265-4c33-9dc2-a0157ae14cf2 - - - - - -a0c4c448-51d0-4b28-a81f-b744d6d41eb3 - -At(Robot,Bar2) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->a0c4c448-51d0-4b28-a81f-b744d6d41eb3 - - - - - -bd677783-e320-4287-a012-03d76a574232 - -At(Robot,Table2) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->bd677783-e320-4287-a012-03d76a574232 - - - - - -c7bcbd70-f236-4e20-88ed-db330f433028 - -PutDown(Softdrink,Table) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->c7bcbd70-f236-4e20-88ed-db330f433028 - - - - - -3c0e4816-5aa0-436e-8a9c-0629089207b7 - -At(Robot,CoffeeTable) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->3c0e4816-5aa0-436e-8a9c-0629089207b7 - - - - - -6a3801cb-5a68-42c8-981d-e45ddac71503 - -At(Robot,Bar2) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->6a3801cb-5a68-42c8-981d-e45ddac71503 - - - - - -c5dfc66d-8d4b-4d18-b240-c7b36ff3f262 - -Holding(Coffee) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->c5dfc66d-8d4b-4d18-b240-c7b36ff3f262 - - - - - -330af15b-9a6a-4dbf-aed1-978e9f312398 - -PutDown(Coffee,CoffeeTable) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->330af15b-9a6a-4dbf-aed1-978e9f312398 - - - - - -bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9 - -Holding(Dessert) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9 - - - - - -b47aaf8d-bc05-4f77-83f5-a9015dd8eee7 - -At(Robot,Table1) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->b47aaf8d-bc05-4f77-83f5-a9015dd8eee7 - - - - - -44300b17-7dde-482c-aa08-21bfadd8b188 - -PutDown(Dessert,Table) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->44300b17-7dde-482c-aa08-21bfadd8b188 - - - - - -fdcc3387-4abb-4038-a44d-dc03c17714cf - -Holding(Bernachon) - - - -2b5e0db0-a74d-4858-9a16-710930152894->fdcc3387-4abb-4038-a44d-dc03c17714cf - - - - - -ab294e8b-1e90-4b91-b636-ed1654719cb7 - -At(Robot,Bar) - - - -2b5e0db0-a74d-4858-9a16-710930152894->ab294e8b-1e90-4b91-b636-ed1654719cb7 - - - - - -9c81e585-f1a4-422a-a900-8a657d3a8bab - -At(Robot,Bar2) - - - -2b5e0db0-a74d-4858-9a16-710930152894->9c81e585-f1a4-422a-a900-8a657d3a8bab - - - - - -edec917b-c388-4a9d-b66d-6dcad04dbce3 - -PutDown(Bernachon,Bar) - - - -2b5e0db0-a74d-4858-9a16-710930152894->edec917b-c388-4a9d-b66d-6dcad04dbce3 - - - - - -ff2c4207-85d0-4c10-a476-bbce149c63a3 - -At(Robot,Bar2) - - - -20265943-985d-41af-ac10-fd9457336358->ff2c4207-85d0-4c10-a476-bbce149c63a3 - - - - - -06dd468e-f94f-4635-aa4e-f31b9b602516 - -At(Robot,CoffeeTable) - - - -20265943-985d-41af-ac10-fd9457336358->06dd468e-f94f-4635-aa4e-f31b9b602516 - - - - - -d54188e9-b47a-4074-a477-e108d8c3072f - -Holding(Milk) - - - -20265943-985d-41af-ac10-fd9457336358->d54188e9-b47a-4074-a477-e108d8c3072f - - - - - -b7b5b7cc-e176-461e-a546-2c9ab90ecd3a - -PutDown(Milk,CoffeeTable) - - - -20265943-985d-41af-ac10-fd9457336358->b7b5b7cc-e176-461e-a546-2c9ab90ecd3a - - - - - -0267bae9-a581-4015-88db-64e3a188ead7 - -At(Robot,Table3) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->0267bae9-a581-4015-88db-64e3a188ead7 - - - - - -55b61f3d-a1f2-45c9-bc60-32ac0d4b743c - -Holding(Coffee) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->55b61f3d-a1f2-45c9-bc60-32ac0d4b743c - - - - - -82f11715-6aba-42e2-b04b-238ae19fe8b4 - -PutDown(Coffee,Table) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->82f11715-6aba-42e2-b04b-238ae19fe8b4 - - - - - -f5908b95-4ad4-4c7b-b509-439cadacfb7b - -Holding(SpringWater) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->f5908b95-4ad4-4c7b-b509-439cadacfb7b - - - - - -f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30 - -At(Robot,Table2) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30 - - - - - -6e5bd5f4-d388-48ce-90df-240b3011bc17 - -PutDown(SpringWater,Table) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->6e5bd5f4-d388-48ce-90df-240b3011bc17 - - - - - -3f1c0bb6-88b2-44e7-bf2e-894d14b54929 - -Holding(Softdrink) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->3f1c0bb6-88b2-44e7-bf2e-894d14b54929 - - - - - -3fe1afeb-bbac-4054-9cef-5332e29abce0 - -At(Robot,Bar2) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->3fe1afeb-bbac-4054-9cef-5332e29abce0 - - - - - -18499505-b547-496b-9779-c6d1d64c5987 - -PutDown(Softdrink,Bar) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->18499505-b547-496b-9779-c6d1d64c5987 - - - - - -27face7c-b974-441b-9c0e-b9b823c1f652 - -Holding(BottledDrink) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->27face7c-b974-441b-9c0e-b9b823c1f652 - - - - - -748418c0-94eb-4543-bd09-6f84f4d842b1 - -At(Robot,Bar2) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->748418c0-94eb-4543-bd09-6f84f4d842b1 - - - - - -f9b727a1-3525-482e-b859-e550c60c0a08 - -PutDown(BottledDrink,Bar) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->f9b727a1-3525-482e-b859-e550c60c0a08 - - - - - -e0a73add-4130-4c11-8a45-41a4958b5645 - -At(Robot,BrightTable6) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->e0a73add-4130-4c11-8a45-41a4958b5645 - - - - - -9f587f54-c802-4a42-804f-61fd37fd42dc - -At(Robot,Bar2) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->9f587f54-c802-4a42-804f-61fd37fd42dc - - - - - -4a10b7ac-a7c4-4dfb-adc6-1225f3fa795d - -Holding(Milk) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->4a10b7ac-a7c4-4dfb-adc6-1225f3fa795d - - - - - -f1b427f7-a8bb-4d74-86f9-4edb13511491 - -PutDown(Milk,BrightTable) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->f1b427f7-a8bb-4d74-86f9-4edb13511491 - - - - - -1c9685dd-a7ab-4a84-814a-d21f19f5e83b - -Holding(Softdrink) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->1c9685dd-a7ab-4a84-814a-d21f19f5e83b - - - - - -fa810821-d3d1-4978-8247-657c1f3828bf - -At(Robot,Bar2) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->fa810821-d3d1-4978-8247-657c1f3828bf - - - - - -b5e5f6e6-5872-4dd1-8168-f4f714a970e1 - -At(Robot,Table1) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->b5e5f6e6-5872-4dd1-8168-f4f714a970e1 - - - - - -f136b4a2-3c67-4867-b4c2-885ed7bbe5a1 - -PutDown(Softdrink,Table) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->f136b4a2-3c67-4867-b4c2-885ed7bbe5a1 - - - - - -ace08332-567d-4da3-adf4-8216e915cde2 - -Holding(BottledDrink) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->ace08332-567d-4da3-adf4-8216e915cde2 - - - - - -f2aa4ab3-7c7a-44c6-a3f3-e104c6855a28 - -At(Robot,Bar) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->f2aa4ab3-7c7a-44c6-a3f3-e104c6855a28 - - - - - -0b76cffd-3117-4ee6-8b03-59afc8e15e74 - -PutDown(BottledDrink,Bar) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->0b76cffd-3117-4ee6-8b03-59afc8e15e74 - - - - - -054b9ef7-9d5e-4322-a6b5-3e9323983855 - -Holding(Dessert) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->054b9ef7-9d5e-4322-a6b5-3e9323983855 - - - - - -e45659b8-d6c0-4806-ac3f-6bdf07ea22dc - -At(Robot,Table1) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->e45659b8-d6c0-4806-ac3f-6bdf07ea22dc - - - - - -c9f83e21-306b-49dc-b580-4cc71228c898 - -PutDown(Dessert,Table) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->c9f83e21-306b-49dc-b580-4cc71228c898 - - - - - -9023ba80-5c46-4a24-b35c-9372bf3059ea - -At(Robot,CoffeeTable) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->9023ba80-5c46-4a24-b35c-9372bf3059ea - - - - - -dbe1ef19-6415-4e5e-88de-6f0b3cd59223 - -Holding(Milk) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->dbe1ef19-6415-4e5e-88de-6f0b3cd59223 - - - - - -6bdab791-c823-41b1-aa03-c6f73b4f8a5d - -PutDown(Milk,CoffeeTable) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->6bdab791-c823-41b1-aa03-c6f73b4f8a5d - - - - - -115714fa-f378-4a06-ad36-983f7b3c15f3 - -Holding(Yogurt) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->115714fa-f378-4a06-ad36-983f7b3c15f3 - - - - - -1e3b5d53-c0c9-4943-93c7-736d96372ce8 - -At(Robot,Table1) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->1e3b5d53-c0c9-4943-93c7-736d96372ce8 - - - - - -d45e80ec-a6c6-4664-863e-9f08856515d7 - -PutDown(Yogurt,Table) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->d45e80ec-a6c6-4664-863e-9f08856515d7 - - - - - -3d53dfb8-974e-49e3-8d0b-88b03820a4ee - -At(Robot,CoffeeTable) - - - -57245369-a2ff-4da1-890c-554895376e0b->3d53dfb8-974e-49e3-8d0b-88b03820a4ee - - - - - -01551be9-8f2f-423c-ad5e-88fb82652ead - -At(Robot,Bar2) - - - -57245369-a2ff-4da1-890c-554895376e0b->01551be9-8f2f-423c-ad5e-88fb82652ead - - - - - -66026056-a873-41ae-a241-0669522bd9e6 - -Holding(Water) - - - -57245369-a2ff-4da1-890c-554895376e0b->66026056-a873-41ae-a241-0669522bd9e6 - - - - - -b32ec4f3-3937-4edd-b090-9b5dacff669a - -PutDown(Water,CoffeeTable) - - - -57245369-a2ff-4da1-890c-554895376e0b->b32ec4f3-3937-4edd-b090-9b5dacff669a - - - - - -377fb595-6ae7-486e-b5c2-50b2162b23ac - -At(Robot,CoffeeTable) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->377fb595-6ae7-486e-b5c2-50b2162b23ac - - - - - -a755f76a-7ac4-4c53-b611-b5ca4e50d670 - -Holding(Dessert) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->a755f76a-7ac4-4c53-b611-b5ca4e50d670 - - - - - -9b3402c5-1856-446e-9c9e-51dd849d85d4 - -PutDown(Dessert,CoffeeTable) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->9b3402c5-1856-446e-9c9e-51dd849d85d4 - - - - - -f76ebcd1-b7a3-47e9-aca6-6c42a39d2d11 - -At(Robot,Bar2) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->f76ebcd1-b7a3-47e9-aca6-6c42a39d2d11 - - - - - -9640a0ec-e326-4dc2-89f6-75f08e45fcf5 - -At(Robot,WaterTable) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->9640a0ec-e326-4dc2-89f6-75f08e45fcf5 - - - - - -7c878525-43e6-487f-8eb4-5df1cefa0054 - -Holding(Coffee) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->7c878525-43e6-487f-8eb4-5df1cefa0054 - - - - - -ea37aa66-06aa-480d-a722-2770a5d41b00 - -PutDown(Coffee,WaterTable) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->ea37aa66-06aa-480d-a722-2770a5d41b00 - - - - - -a60d4ced-95c8-4e32-a3bf-bbbf729ad706 - -Holding(NFCJuice) - - - -8badaabb-93be-4176-a126-ee040c644ee5->a60d4ced-95c8-4e32-a3bf-bbbf729ad706 - - - - - -86d08cd9-5d1b-4da9-bfaa-30b318c6756c - -At(Robot,Bar2) - - - -8badaabb-93be-4176-a126-ee040c644ee5->86d08cd9-5d1b-4da9-bfaa-30b318c6756c - - - - - -eb0a824a-15dc-49f7-9f75-660f5d97e150 - -At(Robot,Table1) - - - -8badaabb-93be-4176-a126-ee040c644ee5->eb0a824a-15dc-49f7-9f75-660f5d97e150 - - - - - -d2209567-48ae-4092-bce8-cd4c2d93a8e8 - -PutDown(NFCJuice,Table) - - - -8badaabb-93be-4176-a126-ee040c644ee5->d2209567-48ae-4092-bce8-cd4c2d93a8e8 - - - - - -cf477e05-d3f6-48ea-a4bd-465360ff905c - -Holding(Softdrink) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->cf477e05-d3f6-48ea-a4bd-465360ff905c - - - - - -607c1b4e-64cf-47e8-8165-2870fee24828 - -At(Robot,CoffeeTable) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->607c1b4e-64cf-47e8-8165-2870fee24828 - - - - - -ff92fef8-6345-457f-a85c-4f1ee6c2fcb7 - -At(Robot,Bar2) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->ff92fef8-6345-457f-a85c-4f1ee6c2fcb7 - - - - - -7e10129f-f51f-42bd-b71f-a540cff5aff7 - -PutDown(Softdrink,CoffeeTable) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->7e10129f-f51f-42bd-b71f-a540cff5aff7 - - - - - -3262aa29-47a2-48d7-af55-752595f71db2 - -At(Robot,Bar) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->3262aa29-47a2-48d7-af55-752595f71db2 - - - - - -79a97d9c-5710-4dc7-a2ab-3137dedecb8b - -At(Robot,Bar2) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->79a97d9c-5710-4dc7-a2ab-3137dedecb8b - - - - - -28ac3942-8629-43e4-b2d2-71927ea85293 - -Holding(Water) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->28ac3942-8629-43e4-b2d2-71927ea85293 - - - - - -824595e4-0976-4e91-92dd-485bb084b227 - -PutDown(Water,Bar) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->824595e4-0976-4e91-92dd-485bb084b227 - - - - - -8501bdba-5e11-4f62-a73e-ceca589d9ec8 - -At(Robot,Bar2) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->8501bdba-5e11-4f62-a73e-ceca589d9ec8 - - - - - -1ed16c26-8320-4cb3-82ba-99b0132f936e - -At(Robot,Table2) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->1ed16c26-8320-4cb3-82ba-99b0132f936e - - - - - -3d21ac06-f36a-4397-b6ad-f4115c97704b - -Holding(Yogurt) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->3d21ac06-f36a-4397-b6ad-f4115c97704b - - - - - -ecb78259-c0ff-4d26-906f-b305f777afa2 - -PutDown(Yogurt,Table) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->ecb78259-c0ff-4d26-906f-b305f777afa2 - - - - - -f89c3ad9-001d-46f0-8b36-688e84c188a7 - -At(Robot,WaterTable) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->f89c3ad9-001d-46f0-8b36-688e84c188a7 - - - - - -4602fd85-7c06-447f-9ad3-40e807ca9932 - -Holding(Water) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->4602fd85-7c06-447f-9ad3-40e807ca9932 - - - - - -43c56c83-4fc1-42ca-a163-8772840e3237 - -PutDown(Water,WaterTable) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->43c56c83-4fc1-42ca-a163-8772840e3237 - - - - - -7e3335d0-7899-4a29-b980-81010e0962d4 - -At(Robot,Bar2) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->7e3335d0-7899-4a29-b980-81010e0962d4 - - - - - -5459e8c0-3515-4e0a-8c9e-327f743eaded - -At(Robot,WaterTable) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->5459e8c0-3515-4e0a-8c9e-327f743eaded - - - - - -7c13618b-c3e6-4861-9be9-bb01c1c6617e - -Holding(Yogurt) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->7c13618b-c3e6-4861-9be9-bb01c1c6617e - - - - - -0d234682-defb-4ccc-8b07-40a021eddfeb - -PutDown(Yogurt,WaterTable) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->0d234682-defb-4ccc-8b07-40a021eddfeb - - - - - -63294e49-3b86-4ae6-9e6f-431bd912099c - -At(Robot,WaterTable) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->63294e49-3b86-4ae6-9e6f-431bd912099c - - - - - -1d933602-c87b-4408-98c8-4b2ccbf09652 - -Holding(Dessert) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->1d933602-c87b-4408-98c8-4b2ccbf09652 - - - - - -047c2c08-a7b0-4fc8-a578-839a0ffcba95 - -PutDown(Dessert,WaterTable) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->047c2c08-a7b0-4fc8-a578-839a0ffcba95 - - - - - -95b6c99d-7b8d-4a53-b8d5-69c4dce933de - -Holding(Milk) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->95b6c99d-7b8d-4a53-b8d5-69c4dce933de - - - - - -c230ed39-df7d-47dc-b5f5-a30e54a60053 - -At(Robot,Table1) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->c230ed39-df7d-47dc-b5f5-a30e54a60053 - - - - - -2958eb51-9948-4750-9f94-18df6c505a70 - -PutDown(Milk,Table) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->2958eb51-9948-4750-9f94-18df6c505a70 - - - - - -6be54bb0-915e-4eb6-8a25-c349e6b6931c - -Holding(Water) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->6be54bb0-915e-4eb6-8a25-c349e6b6931c - - - - - -a97dea86-290b-4b81-bae0-0734085e47c3 - -At(Robot,Table1) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->a97dea86-290b-4b81-bae0-0734085e47c3 - - - - - -f557d0f3-df7e-4b26-8143-f90fd5606c59 - -PutDown(Water,Table) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->f557d0f3-df7e-4b26-8143-f90fd5606c59 - - - - - -9b366298-aa3d-4b67-886f-d3b6921b5f93 - -Holding(NFCJuice) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->9b366298-aa3d-4b67-886f-d3b6921b5f93 - - - - - -015369b8-b257-4452-9059-237b57a2d15d - -At(Robot,Bar2) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->015369b8-b257-4452-9059-237b57a2d15d - - - - - -c52b0601-dda3-479b-8694-0ec10abc776d - -At(Robot,WaterTable) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->c52b0601-dda3-479b-8694-0ec10abc776d - - - - - -44f3ea46-8af6-483b-9120-8ac48e0235fc - -PutDown(NFCJuice,WaterTable) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->44f3ea46-8af6-483b-9120-8ac48e0235fc - - - - - -c1eb1bc7-cf06-4b3a-93dd-bfb636beb887 - -Holding(Softdrink) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->c1eb1bc7-cf06-4b3a-93dd-bfb636beb887 - - - - - -afa4a407-c318-474e-b873-9a0cb468041d - -At(Robot,WaterTable) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->afa4a407-c318-474e-b873-9a0cb468041d - - - - - -10a2e40f-810b-4c9e-b737-4242459e7330 - -PutDown(Softdrink,WaterTable) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->10a2e40f-810b-4c9e-b737-4242459e7330 - - - - - -a66afc4c-1c4d-43a1-9365-18a072604ecc - -At(Robot,CoffeeTable) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->a66afc4c-1c4d-43a1-9365-18a072604ecc - - - - - -448c08bc-a093-4b82-b818-2454d660c4ef - -Holding(SpringWater) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->448c08bc-a093-4b82-b818-2454d660c4ef - - - - - -e15cd32b-0302-49db-bb70-92a5e04d762e - -PutDown(SpringWater,CoffeeTable) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->e15cd32b-0302-49db-bb70-92a5e04d762e - - - - - -c869b2e5-0248-4fc2-baf6-76a216e7facb - -Holding(Milk) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->c869b2e5-0248-4fc2-baf6-76a216e7facb - - - - - -1fe9a706-4d65-4be2-aee1-ae50d9b69021 - -At(Robot,Bar2) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->1fe9a706-4d65-4be2-aee1-ae50d9b69021 - - - - - -c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926 - -At(Robot,Table2) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926 - - - - - -39846621-25aa-4670-8867-127115cc2b63 - -PutDown(Milk,Table) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->39846621-25aa-4670-8867-127115cc2b63 - - - - - -5c80761b-44c3-44ae-8a43-b6dc9af5d05b - -Holding(ADMilk) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->5c80761b-44c3-44ae-8a43-b6dc9af5d05b - - - - - -ddf0ae84-86f2-41c4-98a8-1f2a7e761353 - -At(Robot,Table3) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->ddf0ae84-86f2-41c4-98a8-1f2a7e761353 - - - - - -3f97f67c-7668-4ccb-9df9-29c8062bed8d - -PutDown(ADMilk,Table) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->3f97f67c-7668-4ccb-9df9-29c8062bed8d - - - - - -0f32ff49-f822-40ea-9212-d74c02e0f257 - -At(Robot,BrightTable6) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->0f32ff49-f822-40ea-9212-d74c02e0f257 - - - - - -f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4 - -Holding(SpringWater) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4 - - - - - -d7b06e04-36aa-41a5-b9ed-c614c54b6616 - -PutDown(SpringWater,BrightTable) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->d7b06e04-36aa-41a5-b9ed-c614c54b6616 - - - - - -b53761c8-e407-4a85-bb8c-5a1b8750a82d - -Holding(ADMilk) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->b53761c8-e407-4a85-bb8c-5a1b8750a82d - - - - - -b0ae358c-70ee-4ee5-a9f8-95d86aeac323 - -At(Robot,Table3) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->b0ae358c-70ee-4ee5-a9f8-95d86aeac323 - - - - - -642ec862-ca0e-4eed-86a9-5aa9a0d3892f - -At(Robot,Bar2) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->642ec862-ca0e-4eed-86a9-5aa9a0d3892f - - - - - -50c6a4eb-abfc-4f98-af3c-662132ed5c13 - -PutDown(ADMilk,Table) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->50c6a4eb-abfc-4f98-af3c-662132ed5c13 - - - - - -0a30e9fb-c1cd-4f01-9b3f-e76ef155be41 - -Holding(NFCJuice) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->0a30e9fb-c1cd-4f01-9b3f-e76ef155be41 - - - - - -f1196bde-83f5-4d7c-b386-29eb9a28d9d7 - -At(Robot,CoffeeTable) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->f1196bde-83f5-4d7c-b386-29eb9a28d9d7 - - - - - -c57b08f0-95ef-4c62-8550-1dd0b919071e - -At(Robot,Bar2) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->c57b08f0-95ef-4c62-8550-1dd0b919071e - - - - - -6ab69435-8538-48cc-93fa-b19e51b432f6 - -PutDown(NFCJuice,CoffeeTable) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->6ab69435-8538-48cc-93fa-b19e51b432f6 - - - - - -76141062-e706-4b6c-9978-a9b11ba76cf8 - -Holding(VacuumCup) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->76141062-e706-4b6c-9978-a9b11ba76cf8 - - - - - -6724b3dc-9fd3-428c-a410-9597423bbce0 - -At(Robot,CoffeeTable) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->6724b3dc-9fd3-428c-a410-9597423bbce0 - - - - - -8b2eecf9-acd6-42be-ab03-42da49e8dcfb - -At(Robot,Bar2) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->8b2eecf9-acd6-42be-ab03-42da49e8dcfb - - - - - -aad92a45-85e3-43d5-8a5f-d3778d4e5f9f - -PutDown(VacuumCup,CoffeeTable) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->aad92a45-85e3-43d5-8a5f-d3778d4e5f9f - - - - - -1afe7d45-e30a-48c9-9bf0-6166136527e6 - -Holding(Milk) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->1afe7d45-e30a-48c9-9bf0-6166136527e6 - - - - - -a9f5df05-8b62-456b-b7d0-aa20ab9df15f - -At(Robot,Bar2) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->a9f5df05-8b62-456b-b7d0-aa20ab9df15f - - - - - -2f81158d-4fcb-48de-8134-c167c0d213ca - -At(Robot,Table1) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->2f81158d-4fcb-48de-8134-c167c0d213ca - - - - - -2c8ca16a-1fb5-495b-baa0-915913a647c7 - -PutDown(Milk,Table) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->2c8ca16a-1fb5-495b-baa0-915913a647c7 - - - - - -689f9452-13d5-431e-935c-1cddae840866 - -At(Robot,Table3) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->689f9452-13d5-431e-935c-1cddae840866 - - - - - -69d9021e-450e-485a-80d2-e63f7eb71d64 - -Holding(Milk) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->69d9021e-450e-485a-80d2-e63f7eb71d64 - - - - - -3c964f32-2f16-4675-95d5-ca2f82ee8180 - -PutDown(Milk,Table) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->3c964f32-2f16-4675-95d5-ca2f82ee8180 - - - - - -1f2d2bb4-0159-49f6-b94c-32375c34016f - -Holding(Softdrink) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->1f2d2bb4-0159-49f6-b94c-32375c34016f - - - - - -6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e - -At(Robot,Table1) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e - - - - - -66c8cc13-a56b-4d31-9e05-d2bc680fe3a4 - -PutDown(Softdrink,Table) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->66c8cc13-a56b-4d31-9e05-d2bc680fe3a4 - - - - - -54bbb936-6e7e-45da-bc73-a0126147371c - -At(Robot,Table3) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->54bbb936-6e7e-45da-bc73-a0126147371c - - - - - -b3359d76-135d-49a1-a4fc-23758e9c20ed - -Holding(Water) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->b3359d76-135d-49a1-a4fc-23758e9c20ed - - - - - -a9e7fd6e-89a5-4a17-a6db-6260025a5f0c - -PutDown(Water,Table) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->a9e7fd6e-89a5-4a17-a6db-6260025a5f0c - - - - - -cc36e32b-a9e0-454d-9640-8060f831a762 - -Holding(NFCJuice) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->cc36e32b-a9e0-454d-9640-8060f831a762 - - - - - -30c89365-7725-46ab-a962-b5bec5900b29 - -At(Robot,BrightTable6) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->30c89365-7725-46ab-a962-b5bec5900b29 - - - - - -0541a12a-5038-4e9e-b172-b301ed795e09 - -At(Robot,Bar2) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->0541a12a-5038-4e9e-b172-b301ed795e09 - - - - - -764584e3-f242-4c4c-b5d9-e0c8020523a1 - -PutDown(NFCJuice,BrightTable) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->764584e3-f242-4c4c-b5d9-e0c8020523a1 - - - - - -52d77e55-5352-4720-a1c7-e39cd2164a6d - -At(Robot,Bar) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->52d77e55-5352-4720-a1c7-e39cd2164a6d - - - - - -99e90a62-1a09-409a-8f10-7f4351aae38d - -Holding(Coffee) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->99e90a62-1a09-409a-8f10-7f4351aae38d - - - - - -6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19 - -PutDown(Coffee,Bar) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19 - - - - - -a40ac1cd-bf4a-4697-a57b-de9aac2497b9 - -Holding(ADMilk) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->a40ac1cd-bf4a-4697-a57b-de9aac2497b9 - - - - - -7adc49aa-d97b-4547-9515-0c386801d3e9 - -At(Robot,Bar2) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->7adc49aa-d97b-4547-9515-0c386801d3e9 - - - - - -ee45b069-e40e-4993-b892-00355984b939 - -At(Robot,Table1) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->ee45b069-e40e-4993-b892-00355984b939 - - - - - -e471c31a-f83f-43af-824c-47a154b24485 - -PutDown(ADMilk,Table) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->e471c31a-f83f-43af-824c-47a154b24485 - - - - - -98caa188-0f5a-4a3d-9711-331403998b5d - -Holding(BottledDrink) - - - -51362d97-d3fc-412a-b305-acdb608d2779->98caa188-0f5a-4a3d-9711-331403998b5d - - - - - -e8eaea33-c8b8-42d6-96c8-46043d3b4c89 - -At(Robot,BrightTable6) - - - -51362d97-d3fc-412a-b305-acdb608d2779->e8eaea33-c8b8-42d6-96c8-46043d3b4c89 - - - - - -bee4b51a-4377-4526-ab9c-01e78f041974 - -At(Robot,Bar2) - - - -51362d97-d3fc-412a-b305-acdb608d2779->bee4b51a-4377-4526-ab9c-01e78f041974 - - - - - -0aabe889-857d-4736-85d7-44ed700407b3 - -PutDown(BottledDrink,BrightTable) - - - -51362d97-d3fc-412a-b305-acdb608d2779->0aabe889-857d-4736-85d7-44ed700407b3 - - - - - -fb74a922-5cda-4f0f-a676-d18d4b4c5499 - -At(Robot,CoffeeTable) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->fb74a922-5cda-4f0f-a676-d18d4b4c5499 - - - - - -ed00b51c-9bfb-4fba-9e5c-b15f0ef82671 - -Holding(Yogurt) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->ed00b51c-9bfb-4fba-9e5c-b15f0ef82671 - - - - - -a17e7daa-80d8-437b-9904-3b1a9da510f5 - -PutDown(Yogurt,CoffeeTable) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->a17e7daa-80d8-437b-9904-3b1a9da510f5 - - - - - -8b5b19d6-0f6d-485d-a6e3-acf861582841 - -Holding(BottledDrink) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->8b5b19d6-0f6d-485d-a6e3-acf861582841 - - - - - -0d543dd4-1331-4bf0-85bb-7e9ab977b9a1 - -At(Robot,Bar2) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->0d543dd4-1331-4bf0-85bb-7e9ab977b9a1 - - - - - -75ecd76a-f7f7-4a8d-ae54-8bd76c14515e - -At(Robot,Table1) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->75ecd76a-f7f7-4a8d-ae54-8bd76c14515e - - - - - -0acf4047-763e-4d76-bf69-3128c51b3883 - -PutDown(BottledDrink,Table) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->0acf4047-763e-4d76-bf69-3128c51b3883 - - - - - -d8d2b020-3941-4d06-a03d-ca1673522ce2 - -Holding(Softdrink) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->d8d2b020-3941-4d06-a03d-ca1673522ce2 - - - - - -a4f5de8a-376d-4524-96fa-3dae8176ead5 - -At(Robot,Table3) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->a4f5de8a-376d-4524-96fa-3dae8176ead5 - - - - - -235ca445-1559-4785-b212-19a57495a1ba - -At(Robot,Bar2) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->235ca445-1559-4785-b212-19a57495a1ba - - - - - -a9fd3cf5-39bb-4a7c-a626-9a884a25d0c3 - -PutDown(Softdrink,Table) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->a9fd3cf5-39bb-4a7c-a626-9a884a25d0c3 - - - - - -a1a512d1-e093-4b17-b963-94e353688e7d - -Holding(Bernachon) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->a1a512d1-e093-4b17-b963-94e353688e7d - - - - - -674c14c1-8f4a-4543-9ac2-21316ecd6632 - -At(Robot,Table3) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->674c14c1-8f4a-4543-9ac2-21316ecd6632 - - - - - -1aa51ca8-3071-4006-ac98-4b5f786b9904 - -PutDown(Bernachon,Table) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->1aa51ca8-3071-4006-ac98-4b5f786b9904 - - - - - -47571a97-fdca-4f8d-9ab6-14119d7333f3 - -Holding(Chips) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->47571a97-fdca-4f8d-9ab6-14119d7333f3 - - - - - -9a9aba7b-5eee-42f9-a35b-3a9217e2a517 - -At(Robot,Table2) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->9a9aba7b-5eee-42f9-a35b-3a9217e2a517 - - - - - -719d9cc7-1237-49a8-9603-66635c4562f1 - -PutDown(Chips,Table) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->719d9cc7-1237-49a8-9603-66635c4562f1 - - - - - -c0bbe708-d077-4adb-8392-fbd6347bca23 - -At(Robot,Table3) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->c0bbe708-d077-4adb-8392-fbd6347bca23 - - - - - -237f902d-4711-405e-945e-dc015603a877 - -Holding(Dessert) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->237f902d-4711-405e-945e-dc015603a877 - - - - - -c428230d-f1a7-4111-aee2-b1b126208ae0 - -PutDown(Dessert,Table) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->c428230d-f1a7-4111-aee2-b1b126208ae0 - - - - - -e4dcb3c7-6a9f-4a91-a6f4-5f996e45f26a - -Holding(VacuumCup) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->e4dcb3c7-6a9f-4a91-a6f4-5f996e45f26a - - - - - -07d455c5-d957-496e-9dd2-b5518275a8c4 - -At(Robot,Table3) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->07d455c5-d957-496e-9dd2-b5518275a8c4 - - - - - -230a26fc-40de-4727-af36-c5ad0fcffdb6 - -PutDown(VacuumCup,Table) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->230a26fc-40de-4727-af36-c5ad0fcffdb6 - - - - - -da46040e-971e-40e4-a435-f4e3deb67648 - -Holding(Yogurt) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->da46040e-971e-40e4-a435-f4e3deb67648 - - - - - -be7adf39-dc95-49f3-98e6-a95e42631952 - -At(Robot,WaterTable) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->be7adf39-dc95-49f3-98e6-a95e42631952 - - - - - -0cc46565-6061-4515-98fe-c767c247fb8b - -PutDown(Yogurt,WaterTable) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->0cc46565-6061-4515-98fe-c767c247fb8b - - - - - -511be340-f4a0-4faa-8505-cfe5651f8a63 - -At(Robot,CoffeeTable) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->511be340-f4a0-4faa-8505-cfe5651f8a63 - - - - - -685092ab-d4ae-4cba-85cc-8ac7973da19d - -At(Robot,Bar2) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->685092ab-d4ae-4cba-85cc-8ac7973da19d - - - - - -631d2ce5-11d6-42e7-9058-ee0af3b2c871 - -Holding(SpringWater) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->631d2ce5-11d6-42e7-9058-ee0af3b2c871 - - - - - -7d368ce9-8a73-41f0-9b86-4d62decfa5bf - -PutDown(SpringWater,CoffeeTable) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->7d368ce9-8a73-41f0-9b86-4d62decfa5bf - - - - - -e00805de-5c78-4457-915f-6a478c0e6a60 - -Holding(Bernachon) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->e00805de-5c78-4457-915f-6a478c0e6a60 - - - - - -99987cc1-cbd4-43ce-a0a1-c21b06f2c76b - -At(Robot,WaterTable) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->99987cc1-cbd4-43ce-a0a1-c21b06f2c76b - - - - - -33596d50-442e-4bd0-97fd-424a4fc9f376 - -PutDown(Bernachon,WaterTable) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->33596d50-442e-4bd0-97fd-424a4fc9f376 - - - - - -f08e1df5-585f-4c1b-a445-754acdce1b6b - -Holding(Chips) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->f08e1df5-585f-4c1b-a445-754acdce1b6b - - - - - -2b366aa6-23f3-4cbe-9291-8e6bcc001e91 - -At(Robot,Table1) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->2b366aa6-23f3-4cbe-9291-8e6bcc001e91 - - - - - -da3f4bd1-6072-4ac7-b162-d7c9eb948570 - -PutDown(Chips,Table) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->da3f4bd1-6072-4ac7-b162-d7c9eb948570 - - - - - -d43f44e8-87a3-4206-bd1a-cb7c05c2024c - -At(Robot,BrightTable6) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->d43f44e8-87a3-4206-bd1a-cb7c05c2024c - - - - - -92598cc5-c10c-42dd-91e1-e98b8139d9d4 - -At(Robot,Bar2) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->92598cc5-c10c-42dd-91e1-e98b8139d9d4 - - - - - -0f702082-b16b-4006-ab92-e64b966dcb44 - -Holding(Dessert) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->0f702082-b16b-4006-ab92-e64b966dcb44 - - - - - -f4c91ee4-fad5-4eca-87e1-76bd556df233 - -PutDown(Dessert,BrightTable) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->f4c91ee4-fad5-4eca-87e1-76bd556df233 - - - - - -17e70025-d31f-4bfb-a8ca-f362a8e6061a - -At(Robot,CoffeeTable) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->17e70025-d31f-4bfb-a8ca-f362a8e6061a - - - - - -a192a75c-a813-4018-af51-e3b438754132 - -At(Robot,Bar2) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->a192a75c-a813-4018-af51-e3b438754132 - - - - - -b0d98124-acb8-4455-a5f4-8d03f63108bc - -Holding(Dessert) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->b0d98124-acb8-4455-a5f4-8d03f63108bc - - - - - -e6ece130-a668-4880-b89d-a2b303ee7003 - -PutDown(Dessert,CoffeeTable) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->e6ece130-a668-4880-b89d-a2b303ee7003 - - - - - -e87748cd-345a-4bb0-85b8-462dd36f3572 - -Holding(ADMilk) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->e87748cd-345a-4bb0-85b8-462dd36f3572 - - - - - -675f8b14-47fd-444f-92eb-566bd97bfcb4 - -At(Robot,CoffeeTable) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->675f8b14-47fd-444f-92eb-566bd97bfcb4 - - - - - -fa4a7948-e631-4f7a-86b1-e26da0e486a1 - -PutDown(ADMilk,CoffeeTable) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->fa4a7948-e631-4f7a-86b1-e26da0e486a1 - - - - - -9c91a8d7-3a0b-4c4b-8e99-0c2661f59682 - -Holding(Bernachon) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->9c91a8d7-3a0b-4c4b-8e99-0c2661f59682 - - - - - -a574e051-50a7-462e-b4c2-90ade280dfbf - -At(Robot,CoffeeTable) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->a574e051-50a7-462e-b4c2-90ade280dfbf - - - - - -363419d4-ba53-47f4-a1e7-e1d4f16a6b05 - -At(Robot,Bar2) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->363419d4-ba53-47f4-a1e7-e1d4f16a6b05 - - - - - -c11224fc-b599-4fb2-855c-3167a2474f7e - -PutDown(Bernachon,CoffeeTable) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->c11224fc-b599-4fb2-855c-3167a2474f7e - - - - - -f7866033-04f0-4ddb-b629-2af91ae65eeb - -Holding(VacuumCup) - - - -5cec4309-f466-470c-a956-bedec0203e0e->f7866033-04f0-4ddb-b629-2af91ae65eeb - - - - - -922bbf9a-7640-453f-b2d1-ad8854b6ba7f - -At(Robot,Table2) - - - -5cec4309-f466-470c-a956-bedec0203e0e->922bbf9a-7640-453f-b2d1-ad8854b6ba7f - - - - - -3f2f961f-ed99-4efa-b3d0-c96a67045623 - -PutDown(VacuumCup,Table) - - - -5cec4309-f466-470c-a956-bedec0203e0e->3f2f961f-ed99-4efa-b3d0-c96a67045623 - - - - - -84871e91-93af-4dc6-9633-149e0a2a9c0c - -At(Robot,Table3) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->84871e91-93af-4dc6-9633-149e0a2a9c0c - - - - - -f458ed65-6c31-4108-abfe-1e638245f767 - -Holding(Yogurt) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->f458ed65-6c31-4108-abfe-1e638245f767 - - - - - -59222ab9-cdc9-4f1e-981d-e143533dbf96 - -PutDown(Yogurt,Table) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->59222ab9-cdc9-4f1e-981d-e143533dbf96 - - - - - -b019e373-1dcc-419b-8380-d3738fc14bd5 - -Holding(ADMilk) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->b019e373-1dcc-419b-8380-d3738fc14bd5 - - - - - -3da65e43-c905-4523-862b-fd313780f660 - -At(Robot,Bar2) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->3da65e43-c905-4523-862b-fd313780f660 - - - - - -2eb86c0f-bb9e-4577-9470-f819263be0c6 - -PutDown(ADMilk,Bar) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->2eb86c0f-bb9e-4577-9470-f819263be0c6 - - - - - -24f347cd-a573-43b8-8aeb-fba3821f19c9 - -Holding(BottledDrink) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->24f347cd-a573-43b8-8aeb-fba3821f19c9 - - - - - -af0acce2-0523-4715-a7f0-5ea33d64baaf - -At(Robot,Table3) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->af0acce2-0523-4715-a7f0-5ea33d64baaf - - - - - -7446585c-7884-4b51-9123-a4687db8ae2c - -At(Robot,Bar2) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->7446585c-7884-4b51-9123-a4687db8ae2c - - - - - -300db2e4-2b2d-4973-a2e5-68c6fca3342d - -PutDown(BottledDrink,Table) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->300db2e4-2b2d-4973-a2e5-68c6fca3342d - - - - - -9dc377a0-802a-4938-9557-d2484887e2c8 - -Holding(VacuumCup) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->9dc377a0-802a-4938-9557-d2484887e2c8 - - - - - -eed4c344-508b-4271-a3f3-b65659894c2a - -At(Robot,BrightTable6) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->eed4c344-508b-4271-a3f3-b65659894c2a - - - - - -236d682d-2465-4ad9-87d2-efcaa2174de8 - -At(Robot,Bar2) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->236d682d-2465-4ad9-87d2-efcaa2174de8 - - - - - -8c0a1060-ace9-421c-a756-03855c0e69b3 - -PutDown(VacuumCup,BrightTable) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->8c0a1060-ace9-421c-a756-03855c0e69b3 - - - - - -44d21d5b-9395-44d8-9767-838704c41f3c - -Holding(BottledDrink) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->44d21d5b-9395-44d8-9767-838704c41f3c - - - - - -a5fdd66f-1934-43ba-be76-ce75f456f80b - -At(Robot,CoffeeTable) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->a5fdd66f-1934-43ba-be76-ce75f456f80b - - - - - -b3c5bbe0-0730-4d71-83c3-d433d1967bc8 - -PutDown(BottledDrink,CoffeeTable) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->b3c5bbe0-0730-4d71-83c3-d433d1967bc8 - - - - - -e0a0db31-5c35-4a84-b31b-1edf381ae1c6 - -At(Robot,CoffeeTable) - - - -c4758168-fcec-4f27-af96-33187081f78f->e0a0db31-5c35-4a84-b31b-1edf381ae1c6 - - - - - -756cf405-74c3-40bf-8b93-17ce64f5a837 - -Holding(Water) - - - -c4758168-fcec-4f27-af96-33187081f78f->756cf405-74c3-40bf-8b93-17ce64f5a837 - - - - - -e878b930-8bfb-4953-a63b-a9237815f18a - -PutDown(Water,CoffeeTable) - - - -c4758168-fcec-4f27-af96-33187081f78f->e878b930-8bfb-4953-a63b-a9237815f18a - - - - - -a15c1760-a84c-404f-99cd-92f1f80468af - -At(Robot,BrightTable6) - - - -f285fd67-1400-4727-9581-5a861e886c7b->a15c1760-a84c-404f-99cd-92f1f80468af - - - - - -3617af51-2e8c-4d2e-91e5-89431bccf003 - -Holding(ADMilk) - - - -f285fd67-1400-4727-9581-5a861e886c7b->3617af51-2e8c-4d2e-91e5-89431bccf003 - - - - - -72d2f650-b16f-44ff-8b5f-793dd7d1094d - -PutDown(ADMilk,BrightTable) - - - -f285fd67-1400-4727-9581-5a861e886c7b->72d2f650-b16f-44ff-8b5f-793dd7d1094d - - - - - -ba251089-126c-47f7-ad69-34918cadcac9 - -Holding(NFCJuice) - - - -89492c29-fbf6-44ba-a996-06db94f78073->ba251089-126c-47f7-ad69-34918cadcac9 - - - - - -9c1612a8-8571-44e1-92da-d9ffeb32b8c5 - -At(Robot,Bar) - - - -89492c29-fbf6-44ba-a996-06db94f78073->9c1612a8-8571-44e1-92da-d9ffeb32b8c5 - - - - - -7b93fa6e-339f-45c5-b78f-7d30c196824f - -PutDown(NFCJuice,Bar) - - - -89492c29-fbf6-44ba-a996-06db94f78073->7b93fa6e-339f-45c5-b78f-7d30c196824f - - - - - -0387e629-3b69-4b83-bbdb-29c46476dc58 - -At(Robot,BrightTable6) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->0387e629-3b69-4b83-bbdb-29c46476dc58 - - - - - -cf0fe3c7-a17f-4a99-bd47-0e7964fede6b - -Holding(Softdrink) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->cf0fe3c7-a17f-4a99-bd47-0e7964fede6b - - - - - -5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0 - -PutDown(Softdrink,BrightTable) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0 - - - - - -24353119-6160-4567-ad79-d841faa2e7da - -Holding(Bernachon) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->24353119-6160-4567-ad79-d841faa2e7da - - - - - -32cf3641-33af-4478-8557-e24ac074977c - -At(Robot,Table2) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->32cf3641-33af-4478-8557-e24ac074977c - - - - - -67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322 - -PutDown(Bernachon,Table) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322 - - - - - -98b367c0-2ad3-4c3b-9e43-548a7b324274 - -At(Robot,WaterTable) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->98b367c0-2ad3-4c3b-9e43-548a7b324274 - - - - - -5d50943c-e92c-4fb2-8777-12b0c363afb0 - -Holding(Water) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->5d50943c-e92c-4fb2-8777-12b0c363afb0 - - - - - -3ff61034-f0f0-4b3d-a8cf-6650e4197374 - -PutDown(Water,WaterTable) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->3ff61034-f0f0-4b3d-a8cf-6650e4197374 - - - - - -aa79fb13-82d1-4cff-ae00-7372a8d8512c - -At(Robot,CoffeeTable) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->aa79fb13-82d1-4cff-ae00-7372a8d8512c - - - - - -941718c7-c6a7-4433-83be-28138785ed12 - -Holding(Chips) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->941718c7-c6a7-4433-83be-28138785ed12 - - - - - -be6f0429-1347-4e55-8400-3ae0a2625869 - -PutDown(Chips,CoffeeTable) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->be6f0429-1347-4e55-8400-3ae0a2625869 - - - - - -97714157-6033-471b-b0ec-3ab685c8fbf7 - -Holding(Chips) - - - -60b60bf9-6bef-4cd0-8b2e-4dff52e21df9->97714157-6033-471b-b0ec-3ab685c8fbf7 - - - - - -e53a85c8-fc0a-44be-a0c6-31d6fcfad294 - -At(Robot,Table2) - - - -60b60bf9-6bef-4cd0-8b2e-4dff52e21df9->e53a85c8-fc0a-44be-a0c6-31d6fcfad294 - - - - - -3ffab793-f8bb-4c86-ab1a-474549d5fc79 - -PutDown(Chips,Table) - - - -60b60bf9-6bef-4cd0-8b2e-4dff52e21df9->3ffab793-f8bb-4c86-ab1a-474549d5fc79 - - - - - -d1111e99-05bd-4c42-b322-12719d5bf47b - -Holding(SpringWater) - - - -f140a3d3-aee2-49bf-b202-cef758185d3f->d1111e99-05bd-4c42-b322-12719d5bf47b - - - - - 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- - - -64d57ccc-ae64-4876-a1d0-36d55984d7c2 - -PutDown(Yogurt,CoffeeTable) - - - -b7fea883-e83f-43be-b0fe-00b3a1a4bbe3->64d57ccc-ae64-4876-a1d0-36d55984d7c2 - - - - - -640ecc4e-7878-41c3-a85a-8539c298d297 - -At(Robot,Bar) - - - -a70aacfb-87ab-4ac2-9768-04f341c16117->640ecc4e-7878-41c3-a85a-8539c298d297 - - - - - -1bdd7779-ddc7-48e8-aed6-e5a627b3adb4 - -Holding(Water) - - - -a70aacfb-87ab-4ac2-9768-04f341c16117->1bdd7779-ddc7-48e8-aed6-e5a627b3adb4 - - - - - -4f73d64e-8710-4e7b-a466-7cb49b9495c5 - -PutDown(Water,Bar) - - - -a70aacfb-87ab-4ac2-9768-04f341c16117->4f73d64e-8710-4e7b-a466-7cb49b9495c5 - - - - - -e99e759b-28d7-4afc-b2ed-40f23dd0321e - -Holding(NFCJuice) - - - -d97bfc33-4579-4024-a3ca-8048e2682ee2->e99e759b-28d7-4afc-b2ed-40f23dd0321e - - - - - -80efd2d4-e24c-4d73-a980-a10ed7e4bae0 - -At(Robot,CoffeeTable) - - - -d97bfc33-4579-4024-a3ca-8048e2682ee2->80efd2d4-e24c-4d73-a980-a10ed7e4bae0 - - - - - -6ed85a43-0121-4069-82a1-66b725290360 - -PutDown(NFCJuice,CoffeeTable) - - - 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style=filled]; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" -> "d578ed48-352e-4e42-8278-434b4f5451d6"; -"dc84eb2f-37a8-4ca8-b22f-d6dc29c36298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" -> "dc84eb2f-37a8-4ca8-b22f-d6dc29c36298"; -"06a33dff-e6e9-41b2-81db-93a258d25af7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, style=filled]; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" -> "06a33dff-e6e9-41b2-81db-93a258d25af7"; -"5174faeb-e5a8-46d2-9b86-a993336a871b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "5174faeb-e5a8-46d2-9b86-a993336a871b"; -"a43e4e37-9f23-4594-9cf6-760458b63cc4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5174faeb-e5a8-46d2-9b86-a993336a871b" -> 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fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"e4b6855b-17d5-495d-9fad-08a266d18ac2" -> "dcd7df09-91a2-41f3-bab0-ec030c71310e"; -"8dc1b1df-4d9e-4603-ad38-0baa9c049797" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Water)", shape=box, style=filled]; -"e4b6855b-17d5-495d-9fad-08a266d18ac2" -> "8dc1b1df-4d9e-4603-ad38-0baa9c049797"; -"f887cbda-79fd-42ee-acd7-aef68095e6bd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f887cbda-79fd-42ee-acd7-aef68095e6bd"; -"abe418ae-3d7e-4f01-ac52-9926ec118bdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"f887cbda-79fd-42ee-acd7-aef68095e6bd" -> "abe418ae-3d7e-4f01-ac52-9926ec118bdd"; -"5a33031a-8064-4896-9359-59074ec00788" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(MilkDrink)", shape=ellipse, style=filled]; -"f887cbda-79fd-42ee-acd7-aef68095e6bd" -> "5a33031a-8064-4896-9359-59074ec00788"; -"5f200b61-1832-4a38-9a2b-0fe633e22f25" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(MilkDrink)", shape=box, style=filled]; -"f887cbda-79fd-42ee-acd7-aef68095e6bd" -> "5f200b61-1832-4a38-9a2b-0fe633e22f25"; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3c719827-c0c0-4a62-9df0-8b6f2db0efca"; -"9dfbc4a2-d4bd-4b03-a645-6c613afd8801" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "9dfbc4a2-d4bd-4b03-a645-6c613afd8801"; -"505c330a-783a-4cc4-a3c4-fdf2c3c60ee4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(MilkDrink)", shape=ellipse, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "505c330a-783a-4cc4-a3c4-fdf2c3c60ee4"; -"9e90c5c6-4012-4199-b50b-9fc9959bd72b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(MilkDrink)", shape=box, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "9e90c5c6-4012-4199-b50b-9fc9959bd72b"; -"f8322e61-c760-48a0-8134-bec0db031fa3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f8322e61-c760-48a0-8134-bec0db031fa3"; -"834ad8eb-436d-4c81-9931-61b88846c09a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"f8322e61-c760-48a0-8134-bec0db031fa3" -> "834ad8eb-436d-4c81-9931-61b88846c09a"; -"f9b84816-e5a7-4852-a61d-17d4734952bb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"f8322e61-c760-48a0-8134-bec0db031fa3" -> "f9b84816-e5a7-4852-a61d-17d4734952bb"; -"b892ace1-a73e-45ee-b821-926575e7402e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f8322e61-c760-48a0-8134-bec0db031fa3" -> "b892ace1-a73e-45ee-b821-926575e7402e"; -"e82c8c59-d69c-43d7-8c14-8f4c8af8bb73" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"f8322e61-c760-48a0-8134-bec0db031fa3" -> "e82c8c59-d69c-43d7-8c14-8f4c8af8bb73"; -"756a6001-5872-411e-9656-4598b09b2715" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "756a6001-5872-411e-9656-4598b09b2715"; -"bc5769d3-4515-4a5d-a071-4aaaef6f4ccb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"756a6001-5872-411e-9656-4598b09b2715" -> "bc5769d3-4515-4a5d-a071-4aaaef6f4ccb"; -"006499a6-def1-4daa-a18a-5e2be825511e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"756a6001-5872-411e-9656-4598b09b2715" -> "006499a6-def1-4daa-a18a-5e2be825511e"; -"0b08d271-4e68-43c3-9eba-76272242bb1e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"756a6001-5872-411e-9656-4598b09b2715" -> "0b08d271-4e68-43c3-9eba-76272242bb1e"; -"b890b50e-6907-4f8c-82dd-79f6874ca7b5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"756a6001-5872-411e-9656-4598b09b2715" -> "b890b50e-6907-4f8c-82dd-79f6874ca7b5"; -"a3b9edf2-4503-47c3-bb7a-bca0cf082adc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "a3b9edf2-4503-47c3-bb7a-bca0cf082adc"; -"2e5caa84-0a1d-4492-8eb9-9325c5bff8ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"a3b9edf2-4503-47c3-bb7a-bca0cf082adc" -> "2e5caa84-0a1d-4492-8eb9-9325c5bff8ef"; -"6a0dbd1f-dad3-4057-9560-c55e654f8b29" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a3b9edf2-4503-47c3-bb7a-bca0cf082adc" -> "6a0dbd1f-dad3-4057-9560-c55e654f8b29"; -"f045b81c-9246-4b92-bc5d-2f2a60da5c74" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a3b9edf2-4503-47c3-bb7a-bca0cf082adc" -> "f045b81c-9246-4b92-bc5d-2f2a60da5c74"; -"e6c2fff2-e61f-4d30-9963-313c507283b4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"a3b9edf2-4503-47c3-bb7a-bca0cf082adc" -> "e6c2fff2-e61f-4d30-9963-313c507283b4"; -"b755d127-56e2-4960-ad85-d858ad1c0b93" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b755d127-56e2-4960-ad85-d858ad1c0b93"; -"67766f45-1eb8-4c6e-a22d-e5d88c305596" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"b755d127-56e2-4960-ad85-d858ad1c0b93" -> "67766f45-1eb8-4c6e-a22d-e5d88c305596"; -"2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b755d127-56e2-4960-ad85-d858ad1c0b93" -> "2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5"; -"811b780f-ff50-414b-8892-b2088b9aa876" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b755d127-56e2-4960-ad85-d858ad1c0b93" -> "811b780f-ff50-414b-8892-b2088b9aa876"; -"00de2ae3-25f6-4ac9-be9b-c914d52f1d80" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"b755d127-56e2-4960-ad85-d858ad1c0b93" -> "00de2ae3-25f6-4ac9-be9b-c914d52f1d80"; -"fdef7b85-e1de-4320-9cf9-1a90f6da09dc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "fdef7b85-e1de-4320-9cf9-1a90f6da09dc"; -"5fa030e4-3735-4786-8df4-f286eb54c507" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"fdef7b85-e1de-4320-9cf9-1a90f6da09dc" -> "5fa030e4-3735-4786-8df4-f286eb54c507"; -"f1482616-78e8-4d02-bf01-6fef3474cedf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fdef7b85-e1de-4320-9cf9-1a90f6da09dc" -> "f1482616-78e8-4d02-bf01-6fef3474cedf"; -"a6b9d511-7200-4141-8323-7c9795d6ec62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"fdef7b85-e1de-4320-9cf9-1a90f6da09dc" -> "a6b9d511-7200-4141-8323-7c9795d6ec62"; -"fcc60694-2f14-40a0-ad98-009615c14554" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable)", shape=box, style=filled]; -"fdef7b85-e1de-4320-9cf9-1a90f6da09dc" -> "fcc60694-2f14-40a0-ad98-009615c14554"; -"71e31f7a-6278-45b4-bf59-8ee3b72d5eb3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "71e31f7a-6278-45b4-bf59-8ee3b72d5eb3"; -"4a2ec554-cacf-4119-b4ff-ca28deecb50a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"71e31f7a-6278-45b4-bf59-8ee3b72d5eb3" -> "4a2ec554-cacf-4119-b4ff-ca28deecb50a"; -"b31c21b7-e275-4e18-a29d-94aba02e18b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"71e31f7a-6278-45b4-bf59-8ee3b72d5eb3" -> "b31c21b7-e275-4e18-a29d-94aba02e18b7"; -"07bdf2e1-65fc-4eca-b287-f3a27bb9943a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"71e31f7a-6278-45b4-bf59-8ee3b72d5eb3" -> "07bdf2e1-65fc-4eca-b287-f3a27bb9943a"; -"7336e78b-dfe2-49ad-ab03-082ff310e178" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable)", shape=box, style=filled]; -"71e31f7a-6278-45b4-bf59-8ee3b72d5eb3" -> "7336e78b-dfe2-49ad-ab03-082ff310e178"; -"6f385c7d-ad18-49d2-8d52-42b9fee7ec45" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6f385c7d-ad18-49d2-8d52-42b9fee7ec45"; -"c77bcc04-cc34-4ce3-8419-d78d859202fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"6f385c7d-ad18-49d2-8d52-42b9fee7ec45" -> "c77bcc04-cc34-4ce3-8419-d78d859202fb"; -"1560a805-7b2e-4fd7-97a1-1e1a07d68c66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6f385c7d-ad18-49d2-8d52-42b9fee7ec45" -> "1560a805-7b2e-4fd7-97a1-1e1a07d68c66"; -"90df8f80-2ddd-4c42-9135-f781ca2c99ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"6f385c7d-ad18-49d2-8d52-42b9fee7ec45" -> "90df8f80-2ddd-4c42-9135-f781ca2c99ed"; -"310b5bff-57fc-4048-99c3-4b8755ef4e46" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"6f385c7d-ad18-49d2-8d52-42b9fee7ec45" -> "310b5bff-57fc-4048-99c3-4b8755ef4e46"; -"e034cb78-c51b-45a9-b086-6dfbbd8837c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e034cb78-c51b-45a9-b086-6dfbbd8837c9"; -"2a110753-7a00-406b-b470-e780bb5785d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"e034cb78-c51b-45a9-b086-6dfbbd8837c9" -> "2a110753-7a00-406b-b470-e780bb5785d8"; -"50c846c3-53d5-42b5-b66d-93115ece3e6e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e034cb78-c51b-45a9-b086-6dfbbd8837c9" -> "50c846c3-53d5-42b5-b66d-93115ece3e6e"; -"bed539fb-82fa-4847-a200-018df318dff2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"e034cb78-c51b-45a9-b086-6dfbbd8837c9" -> "bed539fb-82fa-4847-a200-018df318dff2"; -"9a6fde0f-1b5e-49c5-b870-3e308e7f460c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"e034cb78-c51b-45a9-b086-6dfbbd8837c9" -> "9a6fde0f-1b5e-49c5-b870-3e308e7f460c"; -"e2dc7578-000a-4e38-a525-93d26ee743b1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e2dc7578-000a-4e38-a525-93d26ee743b1"; -"e85d5cbb-5b61-420a-a815-6568d921baad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"e2dc7578-000a-4e38-a525-93d26ee743b1" -> "e85d5cbb-5b61-420a-a815-6568d921baad"; -"7237eafd-ce32-4249-847b-a5cc536fc1d9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e2dc7578-000a-4e38-a525-93d26ee743b1" -> "7237eafd-ce32-4249-847b-a5cc536fc1d9"; -"d3eab907-ace7-4de5-a647-5bee699778d5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"e2dc7578-000a-4e38-a525-93d26ee743b1" -> "d3eab907-ace7-4de5-a647-5bee699778d5"; -"41b241f2-6239-4e66-a9eb-c4a2bd809b2e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"e2dc7578-000a-4e38-a525-93d26ee743b1" -> "41b241f2-6239-4e66-a9eb-c4a2bd809b2e"; -"a4158887-42f3-4699-b0ee-1da6eef3bd65" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "a4158887-42f3-4699-b0ee-1da6eef3bd65"; -"ed384a38-5be1-4604-83b7-958335a6185d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"a4158887-42f3-4699-b0ee-1da6eef3bd65" -> "ed384a38-5be1-4604-83b7-958335a6185d"; -"e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a4158887-42f3-4699-b0ee-1da6eef3bd65" -> "e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a"; -"2db70426-2b53-4497-b4ca-556a0d01d586" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"a4158887-42f3-4699-b0ee-1da6eef3bd65" -> "2db70426-2b53-4497-b4ca-556a0d01d586"; -"b6f84f8a-e197-47fd-9c6d-738ae6ee42e7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"a4158887-42f3-4699-b0ee-1da6eef3bd65" -> "b6f84f8a-e197-47fd-9c6d-738ae6ee42e7"; -"2e5476e8-c94c-4628-8e50-974a5abbd50b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2e5476e8-c94c-4628-8e50-974a5abbd50b"; -"25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"2e5476e8-c94c-4628-8e50-974a5abbd50b" -> "25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0"; -"16d65b39-e95e-4972-b048-a6e7251ba689" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2e5476e8-c94c-4628-8e50-974a5abbd50b" -> "16d65b39-e95e-4972-b048-a6e7251ba689"; -"089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2e5476e8-c94c-4628-8e50-974a5abbd50b" -> "089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9"; -"77427661-0eee-4a1e-af10-d769245f7268" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"2e5476e8-c94c-4628-8e50-974a5abbd50b" -> "77427661-0eee-4a1e-af10-d769245f7268"; -"b97daea1-259e-4da7-908c-2194b1e4faaf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b97daea1-259e-4da7-908c-2194b1e4faaf"; -"5e849c18-18ee-4ac3-b17c-9168e36406f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"b97daea1-259e-4da7-908c-2194b1e4faaf" -> "5e849c18-18ee-4ac3-b17c-9168e36406f2"; -"82466a6e-61e4-419d-8be1-1aadf126c405" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b97daea1-259e-4da7-908c-2194b1e4faaf" -> "82466a6e-61e4-419d-8be1-1aadf126c405"; 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e28ec206-b5b3-4fa6-9e68-48198f269c79"; -"d25928c8-1f99-45fe-b7ee-74f10b4f693b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e28ec206-b5b3-4fa6-9e68-48198f269c79" -> "d25928c8-1f99-45fe-b7ee-74f10b4f693b"; -"c98a5d3c-9cca-4a65-9916-21883b730200" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"e28ec206-b5b3-4fa6-9e68-48198f269c79" -> "c98a5d3c-9cca-4a65-9916-21883b730200"; -"27a991b1-f415-4f13-a39a-07e5d8795ea6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "27a991b1-f415-4f13-a39a-07e5d8795ea6"; -"02577764-d663-4b32-ad51-80f7cb737c70" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "02577764-d663-4b32-ad51-80f7cb737c70"; -"573e4c1a-9adf-4a2e-8334-7f4b9603017a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "573e4c1a-9adf-4a2e-8334-7f4b9603017a"; -"ea552750-a109-466f-961c-0791bf5d30e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "ea552750-a109-466f-961c-0791bf5d30e3"; -"8000c9d4-a026-4d6b-9ad9-100af03743d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "8000c9d4-a026-4d6b-9ad9-100af03743d6"; -"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "fda32cb2-9479-440b-b0e3-d54e7b855d67"; -"96ed9db2-f11a-436b-ac00-65bcc7089658" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "96ed9db2-f11a-436b-ac00-65bcc7089658"; -"357efdd8-9523-409b-b111-9eba86ebb279" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "357efdd8-9523-409b-b111-9eba86ebb279"; -"725da734-2dde-4338-898b-8eb99f31ffb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"357efdd8-9523-409b-b111-9eba86ebb279" -> "725da734-2dde-4338-898b-8eb99f31ffb5"; -"41cd0dec-c20e-429a-9052-f1e5dc47c3b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"357efdd8-9523-409b-b111-9eba86ebb279" -> "41cd0dec-c20e-429a-9052-f1e5dc47c3b6"; -"1cc26fcd-14f9-4534-ada7-608f39f271c9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"357efdd8-9523-409b-b111-9eba86ebb279" -> "1cc26fcd-14f9-4534-ada7-608f39f271c9"; -"154c27c1-f26e-4a7c-8fca-821c67c6df4a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"357efdd8-9523-409b-b111-9eba86ebb279" -> "154c27c1-f26e-4a7c-8fca-821c67c6df4a"; -"e7690e2b-f63d-448d-8ba4-aa6e073cec63" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e7690e2b-f63d-448d-8ba4-aa6e073cec63"; -"519ab3a9-d5b5-4866-b9c9-1f0cb46e08da" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; 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"5b0a92b5-c6ea-4905-a031-b4cf236f554e"; -"e895c1c9-3eeb-43ad-ba9a-6725f830b745" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "e895c1c9-3eeb-43ad-ba9a-6725f830b745"; -"ac039bb1-aa57-40a6-977b-a99ac819540b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "ac039bb1-aa57-40a6-977b-a99ac819540b"; -"c72acc87-4595-4401-a157-a2be9de817e5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "c72acc87-4595-4401-a157-a2be9de817e5"; -"34a536c6-7969-46e1-be66-d6095f08efd2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; -"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "34a536c6-7969-46e1-be66-d6095f08efd2"; -"c20979c4-e5f5-4227-88a7-e46de769aaff" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "c20979c4-e5f5-4227-88a7-e46de769aaff"; -"f9e4fb11-d429-4a92-94d6-0b767ac5cf7a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"c20979c4-e5f5-4227-88a7-e46de769aaff" -> "f9e4fb11-d429-4a92-94d6-0b767ac5cf7a"; -"42687c93-be97-4a2f-8a09-ce0d9e60a9b8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"c20979c4-e5f5-4227-88a7-e46de769aaff" -> "42687c93-be97-4a2f-8a09-ce0d9e60a9b8"; -"ebc5df15-34e5-4af4-94f9-5c21a87636ee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"c20979c4-e5f5-4227-88a7-e46de769aaff" -> "ebc5df15-34e5-4af4-94f9-5c21a87636ee"; -"dd32cf5f-1639-4090-9fa7-6bb6885b7f7d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; -"c20979c4-e5f5-4227-88a7-e46de769aaff" -> "dd32cf5f-1639-4090-9fa7-6bb6885b7f7d"; -"801804ea-2973-4813-a83e-3f967aa37235" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "801804ea-2973-4813-a83e-3f967aa37235"; -"03ceebe1-f789-4e5f-b268-673953e52fe3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"801804ea-2973-4813-a83e-3f967aa37235" -> "03ceebe1-f789-4e5f-b268-673953e52fe3"; -"97bacb8c-9b60-4697-a5b7-f0b5304259c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"801804ea-2973-4813-a83e-3f967aa37235" -> "97bacb8c-9b60-4697-a5b7-f0b5304259c3"; -"a0a8d458-770b-45f3-a61e-6d6405dc6d86" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"801804ea-2973-4813-a83e-3f967aa37235" -> "a0a8d458-770b-45f3-a61e-6d6405dc6d86"; -"78254e3f-21d2-43c4-92f9-de3cb22f82af" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"801804ea-2973-4813-a83e-3f967aa37235" -> "78254e3f-21d2-43c4-92f9-de3cb22f82af"; -"bf96c080-fcb6-4f26-a2c1-31b2d99f9a33" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bf96c080-fcb6-4f26-a2c1-31b2d99f9a33"; -"69d1b556-b51d-4dfd-bcca-9616e33eb3aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"bf96c080-fcb6-4f26-a2c1-31b2d99f9a33" -> "69d1b556-b51d-4dfd-bcca-9616e33eb3aa"; -"ba97a2a9-85c1-49b8-8964-0cb131b28fa0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bf96c080-fcb6-4f26-a2c1-31b2d99f9a33" -> "ba97a2a9-85c1-49b8-8964-0cb131b28fa0"; -"8fc4a594-0b2c-465a-a3c5-e61fcc4ec285" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"bf96c080-fcb6-4f26-a2c1-31b2d99f9a33" -> "8fc4a594-0b2c-465a-a3c5-e61fcc4ec285"; -"0c7c68cb-3c00-4f1b-b4ac-159f0febfd94" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"bf96c080-fcb6-4f26-a2c1-31b2d99f9a33" -> "0c7c68cb-3c00-4f1b-b4ac-159f0febfd94"; -"9571a8b5-83c4-447b-9cbc-0d3330767e0f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9571a8b5-83c4-447b-9cbc-0d3330767e0f"; -"87475a82-c787-4333-b98d-4f5129eb1e2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"9571a8b5-83c4-447b-9cbc-0d3330767e0f" -> "87475a82-c787-4333-b98d-4f5129eb1e2a"; -"c4807754-3c85-431a-b6f2-7dd3d51edcc0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9571a8b5-83c4-447b-9cbc-0d3330767e0f" -> "c4807754-3c85-431a-b6f2-7dd3d51edcc0"; -"22296acb-4dcc-4a73-b12e-2f0a389b8693" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"9571a8b5-83c4-447b-9cbc-0d3330767e0f" -> "22296acb-4dcc-4a73-b12e-2f0a389b8693"; -"f7b8591b-61b1-4710-80cb-4c85783da0a5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"9571a8b5-83c4-447b-9cbc-0d3330767e0f" -> "f7b8591b-61b1-4710-80cb-4c85783da0a5"; -"440a9751-9462-4400-a181-b7c27b2a9db7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "440a9751-9462-4400-a181-b7c27b2a9db7"; -"93033635-ec70-4700-ae88-618d64d20102" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"440a9751-9462-4400-a181-b7c27b2a9db7" -> "93033635-ec70-4700-ae88-618d64d20102"; -"b1963276-0f4f-434c-aee3-ab70b690cd02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"440a9751-9462-4400-a181-b7c27b2a9db7" -> "b1963276-0f4f-434c-aee3-ab70b690cd02"; -"74706a24-703f-4efd-ac8c-98440aeb77a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"440a9751-9462-4400-a181-b7c27b2a9db7" -> "74706a24-703f-4efd-ac8c-98440aeb77a9"; -"488d9b15-98de-41ce-9a9a-acaa95681b1f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"440a9751-9462-4400-a181-b7c27b2a9db7" -> "488d9b15-98de-41ce-9a9a-acaa95681b1f"; -"6b084472-7fe5-4a08-be92-dcfe450f1927" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6b084472-7fe5-4a08-be92-dcfe450f1927"; -"7d87a66e-cf22-41e7-abda-d8985caf68dd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"6b084472-7fe5-4a08-be92-dcfe450f1927" -> "7d87a66e-cf22-41e7-abda-d8985caf68dd"; -"e36801ef-69f3-4c4f-bd53-fbe7cc216d65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6b084472-7fe5-4a08-be92-dcfe450f1927" -> "e36801ef-69f3-4c4f-bd53-fbe7cc216d65"; -"9080702b-8b46-4347-b48c-e64cd1c72594" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"6b084472-7fe5-4a08-be92-dcfe450f1927" -> "9080702b-8b46-4347-b48c-e64cd1c72594"; -"afb32060-9881-48b5-962f-13a9b26a7062" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"6b084472-7fe5-4a08-be92-dcfe450f1927" -> "afb32060-9881-48b5-962f-13a9b26a7062"; -"43c48a71-5a8e-4432-89b5-43fb12bf680e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "43c48a71-5a8e-4432-89b5-43fb12bf680e"; -"7f1d8d28-75a8-4022-94a4-b93b6e7bfe98" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"43c48a71-5a8e-4432-89b5-43fb12bf680e" -> "7f1d8d28-75a8-4022-94a4-b93b6e7bfe98"; -"cca9a968-10ae-43d9-896c-86dc4547f343" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"43c48a71-5a8e-4432-89b5-43fb12bf680e" -> "cca9a968-10ae-43d9-896c-86dc4547f343"; -"afdab362-4166-4654-b049-f4d98fe2a04f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"43c48a71-5a8e-4432-89b5-43fb12bf680e" -> "afdab362-4166-4654-b049-f4d98fe2a04f"; -"c6355bfb-1a20-4b57-b1c9-2bbc4549de38" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"43c48a71-5a8e-4432-89b5-43fb12bf680e" -> "c6355bfb-1a20-4b57-b1c9-2bbc4549de38"; -"75062b28-a86a-403d-b4f1-d7dd1b4c0ab6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "75062b28-a86a-403d-b4f1-d7dd1b4c0ab6"; -"d0eed6d5-ac3d-4355-afbc-96240ab04004" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"75062b28-a86a-403d-b4f1-d7dd1b4c0ab6" -> "d0eed6d5-ac3d-4355-afbc-96240ab04004"; -"3b3bdda4-8900-4393-baab-4ce40b2c8813" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"75062b28-a86a-403d-b4f1-d7dd1b4c0ab6" -> "3b3bdda4-8900-4393-baab-4ce40b2c8813"; -"ae672419-e000-4454-9daf-12d3bd1e7b7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"75062b28-a86a-403d-b4f1-d7dd1b4c0ab6" -> "ae672419-e000-4454-9daf-12d3bd1e7b7d"; -"77db7586-030f-4c38-9c00-6579fd80a558" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"75062b28-a86a-403d-b4f1-d7dd1b4c0ab6" -> "77db7586-030f-4c38-9c00-6579fd80a558"; -"36f0492d-b544-43d0-b17e-7ee3cade6e77" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "36f0492d-b544-43d0-b17e-7ee3cade6e77"; -"fb099622-2563-4600-a960-b4ef8701b551" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"36f0492d-b544-43d0-b17e-7ee3cade6e77" -> "fb099622-2563-4600-a960-b4ef8701b551"; -"b685bea1-4c45-414a-8757-7f14faba128f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"36f0492d-b544-43d0-b17e-7ee3cade6e77" -> "b685bea1-4c45-414a-8757-7f14faba128f"; -"dc45fd1b-9411-49bf-bfc1-8a66a3c693f7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"36f0492d-b544-43d0-b17e-7ee3cade6e77" -> "dc45fd1b-9411-49bf-bfc1-8a66a3c693f7"; -"1225c423-38ba-449e-a0d2-3a3f22047cdc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"36f0492d-b544-43d0-b17e-7ee3cade6e77" -> "1225c423-38ba-449e-a0d2-3a3f22047cdc"; -"df747a34-fd41-4806-a3ac-f48039e2dc10" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "df747a34-fd41-4806-a3ac-f48039e2dc10"; -"ad6e0026-3910-4ca0-a538-e2ce2afdd4d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"df747a34-fd41-4806-a3ac-f48039e2dc10" -> "ad6e0026-3910-4ca0-a538-e2ce2afdd4d8"; -"eb397d43-a93a-418f-9cd7-c76469c32f50" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"df747a34-fd41-4806-a3ac-f48039e2dc10" -> "eb397d43-a93a-418f-9cd7-c76469c32f50"; -"9c86ebe6-2eb4-4371-ae06-8088d17d1081" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"df747a34-fd41-4806-a3ac-f48039e2dc10" -> "9c86ebe6-2eb4-4371-ae06-8088d17d1081"; -"97576553-3f2f-429b-ad22-3b48711162cb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"df747a34-fd41-4806-a3ac-f48039e2dc10" -> "97576553-3f2f-429b-ad22-3b48711162cb"; -"122635e8-1e6d-4cbc-a883-6a2410f50467" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "122635e8-1e6d-4cbc-a883-6a2410f50467"; -"fc2b62b2-2877-44b9-9c71-d1bb7574a290" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"122635e8-1e6d-4cbc-a883-6a2410f50467" -> "fc2b62b2-2877-44b9-9c71-d1bb7574a290"; -"4fbdba4b-4e97-427c-abc4-b6088b5c8f18" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"122635e8-1e6d-4cbc-a883-6a2410f50467" -> "4fbdba4b-4e97-427c-abc4-b6088b5c8f18"; -"ab538a18-032d-4cb5-b9a3-deccc603b16f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"122635e8-1e6d-4cbc-a883-6a2410f50467" -> "ab538a18-032d-4cb5-b9a3-deccc603b16f"; -"e6ee2f3f-35d9-4171-9f0d-04da93b5488e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"122635e8-1e6d-4cbc-a883-6a2410f50467" -> "e6ee2f3f-35d9-4171-9f0d-04da93b5488e"; -"9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77"; -"4cbad523-0beb-4146-b0c2-c83ca3ccf159" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77" -> "4cbad523-0beb-4146-b0c2-c83ca3ccf159"; -"d5655201-cf7f-4b5d-9adc-dc9ee630b287" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77" -> "d5655201-cf7f-4b5d-9adc-dc9ee630b287"; -"91dabde5-893a-4b25-9e46-0b72c8325415" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77" -> "91dabde5-893a-4b25-9e46-0b72c8325415"; 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label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"2984bc1c-bcf4-4241-8a4d-43cfa38f3707" -> "7ca6a300-46b2-4eb7-ae28-1b1906d6845e"; -"f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2984bc1c-bcf4-4241-8a4d-43cfa38f3707" -> "f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c"; -"1c21071a-f698-444c-9a42-4c268226d868" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"2984bc1c-bcf4-4241-8a4d-43cfa38f3707" -> "1c21071a-f698-444c-9a42-4c268226d868"; -"afdc5417-4174-4acf-b154-466640f47121" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "afdc5417-4174-4acf-b154-466640f47121"; -"53fae12e-0601-47d5-955d-235e9035d37a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"afdc5417-4174-4acf-b154-466640f47121" -> "53fae12e-0601-47d5-955d-235e9035d37a"; -"745f5376-66fa-43a2-8a10-98a72da73ab5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"afdc5417-4174-4acf-b154-466640f47121" -> "745f5376-66fa-43a2-8a10-98a72da73ab5"; -"d5210238-b942-4771-b053-4aa3a4ac2aa1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"afdc5417-4174-4acf-b154-466640f47121" -> "d5210238-b942-4771-b053-4aa3a4ac2aa1"; -"92c6de1c-420b-43d7-b5cb-4e8d52e7555a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"afdc5417-4174-4acf-b154-466640f47121" -> "92c6de1c-420b-43d7-b5cb-4e8d52e7555a"; -"cd558a0b-9d0f-49ef-b57d-ebd98c7c006b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"301d7108-c6ac-4732-8b0f-ec1d0bad0d5f" -> "e285a7c7-339d-484e-86f8-18309409c93a"; -"2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"301d7108-c6ac-4732-8b0f-ec1d0bad0d5f" -> "2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4"; -"08c03a7d-7918-4cc1-9d71-9fd983a2791e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "08c03a7d-7918-4cc1-9d71-9fd983a2791e"; -"2a2cd367-8a05-45c0-9307-f26ede2b6d06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"08c03a7d-7918-4cc1-9d71-9fd983a2791e" -> "2a2cd367-8a05-45c0-9307-f26ede2b6d06"; -"656887dd-6e1a-41ee-b826-ba4fb808b736" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"08c03a7d-7918-4cc1-9d71-9fd983a2791e" -> "656887dd-6e1a-41ee-b826-ba4fb808b736"; -"3b9b258e-6357-4fed-a9ea-05288d22e361" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"08c03a7d-7918-4cc1-9d71-9fd983a2791e" -> "3b9b258e-6357-4fed-a9ea-05288d22e361"; -"9ed1223e-bcdb-4f79-bda7-0e836fd191db" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"08c03a7d-7918-4cc1-9d71-9fd983a2791e" -> "9ed1223e-bcdb-4f79-bda7-0e836fd191db"; -"11ca6a7b-396e-465f-b615-ffd74c1b8cb5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "11ca6a7b-396e-465f-b615-ffd74c1b8cb5"; -"02d50255-e1bd-40a0-ac0b-35f604ce6337" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"11ca6a7b-396e-465f-b615-ffd74c1b8cb5" -> "02d50255-e1bd-40a0-ac0b-35f604ce6337"; -"a8a996e6-5952-4943-8f67-5047cffcd034" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"11ca6a7b-396e-465f-b615-ffd74c1b8cb5" -> "a8a996e6-5952-4943-8f67-5047cffcd034"; -"2a943904-3e7d-45db-99a9-37e7c19557b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"11ca6a7b-396e-465f-b615-ffd74c1b8cb5" -> "2a943904-3e7d-45db-99a9-37e7c19557b7"; -"a141c668-9935-4bd1-9b29-715d6f6ed9c5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"11ca6a7b-396e-465f-b615-ffd74c1b8cb5" -> "a141c668-9935-4bd1-9b29-715d6f6ed9c5"; -"b6c81cd7-0872-435a-80d6-bd3d604897fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"3adba6e3-fc27-49a4-bc78-75440812688c" -> "a153fa09-89c2-48c5-a0f3-8ace6e5121c5"; -"8b20e089-3dc1-4e22-9390-5fb87026386e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"3adba6e3-fc27-49a4-bc78-75440812688c" -> "8b20e089-3dc1-4e22-9390-5fb87026386e"; -"069fa54f-a41b-45d9-822b-8f3b2539e88a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "069fa54f-a41b-45d9-822b-8f3b2539e88a"; -"5a5a3184-f03e-458e-b244-7870eb84b726" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"069fa54f-a41b-45d9-822b-8f3b2539e88a" -> "5a5a3184-f03e-458e-b244-7870eb84b726"; -"d701a3fe-ad1c-4e26-bfc6-fc0babebec07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2f6eea1d-d934-43d3-93cd-fdc1d0831426"; -"081215cb-6236-440d-9b40-79a307e506a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "081215cb-6236-440d-9b40-79a307e506a4"; -"da1ae0dc-5de1-4a25-9219-379f4225c198" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "da1ae0dc-5de1-4a25-9219-379f4225c198"; -"a4aca557-f0da-4622-9222-48d35a84b1f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "a4aca557-f0da-4622-9222-48d35a84b1f3"; -"5c75d86b-1001-41ab-96fe-3a0d38d9e35c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "e517b5dc-fa48-43db-84ea-8f2bdf4659f5"; -"329f7a75-663a-43e0-a228-e4ed325283ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "329f7a75-663a-43e0-a228-e4ed325283ac"; -"576505ff-6e15-4284-900e-6e084ed8a945" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "576505ff-6e15-4284-900e-6e084ed8a945"; -"d29a2927-7c93-4f4f-b56e-7240a761d826" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d29a2927-7c93-4f4f-b56e-7240a761d826"; -"3bdea8c7-c612-4aae-925e-d27be101daf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "3bdea8c7-c612-4aae-925e-d27be101daf1"; -"f4fdd3a3-2c86-4cb8-903a-8f76a9424b94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "f4fdd3a3-2c86-4cb8-903a-8f76a9424b94"; -"61783b56-4bd1-49bf-9d85-02bd84711b73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "61783b56-4bd1-49bf-9d85-02bd84711b73"; -"a234deda-6375-4853-9ac6-8982fa06ef45" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "a234deda-6375-4853-9ac6-8982fa06ef45"; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"5fed78a9-ace8-466c-983c-da759638e9a0" -> "b591ca05-44a7-47be-a6d0-b0f37071abe5"; -"1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec"; -"684aca91-2e21-427d-85cd-49b5682049df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec" -> "684aca91-2e21-427d-85cd-49b5682049df"; -"38269190-fa4b-47de-b936-0a0448c04c75" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec" -> "38269190-fa4b-47de-b936-0a0448c04c75"; -"813ae4b0-c0a2-41df-9b05-d17a32cafc61" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "82c5f771-2516-4796-8391-1e5044fec618"; -"f53c24d4-01b5-4ee3-8515-96fb04a649b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"82c5f771-2516-4796-8391-1e5044fec618" -> "f53c24d4-01b5-4ee3-8515-96fb04a649b3"; -"50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"82c5f771-2516-4796-8391-1e5044fec618" -> "50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93"; -"80c44005-0697-4136-aa4b-d3fac3e3ec3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"82c5f771-2516-4796-8391-1e5044fec618" -> "80c44005-0697-4136-aa4b-d3fac3e3ec3d"; -"c4520aa6-6cba-4b2a-bd58-80a9c793ebe6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"82c5f771-2516-4796-8391-1e5044fec618" -> "c4520aa6-6cba-4b2a-bd58-80a9c793ebe6"; -"ad0d3ae9-0981-4e47-812b-c0a5b7693d85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "ad0d3ae9-0981-4e47-812b-c0a5b7693d85"; -"bb9973b2-5bf3-4f9d-b4e7-72fb839818a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"ad0d3ae9-0981-4e47-812b-c0a5b7693d85" -> "bb9973b2-5bf3-4f9d-b4e7-72fb839818a0"; -"3f18e8b0-f5d8-44c3-a17e-5863c5823a52" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ad0d3ae9-0981-4e47-812b-c0a5b7693d85" -> "3f18e8b0-f5d8-44c3-a17e-5863c5823a52"; -"4e106b5c-3105-4cf5-877a-9b4e300c125f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"ad0d3ae9-0981-4e47-812b-c0a5b7693d85" -> "4e106b5c-3105-4cf5-877a-9b4e300c125f"; -"70f6baee-8b9e-457b-8428-58b1e87b9b74" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"ad0d3ae9-0981-4e47-812b-c0a5b7693d85" -> "70f6baee-8b9e-457b-8428-58b1e87b9b74"; -"3627fb8a-9a40-4504-96fc-b17757547d97" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3627fb8a-9a40-4504-96fc-b17757547d97"; -"f0b84a43-7c8d-4098-87d0-341d99bb60c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"3627fb8a-9a40-4504-96fc-b17757547d97" -> "f0b84a43-7c8d-4098-87d0-341d99bb60c5"; -"ff670abf-601c-48fd-a1ca-74df090adf2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"3627fb8a-9a40-4504-96fc-b17757547d97" -> "ff670abf-601c-48fd-a1ca-74df090adf2c"; -"5383fb95-a009-42d0-9de5-f8af70e75fd4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3627fb8a-9a40-4504-96fc-b17757547d97" -> "5383fb95-a009-42d0-9de5-f8af70e75fd4"; -"89d61dbe-a904-46b6-8679-5ceff96e06ef" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; -"3627fb8a-9a40-4504-96fc-b17757547d97" -> "89d61dbe-a904-46b6-8679-5ceff96e06ef"; -"1a5d8223-505b-427c-9dad-bdb905c62ed6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "1a5d8223-505b-427c-9dad-bdb905c62ed6"; -"31980608-7b7f-4674-8176-45002baf5a46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"1a5d8223-505b-427c-9dad-bdb905c62ed6" -> "31980608-7b7f-4674-8176-45002baf5a46"; -"dda6304a-3d32-493b-aff6-d18b5f290895" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1a5d8223-505b-427c-9dad-bdb905c62ed6" -> "dda6304a-3d32-493b-aff6-d18b5f290895"; -"9787d5ac-fef5-42ae-a59a-b7013b0e0ccb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"1a5d8223-505b-427c-9dad-bdb905c62ed6" -> "9787d5ac-fef5-42ae-a59a-b7013b0e0ccb"; -"528277de-1b77-4397-bfee-89ae346c98fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; -"1a5d8223-505b-427c-9dad-bdb905c62ed6" -> "528277de-1b77-4397-bfee-89ae346c98fd"; -"084f9714-e571-4c2c-86e1-ce205a10347f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "084f9714-e571-4c2c-86e1-ce205a10347f"; -"222364cf-56a6-407e-a339-be7cdb472ddc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"084f9714-e571-4c2c-86e1-ce205a10347f" -> "222364cf-56a6-407e-a339-be7cdb472ddc"; -"b7a21420-0944-4e6a-8f63-4fd4f25ca3ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"084f9714-e571-4c2c-86e1-ce205a10347f" -> "b7a21420-0944-4e6a-8f63-4fd4f25ca3ad"; -"db33aa78-b3fb-41a7-b214-0a74187d47a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"084f9714-e571-4c2c-86e1-ce205a10347f" -> "db33aa78-b3fb-41a7-b214-0a74187d47a3"; -"b59b793c-a86b-4ba9-8958-a9ae9ea20b22" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"084f9714-e571-4c2c-86e1-ce205a10347f" -> "b59b793c-a86b-4ba9-8958-a9ae9ea20b22"; -"d1a847b9-2de3-49ad-bda2-f52bc398e6cf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d1a847b9-2de3-49ad-bda2-f52bc398e6cf"; -"72328d6a-f601-4d1a-a01e-f29537ac5c7a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"d1a847b9-2de3-49ad-bda2-f52bc398e6cf" -> "72328d6a-f601-4d1a-a01e-f29537ac5c7a"; -"f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"d1a847b9-2de3-49ad-bda2-f52bc398e6cf" -> "f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6"; -"ae211936-0bd4-47c0-8420-91cf566b5511" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d1a847b9-2de3-49ad-bda2-f52bc398e6cf" -> "ae211936-0bd4-47c0-8420-91cf566b5511"; -"acf03e81-2012-4d0b-8c2e-174c9f19a8c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"d1a847b9-2de3-49ad-bda2-f52bc398e6cf" -> "acf03e81-2012-4d0b-8c2e-174c9f19a8c4"; -"f216c705-05f3-4814-b99a-dc2cb2d0270a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f216c705-05f3-4814-b99a-dc2cb2d0270a"; -"57fae6c5-2f97-4751-ae9b-eb1d84d032df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "57fae6c5-2f97-4751-ae9b-eb1d84d032df"; -"b3e24e78-fed4-424d-83b4-7d583d5fa5c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "b3e24e78-fed4-424d-83b4-7d583d5fa5c7"; -"db6edf72-d407-45b7-ae27-ddb404abae89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "db6edf72-d407-45b7-ae27-ddb404abae89"; -"f274860c-b1c8-4094-80ff-6e24801009e3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "f274860c-b1c8-4094-80ff-6e24801009e3"; -"3049d991-2145-4012-bb24-9a9b91caa120" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3049d991-2145-4012-bb24-9a9b91caa120"; -"320a9762-c370-4655-a652-39d241db9341" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"3049d991-2145-4012-bb24-9a9b91caa120" -> "320a9762-c370-4655-a652-39d241db9341"; -"ad96ce95-b70c-485c-adc0-a241d4cce425" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"3049d991-2145-4012-bb24-9a9b91caa120" -> "ad96ce95-b70c-485c-adc0-a241d4cce425"; -"b948791b-abb1-4111-b0b0-a4898b9dd35d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3049d991-2145-4012-bb24-9a9b91caa120" -> "b948791b-abb1-4111-b0b0-a4898b9dd35d"; -"609d0323-4aed-474e-90d0-1def19bf90ad" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"3049d991-2145-4012-bb24-9a9b91caa120" -> "609d0323-4aed-474e-90d0-1def19bf90ad"; -"12ca484e-1e54-4ff5-8289-77bc6efb6027" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "12ca484e-1e54-4ff5-8289-77bc6efb6027"; -"dee22561-ad74-4f59-a07a-5a11e228bec3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "dee22561-ad74-4f59-a07a-5a11e228bec3"; -"0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c"; -"0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f"; -"dc79c8a3-f0dd-47a3-995a-0b415fb4630b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "dc79c8a3-f0dd-47a3-995a-0b415fb4630b"; -"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7"; -"92f92acb-38cb-48dd-ba9e-b4ab17177cb9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "92f92acb-38cb-48dd-ba9e-b4ab17177cb9"; -"2afb5d86-d5a8-4683-8fbc-18284284bdd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "2afb5d86-d5a8-4683-8fbc-18284284bdd2"; -"d886cd5a-0fe5-40e1-bd52-ee8e3c58faca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "d886cd5a-0fe5-40e1-bd52-ee8e3c58faca"; -"e4c0ae03-79e5-4469-801a-3b04b92a0017" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "e4c0ae03-79e5-4469-801a-3b04b92a0017"; -"0d9cdeea-2854-4ca4-9914-993600dbc841" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "0d9cdeea-2854-4ca4-9914-993600dbc841"; -"f7f87c98-0765-46af-ae64-409519a38abc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "f7f87c98-0765-46af-ae64-409519a38abc"; -"d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9"; -"7a06b0fb-b544-457d-a693-534297a05e00" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "7a06b0fb-b544-457d-a693-534297a05e00"; -"628b6758-bd53-41ce-890b-1f51766e780a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; -"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "628b6758-bd53-41ce-890b-1f51766e780a"; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0"; -"b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5"; -"a4ce4a53-e9ae-4556-bc0c-e4585fdee7db" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "a4ce4a53-e9ae-4556-bc0c-e4585fdee7db"; -"6f497f79-0e73-4257-928d-14bacf0446c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "6f497f79-0e73-4257-928d-14bacf0446c0"; -"3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2"; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2f37605f-c13c-484d-92fe-82a2ef42ff15"; -"fc316e74-31a5-4606-bfab-cd4282b13428" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "fc316e74-31a5-4606-bfab-cd4282b13428"; -"0162a1f7-8e7f-46f1-809e-53d628f1843f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "0162a1f7-8e7f-46f1-809e-53d628f1843f"; -"b445ed70-2bd4-4351-887c-a5e0715b9222" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "b445ed70-2bd4-4351-887c-a5e0715b9222"; -"a17591f2-18a0-4964-a0f8-d2e5060a0226" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "a17591f2-18a0-4964-a0f8-d2e5060a0226"; -"b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57"; -"eb151fe3-ca7d-4734-844f-2dd1c4487fae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57" -> "eb151fe3-ca7d-4734-844f-2dd1c4487fae"; -"d53022b0-c3b5-4d7e-8ba4-5108148a962e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57" -> "d53022b0-c3b5-4d7e-8ba4-5108148a962e"; -"608ecfac-b18a-4893-a92d-77089e8aa7aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57" -> "608ecfac-b18a-4893-a92d-77089e8aa7aa"; -"d4031ef2-7958-4493-926c-c291a0fd54dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57" -> "d4031ef2-7958-4493-926c-c291a0fd54dd"; -"b50458ea-d857-4028-9caf-c6507dbe0367" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b50458ea-d857-4028-9caf-c6507dbe0367"; -"7382bc82-8794-4ce9-ae3c-e7c4d18578db" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"b50458ea-d857-4028-9caf-c6507dbe0367" -> "7382bc82-8794-4ce9-ae3c-e7c4d18578db"; -"de312934-d9aa-4d00-8651-1be3da5fad3b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b50458ea-d857-4028-9caf-c6507dbe0367" -> "de312934-d9aa-4d00-8651-1be3da5fad3b"; -"1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"b50458ea-d857-4028-9caf-c6507dbe0367" -> "1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4"; -"3d4774ae-5250-44c0-91cb-c2bc48f35a5d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"b50458ea-d857-4028-9caf-c6507dbe0367" -> "3d4774ae-5250-44c0-91cb-c2bc48f35a5d"; -"d4985bce-a6ca-4cb2-827e-e983362b068c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d4985bce-a6ca-4cb2-827e-e983362b068c"; -"2a2766e7-5946-41a7-bd39-d979aa06ffb8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"d4985bce-a6ca-4cb2-827e-e983362b068c" -> "2a2766e7-5946-41a7-bd39-d979aa06ffb8"; -"14aa9e0c-1323-44ad-8165-aedfd324fd1d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d4985bce-a6ca-4cb2-827e-e983362b068c" -> "14aa9e0c-1323-44ad-8165-aedfd324fd1d"; -"17b8b396-b658-4b4a-925e-434f7b7a51a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"d4985bce-a6ca-4cb2-827e-e983362b068c" -> "17b8b396-b658-4b4a-925e-434f7b7a51a5"; -"fdf43840-cab0-4103-abec-53d4b3a255af" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"d4985bce-a6ca-4cb2-827e-e983362b068c" -> "fdf43840-cab0-4103-abec-53d4b3a255af"; -"239068e0-175e-4121-95b3-629f3ed7a3b3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "239068e0-175e-4121-95b3-629f3ed7a3b3"; -"02907aec-08a8-488c-af6d-af7342fe21ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"239068e0-175e-4121-95b3-629f3ed7a3b3" -> "02907aec-08a8-488c-af6d-af7342fe21ef"; -"6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"239068e0-175e-4121-95b3-629f3ed7a3b3" -> "6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6"; -"888276e9-9554-4e1d-9204-19e08f80ea89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"239068e0-175e-4121-95b3-629f3ed7a3b3" -> "888276e9-9554-4e1d-9204-19e08f80ea89"; -"25f5c3b8-d357-468d-80af-626fec91e084" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"239068e0-175e-4121-95b3-629f3ed7a3b3" -> "25f5c3b8-d357-468d-80af-626fec91e084"; -"de8d8dd3-8a45-4270-93d6-1445de298a55" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "de8d8dd3-8a45-4270-93d6-1445de298a55"; -"0794d940-1fe0-4c77-84e3-912cea94a8bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"de8d8dd3-8a45-4270-93d6-1445de298a55" -> "0794d940-1fe0-4c77-84e3-912cea94a8bc"; -"945612c7-f57a-4ec9-af43-25279ae09636" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"de8d8dd3-8a45-4270-93d6-1445de298a55" -> "945612c7-f57a-4ec9-af43-25279ae09636"; -"c8bd8055-76f1-4c00-8994-0f7bbc29a0c1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"de8d8dd3-8a45-4270-93d6-1445de298a55" -> "c8bd8055-76f1-4c00-8994-0f7bbc29a0c1"; -"05bf0af9-bdd2-4728-8ecb-bad64da80b82" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"de8d8dd3-8a45-4270-93d6-1445de298a55" -> "05bf0af9-bdd2-4728-8ecb-bad64da80b82"; -"ea8e7829-a651-4f60-9630-aaf0c276de47" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "ea8e7829-a651-4f60-9630-aaf0c276de47"; -"d2c44489-8673-489b-8807-137660268945" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"ea8e7829-a651-4f60-9630-aaf0c276de47" -> "d2c44489-8673-489b-8807-137660268945"; -"7cd3f082-a9cd-4d50-8bf5-922422c866d9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ea8e7829-a651-4f60-9630-aaf0c276de47" -> "7cd3f082-a9cd-4d50-8bf5-922422c866d9"; -"56dc9602-bb98-4646-bd82-d45c385ee363" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"ea8e7829-a651-4f60-9630-aaf0c276de47" -> "56dc9602-bb98-4646-bd82-d45c385ee363"; -"45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"ea8e7829-a651-4f60-9630-aaf0c276de47" -> "45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4"; -"8772262b-ac34-405c-83c5-12205b5a9c7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "8772262b-ac34-405c-83c5-12205b5a9c7b"; -"0270da4f-f26d-4807-aab8-1e5dec8cecea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"8772262b-ac34-405c-83c5-12205b5a9c7b" -> "0270da4f-f26d-4807-aab8-1e5dec8cecea"; -"a795d0b6-587b-4019-9b90-7b430e103aba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8772262b-ac34-405c-83c5-12205b5a9c7b" -> "a795d0b6-587b-4019-9b90-7b430e103aba"; -"65220597-5196-482c-83ab-09a93975a10e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"8772262b-ac34-405c-83c5-12205b5a9c7b" -> "65220597-5196-482c-83ab-09a93975a10e"; -"e2a41861-4d7d-46d0-8d27-592888b85149" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"8772262b-ac34-405c-83c5-12205b5a9c7b" -> "e2a41861-4d7d-46d0-8d27-592888b85149"; -"bc6d4582-8733-48ca-b529-47f075bfbb15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bc6d4582-8733-48ca-b529-47f075bfbb15"; -"ee05476a-23af-4cc9-91c5-b229199d3d9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"bc6d4582-8733-48ca-b529-47f075bfbb15" -> "ee05476a-23af-4cc9-91c5-b229199d3d9b"; -"e1afc090-cdd4-4941-8682-65ad01349db8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bc6d4582-8733-48ca-b529-47f075bfbb15" -> "e1afc090-cdd4-4941-8682-65ad01349db8"; -"05ee2dab-3373-4ebf-9d45-fb8060fe89c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"bc6d4582-8733-48ca-b529-47f075bfbb15" -> "05ee2dab-3373-4ebf-9d45-fb8060fe89c3"; -"52e20c98-8487-4fa9-83e5-022d2735cff4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"bc6d4582-8733-48ca-b529-47f075bfbb15" -> "52e20c98-8487-4fa9-83e5-022d2735cff4"; -"99d4c57d-811f-422a-9b48-348032e3367e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "99d4c57d-811f-422a-9b48-348032e3367e"; -"4edb7a66-401f-46ba-88e6-07557c74fcee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"99d4c57d-811f-422a-9b48-348032e3367e" -> "4edb7a66-401f-46ba-88e6-07557c74fcee"; -"bc09a933-54d4-40f2-b980-4d187b6a22b4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"99d4c57d-811f-422a-9b48-348032e3367e" -> "bc09a933-54d4-40f2-b980-4d187b6a22b4"; -"4a46276c-d26e-4870-97b8-13608dcecc3b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"99d4c57d-811f-422a-9b48-348032e3367e" -> "4a46276c-d26e-4870-97b8-13608dcecc3b"; -"2474864f-5715-4cc0-bd55-0839544ff9c9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"99d4c57d-811f-422a-9b48-348032e3367e" -> "2474864f-5715-4cc0-bd55-0839544ff9c9"; -"c9099537-d4f8-4560-9294-81d4efe65d60" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "c9099537-d4f8-4560-9294-81d4efe65d60"; -"5f939a3b-cb18-41f3-9bfe-610e92fcfc28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"c9099537-d4f8-4560-9294-81d4efe65d60" -> "5f939a3b-cb18-41f3-9bfe-610e92fcfc28"; -"bf317ba3-419a-4247-8137-e442930b0270" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c9099537-d4f8-4560-9294-81d4efe65d60" -> "bf317ba3-419a-4247-8137-e442930b0270"; -"2a4a6184-f30d-4457-af09-8c333f1dbb64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c9099537-d4f8-4560-9294-81d4efe65d60" -> "2a4a6184-f30d-4457-af09-8c333f1dbb64"; -"729d0066-206f-44e1-8805-795c19fd3274" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"c9099537-d4f8-4560-9294-81d4efe65d60" -> "729d0066-206f-44e1-8805-795c19fd3274"; -"6b1cee73-6b71-4837-af2b-0d92aaaf535b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6b1cee73-6b71-4837-af2b-0d92aaaf535b"; -"4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6b1cee73-6b71-4837-af2b-0d92aaaf535b" -> "4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed"; -"341af69a-ffad-4254-b2ab-82fb94d76db2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6b1cee73-6b71-4837-af2b-0d92aaaf535b" -> "341af69a-ffad-4254-b2ab-82fb94d76db2"; -"cc3f0b1d-14e8-4b26-af03-cb0492f3976b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"6b1cee73-6b71-4837-af2b-0d92aaaf535b" -> "cc3f0b1d-14e8-4b26-af03-cb0492f3976b"; -"34192e02-d930-45df-a459-6060b3ca6ad2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"6b1cee73-6b71-4837-af2b-0d92aaaf535b" -> "34192e02-d930-45df-a459-6060b3ca6ad2"; -"e94a1a39-1c33-421f-b47f-f9528262fe97" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e94a1a39-1c33-421f-b47f-f9528262fe97"; -"2258db2a-6954-4701-8343-3efb93f77a78" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"e94a1a39-1c33-421f-b47f-f9528262fe97" -> "2258db2a-6954-4701-8343-3efb93f77a78"; -"58975963-4b93-4678-a67c-cb94a9afea4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e94a1a39-1c33-421f-b47f-f9528262fe97" -> "58975963-4b93-4678-a67c-cb94a9afea4f"; -"df313cf4-704e-4a47-a460-c1e65a09fcba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"e94a1a39-1c33-421f-b47f-f9528262fe97" -> "df313cf4-704e-4a47-a460-c1e65a09fcba"; -"2298ce8d-f89a-4267-9457-7ff5c4d93411" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"e94a1a39-1c33-421f-b47f-f9528262fe97" -> "2298ce8d-f89a-4267-9457-7ff5c4d93411"; -"9c2973f4-bb75-468b-9f23-143f2c28498b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9c2973f4-bb75-468b-9f23-143f2c28498b"; -"dcb185c2-d797-47c7-985b-39f21fbbc37d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"9c2973f4-bb75-468b-9f23-143f2c28498b" -> "dcb185c2-d797-47c7-985b-39f21fbbc37d"; -"ba0114a7-814f-4b78-be3a-2abf98fbbe65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9c2973f4-bb75-468b-9f23-143f2c28498b" -> "ba0114a7-814f-4b78-be3a-2abf98fbbe65"; -"56274c14-7263-437c-8552-4ff405d760b4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"9c2973f4-bb75-468b-9f23-143f2c28498b" -> "56274c14-7263-437c-8552-4ff405d760b4"; -"6e826c09-30f0-484c-8ba0-6ff02861fbb1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"9c2973f4-bb75-468b-9f23-143f2c28498b" -> "6e826c09-30f0-484c-8ba0-6ff02861fbb1"; -"e00ea412-de98-450b-8d57-99c26c5a0840" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"49514a35-2550-4662-ac9f-cb0c8227056e" -> "0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb"; -"c535a73c-565e-4292-945d-4e2450e8232c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"49514a35-2550-4662-ac9f-cb0c8227056e" -> "c535a73c-565e-4292-945d-4e2450e8232c"; -"684b4f3d-8135-43d5-b21a-699010d98938" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "684b4f3d-8135-43d5-b21a-699010d98938"; -"08d7c2c4-ca97-48a0-8422-a547d4cf6132" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"684b4f3d-8135-43d5-b21a-699010d98938" -> "08d7c2c4-ca97-48a0-8422-a547d4cf6132"; -"87ad5172-4800-4b6d-968b-90e561977cc2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"684b4f3d-8135-43d5-b21a-699010d98938" -> "87ad5172-4800-4b6d-968b-90e561977cc2"; -"c0bbba4e-f59c-4684-b96a-683363df9cae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"684b4f3d-8135-43d5-b21a-699010d98938" -> "c0bbba4e-f59c-4684-b96a-683363df9cae"; -"1ab442f2-24e0-436b-979c-c1917829f641" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"684b4f3d-8135-43d5-b21a-699010d98938" -> "1ab442f2-24e0-436b-979c-c1917829f641"; -"72ffc880-0039-47aa-8270-11742cdc19a2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "72ffc880-0039-47aa-8270-11742cdc19a2"; -"c243ff20-0550-4f84-b542-03acd228f6d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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"b35bdd7e-05b2-4388-9251-09e1680d53d1"; -"52015462-007a-47f1-b56c-e95932028d14" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "52015462-007a-47f1-b56c-e95932028d14"; -"a361b4b1-e0ea-4e5f-857b-885a82283c18" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "a361b4b1-e0ea-4e5f-857b-885a82283c18"; -"47d4cc33-3c9f-4bbd-9c9c-503d5e355739" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "47d4cc33-3c9f-4bbd-9c9c-503d5e355739"; -"7534013c-3eb0-4b50-9a21-0197c2ee2ec7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "7534013c-3eb0-4b50-9a21-0197c2ee2ec7"; 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fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"b2c41091-071e-4e10-a8ae-dd6ed200475d" -> "cba7f62f-d9bf-44af-96ff-4ef41fe650f5"; -"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e07b9dea-ca10-4ac9-b909-26fa6f6019bb"; -"767d3027-6aa2-49e7-b39f-d07853d69595" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "767d3027-6aa2-49e7-b39f-d07853d69595"; -"d04b78c7-eedd-4b19-81c4-d33857e6e90d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "d04b78c7-eedd-4b19-81c4-d33857e6e90d"; -"7ad6df93-500c-4b58-bd86-ccfd24d6c812" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "7ad6df93-500c-4b58-bd86-ccfd24d6c812"; -"d310c531-141b-4095-bd1f-1dce2daf01a8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "d310c531-141b-4095-bd1f-1dce2daf01a8"; -"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9a73cb33-e4ee-4ad6-9437-f630a8c77b5d"; -"1622185d-444e-4bad-8399-d3760f9d8b59" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" -> "1622185d-444e-4bad-8399-d3760f9d8b59"; -"cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"92a5e112-4316-4491-b2ca-ad7fd121621c" -> "ce54eea3-d36c-46fb-b348-9acbb1f56ead"; -"5dffb848-0bd3-4faa-8d13-17a889991686" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"92a5e112-4316-4491-b2ca-ad7fd121621c" -> "5dffb848-0bd3-4faa-8d13-17a889991686"; -"6bebc286-6272-4c7c-a129-e6b73d81f610" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6bebc286-6272-4c7c-a129-e6b73d81f610"; -"d991d957-d39a-4322-a03b-b3f31e2acfc8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"6bebc286-6272-4c7c-a129-e6b73d81f610" -> "d991d957-d39a-4322-a03b-b3f31e2acfc8"; -"82195942-bed2-4318-abe8-fba034d50e82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6bebc286-6272-4c7c-a129-e6b73d81f610" -> "82195942-bed2-4318-abe8-fba034d50e82"; -"1bf2487d-2071-4e2e-9c72-8c6d74485470" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"6bebc286-6272-4c7c-a129-e6b73d81f610" -> "1bf2487d-2071-4e2e-9c72-8c6d74485470"; -"149b5d4a-3f42-4ba9-bf46-809e84c65d4d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"6bebc286-6272-4c7c-a129-e6b73d81f610" -> "149b5d4a-3f42-4ba9-bf46-809e84c65d4d"; -"b42ab8f3-33e0-465e-b7d3-ba6531b65454" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b42ab8f3-33e0-465e-b7d3-ba6531b65454"; -"cada4d5e-0ede-4611-a159-4e52ad43049c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; 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-> "e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d"; -"d75a08c2-c604-41d5-8366-d4eb2f673e21" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "d75a08c2-c604-41d5-8366-d4eb2f673e21"; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef"; -"d2745cd3-df57-46ce-9786-92941548695e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "d2745cd3-df57-46ce-9786-92941548695e"; -"1558b313-ba00-4a35-9b33-78fd31ee8fd4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "1558b313-ba00-4a35-9b33-78fd31ee8fd4"; 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width=0.01]; -"0436df48-93c8-490d-af8c-ea3144c29ef4" -> "4a7729ee-b319-4f3f-b05a-6b9e28132562"; -"e81cc950-9b01-4f65-af1b-c7cc8d017a31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "e81cc950-9b01-4f65-af1b-c7cc8d017a31"; -"dfb932c2-a728-46dc-94c1-403b812fd121" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "dfb932c2-a728-46dc-94c1-403b812fd121"; -"86f2ff30-84ec-4391-af26-8c0f3789a0a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "86f2ff30-84ec-4391-af26-8c0f3789a0a9"; -"1e344576-bced-47f1-8a1d-dc61827847e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; -"79334f30-98f4-451a-a037-cf8bb0447077" -> 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bfb4a80f-72e7-4d1b-b853-8286ea839cec"; -"6225269e-b587-41ba-8b75-a5aa10d5eaad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "6225269e-b587-41ba-8b75-a5aa10d5eaad"; -"80595db0-adbd-40d1-b111-17291dd0f357" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "80595db0-adbd-40d1-b111-17291dd0f357"; -"a65885be-e53b-4176-ab2d-9a3f2fdfdcd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "a65885be-e53b-4176-ab2d-9a3f2fdfdcd2"; -"37172bd4-521d-472e-8cd1-58e2bc30113f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "37172bd4-521d-472e-8cd1-58e2bc30113f"; -"c8516e6a-8f35-4f6b-919e-eca639f7d7a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "c8516e6a-8f35-4f6b-919e-eca639f7d7a9"; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fc3c37fa-95ba-4d67-ba7d-2178b77b5e22"; -"091ec51c-d491-4d70-9afa-562bf54b9fe9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "091ec51c-d491-4d70-9afa-562bf54b9fe9"; -"2365ca31-392f-4d5b-9358-36b3cae4b998" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "2365ca31-392f-4d5b-9358-36b3cae4b998"; -"901bffcd-9ff9-46fc-893c-b9a023ff4972" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "901bffcd-9ff9-46fc-893c-b9a023ff4972"; -"d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd"; -"f88efbab-7228-4e7f-93d6-abfe49639004" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "f88efbab-7228-4e7f-93d6-abfe49639004"; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a8972ad8-5539-449e-9c33-3ea25c5187ae"; -"14ccb286-5b9e-47e5-b33f-ec94b572aed8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "14ccb286-5b9e-47e5-b33f-ec94b572aed8"; -"54606ca9-3c5b-448e-bb1a-5abceae90b3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "54606ca9-3c5b-448e-bb1a-5abceae90b3e"; -"4401bde4-5527-444c-beb0-10826d394e32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "4401bde4-5527-444c-beb0-10826d394e32"; -"39ddd05f-ea53-46dc-8664-de927ffcdcc3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "39ddd05f-ea53-46dc-8664-de927ffcdcc3"; -"7770dd21-aec6-42d0-b15a-4a4e6bf614a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "7770dd21-aec6-42d0-b15a-4a4e6bf614a0"; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "05ca37fc-db68-4bfb-b898-6d97ef555d46"; -"76dc5841-5780-4989-ac03-040d4d0f7603" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "76dc5841-5780-4989-ac03-040d4d0f7603"; -"34ffb13c-c55f-4d4a-9d63-79f25cf2d313" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "34ffb13c-c55f-4d4a-9d63-79f25cf2d313"; -"b973ee26-ec87-43b4-a20f-9c197236137c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, 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shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "55fe1f0d-705d-4645-881d-6308a7da52a6"; -"f716cf04-447c-43cc-b001-59c251ba9363" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"55fe1f0d-705d-4645-881d-6308a7da52a6" -> "f716cf04-447c-43cc-b001-59c251ba9363"; -"0cf187fd-aaff-46be-a9cd-11876e3f8203" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"55fe1f0d-705d-4645-881d-6308a7da52a6" -> "0cf187fd-aaff-46be-a9cd-11876e3f8203"; -"9ea00d79-e21d-44da-b245-bf308541d92a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"55fe1f0d-705d-4645-881d-6308a7da52a6" -> "9ea00d79-e21d-44da-b245-bf308541d92a"; -"ea2fe4aa-2eff-4be1-9f35-3cdba3038c3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, style=filled]; -"55fe1f0d-705d-4645-881d-6308a7da52a6" -> 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"10faa149-a290-48b0-87eb-8d2835183455" -> "9db0a7ae-49e1-440b-b97f-220cc82b5933"; -"28537863-52a9-432f-a890-cc90726286c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "28537863-52a9-432f-a890-cc90726286c9"; -"d30df1bd-b398-4819-af55-077c83bab117" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"28537863-52a9-432f-a890-cc90726286c9" -> "d30df1bd-b398-4819-af55-077c83bab117"; -"5b9338c1-abbb-4330-aaf7-e9e05f5dc480" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"28537863-52a9-432f-a890-cc90726286c9" -> "5b9338c1-abbb-4330-aaf7-e9e05f5dc480"; -"2b5d497e-bdb2-4cd8-b175-0a2de19a0e58" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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shape=ellipse, style=filled]; -"9c7893a8-f346-44e4-8728-8e277b3d7c91" -> "f660c0d5-332c-4701-b39a-019a3ddc9e73"; -"da8a0c37-aa81-4024-a5d1-04eb6e581cb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9c7893a8-f346-44e4-8728-8e277b3d7c91" -> "da8a0c37-aa81-4024-a5d1-04eb6e581cb1"; -"4d53c963-b0b8-494d-91ad-4a01baa7779c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled]; -"9c7893a8-f346-44e4-8728-8e277b3d7c91" -> "4d53c963-b0b8-494d-91ad-4a01baa7779c"; -"90701633-332f-4ed8-b687-7f0860d43bda" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "90701633-332f-4ed8-b687-7f0860d43bda"; -"ba4ab782-074f-4963-af57-197234a5899d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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"950496f7-13e5-43a0-ab23-0fcfe814b0df"; -"3917768e-79ed-4d3c-81a4-8b6e0ca18d6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7b42cf04-e68e-49d5-a325-9e95a2db5595" -> "3917768e-79ed-4d3c-81a4-8b6e0ca18d6d"; -"33499698-22c6-4c5a-af48-af7d3ac0adf9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"7b42cf04-e68e-49d5-a325-9e95a2db5595" -> "33499698-22c6-4c5a-af48-af7d3ac0adf9"; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8cbc4950-0b05-48d3-92cc-35768ba88a71"; -"27560c14-d07e-4657-bf4c-9d856fbb79cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "27560c14-d07e-4657-bf4c-9d856fbb79cf"; -"737bbb45-61ff-44bc-ac7a-67923f62e8e8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "737bbb45-61ff-44bc-ac7a-67923f62e8e8"; -"c1f39bf4-1db0-45e9-a5c8-7c0986e44d65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "c1f39bf4-1db0-45e9-a5c8-7c0986e44d65"; -"be6bccec-3eda-4cfa-a2ac-a87a0be4aec6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "be6bccec-3eda-4cfa-a2ac-a87a0be4aec6"; -"b71d87ed-f7e6-4c65-babc-e7b1140d5acb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "b71d87ed-f7e6-4c65-babc-e7b1140d5acb"; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4e796e19-ed8f-4173-8ab5-72fa8951b810"; -"26f69ff3-f46c-44ce-b984-375bb60b771a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "26f69ff3-f46c-44ce-b984-375bb60b771a"; -"ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b"; -"27f4c058-065a-40e4-9577-f29905024ac3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "27f4c058-065a-40e4-9577-f29905024ac3"; -"fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf"; -"5fd421d0-9802-41c0-87b3-5b67fc17c140" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "5fd421d0-9802-41c0-87b3-5b67fc17c140"; -"514081e4-2dc1-4ea9-9b64-d78b6d94d426" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "514081e4-2dc1-4ea9-9b64-d78b6d94d426"; -"47937091-237a-4565-a2c0-791321417504" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "47937091-237a-4565-a2c0-791321417504"; -"49104a79-50e8-476a-b34e-f1d5a32f8fd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "49104a79-50e8-476a-b34e-f1d5a32f8fd5"; -"0d1f5b43-f77a-4f23-8600-4d895d40f60b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "0d1f5b43-f77a-4f23-8600-4d895d40f60b"; -"26612a35-ff1b-4a7f-8fa3-0721e4ce3015" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "26612a35-ff1b-4a7f-8fa3-0721e4ce3015"; -"eba47417-d84e-4634-9af4-90147c6ac658" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "eba47417-d84e-4634-9af4-90147c6ac658"; -"5641449f-f04c-482b-9fe8-662b4ebc3861" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"eba47417-d84e-4634-9af4-90147c6ac658" -> "5641449f-f04c-482b-9fe8-662b4ebc3861"; -"e5b460cd-4d6c-45e8-9c97-c0c5fbf53583" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"eba47417-d84e-4634-9af4-90147c6ac658" -> "e5b460cd-4d6c-45e8-9c97-c0c5fbf53583"; -"7c90404d-c020-4a5d-b318-44886bacf8bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"eba47417-d84e-4634-9af4-90147c6ac658" -> "7c90404d-c020-4a5d-b318-44886bacf8bc"; -"057d547c-f603-4abc-9c1f-8c0d33a970cb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"eba47417-d84e-4634-9af4-90147c6ac658" -> "057d547c-f603-4abc-9c1f-8c0d33a970cb"; -"981f947a-75a1-4c4f-a746-36a19e060992" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "981f947a-75a1-4c4f-a746-36a19e060992"; -"410b7c9f-888e-45a3-a1d8-96845f2837e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"981f947a-75a1-4c4f-a746-36a19e060992" -> "410b7c9f-888e-45a3-a1d8-96845f2837e6"; -"1ad18f2b-ac1a-497f-ba44-08f2a0090d42" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"981f947a-75a1-4c4f-a746-36a19e060992" -> "1ad18f2b-ac1a-497f-ba44-08f2a0090d42"; -"ef33cf23-f72b-4c91-a4b0-c5185a2f255f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"981f947a-75a1-4c4f-a746-36a19e060992" -> "ef33cf23-f72b-4c91-a4b0-c5185a2f255f"; -"958aed18-edb3-4d2a-a407-0ac699c66a23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"981f947a-75a1-4c4f-a746-36a19e060992" -> "958aed18-edb3-4d2a-a407-0ac699c66a23"; -"f6cfd02f-6474-48ba-8cac-7a948a7cb3a6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"981f947a-75a1-4c4f-a746-36a19e060992" -> "f6cfd02f-6474-48ba-8cac-7a948a7cb3a6"; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "44d17e3e-f5c5-4b53-a312-c0d02971ae74"; -"d905a183-7970-4cdc-898f-829fdddec398" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "d905a183-7970-4cdc-898f-829fdddec398"; -"48145ce1-0261-4d20-9b61-63b7e0d3f780" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "48145ce1-0261-4d20-9b61-63b7e0d3f780"; -"6ca14c8d-6c5a-4ef4-9577-af55724e1a9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "6ca14c8d-6c5a-4ef4-9577-af55724e1a9b"; -"b106d35f-a070-4d53-9f80-788c34d24dd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "b106d35f-a070-4d53-9f80-788c34d24dd9"; -"9b359cea-13ba-4891-a728-2be9eb415bbe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "9b359cea-13ba-4891-a728-2be9eb415bbe"; -"d17b6efc-c28f-4939-b386-e30532b523dc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d17b6efc-c28f-4939-b386-e30532b523dc"; -"3d069ed6-2539-4460-8113-0018fbda431d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"d17b6efc-c28f-4939-b386-e30532b523dc" -> "3d069ed6-2539-4460-8113-0018fbda431d"; -"4eda5fbf-3034-494b-b231-3024aae0ae81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d17b6efc-c28f-4939-b386-e30532b523dc" -> "4eda5fbf-3034-494b-b231-3024aae0ae81"; -"a0196fe9-1aa0-41a9-871e-6be3e1b60d7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d17b6efc-c28f-4939-b386-e30532b523dc" -> "a0196fe9-1aa0-41a9-871e-6be3e1b60d7d"; -"e89f0df3-78c6-4b04-87e4-948a8ae19920" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d17b6efc-c28f-4939-b386-e30532b523dc" -> "e89f0df3-78c6-4b04-87e4-948a8ae19920"; -"76146617-91c4-42eb-ac43-1f2821586501" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; -"d17b6efc-c28f-4939-b386-e30532b523dc" -> "76146617-91c4-42eb-ac43-1f2821586501"; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ac7b74b7-8ad1-4fcb-a121-1439c6564217"; -"16226b97-f18f-4ec2-9a58-d3e6e76c1131" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "16226b97-f18f-4ec2-9a58-d3e6e76c1131"; -"92c2e3e0-af40-4c34-a884-d07cc8ddf932" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "92c2e3e0-af40-4c34-a884-d07cc8ddf932"; -"0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf"; -"d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9"; -"7913644d-a844-4efb-a3b4-b8179b4c9cd7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; -"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "7913644d-a844-4efb-a3b4-b8179b4c9cd7"; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f2f6ac7d-ea99-47e0-b06c-cef97d55f199"; -"22655187-24da-486e-9736-9ee51b713e35" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "22655187-24da-486e-9736-9ee51b713e35"; -"35a6e96b-64b4-4daf-af59-556dc252259a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "35a6e96b-64b4-4daf-af59-556dc252259a"; -"3d6859cf-e1ef-4d6e-9583-7bb967ee7714" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "3d6859cf-e1ef-4d6e-9583-7bb967ee7714"; -"c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155"; -"59e67492-ea7b-4f78-87d5-0cf36c531eac" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "59e67492-ea7b-4f78-87d5-0cf36c531eac"; -"7c2f8900-3f83-4279-b017-bab0b3694659" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7c2f8900-3f83-4279-b017-bab0b3694659"; -"f955bdd4-6fb6-4c6e-a522-7e006e9c91da" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"7c2f8900-3f83-4279-b017-bab0b3694659" -> "f955bdd4-6fb6-4c6e-a522-7e006e9c91da"; -"943db77e-bf1b-430d-99ab-07a19d5de26f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"7c2f8900-3f83-4279-b017-bab0b3694659" -> "943db77e-bf1b-430d-99ab-07a19d5de26f"; -"b3075219-4db2-40bf-b26b-be3742af7d33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7c2f8900-3f83-4279-b017-bab0b3694659" -> "b3075219-4db2-40bf-b26b-be3742af7d33"; -"c58c05e7-a68a-41a5-90e3-33e1fabeed43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7c2f8900-3f83-4279-b017-bab0b3694659" -> "c58c05e7-a68a-41a5-90e3-33e1fabeed43"; -"ef973e00-c4ee-4c13-8608-884df668cfb3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"7c2f8900-3f83-4279-b017-bab0b3694659" -> "ef973e00-c4ee-4c13-8608-884df668cfb3"; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "39ac37ec-c93d-4800-b933-dd4aa6f2e6dd"; -"95e5cfe3-ff24-48eb-b324-d06b516cbab7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "95e5cfe3-ff24-48eb-b324-d06b516cbab7"; -"3b6e654a-3746-4a43-8587-cd86d886fc66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "3b6e654a-3746-4a43-8587-cd86d886fc66"; -"2ee3f7f1-5224-4f5a-94ae-f5628c936be2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "2ee3f7f1-5224-4f5a-94ae-f5628c936be2"; -"a4492932-07e6-4d98-af96-3b7ab527ffe2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "a4492932-07e6-4d98-af96-3b7ab527ffe2"; -"7a999957-81f9-42fa-af73-381ea1bf803c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "7a999957-81f9-42fa-af73-381ea1bf803c"; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e61a3cff-0ebc-4a94-872f-4a02bd622ba7"; -"6c974c2e-d53a-404f-8d52-a1e5ea43b7e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" -> "6c974c2e-d53a-404f-8d52-a1e5ea43b7e1"; -"ca09bac4-8ced-458a-8aaa-9492a5929a4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" -> "ca09bac4-8ced-458a-8aaa-9492a5929a4e"; -"a3be3be2-6d61-406a-ba67-52adc96f5ab1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" -> "a3be3be2-6d61-406a-ba67-52adc96f5ab1"; -"48099eba-39e2-4e63-8c3a-1a2f7fd6588a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" -> "48099eba-39e2-4e63-8c3a-1a2f7fd6588a"; -"61cd4dc6-4bd0-4ff2-8dbd-5859130847ca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"e61a3cff-0ebc-4a94-872f-4a02bd622ba7" -> "61cd4dc6-4bd0-4ff2-8dbd-5859130847ca"; -"9b873706-be7a-491a-a9fe-3bb698b09896" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9b873706-be7a-491a-a9fe-3bb698b09896"; -"29806b87-6053-4e7e-91b3-dee3b1e8091f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"9b873706-be7a-491a-a9fe-3bb698b09896" -> "29806b87-6053-4e7e-91b3-dee3b1e8091f"; -"11f96f5a-7ac4-43e0-80bf-8659c90fa314" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9b873706-be7a-491a-a9fe-3bb698b09896" -> "11f96f5a-7ac4-43e0-80bf-8659c90fa314"; -"c7dc63bf-649f-434d-9a13-c303d21d52b8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9b873706-be7a-491a-a9fe-3bb698b09896" -> "c7dc63bf-649f-434d-9a13-c303d21d52b8"; -"bbd8bbc8-4686-4282-ae0f-93e4cafc6232" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"9b873706-be7a-491a-a9fe-3bb698b09896" -> "bbd8bbc8-4686-4282-ae0f-93e4cafc6232"; -"3b060950-c0b7-4aad-ad1f-e19476bff722" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"9b873706-be7a-491a-a9fe-3bb698b09896" -> "3b060950-c0b7-4aad-ad1f-e19476bff722"; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "250ba37b-98df-4ba1-8cbb-605b5c4e9c21"; -"4581a1e5-1a48-461b-8f57-1d8255efbb86" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" -> "4581a1e5-1a48-461b-8f57-1d8255efbb86"; -"9b024115-2d8c-46da-94eb-e3ebed50a2b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" -> "9b024115-2d8c-46da-94eb-e3ebed50a2b5"; -"00a52d24-e6e6-4b7e-bb8a-012f9e2284cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" -> "00a52d24-e6e6-4b7e-bb8a-012f9e2284cf"; -"a46b19e6-f0c5-4111-97c9-8d7800d0e177" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" -> "a46b19e6-f0c5-4111-97c9-8d7800d0e177"; -"1802acfd-39b4-4804-9b8f-4f07b608119d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"250ba37b-98df-4ba1-8cbb-605b5c4e9c21" -> "1802acfd-39b4-4804-9b8f-4f07b608119d"; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "dc770f05-7481-4dbe-b87b-9594cf8fcc6f"; -"492d20e5-6f83-4a14-8d6d-c506b9606667" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" -> "492d20e5-6f83-4a14-8d6d-c506b9606667"; -"bb071d2d-56f5-4697-9bad-47f4583686c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" -> "bb071d2d-56f5-4697-9bad-47f4583686c5"; -"b792ee4e-e06c-4830-aed3-48518c10fb3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" -> "b792ee4e-e06c-4830-aed3-48518c10fb3d"; -"1d49249a-9b09-4ddc-8033-1a4d16839556" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" -> "1d49249a-9b09-4ddc-8033-1a4d16839556"; -"f4aa55fe-b718-49a4-92c6-5b3eec65c826" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"dc770f05-7481-4dbe-b87b-9594cf8fcc6f" -> "f4aa55fe-b718-49a4-92c6-5b3eec65c826"; -"8e4b7656-6302-4047-9a8a-0f4b8f61681f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8e4b7656-6302-4047-9a8a-0f4b8f61681f"; -"ca858fbe-737f-4046-b9a2-d41d5958310e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"8e4b7656-6302-4047-9a8a-0f4b8f61681f" -> "ca858fbe-737f-4046-b9a2-d41d5958310e"; -"67c034c2-d4eb-4dc2-bdc3-f5d3d8bb48f6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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"e281f3b4-29a1-48e6-b0ed-2c593723907e"; -"d0644936-99e8-4dd8-80ed-e0f9efe32e82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"e281f3b4-29a1-48e6-b0ed-2c593723907e" -> "d0644936-99e8-4dd8-80ed-e0f9efe32e82"; -"5436767b-42d6-4ba4-b1b8-baaab2c9c460" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e281f3b4-29a1-48e6-b0ed-2c593723907e" -> "5436767b-42d6-4ba4-b1b8-baaab2c9c460"; -"49c9de2a-0941-40bf-bbf4-355bdf065e6c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e281f3b4-29a1-48e6-b0ed-2c593723907e" -> "49c9de2a-0941-40bf-bbf4-355bdf065e6c"; -"9e81c74d-8c8a-4a46-84aa-85e5187129e2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"e281f3b4-29a1-48e6-b0ed-2c593723907e" -> "9e81c74d-8c8a-4a46-84aa-85e5187129e2"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"6b9919e4-5aac-4629-832b-62cfe44e9fc9" -> "ecce104a-53e9-4398-b3c4-e8d98ad38f8b"; -"a301249e-5b23-48f6-b262-1a72a828e2a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6b9919e4-5aac-4629-832b-62cfe44e9fc9" -> "a301249e-5b23-48f6-b262-1a72a828e2a7"; -"ac06f1e1-7135-43d8-a594-2def36c40326" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6b9919e4-5aac-4629-832b-62cfe44e9fc9" -> "ac06f1e1-7135-43d8-a594-2def36c40326"; -"1991f33f-b49e-48a5-ae78-3dcc29234970" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"6b9919e4-5aac-4629-832b-62cfe44e9fc9" -> "1991f33f-b49e-48a5-ae78-3dcc29234970"; -"7b5f9a6b-65df-44d6-b845-7f6cb092a3b1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, 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style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "c242b12d-0760-4374-b7d9-edd62f970bb0"; -"0f373a6c-3dbd-4532-89c9-d71833ac26f1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "0f373a6c-3dbd-4532-89c9-d71833ac26f1"; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e7e4973b-8c5b-4a24-aa2a-f15b1643c175"; -"2ff3a129-644e-457b-abfd-29d6efaa59d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" -> "2ff3a129-644e-457b-abfd-29d6efaa59d3"; -"3419c4de-bf76-4670-93f8-9262e6741bad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" -> 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fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"738da442-3517-4f2c-99e7-0f0801af84e1" -> "3964a543-199e-402f-8029-1573d16bba18"; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "50206ede-41b6-4d43-9ac8-21c1e52aaf8a"; -"643e6045-6a02-4b7a-9e53-e4d30bc35c2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "643e6045-6a02-4b7a-9e53-e4d30bc35c2a"; -"cb6150b2-3103-4011-9980-68fb83970ccc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "cb6150b2-3103-4011-9980-68fb83970ccc"; -"d341fa15-852e-46bf-9116-6ca6ebeabc6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "2f295618-70e2-4b51-a62e-835829991d68"; -"c89ab959-8856-42d7-959e-68775532c0dc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "c89ab959-8856-42d7-959e-68775532c0dc"; -"a58fd281-712e-4240-bdc1-cb7860fb9ea8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "a58fd281-712e-4240-bdc1-cb7860fb9ea8"; -"8b13d05e-0ec0-4234-ad47-e4a621812c90" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8b13d05e-0ec0-4234-ad47-e4a621812c90"; -"a403f674-0e76-4133-88df-4927b4eafd46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "a403f674-0e76-4133-88df-4927b4eafd46"; -"986f591a-bdc1-43f3-b7e9-9b78835e1859" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "986f591a-bdc1-43f3-b7e9-9b78835e1859"; -"fa25a519-c92c-4057-bb1c-f9540eae6bcc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "fa25a519-c92c-4057-bb1c-f9540eae6bcc"; -"d939e0e5-846e-4a39-891c-0bb6692e0e3d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "d939e0e5-846e-4a39-891c-0bb6692e0e3d"; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7ca8baa0-24ad-47cf-8ca6-bba234ebf29a"; -"d340b26d-6029-4eac-8e8f-190470db2343" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "d340b26d-6029-4eac-8e8f-190470db2343"; -"902f5ff8-2f8c-4d16-935c-35f85684583e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "902f5ff8-2f8c-4d16-935c-35f85684583e"; -"4efd940e-0c67-4881-9e11-1f2fa965f6a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "4efd940e-0c67-4881-9e11-1f2fa965f6a7"; -"f6d0540f-34ca-40f6-9d05-71d3c135f4df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "f6d0540f-34ca-40f6-9d05-71d3c135f4df"; -"1d5b19b6-7999-4ec0-8ca3-6377bc46fe18" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; -"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "1d5b19b6-7999-4ec0-8ca3-6377bc46fe18"; -"81c208d7-eddd-4e11-8438-d228a2751e2b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "81c208d7-eddd-4e11-8438-d228a2751e2b"; -"8dd55291-23a0-4695-a707-3baa891985a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "8dd55291-23a0-4695-a707-3baa891985a6"; -"ed2ed4a0-c9d5-4554-b229-fd370e21c38c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "ed2ed4a0-c9d5-4554-b229-fd370e21c38c"; -"a5561fa1-92e8-4855-b925-d509ed8b7a3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "a5561fa1-92e8-4855-b925-d509ed8b7a3d"; -"e62341dc-7b2e-4f69-9bf5-62659bb832fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "e62341dc-7b2e-4f69-9bf5-62659bb832fc"; -"0bf29e84-27be-4d09-949f-241f8b5d53f7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; -"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "0bf29e84-27be-4d09-949f-241f8b5d53f7"; -"fc300949-767f-4324-a69c-736a6ee2f63d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fc300949-767f-4324-a69c-736a6ee2f63d"; -"e5a11ee7-6340-4ef2-983b-3f22c2233702" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fc300949-767f-4324-a69c-736a6ee2f63d" -> "e5a11ee7-6340-4ef2-983b-3f22c2233702"; -"e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"fc300949-767f-4324-a69c-736a6ee2f63d" -> "e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e"; -"0a07ed17-e492-4a1c-80a9-61cfafae8d30" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fc300949-767f-4324-a69c-736a6ee2f63d" -> "0a07ed17-e492-4a1c-80a9-61cfafae8d30"; -"5ad6b0a2-ada0-4ba5-b067-4fa6a603d106" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"fc300949-767f-4324-a69c-736a6ee2f63d" -> "5ad6b0a2-ada0-4ba5-b067-4fa6a603d106"; -"914edf0f-e89e-41d7-bfba-8b9f2ed88dcb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled]; -"fc300949-767f-4324-a69c-736a6ee2f63d" -> "914edf0f-e89e-41d7-bfba-8b9f2ed88dcb"; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "70cc462b-d3a5-49e6-be06-48d5b6f33269"; -"7232382c-8ae7-441b-812c-8c60d149a481" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "7232382c-8ae7-441b-812c-8c60d149a481"; -"5cb5db0e-c8f1-4bf8-a867-58d61bc60df1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "5cb5db0e-c8f1-4bf8-a867-58d61bc60df1"; -"eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6"; -"cf79696b-cb1b-4a16-ab97-f0b39ca41638" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "cf79696b-cb1b-4a16-ab97-f0b39ca41638"; -"fe0b087e-00d9-43b8-a3a4-9cd23bb4736d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "fe0b087e-00d9-43b8-a3a4-9cd23bb4736d"; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "95f2fa8b-2664-4e91-9677-0c3012f78c32"; -"eade3195-4ffc-4d11-a0c1-a962437c92c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "eade3195-4ffc-4d11-a0c1-a962437c92c7"; -"96ab24fb-382c-457e-b5d0-7a222cb6e602" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "96ab24fb-382c-457e-b5d0-7a222cb6e602"; -"b3b5bb07-a37d-43f2-bea3-262f808b5e72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "b3b5bb07-a37d-43f2-bea3-262f808b5e72"; -"d2c442ed-1d4c-49d3-8a88-223eec6dc425" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "d2c442ed-1d4c-49d3-8a88-223eec6dc425"; -"994dad7a-43ec-41d3-a160-f5635f872acd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "994dad7a-43ec-41d3-a160-f5635f872acd"; -"9b951d0d-080e-44f7-be07-4111258ec601" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9b951d0d-080e-44f7-be07-4111258ec601"; -"dd661277-2298-4e35-a4a7-c6f236a6ab82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "dd661277-2298-4e35-a4a7-c6f236a6ab82"; -"503442c1-32ca-4dad-b50c-8730f2e86148" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "503442c1-32ca-4dad-b50c-8730f2e86148"; -"f0573b81-37fb-4b19-8848-f20c6f6340a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "f0573b81-37fb-4b19-8848-f20c6f6340a9"; -"478a6c6f-c382-4757-9348-4d90707f36e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "478a6c6f-c382-4757-9348-4d90707f36e9"; -"2b25992c-502b-4db8-83cd-785a5ce25a1f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "2b25992c-502b-4db8-83cd-785a5ce25a1f"; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4f384bd2-c40a-466d-85d6-9d608a811aaa"; -"0be147d5-86c3-4f4b-bcfd-9eb7ab01295c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "0be147d5-86c3-4f4b-bcfd-9eb7ab01295c"; -"dc0453ab-415b-4ccd-9fb3-09409b9e26fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "dc0453ab-415b-4ccd-9fb3-09409b9e26fa"; -"59fe20f3-8cbe-4855-a21a-0548505d189b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "59fe20f3-8cbe-4855-a21a-0548505d189b"; -"368846e6-6dfc-4b46-a429-b4d29bd0e0c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "368846e6-6dfc-4b46-a429-b4d29bd0e0c8"; -"beaa13f0-58d0-4942-9706-86203bf82009" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "beaa13f0-58d0-4942-9706-86203bf82009"; -"66399520-c790-471d-9878-a1b499b3a0d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> 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width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "70bda9cf-80c2-4267-b572-8bc433f218dd"; -"4a51b3dd-7b00-4539-ab7e-fda1a9b409f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "4a51b3dd-7b00-4539-ab7e-fda1a9b409f9"; -"2638fccb-215b-40eb-baf1-8e18b5e2274e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "2638fccb-215b-40eb-baf1-8e18b5e2274e"; -"e748a68c-7368-4c17-a8be-00fec63bd86e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "e748a68c-7368-4c17-a8be-00fec63bd86e"; -"a10d9f52-3027-4bca-aa75-2107253fd161" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> 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label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "152a0c78-fe7d-4c95-b2cf-515e09d61e2c"; -"ff54400e-ed82-4a38-8287-9668be7fab62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "ff54400e-ed82-4a38-8287-9668be7fab62"; -"a671bc5f-4059-4ba0-972e-07dfd50684f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "a671bc5f-4059-4ba0-972e-07dfd50684f3"; -"892500fb-ada3-47e1-9edd-946701aa44eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "892500fb-ada3-47e1-9edd-946701aa44eb"; -"f6e18d48-1a41-4d49-b669-637324d7e49c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "1fb3eaec-7f56-4584-a360-66e07c4dc416"; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f2b87ec4-db2e-48de-b46d-e14c4c2a3e85"; -"98d7404f-dd5a-40d7-b630-5763e4a5bcd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "98d7404f-dd5a-40d7-b630-5763e4a5bcd9"; -"85048b9a-9975-418a-a6d9-34e5c44ef607" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "85048b9a-9975-418a-a6d9-34e5c44ef607"; -"eb3e6750-6a7b-488a-b013-83a56b71697c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "eb3e6750-6a7b-488a-b013-83a56b71697c"; -"84a6978f-9f0d-4acc-8ff0-f8837468f7b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "84a6978f-9f0d-4acc-8ff0-f8837468f7b7"; -"e6e83dcc-2dbf-480e-8334-bd3aad6cced8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "e6e83dcc-2dbf-480e-8334-bd3aad6cced8"; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "483c3b89-03fb-4327-a675-fd2d185c6b1a"; -"7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "872697bc-4a71-46a3-ad41-1f6f08dd92fa"; -"4894ea3d-1fc5-48d3-a3d7-ac865c366c4c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "4894ea3d-1fc5-48d3-a3d7-ac865c366c4c"; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "08f02a9b-15cb-49cd-863f-a6adeaf910ca"; -"0e6edf62-51e1-48d9-8fc4-40db4e4e666a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "0e6edf62-51e1-48d9-8fc4-40db4e4e666a"; -"2338d5ff-6e3b-41fc-a1b1-97eaacf95eab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "2338d5ff-6e3b-41fc-a1b1-97eaacf95eab"; -"3ad5ccb8-92e0-4d59-b58b-242d1d190a41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "3ad5ccb8-92e0-4d59-b58b-242d1d190a41"; -"04b95868-3639-42ab-ad2b-234547064076" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "04b95868-3639-42ab-ad2b-234547064076"; -"ee14313c-024b-4fa7-a3ce-15c2e57371f8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "ee14313c-024b-4fa7-a3ce-15c2e57371f8"; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> 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fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "3a454d87-725e-427f-b36d-04f0379edb4f"; -"e2c5c5db-9c36-450c-8a78-f11c554e2824" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "e2c5c5db-9c36-450c-8a78-f11c554e2824"; -"1adbcf75-1905-42d4-8f51-fc4abd5b3f58" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "1adbcf75-1905-42d4-8f51-fc4abd5b3f58"; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "c652027f-33b5-485f-8a1e-58ec4f4d6206"; -"3effc8b5-b38d-4242-80bc-ec7aba738252" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" -> "3effc8b5-b38d-4242-80bc-ec7aba738252"; -"ee3ba389-1e9c-48c0-bc5e-922a950520c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" -> "ee3ba389-1e9c-48c0-bc5e-922a950520c0"; -"052ff164-0d42-4f81-a670-738fb2737167" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" -> "052ff164-0d42-4f81-a670-738fb2737167"; -"236d05ef-2d12-4713-a036-dc57c85eafda" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" -> "236d05ef-2d12-4713-a036-dc57c85eafda"; -"b09d64a2-43dd-4874-99b4-6ba93c688745" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d441e492-2db4-476f-a46b-762f5351c9eb"; -"de0fd426-6a83-46c5-807d-013e7e8d8d8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "de0fd426-6a83-46c5-807d-013e7e8d8d8c"; -"8ca35f0c-d9d9-424f-8c54-08955de17e4b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "8ca35f0c-d9d9-424f-8c54-08955de17e4b"; -"1d976968-3c0f-4286-8f0d-0f797ae0e548" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "1d976968-3c0f-4286-8f0d-0f797ae0e548"; -"a53e39e0-d1ec-4c6d-b713-00a4c398ca49" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "f9727d1c-73b4-4928-9ac0-f4f2cca56c18"; -"07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc"; -"c4d462f4-b479-4414-84c1-c925176ca40a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "c4d462f4-b479-4414-84c1-c925176ca40a"; -"52a357d2-983e-45f9-a861-a5d0035f328c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "52a357d2-983e-45f9-a861-a5d0035f328c"; -"a6f03038-7fa8-4a66-ab5c-b960b6e4c342" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "a6f03038-7fa8-4a66-ab5c-b960b6e4c342"; -"577c0aea-a006-430c-816c-8348d6606e3d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "577c0aea-a006-430c-816c-8348d6606e3d"; -"1d505dc4-ac2f-4a59-a358-04851ce05bb3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "1d505dc4-ac2f-4a59-a358-04851ce05bb3"; -"3f80d1e8-f2db-43e8-8278-0813fe5112dd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "3f80d1e8-f2db-43e8-8278-0813fe5112dd"; -"bd7695fc-29ac-4d56-8409-aa8cf78915f6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "bd7695fc-29ac-4d56-8409-aa8cf78915f6"; -"1b628cc0-b45b-4e96-bd8a-c7e81f500856" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "1b628cc0-b45b-4e96-bd8a-c7e81f500856"; -"c014ee15-80a9-4dd3-9ebb-1f1c313f4d16" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "c014ee15-80a9-4dd3-9ebb-1f1c313f4d16"; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38"; -"1aa3e74e-1e05-440a-b705-8c2410857e8a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> 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fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "bd13d76f-1213-4bcd-a5d7-0c7a2988828d"; -"93d7c3ad-c70b-4061-b06f-c6ac55ca6e65" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "93d7c3ad-c70b-4061-b06f-c6ac55ca6e65"; -"95080450-e4f1-48f1-a9d7-da3c9e3f0276" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "95080450-e4f1-48f1-a9d7-da3c9e3f0276"; -"d1952e9d-1f01-416a-b93c-8fe200d18901" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"95080450-e4f1-48f1-a9d7-da3c9e3f0276" -> "d1952e9d-1f01-416a-b93c-8fe200d18901"; -"7b9f4862-0e3a-411c-9bad-513117271765" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", 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height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "07586bf3-3261-4f90-8a20-818974dcaa22"; -"6b20daf3-c7d1-4e47-a9b7-8dc978303b3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"07586bf3-3261-4f90-8a20-818974dcaa22" -> "6b20daf3-c7d1-4e47-a9b7-8dc978303b3e"; -"a563f8a1-131c-4206-b746-d5e723f976ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"07586bf3-3261-4f90-8a20-818974dcaa22" -> "a563f8a1-131c-4206-b746-d5e723f976ec"; -"d5fab8c2-5bea-422e-8abe-e19bc3439b0e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"07586bf3-3261-4f90-8a20-818974dcaa22" -> "d5fab8c2-5bea-422e-8abe-e19bc3439b0e"; -"69e21ea0-7524-4c40-bdb7-fdf5402d51e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"dc9fc211-1223-426e-bf8d-75cc66d1b3b1" -> "b83f8bff-17ec-405c-a5ff-2f68298f8699"; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e0569027-3cdc-4b15-a7ad-49886b56be6b"; -"99918538-9f5c-43bd-863b-11dca11f9d47" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "99918538-9f5c-43bd-863b-11dca11f9d47"; -"9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae"; -"e69096a2-e09a-4abd-8485-7760760098d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "e69096a2-e09a-4abd-8485-7760760098d8"; -"3f44da18-2090-48ca-9438-fe1e5a039fc8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "3f44da18-2090-48ca-9438-fe1e5a039fc8"; -"e1f88597-d372-48bf-be27-226fb1d7a537" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "e1f88597-d372-48bf-be27-226fb1d7a537"; -"2a234b02-c0d4-453c-b058-ee6121393edc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2a234b02-c0d4-453c-b058-ee6121393edc"; -"7128b9e3-37e5-4b92-a310-2db00b23030a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; 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style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "419acfc1-aa9b-4572-9561-217e20dbf7da"; -"c7e602d1-6581-4621-af1c-6cfc67e62a4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "c7e602d1-6581-4621-af1c-6cfc67e62a4c"; -"fdf722b1-053a-4cf9-b97b-b894d7249270" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "fdf722b1-053a-4cf9-b97b-b894d7249270"; -"57cb32b0-c56b-4830-8aa3-72f3a6ba6029" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "57cb32b0-c56b-4830-8aa3-72f3a6ba6029"; -"6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "ccbf6e12-f838-47e0-83ed-534fc9569cd7"; -"cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221"; -"e67923ef-45a9-4b6d-88fd-75cb8e87d6c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "e67923ef-45a9-4b6d-88fd-75cb8e87d6c8"; -"c06d4711-09ea-4648-9283-5296f79d7fd7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "c06d4711-09ea-4648-9283-5296f79d7fd7"; -"22fc2739-ffa4-4377-8745-3ef90e4bde80" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "22fc2739-ffa4-4377-8745-3ef90e4bde80"; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "53bd47b5-0a5b-486d-b0fe-f98b85079e57"; -"d6f4b983-571a-4f96-9fd5-6c9dab97f013" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "d6f4b983-571a-4f96-9fd5-6c9dab97f013"; -"25a0dc72-3aaf-4419-8340-35675963abce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "25a0dc72-3aaf-4419-8340-35675963abce"; -"b4adf49a-74c2-46be-92d2-e300e07fc1b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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-"3d49ff67-9b5f-46a7-bf94-9bc93fdf0912" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "3d49ff67-9b5f-46a7-bf94-9bc93fdf0912"; -"7b02338a-05b9-43bf-b03f-1c187183271d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "7b02338a-05b9-43bf-b03f-1c187183271d"; -"1c62a5b7-7f08-42a7-a7b4-f054a6260d54" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "1c62a5b7-7f08-42a7-a7b4-f054a6260d54"; -"e6d8651c-0c4d-44dd-858e-4067b873f31a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "e6d8651c-0c4d-44dd-858e-4067b873f31a"; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7b1242bd-b528-45d0-bbe0-9901f89d3048"; -"b86de745-e8fd-4a69-a9f7-b24a55b46880" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "b86de745-e8fd-4a69-a9f7-b24a55b46880"; -"70a89f7f-d4e3-40da-9129-d8c1c2beaedf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "70a89f7f-d4e3-40da-9129-d8c1c2beaedf"; -"99d238b9-5219-4e40-8a80-ad44064505fd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "99d238b9-5219-4e40-8a80-ad44064505fd"; -"149bff68-eac1-4a37-97db-54120a941812" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "149bff68-eac1-4a37-97db-54120a941812"; -"3a941fb5-3fbe-4f55-912f-d8c39d302dd9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "3a941fb5-3fbe-4f55-912f-d8c39d302dd9"; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bcbdf785-4877-4e2e-af09-94e7fe764a9c"; -"274d4d6e-b4f7-4588-bf40-575f0c836a07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "274d4d6e-b4f7-4588-bf40-575f0c836a07"; -"d4e7fb66-74bd-43af-ac44-8efee75d0346" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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"d5a11f3d-4498-422c-9363-c25a18274e15"; -"ce27e756-127d-4b48-bbb9-1723ccd0d360" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "ce27e756-127d-4b48-bbb9-1723ccd0d360"; -"962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e"; -"b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe"; -"2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d"; 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-> "96dff594-c2d3-4674-88c9-c1aae3fc963d"; -"3d4e71a0-98d9-42b3-a7ec-6015607f343e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c351fabc-d971-47b6-bd75-49117283f717" -> "3d4e71a0-98d9-42b3-a7ec-6015607f343e"; -"8f3183a1-332d-44e3-ae08-840619298e48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8f3183a1-332d-44e3-ae08-840619298e48"; -"84091fd5-8774-4a6d-9336-66c90e29113b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"8f3183a1-332d-44e3-ae08-840619298e48" -> "84091fd5-8774-4a6d-9336-66c90e29113b"; -"e4031364-ccfa-4895-9e0b-74089a93a9a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"8f3183a1-332d-44e3-ae08-840619298e48" -> "e4031364-ccfa-4895-9e0b-74089a93a9a9"; 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label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"93707b5e-7a0d-4318-84fe-d231cd0a46de" -> "6e381100-3943-4c68-aae0-52399267a811"; -"e3d5896b-137c-43a5-be5e-dc67441d6302" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e3d5896b-137c-43a5-be5e-dc67441d6302"; -"469b945d-69e8-4b86-bcc6-5bf562146e76" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"e3d5896b-137c-43a5-be5e-dc67441d6302" -> "469b945d-69e8-4b86-bcc6-5bf562146e76"; -"7a6b4a24-0f35-4151-ad28-8eec78212d98" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e3d5896b-137c-43a5-be5e-dc67441d6302" -> "7a6b4a24-0f35-4151-ad28-8eec78212d98"; -"0d7435dc-d504-4a7e-a11c-b6aed15869c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, 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fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> "45f60cc2-e4a0-4235-885d-c9dc4b02da2f"; -"8b6ecdfb-2395-40f8-9bdf-29abb7851316" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> "8b6ecdfb-2395-40f8-9bdf-29abb7851316"; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "709e0257-9e1b-4213-b8d0-bcc865ec9207"; -"c7e75246-2510-4dd9-9035-737ee0fb5fe8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" -> "c7e75246-2510-4dd9-9035-737ee0fb5fe8"; -"579c5d5c-5433-4a5b-b679-73be714c17a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" -> "579c5d5c-5433-4a5b-b679-73be714c17a1"; -"dd629349-a727-4adb-8eb5-7b852154e28e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" -> "dd629349-a727-4adb-8eb5-7b852154e28e"; -"c640e94c-abbc-4f15-b4a6-3e237d9dda96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" -> "c640e94c-abbc-4f15-b4a6-3e237d9dda96"; -"f21915d1-e2cb-4341-ad64-cb696f561b88" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"709e0257-9e1b-4213-b8d0-bcc865ec9207" -> "f21915d1-e2cb-4341-ad64-cb696f561b88"; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "fcda5a3f-de41-464a-828c-7556c20f6803"; -"734dddba-26b7-439e-b25c-b8980c349326" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "734dddba-26b7-439e-b25c-b8980c349326"; -"8a4296bc-6dc8-4450-8a97-3142785da995" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "8a4296bc-6dc8-4450-8a97-3142785da995"; -"83418e71-fac4-4c24-a7ea-df982ef48360" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "83418e71-fac4-4c24-a7ea-df982ef48360"; -"48f10d91-a710-4f19-9705-ddd02e0ac26b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "48f10d91-a710-4f19-9705-ddd02e0ac26b"; -"290d5562-d7bc-4920-b539-3e51f2377361" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "290d5562-d7bc-4920-b539-3e51f2377361"; -"6260a159-47d6-494d-9712-f2028d68df2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "6260a159-47d6-494d-9712-f2028d68df2f"; -"69c3035b-e6e0-417f-94ad-3a2b51ab24a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "69c3035b-e6e0-417f-94ad-3a2b51ab24a5"; -"fcd2eb97-af08-43b9-b6a1-347076c24a44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "fcd2eb97-af08-43b9-b6a1-347076c24a44"; -"c5abc375-7ac4-4445-8e24-d254f5b7065e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "c5abc375-7ac4-4445-8e24-d254f5b7065e"; -"b33809b1-5d7b-4a97-b78a-0aefe9e7073b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "b33809b1-5d7b-4a97-b78a-0aefe9e7073b"; -"2d2645c1-433b-4138-beac-caa410346f8e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2d2645c1-433b-4138-beac-caa410346f8e"; -"18786d2d-7b00-4262-abc0-16bf5ca538ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "18786d2d-7b00-4262-abc0-16bf5ca538ae"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "6f14c627-0122-40be-8c57-541d752e60f6"; -"ff974da8-a580-4f70-b296-c824dafcc1d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "ff974da8-a580-4f70-b296-c824dafcc1d3"; -"94795be3-4cc7-4397-a95e-93be13059439" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "94795be3-4cc7-4397-a95e-93be13059439"; -"403f1a36-a06a-445a-89f3-547f081ce8fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "403f1a36-a06a-445a-89f3-547f081ce8fa"; -"a1c3ac38-3116-4270-8775-36ede882f9b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "a1c3ac38-3116-4270-8775-36ede882f9b7"; -"7aa50814-aa97-4653-a8dd-1978b69f2e3b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "7aa50814-aa97-4653-a8dd-1978b69f2e3b"; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3"; -"1a04993a-d418-4956-90b4-14189ccf5cb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "1a04993a-d418-4956-90b4-14189ccf5cb5"; -"dfdc946c-2e77-471d-8e48-045ebdfe5c4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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"5f362f89-c782-474d-be59-53598c8aa969"; -"d8cfabad-4a31-4736-9d2b-fe71cf5d35f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "d8cfabad-4a31-4736-9d2b-fe71cf5d35f3"; -"4c840a0c-4bd2-4ed0-aed8-9886d2a850d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "4c840a0c-4bd2-4ed0-aed8-9886d2a850d6"; -"e5707913-d39f-40cd-9e04-74134a4c0ca9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "e5707913-d39f-40cd-9e04-74134a4c0ca9"; -"d3d816e7-c870-405c-913d-cbf092c227af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "d3d816e7-c870-405c-913d-cbf092c227af"; -"424ef6e3-4622-4f09-8b17-1a46413f6992" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "424ef6e3-4622-4f09-8b17-1a46413f6992"; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb"; -"902b4913-b516-430b-95db-cb212e5943bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "902b4913-b516-430b-95db-cb212e5943bc"; -"f967093d-5e4c-40d7-879e-d2e8b69bb2c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "f967093d-5e4c-40d7-879e-d2e8b69bb2c8"; -"051b2383-2318-42fa-b4c8-a0b2e69e0640" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "051b2383-2318-42fa-b4c8-a0b2e69e0640"; -"2e6b6503-3251-4c75-b27e-5d8f6527246b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "2e6b6503-3251-4c75-b27e-5d8f6527246b"; -"fd9e2412-2a05-4377-9807-573a4de33e6e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fd9e2412-2a05-4377-9807-573a4de33e6e"; -"a383abe1-2d5a-44b2-a0d2-2528751529d5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "a383abe1-2d5a-44b2-a0d2-2528751529d5"; -"c5e474e3-8a89-4834-8cc8-477c803e81ce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "c5e474e3-8a89-4834-8cc8-477c803e81ce"; -"bba16fe9-4805-4acb-a1f9-e86864f96d78" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "bba16fe9-4805-4acb-a1f9-e86864f96d78"; -"78b3fd77-4601-4812-96cc-6865e95f4031" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "78b3fd77-4601-4812-96cc-6865e95f4031"; -"369c501f-069a-41ea-889f-15482c82ed21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "369c501f-069a-41ea-889f-15482c82ed21"; -"6a60bddc-f42c-42ce-80ea-1355ee068ad2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "6a60bddc-f42c-42ce-80ea-1355ee068ad2"; -"a081bb1b-ad83-447a-9511-f68ed21445be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "a081bb1b-ad83-447a-9511-f68ed21445be"; -"5907dade-629a-4dac-ba8c-edf9b16929c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "5907dade-629a-4dac-ba8c-edf9b16929c7"; -"9c302604-9b15-451b-b999-adc0cdd56af4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "9c302604-9b15-451b-b999-adc0cdd56af4"; -"eb8e0c1d-2b1f-47b8-a72b-08277db6f713" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "eb8e0c1d-2b1f-47b8-a72b-08277db6f713"; -"474a0991-dd82-4d38-bfbe-3c788b5d6652" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "474a0991-dd82-4d38-bfbe-3c788b5d6652"; -"e88d865d-26e3-4a5a-a529-fc99aaabb782" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"474a0991-dd82-4d38-bfbe-3c788b5d6652" -> "e88d865d-26e3-4a5a-a529-fc99aaabb782"; -"bac1a429-2eb4-43cf-97e8-a0da6f21c91f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"474a0991-dd82-4d38-bfbe-3c788b5d6652" -> "bac1a429-2eb4-43cf-97e8-a0da6f21c91f"; -"073b0ae7-7c2f-45b6-90ec-7265a941f58f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"474a0991-dd82-4d38-bfbe-3c788b5d6652" -> "073b0ae7-7c2f-45b6-90ec-7265a941f58f"; -"2b612be9-0490-4e63-ae0f-6a6008fd98b5" [fillcolor="#FFFF80", 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shape=ellipse, style=filled]; -"d7c709dd-3f28-4539-8d1b-acbd3fefaff7" -> "49c95509-1827-4554-9d89-571c1e152754"; -"14d7c141-63d5-4d80-ae87-f2966ba23f18" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d7c709dd-3f28-4539-8d1b-acbd3fefaff7" -> "14d7c141-63d5-4d80-ae87-f2966ba23f18"; -"da6d5045-a716-4690-bc58-f2d55913e908" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"d7c709dd-3f28-4539-8d1b-acbd3fefaff7" -> "da6d5045-a716-4690-bc58-f2d55913e908"; -"22e3d743-cae3-4453-8a99-11f492e0b751" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "22e3d743-cae3-4453-8a99-11f492e0b751"; -"c185c052-b3ca-4fbb-8568-5ce3b20ef8b8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"22e3d743-cae3-4453-8a99-11f492e0b751" -> "c185c052-b3ca-4fbb-8568-5ce3b20ef8b8"; -"2819d1b1-3ad0-4d2e-a5dd-0eba8f608258" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"22e3d743-cae3-4453-8a99-11f492e0b751" -> "2819d1b1-3ad0-4d2e-a5dd-0eba8f608258"; -"51c5eba8-bccd-4239-a4ff-c815f7904a4b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"22e3d743-cae3-4453-8a99-11f492e0b751" -> "51c5eba8-bccd-4239-a4ff-c815f7904a4b"; -"a963a33a-936e-49ed-b353-552e3c87d169" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"22e3d743-cae3-4453-8a99-11f492e0b751" -> "a963a33a-936e-49ed-b353-552e3c87d169"; -"35a50a28-a6c6-432e-887e-ed771da51722" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"22e3d743-cae3-4453-8a99-11f492e0b751" -> "35a50a28-a6c6-432e-887e-ed771da51722"; -"48844703-348a-49db-b208-088b73fb68c0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "48844703-348a-49db-b208-088b73fb68c0"; -"ebf8f994-e972-435a-9d8b-256f31aea702" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"48844703-348a-49db-b208-088b73fb68c0" -> "ebf8f994-e972-435a-9d8b-256f31aea702"; -"5ddedeb2-4138-4436-b65f-a3dfa349aa73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"48844703-348a-49db-b208-088b73fb68c0" -> "5ddedeb2-4138-4436-b65f-a3dfa349aa73"; -"be003da7-a92b-4f3c-a663-eafdb98e7885" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"48844703-348a-49db-b208-088b73fb68c0" -> "be003da7-a92b-4f3c-a663-eafdb98e7885"; -"4da98aef-3a34-4380-8e77-eb20a9f8f73c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"48844703-348a-49db-b208-088b73fb68c0" -> "4da98aef-3a34-4380-8e77-eb20a9f8f73c"; -"5171bae7-13f7-48d8-b268-d2f36f3708a4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"48844703-348a-49db-b208-088b73fb68c0" -> "5171bae7-13f7-48d8-b268-d2f36f3708a4"; -"5075deb2-1c6b-4f5b-8485-7f8a74f76d30" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "5075deb2-1c6b-4f5b-8485-7f8a74f76d30"; -"c4f31573-1242-4368-94ef-19807b3b5c9d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5075deb2-1c6b-4f5b-8485-7f8a74f76d30" -> "c4f31573-1242-4368-94ef-19807b3b5c9d"; -"6016671d-13ed-4175-a508-8e07fff78638" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"5075deb2-1c6b-4f5b-8485-7f8a74f76d30" -> "6016671d-13ed-4175-a508-8e07fff78638"; -"aa7cc4ac-b479-4b49-a9de-53016e448ee6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5075deb2-1c6b-4f5b-8485-7f8a74f76d30" -> "aa7cc4ac-b479-4b49-a9de-53016e448ee6"; -"221a02e2-eeb1-4add-95e7-b75cd634fc1b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"5075deb2-1c6b-4f5b-8485-7f8a74f76d30" -> "221a02e2-eeb1-4add-95e7-b75cd634fc1b"; -"8ff42189-0cb6-4327-a773-ab7c74b21e93" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8ff42189-0cb6-4327-a773-ab7c74b21e93"; -"ef4349fb-4817-4e6b-9dfc-43765181739c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8ff42189-0cb6-4327-a773-ab7c74b21e93" -> "ef4349fb-4817-4e6b-9dfc-43765181739c"; -"0e2c3353-2516-48fe-a1db-71de9bce0756" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"8ff42189-0cb6-4327-a773-ab7c74b21e93" -> "0e2c3353-2516-48fe-a1db-71de9bce0756"; -"14412e1e-a2c1-457a-bad2-76c671c42716" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8ff42189-0cb6-4327-a773-ab7c74b21e93" -> "14412e1e-a2c1-457a-bad2-76c671c42716"; -"0478b184-6010-49db-a790-0d1a8acb5feb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"8ff42189-0cb6-4327-a773-ab7c74b21e93" -> "0478b184-6010-49db-a790-0d1a8acb5feb"; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ac97f74c-6a58-442f-82d8-0a1c3b928272"; -"b302171a-73a3-4f97-aace-f722a45e8e1d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" -> "b302171a-73a3-4f97-aace-f722a45e8e1d"; -"4af33854-6f0b-4546-91e9-322f610e3b39" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" -> "4af33854-6f0b-4546-91e9-322f610e3b39"; -"e12c5f97-36af-4b7e-95dd-f6595d13d7de" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" -> "e12c5f97-36af-4b7e-95dd-f6595d13d7de"; -"25672495-20df-4f34-8553-ce3a8b7934f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" -> "25672495-20df-4f34-8553-ce3a8b7934f0"; -"bbaf9889-2309-49fe-99bf-b21f5a8e047c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"ac97f74c-6a58-442f-82d8-0a1c3b928272" -> "bbaf9889-2309-49fe-99bf-b21f5a8e047c"; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a"; -"091355e2-d425-4162-9573-2cbd0ccc6006" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" -> "091355e2-d425-4162-9573-2cbd0ccc6006"; -"4dd5150c-d867-4678-b91c-4b5e5e92e260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" -> "4dd5150c-d867-4678-b91c-4b5e5e92e260"; -"50084907-d446-4f31-9ecb-c075b7bd6954" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" -> "50084907-d446-4f31-9ecb-c075b7bd6954"; -"17c27c85-c1f6-4405-9556-363c4f4c7f85" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" -> "17c27c85-c1f6-4405-9556-363c4f4c7f85"; -"30161710-c288-4c87-aa0c-d9c530490a6f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a" -> "30161710-c288-4c87-aa0c-d9c530490a6f"; -"cbaae385-6de7-456d-b611-50727c90dc7a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "cbaae385-6de7-456d-b611-50727c90dc7a"; -"f043620b-052b-4099-8762-6e66916dd9c9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cbaae385-6de7-456d-b611-50727c90dc7a" -> "f043620b-052b-4099-8762-6e66916dd9c9"; -"f02947e1-2274-4bca-b966-56abd014774e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"cbaae385-6de7-456d-b611-50727c90dc7a" -> "f02947e1-2274-4bca-b966-56abd014774e"; -"4659c694-17d5-4eb2-a3d6-f12d12e9dc28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cbaae385-6de7-456d-b611-50727c90dc7a" -> "4659c694-17d5-4eb2-a3d6-f12d12e9dc28"; -"cc840e60-87e7-4270-a4f5-06197cca4449" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"cbaae385-6de7-456d-b611-50727c90dc7a" -> "cc840e60-87e7-4270-a4f5-06197cca4449"; -"e5f8f2a6-3c8f-491a-9d42-8ba36a300584" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"cbaae385-6de7-456d-b611-50727c90dc7a" -> "e5f8f2a6-3c8f-491a-9d42-8ba36a300584"; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ac67eee9-7511-442e-9f02-8c5a3a1975da"; -"34c469f1-3e0d-4c11-a76d-57373532e5c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" -> "34c469f1-3e0d-4c11-a76d-57373532e5c8"; -"a648941f-cdaf-4a99-9d0b-fdc7db094fee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" -> "a648941f-cdaf-4a99-9d0b-fdc7db094fee"; -"24a0d5c3-c71c-4e5b-b317-1471d0ec816c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" -> "24a0d5c3-c71c-4e5b-b317-1471d0ec816c"; -"ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" -> "ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec"; -"a370ebcb-d7cc-496d-a05a-1004bef384aa" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"ac67eee9-7511-442e-9f02-8c5a3a1975da" -> "a370ebcb-d7cc-496d-a05a-1004bef384aa"; -"17c19023-200d-4bc1-b148-eb0bf7df2581" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "17c19023-200d-4bc1-b148-eb0bf7df2581"; -"14b9586e-2807-40c0-83ca-589a952ae874" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"17c19023-200d-4bc1-b148-eb0bf7df2581" -> "14b9586e-2807-40c0-83ca-589a952ae874"; -"cbd12888-81c1-4ca8-8fa2-2e5982b74ebd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"17c19023-200d-4bc1-b148-eb0bf7df2581" -> "cbd12888-81c1-4ca8-8fa2-2e5982b74ebd"; -"71f7d726-ebae-44e3-b9af-14abc5d5e412" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"17c19023-200d-4bc1-b148-eb0bf7df2581" -> "71f7d726-ebae-44e3-b9af-14abc5d5e412"; -"3d802a9d-21e4-48d2-bad4-5cec2fd322d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"17c19023-200d-4bc1-b148-eb0bf7df2581" -> "3d802a9d-21e4-48d2-bad4-5cec2fd322d4"; -"42542947-ce6b-4d47-b5a1-0310acb0b581" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"17c19023-200d-4bc1-b148-eb0bf7df2581" -> "42542947-ce6b-4d47-b5a1-0310acb0b581"; -"9ba8ee0d-4e66-4144-af2f-dc54545ba9c2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9ba8ee0d-4e66-4144-af2f-dc54545ba9c2"; -"a80416ef-f64d-4ad2-8a7b-39232a57fa02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9ba8ee0d-4e66-4144-af2f-dc54545ba9c2" -> "a80416ef-f64d-4ad2-8a7b-39232a57fa02"; -"d2d9faa7-9c44-4a84-9c18-7691fe6ece5b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9ba8ee0d-4e66-4144-af2f-dc54545ba9c2" -> "d2d9faa7-9c44-4a84-9c18-7691fe6ece5b"; -"b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"9ba8ee0d-4e66-4144-af2f-dc54545ba9c2" -> "b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4"; -"451e2f25-dec4-4911-a508-193793f3f122" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; 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style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "ee994789-611a-41f7-9e4a-882a85a8f84d"; -"54a62036-3639-43ea-91ce-0ce4d445507b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"ee994789-611a-41f7-9e4a-882a85a8f84d" -> "54a62036-3639-43ea-91ce-0ce4d445507b"; -"8bf7e018-e1de-493f-a03b-705bda72f99a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> "8bf7e018-e1de-493f-a03b-705bda72f99a"; -"e55228f5-07a0-4baf-bbe8-6234c18cf124" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> "e55228f5-07a0-4baf-bbe8-6234c18cf124"; -"350c0d4f-496a-4929-bdc5-928b73a370ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> 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fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "ed698829-defc-4bd7-b5b5-a787873ab161"; -"d2970d23-0525-42c5-a6d5-d1801429c17b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "d2970d23-0525-42c5-a6d5-d1801429c17b"; -"8614c8da-8a04-4907-a164-6d4e6e21ac2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "8614c8da-8a04-4907-a164-6d4e6e21ac2c"; -"7b1ddbba-b4d2-443c-b646-39eb933fd102" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "7b1ddbba-b4d2-443c-b646-39eb933fd102"; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "8b6ff78e-014c-44d7-ba78-2006b86db3fd"; -"1c09ff47-400c-466e-8714-d8c8429db7e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "1c09ff47-400c-466e-8714-d8c8429db7e6"; -"327e2478-87b5-4eba-9dd1-6918366c7da1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "327e2478-87b5-4eba-9dd1-6918366c7da1"; -"60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97"; -"c5e01a62-e85f-4707-a45f-49eb624b5da4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "e16be6cb-8fec-486e-a03d-6dff87de936e"; -"d48b849a-4b45-4e2b-bfa2-006c7f88d051" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "d48b849a-4b45-4e2b-bfa2-006c7f88d051"; -"9e20a4f6-e58f-4110-a538-14881df9fba1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "9e20a4f6-e58f-4110-a538-14881df9fba1"; -"80bb0311-1f87-4af6-a786-20e869ddffbf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "80bb0311-1f87-4af6-a786-20e869ddffbf"; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "f6e6a3e1-0759-44e1-8e5b-d350636a36b0"; -"ec10b3b5-792b-47d7-bb00-0454a405e5e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "ec10b3b5-792b-47d7-bb00-0454a405e5e1"; -"8614a2e8-9005-4fca-8d71-60143de2b08d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "8614a2e8-9005-4fca-8d71-60143de2b08d"; -"557ba623-a633-432b-8779-eac1ead8c539" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "557ba623-a633-432b-8779-eac1ead8c539"; -"e044fc55-062c-472c-9c8e-4f32bbead6d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; 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-dc84eb2f-37a8-4ca8-b22f-d6dc29c36298 - -Holding(Nothing) - - - -e20e9a5a-84fb-493e-9fa3-55876b86aef5->dc84eb2f-37a8-4ca8-b22f-d6dc29c36298 - - - - - -06a33dff-e6e9-41b2-81db-93a258d25af7 - -Make(Dessert) - - - -e20e9a5a-84fb-493e-9fa3-55876b86aef5->06a33dff-e6e9-41b2-81db-93a258d25af7 - - - - - -a43e4e37-9f23-4594-9cf6-760458b63cc4 - -At(Robot,MilkDrink) - - - -5174faeb-e5a8-46d2-9b86-a993336a871b->a43e4e37-9f23-4594-9cf6-760458b63cc4 - - - - - -3cd38cb3-5ccf-411f-af56-83f6b9e0d4c9 - -Holding(Nothing) - - - -5174faeb-e5a8-46d2-9b86-a993336a871b->3cd38cb3-5ccf-411f-af56-83f6b9e0d4c9 - - - - - -6f1c6363-0c07-4f5d-b321-5115a3e6adbe - -Make(Dessert) - - - -5174faeb-e5a8-46d2-9b86-a993336a871b->6f1c6363-0c07-4f5d-b321-5115a3e6adbe - - - - - -4a0b7623-418a-41f9-b448-6299ebad679b - -At(Robot,MilkDrink) - - - -dc41a2c6-e8ee-44fa-a0a3-07b276871178->4a0b7623-418a-41f9-b448-6299ebad679b - - - - - -595fcc9b-650b-44d9-8767-b91ae4b92064 - -Holding(Nothing) - - - -dc41a2c6-e8ee-44fa-a0a3-07b276871178->595fcc9b-650b-44d9-8767-b91ae4b92064 - - - - - -bc8058a9-f345-4dea-80b5-88a16b47e472 - -Make(Water) - - - -dc41a2c6-e8ee-44fa-a0a3-07b276871178->bc8058a9-f345-4dea-80b5-88a16b47e472 - - - - - -070f7108-dd1f-4caf-a81b-46f489a9ff9b - -At(Robot,MilkDrink) - - - -e4b6855b-17d5-495d-9fad-08a266d18ac2->070f7108-dd1f-4caf-a81b-46f489a9ff9b - - - - - -dcd7df09-91a2-41f3-bab0-ec030c71310e - -Holding(Nothing) - - - -e4b6855b-17d5-495d-9fad-08a266d18ac2->dcd7df09-91a2-41f3-bab0-ec030c71310e - - - - - -8dc1b1df-4d9e-4603-ad38-0baa9c049797 - -Make(Water) - - - -e4b6855b-17d5-495d-9fad-08a266d18ac2->8dc1b1df-4d9e-4603-ad38-0baa9c049797 - - - - - -abe418ae-3d7e-4f01-ac52-9926ec118bdd - -Holding(Nothing) - - - -f887cbda-79fd-42ee-acd7-aef68095e6bd->abe418ae-3d7e-4f01-ac52-9926ec118bdd - - - - - -5a33031a-8064-4896-9359-59074ec00788 - -Exist(MilkDrink) - - - -f887cbda-79fd-42ee-acd7-aef68095e6bd->5a33031a-8064-4896-9359-59074ec00788 - - - - - -5f200b61-1832-4a38-9a2b-0fe633e22f25 - -MoveTo(MilkDrink) - - - -f887cbda-79fd-42ee-acd7-aef68095e6bd->5f200b61-1832-4a38-9a2b-0fe633e22f25 - - - - - -9dfbc4a2-d4bd-4b03-a645-6c613afd8801 - -Holding(Nothing) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->9dfbc4a2-d4bd-4b03-a645-6c613afd8801 - - - - - -505c330a-783a-4cc4-a3c4-fdf2c3c60ee4 - -Exist(MilkDrink) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->505c330a-783a-4cc4-a3c4-fdf2c3c60ee4 - - - - - -9e90c5c6-4012-4199-b50b-9fc9959bd72b - -MoveTo(MilkDrink) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->9e90c5c6-4012-4199-b50b-9fc9959bd72b - - - - - -834ad8eb-436d-4c81-9931-61b88846c09a - -At(Robot,Bar) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->834ad8eb-436d-4c81-9931-61b88846c09a - - - - - -f9b84816-e5a7-4852-a61d-17d4734952bb - -Holding(ADMilk) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->f9b84816-e5a7-4852-a61d-17d4734952bb - - - - - -b892ace1-a73e-45ee-b821-926575e7402e - -At(Robot,MilkDrink) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->b892ace1-a73e-45ee-b821-926575e7402e - - - - - -e82c8c59-d69c-43d7-8c14-8f4c8af8bb73 - -PutDown(ADMilk,Bar) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->e82c8c59-d69c-43d7-8c14-8f4c8af8bb73 - - - - - -bc5769d3-4515-4a5d-a071-4aaaef6f4ccb - -At(Robot,Bar) - - - -756a6001-5872-411e-9656-4598b09b2715->bc5769d3-4515-4a5d-a071-4aaaef6f4ccb - - - - - -006499a6-def1-4daa-a18a-5e2be825511e - -Holding(ADMilk) - - - -756a6001-5872-411e-9656-4598b09b2715->006499a6-def1-4daa-a18a-5e2be825511e - - - - - -0b08d271-4e68-43c3-9eba-76272242bb1e - -At(Robot,MilkDrink) - - - -756a6001-5872-411e-9656-4598b09b2715->0b08d271-4e68-43c3-9eba-76272242bb1e - - - - - -b890b50e-6907-4f8c-82dd-79f6874ca7b5 - -PutDown(ADMilk,Bar) - - - -756a6001-5872-411e-9656-4598b09b2715->b890b50e-6907-4f8c-82dd-79f6874ca7b5 - - - - - -2e5caa84-0a1d-4492-8eb9-9325c5bff8ef - -Holding(ADMilk) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->2e5caa84-0a1d-4492-8eb9-9325c5bff8ef - - - - - -6a0dbd1f-dad3-4057-9560-c55e654f8b29 - -At(Robot,MilkDrink) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->6a0dbd1f-dad3-4057-9560-c55e654f8b29 - - - - - -f045b81c-9246-4b92-bc5d-2f2a60da5c74 - -At(Robot,Bar2) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->f045b81c-9246-4b92-bc5d-2f2a60da5c74 - - - - - -e6c2fff2-e61f-4d30-9963-313c507283b4 - -PutDown(ADMilk,Bar) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->e6c2fff2-e61f-4d30-9963-313c507283b4 - - - - - -67766f45-1eb8-4c6e-a22d-e5d88c305596 - -Holding(ADMilk) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->67766f45-1eb8-4c6e-a22d-e5d88c305596 - - - - - -2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5 - -At(Robot,MilkDrink) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5 - - - - - -811b780f-ff50-414b-8892-b2088b9aa876 - -At(Robot,Bar2) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->811b780f-ff50-414b-8892-b2088b9aa876 - - - - - -00de2ae3-25f6-4ac9-be9b-c914d52f1d80 - -PutDown(ADMilk,Bar) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->00de2ae3-25f6-4ac9-be9b-c914d52f1d80 - - - - - -5fa030e4-3735-4786-8df4-f286eb54c507 - -At(Robot,BrightTable6) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->5fa030e4-3735-4786-8df4-f286eb54c507 - - - - - -f1482616-78e8-4d02-bf01-6fef3474cedf - -At(Robot,MilkDrink) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->f1482616-78e8-4d02-bf01-6fef3474cedf - - - - - -a6b9d511-7200-4141-8323-7c9795d6ec62 - -Holding(ADMilk) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->a6b9d511-7200-4141-8323-7c9795d6ec62 - - - - - -fcc60694-2f14-40a0-ad98-009615c14554 - -PutDown(ADMilk,BrightTable) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->fcc60694-2f14-40a0-ad98-009615c14554 - - - - - -4a2ec554-cacf-4119-b4ff-ca28deecb50a - -At(Robot,BrightTable6) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->4a2ec554-cacf-4119-b4ff-ca28deecb50a - - - - - -b31c21b7-e275-4e18-a29d-94aba02e18b7 - -At(Robot,MilkDrink) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->b31c21b7-e275-4e18-a29d-94aba02e18b7 - - - - - -07bdf2e1-65fc-4eca-b287-f3a27bb9943a - -Holding(ADMilk) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->07bdf2e1-65fc-4eca-b287-f3a27bb9943a - - - - - -7336e78b-dfe2-49ad-ab03-082ff310e178 - -PutDown(ADMilk,BrightTable) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->7336e78b-dfe2-49ad-ab03-082ff310e178 - - - - - -c77bcc04-cc34-4ce3-8419-d78d859202fb - -Holding(ADMilk) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->c77bcc04-cc34-4ce3-8419-d78d859202fb - - - - - -1560a805-7b2e-4fd7-97a1-1e1a07d68c66 - -At(Robot,MilkDrink) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->1560a805-7b2e-4fd7-97a1-1e1a07d68c66 - - - - - -90df8f80-2ddd-4c42-9135-f781ca2c99ed - -At(Robot,CoffeeTable) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->90df8f80-2ddd-4c42-9135-f781ca2c99ed - - - - - -310b5bff-57fc-4048-99c3-4b8755ef4e46 - -PutDown(ADMilk,CoffeeTable) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->310b5bff-57fc-4048-99c3-4b8755ef4e46 - - - - - -2a110753-7a00-406b-b470-e780bb5785d8 - -Holding(ADMilk) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->2a110753-7a00-406b-b470-e780bb5785d8 - - - - - -50c846c3-53d5-42b5-b66d-93115ece3e6e - -At(Robot,MilkDrink) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->50c846c3-53d5-42b5-b66d-93115ece3e6e - - - - - -bed539fb-82fa-4847-a200-018df318dff2 - -At(Robot,CoffeeTable) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->bed539fb-82fa-4847-a200-018df318dff2 - - - - - -9a6fde0f-1b5e-49c5-b870-3e308e7f460c - -PutDown(ADMilk,CoffeeTable) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->9a6fde0f-1b5e-49c5-b870-3e308e7f460c - - - - - -e85d5cbb-5b61-420a-a815-6568d921baad - -Holding(ADMilk) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->e85d5cbb-5b61-420a-a815-6568d921baad - - - - - -7237eafd-ce32-4249-847b-a5cc536fc1d9 - -At(Robot,MilkDrink) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->7237eafd-ce32-4249-847b-a5cc536fc1d9 - - - - - -d3eab907-ace7-4de5-a647-5bee699778d5 - -At(Robot,Table1) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->d3eab907-ace7-4de5-a647-5bee699778d5 - - - - - -41b241f2-6239-4e66-a9eb-c4a2bd809b2e - -PutDown(ADMilk,Table) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->41b241f2-6239-4e66-a9eb-c4a2bd809b2e - - - - - -ed384a38-5be1-4604-83b7-958335a6185d - -Holding(ADMilk) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->ed384a38-5be1-4604-83b7-958335a6185d - - - - - -e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a - -At(Robot,MilkDrink) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a - - - - - -2db70426-2b53-4497-b4ca-556a0d01d586 - -At(Robot,Table1) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->2db70426-2b53-4497-b4ca-556a0d01d586 - - - - - -b6f84f8a-e197-47fd-9c6d-738ae6ee42e7 - -PutDown(ADMilk,Table) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->b6f84f8a-e197-47fd-9c6d-738ae6ee42e7 - - - - - -25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0 - -Holding(ADMilk) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0 - - - - - -16d65b39-e95e-4972-b048-a6e7251ba689 - -At(Robot,MilkDrink) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->16d65b39-e95e-4972-b048-a6e7251ba689 - - - - - -089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9 - -At(Robot,Table2) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9 - - - - - -77427661-0eee-4a1e-af10-d769245f7268 - -PutDown(ADMilk,Table) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->77427661-0eee-4a1e-af10-d769245f7268 - - - - - -5e849c18-18ee-4ac3-b17c-9168e36406f2 - -Holding(ADMilk) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->5e849c18-18ee-4ac3-b17c-9168e36406f2 - - - - - -82466a6e-61e4-419d-8be1-1aadf126c405 - -At(Robot,MilkDrink) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->82466a6e-61e4-419d-8be1-1aadf126c405 - - - - - -1d858640-7346-4898-9eb3-5e49bb05f1e2 - -At(Robot,Table2) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->1d858640-7346-4898-9eb3-5e49bb05f1e2 - - - - - -7bbadfc4-914b-4e76-b9f8-0ab1f5930ce1 - -PutDown(ADMilk,Table) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->7bbadfc4-914b-4e76-b9f8-0ab1f5930ce1 - - - - - -320c90f1-9770-4b01-bac3-6698884a67d0 - -Holding(ADMilk) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->320c90f1-9770-4b01-bac3-6698884a67d0 - - - - - -643bbb37-60a5-4abb-8347-2479abbab0c9 - -At(Robot,MilkDrink) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->643bbb37-60a5-4abb-8347-2479abbab0c9 - - - - - -73fb90fb-e136-41c0-b96a-961d1f5618b8 - -At(Robot,Table3) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->73fb90fb-e136-41c0-b96a-961d1f5618b8 - - - - - -bf095964-eed1-4f4d-818b-1884876b036f - -PutDown(ADMilk,Table) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->bf095964-eed1-4f4d-818b-1884876b036f - - - - - -f36cdeae-df64-4087-828f-0fe7c8dfdfd4 - -Holding(ADMilk) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->f36cdeae-df64-4087-828f-0fe7c8dfdfd4 - - - - - -9fcb2912-5056-454f-8bce-4d11df6a5348 - -At(Robot,MilkDrink) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->9fcb2912-5056-454f-8bce-4d11df6a5348 - - - - - -2dae5760-f6a7-4364-b7cb-652f50b90c83 - -At(Robot,Table3) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->2dae5760-f6a7-4364-b7cb-652f50b90c83 - - - - - -3ce66a5d-6428-42d5-bc64-841446ff2b36 - -PutDown(ADMilk,Table) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->3ce66a5d-6428-42d5-bc64-841446ff2b36 - - - - - -9270904a-6cec-4caf-ad65-574fa5de72ec - -Holding(ADMilk) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->9270904a-6cec-4caf-ad65-574fa5de72ec - - - - - -c3075fdf-2eb6-4418-aa8b-3aa1959d9045 - -At(Robot,MilkDrink) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->c3075fdf-2eb6-4418-aa8b-3aa1959d9045 - - - - - -f796afb5-ed2d-4825-bb50-929711a0f552 - -At(Robot,WaterTable) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->f796afb5-ed2d-4825-bb50-929711a0f552 - - - - - -26bd79ef-78df-4886-86b9-d7dea70f3e9c - -PutDown(ADMilk,WaterTable) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->26bd79ef-78df-4886-86b9-d7dea70f3e9c - - - - - -cb674bdb-7312-4677-a96c-9c6f191dd762 - -Holding(ADMilk) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->cb674bdb-7312-4677-a96c-9c6f191dd762 - - - - - -76478388-380e-4236-8999-f5e7c6afccf6 - -At(Robot,MilkDrink) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->76478388-380e-4236-8999-f5e7c6afccf6 - - - - - -ba8b5826-592f-456b-92a8-e060ab5b16ac - -At(Robot,WaterTable) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->ba8b5826-592f-456b-92a8-e060ab5b16ac - - - - - -2fa942d5-e576-4f09-930c-d948bdae3e42 - -PutDown(ADMilk,WaterTable) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->2fa942d5-e576-4f09-930c-d948bdae3e42 - - - - - -8237fd26-b823-4596-958e-9ebeda722a54 - -At(Robot,MilkDrink) - - - -d5cb3020-4e02-4d0d-9148-ea648f2bb9cc->8237fd26-b823-4596-958e-9ebeda722a54 - - - - - -c825a1d6-a5f7-452f-a848-24d15f63414b - -PutDown(Anything,Anywhere) - - - -d5cb3020-4e02-4d0d-9148-ea648f2bb9cc->c825a1d6-a5f7-452f-a848-24d15f63414b - - - - - -d25928c8-1f99-45fe-b7ee-74f10b4f693b - -At(Robot,MilkDrink) - - - -e28ec206-b5b3-4fa6-9e68-48198f269c79->d25928c8-1f99-45fe-b7ee-74f10b4f693b - - - - - -c98a5d3c-9cca-4a65-9916-21883b730200 - -PutDown(Anything,Anywhere) - - - -e28ec206-b5b3-4fa6-9e68-48198f269c79->c98a5d3c-9cca-4a65-9916-21883b730200 - - - - - -02577764-d663-4b32-ad51-80f7cb737c70 - -Holding(Bernachon) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->02577764-d663-4b32-ad51-80f7cb737c70 - - - - - -573e4c1a-9adf-4a2e-8334-7f4b9603017a - -At(Robot,MilkDrink) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->573e4c1a-9adf-4a2e-8334-7f4b9603017a - - - - - -ea552750-a109-466f-961c-0791bf5d30e3 - -At(Robot,Bar) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->ea552750-a109-466f-961c-0791bf5d30e3 - - - - - -8000c9d4-a026-4d6b-9ad9-100af03743d6 - -PutDown(Bernachon,Bar) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->8000c9d4-a026-4d6b-9ad9-100af03743d6 - - - - - -413c8a22-430f-400b-b511-f6117cd8d699 - -Holding(Bernachon) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->413c8a22-430f-400b-b511-f6117cd8d699 - - - - - -687e0702-e6e1-436a-866c-f7299042afc3 - -At(Robot,MilkDrink) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->687e0702-e6e1-436a-866c-f7299042afc3 - - - - - -7ab1269e-e35b-4027-b10d-93d6ca701a34 - -At(Robot,Bar) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->7ab1269e-e35b-4027-b10d-93d6ca701a34 - - - - - -fc2c41f0-271a-4371-b3bd-e23dd2d875f9 - -PutDown(Bernachon,Bar) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->fc2c41f0-271a-4371-b3bd-e23dd2d875f9 - - - - - -6d64bcf2-064b-4eec-8155-a6249d808a9d - -Holding(Bernachon) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->6d64bcf2-064b-4eec-8155-a6249d808a9d - - - - - -e543a2a0-30cb-467f-b928-ea82daf32669 - -At(Robot,MilkDrink) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->e543a2a0-30cb-467f-b928-ea82daf32669 - - - - - -3b5faddc-7688-4cf7-8282-d1ab88e56b1e - -At(Robot,Bar2) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->3b5faddc-7688-4cf7-8282-d1ab88e56b1e - - - - - -d1caa5bc-ddd7-488b-8f7d-712dcfd5a096 - -PutDown(Bernachon,Bar) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->d1caa5bc-ddd7-488b-8f7d-712dcfd5a096 - - - - - -6ec02829-3e8d-4b90-87f5-91e9d466d127 - -Holding(Bernachon) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->6ec02829-3e8d-4b90-87f5-91e9d466d127 - - - - - -5a6b9b87-c0ff-4237-be5b-29d7f3adc571 - -At(Robot,MilkDrink) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->5a6b9b87-c0ff-4237-be5b-29d7f3adc571 - - - - - -fda32cb2-9479-440b-b0e3-d54e7b855d67 - -At(Robot,Bar2) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->fda32cb2-9479-440b-b0e3-d54e7b855d67 - - - - - -96ed9db2-f11a-436b-ac00-65bcc7089658 - -PutDown(Bernachon,Bar) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->96ed9db2-f11a-436b-ac00-65bcc7089658 - - - - - -725da734-2dde-4338-898b-8eb99f31ffb5 - -Holding(Bernachon) - - - -357efdd8-9523-409b-b111-9eba86ebb279->725da734-2dde-4338-898b-8eb99f31ffb5 - - - - - -41cd0dec-c20e-429a-9052-f1e5dc47c3b6 - -At(Robot,BrightTable6) - - - -357efdd8-9523-409b-b111-9eba86ebb279->41cd0dec-c20e-429a-9052-f1e5dc47c3b6 - - - - - -1cc26fcd-14f9-4534-ada7-608f39f271c9 - -At(Robot,MilkDrink) - - - -357efdd8-9523-409b-b111-9eba86ebb279->1cc26fcd-14f9-4534-ada7-608f39f271c9 - - - - - -154c27c1-f26e-4a7c-8fca-821c67c6df4a - -PutDown(Bernachon,BrightTable) - - - -357efdd8-9523-409b-b111-9eba86ebb279->154c27c1-f26e-4a7c-8fca-821c67c6df4a - - - - - -519ab3a9-d5b5-4866-b9c9-1f0cb46e08da - -Holding(Bernachon) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->519ab3a9-d5b5-4866-b9c9-1f0cb46e08da - - - - - -67eec967-9e13-4829-98fc-5ab457415e5a - -At(Robot,BrightTable6) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->67eec967-9e13-4829-98fc-5ab457415e5a - - - - - -94601f3b-0988-4521-b762-858f83a16962 - -At(Robot,MilkDrink) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->94601f3b-0988-4521-b762-858f83a16962 - - - - - -af67d48b-581e-4f8c-9a34-8eb40374279b - -PutDown(Bernachon,BrightTable) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->af67d48b-581e-4f8c-9a34-8eb40374279b - - - - - -e895c1c9-3eeb-43ad-ba9a-6725f830b745 - -Holding(Bernachon) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->e895c1c9-3eeb-43ad-ba9a-6725f830b745 - - - - - -ac039bb1-aa57-40a6-977b-a99ac819540b - -At(Robot,MilkDrink) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->ac039bb1-aa57-40a6-977b-a99ac819540b - - - - - -c72acc87-4595-4401-a157-a2be9de817e5 - -At(Robot,CoffeeTable) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->c72acc87-4595-4401-a157-a2be9de817e5 - - - - - -34a536c6-7969-46e1-be66-d6095f08efd2 - -PutDown(Bernachon,CoffeeTable) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->34a536c6-7969-46e1-be66-d6095f08efd2 - - - - - -f9e4fb11-d429-4a92-94d6-0b767ac5cf7a - -Holding(Bernachon) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->f9e4fb11-d429-4a92-94d6-0b767ac5cf7a - - - - - -42687c93-be97-4a2f-8a09-ce0d9e60a9b8 - -At(Robot,MilkDrink) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->42687c93-be97-4a2f-8a09-ce0d9e60a9b8 - - - - - -ebc5df15-34e5-4af4-94f9-5c21a87636ee - -At(Robot,CoffeeTable) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->ebc5df15-34e5-4af4-94f9-5c21a87636ee - - - - - -dd32cf5f-1639-4090-9fa7-6bb6885b7f7d - -PutDown(Bernachon,CoffeeTable) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->dd32cf5f-1639-4090-9fa7-6bb6885b7f7d - - - - - -03ceebe1-f789-4e5f-b268-673953e52fe3 - -Holding(Bernachon) - - - -801804ea-2973-4813-a83e-3f967aa37235->03ceebe1-f789-4e5f-b268-673953e52fe3 - - - - - -97bacb8c-9b60-4697-a5b7-f0b5304259c3 - -At(Robot,MilkDrink) - - - -801804ea-2973-4813-a83e-3f967aa37235->97bacb8c-9b60-4697-a5b7-f0b5304259c3 - - - - - -a0a8d458-770b-45f3-a61e-6d6405dc6d86 - -At(Robot,Table1) - - - -801804ea-2973-4813-a83e-3f967aa37235->a0a8d458-770b-45f3-a61e-6d6405dc6d86 - - - - - -78254e3f-21d2-43c4-92f9-de3cb22f82af - -PutDown(Bernachon,Table) - - - -801804ea-2973-4813-a83e-3f967aa37235->78254e3f-21d2-43c4-92f9-de3cb22f82af - - - - - -69d1b556-b51d-4dfd-bcca-9616e33eb3aa - -Holding(Bernachon) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->69d1b556-b51d-4dfd-bcca-9616e33eb3aa - - - - - -ba97a2a9-85c1-49b8-8964-0cb131b28fa0 - -At(Robot,MilkDrink) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->ba97a2a9-85c1-49b8-8964-0cb131b28fa0 - - - - - -8fc4a594-0b2c-465a-a3c5-e61fcc4ec285 - -At(Robot,Table1) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->8fc4a594-0b2c-465a-a3c5-e61fcc4ec285 - - - - - -0c7c68cb-3c00-4f1b-b4ac-159f0febfd94 - -PutDown(Bernachon,Table) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->0c7c68cb-3c00-4f1b-b4ac-159f0febfd94 - - - - - -87475a82-c787-4333-b98d-4f5129eb1e2a - -Holding(Bernachon) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->87475a82-c787-4333-b98d-4f5129eb1e2a - - - - - -c4807754-3c85-431a-b6f2-7dd3d51edcc0 - -At(Robot,MilkDrink) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->c4807754-3c85-431a-b6f2-7dd3d51edcc0 - - - - - -22296acb-4dcc-4a73-b12e-2f0a389b8693 - -At(Robot,Table2) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->22296acb-4dcc-4a73-b12e-2f0a389b8693 - - - - - -f7b8591b-61b1-4710-80cb-4c85783da0a5 - -PutDown(Bernachon,Table) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->f7b8591b-61b1-4710-80cb-4c85783da0a5 - - - - - -93033635-ec70-4700-ae88-618d64d20102 - -Holding(Bernachon) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->93033635-ec70-4700-ae88-618d64d20102 - - - - - -b1963276-0f4f-434c-aee3-ab70b690cd02 - -At(Robot,MilkDrink) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->b1963276-0f4f-434c-aee3-ab70b690cd02 - - - - - -74706a24-703f-4efd-ac8c-98440aeb77a9 - -At(Robot,Table2) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->74706a24-703f-4efd-ac8c-98440aeb77a9 - - - - - -488d9b15-98de-41ce-9a9a-acaa95681b1f - -PutDown(Bernachon,Table) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->488d9b15-98de-41ce-9a9a-acaa95681b1f - - - - - -7d87a66e-cf22-41e7-abda-d8985caf68dd - -Holding(Bernachon) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->7d87a66e-cf22-41e7-abda-d8985caf68dd - - - - - -e36801ef-69f3-4c4f-bd53-fbe7cc216d65 - -At(Robot,MilkDrink) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->e36801ef-69f3-4c4f-bd53-fbe7cc216d65 - - - - - -9080702b-8b46-4347-b48c-e64cd1c72594 - -At(Robot,Table3) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->9080702b-8b46-4347-b48c-e64cd1c72594 - - - - - -afb32060-9881-48b5-962f-13a9b26a7062 - -PutDown(Bernachon,Table) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->afb32060-9881-48b5-962f-13a9b26a7062 - - - - - -7f1d8d28-75a8-4022-94a4-b93b6e7bfe98 - -Holding(Bernachon) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->7f1d8d28-75a8-4022-94a4-b93b6e7bfe98 - - - - - -cca9a968-10ae-43d9-896c-86dc4547f343 - -At(Robot,MilkDrink) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->cca9a968-10ae-43d9-896c-86dc4547f343 - - - - - -afdab362-4166-4654-b049-f4d98fe2a04f - -At(Robot,Table3) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->afdab362-4166-4654-b049-f4d98fe2a04f - - - - - -c6355bfb-1a20-4b57-b1c9-2bbc4549de38 - -PutDown(Bernachon,Table) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->c6355bfb-1a20-4b57-b1c9-2bbc4549de38 - - - - - -d0eed6d5-ac3d-4355-afbc-96240ab04004 - -Holding(Bernachon) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->d0eed6d5-ac3d-4355-afbc-96240ab04004 - - - - - -3b3bdda4-8900-4393-baab-4ce40b2c8813 - -At(Robot,MilkDrink) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->3b3bdda4-8900-4393-baab-4ce40b2c8813 - - - - - -ae672419-e000-4454-9daf-12d3bd1e7b7d - -At(Robot,WaterTable) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->ae672419-e000-4454-9daf-12d3bd1e7b7d - - - - - -77db7586-030f-4c38-9c00-6579fd80a558 - -PutDown(Bernachon,WaterTable) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->77db7586-030f-4c38-9c00-6579fd80a558 - - - - - -fb099622-2563-4600-a960-b4ef8701b551 - -Holding(Bernachon) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->fb099622-2563-4600-a960-b4ef8701b551 - - - - - -b685bea1-4c45-414a-8757-7f14faba128f - -At(Robot,MilkDrink) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->b685bea1-4c45-414a-8757-7f14faba128f - - - - - -dc45fd1b-9411-49bf-bfc1-8a66a3c693f7 - -At(Robot,WaterTable) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->dc45fd1b-9411-49bf-bfc1-8a66a3c693f7 - - - - - -1225c423-38ba-449e-a0d2-3a3f22047cdc - -PutDown(Bernachon,WaterTable) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->1225c423-38ba-449e-a0d2-3a3f22047cdc - - - - - -ad6e0026-3910-4ca0-a538-e2ce2afdd4d8 - -Holding(BottledDrink) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->ad6e0026-3910-4ca0-a538-e2ce2afdd4d8 - - - - - -eb397d43-a93a-418f-9cd7-c76469c32f50 - -At(Robot,MilkDrink) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->eb397d43-a93a-418f-9cd7-c76469c32f50 - - - - - -9c86ebe6-2eb4-4371-ae06-8088d17d1081 - -At(Robot,Bar) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->9c86ebe6-2eb4-4371-ae06-8088d17d1081 - - - - - -97576553-3f2f-429b-ad22-3b48711162cb - -PutDown(BottledDrink,Bar) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->97576553-3f2f-429b-ad22-3b48711162cb - - - - - -fc2b62b2-2877-44b9-9c71-d1bb7574a290 - -Holding(BottledDrink) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->fc2b62b2-2877-44b9-9c71-d1bb7574a290 - - - - - -4fbdba4b-4e97-427c-abc4-b6088b5c8f18 - -At(Robot,MilkDrink) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->4fbdba4b-4e97-427c-abc4-b6088b5c8f18 - - - - - -ab538a18-032d-4cb5-b9a3-deccc603b16f - -At(Robot,Bar) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->ab538a18-032d-4cb5-b9a3-deccc603b16f - - - - - -e6ee2f3f-35d9-4171-9f0d-04da93b5488e - -PutDown(BottledDrink,Bar) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->e6ee2f3f-35d9-4171-9f0d-04da93b5488e - - - - - -4cbad523-0beb-4146-b0c2-c83ca3ccf159 - -Holding(BottledDrink) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->4cbad523-0beb-4146-b0c2-c83ca3ccf159 - - - - - -d5655201-cf7f-4b5d-9adc-dc9ee630b287 - -At(Robot,MilkDrink) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->d5655201-cf7f-4b5d-9adc-dc9ee630b287 - - - - - -91dabde5-893a-4b25-9e46-0b72c8325415 - -At(Robot,Bar2) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->91dabde5-893a-4b25-9e46-0b72c8325415 - - - - - -96d238d3-df8c-47b1-9afb-c10e78fee039 - -PutDown(BottledDrink,Bar) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->96d238d3-df8c-47b1-9afb-c10e78fee039 - - - - - -b5f54f3c-823e-4c48-b13d-d780a0eb4eb0 - -Holding(BottledDrink) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->b5f54f3c-823e-4c48-b13d-d780a0eb4eb0 - - - - - -89e04d58-5e69-4910-9f1c-35a6f647f68e - -At(Robot,MilkDrink) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->89e04d58-5e69-4910-9f1c-35a6f647f68e - - - - - -837fe7e8-7646-4f8b-94a1-d8fd0215e587 - -At(Robot,Bar2) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->837fe7e8-7646-4f8b-94a1-d8fd0215e587 - - - - - -5d87d48a-9adf-457b-b12e-19ae7ffe4721 - -PutDown(BottledDrink,Bar) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->5d87d48a-9adf-457b-b12e-19ae7ffe4721 - - - - - -724a6a93-858a-4e7e-b605-e78f0e69ac8a - -Holding(BottledDrink) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->724a6a93-858a-4e7e-b605-e78f0e69ac8a - - - - - -7ca6a300-46b2-4eb7-ae28-1b1906d6845e - -At(Robot,BrightTable6) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->7ca6a300-46b2-4eb7-ae28-1b1906d6845e - - - - - -f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c - -At(Robot,MilkDrink) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c - - - - - -1c21071a-f698-444c-9a42-4c268226d868 - -PutDown(BottledDrink,BrightTable) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->1c21071a-f698-444c-9a42-4c268226d868 - - - - - -53fae12e-0601-47d5-955d-235e9035d37a - -Holding(BottledDrink) - - - -afdc5417-4174-4acf-b154-466640f47121->53fae12e-0601-47d5-955d-235e9035d37a - - - - - -745f5376-66fa-43a2-8a10-98a72da73ab5 - -At(Robot,BrightTable6) - - - -afdc5417-4174-4acf-b154-466640f47121->745f5376-66fa-43a2-8a10-98a72da73ab5 - - - - - -d5210238-b942-4771-b053-4aa3a4ac2aa1 - -At(Robot,MilkDrink) - - - -afdc5417-4174-4acf-b154-466640f47121->d5210238-b942-4771-b053-4aa3a4ac2aa1 - - - - - -92c6de1c-420b-43d7-b5cb-4e8d52e7555a - -PutDown(BottledDrink,BrightTable) - - - -afdc5417-4174-4acf-b154-466640f47121->92c6de1c-420b-43d7-b5cb-4e8d52e7555a - - - - - -a3781f75-f61f-44f8-836f-eb07a6f382b8 - -Holding(BottledDrink) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->a3781f75-f61f-44f8-836f-eb07a6f382b8 - - - - - -fc4d957b-0c9c-4dcf-88da-324cd6394653 - -At(Robot,MilkDrink) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->fc4d957b-0c9c-4dcf-88da-324cd6394653 - - - - - -3851ec04-8cd7-4947-864e-4b9911bc1e0c - -At(Robot,CoffeeTable) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->3851ec04-8cd7-4947-864e-4b9911bc1e0c - - - - - -7c56c648-1baf-44c3-a77b-90babbbc26bd - -PutDown(BottledDrink,CoffeeTable) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->7c56c648-1baf-44c3-a77b-90babbbc26bd - - - - - -1151ab61-e9ef-4e51-a035-d809aa1296a6 - -Holding(BottledDrink) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->1151ab61-e9ef-4e51-a035-d809aa1296a6 - - - - - -3a8df072-70ec-4ee9-b721-7a3514a82f94 - -At(Robot,MilkDrink) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->3a8df072-70ec-4ee9-b721-7a3514a82f94 - - - - - -bf6d1e19-0973-4321-be7b-0b37527d5d0f - -At(Robot,CoffeeTable) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->bf6d1e19-0973-4321-be7b-0b37527d5d0f - - - - - -58d18c7b-3a89-4dea-a0c0-8515a31327e4 - -PutDown(BottledDrink,CoffeeTable) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->58d18c7b-3a89-4dea-a0c0-8515a31327e4 - - - - - -c6d68849-8d9e-4e58-a632-211f052d7171 - -Holding(BottledDrink) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->c6d68849-8d9e-4e58-a632-211f052d7171 - - - - - -39b9a303-a8a1-4d01-b64c-d4f3eabeb452 - -At(Robot,MilkDrink) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->39b9a303-a8a1-4d01-b64c-d4f3eabeb452 - - - - - -e285a7c7-339d-484e-86f8-18309409c93a - -At(Robot,Table1) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->e285a7c7-339d-484e-86f8-18309409c93a - - - - - -2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4 - -PutDown(BottledDrink,Table) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4 - - - - - -2a2cd367-8a05-45c0-9307-f26ede2b6d06 - -Holding(BottledDrink) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->2a2cd367-8a05-45c0-9307-f26ede2b6d06 - - - - - -656887dd-6e1a-41ee-b826-ba4fb808b736 - -At(Robot,MilkDrink) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->656887dd-6e1a-41ee-b826-ba4fb808b736 - - - - - -3b9b258e-6357-4fed-a9ea-05288d22e361 - -At(Robot,Table1) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->3b9b258e-6357-4fed-a9ea-05288d22e361 - - - - - -9ed1223e-bcdb-4f79-bda7-0e836fd191db - -PutDown(BottledDrink,Table) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->9ed1223e-bcdb-4f79-bda7-0e836fd191db - - - - - -02d50255-e1bd-40a0-ac0b-35f604ce6337 - -Holding(BottledDrink) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->02d50255-e1bd-40a0-ac0b-35f604ce6337 - - - - - -a8a996e6-5952-4943-8f67-5047cffcd034 - -At(Robot,MilkDrink) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->a8a996e6-5952-4943-8f67-5047cffcd034 - - - - - -2a943904-3e7d-45db-99a9-37e7c19557b7 - -At(Robot,Table2) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->2a943904-3e7d-45db-99a9-37e7c19557b7 - - - - - -a141c668-9935-4bd1-9b29-715d6f6ed9c5 - -PutDown(BottledDrink,Table) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->a141c668-9935-4bd1-9b29-715d6f6ed9c5 - - - - - -418c55b1-c4c1-42cc-8520-18ab243969ae - -Holding(BottledDrink) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->418c55b1-c4c1-42cc-8520-18ab243969ae - - - - - -f4ce3704-dec2-4cbf-b732-07fdeadc5674 - -At(Robot,MilkDrink) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->f4ce3704-dec2-4cbf-b732-07fdeadc5674 - - - - - -d96f53d3-bee4-416a-97ac-dbbb6d7b8063 - -At(Robot,Table2) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->d96f53d3-bee4-416a-97ac-dbbb6d7b8063 - - - - - -f37250e2-d2ef-4aa9-8003-3699eed7ed9e - -PutDown(BottledDrink,Table) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->f37250e2-d2ef-4aa9-8003-3699eed7ed9e - - - - - -55a70505-ec78-4a04-afdf-880169136439 - -Holding(BottledDrink) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->55a70505-ec78-4a04-afdf-880169136439 - - - - - -ed798200-6abe-4fb5-901a-62b4a90c27b2 - -At(Robot,MilkDrink) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->ed798200-6abe-4fb5-901a-62b4a90c27b2 - - - - - -f2e0e68d-3d71-4197-bcbc-2d194c0a3743 - -At(Robot,Table3) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->f2e0e68d-3d71-4197-bcbc-2d194c0a3743 - - - - - -9877c4e4-b4c4-4616-aa96-b54b03bf67b1 - -PutDown(BottledDrink,Table) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->9877c4e4-b4c4-4616-aa96-b54b03bf67b1 - - - - - -6f29766a-6d89-4c5d-8950-e682d2f4cec5 - -Holding(BottledDrink) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->6f29766a-6d89-4c5d-8950-e682d2f4cec5 - - - - - -cbf065fa-4104-4d93-ba87-c19811201ebe - -At(Robot,MilkDrink) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->cbf065fa-4104-4d93-ba87-c19811201ebe - - - - - -5c13ff26-19a5-4618-bd0d-3d8b6bab2692 - -At(Robot,Table3) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->5c13ff26-19a5-4618-bd0d-3d8b6bab2692 - - - - - -06475929-2d35-4d63-8152-fafb1b28c32e - -PutDown(BottledDrink,Table) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->06475929-2d35-4d63-8152-fafb1b28c32e - - - - - -84cce6e5-9928-4a41-9035-3683e3a0f4c2 - -Holding(BottledDrink) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->84cce6e5-9928-4a41-9035-3683e3a0f4c2 - - - - - -a95a304b-8e90-48cb-a6c9-3b5cb5952a41 - -At(Robot,MilkDrink) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->a95a304b-8e90-48cb-a6c9-3b5cb5952a41 - - - - - -3390b8fd-8b13-42a3-a824-03d79c36e32f - -At(Robot,WaterTable) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->3390b8fd-8b13-42a3-a824-03d79c36e32f - - - - - -b53ff49d-fbb9-4deb-b6e2-40534b2c7e3c - -PutDown(BottledDrink,WaterTable) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->b53ff49d-fbb9-4deb-b6e2-40534b2c7e3c - - - - - -9eba32e1-2f52-45ed-aa7f-accf8d15e4a3 - -Holding(BottledDrink) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->9eba32e1-2f52-45ed-aa7f-accf8d15e4a3 - - - - - -176c819b-aad1-4c93-bd4b-fd833390e9f0 - -At(Robot,MilkDrink) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->176c819b-aad1-4c93-bd4b-fd833390e9f0 - - - - - -e0be09d1-4942-43f2-ba63-5bf606a4e1df - -At(Robot,WaterTable) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->e0be09d1-4942-43f2-ba63-5bf606a4e1df - - - - - -336cf395-babe-4deb-a486-00cb049e42c2 - -PutDown(BottledDrink,WaterTable) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->336cf395-babe-4deb-a486-00cb049e42c2 - - - - - -009bfe0a-7f3b-4092-b50d-06998bacec9b - -At(Robot,Bar) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->009bfe0a-7f3b-4092-b50d-06998bacec9b - - - - - -04dad2ed-e8a4-4f2f-85e2-6c10b0b5e7f4 - -At(Robot,MilkDrink) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->04dad2ed-e8a4-4f2f-85e2-6c10b0b5e7f4 - - - - - -4c92047e-bb59-43b4-85e2-f01bd3f7dceb - -Holding(Chips) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->4c92047e-bb59-43b4-85e2-f01bd3f7dceb - - - - - -08e0e5a1-6b98-4cc6-873f-9fce6a5a4247 - -PutDown(Chips,Bar) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->08e0e5a1-6b98-4cc6-873f-9fce6a5a4247 - - - - - -befb881c-bdd0-4c52-a8b5-55f65b0bfb38 - -At(Robot,Bar) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->befb881c-bdd0-4c52-a8b5-55f65b0bfb38 - - - - - -c09bb02c-ca7e-48e1-8477-172b88551b48 - -At(Robot,MilkDrink) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->c09bb02c-ca7e-48e1-8477-172b88551b48 - - - - - -b0b78610-939f-4daa-998c-661cdc4ec8e6 - -Holding(Chips) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->b0b78610-939f-4daa-998c-661cdc4ec8e6 - - - - - -75dc0070-29ae-4d7a-adf0-4e5f6de232d6 - -PutDown(Chips,Bar) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->75dc0070-29ae-4d7a-adf0-4e5f6de232d6 - - - - - -d85806e2-7879-4e81-a3aa-fd1821aba25e - -At(Robot,MilkDrink) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->d85806e2-7879-4e81-a3aa-fd1821aba25e - - - - - -2fe68a89-c09b-4963-988a-fb3a23097331 - -At(Robot,Bar2) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->2fe68a89-c09b-4963-988a-fb3a23097331 - - - - - -c9acd455-2241-4624-89ae-c2a3f5c2b1bf - -Holding(Chips) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->c9acd455-2241-4624-89ae-c2a3f5c2b1bf - - - - - -df1f7ba2-f06a-4349-902f-7e6b81b89699 - -PutDown(Chips,Bar) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->df1f7ba2-f06a-4349-902f-7e6b81b89699 - - - - - -32a71153-27e6-496a-aae1-49c19ae944c8 - -At(Robot,MilkDrink) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->32a71153-27e6-496a-aae1-49c19ae944c8 - - - - - -04342d9c-b7ac-424d-af41-f2b48f88d66d - -At(Robot,Bar2) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->04342d9c-b7ac-424d-af41-f2b48f88d66d - - - - - -dd8fa3b4-8ce4-4a31-873d-7f8b48a84fcb - -Holding(Chips) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->dd8fa3b4-8ce4-4a31-873d-7f8b48a84fcb - - - - - -345d1cdb-de43-450a-909d-26fd5633fe1e - -PutDown(Chips,Bar) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->345d1cdb-de43-450a-909d-26fd5633fe1e - - - - - -29051318-2fcb-4186-9832-a11c0cc92310 - -At(Robot,BrightTable6) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->29051318-2fcb-4186-9832-a11c0cc92310 - - - - - -f8b0bee9-672d-4652-845c-0c5af0b791bf - -At(Robot,MilkDrink) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->f8b0bee9-672d-4652-845c-0c5af0b791bf - - - - - -e4e5675c-bdd1-46c6-9b65-ffeca4424f43 - -Holding(Chips) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->e4e5675c-bdd1-46c6-9b65-ffeca4424f43 - - - - - -8aefd861-ce3e-4580-8426-ac27a41c7cbf - -PutDown(Chips,BrightTable) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->8aefd861-ce3e-4580-8426-ac27a41c7cbf - - - - - -44d2b6ac-b838-4e44-a188-3835e5ef61c9 - -At(Robot,BrightTable6) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->44d2b6ac-b838-4e44-a188-3835e5ef61c9 - - - - - -8b6b5a9a-bb9f-4e7c-af52-4473e57c76d5 - -At(Robot,MilkDrink) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->8b6b5a9a-bb9f-4e7c-af52-4473e57c76d5 - - - - - -3b8ec281-d66f-4cda-bd74-62f5dbf533f6 - -Holding(Chips) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->3b8ec281-d66f-4cda-bd74-62f5dbf533f6 - - - - - -ceeb47f5-df89-4220-8860-3953fcaf724d - -PutDown(Chips,BrightTable) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->ceeb47f5-df89-4220-8860-3953fcaf724d - - - - - -5772c4c1-42fa-4f88-a1a3-5cb52c706af1 - -At(Robot,MilkDrink) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->5772c4c1-42fa-4f88-a1a3-5cb52c706af1 - - - - - -b68bb5ae-3384-46bb-97a7-6916062c7699 - -At(Robot,CoffeeTable) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->b68bb5ae-3384-46bb-97a7-6916062c7699 - - - - - -ddfc125c-5419-4fb1-865d-75509adf81a7 - -Holding(Chips) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->ddfc125c-5419-4fb1-865d-75509adf81a7 - - - - - -d2e02d00-2dc3-4b94-abb0-c04af4099d79 - -PutDown(Chips,CoffeeTable) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->d2e02d00-2dc3-4b94-abb0-c04af4099d79 - - - - - -134d9451-d43f-46f5-a2e8-77011226bce9 - -At(Robot,MilkDrink) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->134d9451-d43f-46f5-a2e8-77011226bce9 - - - - - -b614a618-1c15-4fad-8b56-661885a0c84e - -At(Robot,CoffeeTable) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->b614a618-1c15-4fad-8b56-661885a0c84e - - - - - -d0bcca2a-b241-4ad2-bcad-cd8960a9af0e - -Holding(Chips) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->d0bcca2a-b241-4ad2-bcad-cd8960a9af0e - - - - - -1518a83d-2bd8-4a04-9ea7-ffb13f3fa659 - -PutDown(Chips,CoffeeTable) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->1518a83d-2bd8-4a04-9ea7-ffb13f3fa659 - - - - - -1459db2f-cacb-44a8-9d56-e9d724ec3631 - -At(Robot,MilkDrink) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->1459db2f-cacb-44a8-9d56-e9d724ec3631 - - - - - -8d373f15-166e-4548-ba0a-6d6108f85f23 - -Holding(Chips) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->8d373f15-166e-4548-ba0a-6d6108f85f23 - - - - - -eb4d95af-dbd8-4971-94e2-7d8fdfd94fa5 - -At(Robot,Table1) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->eb4d95af-dbd8-4971-94e2-7d8fdfd94fa5 - - - - - -944d260e-b86d-43af-890c-006243ae0955 - -PutDown(Chips,Table) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->944d260e-b86d-43af-890c-006243ae0955 - - - - - -54075245-90fe-4fcc-b73b-6079e68e752f - -At(Robot,MilkDrink) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->54075245-90fe-4fcc-b73b-6079e68e752f - - - - - -c93378c1-133c-454c-aec7-a2944fd53adb - -Holding(Chips) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->c93378c1-133c-454c-aec7-a2944fd53adb - - - - - -b2cd1491-4e58-4f41-9ccb-3fcf9de0ac4e - -At(Robot,Table1) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->b2cd1491-4e58-4f41-9ccb-3fcf9de0ac4e - - - - - -83b5ff29-e0c1-4907-a68d-b162372acd82 - -PutDown(Chips,Table) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->83b5ff29-e0c1-4907-a68d-b162372acd82 - - - - - -62e3d172-0b47-4b14-98b6-f384102b5d3e - -At(Robot,MilkDrink) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->62e3d172-0b47-4b14-98b6-f384102b5d3e - - - - - -b215492e-c435-4f8f-9db8-6f4c32b6e337 - -Holding(Chips) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->b215492e-c435-4f8f-9db8-6f4c32b6e337 - - - - - -b4ffe34c-970d-4aba-89da-d670307abe6a - -At(Robot,Table2) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->b4ffe34c-970d-4aba-89da-d670307abe6a - - - - - -6547d751-1a71-4fa0-9caa-38f796a0dda8 - -PutDown(Chips,Table) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->6547d751-1a71-4fa0-9caa-38f796a0dda8 - - - - - -ad914b2f-e3f4-454b-a6e3-2c7775b2a761 - -At(Robot,MilkDrink) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->ad914b2f-e3f4-454b-a6e3-2c7775b2a761 - - - - - -80043e31-227d-4035-aaff-9c7e055a9397 - -Holding(Chips) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->80043e31-227d-4035-aaff-9c7e055a9397 - - - - - -04cd9b74-27a6-4aa3-9450-bd10becfe1fd - -At(Robot,Table2) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->04cd9b74-27a6-4aa3-9450-bd10becfe1fd - - - - - -2fe43a3f-977a-4a20-a3dc-2d8427377377 - -PutDown(Chips,Table) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->2fe43a3f-977a-4a20-a3dc-2d8427377377 - - - - - -e775f44f-d71a-49f1-935d-9808e4e5b920 - -At(Robot,MilkDrink) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->e775f44f-d71a-49f1-935d-9808e4e5b920 - - - - - -609a9936-2594-4ee1-bf51-0f153e377959 - -Holding(Chips) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->609a9936-2594-4ee1-bf51-0f153e377959 - - - - - -e553cc56-ab56-43b1-9702-238986aba30a - -At(Robot,Table3) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->e553cc56-ab56-43b1-9702-238986aba30a - - - - - -283bf934-d0e7-4fb8-8fb6-675b80a3ab11 - -PutDown(Chips,Table) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->283bf934-d0e7-4fb8-8fb6-675b80a3ab11 - - - - - -65c93a6d-da01-4eba-9d7a-8d443d0ddec8 - -At(Robot,MilkDrink) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->65c93a6d-da01-4eba-9d7a-8d443d0ddec8 - - - - - -86fa9a54-8a8d-4c97-8e1b-2bfd856a751a - -Holding(Chips) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->86fa9a54-8a8d-4c97-8e1b-2bfd856a751a - - - - - -19298d94-c640-4ff5-a5a5-12e728e1b5fe - -At(Robot,Table3) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->19298d94-c640-4ff5-a5a5-12e728e1b5fe - - - - - -e93e03c9-7fbd-4213-be16-fa395afed8b2 - -PutDown(Chips,Table) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->e93e03c9-7fbd-4213-be16-fa395afed8b2 - - - - - -276601de-2c7a-426e-a150-932955ab9b25 - -At(Robot,MilkDrink) - - - -717621fe-a713-4acb-a011-5f6b2208018e->276601de-2c7a-426e-a150-932955ab9b25 - - - - - -cc326672-fbd8-46e9-b61e-f23a7a0a669f - -Holding(Chips) - - - -717621fe-a713-4acb-a011-5f6b2208018e->cc326672-fbd8-46e9-b61e-f23a7a0a669f - - - - - -87feb2bd-07bf-448a-bde0-c22c88b9fbaa - -At(Robot,WaterTable) - - - -717621fe-a713-4acb-a011-5f6b2208018e->87feb2bd-07bf-448a-bde0-c22c88b9fbaa - - - - - -b5f94560-ad8e-4eaf-aa4d-28f722c521a2 - -PutDown(Chips,WaterTable) - - - -717621fe-a713-4acb-a011-5f6b2208018e->b5f94560-ad8e-4eaf-aa4d-28f722c521a2 - - - - - -4c697c6b-78a1-44ba-a3dd-18168ac80768 - -At(Robot,MilkDrink) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->4c697c6b-78a1-44ba-a3dd-18168ac80768 - - - - - -c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd - -Holding(Chips) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd - - - - - -f9ee5435-c257-4d82-9379-2a87f6c3c542 - -At(Robot,WaterTable) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->f9ee5435-c257-4d82-9379-2a87f6c3c542 - - - - - -ae4baf09-97c1-4bae-884b-a019e9d1c61a - -PutDown(Chips,WaterTable) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->ae4baf09-97c1-4bae-884b-a019e9d1c61a - - - - - -fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229 - -At(Robot,Bar) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229 - - - - - -856a8748-8e67-4964-a329-6f097cce9679 - -At(Robot,MilkDrink) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->856a8748-8e67-4964-a329-6f097cce9679 - - - - - -d556f457-c536-498c-984a-cd0d75ff2602 - -Holding(Coffee) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->d556f457-c536-498c-984a-cd0d75ff2602 - - - - - -368b63e2-05ff-48ee-b882-773f7c92f0f5 - -PutDown(Coffee,Bar) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->368b63e2-05ff-48ee-b882-773f7c92f0f5 - - - - - -2df363b1-bdfc-444c-861d-4cbbc12cbb43 - -At(Robot,Bar) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->2df363b1-bdfc-444c-861d-4cbbc12cbb43 - - - - - -35a27971-26eb-4607-9be7-931f3e191c48 - -At(Robot,MilkDrink) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->35a27971-26eb-4607-9be7-931f3e191c48 - - - - - -7a192fec-de4a-49ba-aa20-cc106096b553 - -Holding(Coffee) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->7a192fec-de4a-49ba-aa20-cc106096b553 - - - - - -d66b69f8-a687-4d91-b97d-5be912f1f8bf - -PutDown(Coffee,Bar) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->d66b69f8-a687-4d91-b97d-5be912f1f8bf - - - - - -4e450471-ddf5-4737-ade1-ef8fc88160e6 - -At(Robot,MilkDrink) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->4e450471-ddf5-4737-ade1-ef8fc88160e6 - - - - - -236ef38a-12b1-4643-81af-8f3d5a6c33d3 - -At(Robot,Bar2) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->236ef38a-12b1-4643-81af-8f3d5a6c33d3 - - - - - -a7678b7d-21a7-4b63-a909-d962de399c0f - -Holding(Coffee) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->a7678b7d-21a7-4b63-a909-d962de399c0f - - - - - -d5f241e2-92f5-44e9-832c-778aeff51353 - -PutDown(Coffee,Bar) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->d5f241e2-92f5-44e9-832c-778aeff51353 - - - - - -6ec3b45f-727c-4391-b856-9060c33734a1 - -At(Robot,MilkDrink) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->6ec3b45f-727c-4391-b856-9060c33734a1 - - - - - -c255e28d-15b1-42a2-8b0c-8ffa0d00a054 - -At(Robot,Bar2) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->c255e28d-15b1-42a2-8b0c-8ffa0d00a054 - - - - - -78aab831-39eb-4dbd-bf7f-db946322b24f - -Holding(Coffee) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->78aab831-39eb-4dbd-bf7f-db946322b24f - - - - - -86a27146-6efe-4fcd-a5e0-f5ea89b4b69c - -PutDown(Coffee,Bar) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->86a27146-6efe-4fcd-a5e0-f5ea89b4b69c - - - - - -3476c95d-20a0-4898-be64-e2fee5ddb753 - -At(Robot,BrightTable6) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->3476c95d-20a0-4898-be64-e2fee5ddb753 - - - - - -a3478678-e78f-4fa7-a6f1-2adc63cc3b90 - -At(Robot,MilkDrink) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->a3478678-e78f-4fa7-a6f1-2adc63cc3b90 - - - - - -87d2f638-85e9-4297-9345-dc128a563c95 - -Holding(Coffee) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->87d2f638-85e9-4297-9345-dc128a563c95 - - - - - -aba4bcad-ee7d-4a96-8b22-3e653ac87635 - -PutDown(Coffee,BrightTable) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->aba4bcad-ee7d-4a96-8b22-3e653ac87635 - - - - - -b21bc40c-e476-42b4-abc7-01351422612e - -At(Robot,BrightTable6) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->b21bc40c-e476-42b4-abc7-01351422612e - - - - - -2b0cb55f-04ee-474c-a6a8-2bec6278c64e - -At(Robot,MilkDrink) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->2b0cb55f-04ee-474c-a6a8-2bec6278c64e - - - - - -596ec8ae-3905-492c-bc83-de4542f01a9a - -Holding(Coffee) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->596ec8ae-3905-492c-bc83-de4542f01a9a - - - - - -f04d06a5-2970-428d-9f4e-926c3967d845 - -PutDown(Coffee,BrightTable) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->f04d06a5-2970-428d-9f4e-926c3967d845 - - - - - -f171002e-7bc8-4cf5-a213-6df793da506c - -At(Robot,MilkDrink) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->f171002e-7bc8-4cf5-a213-6df793da506c - - - - - -bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c - -At(Robot,CoffeeTable) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c - - - - - -b887fedf-3fe3-4dbd-9f83-9bba594e917a - -Holding(Coffee) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->b887fedf-3fe3-4dbd-9f83-9bba594e917a - - - - - -38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6 - -PutDown(Coffee,CoffeeTable) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6 - - - - - -45b6b11d-def8-412a-b003-621527798c97 - -At(Robot,MilkDrink) - - - -52dc2495-549a-4640-8f00-d067f870016f->45b6b11d-def8-412a-b003-621527798c97 - - - - - -4ba3e4c5-1205-4d30-9bf2-0b75f138e28e - -At(Robot,CoffeeTable) - - - -52dc2495-549a-4640-8f00-d067f870016f->4ba3e4c5-1205-4d30-9bf2-0b75f138e28e - - - - - -3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253 - -Holding(Coffee) - - - -52dc2495-549a-4640-8f00-d067f870016f->3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253 - - - - - -421c9a42-9aa9-49b4-97e3-c1d5acca0d56 - -PutDown(Coffee,CoffeeTable) - - - -52dc2495-549a-4640-8f00-d067f870016f->421c9a42-9aa9-49b4-97e3-c1d5acca0d56 - - - - - -0ec4b482-e175-48c0-b3f5-224ff172d8c3 - -At(Robot,MilkDrink) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->0ec4b482-e175-48c0-b3f5-224ff172d8c3 - - - - - -8e31cc40-5677-4858-a7db-4120fe2a5d22 - -Holding(Coffee) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->8e31cc40-5677-4858-a7db-4120fe2a5d22 - - - - - -35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62 - -At(Robot,Table1) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62 - - - - - -f165f483-d705-4877-b418-0bca895d3022 - -PutDown(Coffee,Table) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->f165f483-d705-4877-b418-0bca895d3022 - - - - - -5249ad23-8d25-423f-b97c-409cd8ce051a - -At(Robot,MilkDrink) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->5249ad23-8d25-423f-b97c-409cd8ce051a - - - - - -55b8c55e-a685-4e75-82ab-9255781e9fbf - -Holding(Coffee) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->55b8c55e-a685-4e75-82ab-9255781e9fbf - - - - - -bb26c356-c78f-48bb-90bd-93314b1e21fc - -At(Robot,Table1) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->bb26c356-c78f-48bb-90bd-93314b1e21fc - - - - - -2a9ece59-ddf8-49d4-af03-97228c863780 - -PutDown(Coffee,Table) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->2a9ece59-ddf8-49d4-af03-97228c863780 - - - - - -d05dfe53-2a1c-4bba-aabb-e97c7c47c11a - -At(Robot,MilkDrink) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->d05dfe53-2a1c-4bba-aabb-e97c7c47c11a - - - - - -8a33d123-ae3c-4d9f-8764-46931cc9e4e5 - -Holding(Coffee) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->8a33d123-ae3c-4d9f-8764-46931cc9e4e5 - - - - - -2aed7189-76d6-4973-bf60-e4b132e936ff - -At(Robot,Table2) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->2aed7189-76d6-4973-bf60-e4b132e936ff - - - - - -9103bf50-5938-4d0d-bfe8-cb957871b694 - -PutDown(Coffee,Table) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->9103bf50-5938-4d0d-bfe8-cb957871b694 - - - - - -2f5a0b69-a872-4e90-8449-b234c4c2bbc1 - -At(Robot,MilkDrink) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->2f5a0b69-a872-4e90-8449-b234c4c2bbc1 - - - - - -12f03018-7d43-4b55-900f-928007d73ebb - -Holding(Coffee) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->12f03018-7d43-4b55-900f-928007d73ebb - - - - - -12575735-4b6e-4562-ada7-c9286bb0e676 - -At(Robot,Table2) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->12575735-4b6e-4562-ada7-c9286bb0e676 - - - - - -ede90fca-65c3-464e-a477-f49829d8cc32 - -PutDown(Coffee,Table) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->ede90fca-65c3-464e-a477-f49829d8cc32 - - - - - -f7a4257f-784a-49ad-ad79-f677e4814cc1 - -At(Robot,MilkDrink) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->f7a4257f-784a-49ad-ad79-f677e4814cc1 - - - - - -400bad56-b81f-4c6f-95f3-13b3d368775b - -At(Robot,Table3) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->400bad56-b81f-4c6f-95f3-13b3d368775b - - - - - -1cb17cb9-64ff-42d9-a206-d7c40aa87991 - -Holding(Coffee) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->1cb17cb9-64ff-42d9-a206-d7c40aa87991 - - - - - -d759a488-58b3-400c-83b8-867ab1623c13 - -PutDown(Coffee,Table) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->d759a488-58b3-400c-83b8-867ab1623c13 - - - - - -203eaea7-8ce5-43c6-8256-17c2fd365bc5 - -At(Robot,MilkDrink) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->203eaea7-8ce5-43c6-8256-17c2fd365bc5 - - - - - -4b38504f-df7b-4972-a3d6-d6f335d4e81c - -At(Robot,Table3) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->4b38504f-df7b-4972-a3d6-d6f335d4e81c - - - - - -3f4e7407-0478-468b-a469-f2ceaa31b5f4 - -Holding(Coffee) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->3f4e7407-0478-468b-a469-f2ceaa31b5f4 - - - - - -f9b4bb84-4516-4e3d-ad90-b73f96912388 - -PutDown(Coffee,Table) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->f9b4bb84-4516-4e3d-ad90-b73f96912388 - - - - - -ed689067-3752-4648-b16d-3edb24fd1b19 - -At(Robot,MilkDrink) - - - -06a64029-ec99-435a-8556-ffe23636b15e->ed689067-3752-4648-b16d-3edb24fd1b19 - - - - - -8285265e-4387-4957-a278-ea65714c9b10 - -At(Robot,WaterTable) - - - -06a64029-ec99-435a-8556-ffe23636b15e->8285265e-4387-4957-a278-ea65714c9b10 - - - - - -26fb2071-f3f9-4ca0-9d08-291907bb2c06 - -Holding(Coffee) - - - -06a64029-ec99-435a-8556-ffe23636b15e->26fb2071-f3f9-4ca0-9d08-291907bb2c06 - - - - - -d3c14ddb-5b7e-49f6-b464-f2ffe917b764 - -PutDown(Coffee,WaterTable) - - - -06a64029-ec99-435a-8556-ffe23636b15e->d3c14ddb-5b7e-49f6-b464-f2ffe917b764 - - - - - -02a087bd-9348-4823-88df-3acbb635138b - -At(Robot,MilkDrink) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->02a087bd-9348-4823-88df-3acbb635138b - - - - - -b81d8430-97c0-42c2-bfbc-2a0f6128302a - -At(Robot,WaterTable) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->b81d8430-97c0-42c2-bfbc-2a0f6128302a - - - - - -ac6a20f4-7295-4964-b647-926215a783d0 - -Holding(Coffee) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->ac6a20f4-7295-4964-b647-926215a783d0 - - - - - -a5d213d1-42e4-42d0-8ed2-80fa863a34ed - -PutDown(Coffee,WaterTable) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->a5d213d1-42e4-42d0-8ed2-80fa863a34ed - - - - - -d28c444b-6fbd-488f-b367-2f5483faa357 - -At(Robot,Bar) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->d28c444b-6fbd-488f-b367-2f5483faa357 - - - - - -1606c400-d9e7-4fec-bb1c-dbfb3cce7a66 - -At(Robot,MilkDrink) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->1606c400-d9e7-4fec-bb1c-dbfb3cce7a66 - - - - - -c1d47a8f-d508-4588-93fd-3960d1602897 - -Holding(Dessert) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->c1d47a8f-d508-4588-93fd-3960d1602897 - - - - - -2e3bf379-7622-4887-b522-c2ccac981785 - -PutDown(Dessert,Bar) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->2e3bf379-7622-4887-b522-c2ccac981785 - - - - - -e977bb65-738c-449d-9846-719665c20901 - -At(Robot,Bar) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->e977bb65-738c-449d-9846-719665c20901 - - - - - -8db1cd71-f861-4c28-ab16-78c745b79767 - -At(Robot,MilkDrink) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->8db1cd71-f861-4c28-ab16-78c745b79767 - - - - - -fae3a278-1435-4e34-9ca9-74fb347d3665 - -Holding(Dessert) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->fae3a278-1435-4e34-9ca9-74fb347d3665 - - - - - -6a5fc0c8-b0d2-4727-9f81-432710d75c62 - -PutDown(Dessert,Bar) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->6a5fc0c8-b0d2-4727-9f81-432710d75c62 - - - - - -59022140-820f-446e-959f-7b50a24f5a90 - -At(Robot,MilkDrink) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->59022140-820f-446e-959f-7b50a24f5a90 - - - - - -e443b2f2-96cb-4e24-b05f-d8e41c1996b1 - -At(Robot,Bar2) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->e443b2f2-96cb-4e24-b05f-d8e41c1996b1 - - - - - -8decd739-590e-4ffa-91e6-7c057c91e00e - -Holding(Dessert) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->8decd739-590e-4ffa-91e6-7c057c91e00e - - - - - -d10df02b-7447-4ccf-976b-c858aa014385 - -PutDown(Dessert,Bar) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->d10df02b-7447-4ccf-976b-c858aa014385 - - - - - -0c6ff15e-5564-4276-a2a4-96ae578239a1 - -At(Robot,MilkDrink) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->0c6ff15e-5564-4276-a2a4-96ae578239a1 - - - - - -bd218177-55bd-4f4d-8c16-a75c10328546 - -At(Robot,Bar2) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->bd218177-55bd-4f4d-8c16-a75c10328546 - - - - - -bbdc7535-0c2c-4d17-a74b-39c9b05a4fd5 - -Holding(Dessert) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->bbdc7535-0c2c-4d17-a74b-39c9b05a4fd5 - - - - - -34fc1064-e69f-4c19-bdf2-7f675d0acaf1 - -PutDown(Dessert,Bar) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->34fc1064-e69f-4c19-bdf2-7f675d0acaf1 - - - - - -bb326c9c-d106-42f0-b382-baad92171a6a - -At(Robot,BrightTable6) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->bb326c9c-d106-42f0-b382-baad92171a6a - - - - - -d5ada66e-713f-49f3-8609-43b03d2d8476 - -At(Robot,MilkDrink) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->d5ada66e-713f-49f3-8609-43b03d2d8476 - - - - - -c49a2c0d-b333-471d-8927-f3661933fa32 - -Holding(Dessert) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->c49a2c0d-b333-471d-8927-f3661933fa32 - - - - - -51b06cb4-e6d3-4e6b-be0c-dc78b87ec330 - -PutDown(Dessert,BrightTable) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->51b06cb4-e6d3-4e6b-be0c-dc78b87ec330 - - - - - -8bf9cff2-ab77-435c-8f43-4b872c826f34 - -At(Robot,BrightTable6) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->8bf9cff2-ab77-435c-8f43-4b872c826f34 - - - - - -2b86fd3a-9820-41b8-8381-310dead2acc7 - -At(Robot,MilkDrink) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->2b86fd3a-9820-41b8-8381-310dead2acc7 - - - - - -98303316-3f61-4114-8264-862d25930208 - -Holding(Dessert) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->98303316-3f61-4114-8264-862d25930208 - - - - - -6404bf62-dc86-4ea7-88d1-41b0567329fe - -PutDown(Dessert,BrightTable) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->6404bf62-dc86-4ea7-88d1-41b0567329fe - - - - - -70108398-c96d-4c24-9bf7-834bb1e808dd - -At(Robot,MilkDrink) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->70108398-c96d-4c24-9bf7-834bb1e808dd - - - - - -f1789245-bcdc-4196-b24d-ecc675dcbb31 - -At(Robot,CoffeeTable) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->f1789245-bcdc-4196-b24d-ecc675dcbb31 - - - - - -37896eee-adfe-4867-8d1d-50423bc06005 - -Holding(Dessert) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->37896eee-adfe-4867-8d1d-50423bc06005 - - - - - -e037b98a-9a1d-4730-a401-99319b4de181 - -PutDown(Dessert,CoffeeTable) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->e037b98a-9a1d-4730-a401-99319b4de181 - - - - - -73a96584-309b-4b49-9751-e45ee94fe406 - -At(Robot,MilkDrink) - - - -77bade0b-77da-4514-9834-41a608c1974f->73a96584-309b-4b49-9751-e45ee94fe406 - - - - - -b1d43f5d-22fe-4d22-a55b-99b6a144a869 - -At(Robot,CoffeeTable) - - - -77bade0b-77da-4514-9834-41a608c1974f->b1d43f5d-22fe-4d22-a55b-99b6a144a869 - - - - - -ee99ed68-9e8a-4672-9f27-c62d3f101118 - -Holding(Dessert) - - - -77bade0b-77da-4514-9834-41a608c1974f->ee99ed68-9e8a-4672-9f27-c62d3f101118 - - - - - -7ba4ba3d-291f-448b-b38b-cb4ade9e9505 - -PutDown(Dessert,CoffeeTable) - - - -77bade0b-77da-4514-9834-41a608c1974f->7ba4ba3d-291f-448b-b38b-cb4ade9e9505 - - - - - -7a206ff8-e18e-47af-95e8-1981c3423491 - -At(Robot,MilkDrink) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->7a206ff8-e18e-47af-95e8-1981c3423491 - - - - - -36c9c35f-0031-445b-b014-de1cd50ee2aa - -Holding(Dessert) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->36c9c35f-0031-445b-b014-de1cd50ee2aa - - - - - -a153fa09-89c2-48c5-a0f3-8ace6e5121c5 - -At(Robot,Table1) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->a153fa09-89c2-48c5-a0f3-8ace6e5121c5 - - - - - -8b20e089-3dc1-4e22-9390-5fb87026386e - -PutDown(Dessert,Table) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->8b20e089-3dc1-4e22-9390-5fb87026386e - - - - - -5a5a3184-f03e-458e-b244-7870eb84b726 - -At(Robot,MilkDrink) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->5a5a3184-f03e-458e-b244-7870eb84b726 - - - - - -d701a3fe-ad1c-4e26-bfc6-fc0babebec07 - -Holding(Dessert) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->d701a3fe-ad1c-4e26-bfc6-fc0babebec07 - - - - - -b52943d1-dd8c-4e25-95a1-63424080ffa1 - -At(Robot,Table1) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->b52943d1-dd8c-4e25-95a1-63424080ffa1 - - - - - -7dd80a5d-9e73-496c-850c-464f15669025 - -PutDown(Dessert,Table) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->7dd80a5d-9e73-496c-850c-464f15669025 - - - - - -c5c571b5-abac-4e59-a240-ff49e9ca184e - -At(Robot,MilkDrink) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->c5c571b5-abac-4e59-a240-ff49e9ca184e - - - - - -7a2aef31-9a0a-404e-acb4-ae4eb4dfe0cd - -Holding(Dessert) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->7a2aef31-9a0a-404e-acb4-ae4eb4dfe0cd - - - - - -c160fe13-4d3c-468e-8fc0-f2ddc0f7985e - -At(Robot,Table2) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->c160fe13-4d3c-468e-8fc0-f2ddc0f7985e - - - - - -ff421530-9082-4b1e-b3bf-e60fb9a7300b - -PutDown(Dessert,Table) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->ff421530-9082-4b1e-b3bf-e60fb9a7300b - - - - - -83c6b5ac-37e7-4c8e-a921-339f7ead9a79 - -At(Robot,MilkDrink) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->83c6b5ac-37e7-4c8e-a921-339f7ead9a79 - - - - - -3b9026fb-b983-428c-9212-e2826e49f113 - -Holding(Dessert) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->3b9026fb-b983-428c-9212-e2826e49f113 - - - - - -e9cbdfce-a7db-4ff3-a709-8f4e9ed2f5e5 - -At(Robot,Table2) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->e9cbdfce-a7db-4ff3-a709-8f4e9ed2f5e5 - - - - - -71268121-1f84-4271-a207-d8366732d0b9 - -PutDown(Dessert,Table) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->71268121-1f84-4271-a207-d8366732d0b9 - - - - - -b4a66d2b-e478-44d9-a6e5-a2aa0d8943a6 - -Holding(Dessert) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->b4a66d2b-e478-44d9-a6e5-a2aa0d8943a6 - - - - - -4e3f9c6c-aa2c-4d53-935e-309129a165e5 - -At(Robot,MilkDrink) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->4e3f9c6c-aa2c-4d53-935e-309129a165e5 - - - - - -c1714dd1-f8b7-4f9b-bfb5-e856637caa36 - -At(Robot,Table3) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->c1714dd1-f8b7-4f9b-bfb5-e856637caa36 - - - - - -c2221c01-9ce5-48b7-9718-e055a6c9fca3 - -PutDown(Dessert,Table) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->c2221c01-9ce5-48b7-9718-e055a6c9fca3 - - - - - -a3c5c03d-a3c7-4077-8e45-8e7d7cbc3e94 - -Holding(Dessert) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->a3c5c03d-a3c7-4077-8e45-8e7d7cbc3e94 - - - - - -114bc173-00ae-4110-aada-dcdf2be63329 - -At(Robot,MilkDrink) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->114bc173-00ae-4110-aada-dcdf2be63329 - - - - - -8a1b03eb-e116-4376-963c-233332239536 - -At(Robot,Table3) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->8a1b03eb-e116-4376-963c-233332239536 - - - - - -99ebe783-2866-4653-b439-c47c954f629a - -PutDown(Dessert,Table) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->99ebe783-2866-4653-b439-c47c954f629a - - - - - -209360d6-508f-4fd5-8373-e8804c086229 - -At(Robot,MilkDrink) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->209360d6-508f-4fd5-8373-e8804c086229 - - - - - -74227e1c-b23d-4595-afb2-982048daa339 - -At(Robot,WaterTable) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->74227e1c-b23d-4595-afb2-982048daa339 - - - - - -7f703f8e-44ca-4971-89ee-a54a113e53ab - -Holding(Dessert) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->7f703f8e-44ca-4971-89ee-a54a113e53ab - - - - - -4302ea59-44b4-4386-b396-5437c8cdc950 - -PutDown(Dessert,WaterTable) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->4302ea59-44b4-4386-b396-5437c8cdc950 - - - - - -619e2a01-991c-4cd3-9dc0-4298abb4a53d - -At(Robot,MilkDrink) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->619e2a01-991c-4cd3-9dc0-4298abb4a53d - - - - - -b97fcc30-5291-4706-8ede-69445784c3f4 - -At(Robot,WaterTable) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->b97fcc30-5291-4706-8ede-69445784c3f4 - - - - - -d4f938b5-d4c2-45a5-95f7-be36c7b80cfd - -Holding(Dessert) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->d4f938b5-d4c2-45a5-95f7-be36c7b80cfd - - - - - -d476ce6a-d765-43af-87ca-da83dcddefca - -PutDown(Dessert,WaterTable) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->d476ce6a-d765-43af-87ca-da83dcddefca - - - - - -a776c31a-bdce-42fe-a709-5b4cc0899c79 - -At(Robot,Bar) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->a776c31a-bdce-42fe-a709-5b4cc0899c79 - - - - - -efa622c9-a217-4e88-bd8c-88d253671768 - -At(Robot,MilkDrink) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->efa622c9-a217-4e88-bd8c-88d253671768 - - - - - -62c38d17-6777-4a1e-993d-6d2b81acfd4c - -Holding(Milk) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->62c38d17-6777-4a1e-993d-6d2b81acfd4c - - - - - -cf8755fb-7036-4ae3-844d-4d229ec0c475 - -PutDown(Milk,Bar) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->cf8755fb-7036-4ae3-844d-4d229ec0c475 - - - - - -eb4c845f-39a3-48df-a85a-dab347e07242 - -At(Robot,Bar) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->eb4c845f-39a3-48df-a85a-dab347e07242 - - - - - -6f18f494-7255-44e3-99d7-f038ba150517 - -At(Robot,MilkDrink) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->6f18f494-7255-44e3-99d7-f038ba150517 - - - - - -556d62b1-9f41-4467-a185-de0f5c923616 - -Holding(Milk) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->556d62b1-9f41-4467-a185-de0f5c923616 - - - - - -35e40936-da76-4662-afba-4c55dc53179b - -PutDown(Milk,Bar) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->35e40936-da76-4662-afba-4c55dc53179b - - - - - -1bd3785e-75e5-4b22-a834-f4d0a1b8a29b - -Holding(Milk) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->1bd3785e-75e5-4b22-a834-f4d0a1b8a29b - - - - - -c10acca9-2bb5-403d-961c-c488f3086d26 - -At(Robot,MilkDrink) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->c10acca9-2bb5-403d-961c-c488f3086d26 - - - - - -c7f29a66-ae99-4180-ae51-afd3727842ff - -At(Robot,Bar2) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->c7f29a66-ae99-4180-ae51-afd3727842ff - - - - - -65a7bf50-7541-4673-9067-f046df384d00 - -PutDown(Milk,Bar) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->65a7bf50-7541-4673-9067-f046df384d00 - - - - - -28c94a05-231a-49eb-8b1d-629d1eb9ad66 - -Holding(Milk) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->28c94a05-231a-49eb-8b1d-629d1eb9ad66 - - - - - -ea24db7b-d8bd-46b6-81e8-02a46b05a9ae - -At(Robot,MilkDrink) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->ea24db7b-d8bd-46b6-81e8-02a46b05a9ae - - - - - -7645899a-5ff4-4596-89a4-d7cfa11835c0 - -At(Robot,Bar2) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->7645899a-5ff4-4596-89a4-d7cfa11835c0 - - - - - -c60d32c6-bd04-4b12-abcb-f41ab62bc63d - -PutDown(Milk,Bar) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->c60d32c6-bd04-4b12-abcb-f41ab62bc63d - - - - - -74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f - -At(Robot,BrightTable6) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f - - - - - -2e8a95f0-93cd-453f-b2ff-4ae32f52a549 - -At(Robot,MilkDrink) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->2e8a95f0-93cd-453f-b2ff-4ae32f52a549 - - - - - -a1832156-ed5b-4fa6-9f74-924e87d75e82 - -Holding(Milk) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->a1832156-ed5b-4fa6-9f74-924e87d75e82 - - - - - -b6a216b5-1e61-47dc-8b43-2ad3628547d9 - -PutDown(Milk,BrightTable) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->b6a216b5-1e61-47dc-8b43-2ad3628547d9 - - - - - -8236497c-3404-4ef0-8ad6-b5e5579cf1e2 - -At(Robot,BrightTable6) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->8236497c-3404-4ef0-8ad6-b5e5579cf1e2 - - - - - -f88e11eb-ec19-41a1-a739-ef38b34d13a1 - -At(Robot,MilkDrink) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->f88e11eb-ec19-41a1-a739-ef38b34d13a1 - - - - - -0672efa9-be1c-4d0c-9000-d3823ea2ab62 - -Holding(Milk) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->0672efa9-be1c-4d0c-9000-d3823ea2ab62 - - - - - -632885ea-e626-4841-88ba-bc5295493f12 - -PutDown(Milk,BrightTable) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->632885ea-e626-4841-88ba-bc5295493f12 - - - - - -28c51817-c041-4230-b74a-7ea7e71b3ceb - -At(Robot,MilkDrink) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->28c51817-c041-4230-b74a-7ea7e71b3ceb - - - - - -8df177ad-3c5e-4fac-a2dd-182432f557ad - -At(Robot,CoffeeTable) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->8df177ad-3c5e-4fac-a2dd-182432f557ad - - - - - -81275441-f91f-4fa0-acb7-2b6dc77d56a0 - -Holding(Milk) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->81275441-f91f-4fa0-acb7-2b6dc77d56a0 - - - - - -bb67ee72-c37f-4356-8d1e-a4c330cfd890 - -PutDown(Milk,CoffeeTable) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->bb67ee72-c37f-4356-8d1e-a4c330cfd890 - - - - - -921d10ae-0db9-435b-865f-60350c0e7701 - -At(Robot,MilkDrink) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->921d10ae-0db9-435b-865f-60350c0e7701 - - - - - -63c9c538-54c5-4c00-93b6-3087e1a0999d - -At(Robot,CoffeeTable) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->63c9c538-54c5-4c00-93b6-3087e1a0999d - - - - - -6fa3a465-190f-4a6a-9bac-44bda4c807b2 - -Holding(Milk) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->6fa3a465-190f-4a6a-9bac-44bda4c807b2 - - - - - -ba677dec-cf51-4b37-9288-ec712aa55ec6 - -PutDown(Milk,CoffeeTable) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->ba677dec-cf51-4b37-9288-ec712aa55ec6 - - - - - -3c6f644e-33fa-4883-bb38-6a2bdb269356 - -At(Robot,MilkDrink) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->3c6f644e-33fa-4883-bb38-6a2bdb269356 - - - - - -1fce3f97-6c7c-4680-ac2d-ab10d16d85df - -Holding(Milk) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->1fce3f97-6c7c-4680-ac2d-ab10d16d85df - - - - - -a054d6a8-d54c-4d3f-9f6c-2913ce7abda1 - -At(Robot,Table1) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->a054d6a8-d54c-4d3f-9f6c-2913ce7abda1 - - - - - -d9856db9-f380-4ddf-8256-1e33424f14d3 - -PutDown(Milk,Table) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->d9856db9-f380-4ddf-8256-1e33424f14d3 - - - - - -099bc4a6-4c9c-4810-84d4-f34292b45a55 - -At(Robot,MilkDrink) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->099bc4a6-4c9c-4810-84d4-f34292b45a55 - - - - - -324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9 - -Holding(Milk) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9 - - - - - -275ad62b-53f8-4000-ae2c-a03841d7d1a0 - -At(Robot,Table1) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->275ad62b-53f8-4000-ae2c-a03841d7d1a0 - - - - - -0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0 - -PutDown(Milk,Table) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0 - - - - - -4efee9c9-80f2-416a-81da-ee57a030502b - -At(Robot,MilkDrink) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->4efee9c9-80f2-416a-81da-ee57a030502b - - - - - -3c15f619-00c8-42f3-8ac3-b48df0b545fb - -Holding(Milk) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->3c15f619-00c8-42f3-8ac3-b48df0b545fb - - - - - -0b043419-9d52-4579-9926-50fc7cbf92f3 - -At(Robot,Table2) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->0b043419-9d52-4579-9926-50fc7cbf92f3 - - - - - -5a572088-37ba-43f0-8b5d-cabc1c6cb86f - -PutDown(Milk,Table) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->5a572088-37ba-43f0-8b5d-cabc1c6cb86f - - - - - -8f11b63d-48f3-42f2-bbe9-2ffc0ec70500 - -At(Robot,MilkDrink) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->8f11b63d-48f3-42f2-bbe9-2ffc0ec70500 - - - - - -5b89c14d-6a8f-4a27-b135-680fcd54aeaf - -Holding(Milk) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->5b89c14d-6a8f-4a27-b135-680fcd54aeaf - - - - - -69fcc082-c389-4581-8ea3-cecba659450e - -At(Robot,Table2) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->69fcc082-c389-4581-8ea3-cecba659450e - - - - - -78b2b832-1b7f-4de0-9746-e50880fedeab - -PutDown(Milk,Table) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->78b2b832-1b7f-4de0-9746-e50880fedeab - - - - - -081215cb-6236-440d-9b40-79a307e506a4 - -At(Robot,MilkDrink) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->081215cb-6236-440d-9b40-79a307e506a4 - - - - - -da1ae0dc-5de1-4a25-9219-379f4225c198 - -Holding(Milk) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->da1ae0dc-5de1-4a25-9219-379f4225c198 - - - - - -a4aca557-f0da-4622-9222-48d35a84b1f3 - -At(Robot,Table3) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->a4aca557-f0da-4622-9222-48d35a84b1f3 - - - - - -5c75d86b-1001-41ab-96fe-3a0d38d9e35c - -PutDown(Milk,Table) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->5c75d86b-1001-41ab-96fe-3a0d38d9e35c - - - - - -aba91b8a-5227-49d4-9944-481a861341fd - -At(Robot,MilkDrink) - - - -27773b8d-65c8-4e6d-ab06-367494244607->aba91b8a-5227-49d4-9944-481a861341fd - - - - - -8bd02e40-37f9-4be6-90b8-f188cc34de6d - -Holding(Milk) - - - -27773b8d-65c8-4e6d-ab06-367494244607->8bd02e40-37f9-4be6-90b8-f188cc34de6d - - - - - -03c4e0e0-1287-495a-a249-710aa20d0057 - -At(Robot,Table3) - - - -27773b8d-65c8-4e6d-ab06-367494244607->03c4e0e0-1287-495a-a249-710aa20d0057 - - - - - -252185bd-280b-420b-b678-6ab363f01989 - -PutDown(Milk,Table) - - - -27773b8d-65c8-4e6d-ab06-367494244607->252185bd-280b-420b-b678-6ab363f01989 - - - - - -4cdf5215-82f4-459b-9332-3557f43eb9cc - -At(Robot,MilkDrink) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->4cdf5215-82f4-459b-9332-3557f43eb9cc - - - - - -df036f21-3981-4289-8d6f-8b5078b2df46 - -Holding(Milk) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->df036f21-3981-4289-8d6f-8b5078b2df46 - - - - - -09764188-cdc4-464a-99b2-96d997efd323 - -At(Robot,WaterTable) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->09764188-cdc4-464a-99b2-96d997efd323 - - - - - -e8054da7-b79e-434a-ae68-e3651092e471 - -PutDown(Milk,WaterTable) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->e8054da7-b79e-434a-ae68-e3651092e471 - - - - - -a4b61ca8-71a1-42cd-9d8a-c66a373deb4a - -At(Robot,MilkDrink) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->a4b61ca8-71a1-42cd-9d8a-c66a373deb4a - - - - - -e517b5dc-fa48-43db-84ea-8f2bdf4659f5 - -Holding(Milk) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->e517b5dc-fa48-43db-84ea-8f2bdf4659f5 - - - - - -329f7a75-663a-43e0-a228-e4ed325283ac - -At(Robot,WaterTable) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->329f7a75-663a-43e0-a228-e4ed325283ac - - - - - -576505ff-6e15-4284-900e-6e084ed8a945 - -PutDown(Milk,WaterTable) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->576505ff-6e15-4284-900e-6e084ed8a945 - - - - - -3bdea8c7-c612-4aae-925e-d27be101daf1 - -Holding(NFCJuice) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->3bdea8c7-c612-4aae-925e-d27be101daf1 - - - - - -f4fdd3a3-2c86-4cb8-903a-8f76a9424b94 - -At(Robot,MilkDrink) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->f4fdd3a3-2c86-4cb8-903a-8f76a9424b94 - - - - - -61783b56-4bd1-49bf-9d85-02bd84711b73 - -At(Robot,Bar) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->61783b56-4bd1-49bf-9d85-02bd84711b73 - - - - - -a234deda-6375-4853-9ac6-8982fa06ef45 - -PutDown(NFCJuice,Bar) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->a234deda-6375-4853-9ac6-8982fa06ef45 - - - - - -a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac - -Holding(NFCJuice) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac - - - - - -a9e97936-039b-4658-9e1d-77438208edc5 - -At(Robot,MilkDrink) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->a9e97936-039b-4658-9e1d-77438208edc5 - - - - - -6e6ed82b-16da-4fa0-8a89-3fc55c343b55 - -At(Robot,Bar) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->6e6ed82b-16da-4fa0-8a89-3fc55c343b55 - - - - - -3f6a5853-74f7-4a7c-b881-df6a0830eb94 - -PutDown(NFCJuice,Bar) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->3f6a5853-74f7-4a7c-b881-df6a0830eb94 - - - - - -05d4078a-5643-4f17-b97b-3e1a1787530b - -Holding(NFCJuice) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->05d4078a-5643-4f17-b97b-3e1a1787530b - - - - - -5f70d628-eab8-428e-90db-e101f06f1b34 - -At(Robot,MilkDrink) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->5f70d628-eab8-428e-90db-e101f06f1b34 - - - - - -b0e6798d-42f1-4267-8d4d-ac65ba080dbd - -At(Robot,Bar2) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->b0e6798d-42f1-4267-8d4d-ac65ba080dbd - - - - - -2538518f-79c8-4142-a2c0-cb30556b3f2d - -PutDown(NFCJuice,Bar) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->2538518f-79c8-4142-a2c0-cb30556b3f2d - - - - - -43c44907-5235-42ca-8863-f3b79fe709e7 - -Holding(NFCJuice) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->43c44907-5235-42ca-8863-f3b79fe709e7 - - - - - -c595efc7-1ef1-4f27-8406-6107a5f89562 - -At(Robot,MilkDrink) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->c595efc7-1ef1-4f27-8406-6107a5f89562 - - - - - -4d3e7b87-915e-4605-a2e2-17b5430aee22 - -At(Robot,Bar2) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->4d3e7b87-915e-4605-a2e2-17b5430aee22 - - - - - -4a3fd97e-55e3-4d1e-ae7a-bc823f221b1a - -PutDown(NFCJuice,Bar) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->4a3fd97e-55e3-4d1e-ae7a-bc823f221b1a - - - - - -e7476a36-5aa6-4c36-8ede-b60436e75186 - -Holding(NFCJuice) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->e7476a36-5aa6-4c36-8ede-b60436e75186 - - - - - -f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3 - -At(Robot,BrightTable6) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3 - - - - - -46f42b47-a4bf-4e34-ba88-d02dc8867411 - -At(Robot,MilkDrink) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->46f42b47-a4bf-4e34-ba88-d02dc8867411 - - - - - -625acbc8-19a5-49e3-b264-51d3e4e1fbcb - -PutDown(NFCJuice,BrightTable) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->625acbc8-19a5-49e3-b264-51d3e4e1fbcb - - - - - -501080b1-6821-4a5f-b707-a6c4140f6459 - -Holding(NFCJuice) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->501080b1-6821-4a5f-b707-a6c4140f6459 - - - - - -952eaaf5-e265-47d5-87ee-f150c7800939 - -At(Robot,BrightTable6) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->952eaaf5-e265-47d5-87ee-f150c7800939 - - - - - -8bb7a0ed-e0be-432f-9c1c-93e472503cc8 - -At(Robot,MilkDrink) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->8bb7a0ed-e0be-432f-9c1c-93e472503cc8 - - - - - -c54cccc6-852a-445f-b399-8290abefa361 - -PutDown(NFCJuice,BrightTable) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->c54cccc6-852a-445f-b399-8290abefa361 - - - - - -4295d49e-9675-4c1a-8546-d6d430c7db25 - -Holding(NFCJuice) - - - -445c6064-cdfd-41e0-9c04-810324a01168->4295d49e-9675-4c1a-8546-d6d430c7db25 - - - - - -1e8ee83e-8373-4f92-8d56-c912a86bf2d9 - -At(Robot,MilkDrink) - - - -445c6064-cdfd-41e0-9c04-810324a01168->1e8ee83e-8373-4f92-8d56-c912a86bf2d9 - - - - - -67c1bdb0-f3fc-48f3-9c89-edea8a2ced9f - -At(Robot,CoffeeTable) - - - -445c6064-cdfd-41e0-9c04-810324a01168->67c1bdb0-f3fc-48f3-9c89-edea8a2ced9f - - - - - -266eaa9a-67d4-4e0b-8947-67b3e8d18a53 - -PutDown(NFCJuice,CoffeeTable) - - - -445c6064-cdfd-41e0-9c04-810324a01168->266eaa9a-67d4-4e0b-8947-67b3e8d18a53 - - - - - -592679ca-4369-4845-81b4-bdf1a5fcc621 - -Holding(NFCJuice) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->592679ca-4369-4845-81b4-bdf1a5fcc621 - - - - - -1527e69a-3ef6-4547-9812-4b74c62d8069 - -At(Robot,MilkDrink) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->1527e69a-3ef6-4547-9812-4b74c62d8069 - - - - - -2e1edf26-ab8d-454a-b8ab-f0f00843092d - -At(Robot,CoffeeTable) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->2e1edf26-ab8d-454a-b8ab-f0f00843092d - - - - - -b591ca05-44a7-47be-a6d0-b0f37071abe5 - -PutDown(NFCJuice,CoffeeTable) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->b591ca05-44a7-47be-a6d0-b0f37071abe5 - - - - - -684aca91-2e21-427d-85cd-49b5682049df - -Holding(NFCJuice) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->684aca91-2e21-427d-85cd-49b5682049df - - - - - -38269190-fa4b-47de-b936-0a0448c04c75 - -At(Robot,MilkDrink) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->38269190-fa4b-47de-b936-0a0448c04c75 - - - - - -813ae4b0-c0a2-41df-9b05-d17a32cafc61 - -At(Robot,Table1) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->813ae4b0-c0a2-41df-9b05-d17a32cafc61 - - - - - -bf1f8ded-be64-4537-9313-4a0899c5601e - -PutDown(NFCJuice,Table) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->bf1f8ded-be64-4537-9313-4a0899c5601e - - - - - -2b9a4980-db12-4dc8-b396-a36f82c34514 - -Holding(NFCJuice) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->2b9a4980-db12-4dc8-b396-a36f82c34514 - - - - - -a39ff5a0-9362-43a7-80dc-aea34336dcd7 - -At(Robot,MilkDrink) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->a39ff5a0-9362-43a7-80dc-aea34336dcd7 - - - - - -5d6923a7-5ed5-4099-87d7-c1d1c1498201 - -At(Robot,Table1) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->5d6923a7-5ed5-4099-87d7-c1d1c1498201 - - - - - -d5bfd386-6a7c-4feb-b3fc-c6f6f2b45a62 - -PutDown(NFCJuice,Table) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->d5bfd386-6a7c-4feb-b3fc-c6f6f2b45a62 - - - - - -e0a36365-d48b-4cc0-9c9b-b19f5ce58766 - -Holding(NFCJuice) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->e0a36365-d48b-4cc0-9c9b-b19f5ce58766 - - - - - -d901693d-b3ec-4a7f-b1af-c4d757463c01 - -At(Robot,MilkDrink) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->d901693d-b3ec-4a7f-b1af-c4d757463c01 - - - - - -181c92c0-52b3-4710-a47b-c6e30ca109c4 - -At(Robot,Table2) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->181c92c0-52b3-4710-a47b-c6e30ca109c4 - - - - - -9f087eca-4d02-40ac-88b6-f3f5b11204af - -PutDown(NFCJuice,Table) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->9f087eca-4d02-40ac-88b6-f3f5b11204af - - - - - -99072123-9df2-4d41-88a3-9f50fc19af20 - -Holding(NFCJuice) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->99072123-9df2-4d41-88a3-9f50fc19af20 - - - - - -ce6471a7-af1c-4936-9e72-92520463f7d1 - -At(Robot,MilkDrink) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->ce6471a7-af1c-4936-9e72-92520463f7d1 - - - - - -8773d1cb-6382-4b1d-b003-a851258129c0 - -At(Robot,Table2) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->8773d1cb-6382-4b1d-b003-a851258129c0 - - - - - -4990e99b-3010-40d1-8958-da6a3d989048 - -PutDown(NFCJuice,Table) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->4990e99b-3010-40d1-8958-da6a3d989048 - - - - - -f53c24d4-01b5-4ee3-8515-96fb04a649b3 - -Holding(NFCJuice) - - - -82c5f771-2516-4796-8391-1e5044fec618->f53c24d4-01b5-4ee3-8515-96fb04a649b3 - - - - - -50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93 - -At(Robot,MilkDrink) - - - -82c5f771-2516-4796-8391-1e5044fec618->50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93 - - - - - -80c44005-0697-4136-aa4b-d3fac3e3ec3d - -At(Robot,Table3) - - - -82c5f771-2516-4796-8391-1e5044fec618->80c44005-0697-4136-aa4b-d3fac3e3ec3d - - - - - -c4520aa6-6cba-4b2a-bd58-80a9c793ebe6 - -PutDown(NFCJuice,Table) - - - -82c5f771-2516-4796-8391-1e5044fec618->c4520aa6-6cba-4b2a-bd58-80a9c793ebe6 - - - - - -bb9973b2-5bf3-4f9d-b4e7-72fb839818a0 - -Holding(NFCJuice) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->bb9973b2-5bf3-4f9d-b4e7-72fb839818a0 - - - - - -3f18e8b0-f5d8-44c3-a17e-5863c5823a52 - -At(Robot,MilkDrink) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->3f18e8b0-f5d8-44c3-a17e-5863c5823a52 - - - - - -4e106b5c-3105-4cf5-877a-9b4e300c125f - -At(Robot,Table3) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->4e106b5c-3105-4cf5-877a-9b4e300c125f - - - - - -70f6baee-8b9e-457b-8428-58b1e87b9b74 - -PutDown(NFCJuice,Table) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->70f6baee-8b9e-457b-8428-58b1e87b9b74 - - - - - -f0b84a43-7c8d-4098-87d0-341d99bb60c5 - -Holding(NFCJuice) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->f0b84a43-7c8d-4098-87d0-341d99bb60c5 - - - - - -ff670abf-601c-48fd-a1ca-74df090adf2c - -At(Robot,MilkDrink) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->ff670abf-601c-48fd-a1ca-74df090adf2c - - - - - -5383fb95-a009-42d0-9de5-f8af70e75fd4 - -At(Robot,WaterTable) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->5383fb95-a009-42d0-9de5-f8af70e75fd4 - - - - - -89d61dbe-a904-46b6-8679-5ceff96e06ef - -PutDown(NFCJuice,WaterTable) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->89d61dbe-a904-46b6-8679-5ceff96e06ef - - - - - -31980608-7b7f-4674-8176-45002baf5a46 - -Holding(NFCJuice) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->31980608-7b7f-4674-8176-45002baf5a46 - - - - - -dda6304a-3d32-493b-aff6-d18b5f290895 - -At(Robot,MilkDrink) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->dda6304a-3d32-493b-aff6-d18b5f290895 - - - - - -9787d5ac-fef5-42ae-a59a-b7013b0e0ccb - -At(Robot,WaterTable) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->9787d5ac-fef5-42ae-a59a-b7013b0e0ccb - - - - - -528277de-1b77-4397-bfee-89ae346c98fd - -PutDown(NFCJuice,WaterTable) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->528277de-1b77-4397-bfee-89ae346c98fd - - - - - -222364cf-56a6-407e-a339-be7cdb472ddc - -At(Robot,Bar) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->222364cf-56a6-407e-a339-be7cdb472ddc - - - - - -b7a21420-0944-4e6a-8f63-4fd4f25ca3ad - -Holding(Softdrink) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->b7a21420-0944-4e6a-8f63-4fd4f25ca3ad - - - - - -db33aa78-b3fb-41a7-b214-0a74187d47a3 - -At(Robot,MilkDrink) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->db33aa78-b3fb-41a7-b214-0a74187d47a3 - - - - - -b59b793c-a86b-4ba9-8958-a9ae9ea20b22 - -PutDown(Softdrink,Bar) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->b59b793c-a86b-4ba9-8958-a9ae9ea20b22 - - - - - -72328d6a-f601-4d1a-a01e-f29537ac5c7a - -At(Robot,Bar) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->72328d6a-f601-4d1a-a01e-f29537ac5c7a - - - - - -f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6 - -Holding(Softdrink) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6 - - - - - -ae211936-0bd4-47c0-8420-91cf566b5511 - -At(Robot,MilkDrink) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->ae211936-0bd4-47c0-8420-91cf566b5511 - - - - - -acf03e81-2012-4d0b-8c2e-174c9f19a8c4 - -PutDown(Softdrink,Bar) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->acf03e81-2012-4d0b-8c2e-174c9f19a8c4 - - - - - -57fae6c5-2f97-4751-ae9b-eb1d84d032df - -Holding(Softdrink) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->57fae6c5-2f97-4751-ae9b-eb1d84d032df - - - - - -b3e24e78-fed4-424d-83b4-7d583d5fa5c7 - -At(Robot,MilkDrink) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->b3e24e78-fed4-424d-83b4-7d583d5fa5c7 - - - - - -db6edf72-d407-45b7-ae27-ddb404abae89 - -At(Robot,Bar2) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->db6edf72-d407-45b7-ae27-ddb404abae89 - - - - - -f274860c-b1c8-4094-80ff-6e24801009e3 - -PutDown(Softdrink,Bar) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->f274860c-b1c8-4094-80ff-6e24801009e3 - - - - - -320a9762-c370-4655-a652-39d241db9341 - -Holding(Softdrink) - - - -3049d991-2145-4012-bb24-9a9b91caa120->320a9762-c370-4655-a652-39d241db9341 - - - - - -ad96ce95-b70c-485c-adc0-a241d4cce425 - -At(Robot,MilkDrink) - - - -3049d991-2145-4012-bb24-9a9b91caa120->ad96ce95-b70c-485c-adc0-a241d4cce425 - - - - - -b948791b-abb1-4111-b0b0-a4898b9dd35d - -At(Robot,Bar2) - - - -3049d991-2145-4012-bb24-9a9b91caa120->b948791b-abb1-4111-b0b0-a4898b9dd35d - - - - - -609d0323-4aed-474e-90d0-1def19bf90ad - -PutDown(Softdrink,Bar) - - - -3049d991-2145-4012-bb24-9a9b91caa120->609d0323-4aed-474e-90d0-1def19bf90ad - - - - - -dee22561-ad74-4f59-a07a-5a11e228bec3 - -Holding(Softdrink) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->dee22561-ad74-4f59-a07a-5a11e228bec3 - - - - - -0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c - -At(Robot,BrightTable6) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c - - - - - -0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f - -At(Robot,MilkDrink) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f - - - - - -dc79c8a3-f0dd-47a3-995a-0b415fb4630b - -PutDown(Softdrink,BrightTable) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->dc79c8a3-f0dd-47a3-995a-0b415fb4630b - - - - - -92f92acb-38cb-48dd-ba9e-b4ab17177cb9 - -Holding(Softdrink) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->92f92acb-38cb-48dd-ba9e-b4ab17177cb9 - - - - - -2afb5d86-d5a8-4683-8fbc-18284284bdd2 - -At(Robot,BrightTable6) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->2afb5d86-d5a8-4683-8fbc-18284284bdd2 - - - - - -d886cd5a-0fe5-40e1-bd52-ee8e3c58faca - -At(Robot,MilkDrink) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->d886cd5a-0fe5-40e1-bd52-ee8e3c58faca - - - - - -e4c0ae03-79e5-4469-801a-3b04b92a0017 - -PutDown(Softdrink,BrightTable) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->e4c0ae03-79e5-4469-801a-3b04b92a0017 - - - - - -f7f87c98-0765-46af-ae64-409519a38abc - -Holding(Softdrink) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->f7f87c98-0765-46af-ae64-409519a38abc - - - - - -d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9 - -At(Robot,MilkDrink) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9 - - - - - -7a06b0fb-b544-457d-a693-534297a05e00 - -At(Robot,CoffeeTable) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->7a06b0fb-b544-457d-a693-534297a05e00 - - - - - -628b6758-bd53-41ce-890b-1f51766e780a - -PutDown(Softdrink,CoffeeTable) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->628b6758-bd53-41ce-890b-1f51766e780a - - - - - -b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5 - -Holding(Softdrink) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5 - - - - - -a4ce4a53-e9ae-4556-bc0c-e4585fdee7db - -At(Robot,MilkDrink) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->a4ce4a53-e9ae-4556-bc0c-e4585fdee7db - - - - - -6f497f79-0e73-4257-928d-14bacf0446c0 - -At(Robot,CoffeeTable) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->6f497f79-0e73-4257-928d-14bacf0446c0 - - - - - -3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2 - -PutDown(Softdrink,CoffeeTable) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2 - - - - - -fc316e74-31a5-4606-bfab-cd4282b13428 - -Holding(Softdrink) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->fc316e74-31a5-4606-bfab-cd4282b13428 - - - - - -0162a1f7-8e7f-46f1-809e-53d628f1843f - -At(Robot,MilkDrink) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->0162a1f7-8e7f-46f1-809e-53d628f1843f - - - - - -b445ed70-2bd4-4351-887c-a5e0715b9222 - -At(Robot,Table1) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->b445ed70-2bd4-4351-887c-a5e0715b9222 - - - - - -a17591f2-18a0-4964-a0f8-d2e5060a0226 - -PutDown(Softdrink,Table) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->a17591f2-18a0-4964-a0f8-d2e5060a0226 - - - - - -eb151fe3-ca7d-4734-844f-2dd1c4487fae - -Holding(Softdrink) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->eb151fe3-ca7d-4734-844f-2dd1c4487fae - - - - - -d53022b0-c3b5-4d7e-8ba4-5108148a962e - -At(Robot,MilkDrink) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->d53022b0-c3b5-4d7e-8ba4-5108148a962e - - - - - -608ecfac-b18a-4893-a92d-77089e8aa7aa - -At(Robot,Table1) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->608ecfac-b18a-4893-a92d-77089e8aa7aa - - - - - -d4031ef2-7958-4493-926c-c291a0fd54dd - -PutDown(Softdrink,Table) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->d4031ef2-7958-4493-926c-c291a0fd54dd - - - - - -7382bc82-8794-4ce9-ae3c-e7c4d18578db - -Holding(Softdrink) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->7382bc82-8794-4ce9-ae3c-e7c4d18578db - - - - - -de312934-d9aa-4d00-8651-1be3da5fad3b - -At(Robot,MilkDrink) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->de312934-d9aa-4d00-8651-1be3da5fad3b - - - - - -1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4 - -At(Robot,Table2) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4 - - - - - -3d4774ae-5250-44c0-91cb-c2bc48f35a5d - -PutDown(Softdrink,Table) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->3d4774ae-5250-44c0-91cb-c2bc48f35a5d - - - - - -2a2766e7-5946-41a7-bd39-d979aa06ffb8 - -Holding(Softdrink) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->2a2766e7-5946-41a7-bd39-d979aa06ffb8 - - - - - -14aa9e0c-1323-44ad-8165-aedfd324fd1d - -At(Robot,MilkDrink) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->14aa9e0c-1323-44ad-8165-aedfd324fd1d - - - - - -17b8b396-b658-4b4a-925e-434f7b7a51a5 - -At(Robot,Table2) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->17b8b396-b658-4b4a-925e-434f7b7a51a5 - - - - - -fdf43840-cab0-4103-abec-53d4b3a255af - -PutDown(Softdrink,Table) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->fdf43840-cab0-4103-abec-53d4b3a255af - - - - - -02907aec-08a8-488c-af6d-af7342fe21ef - -Holding(Softdrink) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->02907aec-08a8-488c-af6d-af7342fe21ef - - - - - -6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6 - -At(Robot,MilkDrink) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6 - - - - - -888276e9-9554-4e1d-9204-19e08f80ea89 - -At(Robot,Table3) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->888276e9-9554-4e1d-9204-19e08f80ea89 - - - - - -25f5c3b8-d357-468d-80af-626fec91e084 - -PutDown(Softdrink,Table) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->25f5c3b8-d357-468d-80af-626fec91e084 - - - - - -0794d940-1fe0-4c77-84e3-912cea94a8bc - -Holding(Softdrink) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->0794d940-1fe0-4c77-84e3-912cea94a8bc - - - - - -945612c7-f57a-4ec9-af43-25279ae09636 - -At(Robot,MilkDrink) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->945612c7-f57a-4ec9-af43-25279ae09636 - - - - - -c8bd8055-76f1-4c00-8994-0f7bbc29a0c1 - -At(Robot,Table3) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->c8bd8055-76f1-4c00-8994-0f7bbc29a0c1 - - - - - -05bf0af9-bdd2-4728-8ecb-bad64da80b82 - -PutDown(Softdrink,Table) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->05bf0af9-bdd2-4728-8ecb-bad64da80b82 - - - - - -d2c44489-8673-489b-8807-137660268945 - -Holding(Softdrink) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->d2c44489-8673-489b-8807-137660268945 - - - - - -7cd3f082-a9cd-4d50-8bf5-922422c866d9 - -At(Robot,MilkDrink) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->7cd3f082-a9cd-4d50-8bf5-922422c866d9 - - - - - -56dc9602-bb98-4646-bd82-d45c385ee363 - -At(Robot,WaterTable) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->56dc9602-bb98-4646-bd82-d45c385ee363 - - - - - -45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4 - -PutDown(Softdrink,WaterTable) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4 - - - - - -0270da4f-f26d-4807-aab8-1e5dec8cecea - -Holding(Softdrink) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->0270da4f-f26d-4807-aab8-1e5dec8cecea - - - - - -a795d0b6-587b-4019-9b90-7b430e103aba - -At(Robot,MilkDrink) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->a795d0b6-587b-4019-9b90-7b430e103aba - - - - - -65220597-5196-482c-83ab-09a93975a10e - -At(Robot,WaterTable) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->65220597-5196-482c-83ab-09a93975a10e - - - - - -e2a41861-4d7d-46d0-8d27-592888b85149 - -PutDown(Softdrink,WaterTable) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->e2a41861-4d7d-46d0-8d27-592888b85149 - - - - - -ee05476a-23af-4cc9-91c5-b229199d3d9b - -At(Robot,Bar) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->ee05476a-23af-4cc9-91c5-b229199d3d9b - - - - - -e1afc090-cdd4-4941-8682-65ad01349db8 - -At(Robot,MilkDrink) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->e1afc090-cdd4-4941-8682-65ad01349db8 - - - - - -05ee2dab-3373-4ebf-9d45-fb8060fe89c3 - -Holding(SpringWater) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->05ee2dab-3373-4ebf-9d45-fb8060fe89c3 - - - - - -52e20c98-8487-4fa9-83e5-022d2735cff4 - -PutDown(SpringWater,Bar) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->52e20c98-8487-4fa9-83e5-022d2735cff4 - - - - - -4edb7a66-401f-46ba-88e6-07557c74fcee - -At(Robot,Bar) - - - -99d4c57d-811f-422a-9b48-348032e3367e->4edb7a66-401f-46ba-88e6-07557c74fcee - - - - - -bc09a933-54d4-40f2-b980-4d187b6a22b4 - -At(Robot,MilkDrink) - - - -99d4c57d-811f-422a-9b48-348032e3367e->bc09a933-54d4-40f2-b980-4d187b6a22b4 - - - - - -4a46276c-d26e-4870-97b8-13608dcecc3b - -Holding(SpringWater) - - - -99d4c57d-811f-422a-9b48-348032e3367e->4a46276c-d26e-4870-97b8-13608dcecc3b - - - - - -2474864f-5715-4cc0-bd55-0839544ff9c9 - -PutDown(SpringWater,Bar) - - - -99d4c57d-811f-422a-9b48-348032e3367e->2474864f-5715-4cc0-bd55-0839544ff9c9 - - - - - -5f939a3b-cb18-41f3-9bfe-610e92fcfc28 - -At(Robot,MilkDrink) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->5f939a3b-cb18-41f3-9bfe-610e92fcfc28 - - - - - -bf317ba3-419a-4247-8137-e442930b0270 - -At(Robot,Bar2) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->bf317ba3-419a-4247-8137-e442930b0270 - - - - - -2a4a6184-f30d-4457-af09-8c333f1dbb64 - -Holding(SpringWater) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->2a4a6184-f30d-4457-af09-8c333f1dbb64 - - - - - -729d0066-206f-44e1-8805-795c19fd3274 - -PutDown(SpringWater,Bar) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->729d0066-206f-44e1-8805-795c19fd3274 - - - - - -4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed - -At(Robot,MilkDrink) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed - - - - - -341af69a-ffad-4254-b2ab-82fb94d76db2 - -At(Robot,Bar2) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->341af69a-ffad-4254-b2ab-82fb94d76db2 - - - - - -cc3f0b1d-14e8-4b26-af03-cb0492f3976b - -Holding(SpringWater) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->cc3f0b1d-14e8-4b26-af03-cb0492f3976b - - - - - -34192e02-d930-45df-a459-6060b3ca6ad2 - -PutDown(SpringWater,Bar) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->34192e02-d930-45df-a459-6060b3ca6ad2 - - - - - -2258db2a-6954-4701-8343-3efb93f77a78 - -At(Robot,BrightTable6) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->2258db2a-6954-4701-8343-3efb93f77a78 - - - - - -58975963-4b93-4678-a67c-cb94a9afea4f - -At(Robot,MilkDrink) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->58975963-4b93-4678-a67c-cb94a9afea4f - - - - - -df313cf4-704e-4a47-a460-c1e65a09fcba - -Holding(SpringWater) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->df313cf4-704e-4a47-a460-c1e65a09fcba - - - - - -2298ce8d-f89a-4267-9457-7ff5c4d93411 - -PutDown(SpringWater,BrightTable) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->2298ce8d-f89a-4267-9457-7ff5c4d93411 - - - - - -dcb185c2-d797-47c7-985b-39f21fbbc37d - -At(Robot,BrightTable6) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->dcb185c2-d797-47c7-985b-39f21fbbc37d - - - - - -ba0114a7-814f-4b78-be3a-2abf98fbbe65 - -At(Robot,MilkDrink) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->ba0114a7-814f-4b78-be3a-2abf98fbbe65 - - - - - -56274c14-7263-437c-8552-4ff405d760b4 - -Holding(SpringWater) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->56274c14-7263-437c-8552-4ff405d760b4 - - - - - -6e826c09-30f0-484c-8ba0-6ff02861fbb1 - -PutDown(SpringWater,BrightTable) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->6e826c09-30f0-484c-8ba0-6ff02861fbb1 - - - - - -56eca02f-ab04-40ff-8eda-28d535a08e88 - -At(Robot,MilkDrink) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->56eca02f-ab04-40ff-8eda-28d535a08e88 - - - - - -f323e734-764c-4b43-8f74-dd7fc48b62ab - -At(Robot,CoffeeTable) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->f323e734-764c-4b43-8f74-dd7fc48b62ab - - - - - -3db30fa4-8408-425b-a4ba-c76f7f8d4e7c - -Holding(SpringWater) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->3db30fa4-8408-425b-a4ba-c76f7f8d4e7c - - - - - -3f858b58-a74f-43da-bdd9-b9d5ab28823f - -PutDown(SpringWater,CoffeeTable) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->3f858b58-a74f-43da-bdd9-b9d5ab28823f - - - - - -972c7cf0-6f72-42e1-bc55-56e772876de2 - -At(Robot,MilkDrink) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->972c7cf0-6f72-42e1-bc55-56e772876de2 - - - - - -502867af-b0a6-47c9-a1b1-90d4d83f88d8 - -At(Robot,CoffeeTable) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->502867af-b0a6-47c9-a1b1-90d4d83f88d8 - - - - - -8c68a3e4-32b2-4962-a162-25ba391050dd - -Holding(SpringWater) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->8c68a3e4-32b2-4962-a162-25ba391050dd - - - - - -af790aa2-49b6-4f16-a4c6-2b8968bef3b2 - -PutDown(SpringWater,CoffeeTable) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->af790aa2-49b6-4f16-a4c6-2b8968bef3b2 - - - - - -2fcee86b-8750-4113-88d7-04bf9883c9d4 - -At(Robot,MilkDrink) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->2fcee86b-8750-4113-88d7-04bf9883c9d4 - - - - - -310477a5-fde3-4175-a85d-9f635336e9a9 - -Holding(SpringWater) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->310477a5-fde3-4175-a85d-9f635336e9a9 - - - - - -0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb - -At(Robot,Table1) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb - - - - - -c535a73c-565e-4292-945d-4e2450e8232c - -PutDown(SpringWater,Table) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->c535a73c-565e-4292-945d-4e2450e8232c - - - - - -08d7c2c4-ca97-48a0-8422-a547d4cf6132 - -At(Robot,MilkDrink) - - - -684b4f3d-8135-43d5-b21a-699010d98938->08d7c2c4-ca97-48a0-8422-a547d4cf6132 - - - - - -87ad5172-4800-4b6d-968b-90e561977cc2 - -Holding(SpringWater) - - - -684b4f3d-8135-43d5-b21a-699010d98938->87ad5172-4800-4b6d-968b-90e561977cc2 - - - - - -c0bbba4e-f59c-4684-b96a-683363df9cae - -At(Robot,Table1) - - - -684b4f3d-8135-43d5-b21a-699010d98938->c0bbba4e-f59c-4684-b96a-683363df9cae - - - - - -1ab442f2-24e0-436b-979c-c1917829f641 - -PutDown(SpringWater,Table) - - - -684b4f3d-8135-43d5-b21a-699010d98938->1ab442f2-24e0-436b-979c-c1917829f641 - - - - - -c243ff20-0550-4f84-b542-03acd228f6d4 - -At(Robot,MilkDrink) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->c243ff20-0550-4f84-b542-03acd228f6d4 - - - - - -ba37857d-99f3-4b06-b9a2-90a16bbda37d - -Holding(SpringWater) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->ba37857d-99f3-4b06-b9a2-90a16bbda37d - - - - - -620bd279-a0fc-4b57-863d-e68ff5b0581c - -At(Robot,Table2) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->620bd279-a0fc-4b57-863d-e68ff5b0581c - - - - - -3b8e4d40-4c21-4994-8ac5-6d8f009097f9 - -PutDown(SpringWater,Table) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->3b8e4d40-4c21-4994-8ac5-6d8f009097f9 - - - - - -52015462-007a-47f1-b56c-e95932028d14 - -At(Robot,MilkDrink) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->52015462-007a-47f1-b56c-e95932028d14 - - - - - -a361b4b1-e0ea-4e5f-857b-885a82283c18 - -Holding(SpringWater) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->a361b4b1-e0ea-4e5f-857b-885a82283c18 - - - - - -47d4cc33-3c9f-4bbd-9c9c-503d5e355739 - -At(Robot,Table2) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->47d4cc33-3c9f-4bbd-9c9c-503d5e355739 - - - - - -7534013c-3eb0-4b50-9a21-0197c2ee2ec7 - -PutDown(SpringWater,Table) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->7534013c-3eb0-4b50-9a21-0197c2ee2ec7 - - - - - -02544ff3-ebc5-4e5f-8ba0-56ca3703ece0 - -At(Robot,MilkDrink) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->02544ff3-ebc5-4e5f-8ba0-56ca3703ece0 - - - - - -41d451ca-fe46-4a02-8fb4-06548e9ba7bb - -At(Robot,Table3) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->41d451ca-fe46-4a02-8fb4-06548e9ba7bb - - - - - -b625f75d-04ce-403f-a034-fa1025e4ab55 - -Holding(SpringWater) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->b625f75d-04ce-403f-a034-fa1025e4ab55 - - - - - -cba7f62f-d9bf-44af-96ff-4ef41fe650f5 - -PutDown(SpringWater,Table) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->cba7f62f-d9bf-44af-96ff-4ef41fe650f5 - - - - - -767d3027-6aa2-49e7-b39f-d07853d69595 - -At(Robot,MilkDrink) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->767d3027-6aa2-49e7-b39f-d07853d69595 - - - - - -d04b78c7-eedd-4b19-81c4-d33857e6e90d - -At(Robot,Table3) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->d04b78c7-eedd-4b19-81c4-d33857e6e90d - - - - - -7ad6df93-500c-4b58-bd86-ccfd24d6c812 - -Holding(SpringWater) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->7ad6df93-500c-4b58-bd86-ccfd24d6c812 - - - - - -d310c531-141b-4095-bd1f-1dce2daf01a8 - -PutDown(SpringWater,Table) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->d310c531-141b-4095-bd1f-1dce2daf01a8 - - - - - -1622185d-444e-4bad-8399-d3760f9d8b59 - -At(Robot,MilkDrink) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->1622185d-444e-4bad-8399-d3760f9d8b59 - - - - - -cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed - -At(Robot,WaterTable) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed - - - - - -2cf4f4d6-9938-4c07-9f4a-3b328ef22e30 - -Holding(SpringWater) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->2cf4f4d6-9938-4c07-9f4a-3b328ef22e30 - - - - - -03d65e54-664e-4653-a1d7-09def6540504 - -PutDown(SpringWater,WaterTable) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->03d65e54-664e-4653-a1d7-09def6540504 - - - - - -614b5564-d010-48da-b9ac-133dda848bcc - -At(Robot,MilkDrink) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->614b5564-d010-48da-b9ac-133dda848bcc - - - - - -9ba83ca6-be44-40dc-9297-6a7485490f16 - -At(Robot,WaterTable) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->9ba83ca6-be44-40dc-9297-6a7485490f16 - - - - - -3087ebcc-735d-4fb1-b0dc-d5108e48683c - -Holding(SpringWater) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->3087ebcc-735d-4fb1-b0dc-d5108e48683c - - - - - -16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa - -PutDown(SpringWater,WaterTable) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa - - - - - -d4456511-d9e4-4617-8888-ba387374e45c - -Holding(VacuumCup) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->d4456511-d9e4-4617-8888-ba387374e45c - - - - - -a10046f3-89fa-4f32-a9fa-004e547751d1 - -At(Robot,MilkDrink) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->a10046f3-89fa-4f32-a9fa-004e547751d1 - - - - - -38854cab-fc25-4cbc-82ec-c76804088790 - -At(Robot,Bar) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->38854cab-fc25-4cbc-82ec-c76804088790 - - - - - -aea531ac-2d8e-4488-89a2-a8843fe24e88 - -PutDown(VacuumCup,Bar) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->aea531ac-2d8e-4488-89a2-a8843fe24e88 - - - - - -41db3aca-9b44-41fc-8c70-cff675a1d354 - -Holding(VacuumCup) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->41db3aca-9b44-41fc-8c70-cff675a1d354 - - - - - -e0e85872-9168-4a2c-a873-d91e54e70f90 - -At(Robot,MilkDrink) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->e0e85872-9168-4a2c-a873-d91e54e70f90 - - - - - -e26471c3-7aef-48de-b904-65da122b094d - -At(Robot,Bar) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->e26471c3-7aef-48de-b904-65da122b094d - - - - - -cbc0ec81-4c3f-40fa-9259-70982f0e4013 - -PutDown(VacuumCup,Bar) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->cbc0ec81-4c3f-40fa-9259-70982f0e4013 - - - - - -1aadf52f-9a59-411d-9ece-c0ae01441c6b - -Holding(VacuumCup) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->1aadf52f-9a59-411d-9ece-c0ae01441c6b - - - - - -d4b0e665-365e-4579-a4b9-b031e6ec6350 - -At(Robot,MilkDrink) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->d4b0e665-365e-4579-a4b9-b031e6ec6350 - - - - - -85dbf418-dd7f-401e-87c2-2857743587cd - -At(Robot,Bar2) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->85dbf418-dd7f-401e-87c2-2857743587cd - - - - - -5db37faa-c062-4910-b1f4-47f7f474d384 - -PutDown(VacuumCup,Bar) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->5db37faa-c062-4910-b1f4-47f7f474d384 - - - - - -84bb29d1-f8ac-452b-b8b0-9b94ecff3fd2 - -Holding(VacuumCup) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->84bb29d1-f8ac-452b-b8b0-9b94ecff3fd2 - - - - - -454066cc-6ee9-4094-9277-2a1c097d42f2 - -At(Robot,MilkDrink) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->454066cc-6ee9-4094-9277-2a1c097d42f2 - - - - - -c67cb07a-f957-4e6f-ad33-c316cc5c619d - -At(Robot,Bar2) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->c67cb07a-f957-4e6f-ad33-c316cc5c619d - - - - - -de8fa160-45dc-4e77-adb7-8b79a6a7ac20 - -PutDown(VacuumCup,Bar) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->de8fa160-45dc-4e77-adb7-8b79a6a7ac20 - - - - - -d82bcdc7-9201-42ce-8f8b-60cced91b3ae - -Holding(VacuumCup) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->d82bcdc7-9201-42ce-8f8b-60cced91b3ae - - - - - -42dc86d8-3835-4ba2-bae8-62a5b68d3f7f - -At(Robot,BrightTable6) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->42dc86d8-3835-4ba2-bae8-62a5b68d3f7f - - - - - -1bd28c3a-d13f-4bf8-9605-2919d53abb8f - -At(Robot,MilkDrink) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->1bd28c3a-d13f-4bf8-9605-2919d53abb8f - - - - - -8a95fb5d-34a7-4100-909a-847d72627b99 - -PutDown(VacuumCup,BrightTable) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->8a95fb5d-34a7-4100-909a-847d72627b99 - - - - - -9a1f582f-fdb6-4f3c-a6e6-484faa6fac6f - -Holding(VacuumCup) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->9a1f582f-fdb6-4f3c-a6e6-484faa6fac6f - - - - - -e454845f-437c-4fda-91d0-37e3d2977390 - -At(Robot,BrightTable6) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->e454845f-437c-4fda-91d0-37e3d2977390 - - - - - -4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1 - -At(Robot,MilkDrink) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1 - - - - - -1ba74bf4-ed58-4ca0-9b36-cddd3566e30a - -PutDown(VacuumCup,BrightTable) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->1ba74bf4-ed58-4ca0-9b36-cddd3566e30a - - - - - -b83947ad-303a-4a7b-907a-32c431fadad9 - -Holding(VacuumCup) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->b83947ad-303a-4a7b-907a-32c431fadad9 - - - - - -1c676707-3e0e-40f7-bf9e-096a8491f50b - -At(Robot,MilkDrink) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->1c676707-3e0e-40f7-bf9e-096a8491f50b - - - - - -7987c153-cf4f-40ce-9550-4218f7378172 - -At(Robot,CoffeeTable) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->7987c153-cf4f-40ce-9550-4218f7378172 - - - - - -01cd3f43-cfb6-4a79-a894-35c21cd1c32f - -PutDown(VacuumCup,CoffeeTable) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->01cd3f43-cfb6-4a79-a894-35c21cd1c32f - - - - - -b1e8c742-75ca-4fae-8177-a43b6051f5d6 - -Holding(VacuumCup) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->b1e8c742-75ca-4fae-8177-a43b6051f5d6 - - - - - -9918cbb3-2c2f-41bf-9592-afaa6e4a3c33 - -At(Robot,MilkDrink) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->9918cbb3-2c2f-41bf-9592-afaa6e4a3c33 - - - - - -36e25fd7-9fba-4937-8651-0bfcab1d443a - -At(Robot,CoffeeTable) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->36e25fd7-9fba-4937-8651-0bfcab1d443a - - - - - -c42fceaa-3bf2-4424-9bbd-1e0f715d3794 - -PutDown(VacuumCup,CoffeeTable) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->c42fceaa-3bf2-4424-9bbd-1e0f715d3794 - - - - - -202c972d-cb94-4e13-96e8-fe08500af2f2 - -Holding(VacuumCup) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->202c972d-cb94-4e13-96e8-fe08500af2f2 - - - - - -3d8ea90e-08e1-4d7c-903a-5a4ec5a892ce - -At(Robot,MilkDrink) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->3d8ea90e-08e1-4d7c-903a-5a4ec5a892ce - - - - - -ce54eea3-d36c-46fb-b348-9acbb1f56ead - -At(Robot,Table1) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->ce54eea3-d36c-46fb-b348-9acbb1f56ead - - - - - -5dffb848-0bd3-4faa-8d13-17a889991686 - -PutDown(VacuumCup,Table) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->5dffb848-0bd3-4faa-8d13-17a889991686 - - - - - -d991d957-d39a-4322-a03b-b3f31e2acfc8 - -Holding(VacuumCup) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->d991d957-d39a-4322-a03b-b3f31e2acfc8 - - - - - -82195942-bed2-4318-abe8-fba034d50e82 - -At(Robot,MilkDrink) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->82195942-bed2-4318-abe8-fba034d50e82 - - - - - -1bf2487d-2071-4e2e-9c72-8c6d74485470 - -At(Robot,Table1) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->1bf2487d-2071-4e2e-9c72-8c6d74485470 - - - - - -149b5d4a-3f42-4ba9-bf46-809e84c65d4d - -PutDown(VacuumCup,Table) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->149b5d4a-3f42-4ba9-bf46-809e84c65d4d - - - - - -cada4d5e-0ede-4611-a159-4e52ad43049c - -Holding(VacuumCup) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->cada4d5e-0ede-4611-a159-4e52ad43049c - - - - - -6dc74268-687d-4a1c-a7a9-57e85e3f0c04 - -At(Robot,MilkDrink) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->6dc74268-687d-4a1c-a7a9-57e85e3f0c04 - - - - - -f4699daa-83d0-4b89-9d6b-568a9e74177b - -At(Robot,Table2) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->f4699daa-83d0-4b89-9d6b-568a9e74177b - - - - - -1c960a11-115c-4c32-839d-bd17238e5f2d - -PutDown(VacuumCup,Table) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->1c960a11-115c-4c32-839d-bd17238e5f2d - - - - - -151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8 - -Holding(VacuumCup) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8 - - - - - -ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262 - -At(Robot,MilkDrink) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262 - - - - - -db42eef3-1481-4e39-847e-465a787b8efb - -At(Robot,Table2) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->db42eef3-1481-4e39-847e-465a787b8efb - - - - - -69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd - -PutDown(VacuumCup,Table) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd - - - - - -76648e65-3e98-42b0-a9f6-09e04f485291 - -Holding(VacuumCup) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->76648e65-3e98-42b0-a9f6-09e04f485291 - - - - - -010183a1-2d3b-405a-864a-dabf06c6004b - -At(Robot,MilkDrink) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->010183a1-2d3b-405a-864a-dabf06c6004b - - - - - -ff315594-61bf-4080-b619-26f6918532d6 - -At(Robot,Table3) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->ff315594-61bf-4080-b619-26f6918532d6 - - - - - -e5b75134-ca4c-4326-8486-6b9254ca99cc - -PutDown(VacuumCup,Table) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->e5b75134-ca4c-4326-8486-6b9254ca99cc - - - - - -c87d4cfb-5b38-4284-9f91-3656e2b73991 - -Holding(VacuumCup) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->c87d4cfb-5b38-4284-9f91-3656e2b73991 - - - - - -b8448e85-23c5-4139-98e8-ac83091409fb - -At(Robot,MilkDrink) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->b8448e85-23c5-4139-98e8-ac83091409fb - - - - - -9f251026-b6ef-430c-9a22-29432608fc39 - -At(Robot,Table3) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->9f251026-b6ef-430c-9a22-29432608fc39 - - - - - -7df7692d-99d5-4214-a41f-cec825f20b30 - -PutDown(VacuumCup,Table) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->7df7692d-99d5-4214-a41f-cec825f20b30 - - - - - -743eaee0-f0e9-4f25-a32a-fef08c4d9ef5 - -Holding(VacuumCup) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->743eaee0-f0e9-4f25-a32a-fef08c4d9ef5 - - - - - -a3828ca5-3d8c-46f9-8f0f-457a17b1a76d - -At(Robot,MilkDrink) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->a3828ca5-3d8c-46f9-8f0f-457a17b1a76d - - - - - -eb6b17fe-749f-4780-b491-5ea51e4cd5eb - -At(Robot,WaterTable) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->eb6b17fe-749f-4780-b491-5ea51e4cd5eb - - - - - -6ec5f791-5705-4de3-9ea6-4054ff67a025 - -PutDown(VacuumCup,WaterTable) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->6ec5f791-5705-4de3-9ea6-4054ff67a025 - - - - - -3d6dc336-d873-48cf-8d31-02ac16443ecd - -Holding(VacuumCup) - - - -044b416d-9024-4fc5-9074-28cc1e219166->3d6dc336-d873-48cf-8d31-02ac16443ecd - - - - - -42777d91-a6cf-43f0-92cd-f67022f0973c - -At(Robot,MilkDrink) - - - -044b416d-9024-4fc5-9074-28cc1e219166->42777d91-a6cf-43f0-92cd-f67022f0973c - - - - - -6143feec-a65b-4699-8599-b1aee490e77c - -At(Robot,WaterTable) - - - -044b416d-9024-4fc5-9074-28cc1e219166->6143feec-a65b-4699-8599-b1aee490e77c - - - - - -e6f83acb-cda5-4f98-9458-4049949ab160 - -PutDown(VacuumCup,WaterTable) - - - -044b416d-9024-4fc5-9074-28cc1e219166->e6f83acb-cda5-4f98-9458-4049949ab160 - - - - - -694177fe-9f5e-4123-b083-5b4751f6f442 - -At(Robot,Bar) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->694177fe-9f5e-4123-b083-5b4751f6f442 - - - - - -7a451830-1fe1-42cc-b3b5-d46f1b4b8321 - -At(Robot,MilkDrink) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->7a451830-1fe1-42cc-b3b5-d46f1b4b8321 - - - - - -558c90e8-60ab-4507-a54a-075d9a6d2d3b - -Holding(Water) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->558c90e8-60ab-4507-a54a-075d9a6d2d3b - - - - - -6e1c80f3-7d65-4322-a3bc-30146da58fdb - -PutDown(Water,Bar) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->6e1c80f3-7d65-4322-a3bc-30146da58fdb - - - - - -296b609d-efe4-4d20-9eda-f5e8bba7bc70 - -At(Robot,Bar) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->296b609d-efe4-4d20-9eda-f5e8bba7bc70 - - - - - -4959404b-4361-4913-b221-1f8bed81c3e7 - -At(Robot,MilkDrink) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->4959404b-4361-4913-b221-1f8bed81c3e7 - - - - - -d64c7e72-44d3-4535-bcb4-5dd0fed4ea9c - -Holding(Water) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->d64c7e72-44d3-4535-bcb4-5dd0fed4ea9c - - - - - -266c84cf-48ec-4a26-b2ba-bd8c296a1618 - -PutDown(Water,Bar) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->266c84cf-48ec-4a26-b2ba-bd8c296a1618 - - - - - -d9936918-4ece-4624-b22c-5c66256db847 - -At(Robot,MilkDrink) - - - -17d116fa-d989-42a4-b043-de195065c60e->d9936918-4ece-4624-b22c-5c66256db847 - - - - - -1d56bf44-2744-4dcc-b6d4-91c78f344ce6 - -At(Robot,Bar2) - - - -17d116fa-d989-42a4-b043-de195065c60e->1d56bf44-2744-4dcc-b6d4-91c78f344ce6 - - - - - -b5334596-0aed-4f64-aaa4-ec6c11f6e25e - -Holding(Water) - - - -17d116fa-d989-42a4-b043-de195065c60e->b5334596-0aed-4f64-aaa4-ec6c11f6e25e - - - - - -0bb622ce-c466-4bb9-90e8-af0c3ddf907d - -PutDown(Water,Bar) - - - -17d116fa-d989-42a4-b043-de195065c60e->0bb622ce-c466-4bb9-90e8-af0c3ddf907d - - - - - -3354b75b-cc76-4cda-9770-a5c1977761e2 - -At(Robot,MilkDrink) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->3354b75b-cc76-4cda-9770-a5c1977761e2 - - - - - -e56766f1-08b3-496a-bf14-b1876d983c54 - -At(Robot,Bar2) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->e56766f1-08b3-496a-bf14-b1876d983c54 - - - - - -f780f035-028c-46e1-beda-cc39532e9b21 - -Holding(Water) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->f780f035-028c-46e1-beda-cc39532e9b21 - - - - - -5b799be4-7e7d-4cfe-8037-b9549dfd153c - -PutDown(Water,Bar) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->5b799be4-7e7d-4cfe-8037-b9549dfd153c - - - - - -2866a276-fda0-47c8-9d3e-3b2fe969754b - -At(Robot,BrightTable6) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->2866a276-fda0-47c8-9d3e-3b2fe969754b - - - - - -9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa - -At(Robot,MilkDrink) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa - - - - - -51e6516a-d4c1-4554-9583-af62ed9b6a2f - -Holding(Water) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->51e6516a-d4c1-4554-9583-af62ed9b6a2f - - - - - -6657a394-1a55-477f-b546-13699adb1e23 - -PutDown(Water,BrightTable) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->6657a394-1a55-477f-b546-13699adb1e23 - - - - - -95499daf-f31a-407d-96a0-dfd1a96ada66 - -At(Robot,BrightTable6) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->95499daf-f31a-407d-96a0-dfd1a96ada66 - - - - - -be320366-ddfb-44f9-980b-328fd3d7bbd5 - -At(Robot,MilkDrink) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->be320366-ddfb-44f9-980b-328fd3d7bbd5 - - - - - -ebfd746b-6a57-47dd-8195-9d2aa2ba7136 - -Holding(Water) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->ebfd746b-6a57-47dd-8195-9d2aa2ba7136 - - - - - -a3636b9f-9a91-4c2d-af22-686a3ff85c53 - -PutDown(Water,BrightTable) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->a3636b9f-9a91-4c2d-af22-686a3ff85c53 - - - - - -cd1ef48c-fc85-41d6-948e-1cd29f837b2f - -At(Robot,MilkDrink) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->cd1ef48c-fc85-41d6-948e-1cd29f837b2f - - - - - -46f026de-579b-4df8-84f1-45ff206e27e1 - -At(Robot,CoffeeTable) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->46f026de-579b-4df8-84f1-45ff206e27e1 - - - - - -22ac92e2-4a74-4b68-a2bb-f57888ea1bb3 - -Holding(Water) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->22ac92e2-4a74-4b68-a2bb-f57888ea1bb3 - - - - - -52aa0f09-8832-4464-947d-777d892bed7c - -PutDown(Water,CoffeeTable) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->52aa0f09-8832-4464-947d-777d892bed7c - - - - - -15863c9f-1af6-4e76-a0c2-5d57df330050 - -At(Robot,MilkDrink) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->15863c9f-1af6-4e76-a0c2-5d57df330050 - - - - - -820ae417-9903-407b-9c6d-7ae492feb56a - -At(Robot,CoffeeTable) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->820ae417-9903-407b-9c6d-7ae492feb56a - - - - - -c34b9c16-28cc-484b-826f-f33ba8320a99 - -Holding(Water) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->c34b9c16-28cc-484b-826f-f33ba8320a99 - - - - - -0641ab56-65f0-4fe7-81bf-4401c6fa53f8 - -PutDown(Water,CoffeeTable) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->0641ab56-65f0-4fe7-81bf-4401c6fa53f8 - - - - - -77e16726-5c22-4a4d-94a4-f43da1fd144d - -At(Robot,MilkDrink) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->77e16726-5c22-4a4d-94a4-f43da1fd144d - - - - - -1fb93402-bfc6-44a2-a028-9fc1ffddb029 - -Holding(Water) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->1fb93402-bfc6-44a2-a028-9fc1ffddb029 - - - - - -fdf64c83-e637-4a5e-b69f-5946f279ea57 - -At(Robot,Table1) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->fdf64c83-e637-4a5e-b69f-5946f279ea57 - - - - - -2e74eaae-564c-4122-a820-e567c4ecbe40 - -PutDown(Water,Table) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->2e74eaae-564c-4122-a820-e567c4ecbe40 - - - - - -83a3853a-125e-4a91-a9ab-57d309728bba - -At(Robot,MilkDrink) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->83a3853a-125e-4a91-a9ab-57d309728bba - - - - - -84186ce2-c1b7-4ef6-9109-945de019f079 - -Holding(Water) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->84186ce2-c1b7-4ef6-9109-945de019f079 - - - - - -425ee3fe-7450-49f9-8247-0285acf1f167 - -At(Robot,Table1) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->425ee3fe-7450-49f9-8247-0285acf1f167 - - - - - -aa917211-37cf-49b0-bf0a-dca5ce834671 - -PutDown(Water,Table) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->aa917211-37cf-49b0-bf0a-dca5ce834671 - - - - - -25d671e0-3aa3-417a-bc58-aa4e3dc52ee9 - -At(Robot,MilkDrink) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->25d671e0-3aa3-417a-bc58-aa4e3dc52ee9 - - - - - -e0d06a58-41b8-410a-aa28-37c1655b5554 - -Holding(Water) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->e0d06a58-41b8-410a-aa28-37c1655b5554 - - - - - -b97b1628-c67e-40f3-bcd0-61c9b944ddad - -At(Robot,Table2) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->b97b1628-c67e-40f3-bcd0-61c9b944ddad - - - - - -4d49f275-d4f4-4ba9-80c1-0c3b6c648049 - -PutDown(Water,Table) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->4d49f275-d4f4-4ba9-80c1-0c3b6c648049 - - - - - -9ce83898-0ff3-42b5-8184-0101cc66fbe5 - -At(Robot,MilkDrink) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->9ce83898-0ff3-42b5-8184-0101cc66fbe5 - - - - - -639c0bc7-4fa9-4e49-a048-6f38638a2417 - -Holding(Water) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->639c0bc7-4fa9-4e49-a048-6f38638a2417 - - - - - -880d66ce-f0af-4be4-9c58-bf3054b0d1cc - -At(Robot,Table2) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->880d66ce-f0af-4be4-9c58-bf3054b0d1cc - - - - - -77997d4c-4e88-4ae4-aaa3-b72b8710e6c6 - -PutDown(Water,Table) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->77997d4c-4e88-4ae4-aaa3-b72b8710e6c6 - - - - - -e9080429-7c99-4df5-b825-0f0770498f16 - -Holding(Water) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->e9080429-7c99-4df5-b825-0f0770498f16 - - - - - -782aad36-90f9-488c-a691-26532dd542fd - -At(Robot,MilkDrink) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->782aad36-90f9-488c-a691-26532dd542fd - - - - - -e373504f-e087-4410-9061-1137ed56825f - -At(Robot,Table3) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->e373504f-e087-4410-9061-1137ed56825f - - - - - -69a8a418-6dbf-48f7-a663-0b4127114130 - -PutDown(Water,Table) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->69a8a418-6dbf-48f7-a663-0b4127114130 - - - - - -92084ed5-8524-46e0-961d-703dbe487699 - -Holding(Water) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->92084ed5-8524-46e0-961d-703dbe487699 - - - - - -6eb9e04c-6a9d-4f64-92ff-676a7aea2f9b - -At(Robot,MilkDrink) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->6eb9e04c-6a9d-4f64-92ff-676a7aea2f9b - - - - - -0896cfb9-a6eb-4837-8346-78a86cf613f0 - -At(Robot,Table3) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->0896cfb9-a6eb-4837-8346-78a86cf613f0 - - - - - -65b0d726-0409-428c-8b8b-22d53a3fd0ec - -PutDown(Water,Table) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->65b0d726-0409-428c-8b8b-22d53a3fd0ec - - - - - -7d080312-0324-4d3e-9f6f-102f66511609 - -At(Robot,MilkDrink) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->7d080312-0324-4d3e-9f6f-102f66511609 - - - - - -3a746544-2ac9-4331-a4e8-cb4ee783a38e - -At(Robot,WaterTable) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->3a746544-2ac9-4331-a4e8-cb4ee783a38e - - - - - -37176558-ba15-4575-95b7-898ab21899ee - -Holding(Water) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->37176558-ba15-4575-95b7-898ab21899ee - - - - - -eaae25b0-09b7-4197-a9b3-6d74ff4dd43a - -PutDown(Water,WaterTable) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->eaae25b0-09b7-4197-a9b3-6d74ff4dd43a - - - - - -4320d013-656e-4a92-af3c-e57661c2d322 - -At(Robot,MilkDrink) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->4320d013-656e-4a92-af3c-e57661c2d322 - - - - - -2188d5c9-a68d-4829-b596-4575aa5c87ab - -At(Robot,WaterTable) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->2188d5c9-a68d-4829-b596-4575aa5c87ab - - - - - -c4771104-b3d3-4c59-a0af-715af862e993 - -Holding(Water) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->c4771104-b3d3-4c59-a0af-715af862e993 - - - - - -44f6f4e7-586d-4925-a8f7-8b90b77eb8b6 - -PutDown(Water,WaterTable) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->44f6f4e7-586d-4925-a8f7-8b90b77eb8b6 - - - - - -2f0dea77-a122-4e39-aa63-9d2cc2a13fdb - -At(Robot,Bar) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->2f0dea77-a122-4e39-aa63-9d2cc2a13fdb - - - - - -3cc18d74-2ee0-48fa-9efd-3a71f843c75b - -At(Robot,MilkDrink) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->3cc18d74-2ee0-48fa-9efd-3a71f843c75b - - - - - -6e913e47-6945-4b8f-bf45-4f733689c66d - -Holding(Yogurt) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->6e913e47-6945-4b8f-bf45-4f733689c66d - - - - - -b309d72d-b6f0-4d7e-b933-24632412fc86 - -PutDown(Yogurt,Bar) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->b309d72d-b6f0-4d7e-b933-24632412fc86 - - - - - -ceb250b5-2895-4c9d-ae9a-3c465fa840ff - -At(Robot,Bar) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->ceb250b5-2895-4c9d-ae9a-3c465fa840ff - - - - - -ae548252-eac5-4a4b-89b1-6e884c8119a8 - -At(Robot,MilkDrink) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->ae548252-eac5-4a4b-89b1-6e884c8119a8 - - - - - -2f45fcb2-583f-4047-b4e4-173869ea8413 - -Holding(Yogurt) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->2f45fcb2-583f-4047-b4e4-173869ea8413 - - - - - -4773ac69-34bb-4041-980a-32a7ce5f291d - -PutDown(Yogurt,Bar) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->4773ac69-34bb-4041-980a-32a7ce5f291d - - - - - -abacc14e-77bd-44c5-91ed-5d0f5aa2a693 - -At(Robot,MilkDrink) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->abacc14e-77bd-44c5-91ed-5d0f5aa2a693 - - - - - -9d82a01e-58e2-4269-a5bb-aa7710351603 - -At(Robot,Bar2) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->9d82a01e-58e2-4269-a5bb-aa7710351603 - - - - - -5aa66463-5a39-4527-a9f3-502e98abf763 - -Holding(Yogurt) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->5aa66463-5a39-4527-a9f3-502e98abf763 - - - - - -f9c44207-7575-42a1-a5a3-d23769791470 - -PutDown(Yogurt,Bar) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->f9c44207-7575-42a1-a5a3-d23769791470 - - - - - -61d854ac-c872-4f6e-a6d1-8b150a0664d1 - -At(Robot,MilkDrink) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->61d854ac-c872-4f6e-a6d1-8b150a0664d1 - - - - - -0d310813-3c10-4394-9c56-e7901cd6900f - -At(Robot,Bar2) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->0d310813-3c10-4394-9c56-e7901cd6900f - - - - - -52425751-eb6e-4acf-885a-27c0018f87f2 - -Holding(Yogurt) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->52425751-eb6e-4acf-885a-27c0018f87f2 - - - - - -3f639023-5290-4a08-9f66-d7f9c46b07bb - -PutDown(Yogurt,Bar) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->3f639023-5290-4a08-9f66-d7f9c46b07bb - - - - - -8640dede-bf2c-4c77-87cf-10bbef8b4488 - -At(Robot,BrightTable6) - - - -e73735c1-7249-4329-b075-305da0f26094->8640dede-bf2c-4c77-87cf-10bbef8b4488 - - - - - -16f27b74-c3a2-4cf3-9f9b-4719cb6988e8 - -At(Robot,MilkDrink) - - - -e73735c1-7249-4329-b075-305da0f26094->16f27b74-c3a2-4cf3-9f9b-4719cb6988e8 - - - - - -00ad0ab8-8d2e-4c06-b852-ac7bcb77ad6b - -Holding(Yogurt) - - - -e73735c1-7249-4329-b075-305da0f26094->00ad0ab8-8d2e-4c06-b852-ac7bcb77ad6b - - - - - -945f4ed9-4cb1-4536-ac1d-da264fedbd42 - -PutDown(Yogurt,BrightTable) - - - -e73735c1-7249-4329-b075-305da0f26094->945f4ed9-4cb1-4536-ac1d-da264fedbd42 - - - - - -0bf10fef-34f1-4d73-9cf9-fcb5e98abbe2 - -At(Robot,BrightTable6) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->0bf10fef-34f1-4d73-9cf9-fcb5e98abbe2 - - - - - -15b7aa7d-7f9a-4149-91a1-57a7f210fd1b - -At(Robot,MilkDrink) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->15b7aa7d-7f9a-4149-91a1-57a7f210fd1b - - - - - -ef07d735-46d6-474a-943c-b142d9090f62 - -Holding(Yogurt) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->ef07d735-46d6-474a-943c-b142d9090f62 - - - - - -38ea937b-4714-4038-b743-1cf31c1e795a - -PutDown(Yogurt,BrightTable) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->38ea937b-4714-4038-b743-1cf31c1e795a - - - - - -ae2c935f-d3ab-4b68-8692-aa30d2be40b2 - -At(Robot,MilkDrink) - - - -e6e43745-c962-41c9-b024-da89468c0889->ae2c935f-d3ab-4b68-8692-aa30d2be40b2 - - - - - -72f18ff1-6b16-4176-8892-2419fccb07e7 - -At(Robot,CoffeeTable) - - - -e6e43745-c962-41c9-b024-da89468c0889->72f18ff1-6b16-4176-8892-2419fccb07e7 - - - - - -1e364991-8bcf-4dd5-9f64-a52e6be37dc8 - -Holding(Yogurt) - - - -e6e43745-c962-41c9-b024-da89468c0889->1e364991-8bcf-4dd5-9f64-a52e6be37dc8 - - - - - -509ab9c6-8e20-4087-a5bc-eeef315ea9d2 - -PutDown(Yogurt,CoffeeTable) - - - -e6e43745-c962-41c9-b024-da89468c0889->509ab9c6-8e20-4087-a5bc-eeef315ea9d2 - - - - - -c895c5fe-81d4-4bc3-92c1-5a9915a8535e - -At(Robot,MilkDrink) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->c895c5fe-81d4-4bc3-92c1-5a9915a8535e - - - - - -ac85ef75-18ac-4c2a-96b9-074e71c5641a - -At(Robot,CoffeeTable) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->ac85ef75-18ac-4c2a-96b9-074e71c5641a - - - - - -d773e0aa-ada7-4ee0-9c35-e809b1be1db7 - -Holding(Yogurt) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->d773e0aa-ada7-4ee0-9c35-e809b1be1db7 - - - - - -526cc904-b88b-4802-9e15-b4f88654ac0c - -PutDown(Yogurt,CoffeeTable) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->526cc904-b88b-4802-9e15-b4f88654ac0c - - - - - -f85deeec-8bf0-4a76-ac1a-883d158c8a80 - -At(Robot,MilkDrink) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->f85deeec-8bf0-4a76-ac1a-883d158c8a80 - - - - - -e77e3977-eae5-4661-a46d-e6c3e2a2147d - -Holding(Yogurt) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->e77e3977-eae5-4661-a46d-e6c3e2a2147d - - - - - -f41ad697-2dfd-4c29-94d3-ed7a207974bc - -At(Robot,Table1) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->f41ad697-2dfd-4c29-94d3-ed7a207974bc - - - - - -740a891d-76c3-4fe8-b875-3408dd194eea - -PutDown(Yogurt,Table) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->740a891d-76c3-4fe8-b875-3408dd194eea - - - - - -3eb7f422-54bb-4b1c-aba8-5c85de03817b - -At(Robot,MilkDrink) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->3eb7f422-54bb-4b1c-aba8-5c85de03817b - - - - - -9f653469-d7c2-42ed-8c16-5296623bc070 - -Holding(Yogurt) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->9f653469-d7c2-42ed-8c16-5296623bc070 - - - - - -9374787e-60a1-4c12-9a05-2546b5935dc9 - -At(Robot,Table1) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->9374787e-60a1-4c12-9a05-2546b5935dc9 - - - - - -fa91457d-78ba-47b0-aff0-1af44286b23e - -PutDown(Yogurt,Table) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->fa91457d-78ba-47b0-aff0-1af44286b23e - - - - - -e5bcc999-2688-46ca-b4a2-9022751d9423 - -At(Robot,MilkDrink) - - - -b1881190-327c-4338-aba7-546609e324ce->e5bcc999-2688-46ca-b4a2-9022751d9423 - - - - - -f2960881-316c-4f13-b7d0-45507f39ebe2 - -Holding(Yogurt) - - - -b1881190-327c-4338-aba7-546609e324ce->f2960881-316c-4f13-b7d0-45507f39ebe2 - - - - - -38c35074-1e3f-4fa5-83bb-632549e57138 - -At(Robot,Table2) - - - -b1881190-327c-4338-aba7-546609e324ce->38c35074-1e3f-4fa5-83bb-632549e57138 - - - - - -bcabac13-756d-4139-86e6-87977a6d0b03 - -PutDown(Yogurt,Table) - - - -b1881190-327c-4338-aba7-546609e324ce->bcabac13-756d-4139-86e6-87977a6d0b03 - - - - - -f5725b20-0d39-4d62-9a31-bfdee1e08f65 - -At(Robot,MilkDrink) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->f5725b20-0d39-4d62-9a31-bfdee1e08f65 - - - - - -6b8a986d-280a-4793-a76c-2dd2cdae367d - -Holding(Yogurt) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->6b8a986d-280a-4793-a76c-2dd2cdae367d - - - - - -70f9fad0-4123-4cc2-9b6d-738113bfc194 - -At(Robot,Table2) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->70f9fad0-4123-4cc2-9b6d-738113bfc194 - - - - - -998e6cc7-bf39-4e0a-bf4d-48dcaf1227b0 - -PutDown(Yogurt,Table) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->998e6cc7-bf39-4e0a-bf4d-48dcaf1227b0 - - - - - -dfcb2828-5906-441e-8e4f-d11d5a59c72d - -At(Robot,MilkDrink) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->dfcb2828-5906-441e-8e4f-d11d5a59c72d - - - - - -747bbe3e-c283-4a02-84ed-17a5f294fa39 - -Holding(Yogurt) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->747bbe3e-c283-4a02-84ed-17a5f294fa39 - - - - - -62714337-0ad0-4d4d-ab1d-facf8155f78c - -At(Robot,Table3) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->62714337-0ad0-4d4d-ab1d-facf8155f78c - - - - - -334812ef-c5e6-47a3-b859-5bc0af2c70cc - -PutDown(Yogurt,Table) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->334812ef-c5e6-47a3-b859-5bc0af2c70cc - - - - - -eab6ce25-7629-416b-9ca1-d88a27fd0a84 - -At(Robot,MilkDrink) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->eab6ce25-7629-416b-9ca1-d88a27fd0a84 - - - - - -c42db9b6-2ce1-4535-942d-140ddc77bb9f - -Holding(Yogurt) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->c42db9b6-2ce1-4535-942d-140ddc77bb9f - - - - - -11d064ad-aaef-440f-b058-d20c2430d093 - -At(Robot,Table3) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->11d064ad-aaef-440f-b058-d20c2430d093 - - - - - -a84b737c-d3e4-41e2-a1bb-66c9cf98ca60 - -PutDown(Yogurt,Table) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->a84b737c-d3e4-41e2-a1bb-66c9cf98ca60 - - - - - -4afbcde0-bab8-4568-8968-0b6a8c02d365 - -At(Robot,MilkDrink) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->4afbcde0-bab8-4568-8968-0b6a8c02d365 - - - - - -2aa73d63-e297-4a41-8dee-94d53234c1ca - -Holding(Yogurt) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->2aa73d63-e297-4a41-8dee-94d53234c1ca - - - - - -8cf009e7-8ecb-4772-b531-640098aa2fa4 - -At(Robot,WaterTable) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->8cf009e7-8ecb-4772-b531-640098aa2fa4 - - - - - -a209b430-331a-408e-a186-f871621e6235 - -PutDown(Yogurt,WaterTable) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->a209b430-331a-408e-a186-f871621e6235 - - - - - -c5b63778-d081-4c7b-b552-cdd146b196ad - -At(Robot,MilkDrink) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->c5b63778-d081-4c7b-b552-cdd146b196ad - - - - - -4a3367b4-250d-4e0f-a9c6-48e5a50c343c - -Holding(Yogurt) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->4a3367b4-250d-4e0f-a9c6-48e5a50c343c - - - - - -772af504-2dc4-4767-abde-611a674cd79f - -At(Robot,WaterTable) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->772af504-2dc4-4767-abde-611a674cd79f - - - - - -987664c0-0991-48a6-803b-b5e892e2d1a4 - -PutDown(Yogurt,WaterTable) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->987664c0-0991-48a6-803b-b5e892e2d1a4 - - - - - -b03e5f58-eb83-438d-8ca7-7dde6727c2d4 - -At(Robot,MilkDrink) - - - -04a50e21-b710-4e83-b1af-9c0418085c65->b03e5f58-eb83-438d-8ca7-7dde6727c2d4 - - - - - -9c5e67a3-6b65-4431-8b73-49aa75316f1f - -Holding(Nothing) - - - -04a50e21-b710-4e83-b1af-9c0418085c65->9c5e67a3-6b65-4431-8b73-49aa75316f1f - - - - - -509b9988-2cd5-46a9-bc65-d1f807cbde55 - -Is(AC,On) - - - -04a50e21-b710-4e83-b1af-9c0418085c65->509b9988-2cd5-46a9-bc65-d1f807cbde55 - - - - - -f2836fa4-1c63-4b91-9a01-614b025fef4e - -Turn(AC,Off) - - - -04a50e21-b710-4e83-b1af-9c0418085c65->f2836fa4-1c63-4b91-9a01-614b025fef4e - - - - - -2bed3a27-a89e-4462-9b93-4945600a7554 - -At(Robot,MilkDrink) - - - -70a91257-e1b1-49a5-990b-6623ff00ca2c->2bed3a27-a89e-4462-9b93-4945600a7554 - - - - - -7e593aee-707b-4210-9fb0-450fe4ed464d - -Holding(Nothing) - - - -70a91257-e1b1-49a5-990b-6623ff00ca2c->7e593aee-707b-4210-9fb0-450fe4ed464d - - - - - -efca8ee0-c464-43f7-bbcc-6fec6cdd125a - -Is(AC,On) - - - -70a91257-e1b1-49a5-990b-6623ff00ca2c->efca8ee0-c464-43f7-bbcc-6fec6cdd125a - - - - - -a0fa96b1-64ba-48fa-9f5c-45c4c7a19512 - -Turn(AC,Off) - - - -70a91257-e1b1-49a5-990b-6623ff00ca2c->a0fa96b1-64ba-48fa-9f5c-45c4c7a19512 - - - - - -591b9c34-fc4b-4c71-ba20-93281002cb4c - -Is(AC,Off) - - - -43f1412b-eade-4e41-b384-7a4281d51b6a->591b9c34-fc4b-4c71-ba20-93281002cb4c - - - - - -2d64dc71-fa0d-43a2-8300-5a67808ce081 - -At(Robot,MilkDrink) - - - -43f1412b-eade-4e41-b384-7a4281d51b6a->2d64dc71-fa0d-43a2-8300-5a67808ce081 - - - - - -62fb6fd6-6fb2-4fe5-b016-75d836a04f6a - -Holding(Nothing) - - - -43f1412b-eade-4e41-b384-7a4281d51b6a->62fb6fd6-6fb2-4fe5-b016-75d836a04f6a - - - - - -3ed259b7-1a9b-414c-96e5-a0027b7e515c - -Turn(AC,On) - - - -43f1412b-eade-4e41-b384-7a4281d51b6a->3ed259b7-1a9b-414c-96e5-a0027b7e515c - - - - - -77fbbe09-49a6-4466-a77d-04f2349211f2 - -Is(AC,Off) - - - -3cbc5010-3968-45a6-937a-cc0617c55555->77fbbe09-49a6-4466-a77d-04f2349211f2 - - - - - -82130e97-ba4e-4731-bc0c-095bc96f31c8 - -At(Robot,MilkDrink) - - - -3cbc5010-3968-45a6-937a-cc0617c55555->82130e97-ba4e-4731-bc0c-095bc96f31c8 - - - - - -293a8181-4944-4a77-a0c2-395fb92da429 - -Holding(Nothing) - - - -3cbc5010-3968-45a6-937a-cc0617c55555->293a8181-4944-4a77-a0c2-395fb92da429 - - - - - -28538aff-92f5-44b6-a7bb-3fc064d88f34 - -Turn(AC,On) - - - -3cbc5010-3968-45a6-937a-cc0617c55555->28538aff-92f5-44b6-a7bb-3fc064d88f34 - - - - - -2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8 - -At(Robot,MilkDrink) - - - -cc9c6876-7bfd-4668-957b-22007c8eef59->2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8 - - - - - -6fe486b0-cf2a-4612-87e2-92987e476fb7 - -Holding(Nothing) - - - -cc9c6876-7bfd-4668-957b-22007c8eef59->6fe486b0-cf2a-4612-87e2-92987e476fb7 - - - - - -45003d83-2342-4e51-a035-86137bff3b9e - -Is(AC,On) - - - -cc9c6876-7bfd-4668-957b-22007c8eef59->45003d83-2342-4e51-a035-86137bff3b9e - - - - - -6dde11aa-2738-4584-9575-f827384923dc - -Turn(ACTemperature,Down) - - - -cc9c6876-7bfd-4668-957b-22007c8eef59->6dde11aa-2738-4584-9575-f827384923dc - - - - - -941de543-d2c2-4e7a-bfef-d6dc0ada1337 - -At(Robot,MilkDrink) - - - -b7a1f95c-7154-4d5c-9e53-df475a8ac8fe->941de543-d2c2-4e7a-bfef-d6dc0ada1337 - - - - - -5c9af632-74fc-40e2-b4fc-927256bd85c8 - -Holding(Nothing) - - - -b7a1f95c-7154-4d5c-9e53-df475a8ac8fe->5c9af632-74fc-40e2-b4fc-927256bd85c8 - - - - - -23375cd4-a3fe-4c4e-879d-1639ef95a5ad - -Is(AC,On) - - - -b7a1f95c-7154-4d5c-9e53-df475a8ac8fe->23375cd4-a3fe-4c4e-879d-1639ef95a5ad - - - - - -9eb434c3-e503-493c-9adc-a82d762d586a - -Turn(ACTemperature,Down) - - - -b7a1f95c-7154-4d5c-9e53-df475a8ac8fe->9eb434c3-e503-493c-9adc-a82d762d586a - - - - - -d95cd8e4-e6cf-4445-9997-a3e7baca49a0 - -At(Robot,MilkDrink) - - - -153ba37e-b408-419a-9c90-7f2a028495b2->d95cd8e4-e6cf-4445-9997-a3e7baca49a0 - - - - - -4aeab62f-e599-43b3-bafd-e302262d4ffa - -Holding(Nothing) - - - -153ba37e-b408-419a-9c90-7f2a028495b2->4aeab62f-e599-43b3-bafd-e302262d4ffa - - - - - -4d777bdd-f3e1-41e5-b2cd-88f45725f492 - -Is(AC,On) - - - -153ba37e-b408-419a-9c90-7f2a028495b2->4d777bdd-f3e1-41e5-b2cd-88f45725f492 - - - - - -4f68e88b-ed85-4a4d-953e-b865502c07f0 - -Turn(ACTemperature,Up) - - - -153ba37e-b408-419a-9c90-7f2a028495b2->4f68e88b-ed85-4a4d-953e-b865502c07f0 - - - - - -aa1362f4-3d0e-42e0-af0e-261b75fcebf2 - -At(Robot,MilkDrink) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->aa1362f4-3d0e-42e0-af0e-261b75fcebf2 - - - - - -51801e5e-b4dc-426d-929a-6bde538d048d - -Holding(Nothing) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->51801e5e-b4dc-426d-929a-6bde538d048d - - - - - -26f5465c-1b9e-4970-ab5f-fe4fa9838903 - -Is(AC,On) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->26f5465c-1b9e-4970-ab5f-fe4fa9838903 - - - - - -ca700651-9410-41b3-8515-385ef35fba1a - -Turn(ACTemperature,Up) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->ca700651-9410-41b3-8515-385ef35fba1a - - - - - -cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0 - -Is(HallLight,On) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0 - - - - - -c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32 - -At(Robot,MilkDrink) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32 - - - - - -9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc - -Holding(Nothing) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc - - - - - -aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655 - -Turn(HallLight,Off) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655 - - - - - -d6036efd-e852-45de-8cfd-08270944d42f - -Is(HallLight,On) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->d6036efd-e852-45de-8cfd-08270944d42f - - - - - -50790486-112c-4551-bb75-2182cfadedf2 - -At(Robot,MilkDrink) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->50790486-112c-4551-bb75-2182cfadedf2 - - - - - -c5f42ef3-c170-41d9-8473-b16d00239b0a - -Holding(Nothing) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->c5f42ef3-c170-41d9-8473-b16d00239b0a - - - - - -b843cdb2-ff72-4241-8087-0180bd5797cc - -Turn(HallLight,Off) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->b843cdb2-ff72-4241-8087-0180bd5797cc - - - - - -6191c3d6-f4f9-435f-a3d3-439114f8f1f0 - -Is(HallLight,Off) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->6191c3d6-f4f9-435f-a3d3-439114f8f1f0 - - - - - -b1c8089d-7646-4116-b227-b498270b8a96 - -At(Robot,MilkDrink) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->b1c8089d-7646-4116-b227-b498270b8a96 - - - - - -8f120095-58f3-4732-bac6-0bccb201ae49 - -Holding(Nothing) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->8f120095-58f3-4732-bac6-0bccb201ae49 - - - - - -719c49bd-8d3a-4f6a-b242-f40c67237040 - -Turn(HallLight,On) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->719c49bd-8d3a-4f6a-b242-f40c67237040 - - - - - -2b4769c2-3de2-46e9-a1a4-77ed768a6c64 - -Is(HallLight,Off) - - - -4a17b594-7ff7-46af-8b71-1f02b5b3e42c->2b4769c2-3de2-46e9-a1a4-77ed768a6c64 - - - - - -28be1710-e38f-4ece-aafc-e5c4ed6d7896 - -At(Robot,MilkDrink) - - - -4a17b594-7ff7-46af-8b71-1f02b5b3e42c->28be1710-e38f-4ece-aafc-e5c4ed6d7896 - - - - - -2929935a-0d13-41d0-b0f3-e7022ece035d - -Holding(Nothing) - - - -4a17b594-7ff7-46af-8b71-1f02b5b3e42c->2929935a-0d13-41d0-b0f3-e7022ece035d - - - - - -07c4487a-9bda-40ba-bf8e-584abcce469c - -Turn(HallLight,On) - - - 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-9e18d009-0d65-4045-8180-bdc9bc48b34e->d9dd0b6d-2a4e-4180-8624-42dc599ebfc0 - - - - - -e6641b18-044f-42af-9134-683ed9b56697 - -At(Robot,Bar2) - - - -9e18d009-0d65-4045-8180-bdc9bc48b34e->e6641b18-044f-42af-9134-683ed9b56697 - - - - - -b0e26c87-01d0-4926-84bb-82be622b4039 - -Make(Water) - - - -9e18d009-0d65-4045-8180-bdc9bc48b34e->b0e26c87-01d0-4926-84bb-82be622b4039 - - - - - -d27554b5-c118-443a-ac4f-0bd7f70d5e42 - -At(Robot,Bar) - - - -55c6236e-8901-4376-826b-cf5f6d824b75->d27554b5-c118-443a-ac4f-0bd7f70d5e42 - - - - - -d8065680-d122-43df-9d7f-5796f505a9a0 - -Holding(ADMilk) - - - -55c6236e-8901-4376-826b-cf5f6d824b75->d8065680-d122-43df-9d7f-5796f505a9a0 - - - - - -48d954bf-4a31-454b-9583-b5c9eba8d452 - -At(Robot,MilkDrink) - - - -55c6236e-8901-4376-826b-cf5f6d824b75->48d954bf-4a31-454b-9583-b5c9eba8d452 - - - - - -17b07b14-b69c-4f34-a5d8-d9ef9808f76c - -At(Robot,Bar2) - - - -55c6236e-8901-4376-826b-cf5f6d824b75->17b07b14-b69c-4f34-a5d8-d9ef9808f76c - - - - - -76ccec2e-1311-4509-bfca-2e94a72779df - -PutDown(ADMilk,Bar) - - - -55c6236e-8901-4376-826b-cf5f6d824b75->76ccec2e-1311-4509-bfca-2e94a72779df - - - - - -6e28a963-b1c1-4ff5-b242-2b803d8fc942 - -At(Robot,Bar) - - - -10faa149-a290-48b0-87eb-8d2835183455->6e28a963-b1c1-4ff5-b242-2b803d8fc942 - - - - - -4a791f9d-af4a-40ea-8cfa-179c841140c9 - -Holding(ADMilk) - - - -10faa149-a290-48b0-87eb-8d2835183455->4a791f9d-af4a-40ea-8cfa-179c841140c9 - - - - - -b5268f15-cf8f-4103-9761-c6ed1e697b19 - -At(Robot,MilkDrink) - - - -10faa149-a290-48b0-87eb-8d2835183455->b5268f15-cf8f-4103-9761-c6ed1e697b19 - - - - - -1ae0cddf-95b9-47da-ac1b-c1c5d1000992 - -At(Robot,Bar2) - - - -10faa149-a290-48b0-87eb-8d2835183455->1ae0cddf-95b9-47da-ac1b-c1c5d1000992 - - - - - -9db0a7ae-49e1-440b-b97f-220cc82b5933 - -PutDown(ADMilk,Bar) - - - -10faa149-a290-48b0-87eb-8d2835183455->9db0a7ae-49e1-440b-b97f-220cc82b5933 - - - - - -d30df1bd-b398-4819-af55-077c83bab117 - -Holding(ADMilk) - - - -28537863-52a9-432f-a890-cc90726286c9->d30df1bd-b398-4819-af55-077c83bab117 - - - - - -5b9338c1-abbb-4330-aaf7-e9e05f5dc480 - -At(Robot,MilkDrink) - - - -28537863-52a9-432f-a890-cc90726286c9->5b9338c1-abbb-4330-aaf7-e9e05f5dc480 - - - - - -2b5d497e-bdb2-4cd8-b175-0a2de19a0e58 - -At(Robot,Bar2) - - - -28537863-52a9-432f-a890-cc90726286c9->2b5d497e-bdb2-4cd8-b175-0a2de19a0e58 - - - - - -4dacf940-6cb9-477b-bddc-f91da1f36f3a - -PutDown(ADMilk,Bar) - - - -28537863-52a9-432f-a890-cc90726286c9->4dacf940-6cb9-477b-bddc-f91da1f36f3a - - - - - -9efa7de4-586b-47c3-a5f5-ccd83735eeb5 - -Holding(ADMilk) - - - -9789960b-c8da-464a-a250-99cf105874fe->9efa7de4-586b-47c3-a5f5-ccd83735eeb5 - - - - - -7cdc2579-e0c9-4fb2-8782-9a0c0cae6b8f - -At(Robot,MilkDrink) - - - -9789960b-c8da-464a-a250-99cf105874fe->7cdc2579-e0c9-4fb2-8782-9a0c0cae6b8f - - - - - -0cba22c5-68b3-4f58-8e54-b7a3d6accd8b - -At(Robot,Bar2) - - - -9789960b-c8da-464a-a250-99cf105874fe->0cba22c5-68b3-4f58-8e54-b7a3d6accd8b - - - - - -4210f3e7-4452-46c0-858d-39edc1d492aa - -PutDown(ADMilk,Bar) - - - -9789960b-c8da-464a-a250-99cf105874fe->4210f3e7-4452-46c0-858d-39edc1d492aa - - - - - -635ea771-71ee-4e24-ac46-bd92cbc38b6e - -At(Robot,BrightTable6) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->635ea771-71ee-4e24-ac46-bd92cbc38b6e - - - - - -a5912ed5-8b1d-43c6-8552-f61430f666f2 - -At(Robot,MilkDrink) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->a5912ed5-8b1d-43c6-8552-f61430f666f2 - - - - - -7c5af63a-e108-47f5-aa29-0880ecbdb6db - -Holding(ADMilk) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->7c5af63a-e108-47f5-aa29-0880ecbdb6db - - - - - -c07cf323-de75-4d44-b968-787b32e4b186 - -At(Robot,Bar2) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->c07cf323-de75-4d44-b968-787b32e4b186 - - - - - -3e48ae65-5181-4eef-b9f8-84792fb06b2b - -PutDown(ADMilk,BrightTable) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->3e48ae65-5181-4eef-b9f8-84792fb06b2b - - - - - -37037c0e-3e3c-49a1-a5fe-162f6efd34da - -At(Robot,BrightTable6) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->37037c0e-3e3c-49a1-a5fe-162f6efd34da - - - - - -e8336496-274b-4032-99d7-07de86fa93f0 - -At(Robot,MilkDrink) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->e8336496-274b-4032-99d7-07de86fa93f0 - - - - - -8502804d-bc7f-46ba-81c3-888ccdf91236 - -Holding(ADMilk) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->8502804d-bc7f-46ba-81c3-888ccdf91236 - - - - - -30f48ccb-27d7-467e-ad3f-5652789f3b02 - -At(Robot,Bar2) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->30f48ccb-27d7-467e-ad3f-5652789f3b02 - - - - - -9d3520b2-e870-40c9-9242-a9572be5cf56 - -PutDown(ADMilk,BrightTable) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->9d3520b2-e870-40c9-9242-a9572be5cf56 - - - - - -b9a7d910-afca-470b-a417-0362f0856966 - -Holding(ADMilk) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->b9a7d910-afca-470b-a417-0362f0856966 - - - - - -16ea4e70-7bbf-479c-9d22-d877f33fc2c5 - -At(Robot,MilkDrink) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->16ea4e70-7bbf-479c-9d22-d877f33fc2c5 - - - - - -1b50025a-01a2-44d8-82f7-fc60e8206a6a - -At(Robot,CoffeeTable) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->1b50025a-01a2-44d8-82f7-fc60e8206a6a - - - - - -d71626df-94d5-4d58-83e5-cd8a50b611c2 - -At(Robot,Bar2) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->d71626df-94d5-4d58-83e5-cd8a50b611c2 - - - - - -e093d49c-6aea-40f0-97b9-f02e83c506f2 - -PutDown(ADMilk,CoffeeTable) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->e093d49c-6aea-40f0-97b9-f02e83c506f2 - - - - - -035dc5db-f5ea-438e-a7ec-30bb0185f5af - -Holding(ADMilk) - - - -1532462c-f171-429a-9c41-3026f0149814->035dc5db-f5ea-438e-a7ec-30bb0185f5af - - - - - -f6e04e93-f027-459a-8842-fcb689a19a32 - -At(Robot,MilkDrink) - - - -1532462c-f171-429a-9c41-3026f0149814->f6e04e93-f027-459a-8842-fcb689a19a32 - - - - - -dade6da4-bd0a-4cd3-8d55-9bd9a3bf3b55 - -At(Robot,CoffeeTable) - - - -1532462c-f171-429a-9c41-3026f0149814->dade6da4-bd0a-4cd3-8d55-9bd9a3bf3b55 - - - - - -4b483763-79a5-4f12-aefd-ed110db04046 - -At(Robot,Bar2) - - - -1532462c-f171-429a-9c41-3026f0149814->4b483763-79a5-4f12-aefd-ed110db04046 - - - - - -94492430-c07c-4c96-9064-664783489838 - -PutDown(ADMilk,CoffeeTable) - - - -1532462c-f171-429a-9c41-3026f0149814->94492430-c07c-4c96-9064-664783489838 - - - - - -21f2e42d-dd39-447d-8afc-2f11f247b327 - -Holding(ADMilk) - - - -818efceb-1428-49ad-a017-734ecb7b5868->21f2e42d-dd39-447d-8afc-2f11f247b327 - - - - - -b153915e-8195-440c-b53b-f77697d2c470 - -At(Robot,MilkDrink) - - - -818efceb-1428-49ad-a017-734ecb7b5868->b153915e-8195-440c-b53b-f77697d2c470 - - - - - -b7ebf6fd-149c-42be-ac0a-a76935561f4d - -At(Robot,Bar2) - - - -818efceb-1428-49ad-a017-734ecb7b5868->b7ebf6fd-149c-42be-ac0a-a76935561f4d - - - - - -eadc9351-ec6d-4a3d-92b8-bd92544231a3 - -At(Robot,Table1) - - - -818efceb-1428-49ad-a017-734ecb7b5868->eadc9351-ec6d-4a3d-92b8-bd92544231a3 - - - - - -3fe57a55-e2c6-4e60-a516-b9e9155440ed - -PutDown(ADMilk,Table) - - - -818efceb-1428-49ad-a017-734ecb7b5868->3fe57a55-e2c6-4e60-a516-b9e9155440ed - - - - - -2d064b0d-3354-44da-a945-fa423d436af5 - -Holding(ADMilk) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->2d064b0d-3354-44da-a945-fa423d436af5 - - - - - -5c649250-82eb-4992-a68f-fc2f7a3a512c - -At(Robot,MilkDrink) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->5c649250-82eb-4992-a68f-fc2f7a3a512c - - - - - -72946a21-41c3-47a6-b5da-93e16b92f382 - -At(Robot,Bar2) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->72946a21-41c3-47a6-b5da-93e16b92f382 - - - - - -330c2360-a2d7-4171-ad45-ceb274a26be8 - -At(Robot,Table1) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->330c2360-a2d7-4171-ad45-ceb274a26be8 - - - - - -0ec56fde-ce17-42f7-84e3-9445d8b4bfca - -PutDown(ADMilk,Table) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->0ec56fde-ce17-42f7-84e3-9445d8b4bfca - - - - - -30b115ce-6a1a-4c4b-8be9-5100740fca25 - -Holding(ADMilk) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->30b115ce-6a1a-4c4b-8be9-5100740fca25 - - - - - -52aa59f6-bcd0-40e4-ad35-1ffbbcc05a65 - -At(Robot,MilkDrink) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->52aa59f6-bcd0-40e4-ad35-1ffbbcc05a65 - - - - - -72cd73ab-560e-472d-8b8c-10e1d9bba655 - -At(Robot,Bar2) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->72cd73ab-560e-472d-8b8c-10e1d9bba655 - - - - - -38ce608d-6b54-4fce-89ce-55dd1d8f2c69 - -At(Robot,Table2) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->38ce608d-6b54-4fce-89ce-55dd1d8f2c69 - - - - - -7be4dca7-c9c4-4f27-83ae-331ff5b232a7 - -PutDown(ADMilk,Table) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->7be4dca7-c9c4-4f27-83ae-331ff5b232a7 - - - - - -c6737d2a-b67f-4d40-8b0a-1543e9d8af01 - -Holding(ADMilk) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->c6737d2a-b67f-4d40-8b0a-1543e9d8af01 - - - - - -2118a626-739f-46e7-b887-f9f13ee30da0 - -At(Robot,MilkDrink) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->2118a626-739f-46e7-b887-f9f13ee30da0 - - - - - -041ae835-3da0-4c12-a193-ccc386affae2 - -At(Robot,Bar2) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->041ae835-3da0-4c12-a193-ccc386affae2 - - - - - -8b0d1a38-ebd0-483d-96ea-445f054549cd - -At(Robot,Table2) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->8b0d1a38-ebd0-483d-96ea-445f054549cd - - - - - -d06cbea0-fd1e-491c-bb53-0e4b23126ee4 - -PutDown(ADMilk,Table) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->d06cbea0-fd1e-491c-bb53-0e4b23126ee4 - - - - - -bee0ea60-2ae1-42b0-90e6-90279e88f763 - -Holding(ADMilk) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->bee0ea60-2ae1-42b0-90e6-90279e88f763 - - - - - -6eb285cd-2368-4971-825e-61445bfa2e2a - -At(Robot,MilkDrink) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->6eb285cd-2368-4971-825e-61445bfa2e2a - - - - - -43f1e64d-df6d-40c6-afb4-3d7d58e21751 - -At(Robot,Bar2) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->43f1e64d-df6d-40c6-afb4-3d7d58e21751 - - - - - -b5f61c46-a235-459d-8557-2a342d7be854 - -At(Robot,Table3) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->b5f61c46-a235-459d-8557-2a342d7be854 - - - - - -1ab81a05-ddf6-477f-a489-07b5bfe0e6fa - -PutDown(ADMilk,Table) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->1ab81a05-ddf6-477f-a489-07b5bfe0e6fa - - - - - -7ada8bc3-c2dd-4c58-9de8-8d6712b5f927 - -Holding(ADMilk) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->7ada8bc3-c2dd-4c58-9de8-8d6712b5f927 - - - - - -d77b612e-e30b-4db4-ad6f-f415986b8067 - -At(Robot,MilkDrink) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->d77b612e-e30b-4db4-ad6f-f415986b8067 - - - - - -9e903464-09fc-4387-aff7-a91afa16ad50 - -At(Robot,Bar2) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->9e903464-09fc-4387-aff7-a91afa16ad50 - - - - - -72ee7d06-8981-44d6-a800-b814c9fa6849 - -At(Robot,Table3) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->72ee7d06-8981-44d6-a800-b814c9fa6849 - - - - - -d5d11428-d33f-4b3d-8c7a-0ad782f50262 - -PutDown(ADMilk,Table) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->d5d11428-d33f-4b3d-8c7a-0ad782f50262 - - - - - -761133f6-6e5f-452c-a2cf-40f1442b942a - -Holding(ADMilk) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->761133f6-6e5f-452c-a2cf-40f1442b942a - - - - - -235b7099-58f9-4da0-a2a0-bf13ccaa15e0 - -At(Robot,MilkDrink) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->235b7099-58f9-4da0-a2a0-bf13ccaa15e0 - - - - - -ef5ec12f-e2f2-41cb-a621-1fa174d8fb13 - -At(Robot,WaterTable) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->ef5ec12f-e2f2-41cb-a621-1fa174d8fb13 - - - - - -21a1a030-6f5d-44d6-821a-90a277b5ac2d - -At(Robot,Bar2) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->21a1a030-6f5d-44d6-821a-90a277b5ac2d - - - - - -1606fb41-70d7-44a5-982b-c6169c9fae0e - -PutDown(ADMilk,WaterTable) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->1606fb41-70d7-44a5-982b-c6169c9fae0e - - - - - -9ad27052-a300-4c9b-99e5-b2134298f04c - -Holding(ADMilk) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->9ad27052-a300-4c9b-99e5-b2134298f04c - - - - - -467612d0-6f6c-4992-a34e-ad7f8baa8a9c - -At(Robot,MilkDrink) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->467612d0-6f6c-4992-a34e-ad7f8baa8a9c - - - - - -f660c0d5-332c-4701-b39a-019a3ddc9e73 - -At(Robot,WaterTable) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->f660c0d5-332c-4701-b39a-019a3ddc9e73 - - - - - -da8a0c37-aa81-4024-a5d1-04eb6e581cb1 - -At(Robot,Bar2) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->da8a0c37-aa81-4024-a5d1-04eb6e581cb1 - - - - - -4d53c963-b0b8-494d-91ad-4a01baa7779c - -PutDown(ADMilk,WaterTable) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->4d53c963-b0b8-494d-91ad-4a01baa7779c - - - - - -ba4ab782-074f-4963-af57-197234a5899d - -At(Robot,MilkDrink) - - - -90701633-332f-4ed8-b687-7f0860d43bda->ba4ab782-074f-4963-af57-197234a5899d - - - - - -ccee5183-981f-4f5b-b94c-aeee837b4435 - -At(Robot,Bar2) - - - -90701633-332f-4ed8-b687-7f0860d43bda->ccee5183-981f-4f5b-b94c-aeee837b4435 - - - - - -cdaaaf8b-dd52-4cb8-a85a-74abc92829df - -PutDown(Anything,Anywhere) - - - -90701633-332f-4ed8-b687-7f0860d43bda->cdaaaf8b-dd52-4cb8-a85a-74abc92829df - - - - - -950496f7-13e5-43a0-ab23-0fcfe814b0df - -At(Robot,MilkDrink) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->950496f7-13e5-43a0-ab23-0fcfe814b0df - - - - - -3917768e-79ed-4d3c-81a4-8b6e0ca18d6d - -At(Robot,Bar2) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->3917768e-79ed-4d3c-81a4-8b6e0ca18d6d - - - - - -33499698-22c6-4c5a-af48-af7d3ac0adf9 - -PutDown(Anything,Anywhere) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->33499698-22c6-4c5a-af48-af7d3ac0adf9 - - - - - -27560c14-d07e-4657-bf4c-9d856fbb79cf - -Holding(Bernachon) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->27560c14-d07e-4657-bf4c-9d856fbb79cf - - - - - -737bbb45-61ff-44bc-ac7a-67923f62e8e8 - -At(Robot,MilkDrink) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->737bbb45-61ff-44bc-ac7a-67923f62e8e8 - - - - - -c1f39bf4-1db0-45e9-a5c8-7c0986e44d65 - -At(Robot,Bar2) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->c1f39bf4-1db0-45e9-a5c8-7c0986e44d65 - - - - - -be6bccec-3eda-4cfa-a2ac-a87a0be4aec6 - -At(Robot,Bar) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->be6bccec-3eda-4cfa-a2ac-a87a0be4aec6 - - - - - -b71d87ed-f7e6-4c65-babc-e7b1140d5acb - -PutDown(Bernachon,Bar) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->b71d87ed-f7e6-4c65-babc-e7b1140d5acb - - - - - -26f69ff3-f46c-44ce-b984-375bb60b771a - -Holding(Bernachon) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->26f69ff3-f46c-44ce-b984-375bb60b771a - - - - - -ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b - -At(Robot,MilkDrink) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b - - - - - -27f4c058-065a-40e4-9577-f29905024ac3 - -At(Robot,Bar2) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->27f4c058-065a-40e4-9577-f29905024ac3 - - - - - -fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf - -At(Robot,Bar) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf - - - - - -5fd421d0-9802-41c0-87b3-5b67fc17c140 - -PutDown(Bernachon,Bar) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->5fd421d0-9802-41c0-87b3-5b67fc17c140 - - - - - -47937091-237a-4565-a2c0-791321417504 - -Holding(Bernachon) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->47937091-237a-4565-a2c0-791321417504 - - - - - -49104a79-50e8-476a-b34e-f1d5a32f8fd5 - -At(Robot,MilkDrink) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->49104a79-50e8-476a-b34e-f1d5a32f8fd5 - - - - - -0d1f5b43-f77a-4f23-8600-4d895d40f60b - -At(Robot,Bar2) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->0d1f5b43-f77a-4f23-8600-4d895d40f60b - - - - - -26612a35-ff1b-4a7f-8fa3-0721e4ce3015 - -PutDown(Bernachon,Bar) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->26612a35-ff1b-4a7f-8fa3-0721e4ce3015 - - - - - -5641449f-f04c-482b-9fe8-662b4ebc3861 - -Holding(Bernachon) - - - -eba47417-d84e-4634-9af4-90147c6ac658->5641449f-f04c-482b-9fe8-662b4ebc3861 - - - - - -e5b460cd-4d6c-45e8-9c97-c0c5fbf53583 - -At(Robot,MilkDrink) - - - -eba47417-d84e-4634-9af4-90147c6ac658->e5b460cd-4d6c-45e8-9c97-c0c5fbf53583 - - - - - -7c90404d-c020-4a5d-b318-44886bacf8bc - -At(Robot,Bar2) - - - -eba47417-d84e-4634-9af4-90147c6ac658->7c90404d-c020-4a5d-b318-44886bacf8bc - - - - - -057d547c-f603-4abc-9c1f-8c0d33a970cb - -PutDown(Bernachon,Bar) - - - -eba47417-d84e-4634-9af4-90147c6ac658->057d547c-f603-4abc-9c1f-8c0d33a970cb - - - - - -410b7c9f-888e-45a3-a1d8-96845f2837e6 - -Holding(Bernachon) - - - -981f947a-75a1-4c4f-a746-36a19e060992->410b7c9f-888e-45a3-a1d8-96845f2837e6 - - - - - -1ad18f2b-ac1a-497f-ba44-08f2a0090d42 - -At(Robot,BrightTable6) - - - -981f947a-75a1-4c4f-a746-36a19e060992->1ad18f2b-ac1a-497f-ba44-08f2a0090d42 - - - - - -ef33cf23-f72b-4c91-a4b0-c5185a2f255f - -At(Robot,MilkDrink) - - - -981f947a-75a1-4c4f-a746-36a19e060992->ef33cf23-f72b-4c91-a4b0-c5185a2f255f - - - - - -958aed18-edb3-4d2a-a407-0ac699c66a23 - -At(Robot,Bar2) - - - -981f947a-75a1-4c4f-a746-36a19e060992->958aed18-edb3-4d2a-a407-0ac699c66a23 - - - - - -f6cfd02f-6474-48ba-8cac-7a948a7cb3a6 - -PutDown(Bernachon,BrightTable) - - - -981f947a-75a1-4c4f-a746-36a19e060992->f6cfd02f-6474-48ba-8cac-7a948a7cb3a6 - - - - - -d905a183-7970-4cdc-898f-829fdddec398 - -Holding(Bernachon) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->d905a183-7970-4cdc-898f-829fdddec398 - - - - - -48145ce1-0261-4d20-9b61-63b7e0d3f780 - -At(Robot,BrightTable6) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->48145ce1-0261-4d20-9b61-63b7e0d3f780 - - - - - -6ca14c8d-6c5a-4ef4-9577-af55724e1a9b - -At(Robot,MilkDrink) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->6ca14c8d-6c5a-4ef4-9577-af55724e1a9b - - - - - -b106d35f-a070-4d53-9f80-788c34d24dd9 - -At(Robot,Bar2) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->b106d35f-a070-4d53-9f80-788c34d24dd9 - - - - - -9b359cea-13ba-4891-a728-2be9eb415bbe - -PutDown(Bernachon,BrightTable) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->9b359cea-13ba-4891-a728-2be9eb415bbe - - - - - -3d069ed6-2539-4460-8113-0018fbda431d - -Holding(Bernachon) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->3d069ed6-2539-4460-8113-0018fbda431d - - - - - -4eda5fbf-3034-494b-b231-3024aae0ae81 - -At(Robot,MilkDrink) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->4eda5fbf-3034-494b-b231-3024aae0ae81 - - - - - -a0196fe9-1aa0-41a9-871e-6be3e1b60d7d - -At(Robot,CoffeeTable) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->a0196fe9-1aa0-41a9-871e-6be3e1b60d7d - - - - - -e89f0df3-78c6-4b04-87e4-948a8ae19920 - -At(Robot,Bar2) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->e89f0df3-78c6-4b04-87e4-948a8ae19920 - - - - - -76146617-91c4-42eb-ac43-1f2821586501 - -PutDown(Bernachon,CoffeeTable) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->76146617-91c4-42eb-ac43-1f2821586501 - - - - - -16226b97-f18f-4ec2-9a58-d3e6e76c1131 - -Holding(Bernachon) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->16226b97-f18f-4ec2-9a58-d3e6e76c1131 - - - - - -92c2e3e0-af40-4c34-a884-d07cc8ddf932 - -At(Robot,MilkDrink) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->92c2e3e0-af40-4c34-a884-d07cc8ddf932 - - - - - -0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf - -At(Robot,CoffeeTable) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf - - - - - -d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9 - -At(Robot,Bar2) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9 - - - - - -7913644d-a844-4efb-a3b4-b8179b4c9cd7 - -PutDown(Bernachon,CoffeeTable) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->7913644d-a844-4efb-a3b4-b8179b4c9cd7 - - - - - -22655187-24da-486e-9736-9ee51b713e35 - -Holding(Bernachon) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->22655187-24da-486e-9736-9ee51b713e35 - - - - - -35a6e96b-64b4-4daf-af59-556dc252259a - -At(Robot,MilkDrink) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->35a6e96b-64b4-4daf-af59-556dc252259a - - - - - -3d6859cf-e1ef-4d6e-9583-7bb967ee7714 - -At(Robot,Bar2) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->3d6859cf-e1ef-4d6e-9583-7bb967ee7714 - - - - - -c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155 - -At(Robot,Table1) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155 - - - - - -59e67492-ea7b-4f78-87d5-0cf36c531eac - -PutDown(Bernachon,Table) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->59e67492-ea7b-4f78-87d5-0cf36c531eac - - - - - -f955bdd4-6fb6-4c6e-a522-7e006e9c91da - -Holding(Bernachon) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->f955bdd4-6fb6-4c6e-a522-7e006e9c91da - - - - - -943db77e-bf1b-430d-99ab-07a19d5de26f - -At(Robot,MilkDrink) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->943db77e-bf1b-430d-99ab-07a19d5de26f - - - - - -b3075219-4db2-40bf-b26b-be3742af7d33 - -At(Robot,Bar2) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->b3075219-4db2-40bf-b26b-be3742af7d33 - - - - - -c58c05e7-a68a-41a5-90e3-33e1fabeed43 - -At(Robot,Table1) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->c58c05e7-a68a-41a5-90e3-33e1fabeed43 - - - - - -ef973e00-c4ee-4c13-8608-884df668cfb3 - -PutDown(Bernachon,Table) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->ef973e00-c4ee-4c13-8608-884df668cfb3 - - - - - -95e5cfe3-ff24-48eb-b324-d06b516cbab7 - -Holding(Bernachon) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->95e5cfe3-ff24-48eb-b324-d06b516cbab7 - - - - - -3b6e654a-3746-4a43-8587-cd86d886fc66 - -At(Robot,MilkDrink) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->3b6e654a-3746-4a43-8587-cd86d886fc66 - - - - - -2ee3f7f1-5224-4f5a-94ae-f5628c936be2 - -At(Robot,Bar2) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->2ee3f7f1-5224-4f5a-94ae-f5628c936be2 - - - - - -a4492932-07e6-4d98-af96-3b7ab527ffe2 - -At(Robot,Table2) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->a4492932-07e6-4d98-af96-3b7ab527ffe2 - - - - - -7a999957-81f9-42fa-af73-381ea1bf803c - -PutDown(Bernachon,Table) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->7a999957-81f9-42fa-af73-381ea1bf803c - - - - - -6c974c2e-d53a-404f-8d52-a1e5ea43b7e1 - -Holding(Bernachon) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->6c974c2e-d53a-404f-8d52-a1e5ea43b7e1 - - - - - -ca09bac4-8ced-458a-8aaa-9492a5929a4e - -At(Robot,MilkDrink) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->ca09bac4-8ced-458a-8aaa-9492a5929a4e - - - - - -a3be3be2-6d61-406a-ba67-52adc96f5ab1 - -At(Robot,Bar2) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->a3be3be2-6d61-406a-ba67-52adc96f5ab1 - - - - - -48099eba-39e2-4e63-8c3a-1a2f7fd6588a - -At(Robot,Table2) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->48099eba-39e2-4e63-8c3a-1a2f7fd6588a - - - - - -61cd4dc6-4bd0-4ff2-8dbd-5859130847ca - -PutDown(Bernachon,Table) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->61cd4dc6-4bd0-4ff2-8dbd-5859130847ca - - - - - -29806b87-6053-4e7e-91b3-dee3b1e8091f - -Holding(Bernachon) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->29806b87-6053-4e7e-91b3-dee3b1e8091f - - - - - -11f96f5a-7ac4-43e0-80bf-8659c90fa314 - -At(Robot,MilkDrink) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->11f96f5a-7ac4-43e0-80bf-8659c90fa314 - - - - - -c7dc63bf-649f-434d-9a13-c303d21d52b8 - -At(Robot,Bar2) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->c7dc63bf-649f-434d-9a13-c303d21d52b8 - - - - - -bbd8bbc8-4686-4282-ae0f-93e4cafc6232 - -At(Robot,Table3) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->bbd8bbc8-4686-4282-ae0f-93e4cafc6232 - - - - - -3b060950-c0b7-4aad-ad1f-e19476bff722 - -PutDown(Bernachon,Table) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->3b060950-c0b7-4aad-ad1f-e19476bff722 - - - - - -4581a1e5-1a48-461b-8f57-1d8255efbb86 - -Holding(Bernachon) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->4581a1e5-1a48-461b-8f57-1d8255efbb86 - - - - - -9b024115-2d8c-46da-94eb-e3ebed50a2b5 - -At(Robot,MilkDrink) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->9b024115-2d8c-46da-94eb-e3ebed50a2b5 - - - - - -00a52d24-e6e6-4b7e-bb8a-012f9e2284cf - -At(Robot,Bar2) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->00a52d24-e6e6-4b7e-bb8a-012f9e2284cf - - - - - -a46b19e6-f0c5-4111-97c9-8d7800d0e177 - -At(Robot,Table3) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->a46b19e6-f0c5-4111-97c9-8d7800d0e177 - - - - - -1802acfd-39b4-4804-9b8f-4f07b608119d - -PutDown(Bernachon,Table) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->1802acfd-39b4-4804-9b8f-4f07b608119d - - - - - -492d20e5-6f83-4a14-8d6d-c506b9606667 - -Holding(Bernachon) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->492d20e5-6f83-4a14-8d6d-c506b9606667 - - - - - -bb071d2d-56f5-4697-9bad-47f4583686c5 - -At(Robot,MilkDrink) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->bb071d2d-56f5-4697-9bad-47f4583686c5 - - - - - -b792ee4e-e06c-4830-aed3-48518c10fb3d - -At(Robot,WaterTable) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->b792ee4e-e06c-4830-aed3-48518c10fb3d - - - - - -1d49249a-9b09-4ddc-8033-1a4d16839556 - -At(Robot,Bar2) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->1d49249a-9b09-4ddc-8033-1a4d16839556 - - - - - -f4aa55fe-b718-49a4-92c6-5b3eec65c826 - -PutDown(Bernachon,WaterTable) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->f4aa55fe-b718-49a4-92c6-5b3eec65c826 - - - - - -ca858fbe-737f-4046-b9a2-d41d5958310e - -Holding(Bernachon) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->ca858fbe-737f-4046-b9a2-d41d5958310e - - - - - -67c034c2-d4eb-4dc2-bdc3-f5d3d8bb48f6 - -At(Robot,MilkDrink) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->67c034c2-d4eb-4dc2-bdc3-f5d3d8bb48f6 - - - - - -2748840e-599f-436d-8652-38baee96c9a2 - -At(Robot,WaterTable) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->2748840e-599f-436d-8652-38baee96c9a2 - - - - - -a5e27b7a-4993-415f-9689-2b577e6a8550 - -At(Robot,Bar2) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->a5e27b7a-4993-415f-9689-2b577e6a8550 - - - - - -c8d38857-9576-4a9d-adaa-315ef83910c7 - -PutDown(Bernachon,WaterTable) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->c8d38857-9576-4a9d-adaa-315ef83910c7 - - - - - -d0644936-99e8-4dd8-80ed-e0f9efe32e82 - -Holding(BottledDrink) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->d0644936-99e8-4dd8-80ed-e0f9efe32e82 - - - - - -5436767b-42d6-4ba4-b1b8-baaab2c9c460 - -At(Robot,MilkDrink) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->5436767b-42d6-4ba4-b1b8-baaab2c9c460 - - - - - -49c9de2a-0941-40bf-bbf4-355bdf065e6c - -At(Robot,Bar2) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->49c9de2a-0941-40bf-bbf4-355bdf065e6c - - - - - -9e81c74d-8c8a-4a46-84aa-85e5187129e2 - -At(Robot,Bar) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->9e81c74d-8c8a-4a46-84aa-85e5187129e2 - - - - - -4be0f9c6-2be7-422f-b6a5-2b7d1df6f1bd - -PutDown(BottledDrink,Bar) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->4be0f9c6-2be7-422f-b6a5-2b7d1df6f1bd - - - - - -859941b3-372c-4039-a33c-cc7538787c71 - -Holding(BottledDrink) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->859941b3-372c-4039-a33c-cc7538787c71 - - - - - -1602b595-d09f-40e6-8522-b1fea5f0285b - -At(Robot,MilkDrink) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->1602b595-d09f-40e6-8522-b1fea5f0285b - - - - - -ae9d48b2-c575-43d8-a3ad-52b64a50d248 - -At(Robot,Bar2) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->ae9d48b2-c575-43d8-a3ad-52b64a50d248 - - - - - -ca1e4721-baac-48b1-af69-5e3465ac5b98 - -At(Robot,Bar) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->ca1e4721-baac-48b1-af69-5e3465ac5b98 - - - - - -37242322-ed45-431d-bb7f-a7a737e185cf - -PutDown(BottledDrink,Bar) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->37242322-ed45-431d-bb7f-a7a737e185cf - - - - - -e7063c89-519a-4097-ada9-e55c7a879483 - -Holding(BottledDrink) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->e7063c89-519a-4097-ada9-e55c7a879483 - - - - - -d134db5d-5022-4afa-8a9b-5f02b295ebb3 - -At(Robot,MilkDrink) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->d134db5d-5022-4afa-8a9b-5f02b295ebb3 - - - - - -e2ff408c-f4ce-4c6e-9218-96eafd24cb46 - -At(Robot,Bar2) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->e2ff408c-f4ce-4c6e-9218-96eafd24cb46 - - - - - -cb840986-1aed-4e21-bb0a-b28a159851a2 - -PutDown(BottledDrink,Bar) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->cb840986-1aed-4e21-bb0a-b28a159851a2 - - - - - -12870a89-aa91-4b19-86dd-dcf4d474c5f1 - -Holding(BottledDrink) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->12870a89-aa91-4b19-86dd-dcf4d474c5f1 - - - - - -78c34afe-b600-40c6-bbad-8119dc9d1088 - -At(Robot,MilkDrink) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->78c34afe-b600-40c6-bbad-8119dc9d1088 - - - - - -7fbaa595-99ee-415c-af4e-7f740071d109 - -At(Robot,Bar2) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->7fbaa595-99ee-415c-af4e-7f740071d109 - - - - - -82eb2eac-c2bd-4c4d-a2b4-2e013345bea9 - -PutDown(BottledDrink,Bar) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->82eb2eac-c2bd-4c4d-a2b4-2e013345bea9 - - - - - -3e175c68-0d51-44a3-aeb0-1cd024816ab9 - -Holding(BottledDrink) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->3e175c68-0d51-44a3-aeb0-1cd024816ab9 - - - - - -0543ebfd-2985-4ea6-9362-0d3a0537506e - -At(Robot,BrightTable6) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->0543ebfd-2985-4ea6-9362-0d3a0537506e - - - - - -e4295e11-8520-447a-82c1-537c8923ebd7 - -At(Robot,MilkDrink) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->e4295e11-8520-447a-82c1-537c8923ebd7 - - - - - -e686d9c0-40b4-43eb-84d7-b148f5558c5d - -At(Robot,Bar2) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->e686d9c0-40b4-43eb-84d7-b148f5558c5d - - - - - -1440677f-404a-45f2-9f30-598c594caee4 - -PutDown(BottledDrink,BrightTable) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->1440677f-404a-45f2-9f30-598c594caee4 - - - - - -09ec061d-67c4-49a8-bffb-0e550c49c77a - -Holding(BottledDrink) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->09ec061d-67c4-49a8-bffb-0e550c49c77a - - - - - -ecce104a-53e9-4398-b3c4-e8d98ad38f8b - -At(Robot,BrightTable6) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->ecce104a-53e9-4398-b3c4-e8d98ad38f8b - - - - - -a301249e-5b23-48f6-b262-1a72a828e2a7 - -At(Robot,MilkDrink) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->a301249e-5b23-48f6-b262-1a72a828e2a7 - - - - - -ac06f1e1-7135-43d8-a594-2def36c40326 - -At(Robot,Bar2) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->ac06f1e1-7135-43d8-a594-2def36c40326 - - - - - -1991f33f-b49e-48a5-ae78-3dcc29234970 - -PutDown(BottledDrink,BrightTable) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->1991f33f-b49e-48a5-ae78-3dcc29234970 - - - - - -594cd0eb-aa4d-4a2b-ac87-e5789900ef00 - -Holding(BottledDrink) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->594cd0eb-aa4d-4a2b-ac87-e5789900ef00 - - - - - -daae34d7-2f8d-49e7-9b48-1428707825bd - -At(Robot,MilkDrink) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->daae34d7-2f8d-49e7-9b48-1428707825bd - - - - - -3391d709-6af1-44da-a48e-3e093083d5b0 - -At(Robot,CoffeeTable) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->3391d709-6af1-44da-a48e-3e093083d5b0 - - - - - -2105fa5e-0117-4205-9de1-8f4f07a84a24 - -At(Robot,Bar2) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->2105fa5e-0117-4205-9de1-8f4f07a84a24 - - - - - -b5687ccc-6592-4fae-abe7-85df1be14fd3 - -PutDown(BottledDrink,CoffeeTable) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->b5687ccc-6592-4fae-abe7-85df1be14fd3 - - - - - -db551e21-f2f9-4d65-b56e-a0e7d4a7b39e - -Holding(BottledDrink) - - - -9987583f-b565-47dd-8161-418366745ad1->db551e21-f2f9-4d65-b56e-a0e7d4a7b39e - - - - - -5b98133d-dad8-4e7d-97ee-66fc2a7cbb86 - -At(Robot,MilkDrink) - - - -9987583f-b565-47dd-8161-418366745ad1->5b98133d-dad8-4e7d-97ee-66fc2a7cbb86 - - - - - -13175063-6f23-46fc-84f3-9f30b0b64606 - -At(Robot,CoffeeTable) - - - -9987583f-b565-47dd-8161-418366745ad1->13175063-6f23-46fc-84f3-9f30b0b64606 - - - - - -f701df7e-af1d-438f-b524-84b95b88842f - -At(Robot,Bar2) - - - -9987583f-b565-47dd-8161-418366745ad1->f701df7e-af1d-438f-b524-84b95b88842f - - - - - -e67c7c9f-9489-4ad0-ad67-5e8d37806e60 - -PutDown(BottledDrink,CoffeeTable) - - - -9987583f-b565-47dd-8161-418366745ad1->e67c7c9f-9489-4ad0-ad67-5e8d37806e60 - - - - - -d8598671-7ec2-4a72-a61c-744b3cff1f08 - -Holding(BottledDrink) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->d8598671-7ec2-4a72-a61c-744b3cff1f08 - - - - - -4f0d29a9-6baa-487f-8bde-a4f99849d70d - -At(Robot,MilkDrink) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->4f0d29a9-6baa-487f-8bde-a4f99849d70d - - - - - -88904dcd-c0ec-4e9f-a04e-c3d53988bd18 - -At(Robot,Bar2) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->88904dcd-c0ec-4e9f-a04e-c3d53988bd18 - - - - - -47718312-cf7e-4c86-a36f-6361220b38fa - -At(Robot,Table1) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->47718312-cf7e-4c86-a36f-6361220b38fa - - - - - -b9f0c78a-3fdf-4134-8df7-c62d9671daa5 - -PutDown(BottledDrink,Table) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->b9f0c78a-3fdf-4134-8df7-c62d9671daa5 - - - - - -045952a7-e566-4c3f-b8e7-231643ee08c5 - -Holding(BottledDrink) - - - -935994b4-413a-418f-83e9-c656366952ac->045952a7-e566-4c3f-b8e7-231643ee08c5 - - - - - -e1d1199a-25ee-4f50-be4d-a6757a74cd20 - -At(Robot,MilkDrink) - - - -935994b4-413a-418f-83e9-c656366952ac->e1d1199a-25ee-4f50-be4d-a6757a74cd20 - - - - - -8ff5a707-d3ca-4087-b57a-ffd6ea4a6b6f - -At(Robot,Bar2) - - - -935994b4-413a-418f-83e9-c656366952ac->8ff5a707-d3ca-4087-b57a-ffd6ea4a6b6f - - - - - -11a2f7be-1ebe-4ff2-9c10-bfedf262a020 - -At(Robot,Table1) - - - -935994b4-413a-418f-83e9-c656366952ac->11a2f7be-1ebe-4ff2-9c10-bfedf262a020 - - - - - -8d9b164a-d086-43ce-9d16-c223028da38a - -PutDown(BottledDrink,Table) - - - -935994b4-413a-418f-83e9-c656366952ac->8d9b164a-d086-43ce-9d16-c223028da38a - - - - - -de1601ab-8b4d-4b58-a05a-1c572adb2542 - -Holding(BottledDrink) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->de1601ab-8b4d-4b58-a05a-1c572adb2542 - - - - - -56dfc89a-6bd8-4862-959c-52d7268c1f14 - -At(Robot,MilkDrink) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->56dfc89a-6bd8-4862-959c-52d7268c1f14 - - - - - -08cf948d-492c-4d4c-bac0-b1103a74fe04 - -At(Robot,Bar2) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->08cf948d-492c-4d4c-bac0-b1103a74fe04 - - - - - -6b8f777e-255a-43ad-8972-7659802ebc9c - -At(Robot,Table2) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->6b8f777e-255a-43ad-8972-7659802ebc9c - - - - - -a24a98c5-96f6-4bde-8c29-b4374200624d - -PutDown(BottledDrink,Table) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->a24a98c5-96f6-4bde-8c29-b4374200624d - - - - - -fd0a2156-4c39-4f87-8121-2ae4b9607fc6 - -Holding(BottledDrink) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->fd0a2156-4c39-4f87-8121-2ae4b9607fc6 - - - - - -0c58f974-c456-46e7-bfa2-4c0bdec8464b - -At(Robot,MilkDrink) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->0c58f974-c456-46e7-bfa2-4c0bdec8464b - - - - - -1314d863-d129-4edd-af11-d96c252b50c9 - -At(Robot,Bar2) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->1314d863-d129-4edd-af11-d96c252b50c9 - - - - - -cd06c2c2-4d1d-4442-8e8d-b2d8291cdd8f - -At(Robot,Table2) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->cd06c2c2-4d1d-4442-8e8d-b2d8291cdd8f - - - - - -2e8a6e95-1825-4ec6-a04e-af19669e5b7a - -PutDown(BottledDrink,Table) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->2e8a6e95-1825-4ec6-a04e-af19669e5b7a - - - - - -6c15e87e-2a48-4a2a-9c8d-0fa750471602 - -Holding(BottledDrink) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->6c15e87e-2a48-4a2a-9c8d-0fa750471602 - - - - - -eae0aca3-a1f7-4679-86c4-671eb0e12432 - -At(Robot,MilkDrink) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->eae0aca3-a1f7-4679-86c4-671eb0e12432 - - - - - -2c287deb-99de-4c46-a98b-0c4715b6758e - -At(Robot,Bar2) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->2c287deb-99de-4c46-a98b-0c4715b6758e - - - - - -f5759d7b-ba1e-4eff-b8a6-e698f99b8230 - -At(Robot,Table3) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->f5759d7b-ba1e-4eff-b8a6-e698f99b8230 - - - - - -b5280704-68c5-40e8-a46c-98066e2d8d6b - -PutDown(BottledDrink,Table) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->b5280704-68c5-40e8-a46c-98066e2d8d6b - - - - - -d6100c1b-619b-40c2-92f0-dbf1816fb420 - -Holding(BottledDrink) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->d6100c1b-619b-40c2-92f0-dbf1816fb420 - - - - - -32f914dc-aa60-4eb7-9e34-73f9a2acde58 - -At(Robot,MilkDrink) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->32f914dc-aa60-4eb7-9e34-73f9a2acde58 - - - - - -5ec0f2f9-faf3-466d-96a4-10389685dba2 - -At(Robot,Bar2) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->5ec0f2f9-faf3-466d-96a4-10389685dba2 - - - - - -72878e6a-4357-47cb-85eb-e5c2cf09ff0d - -At(Robot,Table3) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->72878e6a-4357-47cb-85eb-e5c2cf09ff0d - - - - - -070d5ada-8b1f-47ec-93af-bca4b0e16faa - -PutDown(BottledDrink,Table) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->070d5ada-8b1f-47ec-93af-bca4b0e16faa - - - - - -f9b0dd62-3318-4d21-b8de-f4c3fc59246a - -Holding(BottledDrink) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->f9b0dd62-3318-4d21-b8de-f4c3fc59246a - - - - - -59f10c79-50c7-4999-a92b-fa75eeafe222 - -At(Robot,MilkDrink) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->59f10c79-50c7-4999-a92b-fa75eeafe222 - - - - - -95799546-55df-4551-8bf0-8375beccdc4b - -At(Robot,WaterTable) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->95799546-55df-4551-8bf0-8375beccdc4b - - - - - -8a01d84d-0a85-4fc2-be29-26c76522b37c - -At(Robot,Bar2) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->8a01d84d-0a85-4fc2-be29-26c76522b37c - - - - - -4eda4936-4f57-4d3e-8a0f-d75b82448c9a - -PutDown(BottledDrink,WaterTable) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->4eda4936-4f57-4d3e-8a0f-d75b82448c9a - - - - - -b2aa9985-cb1a-41ac-9d92-de8953733f8f - -Holding(BottledDrink) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->b2aa9985-cb1a-41ac-9d92-de8953733f8f - - - - - -1535ef9c-a0f0-4755-a396-5654e2a58b98 - -At(Robot,MilkDrink) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->1535ef9c-a0f0-4755-a396-5654e2a58b98 - - - - - -0b478723-6f78-4556-bcdd-ff931baa29a5 - -At(Robot,WaterTable) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->0b478723-6f78-4556-bcdd-ff931baa29a5 - - - - - -56e9f315-3f76-429e-8a09-a597db928105 - -At(Robot,Bar2) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->56e9f315-3f76-429e-8a09-a597db928105 - - - - - -87f843bd-c636-4cbf-bca9-92409c75a0e2 - -PutDown(BottledDrink,WaterTable) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->87f843bd-c636-4cbf-bca9-92409c75a0e2 - - - - - -6b748a6b-47b1-4f47-948d-56507b232f2b - -At(Robot,Bar) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->6b748a6b-47b1-4f47-948d-56507b232f2b - - - - - -c503ce13-4658-457d-aeee-a20f5d246215 - -At(Robot,MilkDrink) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->c503ce13-4658-457d-aeee-a20f5d246215 - - - - - -c640e958-ce6e-4f6f-9b57-54dd40052f59 - -At(Robot,Bar2) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->c640e958-ce6e-4f6f-9b57-54dd40052f59 - - - - - -ac3504a2-9073-4207-bf08-1df7c321d95b - -Holding(Chips) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->ac3504a2-9073-4207-bf08-1df7c321d95b - - - - - -4bda56eb-9e1e-4f12-92d1-ff94ea1d8971 - -PutDown(Chips,Bar) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->4bda56eb-9e1e-4f12-92d1-ff94ea1d8971 - - - - - -9bddc67b-b891-4b1b-b39c-5faa46f93aca - -At(Robot,Bar) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->9bddc67b-b891-4b1b-b39c-5faa46f93aca - - - - - -d738d803-a294-4d12-99c8-22f13cc7fa4e - -At(Robot,MilkDrink) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->d738d803-a294-4d12-99c8-22f13cc7fa4e - - - - - -d387f134-72f9-4f9c-b04c-b28c769de557 - -At(Robot,Bar2) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->d387f134-72f9-4f9c-b04c-b28c769de557 - - - - - -f0d65fcc-b730-42e9-a9cb-792bae298098 - -Holding(Chips) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->f0d65fcc-b730-42e9-a9cb-792bae298098 - - - - - -b8918439-4d29-4e2d-b5a1-845ffafd3df1 - -PutDown(Chips,Bar) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->b8918439-4d29-4e2d-b5a1-845ffafd3df1 - - - - - -c64c864d-1f90-4f0f-8a65-37443b21a42b - -At(Robot,MilkDrink) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->c64c864d-1f90-4f0f-8a65-37443b21a42b - - - - - -c58b4609-85f8-40d8-b34d-76364abb1c10 - -Holding(Chips) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->c58b4609-85f8-40d8-b34d-76364abb1c10 - - - - - -8e7c925c-1b83-4980-bf79-4f53db849e30 - -At(Robot,Bar2) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->8e7c925c-1b83-4980-bf79-4f53db849e30 - - - - - -2dcd1646-27fe-4a48-829a-8f4f6695672a - -PutDown(Chips,Bar) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->2dcd1646-27fe-4a48-829a-8f4f6695672a - - - - - -dfdf489b-3b95-4771-a155-e834f30963d9 - -At(Robot,MilkDrink) - - - -43af8175-bad4-49c8-af7c-b47502052f29->dfdf489b-3b95-4771-a155-e834f30963d9 - - - - - -ab37fb33-1bc5-4dbf-b2ac-0d7a9f20d129 - -Holding(Chips) - - - -43af8175-bad4-49c8-af7c-b47502052f29->ab37fb33-1bc5-4dbf-b2ac-0d7a9f20d129 - - - - - -b6f1e3fa-4f5e-4e66-ac40-ef50f0f8d755 - -At(Robot,Bar2) - - - -43af8175-bad4-49c8-af7c-b47502052f29->b6f1e3fa-4f5e-4e66-ac40-ef50f0f8d755 - - - - - -5d5b4cdc-22ab-4ba9-b517-5ac5521d13aa - -PutDown(Chips,Bar) - - - -43af8175-bad4-49c8-af7c-b47502052f29->5d5b4cdc-22ab-4ba9-b517-5ac5521d13aa - - - - - -38048899-a418-4171-8164-134fcef6a0a3 - -At(Robot,BrightTable6) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->38048899-a418-4171-8164-134fcef6a0a3 - - - - - -96d72e55-fdc1-41a1-a17c-7e06679e42d7 - -At(Robot,MilkDrink) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->96d72e55-fdc1-41a1-a17c-7e06679e42d7 - - - - - -4ded2cb8-300c-4e2b-a59a-ee3422615c64 - -At(Robot,Bar2) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->4ded2cb8-300c-4e2b-a59a-ee3422615c64 - - - - - -94950e53-aa24-4415-80bb-5aec07ac7119 - -Holding(Chips) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->94950e53-aa24-4415-80bb-5aec07ac7119 - - - - - -f2aedadf-e3f7-4ca9-ae49-318fbc5c7937 - -PutDown(Chips,BrightTable) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->f2aedadf-e3f7-4ca9-ae49-318fbc5c7937 - - - - - -e176d03e-8613-4b92-a6ab-b016a228b3f5 - -At(Robot,BrightTable6) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->e176d03e-8613-4b92-a6ab-b016a228b3f5 - - - - - -49c8eca6-fe25-4940-ba71-0a5f42a60303 - -At(Robot,MilkDrink) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->49c8eca6-fe25-4940-ba71-0a5f42a60303 - - - - - -0b727836-c870-42f8-bbb9-5c7f280da2bd - -At(Robot,Bar2) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->0b727836-c870-42f8-bbb9-5c7f280da2bd - - - - - -f5810749-076f-4276-8826-c18c543fd120 - -Holding(Chips) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->f5810749-076f-4276-8826-c18c543fd120 - - - - - -7540dd0a-973e-4d27-b351-94a55083fb44 - -PutDown(Chips,BrightTable) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->7540dd0a-973e-4d27-b351-94a55083fb44 - - - - - -41c24bc5-110f-4c1d-9a9f-2631da3ef795 - -At(Robot,MilkDrink) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->41c24bc5-110f-4c1d-9a9f-2631da3ef795 - - - - - -e8d2a44f-f0ce-4ba1-9be3-f37569a0de98 - -At(Robot,CoffeeTable) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->e8d2a44f-f0ce-4ba1-9be3-f37569a0de98 - - - - - -ec684e26-71c0-4f84-b629-afc5b8cc4dc4 - -At(Robot,Bar2) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->ec684e26-71c0-4f84-b629-afc5b8cc4dc4 - - - - - -2816d458-8da6-4158-b4c1-da889e73c715 - -Holding(Chips) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->2816d458-8da6-4158-b4c1-da889e73c715 - - - - - -bc56cdcf-f299-4106-90ec-ac69b18f4cd3 - -PutDown(Chips,CoffeeTable) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->bc56cdcf-f299-4106-90ec-ac69b18f4cd3 - - - - - -ba1b1c81-ac95-4ab8-a05c-92e088217359 - -At(Robot,MilkDrink) - - - -12299d10-cd11-4d86-9ced-3edd884af180->ba1b1c81-ac95-4ab8-a05c-92e088217359 - - - - - -d88be949-995a-4a63-9ef9-cfb38a00bb4b - -At(Robot,CoffeeTable) - - - -12299d10-cd11-4d86-9ced-3edd884af180->d88be949-995a-4a63-9ef9-cfb38a00bb4b - - - - - -e68f2673-08d8-41ab-a9d9-bce6fde9653d - -At(Robot,Bar2) - - - -12299d10-cd11-4d86-9ced-3edd884af180->e68f2673-08d8-41ab-a9d9-bce6fde9653d - - - - - -838f0344-f72e-4d51-9157-cc29bf4009b0 - -Holding(Chips) - - - -12299d10-cd11-4d86-9ced-3edd884af180->838f0344-f72e-4d51-9157-cc29bf4009b0 - - - - - -4b632f2c-a083-4de9-8851-0e8fbb08dd60 - -PutDown(Chips,CoffeeTable) - - - -12299d10-cd11-4d86-9ced-3edd884af180->4b632f2c-a083-4de9-8851-0e8fbb08dd60 - - - - - -c10f116b-ecf7-4750-a72f-1ec66318139d - -At(Robot,MilkDrink) - - - -5385363c-64c6-4dc8-8529-344fabe67317->c10f116b-ecf7-4750-a72f-1ec66318139d - - - - - -7d9b33da-c2cb-4ec8-9935-5f060a468065 - -At(Robot,Bar2) - - - -5385363c-64c6-4dc8-8529-344fabe67317->7d9b33da-c2cb-4ec8-9935-5f060a468065 - - - - - -7d869b12-2c84-4821-8100-2b9f051760f8 - -At(Robot,Table1) - - - -5385363c-64c6-4dc8-8529-344fabe67317->7d869b12-2c84-4821-8100-2b9f051760f8 - - - - - -327987d2-3991-4c80-ad37-f0b56c00a945 - -Holding(Chips) - - - -5385363c-64c6-4dc8-8529-344fabe67317->327987d2-3991-4c80-ad37-f0b56c00a945 - - - - - -760fc1b7-55e0-4304-bc13-f5fb194e02bf - -PutDown(Chips,Table) - - - -5385363c-64c6-4dc8-8529-344fabe67317->760fc1b7-55e0-4304-bc13-f5fb194e02bf - - - - - -5e9046a1-a3cc-4990-a999-20ffe4a9a616 - -At(Robot,MilkDrink) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->5e9046a1-a3cc-4990-a999-20ffe4a9a616 - - - - - -0ca38809-02d2-4943-9f4c-6f6a0b594947 - -At(Robot,Bar2) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->0ca38809-02d2-4943-9f4c-6f6a0b594947 - - - - - -ec7fa1f1-0ec0-4cd2-9e04-f71e2b6bd8df - -At(Robot,Table1) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->ec7fa1f1-0ec0-4cd2-9e04-f71e2b6bd8df - - - - - -9c5a9a45-ebde-4a47-95e0-69c50d198d92 - -Holding(Chips) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->9c5a9a45-ebde-4a47-95e0-69c50d198d92 - - - - - -8dc3e371-ef16-496f-853d-376282bc2261 - -PutDown(Chips,Table) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->8dc3e371-ef16-496f-853d-376282bc2261 - - - - - -aba73af9-16d9-4b94-b724-a85b30c0cc36 - -At(Robot,MilkDrink) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->aba73af9-16d9-4b94-b724-a85b30c0cc36 - - - - - -70b108eb-adb5-4718-840f-d74842c51c35 - -At(Robot,Bar2) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->70b108eb-adb5-4718-840f-d74842c51c35 - - - - - -290a4645-3640-406e-807d-bfb0625d401d - -At(Robot,Table2) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->290a4645-3640-406e-807d-bfb0625d401d - - - - - -dfdea406-b866-42f4-818f-7be92fb67f6a - -Holding(Chips) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->dfdea406-b866-42f4-818f-7be92fb67f6a - - - - - -557b13a6-7c10-44f7-9809-79813e4529d1 - -PutDown(Chips,Table) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->557b13a6-7c10-44f7-9809-79813e4529d1 - - - - - -a8fd6f56-cc03-4330-9b9c-1bb8cd8d8e2d - -At(Robot,MilkDrink) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->a8fd6f56-cc03-4330-9b9c-1bb8cd8d8e2d - - - - - -39da911f-cf5d-49c6-b390-b3b1045ff275 - -At(Robot,Bar2) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->39da911f-cf5d-49c6-b390-b3b1045ff275 - - - - - -1cc875c0-c7a4-4a67-93e3-c39cb2e256b3 - -At(Robot,Table2) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->1cc875c0-c7a4-4a67-93e3-c39cb2e256b3 - - - - - -c83a79e9-2635-4c6f-ac60-8f09de34003c - -Holding(Chips) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->c83a79e9-2635-4c6f-ac60-8f09de34003c - - - - - -953b0f48-b933-4e3c-b09c-2963474dc8ac - -PutDown(Chips,Table) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->953b0f48-b933-4e3c-b09c-2963474dc8ac - - - - - -91354a36-6010-4bef-9f21-47b5f8a5ff7b - -At(Robot,MilkDrink) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->91354a36-6010-4bef-9f21-47b5f8a5ff7b - - - - - -3cc3fdb5-0961-47d0-b454-83c59086ee63 - -At(Robot,Bar2) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->3cc3fdb5-0961-47d0-b454-83c59086ee63 - - - - - -a1a7f089-b1c3-4502-82da-8b0c6641b922 - -At(Robot,Table3) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->a1a7f089-b1c3-4502-82da-8b0c6641b922 - - - - - -a9d402e1-0a0b-4c02-afca-efcb428b1e3c - -Holding(Chips) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->a9d402e1-0a0b-4c02-afca-efcb428b1e3c - - - - - -02559e5e-6b96-4e7c-a44b-e261d70be908 - -PutDown(Chips,Table) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->02559e5e-6b96-4e7c-a44b-e261d70be908 - - - - - -1c4db08b-d21e-488c-8498-a3b294f1e6c6 - -At(Robot,MilkDrink) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->1c4db08b-d21e-488c-8498-a3b294f1e6c6 - - - - - -57ac74a1-7771-4ed2-8c10-03d7c7a9d042 - -At(Robot,Bar2) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->57ac74a1-7771-4ed2-8c10-03d7c7a9d042 - - - - - -5c57e4a3-4bda-4cf1-9582-21e55acbd267 - -At(Robot,Table3) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->5c57e4a3-4bda-4cf1-9582-21e55acbd267 - - - - - -47c310c3-cd60-44e2-8cd2-c4c6276fd67e - -Holding(Chips) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->47c310c3-cd60-44e2-8cd2-c4c6276fd67e - - - - - -a06a9c8d-2892-4cc1-9249-e779d5efde3e - -PutDown(Chips,Table) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->a06a9c8d-2892-4cc1-9249-e779d5efde3e - - - - - -76cafcd1-7117-4391-a27c-f0aac375b5cf - -At(Robot,MilkDrink) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->76cafcd1-7117-4391-a27c-f0aac375b5cf - - - - - -d8624052-83d5-41c9-b94a-7b728e06b4f1 - -At(Robot,Bar2) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->d8624052-83d5-41c9-b94a-7b728e06b4f1 - - - - - -2d4ebf09-5c64-4254-a060-4cca406240e0 - -At(Robot,WaterTable) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->2d4ebf09-5c64-4254-a060-4cca406240e0 - - - - - -cf6440cc-64bf-4572-a17a-f50b0ae80120 - -Holding(Chips) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->cf6440cc-64bf-4572-a17a-f50b0ae80120 - - - - - -107d1d02-fd73-4790-80cb-397e696f2aaf - -PutDown(Chips,WaterTable) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->107d1d02-fd73-4790-80cb-397e696f2aaf - - - - - -a5d5a171-4e7e-498b-8036-637a4f814c11 - -At(Robot,MilkDrink) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->a5d5a171-4e7e-498b-8036-637a4f814c11 - - - - - -460ab4a3-3f88-4ea2-b247-c7e9391eb39d - -At(Robot,Bar2) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->460ab4a3-3f88-4ea2-b247-c7e9391eb39d - - - - - -17bd3335-9ec2-4476-a11d-b34350c11501 - -At(Robot,WaterTable) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->17bd3335-9ec2-4476-a11d-b34350c11501 - - - - - -e5b916b4-cb2c-4459-8333-c1e2b557c89f - -Holding(Chips) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->e5b916b4-cb2c-4459-8333-c1e2b557c89f - - - - - -a6527185-6531-48d8-9301-fd6f59b773d0 - -PutDown(Chips,WaterTable) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->a6527185-6531-48d8-9301-fd6f59b773d0 - - - - - -723ad1a9-0333-42ee-a8c6-77138b1ff72b - -At(Robot,Bar) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->723ad1a9-0333-42ee-a8c6-77138b1ff72b - - - - - -11c4536e-1c95-450f-8c94-70e81d83e5b2 - -At(Robot,MilkDrink) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->11c4536e-1c95-450f-8c94-70e81d83e5b2 - - - - - -2ce2c9ee-e90b-4e5c-9ea7-57a6337380fc - -At(Robot,Bar2) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->2ce2c9ee-e90b-4e5c-9ea7-57a6337380fc - - - - - -48b93d19-fd0c-41d9-ae57-c5e378fd4fb1 - -Holding(Coffee) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->48b93d19-fd0c-41d9-ae57-c5e378fd4fb1 - - - - - -92a8e2fa-b8d6-4af8-8b28-ab913908c550 - -PutDown(Coffee,Bar) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->92a8e2fa-b8d6-4af8-8b28-ab913908c550 - - - - - -1492ba59-36d8-49ed-b876-684af4506727 - -At(Robot,Bar) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->1492ba59-36d8-49ed-b876-684af4506727 - - - - - -d93f50a3-6e02-4527-ac43-7a59a8677982 - -At(Robot,MilkDrink) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->d93f50a3-6e02-4527-ac43-7a59a8677982 - - - - - -e653dcde-9369-46a2-9ae9-2cb5045ccab0 - -At(Robot,Bar2) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->e653dcde-9369-46a2-9ae9-2cb5045ccab0 - - - - - -b21c7544-9edb-4f65-ab72-dade15189087 - -Holding(Coffee) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->b21c7544-9edb-4f65-ab72-dade15189087 - - - - - -9347a99e-94e0-4dd3-b094-72b9330f20ab - -PutDown(Coffee,Bar) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->9347a99e-94e0-4dd3-b094-72b9330f20ab - - - - - -e8d57b5e-cfeb-4479-b303-66df61b6928d - -At(Robot,MilkDrink) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->e8d57b5e-cfeb-4479-b303-66df61b6928d - - - - - -f646ef62-89ba-4cca-bb39-d49b9601a641 - -At(Robot,Bar2) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->f646ef62-89ba-4cca-bb39-d49b9601a641 - - - - - -920ea526-c2f0-442a-bcc6-d61a3843bb70 - -Holding(Coffee) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->920ea526-c2f0-442a-bcc6-d61a3843bb70 - - - - - -304e9f41-13ac-42e6-b6b6-fd2baff61577 - -PutDown(Coffee,Bar) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->304e9f41-13ac-42e6-b6b6-fd2baff61577 - - - - - -e07a60e5-e3fe-4f4a-96c7-f200c6dc6a32 - -At(Robot,MilkDrink) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->e07a60e5-e3fe-4f4a-96c7-f200c6dc6a32 - - - - - -bf40a14a-508d-4a07-b9ac-a39a959811d8 - -At(Robot,Bar2) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->bf40a14a-508d-4a07-b9ac-a39a959811d8 - - - - - -40d914c0-2a82-4229-9a73-c44cbfeae3ea - -Holding(Coffee) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->40d914c0-2a82-4229-9a73-c44cbfeae3ea - - - - - -335ea284-8d92-4c07-9bb3-5d66ed6e2554 - -PutDown(Coffee,Bar) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->335ea284-8d92-4c07-9bb3-5d66ed6e2554 - - - - - -b90834c9-540a-45be-8493-c26f3f6ee0b8 - -At(Robot,BrightTable6) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->b90834c9-540a-45be-8493-c26f3f6ee0b8 - - - - - -a45b19d1-f2c0-4b62-959d-a404ef334b9a - -At(Robot,MilkDrink) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->a45b19d1-f2c0-4b62-959d-a404ef334b9a - - - - - -9cdf1a7b-b5b7-4f49-92fc-d64746c29479 - -At(Robot,Bar2) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->9cdf1a7b-b5b7-4f49-92fc-d64746c29479 - - - - - -e43e4e05-57b8-46ad-bc7b-2cac44babb5b - -Holding(Coffee) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->e43e4e05-57b8-46ad-bc7b-2cac44babb5b - - - - - -7f90e6a9-b6f5-4dae-a07e-c612d2f63927 - -PutDown(Coffee,BrightTable) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->7f90e6a9-b6f5-4dae-a07e-c612d2f63927 - - - - - -801e0a9c-bd81-4684-9ea0-46c3a744ffc1 - -At(Robot,BrightTable6) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->801e0a9c-bd81-4684-9ea0-46c3a744ffc1 - - - - - -3b15a803-f815-4dfb-9f98-5290f783b5c6 - -At(Robot,MilkDrink) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->3b15a803-f815-4dfb-9f98-5290f783b5c6 - - - - - -ef37fd74-4df4-45dd-8616-24854becaeaf - -At(Robot,Bar2) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->ef37fd74-4df4-45dd-8616-24854becaeaf - - - - - -cf6591ef-9ecd-4536-81dc-2cfbb1820ced - -Holding(Coffee) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->cf6591ef-9ecd-4536-81dc-2cfbb1820ced - - - - - -3295b732-27f9-4922-977f-8c8e66549f50 - -PutDown(Coffee,BrightTable) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->3295b732-27f9-4922-977f-8c8e66549f50 - - - - - -10491acc-2057-4fcf-97b9-2f4314748f28 - -At(Robot,MilkDrink) - - - -72000264-e9bd-41a1-af1e-025512f52e23->10491acc-2057-4fcf-97b9-2f4314748f28 - - - - - -c907ce8a-227d-4041-b13c-1b86e575cc20 - -At(Robot,CoffeeTable) - - - -72000264-e9bd-41a1-af1e-025512f52e23->c907ce8a-227d-4041-b13c-1b86e575cc20 - - - - - -10bf698d-c421-4d33-8d1d-3639250db306 - -At(Robot,Bar2) - - - -72000264-e9bd-41a1-af1e-025512f52e23->10bf698d-c421-4d33-8d1d-3639250db306 - - - - - -514655f0-2832-4b06-a465-f4058adf678e - -Holding(Coffee) - - - -72000264-e9bd-41a1-af1e-025512f52e23->514655f0-2832-4b06-a465-f4058adf678e - - - - - -127fe61d-c880-4ce8-a7db-a7d7a59b13f3 - -PutDown(Coffee,CoffeeTable) - - - -72000264-e9bd-41a1-af1e-025512f52e23->127fe61d-c880-4ce8-a7db-a7d7a59b13f3 - - - - - -8ca15087-4835-4e63-9da7-f3df1b4851e6 - -At(Robot,MilkDrink) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->8ca15087-4835-4e63-9da7-f3df1b4851e6 - - - - - -61be3b5b-f4eb-4262-8b2c-6e12632fc8ee - -At(Robot,CoffeeTable) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->61be3b5b-f4eb-4262-8b2c-6e12632fc8ee - - - - - -3ec37965-c2d5-4804-86d3-109aaab58006 - -At(Robot,Bar2) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->3ec37965-c2d5-4804-86d3-109aaab58006 - - - - - -3a55a67b-9dba-4400-8a08-04f7b9713784 - -Holding(Coffee) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->3a55a67b-9dba-4400-8a08-04f7b9713784 - - - - - -a8c5ec40-ccdc-401b-864a-85cbc7f40858 - -PutDown(Coffee,CoffeeTable) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->a8c5ec40-ccdc-401b-864a-85cbc7f40858 - - - - - -4438c3fe-c454-4166-907a-dfabd548c568 - -At(Robot,MilkDrink) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->4438c3fe-c454-4166-907a-dfabd548c568 - - - - - -3de07ca4-6113-485f-8245-b00155c97d61 - -At(Robot,Bar2) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->3de07ca4-6113-485f-8245-b00155c97d61 - - - - - -f471a4a4-1ab1-4cab-bf41-7cf57bc45e7a - -Holding(Coffee) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->f471a4a4-1ab1-4cab-bf41-7cf57bc45e7a - - - - - -d6d9c156-5f62-4002-b929-0087eb01dfef - -At(Robot,Table1) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->d6d9c156-5f62-4002-b929-0087eb01dfef - - - - - -5e345ebb-658b-4158-83e5-85296d5afb36 - -PutDown(Coffee,Table) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->5e345ebb-658b-4158-83e5-85296d5afb36 - - - - - -a57244bb-902c-4763-a57a-ed69b3b0816f - -At(Robot,MilkDrink) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->a57244bb-902c-4763-a57a-ed69b3b0816f - - - - - -7f279566-bcea-4629-86c0-0d0caf64b0eb - -At(Robot,Bar2) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->7f279566-bcea-4629-86c0-0d0caf64b0eb - - - - - -e16f70db-07e7-4741-abe1-1cf40a9ff729 - -Holding(Coffee) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->e16f70db-07e7-4741-abe1-1cf40a9ff729 - - - - - -07a7a5ff-05b6-48e1-90b3-f1c4f6c65ef8 - -At(Robot,Table1) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->07a7a5ff-05b6-48e1-90b3-f1c4f6c65ef8 - - - - - -db481fb5-1c15-444d-a9e7-cc491c52e8bd - -PutDown(Coffee,Table) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->db481fb5-1c15-444d-a9e7-cc491c52e8bd - - - - - -0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2 - -At(Robot,MilkDrink) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2 - - - - - -4fd7ac9f-0513-4a98-af16-d86541d010d7 - -At(Robot,Bar2) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->4fd7ac9f-0513-4a98-af16-d86541d010d7 - - - - - -2c1e8629-6e3d-4e52-9f04-d63527ed8d04 - -Holding(Coffee) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->2c1e8629-6e3d-4e52-9f04-d63527ed8d04 - - - - - -6a676250-8f39-46e6-8878-40e635d56e83 - -At(Robot,Table2) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->6a676250-8f39-46e6-8878-40e635d56e83 - - - - - -0d29e510-d130-4657-a79d-d3f8aff71e7e - -PutDown(Coffee,Table) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->0d29e510-d130-4657-a79d-d3f8aff71e7e - - - - - -ff16c000-4192-491a-a2a7-1bf732bf9fea - -At(Robot,MilkDrink) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ff16c000-4192-491a-a2a7-1bf732bf9fea - - - - - -ed3450ef-64b4-44d8-972e-73a32b74fcdd - -At(Robot,Bar2) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ed3450ef-64b4-44d8-972e-73a32b74fcdd - - - - - -ecc8292f-ac66-4033-bd1e-df7d36b04bb2 - -Holding(Coffee) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ecc8292f-ac66-4033-bd1e-df7d36b04bb2 - - - - - -0bb2731b-2d77-468d-b9eb-fbe32dbf4ab5 - -At(Robot,Table2) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->0bb2731b-2d77-468d-b9eb-fbe32dbf4ab5 - - - - - -4cff0971-97b4-4168-9941-7a81cf85ece8 - -PutDown(Coffee,Table) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->4cff0971-97b4-4168-9941-7a81cf85ece8 - - - - - -d0b0aae4-4950-4001-b96d-beb265b7b3aa - -At(Robot,MilkDrink) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->d0b0aae4-4950-4001-b96d-beb265b7b3aa - - - - - -dcf8d4df-4ee7-4562-94d7-1ddb67da742d - -At(Robot,Bar2) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->dcf8d4df-4ee7-4562-94d7-1ddb67da742d - - - - - -026ef45d-ec4e-4fb2-8052-ffbc8fe653a2 - -Holding(Coffee) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->026ef45d-ec4e-4fb2-8052-ffbc8fe653a2 - - - - - -c242b12d-0760-4374-b7d9-edd62f970bb0 - -At(Robot,Table3) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->c242b12d-0760-4374-b7d9-edd62f970bb0 - - - - - -0f373a6c-3dbd-4532-89c9-d71833ac26f1 - -PutDown(Coffee,Table) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->0f373a6c-3dbd-4532-89c9-d71833ac26f1 - - - - - -2ff3a129-644e-457b-abfd-29d6efaa59d3 - -At(Robot,MilkDrink) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->2ff3a129-644e-457b-abfd-29d6efaa59d3 - - - - - -3419c4de-bf76-4670-93f8-9262e6741bad - -At(Robot,Bar2) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->3419c4de-bf76-4670-93f8-9262e6741bad - - - - - -373cb676-c8fc-42b4-9a9a-118ff5bc201c - -Holding(Coffee) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->373cb676-c8fc-42b4-9a9a-118ff5bc201c - - - - - -42b2b6ad-f4ec-4e22-83f4-6cfb461dd6d7 - -At(Robot,Table3) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->42b2b6ad-f4ec-4e22-83f4-6cfb461dd6d7 - - - - - -d3423b6a-1293-4eb3-84c4-31aaa2fe9191 - -PutDown(Coffee,Table) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->d3423b6a-1293-4eb3-84c4-31aaa2fe9191 - - - - - -1c685634-370b-4d45-b89f-dc17b8662258 - -At(Robot,MilkDrink) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->1c685634-370b-4d45-b89f-dc17b8662258 - - - - - -ada445d8-511c-404f-84e5-2e7da0bcc025 - -At(Robot,WaterTable) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->ada445d8-511c-404f-84e5-2e7da0bcc025 - - - - - -e6d86064-a5b8-4018-b554-898fabab7767 - -Holding(Coffee) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->e6d86064-a5b8-4018-b554-898fabab7767 - - - - - -1b977467-de24-403c-883f-649853782707 - -At(Robot,Bar2) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->1b977467-de24-403c-883f-649853782707 - - - - - -3964a543-199e-402f-8029-1573d16bba18 - -PutDown(Coffee,WaterTable) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->3964a543-199e-402f-8029-1573d16bba18 - - - - - -643e6045-6a02-4b7a-9e53-e4d30bc35c2a - -At(Robot,MilkDrink) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->643e6045-6a02-4b7a-9e53-e4d30bc35c2a - - - - - -cb6150b2-3103-4011-9980-68fb83970ccc - -At(Robot,WaterTable) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->cb6150b2-3103-4011-9980-68fb83970ccc - - - - - -d341fa15-852e-46bf-9116-6ca6ebeabc6d - -Holding(Coffee) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->d341fa15-852e-46bf-9116-6ca6ebeabc6d - - - - - -393f19f0-b440-4b84-8673-be92155b910d - -At(Robot,Bar2) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->393f19f0-b440-4b84-8673-be92155b910d - - - - - -21c2909e-720a-4670-b0ef-46e0ef56c24e - -PutDown(Coffee,WaterTable) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->21c2909e-720a-4670-b0ef-46e0ef56c24e - - - - - -5baac3e0-e779-4da5-a27c-28f134a391af - -At(Robot,Bar) - - - -8c114576-e366-4086-992b-686572634a0c->5baac3e0-e779-4da5-a27c-28f134a391af - - - - - -ac031a4e-2820-4866-a778-d12864bfb086 - -At(Robot,MilkDrink) - - - -8c114576-e366-4086-992b-686572634a0c->ac031a4e-2820-4866-a778-d12864bfb086 - - - - - -c1a72e3c-9851-4316-8dac-ac7e10408463 - -At(Robot,Bar2) - - - -8c114576-e366-4086-992b-686572634a0c->c1a72e3c-9851-4316-8dac-ac7e10408463 - - - - - -180de080-0f4a-49a1-9121-c4a77839e2b9 - -Holding(Dessert) - - - -8c114576-e366-4086-992b-686572634a0c->180de080-0f4a-49a1-9121-c4a77839e2b9 - - - - - -3b6b5235-4a67-4600-8cc0-b7e39af8466f - -PutDown(Dessert,Bar) - - - -8c114576-e366-4086-992b-686572634a0c->3b6b5235-4a67-4600-8cc0-b7e39af8466f - - - - - -6d585971-e4b3-4008-9634-3e8c7a97f108 - -At(Robot,Bar) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->6d585971-e4b3-4008-9634-3e8c7a97f108 - - - - - -06d94a29-78db-43e3-8f22-7d5bb100a715 - -At(Robot,MilkDrink) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->06d94a29-78db-43e3-8f22-7d5bb100a715 - - - - - -7dfca6a0-5333-4be2-874f-3ade6be983a6 - -At(Robot,Bar2) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->7dfca6a0-5333-4be2-874f-3ade6be983a6 - - - - - -a9a6d6c3-0ce1-44e3-95c2-0c828643d426 - -Holding(Dessert) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->a9a6d6c3-0ce1-44e3-95c2-0c828643d426 - - - - - -208d565c-51ea-4004-9b98-7908561cd73d - -PutDown(Dessert,Bar) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->208d565c-51ea-4004-9b98-7908561cd73d - - - - - -f2d89fc9-7c84-4cbd-8276-27d1877b4ccb - -At(Robot,MilkDrink) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->f2d89fc9-7c84-4cbd-8276-27d1877b4ccb - - - - - -2f295618-70e2-4b51-a62e-835829991d68 - -At(Robot,Bar2) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->2f295618-70e2-4b51-a62e-835829991d68 - - - - - -c89ab959-8856-42d7-959e-68775532c0dc - -Holding(Dessert) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->c89ab959-8856-42d7-959e-68775532c0dc - - - - - -a58fd281-712e-4240-bdc1-cb7860fb9ea8 - -PutDown(Dessert,Bar) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->a58fd281-712e-4240-bdc1-cb7860fb9ea8 - - - - - -a403f674-0e76-4133-88df-4927b4eafd46 - -At(Robot,MilkDrink) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->a403f674-0e76-4133-88df-4927b4eafd46 - - - - - -986f591a-bdc1-43f3-b7e9-9b78835e1859 - -At(Robot,Bar2) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->986f591a-bdc1-43f3-b7e9-9b78835e1859 - - - - - -fa25a519-c92c-4057-bb1c-f9540eae6bcc - -Holding(Dessert) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->fa25a519-c92c-4057-bb1c-f9540eae6bcc - - - - - -d939e0e5-846e-4a39-891c-0bb6692e0e3d - -PutDown(Dessert,Bar) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->d939e0e5-846e-4a39-891c-0bb6692e0e3d - - - - - -d340b26d-6029-4eac-8e8f-190470db2343 - -At(Robot,BrightTable6) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->d340b26d-6029-4eac-8e8f-190470db2343 - - - - - -902f5ff8-2f8c-4d16-935c-35f85684583e - -At(Robot,MilkDrink) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->902f5ff8-2f8c-4d16-935c-35f85684583e - - - - - -4efd940e-0c67-4881-9e11-1f2fa965f6a7 - -At(Robot,Bar2) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->4efd940e-0c67-4881-9e11-1f2fa965f6a7 - - - - - -f6d0540f-34ca-40f6-9d05-71d3c135f4df - -Holding(Dessert) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->f6d0540f-34ca-40f6-9d05-71d3c135f4df - - - - - -1d5b19b6-7999-4ec0-8ca3-6377bc46fe18 - -PutDown(Dessert,BrightTable) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->1d5b19b6-7999-4ec0-8ca3-6377bc46fe18 - - - - - -8dd55291-23a0-4695-a707-3baa891985a6 - -At(Robot,BrightTable6) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->8dd55291-23a0-4695-a707-3baa891985a6 - - - - - -ed2ed4a0-c9d5-4554-b229-fd370e21c38c - -At(Robot,MilkDrink) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->ed2ed4a0-c9d5-4554-b229-fd370e21c38c - - - - - -a5561fa1-92e8-4855-b925-d509ed8b7a3d - -At(Robot,Bar2) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->a5561fa1-92e8-4855-b925-d509ed8b7a3d - - - - - -e62341dc-7b2e-4f69-9bf5-62659bb832fc - -Holding(Dessert) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->e62341dc-7b2e-4f69-9bf5-62659bb832fc - - - - - -0bf29e84-27be-4d09-949f-241f8b5d53f7 - -PutDown(Dessert,BrightTable) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->0bf29e84-27be-4d09-949f-241f8b5d53f7 - - - - - -e5a11ee7-6340-4ef2-983b-3f22c2233702 - -At(Robot,MilkDrink) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->e5a11ee7-6340-4ef2-983b-3f22c2233702 - - - - - -e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e - -At(Robot,CoffeeTable) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e - - - - - -0a07ed17-e492-4a1c-80a9-61cfafae8d30 - -At(Robot,Bar2) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->0a07ed17-e492-4a1c-80a9-61cfafae8d30 - - - - - -5ad6b0a2-ada0-4ba5-b067-4fa6a603d106 - -Holding(Dessert) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->5ad6b0a2-ada0-4ba5-b067-4fa6a603d106 - - - - - -914edf0f-e89e-41d7-bfba-8b9f2ed88dcb - -PutDown(Dessert,CoffeeTable) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->914edf0f-e89e-41d7-bfba-8b9f2ed88dcb - - - - - -7232382c-8ae7-441b-812c-8c60d149a481 - -At(Robot,MilkDrink) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->7232382c-8ae7-441b-812c-8c60d149a481 - - - - - -5cb5db0e-c8f1-4bf8-a867-58d61bc60df1 - -At(Robot,CoffeeTable) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->5cb5db0e-c8f1-4bf8-a867-58d61bc60df1 - - - - - -eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6 - -At(Robot,Bar2) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6 - - - - - -cf79696b-cb1b-4a16-ab97-f0b39ca41638 - -Holding(Dessert) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->cf79696b-cb1b-4a16-ab97-f0b39ca41638 - - - - - -fe0b087e-00d9-43b8-a3a4-9cd23bb4736d - -PutDown(Dessert,CoffeeTable) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->fe0b087e-00d9-43b8-a3a4-9cd23bb4736d - - - - - -eade3195-4ffc-4d11-a0c1-a962437c92c7 - -At(Robot,MilkDrink) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->eade3195-4ffc-4d11-a0c1-a962437c92c7 - - - - - -96ab24fb-382c-457e-b5d0-7a222cb6e602 - -At(Robot,Bar2) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->96ab24fb-382c-457e-b5d0-7a222cb6e602 - - - - - -b3b5bb07-a37d-43f2-bea3-262f808b5e72 - -Holding(Dessert) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->b3b5bb07-a37d-43f2-bea3-262f808b5e72 - - - - - -d2c442ed-1d4c-49d3-8a88-223eec6dc425 - -At(Robot,Table1) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->d2c442ed-1d4c-49d3-8a88-223eec6dc425 - - - - - -994dad7a-43ec-41d3-a160-f5635f872acd - -PutDown(Dessert,Table) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->994dad7a-43ec-41d3-a160-f5635f872acd - - - - - -dd661277-2298-4e35-a4a7-c6f236a6ab82 - -At(Robot,MilkDrink) - - - -9b951d0d-080e-44f7-be07-4111258ec601->dd661277-2298-4e35-a4a7-c6f236a6ab82 - - - - - -503442c1-32ca-4dad-b50c-8730f2e86148 - -At(Robot,Bar2) - - - -9b951d0d-080e-44f7-be07-4111258ec601->503442c1-32ca-4dad-b50c-8730f2e86148 - - - - - -f0573b81-37fb-4b19-8848-f20c6f6340a9 - -Holding(Dessert) - - - -9b951d0d-080e-44f7-be07-4111258ec601->f0573b81-37fb-4b19-8848-f20c6f6340a9 - - - - - -478a6c6f-c382-4757-9348-4d90707f36e9 - -At(Robot,Table1) - - - -9b951d0d-080e-44f7-be07-4111258ec601->478a6c6f-c382-4757-9348-4d90707f36e9 - - - - - -2b25992c-502b-4db8-83cd-785a5ce25a1f - -PutDown(Dessert,Table) - - - -9b951d0d-080e-44f7-be07-4111258ec601->2b25992c-502b-4db8-83cd-785a5ce25a1f - - - - - -0be147d5-86c3-4f4b-bcfd-9eb7ab01295c - -At(Robot,MilkDrink) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->0be147d5-86c3-4f4b-bcfd-9eb7ab01295c - - - - - -dc0453ab-415b-4ccd-9fb3-09409b9e26fa - -At(Robot,Bar2) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->dc0453ab-415b-4ccd-9fb3-09409b9e26fa - - - - - -59fe20f3-8cbe-4855-a21a-0548505d189b - -Holding(Dessert) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->59fe20f3-8cbe-4855-a21a-0548505d189b - - - - - -368846e6-6dfc-4b46-a429-b4d29bd0e0c8 - -At(Robot,Table2) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->368846e6-6dfc-4b46-a429-b4d29bd0e0c8 - - - - - -beaa13f0-58d0-4942-9706-86203bf82009 - -PutDown(Dessert,Table) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->beaa13f0-58d0-4942-9706-86203bf82009 - - - - - -cf38aac7-aeeb-4b43-9000-7dc680a52932 - -At(Robot,MilkDrink) - - - -66399520-c790-471d-9878-a1b499b3a0d3->cf38aac7-aeeb-4b43-9000-7dc680a52932 - - - - - -38340b9b-b4aa-45aa-add2-814abfa8ef43 - -At(Robot,Bar2) - - - -66399520-c790-471d-9878-a1b499b3a0d3->38340b9b-b4aa-45aa-add2-814abfa8ef43 - - - - - -4ed2c578-1c1d-400f-9c1e-cf801d53949d - -Holding(Dessert) - - - -66399520-c790-471d-9878-a1b499b3a0d3->4ed2c578-1c1d-400f-9c1e-cf801d53949d - - - - - -2ec33088-2596-4615-ae3c-8d001d70fdbb - -At(Robot,Table2) - - - -66399520-c790-471d-9878-a1b499b3a0d3->2ec33088-2596-4615-ae3c-8d001d70fdbb - - - - - -0546b30e-5165-4897-ac5b-94b792b5ef90 - -PutDown(Dessert,Table) - - - -66399520-c790-471d-9878-a1b499b3a0d3->0546b30e-5165-4897-ac5b-94b792b5ef90 - - - - - -0cde468e-cded-4e45-9a74-797f7ac72077 - -Holding(Dessert) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->0cde468e-cded-4e45-9a74-797f7ac72077 - - - - - -fb7a487a-1bb7-42d1-bd01-9c4225e0c503 - -At(Robot,MilkDrink) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->fb7a487a-1bb7-42d1-bd01-9c4225e0c503 - - - - - -330c5d83-4072-4fe7-bef3-0c8f9276243b - -At(Robot,Bar2) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->330c5d83-4072-4fe7-bef3-0c8f9276243b - - - - - -d6a58535-7a76-4775-a360-b834ca86b192 - -At(Robot,Table3) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->d6a58535-7a76-4775-a360-b834ca86b192 - - - - - -4f483428-fc52-437a-b91d-1aff26e70321 - -PutDown(Dessert,Table) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->4f483428-fc52-437a-b91d-1aff26e70321 - - - - - -18420e40-a8c9-409f-9b2a-e4221b6b1c4b - -Holding(Dessert) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->18420e40-a8c9-409f-9b2a-e4221b6b1c4b - - - - - -0455c747-0907-4513-aca5-93e90bd58522 - -At(Robot,MilkDrink) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->0455c747-0907-4513-aca5-93e90bd58522 - - - - - -bbb5c6af-a56d-42ca-99ce-27fad324e5ce - -At(Robot,Bar2) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->bbb5c6af-a56d-42ca-99ce-27fad324e5ce - - - - - -63f43435-5c12-4efd-83d5-e2895285f703 - -At(Robot,Table3) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->63f43435-5c12-4efd-83d5-e2895285f703 - - - - - -10294cd2-633e-4f56-b83e-2f5969cec29c - -PutDown(Dessert,Table) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->10294cd2-633e-4f56-b83e-2f5969cec29c - - - - - -ee7b2603-5cd4-4de3-90ad-297d946557cc - -At(Robot,MilkDrink) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->ee7b2603-5cd4-4de3-90ad-297d946557cc - - - - - -b4f0d4c1-95b8-47e9-82d2-79be158379af - -At(Robot,WaterTable) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->b4f0d4c1-95b8-47e9-82d2-79be158379af - - - - - -46617c86-4b1f-4081-9023-b24e745fa2e3 - -Holding(Dessert) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->46617c86-4b1f-4081-9023-b24e745fa2e3 - - - - - -6c90af02-6e57-423d-959c-43fdc03d76b9 - -At(Robot,Bar2) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->6c90af02-6e57-423d-959c-43fdc03d76b9 - - - - - -c311a1c0-64b5-4993-a6e5-bd9f2e5067db - -PutDown(Dessert,WaterTable) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->c311a1c0-64b5-4993-a6e5-bd9f2e5067db - - - - - -c75e9f95-ceb5-43af-a515-05cd4d147f6f - -At(Robot,MilkDrink) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->c75e9f95-ceb5-43af-a515-05cd4d147f6f - - - - - -000b0628-049f-4711-98ac-3f4cbaf1b95b - -At(Robot,WaterTable) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->000b0628-049f-4711-98ac-3f4cbaf1b95b - - - - - -f62557c0-7ef1-497b-b255-c0e25706e6a5 - -Holding(Dessert) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->f62557c0-7ef1-497b-b255-c0e25706e6a5 - - - - - -11a74f87-35be-46d8-839e-889e46529933 - -At(Robot,Bar2) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->11a74f87-35be-46d8-839e-889e46529933 - - - - - -fd7fab49-c6ba-4873-8bc0-8014881f6526 - -PutDown(Dessert,WaterTable) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->fd7fab49-c6ba-4873-8bc0-8014881f6526 - - - - - -aa448cf6-df32-49a0-8c0a-ebcf6d4c86de - -At(Robot,Bar) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->aa448cf6-df32-49a0-8c0a-ebcf6d4c86de - - - - - -88e5bb6f-71d1-4480-9eca-558ba269f720 - -At(Robot,MilkDrink) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->88e5bb6f-71d1-4480-9eca-558ba269f720 - - - - - -adc99904-5c8a-4831-964b-55985a5327b0 - -Holding(Milk) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->adc99904-5c8a-4831-964b-55985a5327b0 - - - - - -9c13500d-c330-47a7-98f4-334deba5a97a - -At(Robot,Bar2) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->9c13500d-c330-47a7-98f4-334deba5a97a - - - - - -62d4f441-fc6c-456b-a93d-1fb6fe6bf026 - -PutDown(Milk,Bar) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->62d4f441-fc6c-456b-a93d-1fb6fe6bf026 - - - - - -0f18c270-c4a9-42dc-a8c2-204c4172a67b - -At(Robot,Bar) - - - -97d15623-0c10-436c-821e-c3b0a28598be->0f18c270-c4a9-42dc-a8c2-204c4172a67b - - - - - -080b5c38-9d82-4644-84f7-386c70ac64e2 - -At(Robot,MilkDrink) - - - -97d15623-0c10-436c-821e-c3b0a28598be->080b5c38-9d82-4644-84f7-386c70ac64e2 - - - - - -bb7f7384-2437-4178-9601-4be66ef0723f - -Holding(Milk) - - - -97d15623-0c10-436c-821e-c3b0a28598be->bb7f7384-2437-4178-9601-4be66ef0723f - - - - - -244a9bde-ae9a-47c2-ab49-b1130fcc5455 - -At(Robot,Bar2) - - - -97d15623-0c10-436c-821e-c3b0a28598be->244a9bde-ae9a-47c2-ab49-b1130fcc5455 - - - - - -5fc9fe9f-c2e9-41e6-9b24-f622ece8a059 - -PutDown(Milk,Bar) - - - -97d15623-0c10-436c-821e-c3b0a28598be->5fc9fe9f-c2e9-41e6-9b24-f622ece8a059 - - - - - -a1d51734-7e9d-4ef5-a4ed-5348e4856f2e - -At(Robot,MilkDrink) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->a1d51734-7e9d-4ef5-a4ed-5348e4856f2e - - - - - -88eaa4e8-1b74-45fb-ae41-d07428191840 - -Holding(Milk) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->88eaa4e8-1b74-45fb-ae41-d07428191840 - - - - - -1aa38d5c-bbbe-42d4-8ecd-791b2866289a - -At(Robot,Bar2) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->1aa38d5c-bbbe-42d4-8ecd-791b2866289a - - - - - -83cb0e02-bc10-4530-b084-e739e061c3ec - -PutDown(Milk,Bar) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->83cb0e02-bc10-4530-b084-e739e061c3ec - - - - - -4a51b3dd-7b00-4539-ab7e-fda1a9b409f9 - -At(Robot,MilkDrink) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->4a51b3dd-7b00-4539-ab7e-fda1a9b409f9 - - - - - -2638fccb-215b-40eb-baf1-8e18b5e2274e - -Holding(Milk) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->2638fccb-215b-40eb-baf1-8e18b5e2274e - - - - - -e748a68c-7368-4c17-a8be-00fec63bd86e - -At(Robot,Bar2) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->e748a68c-7368-4c17-a8be-00fec63bd86e - - - - - -a10d9f52-3027-4bca-aa75-2107253fd161 - -PutDown(Milk,Bar) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->a10d9f52-3027-4bca-aa75-2107253fd161 - - - - - -13b4fe9b-91f6-4b73-aa0c-4e56fa393e73 - -At(Robot,BrightTable6) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->13b4fe9b-91f6-4b73-aa0c-4e56fa393e73 - - - - - -8922ded4-2b72-430f-8529-27fc7d19f947 - -At(Robot,MilkDrink) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->8922ded4-2b72-430f-8529-27fc7d19f947 - - - - - -43b4fe45-400f-4ab9-8894-271f2a6282b9 - -Holding(Milk) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->43b4fe45-400f-4ab9-8894-271f2a6282b9 - - - - - -eb2e86ba-b2f4-4d3b-bcd0-dc62fe46926e - -At(Robot,Bar2) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->eb2e86ba-b2f4-4d3b-bcd0-dc62fe46926e - - - - - -ff2a7800-2954-49db-9605-c18291d894ea - -PutDown(Milk,BrightTable) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->ff2a7800-2954-49db-9605-c18291d894ea - - - - - -bdf5a462-ccd7-48f9-ae8e-a8b5b101e8b3 - -At(Robot,BrightTable6) - - - -3eb7f585-7e05-4546-9afc-603efa378447->bdf5a462-ccd7-48f9-ae8e-a8b5b101e8b3 - - - - - -78aac4ad-357c-4ef6-9bc7-4bd46edb85d9 - -At(Robot,MilkDrink) - - - -3eb7f585-7e05-4546-9afc-603efa378447->78aac4ad-357c-4ef6-9bc7-4bd46edb85d9 - - - - - -713a6c69-3c30-46eb-9563-01e2475ae3ae - -Holding(Milk) - - - -3eb7f585-7e05-4546-9afc-603efa378447->713a6c69-3c30-46eb-9563-01e2475ae3ae - - - - - -928bf027-5c53-493e-a073-6e7201e13f2d - -At(Robot,Bar2) - - - -3eb7f585-7e05-4546-9afc-603efa378447->928bf027-5c53-493e-a073-6e7201e13f2d - - - - - -6510316c-a816-48c1-9261-cb1ab60ac1cd - -PutDown(Milk,BrightTable) - - - -3eb7f585-7e05-4546-9afc-603efa378447->6510316c-a816-48c1-9261-cb1ab60ac1cd - - - - - -ff54400e-ed82-4a38-8287-9668be7fab62 - -At(Robot,MilkDrink) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->ff54400e-ed82-4a38-8287-9668be7fab62 - - - - - -a671bc5f-4059-4ba0-972e-07dfd50684f3 - -At(Robot,CoffeeTable) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->a671bc5f-4059-4ba0-972e-07dfd50684f3 - - - - - -892500fb-ada3-47e1-9edd-946701aa44eb - -Holding(Milk) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->892500fb-ada3-47e1-9edd-946701aa44eb - - - - - -f6e18d48-1a41-4d49-b669-637324d7e49c - -At(Robot,Bar2) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->f6e18d48-1a41-4d49-b669-637324d7e49c - - - - - -7a0238d5-31b0-485f-91ae-b85cd46d1389 - -PutDown(Milk,CoffeeTable) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->7a0238d5-31b0-485f-91ae-b85cd46d1389 - - - - - -68e8d5fd-6314-47fa-84a9-ebfdb3b7656d - -At(Robot,MilkDrink) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->68e8d5fd-6314-47fa-84a9-ebfdb3b7656d - - - - - -9f0f1564-6824-4904-9cd7-24dcf64a9c80 - -At(Robot,CoffeeTable) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->9f0f1564-6824-4904-9cd7-24dcf64a9c80 - - - - - -efdf9e09-6dcb-42d5-b9c6-edf95436a688 - -Holding(Milk) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->efdf9e09-6dcb-42d5-b9c6-edf95436a688 - - - - - -239f2050-5285-482c-8eea-68bddfa9728f - -At(Robot,Bar2) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->239f2050-5285-482c-8eea-68bddfa9728f - - - - - -82c13004-f5c7-46d7-986e-6ee7e2f92cdb - -PutDown(Milk,CoffeeTable) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->82c13004-f5c7-46d7-986e-6ee7e2f92cdb - - - - - -23a27ffc-edd0-4937-b2ad-65bb734fc599 - -At(Robot,MilkDrink) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->23a27ffc-edd0-4937-b2ad-65bb734fc599 - - - - - -5938a175-0bbb-4f41-97a6-6184110d23b5 - -At(Robot,Table1) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->5938a175-0bbb-4f41-97a6-6184110d23b5 - - - - - -0889d29b-85e5-4c2a-b606-1aaedca484d6 - -Holding(Milk) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->0889d29b-85e5-4c2a-b606-1aaedca484d6 - - - - - -bde75cae-ea4e-4012-a0f4-de5161ce490a - -At(Robot,Bar2) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->bde75cae-ea4e-4012-a0f4-de5161ce490a - - - - - -1fb3eaec-7f56-4584-a360-66e07c4dc416 - -PutDown(Milk,Table) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->1fb3eaec-7f56-4584-a360-66e07c4dc416 - - - - - -98d7404f-dd5a-40d7-b630-5763e4a5bcd9 - -At(Robot,MilkDrink) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->98d7404f-dd5a-40d7-b630-5763e4a5bcd9 - - - - - -85048b9a-9975-418a-a6d9-34e5c44ef607 - -At(Robot,Table1) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->85048b9a-9975-418a-a6d9-34e5c44ef607 - - - - - -eb3e6750-6a7b-488a-b013-83a56b71697c - -Holding(Milk) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->eb3e6750-6a7b-488a-b013-83a56b71697c - - - - - -84a6978f-9f0d-4acc-8ff0-f8837468f7b7 - -At(Robot,Bar2) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->84a6978f-9f0d-4acc-8ff0-f8837468f7b7 - - - - - -e6e83dcc-2dbf-480e-8334-bd3aad6cced8 - -PutDown(Milk,Table) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->e6e83dcc-2dbf-480e-8334-bd3aad6cced8 - - - - - -7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c - -At(Robot,Table2) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c - - - - - -e9a91d69-5c3e-4274-9f99-b49974881a8f - -At(Robot,MilkDrink) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->e9a91d69-5c3e-4274-9f99-b49974881a8f - - - - - -665dc59b-c4ce-4374-9179-e5f21185506d - -Holding(Milk) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->665dc59b-c4ce-4374-9179-e5f21185506d - - - - - -b6dc0660-03e6-43b6-80a4-4d606324d4ea - -At(Robot,Bar2) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->b6dc0660-03e6-43b6-80a4-4d606324d4ea - - - - - -e3a767ee-8ab5-482a-923c-5d6212bfb15d - -PutDown(Milk,Table) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->e3a767ee-8ab5-482a-923c-5d6212bfb15d - - - - - -b3afcb1e-da93-4952-a007-301fe363edf1 - -At(Robot,Table2) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->b3afcb1e-da93-4952-a007-301fe363edf1 - - - - - -d525ec57-4fcb-49c3-ab43-c3cd21a87e29 - -At(Robot,MilkDrink) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->d525ec57-4fcb-49c3-ab43-c3cd21a87e29 - - - - - -e4d507de-5d6c-461e-a4fd-0308683d2b92 - -Holding(Milk) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->e4d507de-5d6c-461e-a4fd-0308683d2b92 - - - - - -872697bc-4a71-46a3-ad41-1f6f08dd92fa - -At(Robot,Bar2) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->872697bc-4a71-46a3-ad41-1f6f08dd92fa - - - - - -4894ea3d-1fc5-48d3-a3d7-ac865c366c4c - -PutDown(Milk,Table) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->4894ea3d-1fc5-48d3-a3d7-ac865c366c4c - - - - - -0e6edf62-51e1-48d9-8fc4-40db4e4e666a - -At(Robot,MilkDrink) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->0e6edf62-51e1-48d9-8fc4-40db4e4e666a - - - - - -2338d5ff-6e3b-41fc-a1b1-97eaacf95eab - -Holding(Milk) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->2338d5ff-6e3b-41fc-a1b1-97eaacf95eab - - - - - -3ad5ccb8-92e0-4d59-b58b-242d1d190a41 - -At(Robot,Table3) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->3ad5ccb8-92e0-4d59-b58b-242d1d190a41 - - - - - -04b95868-3639-42ab-ad2b-234547064076 - -At(Robot,Bar2) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->04b95868-3639-42ab-ad2b-234547064076 - - - - - -ee14313c-024b-4fa7-a3ce-15c2e57371f8 - -PutDown(Milk,Table) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->ee14313c-024b-4fa7-a3ce-15c2e57371f8 - - - - - -28e795e6-2776-4279-bac5-8783301d2f9b - -At(Robot,MilkDrink) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->28e795e6-2776-4279-bac5-8783301d2f9b - - - - - -47538db7-618c-4eab-a667-876d6b3bcf55 - -Holding(Milk) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->47538db7-618c-4eab-a667-876d6b3bcf55 - - - - - -ac716817-8653-4fc8-81f9-16d9222e5364 - -At(Robot,Table3) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->ac716817-8653-4fc8-81f9-16d9222e5364 - - - - - -bc6a9354-403c-4383-8ae5-36d3f58b4d97 - -At(Robot,Bar2) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->bc6a9354-403c-4383-8ae5-36d3f58b4d97 - - - - - -8e8039c0-336a-4d40-94e0-b4ef541f3265 - -PutDown(Milk,Table) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->8e8039c0-336a-4d40-94e0-b4ef541f3265 - - - - - -e564d8f7-3108-49d5-8cfc-ccc15312722e - -At(Robot,Bar2) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->e564d8f7-3108-49d5-8cfc-ccc15312722e - - - - - -302c3e3b-767d-446e-9106-e2b0c5f7e16c - -At(Robot,MilkDrink) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->302c3e3b-767d-446e-9106-e2b0c5f7e16c - - - - - -3a454d87-725e-427f-b36d-04f0379edb4f - -Holding(Milk) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->3a454d87-725e-427f-b36d-04f0379edb4f - - - - - -e2c5c5db-9c36-450c-8a78-f11c554e2824 - -At(Robot,WaterTable) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->e2c5c5db-9c36-450c-8a78-f11c554e2824 - - - - - -1adbcf75-1905-42d4-8f51-fc4abd5b3f58 - -PutDown(Milk,WaterTable) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->1adbcf75-1905-42d4-8f51-fc4abd5b3f58 - - - - - -3effc8b5-b38d-4242-80bc-ec7aba738252 - -At(Robot,Bar2) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->3effc8b5-b38d-4242-80bc-ec7aba738252 - - - - - -ee3ba389-1e9c-48c0-bc5e-922a950520c0 - -At(Robot,MilkDrink) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->ee3ba389-1e9c-48c0-bc5e-922a950520c0 - - - - - -052ff164-0d42-4f81-a670-738fb2737167 - -Holding(Milk) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->052ff164-0d42-4f81-a670-738fb2737167 - - - - - -236d05ef-2d12-4713-a036-dc57c85eafda - -At(Robot,WaterTable) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->236d05ef-2d12-4713-a036-dc57c85eafda - - - - - -b09d64a2-43dd-4874-99b4-6ba93c688745 - -PutDown(Milk,WaterTable) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->b09d64a2-43dd-4874-99b4-6ba93c688745 - - - - - -759d5ac2-3449-4c4d-b867-cfbc8848c3d9 - -Holding(NFCJuice) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->759d5ac2-3449-4c4d-b867-cfbc8848c3d9 - - - - - -4f7578d4-edd2-47ea-b57f-cb5b50c262bb - -At(Robot,MilkDrink) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->4f7578d4-edd2-47ea-b57f-cb5b50c262bb - - - - - -173f1294-0f99-4f63-a689-005bdd5dc2e7 - -At(Robot,Bar2) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->173f1294-0f99-4f63-a689-005bdd5dc2e7 - - - - - -9c8ba55a-1fcd-4a1f-a178-09256ce7a8de - -At(Robot,Bar) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->9c8ba55a-1fcd-4a1f-a178-09256ce7a8de - - - - - -36d09376-5947-4c06-b666-020f4e21f5e3 - -PutDown(NFCJuice,Bar) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->36d09376-5947-4c06-b666-020f4e21f5e3 - - - - - -1ba1b371-6a41-40cb-b355-bf1531ff7053 - -Holding(NFCJuice) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->1ba1b371-6a41-40cb-b355-bf1531ff7053 - - - - - -af70539d-8bcc-4376-82c9-adfade4f98a4 - -At(Robot,MilkDrink) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->af70539d-8bcc-4376-82c9-adfade4f98a4 - - - - - -37fe0494-39ca-425c-ae58-e1295a9fba63 - -At(Robot,Bar2) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->37fe0494-39ca-425c-ae58-e1295a9fba63 - - - - - -8dcc1adb-2d86-4d73-b863-f8f0537c4b9f - -At(Robot,Bar) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->8dcc1adb-2d86-4d73-b863-f8f0537c4b9f - - - - - -603f4284-669f-496e-8247-d4537c08d29c - -PutDown(NFCJuice,Bar) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->603f4284-669f-496e-8247-d4537c08d29c - - - - - -de0fd426-6a83-46c5-807d-013e7e8d8d8c - -Holding(NFCJuice) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->de0fd426-6a83-46c5-807d-013e7e8d8d8c - - - - - -8ca35f0c-d9d9-424f-8c54-08955de17e4b - -At(Robot,MilkDrink) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->8ca35f0c-d9d9-424f-8c54-08955de17e4b - - - - - -1d976968-3c0f-4286-8f0d-0f797ae0e548 - -At(Robot,Bar2) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->1d976968-3c0f-4286-8f0d-0f797ae0e548 - - - - - -a53e39e0-d1ec-4c6d-b713-00a4c398ca49 - -PutDown(NFCJuice,Bar) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->a53e39e0-d1ec-4c6d-b713-00a4c398ca49 - - - - - -ccab9e0f-6109-429b-be6a-a8862f02c26a - -Holding(NFCJuice) - - - -75412662-c754-4317-a447-76d6a7c56bdb->ccab9e0f-6109-429b-be6a-a8862f02c26a - - - - - -8869c4d8-2d2b-4efa-849d-5dbda015ac2d - -At(Robot,MilkDrink) - - - -75412662-c754-4317-a447-76d6a7c56bdb->8869c4d8-2d2b-4efa-849d-5dbda015ac2d - - - - - -5091f0c2-348d-4e30-8a56-3e6bf1c6fde7 - -At(Robot,Bar2) - - - -75412662-c754-4317-a447-76d6a7c56bdb->5091f0c2-348d-4e30-8a56-3e6bf1c6fde7 - - - - - -89aaef8c-ed43-4ec7-b692-bb650752a5c3 - -PutDown(NFCJuice,Bar) - - - -75412662-c754-4317-a447-76d6a7c56bdb->89aaef8c-ed43-4ec7-b692-bb650752a5c3 - - - - - -3e456905-9d54-441a-87d7-bf468e458494 - -Holding(NFCJuice) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->3e456905-9d54-441a-87d7-bf468e458494 - - - - - -b4100464-e6aa-4476-85ed-19fe6ec08795 - -At(Robot,BrightTable6) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->b4100464-e6aa-4476-85ed-19fe6ec08795 - - - - - -f249bddf-362e-4319-9969-ef576e5e607d - -At(Robot,MilkDrink) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->f249bddf-362e-4319-9969-ef576e5e607d - - - - - -df18beaf-318b-4302-8d11-521a0b31e515 - -At(Robot,Bar2) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->df18beaf-318b-4302-8d11-521a0b31e515 - - - - - -cea79165-29d4-42ca-aa88-b94a92b3948e - -PutDown(NFCJuice,BrightTable) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->cea79165-29d4-42ca-aa88-b94a92b3948e - - - - - -f9727d1c-73b4-4928-9ac0-f4f2cca56c18 - -Holding(NFCJuice) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->f9727d1c-73b4-4928-9ac0-f4f2cca56c18 - - - - - -07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc - -At(Robot,BrightTable6) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc - - - - - -c4d462f4-b479-4414-84c1-c925176ca40a - -At(Robot,MilkDrink) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->c4d462f4-b479-4414-84c1-c925176ca40a - - - - - -52a357d2-983e-45f9-a861-a5d0035f328c - -At(Robot,Bar2) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->52a357d2-983e-45f9-a861-a5d0035f328c - - - - - -a6f03038-7fa8-4a66-ab5c-b960b6e4c342 - -PutDown(NFCJuice,BrightTable) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->a6f03038-7fa8-4a66-ab5c-b960b6e4c342 - - - - - -1d505dc4-ac2f-4a59-a358-04851ce05bb3 - -Holding(NFCJuice) - - - -577c0aea-a006-430c-816c-8348d6606e3d->1d505dc4-ac2f-4a59-a358-04851ce05bb3 - - - - - -3f80d1e8-f2db-43e8-8278-0813fe5112dd - -At(Robot,MilkDrink) - - - -577c0aea-a006-430c-816c-8348d6606e3d->3f80d1e8-f2db-43e8-8278-0813fe5112dd - - - - - -bd7695fc-29ac-4d56-8409-aa8cf78915f6 - -At(Robot,CoffeeTable) - - - -577c0aea-a006-430c-816c-8348d6606e3d->bd7695fc-29ac-4d56-8409-aa8cf78915f6 - - - - - -1b628cc0-b45b-4e96-bd8a-c7e81f500856 - -At(Robot,Bar2) - - - -577c0aea-a006-430c-816c-8348d6606e3d->1b628cc0-b45b-4e96-bd8a-c7e81f500856 - - - - - -c014ee15-80a9-4dd3-9ebb-1f1c313f4d16 - -PutDown(NFCJuice,CoffeeTable) - - - -577c0aea-a006-430c-816c-8348d6606e3d->c014ee15-80a9-4dd3-9ebb-1f1c313f4d16 - - - - - -1aa3e74e-1e05-440a-b705-8c2410857e8a - -Holding(NFCJuice) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->1aa3e74e-1e05-440a-b705-8c2410857e8a - - - - - -f78dc5f1-1945-4ab3-a235-9b2cc0fef58e - -At(Robot,MilkDrink) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->f78dc5f1-1945-4ab3-a235-9b2cc0fef58e - - - - - -73de4b04-24a2-4bfd-a424-fa903919a101 - -At(Robot,CoffeeTable) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->73de4b04-24a2-4bfd-a424-fa903919a101 - - - - - -1573def4-00a5-4c47-81af-8dadb1838080 - -At(Robot,Bar2) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->1573def4-00a5-4c47-81af-8dadb1838080 - - - - - -0c5a442c-ce91-4799-807f-7a5d8725b87f - -PutDown(NFCJuice,CoffeeTable) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->0c5a442c-ce91-4799-807f-7a5d8725b87f - - - - - -e2f44336-e68f-4dea-a369-7a0b0c3bff70 - -Holding(NFCJuice) - - - -d3f1fd05-85df-4b35-9571-78b735258719->e2f44336-e68f-4dea-a369-7a0b0c3bff70 - - - - - -26431d94-da5f-4db5-b646-99be969f7b9f - -At(Robot,MilkDrink) - - - -d3f1fd05-85df-4b35-9571-78b735258719->26431d94-da5f-4db5-b646-99be969f7b9f - - - - - -7ac1c62e-a45b-441c-a0d8-6f34f531601f - -At(Robot,Bar2) - - - -d3f1fd05-85df-4b35-9571-78b735258719->7ac1c62e-a45b-441c-a0d8-6f34f531601f - - - - - -bd13d76f-1213-4bcd-a5d7-0c7a2988828d - -At(Robot,Table1) - - - -d3f1fd05-85df-4b35-9571-78b735258719->bd13d76f-1213-4bcd-a5d7-0c7a2988828d - - - - - -93d7c3ad-c70b-4061-b06f-c6ac55ca6e65 - -PutDown(NFCJuice,Table) - - - -d3f1fd05-85df-4b35-9571-78b735258719->93d7c3ad-c70b-4061-b06f-c6ac55ca6e65 - - - - - -d1952e9d-1f01-416a-b93c-8fe200d18901 - -Holding(NFCJuice) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->d1952e9d-1f01-416a-b93c-8fe200d18901 - - - - - -7b9f4862-0e3a-411c-9bad-513117271765 - -At(Robot,MilkDrink) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->7b9f4862-0e3a-411c-9bad-513117271765 - - - - - -8a8f12f7-c897-4218-ac58-117d776070d9 - -At(Robot,Bar2) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->8a8f12f7-c897-4218-ac58-117d776070d9 - - - - - -9b4791fa-a544-449a-86fa-721ffe016b31 - -At(Robot,Table1) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->9b4791fa-a544-449a-86fa-721ffe016b31 - - - - - -21526a97-cab4-45d0-9c98-0c67a6918c4c - -PutDown(NFCJuice,Table) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->21526a97-cab4-45d0-9c98-0c67a6918c4c - - - - - -7b3d4cd4-d3d7-4e5a-b7cf-b81eff240206 - -Holding(NFCJuice) - - - -02e23067-c732-4321-9d02-00d8548bcecd->7b3d4cd4-d3d7-4e5a-b7cf-b81eff240206 - - - - - -2b087bbf-246a-4108-b466-77f1efda427b - -At(Robot,MilkDrink) - - - -02e23067-c732-4321-9d02-00d8548bcecd->2b087bbf-246a-4108-b466-77f1efda427b - - - - - -6e5dcb40-e1e9-431d-a16e-4e9141cb8643 - -At(Robot,Bar2) - - - -02e23067-c732-4321-9d02-00d8548bcecd->6e5dcb40-e1e9-431d-a16e-4e9141cb8643 - - - - - -4fd3802f-1276-42eb-bfa4-dc29720e9c25 - -At(Robot,Table2) - - - -02e23067-c732-4321-9d02-00d8548bcecd->4fd3802f-1276-42eb-bfa4-dc29720e9c25 - - - - - -8a98b8e6-2c87-4c4c-9928-3419ebeb6572 - -PutDown(NFCJuice,Table) - - - -02e23067-c732-4321-9d02-00d8548bcecd->8a98b8e6-2c87-4c4c-9928-3419ebeb6572 - - - - - -3e9e60f7-9ed8-4645-93d2-676bde63698f - -Holding(NFCJuice) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->3e9e60f7-9ed8-4645-93d2-676bde63698f - - - - - -db148f18-d038-4d52-b2b3-98a6107cdd9d - -At(Robot,MilkDrink) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->db148f18-d038-4d52-b2b3-98a6107cdd9d - - - - - -61b63172-45ce-48c6-8f7c-590117f71e88 - -At(Robot,Bar2) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->61b63172-45ce-48c6-8f7c-590117f71e88 - - - - - -0bc243be-3388-43d2-ac1d-cedb785b4d29 - -At(Robot,Table2) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->0bc243be-3388-43d2-ac1d-cedb785b4d29 - - - - - -3e116127-4f32-4643-92d1-babec7a6edd5 - -PutDown(NFCJuice,Table) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->3e116127-4f32-4643-92d1-babec7a6edd5 - - - - - -fd4a48d4-a59d-472c-9246-faf27e04c955 - -Holding(NFCJuice) - - - -71f64768-4637-44e3-8472-4046d992895d->fd4a48d4-a59d-472c-9246-faf27e04c955 - - - - - -a9b66a1a-d7fc-4635-b91f-3a488cf97c5e - -At(Robot,MilkDrink) - - - -71f64768-4637-44e3-8472-4046d992895d->a9b66a1a-d7fc-4635-b91f-3a488cf97c5e - - - - - -ad41fb45-45ba-47af-b235-536383b8f0fa - -At(Robot,Bar2) - - - -71f64768-4637-44e3-8472-4046d992895d->ad41fb45-45ba-47af-b235-536383b8f0fa - - - - - -a4b069b3-0c51-42ca-a830-a4444d0186dd - -At(Robot,Table3) - - - -71f64768-4637-44e3-8472-4046d992895d->a4b069b3-0c51-42ca-a830-a4444d0186dd - - - - - -9bea3932-7c9d-4fb0-a218-fb5eef7f9600 - -PutDown(NFCJuice,Table) - - - -71f64768-4637-44e3-8472-4046d992895d->9bea3932-7c9d-4fb0-a218-fb5eef7f9600 - - - - - -336cd8c3-4b20-46d9-81ea-ba6cee8d2b12 - -Holding(NFCJuice) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->336cd8c3-4b20-46d9-81ea-ba6cee8d2b12 - - - - - -a83ec234-6fd5-48f9-8d2d-0485d785462a - -At(Robot,MilkDrink) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->a83ec234-6fd5-48f9-8d2d-0485d785462a - - - - - -9d21fe7d-3a5e-4111-a487-7e47b2a504e3 - -At(Robot,Bar2) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->9d21fe7d-3a5e-4111-a487-7e47b2a504e3 - - - - - -70252922-872a-4db5-bc70-5c4741c1cb43 - -At(Robot,Table3) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->70252922-872a-4db5-bc70-5c4741c1cb43 - - - - - -368ef0e5-81a7-430e-8720-5cc0ccea43dc - -PutDown(NFCJuice,Table) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->368ef0e5-81a7-430e-8720-5cc0ccea43dc - - - - - -a06cf9be-fd90-45f2-9e0b-b33c6399df97 - -Holding(NFCJuice) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->a06cf9be-fd90-45f2-9e0b-b33c6399df97 - - - - - -915c198a-8390-43a1-8ed0-51699f6f76b3 - -At(Robot,MilkDrink) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->915c198a-8390-43a1-8ed0-51699f6f76b3 - - - - - -f3b090f9-fc38-45de-a873-005a9111f480 - -At(Robot,WaterTable) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->f3b090f9-fc38-45de-a873-005a9111f480 - - - - - -6797493d-9a17-4b1a-ad25-1464d1245a87 - -At(Robot,Bar2) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->6797493d-9a17-4b1a-ad25-1464d1245a87 - - - - - -ba0baf4d-50fd-41e3-8a88-906d7a0287ba - -PutDown(NFCJuice,WaterTable) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->ba0baf4d-50fd-41e3-8a88-906d7a0287ba - - - - - -29c8c629-adff-4096-9484-f2807d170b55 - -Holding(NFCJuice) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->29c8c629-adff-4096-9484-f2807d170b55 - - - - - -9165722c-6bb1-44e7-8392-d614c3d004be - -At(Robot,MilkDrink) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->9165722c-6bb1-44e7-8392-d614c3d004be - - - - - -f654f65b-419c-4870-9d83-4e8811f55132 - -At(Robot,WaterTable) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->f654f65b-419c-4870-9d83-4e8811f55132 - - - - - -e64848ff-cfd1-4aa5-88a4-1dbbf00ac802 - -At(Robot,Bar2) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->e64848ff-cfd1-4aa5-88a4-1dbbf00ac802 - - - - - -a380c8bb-a7d7-4894-bf9a-cff53f6d48e8 - -PutDown(NFCJuice,WaterTable) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->a380c8bb-a7d7-4894-bf9a-cff53f6d48e8 - - - - - -7e41068f-c7eb-4e3a-b00b-17476d644a32 - -At(Robot,Bar) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->7e41068f-c7eb-4e3a-b00b-17476d644a32 - - - - - -95babd11-f549-4690-a591-3b65240158c1 - -Holding(Softdrink) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->95babd11-f549-4690-a591-3b65240158c1 - - - - - -af354285-bd87-443a-8c05-7da9881aa3d8 - -At(Robot,MilkDrink) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->af354285-bd87-443a-8c05-7da9881aa3d8 - - - - - -a8f4a494-2c73-49d0-9d6d-0ec173c73eb7 - -At(Robot,Bar2) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->a8f4a494-2c73-49d0-9d6d-0ec173c73eb7 - - - - - -2e42d89e-df6e-4607-afc6-0652c3065997 - -PutDown(Softdrink,Bar) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->2e42d89e-df6e-4607-afc6-0652c3065997 - - - - - -104297e6-b5de-4229-92c3-a1c8f143a1fa - -At(Robot,Bar) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->104297e6-b5de-4229-92c3-a1c8f143a1fa - - - - - -6287d6a1-01b8-4ecc-83a7-b3c8112dddd3 - -Holding(Softdrink) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->6287d6a1-01b8-4ecc-83a7-b3c8112dddd3 - - - - - -064ab3e4-9d07-45cf-98a3-69f4c01405ef - -At(Robot,MilkDrink) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->064ab3e4-9d07-45cf-98a3-69f4c01405ef - - - - - -31b38865-2994-4816-a1f2-f51f6e574ae4 - -At(Robot,Bar2) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->31b38865-2994-4816-a1f2-f51f6e574ae4 - - - - - -10fc85c8-f508-45e7-98d7-f500bfeafe5a - -PutDown(Softdrink,Bar) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->10fc85c8-f508-45e7-98d7-f500bfeafe5a - - - - - -405c73cd-e2b9-4bcb-9468-2c6c4dfc2435 - -Holding(Softdrink) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->405c73cd-e2b9-4bcb-9468-2c6c4dfc2435 - - - - - -5350eed3-9bbf-47b3-b9e5-8a9249a231ef - -At(Robot,MilkDrink) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->5350eed3-9bbf-47b3-b9e5-8a9249a231ef - - - - - -1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99 - -At(Robot,Bar2) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99 - - - - - -5bb0d8b1-d585-4bb6-9b0b-e194332e0965 - -PutDown(Softdrink,Bar) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->5bb0d8b1-d585-4bb6-9b0b-e194332e0965 - - - - - -d37c9f2e-bed1-4fe2-b313-449793df81a4 - -Holding(Softdrink) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->d37c9f2e-bed1-4fe2-b313-449793df81a4 - - - - - -a2c5a04c-9478-4495-9c58-fff5b9439a52 - -At(Robot,MilkDrink) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->a2c5a04c-9478-4495-9c58-fff5b9439a52 - - - - - -e11fdf63-5f7d-45d6-a397-e6ba4bf4b512 - -At(Robot,Bar2) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->e11fdf63-5f7d-45d6-a397-e6ba4bf4b512 - - - - - -1aa7f02c-66ce-487d-adbb-d208f327516e - -PutDown(Softdrink,Bar) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->1aa7f02c-66ce-487d-adbb-d208f327516e - - - - - -f2794569-a401-4125-863b-ec733d5fff04 - -At(Robot,BrightTable6) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->f2794569-a401-4125-863b-ec733d5fff04 - - - - - -55849d0f-9891-472e-8a5c-521168acc32c - -Holding(Softdrink) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->55849d0f-9891-472e-8a5c-521168acc32c - - - - - -0ecc86f9-ca06-4e28-a960-94a635ef5341 - -At(Robot,MilkDrink) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->0ecc86f9-ca06-4e28-a960-94a635ef5341 - - - - - -4aafd0e6-1158-43c9-a988-3525e24bb883 - -At(Robot,Bar2) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->4aafd0e6-1158-43c9-a988-3525e24bb883 - - - - - -2c8cf63c-3336-43f6-b6ec-1044baf760c5 - -PutDown(Softdrink,BrightTable) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->2c8cf63c-3336-43f6-b6ec-1044baf760c5 - - - - - -63e4a060-5357-47ec-8121-2b8eb890b8ef - -At(Robot,BrightTable6) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->63e4a060-5357-47ec-8121-2b8eb890b8ef - - - - - -40eed86d-8d28-453f-a8c9-950848379795 - -Holding(Softdrink) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->40eed86d-8d28-453f-a8c9-950848379795 - - - - - -d0d4e14d-4aae-49d8-8194-e5dbff370fd4 - -At(Robot,MilkDrink) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->d0d4e14d-4aae-49d8-8194-e5dbff370fd4 - - - - - -608bae1a-2eb8-43ac-b6b2-06516663d15b - -At(Robot,Bar2) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->608bae1a-2eb8-43ac-b6b2-06516663d15b - - - - - -cf2dbf46-3444-46df-8fd4-dc64e11da32d - -PutDown(Softdrink,BrightTable) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->cf2dbf46-3444-46df-8fd4-dc64e11da32d - - - - - -63490080-f3f7-49fc-85d0-e1277cb9edea - -Holding(Softdrink) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->63490080-f3f7-49fc-85d0-e1277cb9edea - - - - - -6361b873-a6b4-4167-b9ba-b1c72011533f - -At(Robot,MilkDrink) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->6361b873-a6b4-4167-b9ba-b1c72011533f - - - - - -a18e5bcd-6688-4dfb-addb-db5e1d47190d - -At(Robot,CoffeeTable) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->a18e5bcd-6688-4dfb-addb-db5e1d47190d - - - - - -b722450d-09bf-4e3f-8071-322c81265352 - -At(Robot,Bar2) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->b722450d-09bf-4e3f-8071-322c81265352 - - - - - -8514cfd1-df34-422c-9755-bd8b65ec33d5 - -PutDown(Softdrink,CoffeeTable) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->8514cfd1-df34-422c-9755-bd8b65ec33d5 - - - - - -6b20daf3-c7d1-4e47-a9b7-8dc978303b3e - -Holding(Softdrink) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->6b20daf3-c7d1-4e47-a9b7-8dc978303b3e - - - - - -a563f8a1-131c-4206-b746-d5e723f976ec - -At(Robot,MilkDrink) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->a563f8a1-131c-4206-b746-d5e723f976ec - - - - - -d5fab8c2-5bea-422e-8abe-e19bc3439b0e - -At(Robot,CoffeeTable) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->d5fab8c2-5bea-422e-8abe-e19bc3439b0e - - - - - -69e21ea0-7524-4c40-bdb7-fdf5402d51e9 - -At(Robot,Bar2) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->69e21ea0-7524-4c40-bdb7-fdf5402d51e9 - - - - - -6666b4a7-2143-46a5-af8c-60ea3e5e9fc1 - -PutDown(Softdrink,CoffeeTable) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->6666b4a7-2143-46a5-af8c-60ea3e5e9fc1 - - - - - -e995d6ad-9eca-4fee-bd44-4c8580ea35db - -Holding(Softdrink) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->e995d6ad-9eca-4fee-bd44-4c8580ea35db - - - - - -76eec655-6e64-4a93-a11a-1159fd53514a - -At(Robot,MilkDrink) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->76eec655-6e64-4a93-a11a-1159fd53514a - - - - - -593541a4-a7b3-40dd-95d2-8563f5cd6142 - -At(Robot,Bar2) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->593541a4-a7b3-40dd-95d2-8563f5cd6142 - - - - - -ec235825-175a-4d2a-8780-7ecfe5cf8777 - -At(Robot,Table1) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->ec235825-175a-4d2a-8780-7ecfe5cf8777 - - - - - -4afd6b77-7d75-4a0f-861c-66d28fe07fa9 - -PutDown(Softdrink,Table) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->4afd6b77-7d75-4a0f-861c-66d28fe07fa9 - - - - - -41535c4c-b1bb-4fd4-ad6d-3903146fcb52 - -Holding(Softdrink) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->41535c4c-b1bb-4fd4-ad6d-3903146fcb52 - - - - - -b7effd89-7469-462b-880c-28f0aaa13a04 - -At(Robot,MilkDrink) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->b7effd89-7469-462b-880c-28f0aaa13a04 - - - - - -7aea9ffe-1c21-4a1c-8193-b6272784c27c - -At(Robot,Bar2) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->7aea9ffe-1c21-4a1c-8193-b6272784c27c - - - - - -cdae2dcd-536f-4b10-b7a2-6fbf23734368 - -At(Robot,Table1) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->cdae2dcd-536f-4b10-b7a2-6fbf23734368 - - - - - -b83f8bff-17ec-405c-a5ff-2f68298f8699 - -PutDown(Softdrink,Table) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->b83f8bff-17ec-405c-a5ff-2f68298f8699 - - - - - -99918538-9f5c-43bd-863b-11dca11f9d47 - -Holding(Softdrink) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->99918538-9f5c-43bd-863b-11dca11f9d47 - - - - - -9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae - -At(Robot,MilkDrink) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae - - - - - -e69096a2-e09a-4abd-8485-7760760098d8 - -At(Robot,Bar2) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->e69096a2-e09a-4abd-8485-7760760098d8 - - - - - -3f44da18-2090-48ca-9438-fe1e5a039fc8 - -At(Robot,Table2) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->3f44da18-2090-48ca-9438-fe1e5a039fc8 - - - - - -e1f88597-d372-48bf-be27-226fb1d7a537 - -PutDown(Softdrink,Table) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->e1f88597-d372-48bf-be27-226fb1d7a537 - - - - - -7128b9e3-37e5-4b92-a310-2db00b23030a - -Holding(Softdrink) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->7128b9e3-37e5-4b92-a310-2db00b23030a - - - - - -3ab05ca4-709c-49dd-86b3-6e85a983b5f4 - -At(Robot,MilkDrink) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->3ab05ca4-709c-49dd-86b3-6e85a983b5f4 - - - - - -d74d9d29-0daf-43fe-8eeb-92f59aae9dbb - -At(Robot,Bar2) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->d74d9d29-0daf-43fe-8eeb-92f59aae9dbb - - - - - -73ff4437-8796-43b4-8622-8d4c0a41c264 - -At(Robot,Table2) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->73ff4437-8796-43b4-8622-8d4c0a41c264 - - - - - -5e09d5aa-7f3c-4de4-8f60-b518cad38369 - -PutDown(Softdrink,Table) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->5e09d5aa-7f3c-4de4-8f60-b518cad38369 - - - - - -e4b41ecd-9476-42dd-b564-df398d2a5659 - -Holding(Softdrink) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->e4b41ecd-9476-42dd-b564-df398d2a5659 - - - - - -e9f2502e-0d97-46ba-8c3f-2421e17128fb - -At(Robot,MilkDrink) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->e9f2502e-0d97-46ba-8c3f-2421e17128fb - - - - - -d510a5a9-7230-4390-8793-06c7079a9c2d - -At(Robot,Bar2) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->d510a5a9-7230-4390-8793-06c7079a9c2d - - - - - -444e0b09-ef34-45b9-b889-34ab9858fc52 - -At(Robot,Table3) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->444e0b09-ef34-45b9-b889-34ab9858fc52 - - - - - -a46e0ea4-74b8-436d-8080-50eadef30458 - -PutDown(Softdrink,Table) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->a46e0ea4-74b8-436d-8080-50eadef30458 - - - - - -b8e9f30c-cab2-4ef3-87d5-30703fd8ce4b - -Holding(Softdrink) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->b8e9f30c-cab2-4ef3-87d5-30703fd8ce4b - - - - - -f4d5878b-716e-42e4-a7df-ec2851369eaa - -At(Robot,MilkDrink) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->f4d5878b-716e-42e4-a7df-ec2851369eaa - - - - - -2e425296-595f-46c2-a867-ec82f9f6f662 - -At(Robot,Bar2) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->2e425296-595f-46c2-a867-ec82f9f6f662 - - - - - -cbe22c6c-74f5-46a8-8d49-ab743ca5af93 - -At(Robot,Table3) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->cbe22c6c-74f5-46a8-8d49-ab743ca5af93 - - - - - -1fe53814-3609-408a-8120-ab2f647b2902 - -PutDown(Softdrink,Table) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->1fe53814-3609-408a-8120-ab2f647b2902 - - - - - -c7e602d1-6581-4621-af1c-6cfc67e62a4c - -Holding(Softdrink) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->c7e602d1-6581-4621-af1c-6cfc67e62a4c - - - - - -fdf722b1-053a-4cf9-b97b-b894d7249270 - -At(Robot,MilkDrink) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->fdf722b1-053a-4cf9-b97b-b894d7249270 - - - - - -57cb32b0-c56b-4830-8aa3-72f3a6ba6029 - -At(Robot,WaterTable) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->57cb32b0-c56b-4830-8aa3-72f3a6ba6029 - - - - - -6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62 - -At(Robot,Bar2) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62 - - - - - -dc923371-bda2-4190-a201-86bc5d4bb6dd - -PutDown(Softdrink,WaterTable) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->dc923371-bda2-4190-a201-86bc5d4bb6dd - - - - - -056d63d1-fbfd-4d47-84ac-4c97a72f412e - -Holding(Softdrink) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->056d63d1-fbfd-4d47-84ac-4c97a72f412e - - - - - -5a604a9b-e06a-4a38-b6a1-c58438f96f7d - -At(Robot,MilkDrink) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->5a604a9b-e06a-4a38-b6a1-c58438f96f7d - - - - - -795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b - -At(Robot,WaterTable) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b - - - - - -65d4f9e4-b1f1-432a-84b6-786824c464a1 - -At(Robot,Bar2) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->65d4f9e4-b1f1-432a-84b6-786824c464a1 - - - - - -acd75dbe-6863-4c3e-afee-68c22d529fb5 - -PutDown(Softdrink,WaterTable) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->acd75dbe-6863-4c3e-afee-68c22d529fb5 - - - - - -ccbf6e12-f838-47e0-83ed-534fc9569cd7 - -At(Robot,Bar) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->ccbf6e12-f838-47e0-83ed-534fc9569cd7 - - - - - -cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221 - -At(Robot,MilkDrink) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221 - - - - - -e67923ef-45a9-4b6d-88fd-75cb8e87d6c8 - -At(Robot,Bar2) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->e67923ef-45a9-4b6d-88fd-75cb8e87d6c8 - - - - - -c06d4711-09ea-4648-9283-5296f79d7fd7 - -Holding(SpringWater) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->c06d4711-09ea-4648-9283-5296f79d7fd7 - - - - - -22fc2739-ffa4-4377-8745-3ef90e4bde80 - -PutDown(SpringWater,Bar) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->22fc2739-ffa4-4377-8745-3ef90e4bde80 - - - - - -d6f4b983-571a-4f96-9fd5-6c9dab97f013 - -At(Robot,Bar) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->d6f4b983-571a-4f96-9fd5-6c9dab97f013 - - - - - -25a0dc72-3aaf-4419-8340-35675963abce - -At(Robot,MilkDrink) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->25a0dc72-3aaf-4419-8340-35675963abce - - - - - -b4adf49a-74c2-46be-92d2-e300e07fc1b6 - -At(Robot,Bar2) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->b4adf49a-74c2-46be-92d2-e300e07fc1b6 - - - - - -3381c632-765c-465a-a8a2-0a6a716cfaa1 - -Holding(SpringWater) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->3381c632-765c-465a-a8a2-0a6a716cfaa1 - - - - - -92e20f04-b5ce-42b5-a106-60d6d53f4370 - -PutDown(SpringWater,Bar) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->92e20f04-b5ce-42b5-a106-60d6d53f4370 - - - - - -960e0182-e7ea-4a18-b7ff-ecdd7a804106 - -At(Robot,MilkDrink) - - - -ee858d86-4fac-4681-8f13-a50fec769602->960e0182-e7ea-4a18-b7ff-ecdd7a804106 - - - - - -c9e72ce4-b00c-4d69-bdae-06ddf2bc2866 - -At(Robot,Bar2) - - - -ee858d86-4fac-4681-8f13-a50fec769602->c9e72ce4-b00c-4d69-bdae-06ddf2bc2866 - - - - - -29dad91a-76fc-46c3-a145-a94f9f4c0291 - -Holding(SpringWater) - - - -ee858d86-4fac-4681-8f13-a50fec769602->29dad91a-76fc-46c3-a145-a94f9f4c0291 - - - - - -b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e - -PutDown(SpringWater,Bar) - - - -ee858d86-4fac-4681-8f13-a50fec769602->b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e - - - - - -3d49ff67-9b5f-46a7-bf94-9bc93fdf0912 - -At(Robot,MilkDrink) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->3d49ff67-9b5f-46a7-bf94-9bc93fdf0912 - - - - - -7b02338a-05b9-43bf-b03f-1c187183271d - -At(Robot,Bar2) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->7b02338a-05b9-43bf-b03f-1c187183271d - - - - - -1c62a5b7-7f08-42a7-a7b4-f054a6260d54 - -Holding(SpringWater) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->1c62a5b7-7f08-42a7-a7b4-f054a6260d54 - - - - - -e6d8651c-0c4d-44dd-858e-4067b873f31a - -PutDown(SpringWater,Bar) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->e6d8651c-0c4d-44dd-858e-4067b873f31a - - - - - -b86de745-e8fd-4a69-a9f7-b24a55b46880 - -At(Robot,BrightTable6) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->b86de745-e8fd-4a69-a9f7-b24a55b46880 - - - - - -70a89f7f-d4e3-40da-9129-d8c1c2beaedf - -At(Robot,MilkDrink) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->70a89f7f-d4e3-40da-9129-d8c1c2beaedf - - - - - -99d238b9-5219-4e40-8a80-ad44064505fd - -At(Robot,Bar2) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->99d238b9-5219-4e40-8a80-ad44064505fd - - - - - -149bff68-eac1-4a37-97db-54120a941812 - -Holding(SpringWater) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->149bff68-eac1-4a37-97db-54120a941812 - - - - - -3a941fb5-3fbe-4f55-912f-d8c39d302dd9 - -PutDown(SpringWater,BrightTable) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->3a941fb5-3fbe-4f55-912f-d8c39d302dd9 - - - - - -274d4d6e-b4f7-4588-bf40-575f0c836a07 - -At(Robot,BrightTable6) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->274d4d6e-b4f7-4588-bf40-575f0c836a07 - - - - - -d4e7fb66-74bd-43af-ac44-8efee75d0346 - -At(Robot,MilkDrink) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->d4e7fb66-74bd-43af-ac44-8efee75d0346 - - - - - -ce8588e4-cd34-4606-ba16-21718af4c14b - -At(Robot,Bar2) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->ce8588e4-cd34-4606-ba16-21718af4c14b - - - - - -a421e929-698f-44a3-a1e9-9cf29a95f173 - -Holding(SpringWater) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->a421e929-698f-44a3-a1e9-9cf29a95f173 - - - - - -c24a0a17-1114-4197-a422-502a10a4a386 - -PutDown(SpringWater,BrightTable) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->c24a0a17-1114-4197-a422-502a10a4a386 - - - - - -ce27e756-127d-4b48-bbb9-1723ccd0d360 - -At(Robot,MilkDrink) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->ce27e756-127d-4b48-bbb9-1723ccd0d360 - - - - - -962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e - -At(Robot,CoffeeTable) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e - - - - - -b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe - -At(Robot,Bar2) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe - - - - - -2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d - -Holding(SpringWater) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d - - - - - -4dde59c3-139d-4f1a-83bd-f101df1e13f6 - -PutDown(SpringWater,CoffeeTable) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->4dde59c3-139d-4f1a-83bd-f101df1e13f6 - - - - - -6f27d961-bf8b-498d-9483-049abafdf443 - -At(Robot,MilkDrink) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->6f27d961-bf8b-498d-9483-049abafdf443 - - - - - -e0e55da1-a57b-47f1-be86-286c76140a34 - -At(Robot,CoffeeTable) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->e0e55da1-a57b-47f1-be86-286c76140a34 - - - - - -f5e1ab44-1577-4786-bc95-be83be2bec1c - -At(Robot,Bar2) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->f5e1ab44-1577-4786-bc95-be83be2bec1c - - - - - -56fb626c-eec0-494b-9b0f-db5cbf7fa1d2 - -Holding(SpringWater) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->56fb626c-eec0-494b-9b0f-db5cbf7fa1d2 - - - - - -85e2b90d-c56b-4e7b-a562-7ad41804ff42 - -PutDown(SpringWater,CoffeeTable) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->85e2b90d-c56b-4e7b-a562-7ad41804ff42 - - - - - -03d4e138-3566-4e85-b87f-89c83bd1e010 - -At(Robot,MilkDrink) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->03d4e138-3566-4e85-b87f-89c83bd1e010 - - - - - -133bb189-04c6-4abf-b66c-61c5343f85a0 - -At(Robot,Bar2) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->133bb189-04c6-4abf-b66c-61c5343f85a0 - - - - - -319a20e1-410d-4a53-87c7-42937351e3b5 - -Holding(SpringWater) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->319a20e1-410d-4a53-87c7-42937351e3b5 - - - - - -fa5217d7-9057-4c81-8bd7-92851f610f9d - -At(Robot,Table1) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->fa5217d7-9057-4c81-8bd7-92851f610f9d - - - - - -753be064-5b56-43a1-a9c9-a6a08c7efabd - -PutDown(SpringWater,Table) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->753be064-5b56-43a1-a9c9-a6a08c7efabd - - - - - -ae49647e-da74-4406-8676-472adbd51c73 - -At(Robot,MilkDrink) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->ae49647e-da74-4406-8676-472adbd51c73 - - - - - -e0f6f1e5-c264-4199-94e3-0baca9b96347 - -At(Robot,Bar2) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->e0f6f1e5-c264-4199-94e3-0baca9b96347 - - - - - -7bf275e4-a768-4929-b736-369b047890bd - -Holding(SpringWater) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->7bf275e4-a768-4929-b736-369b047890bd - - - - - -1157dd05-84fc-4aa0-b6b0-64456b0396c3 - -At(Robot,Table1) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->1157dd05-84fc-4aa0-b6b0-64456b0396c3 - - - - - -5967f861-96f7-4375-85ed-b20cf102bce8 - -PutDown(SpringWater,Table) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->5967f861-96f7-4375-85ed-b20cf102bce8 - - - - - -9bebca6d-78d9-45bc-8bfa-95eeac24b405 - -At(Robot,MilkDrink) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->9bebca6d-78d9-45bc-8bfa-95eeac24b405 - - - - - -a44c6a71-a767-4ecf-b824-7671fca25295 - -At(Robot,Bar2) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->a44c6a71-a767-4ecf-b824-7671fca25295 - - - - - -ba6f209d-bd4b-47fb-b3b0-56f350c22d61 - -Holding(SpringWater) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->ba6f209d-bd4b-47fb-b3b0-56f350c22d61 - - - - - -ecf43f79-f2af-4870-bcca-826f4c723505 - -At(Robot,Table2) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->ecf43f79-f2af-4870-bcca-826f4c723505 - - - - - -5f689d38-0baf-4dd4-8c2d-080f45e48005 - -PutDown(SpringWater,Table) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->5f689d38-0baf-4dd4-8c2d-080f45e48005 - - - - - -607b042a-4777-4920-a051-332013efdb19 - -At(Robot,MilkDrink) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->607b042a-4777-4920-a051-332013efdb19 - - - - - -1c56b1b1-4e0b-494f-bd5c-50c376374277 - -At(Robot,Bar2) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->1c56b1b1-4e0b-494f-bd5c-50c376374277 - - - - - -18fb7a42-0d7f-48f9-b407-d47c9583c1d3 - -Holding(SpringWater) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->18fb7a42-0d7f-48f9-b407-d47c9583c1d3 - - - - - -c14e1486-bdc6-4d59-abf0-58319b690564 - -At(Robot,Table2) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->c14e1486-bdc6-4d59-abf0-58319b690564 - - - - - -3ccc07d8-bfe5-4fae-b8ae-7b4d70008900 - -PutDown(SpringWater,Table) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->3ccc07d8-bfe5-4fae-b8ae-7b4d70008900 - - - - - -5f8e746b-3708-4742-9129-677753bfb3d8 - -At(Robot,MilkDrink) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->5f8e746b-3708-4742-9129-677753bfb3d8 - - - - - -e73cae43-c50e-43a5-b0ab-96c1d3c05f7f - -At(Robot,Bar2) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->e73cae43-c50e-43a5-b0ab-96c1d3c05f7f - - - - - -031848ca-382f-49c8-b057-964066b9c76f - -At(Robot,Table3) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->031848ca-382f-49c8-b057-964066b9c76f - - - - - -7c93f875-2de1-4025-b66b-d02801dadb0b - -Holding(SpringWater) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->7c93f875-2de1-4025-b66b-d02801dadb0b - - - - - -840532f7-edf2-48ea-9938-5e3109e38c13 - -PutDown(SpringWater,Table) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->840532f7-edf2-48ea-9938-5e3109e38c13 - - - - - -ab887bfb-9143-4ca8-89c7-a359225ab80a - -At(Robot,MilkDrink) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->ab887bfb-9143-4ca8-89c7-a359225ab80a - - - - - -356f8860-f249-4ec3-ba78-d5976554ec8b - -At(Robot,Bar2) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->356f8860-f249-4ec3-ba78-d5976554ec8b - - - - - -47474376-a398-4f1b-b321-1d6c1d5cef02 - -At(Robot,Table3) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->47474376-a398-4f1b-b321-1d6c1d5cef02 - - - - - -07aa76ec-9f74-42d4-aa8b-9024aff1fd7c - -Holding(SpringWater) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->07aa76ec-9f74-42d4-aa8b-9024aff1fd7c - - - - - -82a89e82-8f75-4126-b756-d419bc92cd47 - -PutDown(SpringWater,Table) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->82a89e82-8f75-4126-b756-d419bc92cd47 - - - - - -04ddba9e-811b-4624-bdbf-86ac874b2850 - -At(Robot,MilkDrink) - - - -cf92a672-9466-4fad-a43b-43524387d782->04ddba9e-811b-4624-bdbf-86ac874b2850 - - - - - -a952521a-a0f6-4171-9c95-4108af61047f - -At(Robot,WaterTable) - - - -cf92a672-9466-4fad-a43b-43524387d782->a952521a-a0f6-4171-9c95-4108af61047f - - - - - -48be13c8-3663-4ed9-a534-8cb664615163 - -Holding(SpringWater) - - - -cf92a672-9466-4fad-a43b-43524387d782->48be13c8-3663-4ed9-a534-8cb664615163 - - - - - -44d0bb58-1731-40e2-bd0c-de6b5c59cd01 - -At(Robot,Bar2) - - - -cf92a672-9466-4fad-a43b-43524387d782->44d0bb58-1731-40e2-bd0c-de6b5c59cd01 - - - - - -2e9f1707-a8cb-41b1-8620-0171a98afc36 - -PutDown(SpringWater,WaterTable) - - - -cf92a672-9466-4fad-a43b-43524387d782->2e9f1707-a8cb-41b1-8620-0171a98afc36 - - - - - -45529897-b745-4969-896a-8c6dfcecd2c6 - -At(Robot,MilkDrink) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->45529897-b745-4969-896a-8c6dfcecd2c6 - - - - - -1ffbf500-dbb5-4f66-a9c0-203195fa5cc2 - -At(Robot,WaterTable) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->1ffbf500-dbb5-4f66-a9c0-203195fa5cc2 - - - - - -73b73f86-49af-4ebd-b8e6-5923fdb40e09 - -Holding(SpringWater) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->73b73f86-49af-4ebd-b8e6-5923fdb40e09 - - - - - -fb4a2de8-f189-4080-b655-d0d25a89863c - -At(Robot,Bar2) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->fb4a2de8-f189-4080-b655-d0d25a89863c - - - - - -b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8 - -PutDown(SpringWater,WaterTable) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8 - - - - - -cbfe020c-0e72-4de3-9159-eba816a54f8b - -Holding(VacuumCup) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->cbfe020c-0e72-4de3-9159-eba816a54f8b - - - - - -8cc7fef1-444b-4e83-ab82-2db7ad97004c - -At(Robot,MilkDrink) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->8cc7fef1-444b-4e83-ab82-2db7ad97004c - - - - - -f475751e-023e-4bd5-9828-cc98f710695d - -At(Robot,Bar2) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->f475751e-023e-4bd5-9828-cc98f710695d - - - - - -9b1cc745-955e-411a-bd89-6b11569208fb - -At(Robot,Bar) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->9b1cc745-955e-411a-bd89-6b11569208fb - - - - - -f6ee2ed4-418c-4b57-b824-50ce4525b8c1 - -PutDown(VacuumCup,Bar) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->f6ee2ed4-418c-4b57-b824-50ce4525b8c1 - - - - - -896c3410-c106-48ac-b6ff-9754860c9d61 - -Holding(VacuumCup) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->896c3410-c106-48ac-b6ff-9754860c9d61 - - - - - -d463ff14-d9ef-4b63-9c2f-772912bdcf74 - -At(Robot,MilkDrink) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->d463ff14-d9ef-4b63-9c2f-772912bdcf74 - - - - - -7a671f10-ff72-41fd-827c-6dd90ee640eb - -At(Robot,Bar2) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->7a671f10-ff72-41fd-827c-6dd90ee640eb - - - - - -18f9ff95-e47e-4be3-8f05-33ac86c2b8b3 - -At(Robot,Bar) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->18f9ff95-e47e-4be3-8f05-33ac86c2b8b3 - - - - - -b9d7ab4a-faa2-4011-ba2c-1c5c7802073f - -PutDown(VacuumCup,Bar) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->b9d7ab4a-faa2-4011-ba2c-1c5c7802073f - - - - - -113aa7f8-e133-4963-8df2-2940527f9b54 - -Holding(VacuumCup) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->113aa7f8-e133-4963-8df2-2940527f9b54 - - - - - -fc099702-da9c-426c-b5c8-ad1cb1055d18 - -At(Robot,MilkDrink) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->fc099702-da9c-426c-b5c8-ad1cb1055d18 - - - - - -01f74d85-37a1-4dcc-8308-9e83b66a5ab2 - -At(Robot,Bar2) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->01f74d85-37a1-4dcc-8308-9e83b66a5ab2 - - - - - -c33e9b17-bdd6-453c-b54c-e9043fde5311 - -PutDown(VacuumCup,Bar) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->c33e9b17-bdd6-453c-b54c-e9043fde5311 - - - - - -8c3675c0-10e9-49f8-9e33-7cb64747bf17 - -Holding(VacuumCup) - - - -c351fabc-d971-47b6-bd75-49117283f717->8c3675c0-10e9-49f8-9e33-7cb64747bf17 - - - - - -d9b162b5-1c20-4603-b65c-91fed5800245 - -At(Robot,MilkDrink) - - - -c351fabc-d971-47b6-bd75-49117283f717->d9b162b5-1c20-4603-b65c-91fed5800245 - - - - - -96dff594-c2d3-4674-88c9-c1aae3fc963d - -At(Robot,Bar2) - - - -c351fabc-d971-47b6-bd75-49117283f717->96dff594-c2d3-4674-88c9-c1aae3fc963d - - - - - -3d4e71a0-98d9-42b3-a7ec-6015607f343e - -PutDown(VacuumCup,Bar) - - - -c351fabc-d971-47b6-bd75-49117283f717->3d4e71a0-98d9-42b3-a7ec-6015607f343e - - - - - -84091fd5-8774-4a6d-9336-66c90e29113b - -Holding(VacuumCup) - - - -8f3183a1-332d-44e3-ae08-840619298e48->84091fd5-8774-4a6d-9336-66c90e29113b - - - - - -e4031364-ccfa-4895-9e0b-74089a93a9a9 - -At(Robot,BrightTable6) - - - -8f3183a1-332d-44e3-ae08-840619298e48->e4031364-ccfa-4895-9e0b-74089a93a9a9 - - - - - -23f261ac-bb50-4bba-9fef-74aba985127d - -At(Robot,MilkDrink) - - - -8f3183a1-332d-44e3-ae08-840619298e48->23f261ac-bb50-4bba-9fef-74aba985127d - - - - - -d8bd7f92-369a-4d7a-a3c3-bfd826437148 - -At(Robot,Bar2) - - - -8f3183a1-332d-44e3-ae08-840619298e48->d8bd7f92-369a-4d7a-a3c3-bfd826437148 - - - - - -6961ebd7-99d6-4725-b50f-ceaa976eaa51 - -PutDown(VacuumCup,BrightTable) - - - -8f3183a1-332d-44e3-ae08-840619298e48->6961ebd7-99d6-4725-b50f-ceaa976eaa51 - - - - - -e503845e-072a-4f8f-8378-abb07dcf2845 - -Holding(VacuumCup) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->e503845e-072a-4f8f-8378-abb07dcf2845 - - - - - -21659908-932a-4732-81e5-f16af50a86d0 - -At(Robot,BrightTable6) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->21659908-932a-4732-81e5-f16af50a86d0 - - - - - -2656f4e5-bd81-486b-a08d-4736bc21fb51 - -At(Robot,MilkDrink) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->2656f4e5-bd81-486b-a08d-4736bc21fb51 - - - - - -5aad7be5-6842-459a-ab65-f559c31849ab - -At(Robot,Bar2) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->5aad7be5-6842-459a-ab65-f559c31849ab - - - - - -6e381100-3943-4c68-aae0-52399267a811 - -PutDown(VacuumCup,BrightTable) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->6e381100-3943-4c68-aae0-52399267a811 - - - - - -469b945d-69e8-4b86-bcc6-5bf562146e76 - -Holding(VacuumCup) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->469b945d-69e8-4b86-bcc6-5bf562146e76 - - - - - -7a6b4a24-0f35-4151-ad28-8eec78212d98 - -At(Robot,MilkDrink) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->7a6b4a24-0f35-4151-ad28-8eec78212d98 - - - - - -0d7435dc-d504-4a7e-a11c-b6aed15869c8 - -At(Robot,CoffeeTable) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->0d7435dc-d504-4a7e-a11c-b6aed15869c8 - - - - - -7bee6a38-2b42-4c8f-b838-0a409ff74ac1 - -At(Robot,Bar2) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->7bee6a38-2b42-4c8f-b838-0a409ff74ac1 - - - - - -5831a3a2-a94b-4ee0-adb4-53b25a1be11b - -PutDown(VacuumCup,CoffeeTable) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->5831a3a2-a94b-4ee0-adb4-53b25a1be11b - - - - - -4e783e98-4d44-43a7-af06-03178756bf3a - -Holding(VacuumCup) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->4e783e98-4d44-43a7-af06-03178756bf3a - - - - - -848b9025-d789-4494-be68-c393e26fd526 - -At(Robot,MilkDrink) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->848b9025-d789-4494-be68-c393e26fd526 - - - - - -3d647450-4aed-4ca7-a8e1-369cee1be676 - -At(Robot,CoffeeTable) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->3d647450-4aed-4ca7-a8e1-369cee1be676 - - - - - -35c1569d-1ad2-4b8f-ac71-f8e427038d1e - -At(Robot,Bar2) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->35c1569d-1ad2-4b8f-ac71-f8e427038d1e - - - - - -e10eed7a-50db-4fbe-b56c-153316c19176 - -PutDown(VacuumCup,CoffeeTable) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->e10eed7a-50db-4fbe-b56c-153316c19176 - - - - - -a4b3dec3-c098-4441-8aa8-43d53f61a345 - -Holding(VacuumCup) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->a4b3dec3-c098-4441-8aa8-43d53f61a345 - - - - - -807feefc-a535-4aa2-99a3-4d1f2be818a7 - -At(Robot,MilkDrink) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->807feefc-a535-4aa2-99a3-4d1f2be818a7 - - - - - -8ed56b6b-8033-44cf-89d4-c47c3f7ff399 - -At(Robot,Bar2) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->8ed56b6b-8033-44cf-89d4-c47c3f7ff399 - - - - - -45f60cc2-e4a0-4235-885d-c9dc4b02da2f - -At(Robot,Table1) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->45f60cc2-e4a0-4235-885d-c9dc4b02da2f - - - - - -8b6ecdfb-2395-40f8-9bdf-29abb7851316 - -PutDown(VacuumCup,Table) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->8b6ecdfb-2395-40f8-9bdf-29abb7851316 - - - - - -c7e75246-2510-4dd9-9035-737ee0fb5fe8 - -Holding(VacuumCup) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->c7e75246-2510-4dd9-9035-737ee0fb5fe8 - - - - - -579c5d5c-5433-4a5b-b679-73be714c17a1 - -At(Robot,MilkDrink) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->579c5d5c-5433-4a5b-b679-73be714c17a1 - - - - - -dd629349-a727-4adb-8eb5-7b852154e28e - -At(Robot,Bar2) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->dd629349-a727-4adb-8eb5-7b852154e28e - - - - - -c640e94c-abbc-4f15-b4a6-3e237d9dda96 - -At(Robot,Table1) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->c640e94c-abbc-4f15-b4a6-3e237d9dda96 - - - - - -f21915d1-e2cb-4341-ad64-cb696f561b88 - -PutDown(VacuumCup,Table) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->f21915d1-e2cb-4341-ad64-cb696f561b88 - - - - - -ba9c8ae8-ad93-46f5-b90a-a6c77b4d87c9 - -Holding(VacuumCup) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->ba9c8ae8-ad93-46f5-b90a-a6c77b4d87c9 - - - - - -39564a71-ccf4-411a-9ee1-f9190cced51e - -At(Robot,MilkDrink) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->39564a71-ccf4-411a-9ee1-f9190cced51e - - - - - -c4bde2c3-9c42-4a76-8478-a34f2aa2937c - -At(Robot,Bar2) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->c4bde2c3-9c42-4a76-8478-a34f2aa2937c - - - - - -6e143c38-9f9d-408c-ba59-cd2ae2a727fa - -At(Robot,Table2) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->6e143c38-9f9d-408c-ba59-cd2ae2a727fa - - - - - -50002230-0d75-4d96-8375-280ab77bd7e6 - -PutDown(VacuumCup,Table) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->50002230-0d75-4d96-8375-280ab77bd7e6 - - - - - -44b8c0f1-5a20-4d32-a025-01df32367444 - -Holding(VacuumCup) - - - -d9824a78-a503-4435-a735-762f770d3813->44b8c0f1-5a20-4d32-a025-01df32367444 - - - - - -89211a8f-ef87-425c-8ce6-bafca509dc20 - -At(Robot,MilkDrink) - - - -d9824a78-a503-4435-a735-762f770d3813->89211a8f-ef87-425c-8ce6-bafca509dc20 - - - - - -baeff367-13e1-498a-b28e-bce2aff7491a - -At(Robot,Bar2) - - - -d9824a78-a503-4435-a735-762f770d3813->baeff367-13e1-498a-b28e-bce2aff7491a - - - - - -63f90689-f405-4727-b2d9-5e59633242d7 - -At(Robot,Table2) - - - -d9824a78-a503-4435-a735-762f770d3813->63f90689-f405-4727-b2d9-5e59633242d7 - - - - - -344402b7-89cc-422b-9afe-1e2be790495c - -PutDown(VacuumCup,Table) - - - -d9824a78-a503-4435-a735-762f770d3813->344402b7-89cc-422b-9afe-1e2be790495c - - - - - -fcda5a3f-de41-464a-828c-7556c20f6803 - -Holding(VacuumCup) - - - -17329e69-af80-4180-9904-8cec14e717ab->fcda5a3f-de41-464a-828c-7556c20f6803 - - - - - -734dddba-26b7-439e-b25c-b8980c349326 - -At(Robot,MilkDrink) - - - -17329e69-af80-4180-9904-8cec14e717ab->734dddba-26b7-439e-b25c-b8980c349326 - - - - - -8a4296bc-6dc8-4450-8a97-3142785da995 - -At(Robot,Bar2) - - - -17329e69-af80-4180-9904-8cec14e717ab->8a4296bc-6dc8-4450-8a97-3142785da995 - - - - - -83418e71-fac4-4c24-a7ea-df982ef48360 - -At(Robot,Table3) - - - -17329e69-af80-4180-9904-8cec14e717ab->83418e71-fac4-4c24-a7ea-df982ef48360 - - - - - -48f10d91-a710-4f19-9705-ddd02e0ac26b - -PutDown(VacuumCup,Table) - - - -17329e69-af80-4180-9904-8cec14e717ab->48f10d91-a710-4f19-9705-ddd02e0ac26b - - - - - -6260a159-47d6-494d-9712-f2028d68df2f - -Holding(VacuumCup) - - - -290d5562-d7bc-4920-b539-3e51f2377361->6260a159-47d6-494d-9712-f2028d68df2f - - - - - -69c3035b-e6e0-417f-94ad-3a2b51ab24a5 - -At(Robot,MilkDrink) - - - -290d5562-d7bc-4920-b539-3e51f2377361->69c3035b-e6e0-417f-94ad-3a2b51ab24a5 - - - - - -fcd2eb97-af08-43b9-b6a1-347076c24a44 - -At(Robot,Bar2) - - - -290d5562-d7bc-4920-b539-3e51f2377361->fcd2eb97-af08-43b9-b6a1-347076c24a44 - - - - - -c5abc375-7ac4-4445-8e24-d254f5b7065e - -At(Robot,Table3) - - - -290d5562-d7bc-4920-b539-3e51f2377361->c5abc375-7ac4-4445-8e24-d254f5b7065e - - - - - -b33809b1-5d7b-4a97-b78a-0aefe9e7073b - -PutDown(VacuumCup,Table) - - - -290d5562-d7bc-4920-b539-3e51f2377361->b33809b1-5d7b-4a97-b78a-0aefe9e7073b - - - - - -18786d2d-7b00-4262-abc0-16bf5ca538ae - -Holding(VacuumCup) - - - -2d2645c1-433b-4138-beac-caa410346f8e->18786d2d-7b00-4262-abc0-16bf5ca538ae - - - - - -1836cf05-9041-47cd-9514-c3d6787d5b6e - -At(Robot,MilkDrink) - - - -2d2645c1-433b-4138-beac-caa410346f8e->1836cf05-9041-47cd-9514-c3d6787d5b6e - - - - - -6bae1ff2-6aa1-43db-a7ca-834432e23627 - -At(Robot,WaterTable) - - - -2d2645c1-433b-4138-beac-caa410346f8e->6bae1ff2-6aa1-43db-a7ca-834432e23627 - - - - - -cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925 - -At(Robot,Bar2) - - - -2d2645c1-433b-4138-beac-caa410346f8e->cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925 - - - - - -9f9f03a6-3460-46e0-9bb1-8513b1a448e0 - -PutDown(VacuumCup,WaterTable) - - - -2d2645c1-433b-4138-beac-caa410346f8e->9f9f03a6-3460-46e0-9bb1-8513b1a448e0 - - - - - -ff974da8-a580-4f70-b296-c824dafcc1d3 - -Holding(VacuumCup) - - - -6f14c627-0122-40be-8c57-541d752e60f6->ff974da8-a580-4f70-b296-c824dafcc1d3 - - - - - -94795be3-4cc7-4397-a95e-93be13059439 - -At(Robot,MilkDrink) - - - -6f14c627-0122-40be-8c57-541d752e60f6->94795be3-4cc7-4397-a95e-93be13059439 - - - - - -403f1a36-a06a-445a-89f3-547f081ce8fa - -At(Robot,WaterTable) - - - -6f14c627-0122-40be-8c57-541d752e60f6->403f1a36-a06a-445a-89f3-547f081ce8fa - - - - - -a1c3ac38-3116-4270-8775-36ede882f9b7 - -At(Robot,Bar2) - - - -6f14c627-0122-40be-8c57-541d752e60f6->a1c3ac38-3116-4270-8775-36ede882f9b7 - - - - - -7aa50814-aa97-4653-a8dd-1978b69f2e3b - -PutDown(VacuumCup,WaterTable) - - - -6f14c627-0122-40be-8c57-541d752e60f6->7aa50814-aa97-4653-a8dd-1978b69f2e3b - - - - - -1a04993a-d418-4956-90b4-14189ccf5cb5 - -At(Robot,Bar) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->1a04993a-d418-4956-90b4-14189ccf5cb5 - - - - - -dfdc946c-2e77-471d-8e48-045ebdfe5c4f - -At(Robot,MilkDrink) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->dfdc946c-2e77-471d-8e48-045ebdfe5c4f - - - - - -cbf799b8-1b49-404c-9380-af018958a916 - -At(Robot,Bar2) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->cbf799b8-1b49-404c-9380-af018958a916 - - - - - -9e0ebfbd-0f56-426b-ae0f-301f44ef154b - -Holding(Water) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->9e0ebfbd-0f56-426b-ae0f-301f44ef154b - - - - - -037b3c8c-0f69-4a29-bb5e-f7a345b4b06b - -PutDown(Water,Bar) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->037b3c8c-0f69-4a29-bb5e-f7a345b4b06b - - - - - -d8cfabad-4a31-4736-9d2b-fe71cf5d35f3 - -At(Robot,Bar) - - - -5f362f89-c782-474d-be59-53598c8aa969->d8cfabad-4a31-4736-9d2b-fe71cf5d35f3 - - - - - -4c840a0c-4bd2-4ed0-aed8-9886d2a850d6 - -At(Robot,MilkDrink) - - - -5f362f89-c782-474d-be59-53598c8aa969->4c840a0c-4bd2-4ed0-aed8-9886d2a850d6 - - - - - -e5707913-d39f-40cd-9e04-74134a4c0ca9 - -At(Robot,Bar2) - - - -5f362f89-c782-474d-be59-53598c8aa969->e5707913-d39f-40cd-9e04-74134a4c0ca9 - - - - - -d3d816e7-c870-405c-913d-cbf092c227af - -Holding(Water) - - - -5f362f89-c782-474d-be59-53598c8aa969->d3d816e7-c870-405c-913d-cbf092c227af - - - - - -424ef6e3-4622-4f09-8b17-1a46413f6992 - -PutDown(Water,Bar) - - - -5f362f89-c782-474d-be59-53598c8aa969->424ef6e3-4622-4f09-8b17-1a46413f6992 - - - - - -902b4913-b516-430b-95db-cb212e5943bc - -At(Robot,MilkDrink) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->902b4913-b516-430b-95db-cb212e5943bc - - - - - -f967093d-5e4c-40d7-879e-d2e8b69bb2c8 - -At(Robot,Bar2) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->f967093d-5e4c-40d7-879e-d2e8b69bb2c8 - - - - - -051b2383-2318-42fa-b4c8-a0b2e69e0640 - -Holding(Water) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->051b2383-2318-42fa-b4c8-a0b2e69e0640 - - - - - -2e6b6503-3251-4c75-b27e-5d8f6527246b - -PutDown(Water,Bar) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->2e6b6503-3251-4c75-b27e-5d8f6527246b - - - - - -a383abe1-2d5a-44b2-a0d2-2528751529d5 - -At(Robot,MilkDrink) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->a383abe1-2d5a-44b2-a0d2-2528751529d5 - - - - - -c5e474e3-8a89-4834-8cc8-477c803e81ce - -At(Robot,Bar2) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->c5e474e3-8a89-4834-8cc8-477c803e81ce - - - - - -bba16fe9-4805-4acb-a1f9-e86864f96d78 - -Holding(Water) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->bba16fe9-4805-4acb-a1f9-e86864f96d78 - - - - - -78b3fd77-4601-4812-96cc-6865e95f4031 - -PutDown(Water,Bar) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->78b3fd77-4601-4812-96cc-6865e95f4031 - - - - - -6a60bddc-f42c-42ce-80ea-1355ee068ad2 - -At(Robot,BrightTable6) - - - -369c501f-069a-41ea-889f-15482c82ed21->6a60bddc-f42c-42ce-80ea-1355ee068ad2 - - - - - -a081bb1b-ad83-447a-9511-f68ed21445be - -At(Robot,MilkDrink) - - - -369c501f-069a-41ea-889f-15482c82ed21->a081bb1b-ad83-447a-9511-f68ed21445be - - - - - -5907dade-629a-4dac-ba8c-edf9b16929c7 - -At(Robot,Bar2) - - - -369c501f-069a-41ea-889f-15482c82ed21->5907dade-629a-4dac-ba8c-edf9b16929c7 - - - - - -9c302604-9b15-451b-b999-adc0cdd56af4 - -Holding(Water) - - - -369c501f-069a-41ea-889f-15482c82ed21->9c302604-9b15-451b-b999-adc0cdd56af4 - - - - - -eb8e0c1d-2b1f-47b8-a72b-08277db6f713 - -PutDown(Water,BrightTable) - - - -369c501f-069a-41ea-889f-15482c82ed21->eb8e0c1d-2b1f-47b8-a72b-08277db6f713 - - - - - -e88d865d-26e3-4a5a-a529-fc99aaabb782 - -At(Robot,BrightTable6) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->e88d865d-26e3-4a5a-a529-fc99aaabb782 - - - - - -bac1a429-2eb4-43cf-97e8-a0da6f21c91f - -At(Robot,MilkDrink) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->bac1a429-2eb4-43cf-97e8-a0da6f21c91f - - - - - -073b0ae7-7c2f-45b6-90ec-7265a941f58f - -At(Robot,Bar2) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->073b0ae7-7c2f-45b6-90ec-7265a941f58f - - - - - -2b612be9-0490-4e63-ae0f-6a6008fd98b5 - -Holding(Water) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->2b612be9-0490-4e63-ae0f-6a6008fd98b5 - - - - - -bdfb6fbe-2261-4625-b92a-ac5af383e123 - -PutDown(Water,BrightTable) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->bdfb6fbe-2261-4625-b92a-ac5af383e123 - - - - - -d997d491-d910-4327-a8ab-a877991f7af7 - -At(Robot,MilkDrink) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->d997d491-d910-4327-a8ab-a877991f7af7 - - - - - -876dd7fe-158a-438f-ad3d-d14c789c1c32 - -At(Robot,CoffeeTable) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->876dd7fe-158a-438f-ad3d-d14c789c1c32 - - - - - -4e4c5629-3b38-453a-ada5-ba8ad0b311b6 - -At(Robot,Bar2) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->4e4c5629-3b38-453a-ada5-ba8ad0b311b6 - - - - - -cb796170-e675-449a-973f-ba1f445b11ef - -Holding(Water) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->cb796170-e675-449a-973f-ba1f445b11ef - - - - - -99fd11b7-ffdb-487d-bfd6-d7e98fbb4f69 - -PutDown(Water,CoffeeTable) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->99fd11b7-ffdb-487d-bfd6-d7e98fbb4f69 - - - - - -7bf4e5b4-0b33-4efc-9c81-a65952c583f6 - -At(Robot,MilkDrink) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->7bf4e5b4-0b33-4efc-9c81-a65952c583f6 - - - - - -cd569634-d451-4e86-becf-d1333e2f51be - -At(Robot,CoffeeTable) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->cd569634-d451-4e86-becf-d1333e2f51be - - - - - -9485b1af-3891-4a16-a83e-f7b89e5278cc - -At(Robot,Bar2) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->9485b1af-3891-4a16-a83e-f7b89e5278cc - - - - - -a0b97e88-2907-43e2-b520-3b0e3f7a0bcd - -Holding(Water) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->a0b97e88-2907-43e2-b520-3b0e3f7a0bcd - - - - - -f28c4222-d5da-4f2f-931a-83fae62e1079 - -PutDown(Water,CoffeeTable) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->f28c4222-d5da-4f2f-931a-83fae62e1079 - - - - - -180eee9e-63c1-4299-b7a3-351c5a446400 - -At(Robot,MilkDrink) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->180eee9e-63c1-4299-b7a3-351c5a446400 - - - - - -5863ea6a-5cc9-4eb0-970b-7ec2888ef6ff - -At(Robot,Bar2) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->5863ea6a-5cc9-4eb0-970b-7ec2888ef6ff - - - - - -32e91fc0-b9fc-42b2-9cac-22410ed448f9 - -Holding(Water) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->32e91fc0-b9fc-42b2-9cac-22410ed448f9 - - - - - -13b65db9-99d2-4e61-bd40-97ed360bc540 - -At(Robot,Table1) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->13b65db9-99d2-4e61-bd40-97ed360bc540 - - - - - -2a591bc5-3eba-4b5d-b77f-555ccdc9d03d - -PutDown(Water,Table) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->2a591bc5-3eba-4b5d-b77f-555ccdc9d03d - - - - - -56edd37e-1d61-4464-8e8f-b6c0046964ef - -At(Robot,MilkDrink) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->56edd37e-1d61-4464-8e8f-b6c0046964ef - - - - - -dd9aa61a-9c4b-4bef-b1be-4121c8e5cf9c - -At(Robot,Bar2) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->dd9aa61a-9c4b-4bef-b1be-4121c8e5cf9c - - - - - -2177439a-b6de-4568-a4f5-54ca912c077e - -Holding(Water) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->2177439a-b6de-4568-a4f5-54ca912c077e - - - - - -89bb5d72-4749-4ffd-b395-43cde8d76096 - -At(Robot,Table1) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->89bb5d72-4749-4ffd-b395-43cde8d76096 - - - - - -e9a2bc92-cdbf-41b4-a9e8-eff706e736f2 - -PutDown(Water,Table) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->e9a2bc92-cdbf-41b4-a9e8-eff706e736f2 - - - - - -8bfc4c4a-0a62-4b50-a274-c62845b437ad - -At(Robot,MilkDrink) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->8bfc4c4a-0a62-4b50-a274-c62845b437ad - - - - - -d47a0a64-df3f-45d7-8310-1508b989d3af - -At(Robot,Bar2) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->d47a0a64-df3f-45d7-8310-1508b989d3af - - - - - -4a9b3e58-3ea6-4312-a8b4-491808a18e61 - -Holding(Water) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->4a9b3e58-3ea6-4312-a8b4-491808a18e61 - - - - - -c1c8b5d9-555b-4808-abbe-e408a1f7d4c1 - -At(Robot,Table2) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->c1c8b5d9-555b-4808-abbe-e408a1f7d4c1 - - - - - -6374d232-ff7f-418a-a2f6-02d1efd568f4 - -PutDown(Water,Table) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->6374d232-ff7f-418a-a2f6-02d1efd568f4 - - - - - -ba00313c-4862-4a42-9252-235a0a1248da - -At(Robot,MilkDrink) - - - -75723800-61bf-452a-a3ef-6a622f27832a->ba00313c-4862-4a42-9252-235a0a1248da - - - - - -a0b01e2e-9568-43ec-ab3a-46cc771e14fe - -At(Robot,Bar2) - - - -75723800-61bf-452a-a3ef-6a622f27832a->a0b01e2e-9568-43ec-ab3a-46cc771e14fe - - - - - -cfbc0408-d13c-4047-bc91-60661ee56cb8 - -Holding(Water) - - - -75723800-61bf-452a-a3ef-6a622f27832a->cfbc0408-d13c-4047-bc91-60661ee56cb8 - - - - - -ac17e736-6f57-48ba-b143-d8010eb2b69a - -At(Robot,Table2) - - - -75723800-61bf-452a-a3ef-6a622f27832a->ac17e736-6f57-48ba-b143-d8010eb2b69a - - - - - -d976d631-7e71-4e04-af9b-78946079c914 - -PutDown(Water,Table) - - - -75723800-61bf-452a-a3ef-6a622f27832a->d976d631-7e71-4e04-af9b-78946079c914 - - - - - -daf41919-8f0c-4384-8002-1ea7580b4578 - -At(Robot,MilkDrink) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->daf41919-8f0c-4384-8002-1ea7580b4578 - - - - - -adb9897f-2762-400d-b9b9-35f5ecdd58cd - -At(Robot,Bar2) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->adb9897f-2762-400d-b9b9-35f5ecdd58cd - - - - - -d25e57f2-4c7f-41c6-b2e2-736dba76bc54 - -Holding(Water) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->d25e57f2-4c7f-41c6-b2e2-736dba76bc54 - - - - - -e220decc-00df-4c39-a5d5-94249c68d68d - -At(Robot,Table3) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->e220decc-00df-4c39-a5d5-94249c68d68d - - - - - -9ad137ed-81c9-426f-8421-238e65e23f62 - -PutDown(Water,Table) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->9ad137ed-81c9-426f-8421-238e65e23f62 - - - - - -3a9a6da6-26d3-4a5f-a90e-4b743e6da251 - -At(Robot,MilkDrink) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->3a9a6da6-26d3-4a5f-a90e-4b743e6da251 - - - - - -a87fc80f-67f4-4cdd-a910-c6954a24cc46 - -At(Robot,Bar2) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->a87fc80f-67f4-4cdd-a910-c6954a24cc46 - - - - - -e608e2c8-6170-480e-8f8f-7d021fd4bbf1 - -Holding(Water) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->e608e2c8-6170-480e-8f8f-7d021fd4bbf1 - - - - - -496aca22-0e19-4b5b-91a3-191eae9742b2 - -At(Robot,Table3) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->496aca22-0e19-4b5b-91a3-191eae9742b2 - - - - - -1ab167bf-13c9-439e-b249-c0087c7a12f8 - -PutDown(Water,Table) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->1ab167bf-13c9-439e-b249-c0087c7a12f8 - - - - - -8d10c3dc-3ed6-4107-b28d-86e0d14d247d - -At(Robot,MilkDrink) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->8d10c3dc-3ed6-4107-b28d-86e0d14d247d - - - - - -b59e8dff-27a0-4c5f-a8d6-ab049b8b2a7f - -At(Robot,WaterTable) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->b59e8dff-27a0-4c5f-a8d6-ab049b8b2a7f - - - - - -e85ee55c-6d10-4c0c-947f-99134e0cdb6d - -Holding(Water) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->e85ee55c-6d10-4c0c-947f-99134e0cdb6d - - - - - -955828bb-fb82-4bf0-816d-7b0b0e056d94 - -At(Robot,Bar2) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->955828bb-fb82-4bf0-816d-7b0b0e056d94 - - - - - -0ab9e49b-6dda-43b4-b3ce-ea43259770d8 - -PutDown(Water,WaterTable) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->0ab9e49b-6dda-43b4-b3ce-ea43259770d8 - - - - - -5bf4ca7a-a847-4bb9-b4d4-c8655a802bf9 - -At(Robot,MilkDrink) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->5bf4ca7a-a847-4bb9-b4d4-c8655a802bf9 - - - - - -ea460e2c-eea4-49f5-b26e-9fecb798e0a6 - -At(Robot,WaterTable) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->ea460e2c-eea4-49f5-b26e-9fecb798e0a6 - - - - - -49c95509-1827-4554-9d89-571c1e152754 - -Holding(Water) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->49c95509-1827-4554-9d89-571c1e152754 - - - - - -14d7c141-63d5-4d80-ae87-f2966ba23f18 - -At(Robot,Bar2) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->14d7c141-63d5-4d80-ae87-f2966ba23f18 - - - - - -da6d5045-a716-4690-bc58-f2d55913e908 - -PutDown(Water,WaterTable) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->da6d5045-a716-4690-bc58-f2d55913e908 - - - - - -c185c052-b3ca-4fbb-8568-5ce3b20ef8b8 - -At(Robot,Bar) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->c185c052-b3ca-4fbb-8568-5ce3b20ef8b8 - - - - - -2819d1b1-3ad0-4d2e-a5dd-0eba8f608258 - -At(Robot,MilkDrink) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->2819d1b1-3ad0-4d2e-a5dd-0eba8f608258 - - - - - -51c5eba8-bccd-4239-a4ff-c815f7904a4b - -At(Robot,Bar2) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->51c5eba8-bccd-4239-a4ff-c815f7904a4b - - - - - -a963a33a-936e-49ed-b353-552e3c87d169 - -Holding(Yogurt) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->a963a33a-936e-49ed-b353-552e3c87d169 - - - - - -35a50a28-a6c6-432e-887e-ed771da51722 - -PutDown(Yogurt,Bar) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->35a50a28-a6c6-432e-887e-ed771da51722 - - - - - -ebf8f994-e972-435a-9d8b-256f31aea702 - -At(Robot,Bar) - - - -48844703-348a-49db-b208-088b73fb68c0->ebf8f994-e972-435a-9d8b-256f31aea702 - - - - - -5ddedeb2-4138-4436-b65f-a3dfa349aa73 - -At(Robot,MilkDrink) - - - -48844703-348a-49db-b208-088b73fb68c0->5ddedeb2-4138-4436-b65f-a3dfa349aa73 - - - - - -be003da7-a92b-4f3c-a663-eafdb98e7885 - -At(Robot,Bar2) - - - -48844703-348a-49db-b208-088b73fb68c0->be003da7-a92b-4f3c-a663-eafdb98e7885 - - - - - -4da98aef-3a34-4380-8e77-eb20a9f8f73c - -Holding(Yogurt) - - - -48844703-348a-49db-b208-088b73fb68c0->4da98aef-3a34-4380-8e77-eb20a9f8f73c - - - - - -5171bae7-13f7-48d8-b268-d2f36f3708a4 - -PutDown(Yogurt,Bar) - - - -48844703-348a-49db-b208-088b73fb68c0->5171bae7-13f7-48d8-b268-d2f36f3708a4 - - - - - -c4f31573-1242-4368-94ef-19807b3b5c9d - -At(Robot,MilkDrink) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->c4f31573-1242-4368-94ef-19807b3b5c9d - - - - - -6016671d-13ed-4175-a508-8e07fff78638 - -Holding(Yogurt) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->6016671d-13ed-4175-a508-8e07fff78638 - - - - - -aa7cc4ac-b479-4b49-a9de-53016e448ee6 - -At(Robot,Bar2) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->aa7cc4ac-b479-4b49-a9de-53016e448ee6 - - - - - -221a02e2-eeb1-4add-95e7-b75cd634fc1b - -PutDown(Yogurt,Bar) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->221a02e2-eeb1-4add-95e7-b75cd634fc1b - - - - - -ef4349fb-4817-4e6b-9dfc-43765181739c - -At(Robot,MilkDrink) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->ef4349fb-4817-4e6b-9dfc-43765181739c - - - - - -0e2c3353-2516-48fe-a1db-71de9bce0756 - -Holding(Yogurt) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->0e2c3353-2516-48fe-a1db-71de9bce0756 - - - - - -14412e1e-a2c1-457a-bad2-76c671c42716 - -At(Robot,Bar2) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->14412e1e-a2c1-457a-bad2-76c671c42716 - - - - - -0478b184-6010-49db-a790-0d1a8acb5feb - -PutDown(Yogurt,Bar) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->0478b184-6010-49db-a790-0d1a8acb5feb - - - - - -b302171a-73a3-4f97-aace-f722a45e8e1d - -At(Robot,BrightTable6) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->b302171a-73a3-4f97-aace-f722a45e8e1d - - - - - -4af33854-6f0b-4546-91e9-322f610e3b39 - -At(Robot,MilkDrink) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->4af33854-6f0b-4546-91e9-322f610e3b39 - - - - - -e12c5f97-36af-4b7e-95dd-f6595d13d7de - -At(Robot,Bar2) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->e12c5f97-36af-4b7e-95dd-f6595d13d7de - - - - - -25672495-20df-4f34-8553-ce3a8b7934f0 - -Holding(Yogurt) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->25672495-20df-4f34-8553-ce3a8b7934f0 - - - - - -bbaf9889-2309-49fe-99bf-b21f5a8e047c - -PutDown(Yogurt,BrightTable) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->bbaf9889-2309-49fe-99bf-b21f5a8e047c - - - - - -091355e2-d425-4162-9573-2cbd0ccc6006 - -At(Robot,BrightTable6) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->091355e2-d425-4162-9573-2cbd0ccc6006 - - - - - -4dd5150c-d867-4678-b91c-4b5e5e92e260 - -At(Robot,MilkDrink) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->4dd5150c-d867-4678-b91c-4b5e5e92e260 - - - - - -50084907-d446-4f31-9ecb-c075b7bd6954 - -At(Robot,Bar2) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->50084907-d446-4f31-9ecb-c075b7bd6954 - - - - - -17c27c85-c1f6-4405-9556-363c4f4c7f85 - -Holding(Yogurt) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->17c27c85-c1f6-4405-9556-363c4f4c7f85 - - - - - -30161710-c288-4c87-aa0c-d9c530490a6f - -PutDown(Yogurt,BrightTable) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->30161710-c288-4c87-aa0c-d9c530490a6f - - - - - -f043620b-052b-4099-8762-6e66916dd9c9 - -At(Robot,MilkDrink) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->f043620b-052b-4099-8762-6e66916dd9c9 - - - - - -f02947e1-2274-4bca-b966-56abd014774e - -At(Robot,CoffeeTable) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->f02947e1-2274-4bca-b966-56abd014774e - - - - - -4659c694-17d5-4eb2-a3d6-f12d12e9dc28 - -At(Robot,Bar2) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->4659c694-17d5-4eb2-a3d6-f12d12e9dc28 - - - - - -cc840e60-87e7-4270-a4f5-06197cca4449 - -Holding(Yogurt) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->cc840e60-87e7-4270-a4f5-06197cca4449 - - - - - -e5f8f2a6-3c8f-491a-9d42-8ba36a300584 - -PutDown(Yogurt,CoffeeTable) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->e5f8f2a6-3c8f-491a-9d42-8ba36a300584 - - - - - -34c469f1-3e0d-4c11-a76d-57373532e5c8 - -At(Robot,MilkDrink) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->34c469f1-3e0d-4c11-a76d-57373532e5c8 - - - - - -a648941f-cdaf-4a99-9d0b-fdc7db094fee - -At(Robot,CoffeeTable) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->a648941f-cdaf-4a99-9d0b-fdc7db094fee - - - - - -24a0d5c3-c71c-4e5b-b317-1471d0ec816c - -At(Robot,Bar2) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->24a0d5c3-c71c-4e5b-b317-1471d0ec816c - - - - - -ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec - -Holding(Yogurt) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec - - - - - -a370ebcb-d7cc-496d-a05a-1004bef384aa - -PutDown(Yogurt,CoffeeTable) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->a370ebcb-d7cc-496d-a05a-1004bef384aa - - - - - -14b9586e-2807-40c0-83ca-589a952ae874 - -At(Robot,MilkDrink) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->14b9586e-2807-40c0-83ca-589a952ae874 - - - - - -cbd12888-81c1-4ca8-8fa2-2e5982b74ebd - -At(Robot,Bar2) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->cbd12888-81c1-4ca8-8fa2-2e5982b74ebd - - - - - -71f7d726-ebae-44e3-b9af-14abc5d5e412 - -At(Robot,Table1) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->71f7d726-ebae-44e3-b9af-14abc5d5e412 - - - - - -3d802a9d-21e4-48d2-bad4-5cec2fd322d4 - -Holding(Yogurt) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->3d802a9d-21e4-48d2-bad4-5cec2fd322d4 - - - - - -42542947-ce6b-4d47-b5a1-0310acb0b581 - -PutDown(Yogurt,Table) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->42542947-ce6b-4d47-b5a1-0310acb0b581 - - - - - -a80416ef-f64d-4ad2-8a7b-39232a57fa02 - -At(Robot,MilkDrink) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->a80416ef-f64d-4ad2-8a7b-39232a57fa02 - - - - - -d2d9faa7-9c44-4a84-9c18-7691fe6ece5b - -At(Robot,Bar2) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->d2d9faa7-9c44-4a84-9c18-7691fe6ece5b - - - - - -b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4 - -At(Robot,Table1) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4 - - - - - -451e2f25-dec4-4911-a508-193793f3f122 - -Holding(Yogurt) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->451e2f25-dec4-4911-a508-193793f3f122 - - - - - -b5e89a42-3086-49a3-8661-8c6e41021c26 - -PutDown(Yogurt,Table) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->b5e89a42-3086-49a3-8661-8c6e41021c26 - - - - - -715d6785-4ac2-43b1-80fe-f5b3c7191f06 - -At(Robot,MilkDrink) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->715d6785-4ac2-43b1-80fe-f5b3c7191f06 - - - - - -5ca2792a-d0df-4321-94a4-c9634f4f9492 - -At(Robot,Bar2) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->5ca2792a-d0df-4321-94a4-c9634f4f9492 - - - - - -264dd3a1-1128-446a-a39e-db6e025d3634 - -At(Robot,Table2) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->264dd3a1-1128-446a-a39e-db6e025d3634 - - - - - -c1adc144-a121-4574-a546-e1ce2fbe90b5 - -Holding(Yogurt) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->c1adc144-a121-4574-a546-e1ce2fbe90b5 - - - - - -cb74c438-0f6f-47e5-b912-3687754dff7e - -PutDown(Yogurt,Table) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->cb74c438-0f6f-47e5-b912-3687754dff7e - - - - - -5ab10472-110c-499b-92e9-cf96404fa778 - -At(Robot,MilkDrink) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->5ab10472-110c-499b-92e9-cf96404fa778 - - - - - -84be10be-100f-4b24-a4c2-aced29fb7dba - -At(Robot,Bar2) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->84be10be-100f-4b24-a4c2-aced29fb7dba - - - - - -4e0c752a-735a-40bc-9aa1-bf38c634d1f5 - -At(Robot,Table2) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->4e0c752a-735a-40bc-9aa1-bf38c634d1f5 - - - - - -3668367c-c2f0-4fe0-bfac-a0dfa09477b2 - -Holding(Yogurt) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->3668367c-c2f0-4fe0-bfac-a0dfa09477b2 - - - - - -b9d1dc29-616b-410d-bcd9-345ad798d626 - -PutDown(Yogurt,Table) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->b9d1dc29-616b-410d-bcd9-345ad798d626 - - - - - -e196e741-4035-4184-97b6-f7532982f756 - -At(Robot,MilkDrink) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->e196e741-4035-4184-97b6-f7532982f756 - - - - - -63a9000b-af7e-4738-b38e-f9145a4601df - -At(Robot,Bar2) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->63a9000b-af7e-4738-b38e-f9145a4601df - - - - - -fcb69c84-ec9b-465d-bfae-19e6794e239e - -At(Robot,Table3) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->fcb69c84-ec9b-465d-bfae-19e6794e239e - - - - - -1d535657-b07a-4272-9341-234a85ee56ce - -Holding(Yogurt) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->1d535657-b07a-4272-9341-234a85ee56ce - - - - - -ad455a36-3d63-4c41-9159-e023b9d76e76 - -PutDown(Yogurt,Table) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->ad455a36-3d63-4c41-9159-e023b9d76e76 - - - - - -d986dff9-e9a4-4746-b53a-306640b322b6 - -At(Robot,MilkDrink) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->d986dff9-e9a4-4746-b53a-306640b322b6 - - - - - -4dd067bf-38b4-479a-9e4c-ebfa42cc102c - -At(Robot,Bar2) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->4dd067bf-38b4-479a-9e4c-ebfa42cc102c - - - - - -a5ab34e8-ba5d-45e8-988c-460dd5b1b0b2 - -At(Robot,Table3) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->a5ab34e8-ba5d-45e8-988c-460dd5b1b0b2 - - - - - -66a988e4-008e-4ed8-9e1d-af2c3106ad75 - -Holding(Yogurt) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->66a988e4-008e-4ed8-9e1d-af2c3106ad75 - - - - - -46cc2a14-7448-4a55-a142-71e89190bbd4 - -PutDown(Yogurt,Table) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->46cc2a14-7448-4a55-a142-71e89190bbd4 - - - - - -b1aef79f-e467-49a8-8327-15ec7aadf755 - -At(Robot,MilkDrink) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->b1aef79f-e467-49a8-8327-15ec7aadf755 - - - - - -b0ec2aff-0d17-44e9-976c-9cf900e62db3 - -At(Robot,Bar2) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->b0ec2aff-0d17-44e9-976c-9cf900e62db3 - - - - - -f50320de-92cd-43ca-8aff-cbf359e12e99 - -At(Robot,WaterTable) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->f50320de-92cd-43ca-8aff-cbf359e12e99 - - - - - -d0747ddd-e1c8-40e4-8cff-1fc65904f74b - -Holding(Yogurt) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->d0747ddd-e1c8-40e4-8cff-1fc65904f74b - - - - - -d5bf852d-05d5-4d50-bfbc-847b6a2574d9 - -PutDown(Yogurt,WaterTable) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->d5bf852d-05d5-4d50-bfbc-847b6a2574d9 - - - - - -ad381213-7f9e-4071-8aa9-663208bef458 - -At(Robot,MilkDrink) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->ad381213-7f9e-4071-8aa9-663208bef458 - - - - - -24fb4e9a-2df2-407c-8d82-c09a454dfe37 - -At(Robot,Bar2) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->24fb4e9a-2df2-407c-8d82-c09a454dfe37 - - - - - -7837b4f9-a519-4e8e-b440-ea428f2226b5 - -At(Robot,WaterTable) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->7837b4f9-a519-4e8e-b440-ea428f2226b5 - - - - - -8aa3d730-cdfa-4a84-9c07-a7dfa07fa125 - -Holding(Yogurt) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->8aa3d730-cdfa-4a84-9c07-a7dfa07fa125 - - - - - -685d5c46-49ee-4abf-ba05-4db4418d0029 - -PutDown(Yogurt,WaterTable) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->685d5c46-49ee-4abf-ba05-4db4418d0029 - - - - - -2cce9fba-4a89-4b03-9e7a-445bc29a6eee - -At(Robot,MilkDrink) - - - -38ab34db-4ad1-41db-ac20-527591461894->2cce9fba-4a89-4b03-9e7a-445bc29a6eee - - - - - -72187e0d-6f81-4422-94c7-2cceea6b68da - -Holding(Nothing) - - - -38ab34db-4ad1-41db-ac20-527591461894->72187e0d-6f81-4422-94c7-2cceea6b68da - - - - - -6238fc51-5f12-4bdb-96c2-3bd161593c1b - -At(Robot,Bar2) - - - -38ab34db-4ad1-41db-ac20-527591461894->6238fc51-5f12-4bdb-96c2-3bd161593c1b - - - - - -9ef953d8-1b45-401c-ac78-1ae5a7756327 - -Is(AC,On) - - - -38ab34db-4ad1-41db-ac20-527591461894->9ef953d8-1b45-401c-ac78-1ae5a7756327 - - - - - -4b1db9dd-a41c-4df7-bc87-cf396ebef77c - -Turn(AC,Off) - - - -38ab34db-4ad1-41db-ac20-527591461894->4b1db9dd-a41c-4df7-bc87-cf396ebef77c - - - - - -a3cf1215-7406-493c-b5c8-a88af873f487 - -At(Robot,MilkDrink) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->a3cf1215-7406-493c-b5c8-a88af873f487 - - - - - -5b7dacaa-020c-4fcd-8bcd-797019cc76ca - -Holding(Nothing) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->5b7dacaa-020c-4fcd-8bcd-797019cc76ca - - - - - -9693d73c-9921-41f1-9dee-6b41aa607e91 - -At(Robot,Bar2) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->9693d73c-9921-41f1-9dee-6b41aa607e91 - - - - - -9d03cfd1-91b8-4d71-bbeb-c1ea2e4a6f70 - -Is(AC,On) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->9d03cfd1-91b8-4d71-bbeb-c1ea2e4a6f70 - - - - - -0cd9e535-69c8-4f72-b3a8-9fb3d6b784b2 - -Turn(AC,Off) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->0cd9e535-69c8-4f72-b3a8-9fb3d6b784b2 - - - - - -de357392-9ff1-4da3-af1d-254a3dce239d - -Is(AC,Off) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->de357392-9ff1-4da3-af1d-254a3dce239d - - - - - -b6907a00-1480-4fa6-b3f7-65621d5aca68 - -At(Robot,MilkDrink) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->b6907a00-1480-4fa6-b3f7-65621d5aca68 - - - - - -5d772635-500c-4221-92da-b64a304c7fa0 - -Holding(Nothing) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->5d772635-500c-4221-92da-b64a304c7fa0 - - - - - -5f130832-1e60-4650-91ce-aa03a11df080 - -At(Robot,Bar2) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->5f130832-1e60-4650-91ce-aa03a11df080 - - - - - -84c6e80b-29e7-4bf6-bd2f-90d8985258cb - -Turn(AC,On) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->84c6e80b-29e7-4bf6-bd2f-90d8985258cb - - - - - -55ecaf3c-9d51-41b8-8887-bb197319697b - -Is(AC,Off) - - - -586b2202-a47a-4486-ad21-dec513e1f928->55ecaf3c-9d51-41b8-8887-bb197319697b - - - - - -0bd223a3-04fd-4811-8c34-2a7cb3daf3db - -At(Robot,MilkDrink) - - - -586b2202-a47a-4486-ad21-dec513e1f928->0bd223a3-04fd-4811-8c34-2a7cb3daf3db - - - - - -060ba73a-4658-4f77-b34e-1d472b1c6416 - -Holding(Nothing) - - - -586b2202-a47a-4486-ad21-dec513e1f928->060ba73a-4658-4f77-b34e-1d472b1c6416 - - - - - -af27bae9-fe90-4a42-9c5c-5b6d1fc7e49e - -At(Robot,Bar2) - - - -586b2202-a47a-4486-ad21-dec513e1f928->af27bae9-fe90-4a42-9c5c-5b6d1fc7e49e - - - - - -e3e48fca-7389-4b4a-9331-dc7cb644eb9d - -Turn(AC,On) - - - -586b2202-a47a-4486-ad21-dec513e1f928->e3e48fca-7389-4b4a-9331-dc7cb644eb9d - - - - - -e40004ee-1c4e-4abb-9b59-faf12c0eca4f - -At(Robot,MilkDrink) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->e40004ee-1c4e-4abb-9b59-faf12c0eca4f - - - - - -bd259f63-57a7-433f-b79e-9d2ae869a24d - -Holding(Nothing) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->bd259f63-57a7-433f-b79e-9d2ae869a24d - - - - - -c4510c3e-374f-440d-ad32-e11877fefb09 - -At(Robot,Bar2) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->c4510c3e-374f-440d-ad32-e11877fefb09 - - - - - -a114a9b0-a660-4cd7-a3eb-3620b210a4fa - -Is(AC,On) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->a114a9b0-a660-4cd7-a3eb-3620b210a4fa - - - - - -96e45707-91e1-4dc6-8c2f-69e1448cba37 - -Turn(ACTemperature,Down) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->96e45707-91e1-4dc6-8c2f-69e1448cba37 - - - - - -b24a7976-85ef-4c20-ade1-31c50f2631a3 - -At(Robot,MilkDrink) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->b24a7976-85ef-4c20-ade1-31c50f2631a3 - - - - - -22a14e8f-ca8b-4c56-a83d-30bd9fa135bf - -Holding(Nothing) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->22a14e8f-ca8b-4c56-a83d-30bd9fa135bf - - - - - -8d375109-f798-4047-8dea-ecf9741f3f4c - -At(Robot,Bar2) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->8d375109-f798-4047-8dea-ecf9741f3f4c - - - - - -250685a0-9822-4cfd-bbf2-ac2caa83510e - -Is(AC,On) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->250685a0-9822-4cfd-bbf2-ac2caa83510e - - - - - -91f7f0c0-b7ce-422e-b493-953701f85a24 - -Turn(ACTemperature,Down) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->91f7f0c0-b7ce-422e-b493-953701f85a24 - - - - - -5ab7bb37-af6d-4ca3-b946-989702ceff2d - -At(Robot,MilkDrink) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->5ab7bb37-af6d-4ca3-b946-989702ceff2d - - - - - -802834e8-8fc1-4518-a9f7-29e02721d55a - -Holding(Nothing) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->802834e8-8fc1-4518-a9f7-29e02721d55a - - - - - -ca368fff-6dfe-4335-92a5-8715d0fe7acf - -At(Robot,Bar2) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->ca368fff-6dfe-4335-92a5-8715d0fe7acf - - - - - -bcf3ef41-f280-49cb-86df-869363c66731 - -Is(AC,On) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->bcf3ef41-f280-49cb-86df-869363c66731 - - - - - -a0721a73-6baa-4415-aeac-5ac39df02075 - -Turn(ACTemperature,Up) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->a0721a73-6baa-4415-aeac-5ac39df02075 - - - - - -271bcaba-bed5-45be-8da7-71b3a2dec01a - -At(Robot,MilkDrink) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->271bcaba-bed5-45be-8da7-71b3a2dec01a - - - - - -3772fb1c-856e-4900-b797-88a3a5572505 - -Holding(Nothing) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->3772fb1c-856e-4900-b797-88a3a5572505 - - - - - -4e69cd11-f983-4328-a418-373ae6027296 - -At(Robot,Bar2) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->4e69cd11-f983-4328-a418-373ae6027296 - - - - - -771bd2ba-5012-4e06-bb54-c4dfefd9bdd7 - -Is(AC,On) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->771bd2ba-5012-4e06-bb54-c4dfefd9bdd7 - - - - - -bc0d96aa-ef6c-431d-bcda-a05ea1893da2 - -Turn(ACTemperature,Up) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->bc0d96aa-ef6c-431d-bcda-a05ea1893da2 - - - - - -66d1dbc9-b984-4812-a313-9762b55d0efa - -Is(HallLight,On) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->66d1dbc9-b984-4812-a313-9762b55d0efa - - - - - -86d92f19-5d37-435e-b209-8e719bc8af11 - -At(Robot,MilkDrink) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->86d92f19-5d37-435e-b209-8e719bc8af11 - - - - - -d24b22d1-f655-41ae-a13c-8a907da43201 - -Holding(Nothing) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->d24b22d1-f655-41ae-a13c-8a907da43201 - - - - - -2edc75ba-4c7e-45c7-b3ee-ca9f22adf222 - -At(Robot,Bar2) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->2edc75ba-4c7e-45c7-b3ee-ca9f22adf222 - - - - - -1cba1f80-fe9d-444a-80c2-496fa145f528 - -Turn(HallLight,Off) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->1cba1f80-fe9d-444a-80c2-496fa145f528 - - - - - -3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b - -Is(HallLight,On) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b - - - - - -783ccf13-0676-4f2b-963c-02f4d770878a - -At(Robot,MilkDrink) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->783ccf13-0676-4f2b-963c-02f4d770878a - - - - - -47cd0e94-a7a5-4392-8487-76855d3e61a4 - -Holding(Nothing) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->47cd0e94-a7a5-4392-8487-76855d3e61a4 - - - - - -dca72791-3951-45de-b896-e4d86a07f9d6 - -At(Robot,Bar2) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->dca72791-3951-45de-b896-e4d86a07f9d6 - - - - - -3d3eb50a-f6a2-45f5-8f32-2072e9784b4a - -Turn(HallLight,Off) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->3d3eb50a-f6a2-45f5-8f32-2072e9784b4a - - - - - -7065c818-ca23-4001-aede-fa50e6072be8 - -Is(HallLight,Off) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->7065c818-ca23-4001-aede-fa50e6072be8 - - - - - -842104c6-fa9e-4c71-ba42-c9ed01b6f464 - -At(Robot,MilkDrink) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->842104c6-fa9e-4c71-ba42-c9ed01b6f464 - - - - - -9c443d08-c0fa-41f6-a0af-014052c914f5 - -Holding(Nothing) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->9c443d08-c0fa-41f6-a0af-014052c914f5 - - - - - -a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a - -At(Robot,Bar2) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a - - - - - -f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee - -Turn(HallLight,On) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee - - - - - -7eb9f4a0-0ddc-49fe-8131-656e04ba927f - -Is(HallLight,Off) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->7eb9f4a0-0ddc-49fe-8131-656e04ba927f - - - - - -72fd5888-1566-4756-8f5f-bfd393a80c09 - -At(Robot,MilkDrink) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->72fd5888-1566-4756-8f5f-bfd393a80c09 - - - - - -6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07 - -Holding(Nothing) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07 - - - - - -f7ac8ce3-23d4-456f-a641-707cee5aa8ec - -At(Robot,Bar2) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->f7ac8ce3-23d4-456f-a641-707cee5aa8ec - - - - - -9295f6df-79e8-437c-b126-2750b2bcd7c0 - -Turn(HallLight,On) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->9295f6df-79e8-437c-b126-2750b2bcd7c0 - - - - - -f9a5e7cc-347e-4588-925f-b9363c85a8b6 - -Is(TubeLight,On) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->f9a5e7cc-347e-4588-925f-b9363c85a8b6 - - - - - -65754975-e322-4745-b7e5-438724fed1ac - -At(Robot,MilkDrink) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->65754975-e322-4745-b7e5-438724fed1ac - - - - - -de692fae-d1f4-4160-8626-ecf15343d37c - -Holding(Nothing) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->de692fae-d1f4-4160-8626-ecf15343d37c - - - - - -49803b4c-ba7d-47bf-aa7c-f33bef1f41e1 - -At(Robot,Bar2) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->49803b4c-ba7d-47bf-aa7c-f33bef1f41e1 - - - - - -6a330d89-e6f4-4570-9c20-9d43f75c2ae4 - -Turn(TubeLight,Off) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->6a330d89-e6f4-4570-9c20-9d43f75c2ae4 - - - - - -1d84df2b-00ac-4ce4-acca-d072bc4d3253 - -Is(TubeLight,On) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->1d84df2b-00ac-4ce4-acca-d072bc4d3253 - - - - - -b04b8a4e-337d-42cd-8574-bf32e3d14da0 - -At(Robot,MilkDrink) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->b04b8a4e-337d-42cd-8574-bf32e3d14da0 - - - - - -b2d4495e-8819-4132-939b-790f05705c12 - -Holding(Nothing) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->b2d4495e-8819-4132-939b-790f05705c12 - - - - - -10fadc09-1f95-4c56-a036-7017e34b454f - -At(Robot,Bar2) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->10fadc09-1f95-4c56-a036-7017e34b454f - - - - - -62259e36-7192-41cc-b8af-c9dd55698def - -Turn(TubeLight,Off) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->62259e36-7192-41cc-b8af-c9dd55698def - - - - - -9d4dacd4-138f-454a-bf9e-ee912a80846b - -At(Robot,MilkDrink) - - - -d8112776-987a-40cc-aea5-a988d434820f->9d4dacd4-138f-454a-bf9e-ee912a80846b - - - - - -0d3898b7-800e-4e02-b5ae-f9fd2f8f712e - -Holding(Nothing) - - - -d8112776-987a-40cc-aea5-a988d434820f->0d3898b7-800e-4e02-b5ae-f9fd2f8f712e - - - - - -a9661ecd-7321-43e4-919a-e086a0e44c90 - -At(Robot,Bar2) - - - -d8112776-987a-40cc-aea5-a988d434820f->a9661ecd-7321-43e4-919a-e086a0e44c90 - - - - - -baab60eb-5942-447d-bf5b-92e929d47598 - -Is(TubeLight,Off) - - - -d8112776-987a-40cc-aea5-a988d434820f->baab60eb-5942-447d-bf5b-92e929d47598 - - - - - -832b4930-d3f0-43a5-a5f1-30a7f6fcf183 - -Turn(TubeLight,On) - - - -d8112776-987a-40cc-aea5-a988d434820f->832b4930-d3f0-43a5-a5f1-30a7f6fcf183 - - - - - -c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4 - -At(Robot,MilkDrink) - - - -dd539879-2232-4b19-9e46-b9e529164e39->c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4 - - - - - -721c2699-58a4-4f21-9b29-d59f5638de0f - -Holding(Nothing) - - - -dd539879-2232-4b19-9e46-b9e529164e39->721c2699-58a4-4f21-9b29-d59f5638de0f - - - - - -7528f112-c933-45c1-8a44-199aa4c947c8 - -At(Robot,Bar2) - - - -dd539879-2232-4b19-9e46-b9e529164e39->7528f112-c933-45c1-8a44-199aa4c947c8 - - - - - -392fa799-0e95-4b0b-9dc6-6fd4c756ddd1 - -Is(TubeLight,Off) - - - -dd539879-2232-4b19-9e46-b9e529164e39->392fa799-0e95-4b0b-9dc6-6fd4c756ddd1 - - - - - -25488972-8f9e-4133-8ef5-614d1f44fa21 - -Turn(TubeLight,On) - - - -dd539879-2232-4b19-9e46-b9e529164e39->25488972-8f9e-4133-8ef5-614d1f44fa21 - - - - - -43ec745e-4af5-4f95-9491-8a1f56c08517 - -At(Robot,MilkDrink) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->43ec745e-4af5-4f95-9491-8a1f56c08517 - - - - - -b9a89fba-a181-40ae-ab24-57f90fdc4841 - -Holding(Nothing) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->b9a89fba-a181-40ae-ab24-57f90fdc4841 - - - - - -a8e81fa6-7fef-4c5e-91d9-f6ae292cad90 - -At(Robot,Bar2) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->a8e81fa6-7fef-4c5e-91d9-f6ae292cad90 - - - - - -e097aa28-deb9-4a84-b19a-b9430d1f577c - -PickUp(MilkDrink) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->e097aa28-deb9-4a84-b19a-b9430d1f577c - - - - - -54a62036-3639-43ea-91ce-0ce4d445507b - -? - - - -ee994789-611a-41f7-9e4a-882a85a8f84d->54a62036-3639-43ea-91ce-0ce4d445507b - - - - - -6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0 - -PutDown(ADMilk,Bar) - - - -ee994789-611a-41f7-9e4a-882a85a8f84d->6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0 - - - - - -8bf7e018-e1de-493f-a03b-705bda72f99a - -Holding(ADMilk) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->8bf7e018-e1de-493f-a03b-705bda72f99a - - - - - -e55228f5-07a0-4baf-bbe8-6234c18cf124 - -At(Robot,Bar2) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->e55228f5-07a0-4baf-bbe8-6234c18cf124 - - - - - -350c0d4f-496a-4929-bdc5-928b73a370ff - -Holding(MilkDrink) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->350c0d4f-496a-4929-bdc5-928b73a370ff - - - - - -7fe2cc4c-2825-43cb-b93d-f5e24456d291 - -Holding(ADMilk) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->7fe2cc4c-2825-43cb-b93d-f5e24456d291 - - - - - -92f0d697-ba3a-40c9-b43d-df7d97d13b0a - -At(Robot,Bar2) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->92f0d697-ba3a-40c9-b43d-df7d97d13b0a - - - - - -d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa - -Holding(MilkDrink) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa - - - - - -a4b01280-6d45-4f24-b206-7ed4d1baa0df - -PutDown(ADMilk,Bar) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->a4b01280-6d45-4f24-b206-7ed4d1baa0df - - - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6 - -? - - - -a7f6796d-5664-494a-9040-9c85fe75f1fd->3ee90b91-65ce-424d-bc4b-a734249dd7e6 - - - - - -7b1ddbba-b4d2-443c-b646-39eb933fd102 - -PutDown(Bernachon,Bar) - - - -a7f6796d-5664-494a-9040-9c85fe75f1fd->7b1ddbba-b4d2-443c-b646-39eb933fd102 - - - - - -ed698829-defc-4bd7-b5b5-a787873ab161 - -Holding(Bernachon) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->ed698829-defc-4bd7-b5b5-a787873ab161 - - - - - -d2970d23-0525-42c5-a6d5-d1801429c17b - -At(Robot,Bar2) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->d2970d23-0525-42c5-a6d5-d1801429c17b - - - - - -8614c8da-8a04-4907-a164-6d4e6e21ac2c - -Holding(MilkDrink) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->8614c8da-8a04-4907-a164-6d4e6e21ac2c - - - - - -1c09ff47-400c-466e-8714-d8c8429db7e6 - -Holding(Bernachon) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->1c09ff47-400c-466e-8714-d8c8429db7e6 - - - - - -327e2478-87b5-4eba-9dd1-6918366c7da1 - -At(Robot,Bar2) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->327e2478-87b5-4eba-9dd1-6918366c7da1 - - - - - -60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97 - -Holding(MilkDrink) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97 - - - - - -c5e01a62-e85f-4707-a45f-49eb624b5da4 - -PutDown(Bernachon,Bar) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->c5e01a62-e85f-4707-a45f-49eb624b5da4 - - - - - -02754f4b-66b5-46f8-b427-c9043b6c323d - -? - - - -eb9ec3da-8aec-484c-b0da-62884f057827->02754f4b-66b5-46f8-b427-c9043b6c323d - - - - - -4b866074-42e4-4eb6-bf22-e3f9e3efc8c4 - -PutDown(BottledDrink,Bar) - - - -eb9ec3da-8aec-484c-b0da-62884f057827->4b866074-42e4-4eb6-bf22-e3f9e3efc8c4 - - - - - -66773396-42d7-4b86-b195-289ee353bea1 - -Holding(BottledDrink) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->66773396-42d7-4b86-b195-289ee353bea1 - - - - - -10caf46d-5682-45ed-b60d-d30a074d9cab - -At(Robot,Bar2) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->10caf46d-5682-45ed-b60d-d30a074d9cab - - - - - -38a751c3-d97d-4e30-b2a1-92cc0bf1748c - -Holding(MilkDrink) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->38a751c3-d97d-4e30-b2a1-92cc0bf1748c - - - - - -f7b2afd5-172e-4f61-a7fd-7635fdf998c7 - -Holding(BottledDrink) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->f7b2afd5-172e-4f61-a7fd-7635fdf998c7 - - - - - -e16be6cb-8fec-486e-a03d-6dff87de936e - -At(Robot,Bar2) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->e16be6cb-8fec-486e-a03d-6dff87de936e - - - - - -d48b849a-4b45-4e2b-bfa2-006c7f88d051 - -Holding(MilkDrink) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->d48b849a-4b45-4e2b-bfa2-006c7f88d051 - - - - - -9e20a4f6-e58f-4110-a538-14881df9fba1 - -PutDown(BottledDrink,Bar) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->9e20a4f6-e58f-4110-a538-14881df9fba1 - - - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0 - -? - - - -80bb0311-1f87-4af6-a786-20e869ddffbf->f6e6a3e1-0759-44e1-8e5b-d350636a36b0 - - - - - -e044fc55-062c-472c-9c8e-4f32bbead6d6 - -PutDown(Chips,Bar) - - - -80bb0311-1f87-4af6-a786-20e869ddffbf->e044fc55-062c-472c-9c8e-4f32bbead6d6 - - - - - -ec10b3b5-792b-47d7-bb00-0454a405e5e1 - -At(Robot,Bar2) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->ec10b3b5-792b-47d7-bb00-0454a405e5e1 - - - - - -8614a2e8-9005-4fca-8d71-60143de2b08d - -Holding(Chips) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->8614a2e8-9005-4fca-8d71-60143de2b08d - - - - - -557ba623-a633-432b-8779-eac1ead8c539 - -Holding(MilkDrink) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->557ba623-a633-432b-8779-eac1ead8c539 - - - - - -a1732476-b4cc-481c-9d25-22295111d762 - -Holding(Chips) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->a1732476-b4cc-481c-9d25-22295111d762 - - - - - -49c6c9ec-3b95-43dc-88f5-06675d0e5bf1 - -At(Robot,Bar2) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->49c6c9ec-3b95-43dc-88f5-06675d0e5bf1 - - - - - -ed55981d-75e8-4ad0-bc1f-7332e123d260 - -Holding(MilkDrink) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->ed55981d-75e8-4ad0-bc1f-7332e123d260 - - - - - -04fb64d5-6c56-4f53-9a86-e498ed641ba3 - -PutDown(Chips,Bar) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->04fb64d5-6c56-4f53-9a86-e498ed641ba3 - - - - - -e477cd0c-327d-4be3-af19-45dc454ff83e - -? - - - -e6a68b9e-80e9-49aa-98f5-ac87f6288da7->e477cd0c-327d-4be3-af19-45dc454ff83e - - - - - -98150a13-3731-47c8-9a8e-d78a55e3645d - -PutDown(Coffee,Bar) - - - -e6a68b9e-80e9-49aa-98f5-ac87f6288da7->98150a13-3731-47c8-9a8e-d78a55e3645d - - - - - -8603671b-a28b-4c77-a70d-7693a479c895 - -At(Robot,Bar2) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->8603671b-a28b-4c77-a70d-7693a479c895 - - - - - -9e6e96b9-4e95-4f6c-8ed5-b69fe487087d - -Holding(Coffee) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->9e6e96b9-4e95-4f6c-8ed5-b69fe487087d - - - - - -c1afe35f-6e04-4ae8-bc21-5810d71efd7d - -Holding(MilkDrink) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->c1afe35f-6e04-4ae8-bc21-5810d71efd7d - - - - - -e60445d9-2ff8-46a5-bfe4-c28830bb672b - -At(Robot,Bar2) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->e60445d9-2ff8-46a5-bfe4-c28830bb672b - - - - - -a9da3177-f487-4698-a59f-bfa320d329f2 - -Holding(Coffee) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->a9da3177-f487-4698-a59f-bfa320d329f2 - - - - - -dc8676aa-bd2e-4961-8f2f-a337d17e05d0 - -Holding(MilkDrink) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->dc8676aa-bd2e-4961-8f2f-a337d17e05d0 - - - - - -14fdadac-4678-4f2a-a5db-89bb1300fb3a - -PutDown(Coffee,Bar) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->14fdadac-4678-4f2a-a5db-89bb1300fb3a - - - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f - -? - - - -6b5035f6-4e7d-4914-881e-efc040a46e92->34aa96bb-cb46-4b9e-a46a-f07b7d5b435f - - - - - -be59844a-9caf-45e2-94a6-a19f660a279c - -PutDown(Dessert,Bar) - - - -6b5035f6-4e7d-4914-881e-efc040a46e92->be59844a-9caf-45e2-94a6-a19f660a279c - - - - - -c6647b89-208f-4669-9079-5b68c076ab9c - -At(Robot,Bar2) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->c6647b89-208f-4669-9079-5b68c076ab9c - - - - - -82cb330f-8288-4c34-ba33-3f0af489a8a8 - -Holding(Dessert) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->82cb330f-8288-4c34-ba33-3f0af489a8a8 - - - - - -e452ea52-2d8e-41d5-a217-f401cd032e2b - -Holding(MilkDrink) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->e452ea52-2d8e-41d5-a217-f401cd032e2b - - - - - -ef27f545-f3b5-46a1-aea1-3e77e4c7ef99 - -At(Robot,Bar2) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->ef27f545-f3b5-46a1-aea1-3e77e4c7ef99 - - - - - -f2892b78-6688-4c60-91d3-97750ceb48f3 - -Holding(Dessert) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->f2892b78-6688-4c60-91d3-97750ceb48f3 - - - - - -4980523b-34b7-4b53-ba9b-bf4c5212c479 - -Holding(MilkDrink) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->4980523b-34b7-4b53-ba9b-bf4c5212c479 - - - - - -5354575b-84af-40ed-8e01-c31e8b1d3b90 - -PutDown(Dessert,Bar) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->5354575b-84af-40ed-8e01-c31e8b1d3b90 - - - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c - -? - - - -4939a51b-2fed-4df4-8db8-b3914cb99572->a822d82e-b6b0-4a56-8a3e-0241521d3d0c - - - - - -636ee734-15b7-4024-a99a-c4a1be49cb4b - -PutDown(Milk,Bar) - - - -4939a51b-2fed-4df4-8db8-b3914cb99572->636ee734-15b7-4024-a99a-c4a1be49cb4b - - - - - -55c3bd46-df99-4607-8f4a-43713ffd728b - -At(Robot,Bar2) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->55c3bd46-df99-4607-8f4a-43713ffd728b - - - - - -3ce080d0-3205-4929-9166-49c4ff633e79 - -Holding(Milk) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->3ce080d0-3205-4929-9166-49c4ff633e79 - - - - - -0cfd551b-c03c-42e1-b315-24b151ca76c2 - -Holding(MilkDrink) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->0cfd551b-c03c-42e1-b315-24b151ca76c2 - - - - - -18fd2435-dc2d-4bb5-92cb-41bae1112cdc - -Holding(Milk) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->18fd2435-dc2d-4bb5-92cb-41bae1112cdc - - - - - -5f1c3314-2fd1-45e9-b521-ed2b72c21796 - -At(Robot,Bar2) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->5f1c3314-2fd1-45e9-b521-ed2b72c21796 - - - - - -a3783c9f-ae12-49ae-907a-f474593665a2 - -Holding(MilkDrink) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->a3783c9f-ae12-49ae-907a-f474593665a2 - - - - - -19c9848f-caa2-40af-8534-43e9c2f16cc8 - -PutDown(Milk,Bar) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->19c9848f-caa2-40af-8534-43e9c2f16cc8 - - - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a - -? - - - -44c46a4a-e646-4274-a23b-ffd4686afa61->ed86cd17-3f27-4930-aed4-c55dda092d5a - - - - - -51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc - -PutDown(NFCJuice,Bar) - - - -44c46a4a-e646-4274-a23b-ffd4686afa61->51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc - - - - - -0977779f-a2d6-44af-b12b-9a00dc620cf2 - -Holding(NFCJuice) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->0977779f-a2d6-44af-b12b-9a00dc620cf2 - - - - - -69c7c338-8c7a-466d-bec4-006beff4df4c - -At(Robot,Bar2) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->69c7c338-8c7a-466d-bec4-006beff4df4c - - - - - -602e1341-9186-4478-ae53-0c0feed21e4e - -Holding(MilkDrink) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->602e1341-9186-4478-ae53-0c0feed21e4e - - - - - -b1da90b9-0bca-40b0-be7c-52025d64cb95 - -Holding(NFCJuice) - - - -be610373-908a-4cdf-a276-eb63c0927891->b1da90b9-0bca-40b0-be7c-52025d64cb95 - - - - - -51176ed0-b011-4b3a-88e1-a2cbe51f50cf - -At(Robot,Bar2) - - - -be610373-908a-4cdf-a276-eb63c0927891->51176ed0-b011-4b3a-88e1-a2cbe51f50cf - - - - - -ac5a6273-34c5-4827-8f01-6cff2ce195b3 - -Holding(MilkDrink) - - - -be610373-908a-4cdf-a276-eb63c0927891->ac5a6273-34c5-4827-8f01-6cff2ce195b3 - - - - - -b3d397d6-35b3-4a04-9a6f-70201d0d06e2 - -PutDown(NFCJuice,Bar) - - - -be610373-908a-4cdf-a276-eb63c0927891->b3d397d6-35b3-4a04-9a6f-70201d0d06e2 - - - - - -1240ebfd-7e0f-403d-8b84-999c77431f55 - -? - - - -a1a9032d-687a-4505-ba96-a4951b52a1fb->1240ebfd-7e0f-403d-8b84-999c77431f55 - - - - - -c035e88c-1906-4a98-a716-1c5b1db8b975 - -PutDown(Softdrink,Bar) - - - -a1a9032d-687a-4505-ba96-a4951b52a1fb->c035e88c-1906-4a98-a716-1c5b1db8b975 - - - - - -55de91f8-8252-45d9-9940-cac57334d7a7 - -Holding(Softdrink) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->55de91f8-8252-45d9-9940-cac57334d7a7 - - - - - -81e7d562-7203-411f-ac99-b4993421209f - -At(Robot,Bar2) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->81e7d562-7203-411f-ac99-b4993421209f - - - - - -bafa5440-348f-4c14-af1a-ed97197b26cd - -Holding(MilkDrink) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->bafa5440-348f-4c14-af1a-ed97197b26cd - - - - - -9a41cb8f-65e6-4309-b451-48b7992a62f2 - -Holding(Softdrink) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->9a41cb8f-65e6-4309-b451-48b7992a62f2 - - - - - -37280f2a-9646-4b54-b532-22032d4dddb8 - -At(Robot,Bar2) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->37280f2a-9646-4b54-b532-22032d4dddb8 - - - - - -272cb815-fc07-4590-b2f8-d4b9fc454339 - -Holding(MilkDrink) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->272cb815-fc07-4590-b2f8-d4b9fc454339 - - - - - -8407cdcb-73ae-49c8-aaf2-bf3751ced541 - -PutDown(Softdrink,Bar) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->8407cdcb-73ae-49c8-aaf2-bf3751ced541 - - - - - -185f596d-f400-4055-8d07-f579b50bc711 - -? - - - -a1481776-efcf-4951-9af8-3f060e3a2d85->185f596d-f400-4055-8d07-f579b50bc711 - - - - - -3dc6a373-605d-49e1-b7e0-157be73bd02d - -PutDown(SpringWater,Bar) - - - -a1481776-efcf-4951-9af8-3f060e3a2d85->3dc6a373-605d-49e1-b7e0-157be73bd02d - - - - - -6dfe7617-104b-449c-bc93-2480450ffede - -At(Robot,Bar2) - - - -185f596d-f400-4055-8d07-f579b50bc711->6dfe7617-104b-449c-bc93-2480450ffede - - - - - -d12a6c42-3089-4773-925e-9cb106948c96 - -Holding(SpringWater) - - - -185f596d-f400-4055-8d07-f579b50bc711->d12a6c42-3089-4773-925e-9cb106948c96 - - - - - -9419f1c4-688f-46e6-a3d2-e8287d596b48 - -Holding(MilkDrink) - - - -185f596d-f400-4055-8d07-f579b50bc711->9419f1c4-688f-46e6-a3d2-e8287d596b48 - - - - - -90c999b2-e118-47eb-ac33-58114ef78067 - -At(Robot,Bar2) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->90c999b2-e118-47eb-ac33-58114ef78067 - - - - - -ae03ea63-1515-4427-bffe-7de75cc3b7ea - -Holding(SpringWater) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->ae03ea63-1515-4427-bffe-7de75cc3b7ea - - - - - -822f40a3-5c5b-48cf-8628-9382e49b9290 - -Holding(MilkDrink) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->822f40a3-5c5b-48cf-8628-9382e49b9290 - - - - - -654e625e-c14a-4705-9053-e43cb9bdbdec - -PutDown(SpringWater,Bar) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->654e625e-c14a-4705-9053-e43cb9bdbdec - - - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a - -? - - - -79959fc1-102b-4dd0-bd26-0024bfab722a->7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a - - - - - -d187eff6-e61c-4a75-993c-e23f27d59a11 - -PutDown(VacuumCup,Bar) - - - -79959fc1-102b-4dd0-bd26-0024bfab722a->d187eff6-e61c-4a75-993c-e23f27d59a11 - - - - - -15edc351-573b-4906-ad03-297f4bd85d93 - -Holding(VacuumCup) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->15edc351-573b-4906-ad03-297f4bd85d93 - - - - - -d5b5cc68-7498-434b-9a16-a1c7e6afec4e - -At(Robot,Bar2) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->d5b5cc68-7498-434b-9a16-a1c7e6afec4e - - - - - -dc002244-de3d-4769-89e5-bfa498142b4c - -Holding(MilkDrink) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->dc002244-de3d-4769-89e5-bfa498142b4c - - - - - -bd378d36-4f17-4a82-b7ce-cb9e187b3376 - -Holding(VacuumCup) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->bd378d36-4f17-4a82-b7ce-cb9e187b3376 - - - - - -bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298 - -At(Robot,Bar2) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298 - - - - - -dbc4c650-9570-4d64-b445-d032032f1447 - -Holding(MilkDrink) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->dbc4c650-9570-4d64-b445-d032032f1447 - - - - - -44efea8b-425c-41bb-88e8-77c9d8d91462 - -PutDown(VacuumCup,Bar) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->44efea8b-425c-41bb-88e8-77c9d8d91462 - - - - - -9da7cc2d-4610-4e56-834f-734a473cf45f - -? - - - -6ff1a552-442a-469e-85a7-005b0545de29->9da7cc2d-4610-4e56-834f-734a473cf45f - - - - - -6dfa4b2a-855a-4675-acf1-f27ffd3c4907 - -PutDown(Water,Bar) - - - -6ff1a552-442a-469e-85a7-005b0545de29->6dfa4b2a-855a-4675-acf1-f27ffd3c4907 - - - - - -5753e20b-77fb-46bc-bca7-e09f8b90a47d - -At(Robot,Bar2) - - - -9da7cc2d-4610-4e56-834f-734a473cf45f->5753e20b-77fb-46bc-bca7-e09f8b90a47d - - - - - -f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e - -Holding(Water) - - - -9da7cc2d-4610-4e56-834f-734a473cf45f->f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e - - - - - -579d5579-5bec-4bcc-9902-9098af0e84b3 - -Holding(MilkDrink) - - - -9da7cc2d-4610-4e56-834f-734a473cf45f->579d5579-5bec-4bcc-9902-9098af0e84b3 - - - - - -03c0a5b0-59b6-4840-a65b-186db7e4be39 - -At(Robot,Bar2) - - - -b905bc4e-5fa0-41d1-ab6a-468bf85d2b85->03c0a5b0-59b6-4840-a65b-186db7e4be39 - - - - - -e6035e64-c2b0-452b-a47a-39dc1309d3ea - -Holding(Water) - - - -b905bc4e-5fa0-41d1-ab6a-468bf85d2b85->e6035e64-c2b0-452b-a47a-39dc1309d3ea - - - - - -7d7bbbb0-d84c-47da-8595-2fe0920193aa - -Holding(MilkDrink) - - - -b905bc4e-5fa0-41d1-ab6a-468bf85d2b85->7d7bbbb0-d84c-47da-8595-2fe0920193aa - - - - - -1a4f10a2-f887-44f3-9ff5-d8459cc4e15f - -PutDown(Water,Bar) - - - -b905bc4e-5fa0-41d1-ab6a-468bf85d2b85->1a4f10a2-f887-44f3-9ff5-d8459cc4e15f - - - - - -c5587f32-fc90-4f69-ba6a-7b75074ba50a - -? - - - -7f39a0b3-a29d-47ef-9293-045cf65eb9c6->c5587f32-fc90-4f69-ba6a-7b75074ba50a - - - - - -250c1cc7-54e9-471f-ac1e-a9e3989d500a - -PutDown(Yogurt,Bar) - - - -7f39a0b3-a29d-47ef-9293-045cf65eb9c6->250c1cc7-54e9-471f-ac1e-a9e3989d500a - - - - - -691a7203-e4a5-452e-b22d-bd4af678aa01 - -At(Robot,Bar2) - - - -c5587f32-fc90-4f69-ba6a-7b75074ba50a->691a7203-e4a5-452e-b22d-bd4af678aa01 - - - - - -63517f53-aacd-45d7-a8f9-0f3fcd62efdd - -Holding(Yogurt) - - - -c5587f32-fc90-4f69-ba6a-7b75074ba50a->63517f53-aacd-45d7-a8f9-0f3fcd62efdd - - - - - -78a69b57-aa86-44ab-9687-2bcf3e06648b - -Holding(MilkDrink) - - - -c5587f32-fc90-4f69-ba6a-7b75074ba50a->78a69b57-aa86-44ab-9687-2bcf3e06648b - - - - - -3c6de616-03f1-4aa9-a467-26e9bb08ad40 - -At(Robot,Bar2) - - - -b2638e75-d5a6-4b29-9228-dc6b42948ec0->3c6de616-03f1-4aa9-a467-26e9bb08ad40 - - - - - -0eaaf3d0-de63-44e1-a166-f0cb6d262a8c - -Holding(MilkDrink) - - - -b2638e75-d5a6-4b29-9228-dc6b42948ec0->0eaaf3d0-de63-44e1-a166-f0cb6d262a8c - - - - - -14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3 - -Holding(Yogurt) - - - -b2638e75-d5a6-4b29-9228-dc6b42948ec0->14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3 - - - - - -37267417-bf55-440e-860e-c48b3b8b1fd3 - -PutDown(Yogurt,Bar) - - - -b2638e75-d5a6-4b29-9228-dc6b42948ec0->37267417-bf55-440e-860e-c48b3b8b1fd3 - - - - - -db9f748d-5b42-4c8a-98f7-62a22a435362 - -At(Robot,Bar2) - - - -95ea79df-397e-4ace-932c-370e2db017ae->db9f748d-5b42-4c8a-98f7-62a22a435362 - - - - - -a30f3c74-e181-46e5-82fe-aa9b75eb2a28 - -Holding(MilkDrink) - - - -95ea79df-397e-4ace-932c-370e2db017ae->a30f3c74-e181-46e5-82fe-aa9b75eb2a28 - - - - - -a84a7024-3472-4350-bb95-d794977232bb - -PutDown(MilkDrink,Bar) - - - -95ea79df-397e-4ace-932c-370e2db017ae->a84a7024-3472-4350-bb95-d794977232bb - - - - - diff --git a/BTExpansionCode/EXP/behavior_lib/_base/Behavior.py b/BTExpansionCode/EXP/behavior_lib/_base/Behavior.py index 425f547..4c74fe6 100644 --- a/BTExpansionCode/EXP/behavior_lib/_base/Behavior.py +++ b/BTExpansionCode/EXP/behavior_lib/_base/Behavior.py @@ -14,13 +14,113 @@ class Bahavior(ptree.behaviour.Behaviour): ''' scene = None print_name_prefix = "" - tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'} + + # tables_for_guiding = {"QuietTable1","QuietTable2", + # "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", + # 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} + tables_for_guiding = set() + + tables_for_placement = { + # 'Bar', 'Bar2', 'Table', + # 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3','WindowTable6', + # "QuietTable1", "QuietTable2", + # "BrightTable1", "BrightTable2", "BrightTable3", "BrightTable4", "BrightTable5", + 'Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6', #'Table', + 'WindowTable4', 'WindowTable5', + 'QuietTable1', 'QuietTable2', 'QuietTable3', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats', + 'VIPLounge', 'MerchZone' #20 + + } + + all_place = tables_for_guiding | tables_for_placement + all_object = { - 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', - 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} - tables_for_guiding = {"QuietTable1","QuietTable2", - "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", - 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} + 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', + 'Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', #'Tea' #15 + + 'Apple', 'Banana', 'Mangosteen', 'Orange', + 'Kettle', 'PaperCup', 'Bread', 'LunchBox', + 'Teacup', 'Chocolate', 'Sandwiches', 'Mugs', + 'Watermelon', 'Tomato', 'CleansingFoam','CocountMilk', + 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + 'PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake', + 'Tray', 'Bread','Glass', 'Door', + 'Mug', 'Machine','PackagedCoffee', 'CubeSugar', + 'Apple', 'Spoon','Drinks', 'Drink', + 'Ice', 'Saucer','TrashBin', 'Knife','Cube' + #45 + + + + # 'Coffee', 'Water', 'Dessert', 'Softdrink','Tea', + # 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', + # 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater', + # 'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + # 'PaperCupStarbucks', 'CoffeeMachine', 'GingerLHand', 'GingerRHand', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Glass', 'Door', 'Mug', 'Machine', + # 'PackagedCoffee', 'CubeSugar', 'Apple', 'Spoon', + # 'Drinks', 'Drink', 'Take-AwayCup', 'Saucer', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Roof', 'Wall' + } + + # tables_for_placement = {'Bar', 'WaterTable', 'CoffeeTable', 'Table1'} + + # easy——easy + # all_object = { + # 'Coffee', 'Water', 'Dessert', 'Yogurt'} + + + + # all_object = { + # 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', + # 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater', + # + # + # 'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + # 'PaperCupStarbucks', 'CoffeeMachine', 'GingerLHand', 'GingerRHand', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Glass', 'Door', 'Mug', 'Machine', + # 'PackagedCoffee', 'CubeSugar', 'Apple', 'Spoon', + # 'Drinks', 'Drink', 'Take-AwayCup', 'Saucer', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Roof', 'Wall' + # } + + # all_object = { + # 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', + # 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} + + # all_object.update({'CleansingFoam', 'CocountMilk', 'Tomato'}) + + # all_object.update({'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Roof', 'Wall'}) + + + + + # all_object.update({'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + # 'PaperCupStarbucks', 'CoffeeMachine', 'GingerLHand', 'GingerRHand', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Glass', 'Door', 'Mug', 'Machine', + # 'PackagedCoffee', 'CubeSugar', 'Apple', 'Spoon', + # 'Drinks', 'Drink', 'Take-AwayCup', 'Saucer', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Roof', 'Wall'}) + + + # tables_for_guiding = set() # tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'} diff --git a/BTExpansionCode/EXP/behavior_lib/_base/Inverter.py b/BTExpansionCode/EXP/behavior_lib/_base/Inverter.py new file mode 100644 index 0000000..25e15be --- /dev/null +++ b/BTExpansionCode/EXP/behavior_lib/_base/Inverter.py @@ -0,0 +1,11 @@ +import py_trees as ptree +from typing import Any + + +class Inverter(ptree.decorators.Inverter): + print_name = "Inverter" + ins_name = "Inverter" + type = "Inverter" + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) diff --git a/BTExpansionCode/EXP/behavior_lib/act/Clean.py b/BTExpansionCode/EXP/behavior_lib/act/Clean.py index 7b39896..a81b1a1 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/Clean.py +++ b/BTExpansionCode/EXP/behavior_lib/act/Clean.py @@ -25,16 +25,9 @@ class Clean(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} - if arg == "Table1": - info["add"]= {f'Is(Table1,Clean)'} - info["del_set"] = {f'Is(Table1,Dirty)'} - elif arg == "Floor": - info["add"] = {f'Is(Floor,Clean)'} - info["del_set"] = {f'Is(Floor,Dirty)'} - elif arg == "Chairs": - info["add"] = {f'Is(Chairs,Clean)'} - info["del_set"] = {f'Is(Chairs,Dirty)'} + info["pre"]= {f'Holding(Nothing)',f'Not IsClean({arg})'} + info["add"] = {f'IsClean({arg})'} + info["del_set"] = {f'Not IsClean({arg})'} return info def _update(self) -> ptree.common.Status: diff --git a/BTExpansionCode/EXP/behavior_lib/act/Make.py b/BTExpansionCode/EXP/behavior_lib/act/Make.py index b980f72..a768e79 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/Make.py +++ b/BTExpansionCode/EXP/behavior_lib/act/Make.py @@ -25,9 +25,9 @@ class Make(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"]= {f'Holding(Nothing)'} - info['del_set'] = set() - info['add'] = {f'Exist({arg})'} + info["pre"]= {f'Holding(Nothing)',f'Not Exists({arg})'} + info['del_set'] = {f'Not Exists({arg})'} + info['add'] = {f'Exists({arg})'} if arg == cls.valid_args[0]: info["add"] |= {f'On({arg},CoffeeTable)'} elif arg == cls.valid_args[1]: diff --git a/BTExpansionCode/EXP/behavior_lib/act/MoveTo.py b/BTExpansionCode/EXP/behavior_lib/act/MoveTo.py index 2d19716..2b453c8 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/MoveTo.py +++ b/BTExpansionCode/EXP/behavior_lib/act/MoveTo.py @@ -5,7 +5,7 @@ class MoveTo(Act): can_be_expanded = True num_args = 1 valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding - valid_args.add('Customer') + # valid_args.add('Customer') def __init__(self, target_place): super().__init__(target_place) @@ -17,12 +17,14 @@ class MoveTo(Act): info = {} info['pre'] = set() if arg in Act.all_object: - info['pre'] |= {f'Exist({arg})'} - info["add"] = {f'At(Robot,{arg})'} - info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} - info['cost'] = 1 #10 - # if arg!='Anything': - # info['cost']=5 - # else: - # info['cost']=0 + info['pre'] |= {f'Exists({arg})'} + # info['pre'] |= {f'Not RobotNear({arg})'} + + info["add"] = {f'RobotNear({arg})'} + info["add"] |= {f'Not RobotNear({place})' for place in cls.valid_args if place != arg} + + info["del_set"] = {f'RobotNear({place})' for place in cls.valid_args if place != arg} + info["del_set"] |= {f'Not RobotNear({arg})'} + + info['cost'] = 10 return info diff --git a/BTExpansionCode/EXP/behavior_lib/act/PickUp.py b/BTExpansionCode/EXP/behavior_lib/act/PickUp.py index 04a4f37..0fb37d3 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/PickUp.py +++ b/BTExpansionCode/EXP/behavior_lib/act/PickUp.py @@ -16,19 +16,18 @@ class PickUp(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'} - info["add"] = {f'Holding({arg})'} - info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #, - for place in cls.valid_args: + info["pre"] = {f'RobotNear({arg})','Holding(Nothing)'} + + # info["pre"] = {f'RobotNear({arg})', 'Holding(Nothing)',f'Not Holding({arg})'} + # info["pre"] |= {f'Not Holding({obj})' for obj in cls.all_object} + + info["add"] = {f'Holding({arg})','Not Holding(Nothing)',f'Not Exists({arg})'} + info["del_set"] = {f'Not Holding({arg})',f'Holding(Nothing)',f'Exists({arg})'} + for place in cls.all_place: info["del_set"] |= {f'On({arg},{place})'} + info["add"] |= {f'Not On({arg},{place})'} info['cost'] = 2 - # if arg != 'Anything': - # info['cost'] = 1 - # else: - # info['cost'] = 0 - # - # info["pre"] = {} return info diff --git a/BTExpansionCode/EXP/behavior_lib/act/PutDown.py b/BTExpansionCode/EXP/behavior_lib/act/PutDown.py index f27e6ea..1aae24e 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/PutDown.py +++ b/BTExpansionCode/EXP/behavior_lib/act/PutDown.py @@ -22,15 +22,18 @@ class PutDown(Act): def get_info(cls,*arg): if arg[0] != 'Anything': info = {} - info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'} - info["add"] = {f'Holding(Nothing)',f'On({arg[0]},{arg[1]})'} - info["del_set"] = {f'Holding({arg[0]})'} + info["pre"] = {f'Holding({arg[0]})',f'RobotNear({arg[1]})',f'Not Holding(Nothing)'} + info["add"] = {f'Not Holding({arg[0]})',f'On({arg[0]},{arg[1]})'} + info["add"] |= {f'Not On({arg[0]},{place})' for place in cls.tables_for_placement if place != arg[1]} + + info["del_set"] = {f'Holding({arg[0]})',f'Not Holding(Nothing)'} info['cost'] = 100 #1000 else: info = {} info["pre"] = set() info['add'] = {f'Holding(Nothing)'} info['del_set'] = {f'Holding({obj})' for obj in cls.all_object} + info['del_set'] |= {f'Not Holding(Nothing)'} info['cost'] = 0 return info diff --git a/BTExpansionCode/EXP/behavior_lib/act/Turn.py b/BTExpansionCode/EXP/behavior_lib/act/Turn.py index 4cd890d..e0c9c17 100644 --- a/BTExpansionCode/EXP/behavior_lib/act/Turn.py +++ b/BTExpansionCode/EXP/behavior_lib/act/Turn.py @@ -49,27 +49,47 @@ class Turn(Act): def get_info(cls,*arg): info = {} info["pre"] = set() - if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC': - if arg[0]!="Curtain": - info["pre"] |= {f'Holding(Nothing)'} - if arg[1]=="On": - info["pre"] |= {f'Is({arg[0]},Off)'} - info["add"] = {f'Is({arg[0]},On)'} - info["del_set"] = {f'Is({arg[0]},Off)'} + if arg[0] == "TubeLight" or arg[0] == "HallLight" or arg[0] == 'AC': + info["pre"] |= {f'Holding(Nothing)'} + if arg[1] == "On": + info["pre"] |= {f'Not Active({arg[0]})'} + info["add"] = {f'Active({arg[0]})'} + info["del_set"] = {f'Off({arg[0]})'} elif arg[1]=="Off": - info["pre"] |= {f'Is({arg[0]},On)'} - info["add"] = {f'Is({arg[0]},Off)'} - info["del_set"] = {f'Is({arg[0]},On)'} + info["pre"] |= {f'Active({arg[0]})'} + info["add"] = {f'Not Active({arg[0]})'} + info["del_set"] = {f'Active({arg[0]})'} + + # elif arg[0] == 'AC': + # if arg[1] == "On": + # info["pre"] |= {f'Not Active({arg[0]})'} + # info["add"] = {f'Active({arg[0]})',f'Not Low({arg[0]})'} + # info["del_set"] = {f'Off({arg[0]})',f'Low({arg[0]})'} + # elif arg[1]=="Off": + # info["pre"] |= {f'Active({arg[0]})'} + # info["add"] = {f'Not Active({arg[0]})'} + # info["del_set"] = {f'Active({arg[0]})',f'Not Low({arg[0]})',f'Low({arg[0]})'} + elif arg[0]=='ACTemperature': - info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'} + info["pre"] = {f'Holding(Nothing)',f'Active(AC)'} if arg[1]=="Up": - # info["pre"] |= {f'Is({arg[0]},Down)'} - info["add"] = {f'Is({arg[0]},Up)'} - info["del_set"] = {f'Is({arg[0]},Down)'} + # info["pre"] |= {f'Low({arg[0]})'} + info["add"] = {f'Not Low({arg[0]})'} + info["del_set"] = {f'Low({arg[0]})'} elif arg[1]=="Down": - # info["pre"] |= {f'Is({arg[0]},Up)'} - info["add"] = {f'Is({arg[0]},Down)'} - info["del_set"] = {f'Is({arg[0]},Up)'} + # info["pre"] |= {f'Not Low({arg[0]})'} + info["add"] = {f'Low({arg[0]})'} + info["del_set"] = {f'Not Low({arg[0]})'} + + elif arg[0]=='Curtain': + if arg[1]=="On": + info["pre"] |= {f'Closed({arg[0]})'} + info["add"] = {f'Not Closed({arg[0]})'} + info["del_set"] = {f'Closed({arg[0]})'} + elif arg[1]=="Off": + info["pre"] |= {f'Not Closed({arg[0]})'} + info["add"] = {f'Closed({arg[0]})'} + info["del_set"] = {f'Not Closed({arg[0]})'} return info def _update(self) -> ptree.common.Status: diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Active.py b/BTExpansionCode/EXP/behavior_lib/cond/Active.py new file mode 100644 index 0000000..e892715 --- /dev/null +++ b/BTExpansionCode/EXP/behavior_lib/cond/Active.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class Active(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'AC','TubeLight','HallLight'} + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Closed.py b/BTExpansionCode/EXP/behavior_lib/cond/Closed.py new file mode 100644 index 0000000..902d17b --- /dev/null +++ b/BTExpansionCode/EXP/behavior_lib/cond/Closed.py @@ -0,0 +1,27 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class Closed(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'Curtain'} + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Exist.py b/BTExpansionCode/EXP/behavior_lib/cond/Exists.py similarity index 94% rename from BTExpansionCode/EXP/behavior_lib/cond/Exist.py rename to BTExpansionCode/EXP/behavior_lib/cond/Exists.py index 740c8fa..e043783 100644 --- a/BTExpansionCode/EXP/behavior_lib/cond/Exist.py +++ b/BTExpansionCode/EXP/behavior_lib/cond/Exists.py @@ -3,9 +3,9 @@ from typing import Any from EXP.behavior_lib._base.Cond import Cond import itertools -class Exist(Cond): +class Exists(Cond): can_be_expanded = True - num_params = 2 + num_params = 1 valid_args = tuple(Cond.all_object) def __init__(self,*args): diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Holding.py b/BTExpansionCode/EXP/behavior_lib/cond/Holding.py index 7866198..924d643 100644 --- a/BTExpansionCode/EXP/behavior_lib/cond/Holding.py +++ b/BTExpansionCode/EXP/behavior_lib/cond/Holding.py @@ -4,8 +4,8 @@ from EXP.behavior_lib._base.Cond import Cond class Holding(Cond): can_be_expanded = True - num_params = 2 - valid_args = [tuple(Cond.all_object|{'Nothing'})] + num_params = 1 + valid_args = tuple(Cond.all_object|{'Nothing'}) def __init__(self,*args): super().__init__(*args) diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Is.py b/BTExpansionCode/EXP/behavior_lib/cond/Is.py index 3d58afc..b072c3c 100644 --- a/BTExpansionCode/EXP/behavior_lib/cond/Is.py +++ b/BTExpansionCode/EXP/behavior_lib/cond/Is.py @@ -4,10 +4,16 @@ from EXP.behavior_lib._base.Cond import Cond import itertools class Is(Cond): - can_be_expanded = True + can_be_expanded = False num_params = 2 valid_params1 = [('AC','TubeLight','HallLight','Curtain'), ('On','Off')] + + # Closed(Curtain) + # Off(TubeLight,HallLight,AC) + # Dirty(Table1,Floor,Chairs) + # Down(ACTemperature) + valid_params2 = [('Table1','Floor','Chairs'), ('Clean','Dirty')] valid_params3 = [('ACTemperature'), diff --git a/BTExpansionCode/EXP/behavior_lib/cond/IsClean.py b/BTExpansionCode/EXP/behavior_lib/cond/IsClean.py new file mode 100644 index 0000000..c659107 --- /dev/null +++ b/BTExpansionCode/EXP/behavior_lib/cond/IsClean.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class IsClean(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'Table1','Floor','Chairs'} + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py b/BTExpansionCode/EXP/behavior_lib/cond/Low.py similarity index 72% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py rename to BTExpansionCode/EXP/behavior_lib/cond/Low.py index f88f243..7faf918 100644 --- a/BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py +++ b/BTExpansionCode/EXP/behavior_lib/cond/Low.py @@ -3,13 +3,12 @@ from typing import Any from EXP.behavior_lib._base.Cond import Cond import itertools -class At(Cond): +class Low(Cond): can_be_expanded = True - num_params = 2 + num_params = 1 + valid_args = {'ACTemperature'} + - valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'}))) - valid_args.remove(('Customer','Customer')) - valid_args = tuple(valid_args) def __init__(self,*args): super().__init__(*args) @@ -17,7 +16,6 @@ class At(Cond): def _update(self) -> ptree.common.Status: # if self.scene.status? - # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) if self.name in self.scene.state["condition_set"]: diff --git a/BTExpansionCode/EXP/behavior_lib/cond/On.py b/BTExpansionCode/EXP/behavior_lib/cond/On.py index c5d20c0..b0c033e 100644 --- a/BTExpansionCode/EXP/behavior_lib/cond/On.py +++ b/BTExpansionCode/EXP/behavior_lib/cond/On.py @@ -5,7 +5,7 @@ from EXP.behavior_lib._base.Cond import Cond class On(Cond): can_be_expanded = True num_params = 2 - valid_params = [tuple(Cond.all_object), + valid_args = [tuple(Cond.all_object), tuple(Cond.tables_for_placement)] diff --git a/BTExpansionCode/EXP/behavior_lib/cond/RobotNear.py b/BTExpansionCode/EXP/behavior_lib/cond/RobotNear.py new file mode 100644 index 0000000..d51c77c --- /dev/null +++ b/BTExpansionCode/EXP/behavior_lib/cond/RobotNear.py @@ -0,0 +1,33 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class RobotNear(Cond): + can_be_expanded = True + num_params = 1 + + # valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'}))) + # valid_args.remove(('Customer','Customer')) + # valid_args = tuple(valid_args) + + valid_args = Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'} + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/BTExpansionCode/EXP/behavior_tree/obtea/examples.py b/BTExpansionCode/EXP/behavior_tree/obtea/examples.py index c63fa7f..f2d52e4 100644 --- a/BTExpansionCode/EXP/behavior_tree/obtea/examples.py +++ b/BTExpansionCode/EXP/behavior_tree/obtea/examples.py @@ -42,7 +42,7 @@ def MakeCoffeeCost(): return goal,start,actions -# llm_test +# test def Test(): actions=[ Action(name='a1', pre={6}, add={0,2,4}, del_set={1,5}, cost=1), diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.g4 b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.g4 index 24f0c03..ad032f4 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.g4 +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.g4 @@ -4,7 +4,7 @@ root : tree+ EOF; tree : internal_node '{' (action_sign|tree)* '}' ; internal_node : 'sequence' | 'selector' | 'parallel' Integer ; -action_sign : ('act'|'cond') String '(' action_parm? ')'; +action_sign : ('act'|'cond') 'Not'? String '(' action_parm? ')'; action_parm : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ; // var_decls : var_type Names ; // var_type : 'int' | 'float' | 'bool' | 'string' ; diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.interp b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.interp index 4edd60b..7ac2931 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.interp +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.interp @@ -7,6 +7,7 @@ null 'parallel' 'act' 'cond' +'Not' '(' ')' ',' @@ -32,6 +33,7 @@ null null null null +null String Integer Float @@ -48,4 +50,4 @@ boolean atn: -[4, 1, 17, 65, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 41, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 49, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 56, 8, 4, 5, 4, 58, 8, 4, 10, 4, 12, 4, 61, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 71, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 36, 1, 0, 0, 0, 8, 48, 1, 0, 0, 0, 10, 62, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 25, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 14, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 37, 7, 0, 0, 0, 37, 38, 5, 13, 0, 0, 38, 40, 5, 8, 0, 0, 39, 41, 3, 8, 4, 0, 40, 39, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 1, 0, 0, 0, 42, 43, 5, 9, 0, 0, 43, 7, 1, 0, 0, 0, 44, 49, 5, 14, 0, 0, 45, 49, 5, 15, 0, 0, 46, 49, 3, 10, 5, 0, 47, 49, 5, 13, 0, 0, 48, 44, 1, 0, 0, 0, 48, 45, 1, 0, 0, 0, 48, 46, 1, 0, 0, 0, 48, 47, 1, 0, 0, 0, 49, 59, 1, 0, 0, 0, 50, 55, 5, 10, 0, 0, 51, 56, 5, 14, 0, 0, 52, 56, 5, 15, 0, 0, 53, 56, 3, 10, 5, 0, 54, 56, 5, 13, 0, 0, 55, 51, 1, 0, 0, 0, 55, 52, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 54, 1, 0, 0, 0, 56, 58, 1, 0, 0, 0, 57, 50, 1, 0, 0, 0, 58, 61, 1, 0, 0, 0, 59, 57, 1, 0, 0, 0, 59, 60, 1, 0, 0, 0, 60, 9, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 62, 63, 7, 1, 0, 0, 63, 11, 1, 0, 0, 0, 8, 15, 23, 25, 34, 40, 48, 55, 59] \ No newline at end of file +[4, 1, 18, 68, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 1, 3, 3, 3, 39, 8, 3, 1, 3, 1, 3, 1, 3, 3, 3, 44, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 52, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 59, 8, 4, 5, 4, 61, 8, 4, 10, 4, 12, 4, 64, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 12, 13, 75, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 36, 1, 0, 0, 0, 8, 51, 1, 0, 0, 0, 10, 65, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 25, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 15, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 38, 7, 0, 0, 0, 37, 39, 5, 8, 0, 0, 38, 37, 1, 0, 0, 0, 38, 39, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 5, 14, 0, 0, 41, 43, 5, 9, 0, 0, 42, 44, 3, 8, 4, 0, 43, 42, 1, 0, 0, 0, 43, 44, 1, 0, 0, 0, 44, 45, 1, 0, 0, 0, 45, 46, 5, 10, 0, 0, 46, 7, 1, 0, 0, 0, 47, 52, 5, 15, 0, 0, 48, 52, 5, 16, 0, 0, 49, 52, 3, 10, 5, 0, 50, 52, 5, 14, 0, 0, 51, 47, 1, 0, 0, 0, 51, 48, 1, 0, 0, 0, 51, 49, 1, 0, 0, 0, 51, 50, 1, 0, 0, 0, 52, 62, 1, 0, 0, 0, 53, 58, 5, 11, 0, 0, 54, 59, 5, 15, 0, 0, 55, 59, 5, 16, 0, 0, 56, 59, 3, 10, 5, 0, 57, 59, 5, 14, 0, 0, 58, 54, 1, 0, 0, 0, 58, 55, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 58, 57, 1, 0, 0, 0, 59, 61, 1, 0, 0, 0, 60, 53, 1, 0, 0, 0, 61, 64, 1, 0, 0, 0, 62, 60, 1, 0, 0, 0, 62, 63, 1, 0, 0, 0, 63, 9, 1, 0, 0, 0, 64, 62, 1, 0, 0, 0, 65, 66, 7, 1, 0, 0, 66, 11, 1, 0, 0, 0, 9, 15, 23, 25, 34, 38, 43, 51, 58, 62] \ No newline at end of file diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.tokens b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.tokens index 6f604be..e4add52 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptml.tokens +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptml.tokens @@ -10,11 +10,12 @@ T__8=9 T__9=10 T__10=11 T__11=12 -String=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 +T__12=13 +String=14 +Integer=15 +Float=16 +LINE_COMMENT=17 +WS=18 '{'=1 '}'=2 'sequence'=3 @@ -22,8 +23,9 @@ WS=17 'parallel'=5 'act'=6 'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 +'Not'=8 +'('=9 +')'=10 +','=11 +'True'=12 +'False'=13 diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlCompiler.py b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlCompiler.py index 736d8c0..4f3f061 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlCompiler.py +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlCompiler.py @@ -174,7 +174,7 @@ def format_trans_to_bracket(file_path: str) -> str: file.write(formatted_output) return new_path -# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\llm_test\\Default.ptml') +# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\test\\Default.ptml') if __name__ == '__main__': # 示例文本 diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.interp b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.interp index a624c96..ca3daac 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.interp +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.interp @@ -7,6 +7,7 @@ null 'parallel' 'act' 'cond' +'Not' '(' ')' ',' @@ -32,6 +33,7 @@ null null null null +null String Integer Float @@ -51,6 +53,7 @@ T__8 T__9 T__10 T__11 +T__12 String Integer Float @@ -65,4 +68,4 @@ mode names: DEFAULT_MODE atn: -[4, 0, 17, 155, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 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0, 0, 0, 138, 136, 1, 0, 0, 0, 139, 142, 1, 0, 0, 0, 140, 138, 1, 0, 0, 0, 141, 143, 5, 13, 0, 0, 142, 141, 1, 0, 0, 0, 142, 143, 1, 0, 0, 0, 143, 144, 1, 0, 0, 0, 144, 145, 5, 10, 0, 0, 145, 146, 1, 0, 0, 0, 146, 147, 6, 15, 0, 0, 147, 32, 1, 0, 0, 0, 148, 150, 7, 4, 0, 0, 149, 148, 1, 0, 0, 0, 150, 151, 1, 0, 0, 0, 151, 149, 1, 0, 0, 0, 151, 152, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 154, 6, 16, 0, 0, 154, 34, 1, 0, 0, 0, 12, 0, 96, 100, 106, 110, 115, 121, 128, 130, 138, 142, 151, 1, 6, 0, 0] \ No newline at end of file +[4, 0, 18, 161, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 2, 17, 7, 17, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 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+10,64 @@ else: def serializedATN(): return [ - 4,0,17,155,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5, + 4,0,18,161,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5, 2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2, - 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1, - 2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1, - 4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,6,1,6,1,6,1, - 6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,1,11, - 1,11,1,11,1,11,1,11,1,12,1,12,5,12,95,8,12,10,12,12,12,98,9,12,1, - 13,3,13,101,8,13,1,13,1,13,5,13,105,8,13,10,13,12,13,108,9,13,1, - 13,3,13,111,8,13,1,14,4,14,114,8,14,11,14,12,14,115,1,14,1,14,5, - 14,120,8,14,10,14,12,14,123,9,14,1,14,1,14,4,14,127,8,14,11,14,12, - 14,128,3,14,131,8,14,1,15,1,15,1,15,1,15,5,15,137,8,15,10,15,12, - 15,140,9,15,1,15,3,15,143,8,15,1,15,1,15,1,15,1,15,1,16,4,16,150, - 8,16,11,16,12,16,151,1,16,1,16,1,138,0,17,1,1,3,2,5,3,7,4,9,5,11, - 6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,33,17, - 1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,1,0,49, - 57,1,0,48,57,3,0,9,10,12,13,32,32,165,0,1,1,0,0,0,0,3,1,0,0,0,0, - 5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0,0,0,15, - 1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0,0,0,25, - 1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,0,1,35, - 1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,0,11,66, - 1,0,0,0,13,70,1,0,0,0,15,75,1,0,0,0,17,77,1,0,0,0,19,79,1,0,0,0, - 21,81,1,0,0,0,23,86,1,0,0,0,25,92,1,0,0,0,27,110,1,0,0,0,29,130, - 1,0,0,0,31,132,1,0,0,0,33,149,1,0,0,0,35,36,5,123,0,0,36,2,1,0,0, - 0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,0,0,41, - 42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,0,0,45, - 46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,49,50,5, - 101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,54,5,116, - 0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,5,112,0,0, - 58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,108,0,0,62, - 63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,0,0,0,66,67, - 5,97,0,0,67,68,5,99,0,0,68,69,5,116,0,0,69,12,1,0,0,0,70,71,5,99, - 0,0,71,72,5,111,0,0,72,73,5,110,0,0,73,74,5,100,0,0,74,14,1,0,0, - 0,75,76,5,40,0,0,76,16,1,0,0,0,77,78,5,41,0,0,78,18,1,0,0,0,79,80, - 5,44,0,0,80,20,1,0,0,0,81,82,5,84,0,0,82,83,5,114,0,0,83,84,5,117, - 0,0,84,85,5,101,0,0,85,22,1,0,0,0,86,87,5,70,0,0,87,88,5,97,0,0, - 88,89,5,108,0,0,89,90,5,115,0,0,90,91,5,101,0,0,91,24,1,0,0,0,92, - 96,7,0,0,0,93,95,7,1,0,0,94,93,1,0,0,0,95,98,1,0,0,0,96,94,1,0,0, - 0,96,97,1,0,0,0,97,26,1,0,0,0,98,96,1,0,0,0,99,101,5,45,0,0,100, - 99,1,0,0,0,100,101,1,0,0,0,101,102,1,0,0,0,102,106,7,2,0,0,103,105, - 7,3,0,0,104,103,1,0,0,0,105,108,1,0,0,0,106,104,1,0,0,0,106,107, - 1,0,0,0,107,111,1,0,0,0,108,106,1,0,0,0,109,111,5,48,0,0,110,100, - 1,0,0,0,110,109,1,0,0,0,111,28,1,0,0,0,112,114,7,3,0,0,113,112,1, - 0,0,0,114,115,1,0,0,0,115,113,1,0,0,0,115,116,1,0,0,0,116,117,1, - 0,0,0,117,121,5,46,0,0,118,120,7,3,0,0,119,118,1,0,0,0,120,123,1, - 0,0,0,121,119,1,0,0,0,121,122,1,0,0,0,122,131,1,0,0,0,123,121,1, - 0,0,0,124,126,5,46,0,0,125,127,7,3,0,0,126,125,1,0,0,0,127,128,1, - 0,0,0,128,126,1,0,0,0,128,129,1,0,0,0,129,131,1,0,0,0,130,113,1, - 0,0,0,130,124,1,0,0,0,131,30,1,0,0,0,132,133,5,47,0,0,133,134,5, - 47,0,0,134,138,1,0,0,0,135,137,9,0,0,0,136,135,1,0,0,0,137,140,1, - 0,0,0,138,139,1,0,0,0,138,136,1,0,0,0,139,142,1,0,0,0,140,138,1, - 0,0,0,141,143,5,13,0,0,142,141,1,0,0,0,142,143,1,0,0,0,143,144,1, - 0,0,0,144,145,5,10,0,0,145,146,1,0,0,0,146,147,6,15,0,0,147,32,1, - 0,0,0,148,150,7,4,0,0,149,148,1,0,0,0,150,151,1,0,0,0,151,149,1, - 0,0,0,151,152,1,0,0,0,152,153,1,0,0,0,153,154,6,16,0,0,154,34,1, - 0,0,0,12,0,96,100,106,110,115,121,128,130,138,142,151,1,6,0,0 + 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,2,17,7,17,1,0,1,0,1,1,1,1, + 1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3, + 1,3,1,3,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,6, + 1,6,1,6,1,6,1,6,1,7,1,7,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,11,1, + 11,1,11,1,11,1,11,1,12,1,12,1,12,1,12,1,12,1,12,1,13,1,13,5,13,101, + 8,13,10,13,12,13,104,9,13,1,14,3,14,107,8,14,1,14,1,14,5,14,111, + 8,14,10,14,12,14,114,9,14,1,14,3,14,117,8,14,1,15,4,15,120,8,15, + 11,15,12,15,121,1,15,1,15,5,15,126,8,15,10,15,12,15,129,9,15,1,15, + 1,15,4,15,133,8,15,11,15,12,15,134,3,15,137,8,15,1,16,1,16,1,16, + 1,16,5,16,143,8,16,10,16,12,16,146,9,16,1,16,3,16,149,8,16,1,16, + 1,16,1,16,1,16,1,17,4,17,156,8,17,11,17,12,17,157,1,17,1,17,1,144, + 0,18,1,1,3,2,5,3,7,4,9,5,11,6,13,7,15,8,17,9,19,10,21,11,23,12,25, + 13,27,14,29,15,31,16,33,17,35,18,1,0,5,3,0,65,90,95,95,97,122,4, + 0,48,57,65,90,95,95,97,122,1,0,49,57,1,0,48,57,3,0,9,10,12,13,32, + 32,171,0,1,1,0,0,0,0,3,1,0,0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0, + 0,0,11,1,0,0,0,0,13,1,0,0,0,0,15,1,0,0,0,0,17,1,0,0,0,0,19,1,0,0, + 0,0,21,1,0,0,0,0,23,1,0,0,0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0, + 0,0,31,1,0,0,0,0,33,1,0,0,0,0,35,1,0,0,0,1,37,1,0,0,0,3,39,1,0,0, + 0,5,41,1,0,0,0,7,50,1,0,0,0,9,59,1,0,0,0,11,68,1,0,0,0,13,72,1,0, + 0,0,15,77,1,0,0,0,17,81,1,0,0,0,19,83,1,0,0,0,21,85,1,0,0,0,23,87, + 1,0,0,0,25,92,1,0,0,0,27,98,1,0,0,0,29,116,1,0,0,0,31,136,1,0,0, + 0,33,138,1,0,0,0,35,155,1,0,0,0,37,38,5,123,0,0,38,2,1,0,0,0,39, + 40,5,125,0,0,40,4,1,0,0,0,41,42,5,115,0,0,42,43,5,101,0,0,43,44, + 5,113,0,0,44,45,5,117,0,0,45,46,5,101,0,0,46,47,5,110,0,0,47,48, + 5,99,0,0,48,49,5,101,0,0,49,6,1,0,0,0,50,51,5,115,0,0,51,52,5,101, + 0,0,52,53,5,108,0,0,53,54,5,101,0,0,54,55,5,99,0,0,55,56,5,116,0, + 0,56,57,5,111,0,0,57,58,5,114,0,0,58,8,1,0,0,0,59,60,5,112,0,0,60, + 61,5,97,0,0,61,62,5,114,0,0,62,63,5,97,0,0,63,64,5,108,0,0,64,65, + 5,108,0,0,65,66,5,101,0,0,66,67,5,108,0,0,67,10,1,0,0,0,68,69,5, + 97,0,0,69,70,5,99,0,0,70,71,5,116,0,0,71,12,1,0,0,0,72,73,5,99,0, + 0,73,74,5,111,0,0,74,75,5,110,0,0,75,76,5,100,0,0,76,14,1,0,0,0, + 77,78,5,78,0,0,78,79,5,111,0,0,79,80,5,116,0,0,80,16,1,0,0,0,81, + 82,5,40,0,0,82,18,1,0,0,0,83,84,5,41,0,0,84,20,1,0,0,0,85,86,5,44, + 0,0,86,22,1,0,0,0,87,88,5,84,0,0,88,89,5,114,0,0,89,90,5,117,0,0, + 90,91,5,101,0,0,91,24,1,0,0,0,92,93,5,70,0,0,93,94,5,97,0,0,94,95, + 5,108,0,0,95,96,5,115,0,0,96,97,5,101,0,0,97,26,1,0,0,0,98,102,7, + 0,0,0,99,101,7,1,0,0,100,99,1,0,0,0,101,104,1,0,0,0,102,100,1,0, + 0,0,102,103,1,0,0,0,103,28,1,0,0,0,104,102,1,0,0,0,105,107,5,45, + 0,0,106,105,1,0,0,0,106,107,1,0,0,0,107,108,1,0,0,0,108,112,7,2, + 0,0,109,111,7,3,0,0,110,109,1,0,0,0,111,114,1,0,0,0,112,110,1,0, + 0,0,112,113,1,0,0,0,113,117,1,0,0,0,114,112,1,0,0,0,115,117,5,48, + 0,0,116,106,1,0,0,0,116,115,1,0,0,0,117,30,1,0,0,0,118,120,7,3,0, + 0,119,118,1,0,0,0,120,121,1,0,0,0,121,119,1,0,0,0,121,122,1,0,0, + 0,122,123,1,0,0,0,123,127,5,46,0,0,124,126,7,3,0,0,125,124,1,0,0, + 0,126,129,1,0,0,0,127,125,1,0,0,0,127,128,1,0,0,0,128,137,1,0,0, + 0,129,127,1,0,0,0,130,132,5,46,0,0,131,133,7,3,0,0,132,131,1,0,0, + 0,133,134,1,0,0,0,134,132,1,0,0,0,134,135,1,0,0,0,135,137,1,0,0, + 0,136,119,1,0,0,0,136,130,1,0,0,0,137,32,1,0,0,0,138,139,5,47,0, + 0,139,140,5,47,0,0,140,144,1,0,0,0,141,143,9,0,0,0,142,141,1,0,0, + 0,143,146,1,0,0,0,144,145,1,0,0,0,144,142,1,0,0,0,145,148,1,0,0, + 0,146,144,1,0,0,0,147,149,5,13,0,0,148,147,1,0,0,0,148,149,1,0,0, + 0,149,150,1,0,0,0,150,151,5,10,0,0,151,152,1,0,0,0,152,153,6,16, + 0,0,153,34,1,0,0,0,154,156,7,4,0,0,155,154,1,0,0,0,156,157,1,0,0, + 0,157,155,1,0,0,0,157,158,1,0,0,0,158,159,1,0,0,0,159,160,6,17,0, + 0,160,36,1,0,0,0,12,0,102,106,112,116,121,127,134,136,144,148,157, + 1,6,0,0 ] class ptmlLexer(Lexer): @@ -85,11 +88,12 @@ class ptmlLexer(Lexer): T__9 = 10 T__10 = 11 T__11 = 12 - String = 13 - Integer = 14 - Float = 15 - LINE_COMMENT = 16 - WS = 17 + T__12 = 13 + String = 14 + Integer = 15 + Float = 16 + LINE_COMMENT = 17 + WS = 18 channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ] @@ -97,14 +101,14 @@ class ptmlLexer(Lexer): literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", - "'cond'", "'('", "')'", "','", "'True'", "'False'" ] + "'cond'", "'Not'", "'('", "')'", "','", "'True'", "'False'" ] symbolicNames = [ "", "String", "Integer", "Float", "LINE_COMMENT", "WS" ] ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6", - "T__7", "T__8", "T__9", "T__10", "T__11", "String", "Integer", - "Float", "LINE_COMMENT", "WS" ] + "T__7", "T__8", "T__9", "T__10", "T__11", "T__12", "String", + "Integer", "Float", "LINE_COMMENT", "WS" ] grammarFileName = "ptml.g4" diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.tokens b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.tokens index 6f604be..e4add52 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.tokens +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlLexer.tokens @@ -10,11 +10,12 @@ T__8=9 T__9=10 T__10=11 T__11=12 -String=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 +T__12=13 +String=14 +Integer=15 +Float=16 +LINE_COMMENT=17 +WS=18 '{'=1 '}'=2 'sequence'=3 @@ -22,8 +23,9 @@ WS=17 'parallel'=5 'act'=6 'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 +'Not'=8 +'('=9 +')'=10 +','=11 +'True'=12 +'False'=13 diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlParser.py b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlParser.py index a3dd2d4..9f64afe 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlParser.py +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlParser.py @@ -10,28 +10,29 @@ else: def serializedATN(): return [ - 4,1,17,65,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4, + 4,1,18,68,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4, 0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,5,1,24,8,1,10,1,12, - 1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,1,3,1,3,3,3, - 41,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,49,8,4,1,4,1,4,1,4,1,4,1,4,3, - 4,56,8,4,5,4,58,8,4,10,4,12,4,61,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8, - 10,0,2,1,0,6,7,1,0,11,12,71,0,13,1,0,0,0,2,19,1,0,0,0,4,34,1,0,0, - 0,6,36,1,0,0,0,8,48,1,0,0,0,10,62,1,0,0,0,12,14,3,2,1,0,13,12,1, - 0,0,0,14,15,1,0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17, - 18,5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,25,5,1,0,0,21,24,3,6,3, - 0,22,24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,27,1,0,0,0,25,23, - 1,0,0,0,25,26,1,0,0,0,26,28,1,0,0,0,27,25,1,0,0,0,28,29,5,2,0,0, - 29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5,0,0,33,35,5,14, - 0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35,5,1,0,0,0,36,37, - 7,0,0,0,37,38,5,13,0,0,38,40,5,8,0,0,39,41,3,8,4,0,40,39,1,0,0,0, - 40,41,1,0,0,0,41,42,1,0,0,0,42,43,5,9,0,0,43,7,1,0,0,0,44,49,5,14, - 0,0,45,49,5,15,0,0,46,49,3,10,5,0,47,49,5,13,0,0,48,44,1,0,0,0,48, - 45,1,0,0,0,48,46,1,0,0,0,48,47,1,0,0,0,49,59,1,0,0,0,50,55,5,10, - 0,0,51,56,5,14,0,0,52,56,5,15,0,0,53,56,3,10,5,0,54,56,5,13,0,0, - 55,51,1,0,0,0,55,52,1,0,0,0,55,53,1,0,0,0,55,54,1,0,0,0,56,58,1, - 0,0,0,57,50,1,0,0,0,58,61,1,0,0,0,59,57,1,0,0,0,59,60,1,0,0,0,60, - 9,1,0,0,0,61,59,1,0,0,0,62,63,7,1,0,0,63,11,1,0,0,0,8,15,23,25,34, - 40,48,55,59 + 1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,3,3,39,8,3,1, + 3,1,3,1,3,3,3,44,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,52,8,4,1,4,1,4, + 1,4,1,4,1,4,3,4,59,8,4,5,4,61,8,4,10,4,12,4,64,9,4,1,5,1,5,1,5,0, + 0,6,0,2,4,6,8,10,0,2,1,0,6,7,1,0,12,13,75,0,13,1,0,0,0,2,19,1,0, + 0,0,4,34,1,0,0,0,6,36,1,0,0,0,8,51,1,0,0,0,10,65,1,0,0,0,12,14,3, + 2,1,0,13,12,1,0,0,0,14,15,1,0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16, + 17,1,0,0,0,17,18,5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,25,5,1,0, + 0,21,24,3,6,3,0,22,24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,27, + 1,0,0,0,25,23,1,0,0,0,25,26,1,0,0,0,26,28,1,0,0,0,27,25,1,0,0,0, + 28,29,5,2,0,0,29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5, + 0,0,33,35,5,15,0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35, + 5,1,0,0,0,36,38,7,0,0,0,37,39,5,8,0,0,38,37,1,0,0,0,38,39,1,0,0, + 0,39,40,1,0,0,0,40,41,5,14,0,0,41,43,5,9,0,0,42,44,3,8,4,0,43,42, + 1,0,0,0,43,44,1,0,0,0,44,45,1,0,0,0,45,46,5,10,0,0,46,7,1,0,0,0, + 47,52,5,15,0,0,48,52,5,16,0,0,49,52,3,10,5,0,50,52,5,14,0,0,51,47, + 1,0,0,0,51,48,1,0,0,0,51,49,1,0,0,0,51,50,1,0,0,0,52,62,1,0,0,0, + 53,58,5,11,0,0,54,59,5,15,0,0,55,59,5,16,0,0,56,59,3,10,5,0,57,59, + 5,14,0,0,58,54,1,0,0,0,58,55,1,0,0,0,58,56,1,0,0,0,58,57,1,0,0,0, + 59,61,1,0,0,0,60,53,1,0,0,0,61,64,1,0,0,0,62,60,1,0,0,0,62,63,1, + 0,0,0,63,9,1,0,0,0,64,62,1,0,0,0,65,66,7,1,0,0,66,11,1,0,0,0,9,15, + 23,25,34,38,43,51,58,62 ] class ptmlParser ( Parser ): @@ -45,14 +46,14 @@ class ptmlParser ( Parser ): sharedContextCache = PredictionContextCache() literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'", - "'parallel'", "'act'", "'cond'", "'('", "')'", "','", - "'True'", "'False'" ] + "'parallel'", "'act'", "'cond'", "'Not'", "'('", "')'", + "','", "'True'", "'False'" ] symbolicNames = [ "", "", "", "", "", "", "", "", "", "", "", "", - "", "String", "Integer", "Float", "LINE_COMMENT", - "WS" ] + "", "", "String", "Integer", "Float", + "LINE_COMMENT", "WS" ] RULE_root = 0 RULE_tree = 1 @@ -77,11 +78,12 @@ class ptmlParser ( Parser ): T__9=10 T__10=11 T__11=12 - String=13 - Integer=14 - Float=15 - LINE_COMMENT=16 - WS=17 + T__12=13 + String=14 + Integer=15 + Float=16 + LINE_COMMENT=17 + WS=18 def __init__(self, input:TokenStream, output:TextIO = sys.stdout): super().__init__(input, output) @@ -339,20 +341,28 @@ class ptmlParser ( Parser ): else: self._errHandler.reportMatch(self) self.consume() - self.state = 37 - self.match(ptmlParser.String) self.state = 38 - self.match(ptmlParser.T__7) - self.state = 40 self._errHandler.sync(self) _la = self._input.LA(1) - if (((_la) & ~0x3f) == 0 and ((1 << _la) & 63488) != 0): - self.state = 39 + if _la==8: + self.state = 37 + self.match(ptmlParser.T__7) + + + self.state = 40 + self.match(ptmlParser.String) + self.state = 41 + self.match(ptmlParser.T__8) + self.state = 43 + self._errHandler.sync(self) + _la = self._input.LA(1) + if (((_la) & ~0x3f) == 0 and ((1 << _la) & 126976) != 0): + self.state = 42 self.action_parm() - self.state = 42 - self.match(ptmlParser.T__8) + self.state = 45 + self.match(ptmlParser.T__9) except RecognitionException as re: localctx.exception = re self._errHandler.reportError(self, re) @@ -415,57 +425,57 @@ class ptmlParser ( Parser ): self._la = 0 # Token type try: self.enterOuterAlt(localctx, 1) - self.state = 48 + self.state = 51 self._errHandler.sync(self) token = self._input.LA(1) - if token in [14]: - self.state = 44 + if token in [15]: + self.state = 47 self.match(ptmlParser.Integer) pass - elif token in [15]: - self.state = 45 + elif token in [16]: + self.state = 48 self.match(ptmlParser.Float) pass - elif token in [11, 12]: - self.state = 46 + elif token in [12, 13]: + self.state = 49 self.boolean() pass - elif token in [13]: - self.state = 47 + elif token in [14]: + self.state = 50 self.match(ptmlParser.String) pass else: raise NoViableAltException(self) - self.state = 59 + self.state = 62 self._errHandler.sync(self) _la = self._input.LA(1) - while _la==10: - self.state = 50 - self.match(ptmlParser.T__9) - self.state = 55 + while _la==11: + self.state = 53 + self.match(ptmlParser.T__10) + self.state = 58 self._errHandler.sync(self) token = self._input.LA(1) - if token in [14]: - self.state = 51 + if token in [15]: + self.state = 54 self.match(ptmlParser.Integer) pass - elif token in [15]: - self.state = 52 + elif token in [16]: + self.state = 55 self.match(ptmlParser.Float) pass - elif token in [11, 12]: - self.state = 53 + elif token in [12, 13]: + self.state = 56 self.boolean() pass - elif token in [13]: - self.state = 54 + elif token in [14]: + self.state = 57 self.match(ptmlParser.String) pass else: raise NoViableAltException(self) - self.state = 61 + self.state = 64 self._errHandler.sync(self) _la = self._input.LA(1) @@ -507,9 +517,9 @@ class ptmlParser ( Parser ): self._la = 0 # Token type try: self.enterOuterAlt(localctx, 1) - self.state = 62 + self.state = 65 _la = self._input.LA(1) - if not(_la==11 or _la==12): + if not(_la==12 or _la==13): self._errHandler.recoverInline(self) else: self._errHandler.reportMatch(self) diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlTranslator.py b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlTranslator.py index ecd89f0..06839c8 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/ptmlTranslator.py +++ b/BTExpansionCode/EXP/behavior_tree/ptml/ptmlTranslator.py @@ -1,6 +1,6 @@ import shortuuid import py_trees as ptree -from EXP.behavior_lib._base import Selector, Sequence +from EXP.behavior_lib._base import Selector, Sequence, Inverter from antlr4 import * if "." in __name__: @@ -39,19 +39,19 @@ class ptmlTranslator(ptmlListener): def enterTree(self, ctx: ptmlParser.TreeContext): type = str(ctx.internal_node().children[0]) - if type== "sequence": - node = Sequence(name="Sequence", memory=False) + if type=="sequence": + node = Sequence(name="Sequence", memory=False) elif type=="selector": - node = Selector(name="Selector", memory=False) - elif type== "parallel": - tag = "parallel_" + short_uuid() - # threshold = int(ctx.children[1]) - # default policy, success on all - node = ptree.composites.Parallel( - name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll - ) + node = Selector(name="Selector", memory=False) + elif type =="parallel": + tag = "parallel_" + short_uuid() + # threshold = int(ctx.children[1]) + # default policy, success on all + node = ptree.composites.Parallel( + name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll + ) else: - raise TypeError("Unknown Composite Type: {}".format(type)) + raise TypeError("Unknown Composite Type: {}".format(type)) self.stack.append(node) @@ -79,7 +79,8 @@ class ptmlTranslator(ptmlListener): # if have params args = [] - if len(ctx.children) > 4: + # if str(ctx.children[0]) != 'not' and len(ctx.children) > 4: + if ctx.action_parm(): params = ctx.action_parm() for i in params.children: if isinstance(i, ptmlParser.BooleanContext): @@ -95,8 +96,15 @@ class ptmlTranslator(ptmlListener): node = eval(f"{name}({args})") node.set_scene(self.scene) - # connect - self.stack[-1].add_child(node) + + # if have 'not' decorator + if str(ctx.children[1]) == 'Not': + upper_node = Inverter.Inverter(name="Inverter", child=node) + # connect + self.stack[-1].add_child(upper_node) + else: + # connect + self.stack[-1].add_child(node) # Exit a parse tree produced by ptmlParser#action_sign. def exitAction_sign(self, ctx: ptmlParser.Action_signContext): diff --git a/BTExpansionCode/EXP/behavior_tree/ptml/test/ptml_test.py b/BTExpansionCode/EXP/behavior_tree/ptml/test/ptml_test.py index f2384df..70d629f 100644 --- a/BTExpansionCode/EXP/behavior_tree/ptml/test/ptml_test.py +++ b/BTExpansionCode/EXP/behavior_tree/ptml/test/ptml_test.py @@ -10,7 +10,7 @@ if __name__ == '__main__': # create robot project_path = "../../../" - ptml_path = os.path.join(project_path, 'behavior_tree/ptml/llm_test/Default.ptml') + ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/Default.ptml') behavior_lib_path = os.path.join(project_path, 'behavior_lib') robot = Robot(ptml_path, behavior_lib_path) @@ -18,7 +18,7 @@ if __name__ == '__main__': # create task task = task_map[TASK_NAME](robot) - render_dot_tree(robot.bt.root,name="llm_test") + render_dot_tree(robot.bt.root,name="test") # build and tick # scene.BT = ptree.trees.BehaviourTree(scene.BT) # todo: tick this bt diff --git a/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213920.csv b/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213920.csv new file mode 100644 index 0000000..ded828f --- /dev/null +++ b/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213920.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,20.0,0,99.994,145.714,105.285,OBTEA,17.778,32.407,27.203,37.734,45.373,98.589,23.846,25.936,44.649,40.882,1.404,0.898,6.576,10.753,6.48,10.8,0.00086,0.00168,1.72863 +1,10,10,10,20.0,0,99.994,145.714,105.285,Baseline,24.314,22.282,24.649,35.641,0.0,0.0,29.134,42.27,62.529,52.772,1.248,0.799,8.27,6.796,1.6,2.05,0.00047,0.00109,0.93536 diff --git a/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213954.csv b/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213954.csv new file mode 100644 index 0000000..6b8b0f2 --- /dev/null +++ b/BTExpansionCode/EXP/bt_randon_o=10_cp=10_ap=20_MAE=0_time=20240124 213954.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,20.0,0,99.994,145.714,105.285,OBTEA,12.704,15.715,23.99,27.15,31.871,39.974,21.873,18.842,44.649,40.882,1.402,0.895,4.884,5.181,4.79,5.26,0.00059,0.00083,1.1785 +1,10,10,10,20.0,0,99.994,145.714,105.285,Baseline,24.314,22.282,24.649,35.641,0.0,0.0,29.134,42.27,62.529,52.772,1.248,0.799,8.27,6.796,1.6,2.05,0.00044,0.00105,0.88932 diff --git a/BTExpansionCode/EXP/bt_result_1logic=20240121 145826.csv b/BTExpansionCode/EXP/bt_result_1logic=20240121 145826.csv new file mode 100644 index 0000000..afb377f --- /dev/null +++ b/BTExpansionCode/EXP/bt_result_1logic=20240121 145826.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,wm_cond_tick_avg,wm_cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,10.0,0,4974.161,501.518,503.23,OBTEA,35.309,30.324,141.517,132.87,724.998,744.593,372.257,318.866,222.804,152.711,4.578,2.751,12.201,10.053,12.19,10.06,0.01364,0.01191,27.28502 +1,10,100,50,10.0,0,4974.161,501.518,503.23,Baseline,50.29,44.47,177.046,218.784,0.0,0.0,738.367,977.664,229.896,152.552,4.563,2.772,14.698,12.532,8.2,7.34,0.01169,0.01084,23.38555 diff --git a/BTExpansionCode/EXP/easy.txt b/BTExpansionCode/EXP/easy.txt index 4ab3cc1..e69de29 100644 --- a/BTExpansionCode/EXP/easy.txt +++ b/BTExpansionCode/EXP/easy.txt @@ -1,50 +0,0 @@ -On_VacuumCup_WaterTable -On_Water_Table1 -On_Yogurt_Table2 -Is_AC_On -On_BottledDrink_Table3 -On_Dessert_Bar -On_Chips_Table3 -Is_TubeLight_On -Is_Curtain_Off -Is_Table1_Clean -On_Bernachon_BrightTable6 -On_MilkDrink_Bar2 -Is_AC_Off -Is_HallLight_On -On_NFCJuice_Table2 -On_SpringWater_Table1 -Is_Floor_Clean -Is_Chairs_Clean -Is_ACTemperature_Down -On_ADMilk_CoffeeTable -On_Milk_Bar -Is_Curtain_On -Is_TubeLight_Off -On_Softdrink_Table3 -Is_Chairs_Clean -On_Dessert_Bar -Is_HallLight_Off -Is_ACTemperature_Up -On_Chips_BrightTable6 -On_Water_Bar2 -On_Coffee_Table3 -Is_AC_On -Is_ACTemperature_Down -On_Yogurt_Table2 -On_VacuumCup_Bar -Is_TubeLight_Off -On_NFCJuice_WaterTable -On_SpringWater_Table3 -Is_Floor_Clean -Is_Chairs_Clean -On_Coffee_Table2 -Is_ACTemperature_Up -Exist_Water -Is_ACTemperature_Down -Is_Floor_Clean -On_Bernachon_Bar -On_MilkDrink_Table2 -Is_AC_Off -On_VacuumCup_CoffeeTable -Is_TubeLight_On \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp1.py b/BTExpansionCode/EXP/exp1.py index 168985d..b6dd78f 100644 --- a/BTExpansionCode/EXP/exp1.py +++ b/BTExpansionCode/EXP/exp1.py @@ -1,14 +1,14 @@ from utils.bt.load import load_behavior_tree_lib -from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +from OptimalBTExpansionAlgorithm_cond2act import Action,OptBTExpAlgorithm import random import copy from tabulate import tabulate import numpy as np from sympy import symbols, Not, Or, And, to_dnf -from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +from OptimalBTExpansionAlgorithm_cond2act import Action,OptBTExpAlgorithm from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法 import time diff --git a/BTExpansionCode/EXP/exp2.py b/BTExpansionCode/EXP/exp2.py index 54e8290..c56b1da 100644 --- a/BTExpansionCode/EXP/exp2.py +++ b/BTExpansionCode/EXP/exp2.py @@ -1,23 +1,29 @@ -from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes import copy import random seed = 1 random.seed(seed) -action_list = collect_action_nodes(random) -for act in action_list: - print(act.name,act.cost) +multiple_num=1 +action_list = collect_action_nodes(random,multiple_num) +# for act in action_list: +# print(act.name,act.cost) start_robowaiter = get_start() +# 计算state总数 +state_num = collect_cond_nodes() +print("states num: ",state_num) +print("act num: ",len(action_list)) -goal_states = [] -with open('easy.txt', 'r') as file: - for line in file: - clean_line = line.strip() - goal_states.append(clean_line) -print(goal_states) +# goal_states = [] +# with open('easy.txt', 'r') as file: +# # with open('easy_easy.txt', 'r') as file: +# for line in file: +# clean_line = line.strip() +# goal_states.append(clean_line) +# print(goal_states) # goal_set_ls=[] # for count, goal_str in enumerate(goal_states): @@ -25,18 +31,19 @@ print(goal_states) # goal_set_ls.append(goal) # print(goal_set_ls) -goal_states={"On_Dessert_Bar"} -# goal_states={"On_MilkDrink_Bar2"} +# goal_states={"On_Dessert_Bar"} +goal_states={"On_MilkDrink_Bar2"} # goal_states={"Is_TubeLight_On"} # goal_states = goal_set_ls # goal_states = {'On(VacuumCup,WaterTable)'} # goal_states = {'At(Robot,WaterTable)'} -# goal_states = {'At(Robot,Bar)'} +# goal_states = {'Is(Table1,Clean)'} +# goal_states = {'On(Coffee,Bar)'} # todo: 行为树鲁棒性测试，随机生成规划问题 # # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) -print("\n") +# print("\n") # 对比 BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp2_bt_easy_medium_hard.py b/BTExpansionCode/EXP/exp2_bt_easy_medium_hard.py new file mode 100644 index 0000000..269bae1 --- /dev/null +++ b/BTExpansionCode/EXP/exp2_bt_easy_medium_hard.py @@ -0,0 +1,97 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_easy_medium_hard +import copy +import random +import re +from dataset.data_process_check import format_check,word_correct,goal_transfer_ls_set +import time + +seed = 1 +random.seed(seed) + +multiple_num= 0 +action_list = collect_action_nodes(random,multiple_num) +# for act in action_list: +# print(act.name,act.cost) + +start_robowaiter = get_start() + +# 计算state总数 +state_num, vaild_state_num= collect_cond_nodes() +print("meta states num: ",state_num) +print("states num: ",vaild_state_num) +print("act num: ",len(action_list)) + +goal_states = [] + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() + + +all_result=[] + +dataset_ls = [easy_data_set,medium_data_set,hard_data_set] +parm_difficule_ls = ['Easy','Medium','Hard'] + +# dataset_ls = [easy_data_set] +# parm_difficule_ls = ['Easy'] + +for index,dataset in enumerate(dataset_ls): + + sections = re.split(r'\n\s*\n', dataset) + outputs_list = [[] for _ in range(len(sections))] + + goal_set_ls=[] + for i,s in enumerate(sections): + x,y = s.strip().splitlines() + x = x.strip() + y = y.strip().replace("Goal: ","") + # goal_set_ls.append(goal_transfer_ls_set(y)) + goal_set_ls.append(y) + + + goal_states = goal_set_ls + # goal_states={"On_Milk_WindowTable6"} + # goal_states={"On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 )"} + # goal_states={"(~On_Coffee_Table1 | ~On_Dessert_Table2) & ~RobotNear_Bar2"} + # goal_states={"(~On_Milk_Bar | ~On_Yogurt_Bar) & ~RobotNear_Bar"} + + obt_result = BTTest_easy_medium_hard(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) + # print("\n") + # 对比 + baseline_result = BTTest_easy_medium_hard(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) + + param_ls=[parm_difficule_ls[index]] + + a_result=[] + a_result.extend(param_ls) + a_result.append("OBTEA") + a_result.extend(obt_result) + all_result.append(a_result) + + a_result=[] + a_result.extend(param_ls) + a_result.append("Baseline") + a_result.extend(baseline_result) + all_result.append(a_result) + +import pandas as pd +df = pd.DataFrame(all_result, columns=[ + 'difficult', + 'btalgorithm', + 'tree_size_avg', 'tree_size_std', + 'ticks_avg', 'ticks_std', + 'cost_avg', 'cost_std', + 'plan_time_avg', 'plan_time_std', 'plan_time_total']) + +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'cage_bt_result_='+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp2_bt_easy_medium_hard_10avg.py b/BTExpansionCode/EXP/exp2_bt_easy_medium_hard_10avg.py new file mode 100644 index 0000000..db9b5b0 --- /dev/null +++ b/BTExpansionCode/EXP/exp2_bt_easy_medium_hard_10avg.py @@ -0,0 +1,105 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_easy_medium_hard,collect_action_nodes_multiple_num +import copy +import random +import re +from dataset.data_process_check import format_check,word_correct,goal_transfer_ls_set +import time +import numpy as np +seed = 1 +random.seed(seed) + +multiple_num= 5 +iters_times= 10 +# iter_action_ls=[] +iter_action_ls = collect_action_nodes(random,multiple_num,iters_times) + + +# for act in action_list: +# print(act.name,act.cost) +start_robowaiter = get_start() +# 计算state总数 +state_num, vaild_state_num= collect_cond_nodes() + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() +dataset_ls = [easy_data_set,medium_data_set,hard_data_set] +parm_difficule_ls = ['Easy','Medium','Hard'] + + +# dataset_ls = [hard_data_set] +# parm_difficule_ls = ['Hard'] + + +all_result=[] + +for index, dataset in enumerate(dataset_ls): + + print(f"\n----------- {parm_difficule_ls[index]} ----------\n") + + sections = re.split(r'\n\s*\n', dataset) + outputs_list = [[] for _ in range(len(sections))] + goal_set_ls = [] + for i, s in enumerate(sections): + x, y = s.strip().splitlines() + x = x.strip() + y = y.strip().replace("Goal: ", "") + goal_set_ls.append(y) + goal_states = goal_set_ls + + + b_condticks_ls=[] + obtea_condticks_ls=[] + b_cost_ls=[] + obtea_cost_ls=[] + + for iter in range(iters_times): + action_list = iter_action_ls[iter] + + print("meta states num: ",state_num) + print("states num: ",vaild_state_num) + print("act num: ",len(action_list)) + + + obt_result = BTTest_easy_medium_hard(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) + # print("\n") + # 对比 + baseline_result = BTTest_easy_medium_hard(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) + + obtea_condticks_ls.append(obt_result[4]) + b_condticks_ls.append(baseline_result[4]) + + obtea_cost_ls.append(obt_result[5]) + b_cost_ls.append(baseline_result[5]) + + + + param_ls=[parm_difficule_ls[index]] + a_result=[] + a_result.extend(param_ls) + a_result.extend([round(np.mean(b_condticks_ls), 1),round(np.mean(obtea_condticks_ls), 1),round(np.mean(b_cost_ls), 1),round(np.mean(obtea_cost_ls), 1)]) + all_result.append(a_result) + + +print(all_result) + +# import pandas as pd +# df = pd.DataFrame(all_result, columns=[ +# 'difficult', +# 'btalgorithm', +# 'tree_size_avg', 'tree_size_std', +# 'ticks_avg', 'ticks_std', +# 'cost_avg', 'cost_std', +# 'plan_time_avg', 'plan_time_std', 'plan_time_total']) +# +# time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +# csv_file_path = 'cage_bt_result_='+time_str+'.csv' +# df.to_csv(csv_file_path, index=True) +# print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp3_Merge.py b/BTExpansionCode/EXP/exp3_Merge.py new file mode 100644 index 0000000..89ae5ad --- /dev/null +++ b/BTExpansionCode/EXP/exp3_Merge.py @@ -0,0 +1,53 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_Merge +import copy +import random +seed = 1 +random.seed(seed) +multiple_num=6 +action_list = collect_action_nodes(random,multiple_num) +# for act in action_list: +# print(act.name,act.cost) + +start_robowaiter = get_start() + +# 计算state总数 +state_num = collect_cond_nodes() +print("states num: ",state_num) +print("act num: ",len(action_list)) + +goal_states = [] +with open('easy.txt', 'r') as file: + for line in file: + clean_line = line.strip() + goal_states.append(clean_line) +print(goal_states) + + +merge_result=[] + + +max_merge_times=21 + +for merge_time in range(max_merge_times): + tree_size,plan_time,ticks,cost = \ + BTTest_Merge(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,\ + start_robowaiter=start_robowaiter,merge_time=merge_time) + tmp=[] + tmp.extend(tree_size) + tmp.extend(plan_time) + tmp.extend(ticks) + tmp.extend(cost) + merge_result.append(tmp) + + if merge_time%5==0: + print("merge_time=",merge_time,"cost=",cost[0]," ",cost[1]) + +import pandas as pd +df = pd.DataFrame(merge_result, columns=['tree_size_avg', 'tree_size_std', + 'plan_time_avg', 'plan_time_std', + 'ticks_avg', 'ticks_std', + 'cost_avg', 'cost_std']) +csv_file_path = 'merged_result_stats_'+str(max_merge_times)+"_states="+str(state_num)+"_acts="+str(len(action_list))+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard.py b/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard.py new file mode 100644 index 0000000..8f9f885 --- /dev/null +++ b/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard.py @@ -0,0 +1,92 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_Merge,BTTest_Merge_easy_medium_hard,collect_action_nodes_multiple_num +import copy +import random +import re + +seed = 1 +random.seed(seed) +multiple_num=1 + +action_list = collect_action_nodes_multiple_num(random,multiple_num) + +start_robowaiter = get_start() + +# 计算state总数 +state_num, vaild_state_num= collect_cond_nodes() +print("meta states num: ",state_num) +print("states num: ",vaild_state_num) +print("act num: ",len(action_list)) + +goal_states = [] + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() + + +all_result=[] + +# dataset_ls = [easy_data_set,medium_data_set,hard_data_set] +# parm_difficule_ls = ['Easy','Medium','Hard'] + +dataset_ls = [medium_data_set] +parm_difficule_ls = ['Medium'] + + +goal_set_ls=[] +for index,dataset in enumerate(dataset_ls): + + sections = re.split(r'\n\s*\n', dataset) + outputs_list = [[] for _ in range(len(sections))] + + # goal_set_ls = [] + for i,s in enumerate(sections): + x,y = s.strip().splitlines() + x = x.strip() + y = y.strip().replace("Goal: ","") + # goal_set_ls.append(goal_transfer_ls_set(y)) + goal_set_ls.append(y) + +goal_states = goal_set_ls + +merge_result=[] +max_merge_times=16 + +for merge_time in range(max_merge_times): + if merge_time%5==0: + print("========== merge_time=",merge_time,"================") + + param_ls=[parm_difficule_ls[0],merge_time] + + baseline_result = \ + BTTest_Merge_easy_medium_hard(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,\ + start_robowaiter=start_robowaiter,merge_time=merge_time) + tmp=[] + tmp.extend(param_ls) + tmp.extend(baseline_result) + + merge_result.append(tmp) + + + +import pandas as pd +df = pd.DataFrame(merge_result, columns=[ + 'difficult', + 'merge_time', + 'tree_size_avg', 'tree_size_std', + 'ticks_avg', 'ticks_std', + 'cond_ticks_avg', 'cond_ticks_std', + 'cost_avg', 'cost_std', + 'plan_time_avg', 'plan_time_std', 'plan_time_total']) +import time +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'merged_result_'+parm_difficule_ls[0]+'_stats_'+str(max_merge_times)+"_states="+str(state_num)+"_acts="+str(len(action_list))+"_"+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard_10avg.py b/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard_10avg.py new file mode 100644 index 0000000..7595a8a --- /dev/null +++ b/BTExpansionCode/EXP/exp3_Merge_easy_medium_hard_10avg.py @@ -0,0 +1,128 @@ +import numpy as np + +from EXP.exp_tools import state_transition,collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_Merge,BTTest_Merge_easy_medium_hard +import copy +import random +import re +from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +seed = 1 +random.seed(seed) +multiple_num=5 +iters_times= 10 +iter_action_ls = collect_action_nodes(random,multiple_num,iters_times) + + +start_robowaiter = get_start() + +# 计算state总数 +state_num, vaild_state_num= collect_cond_nodes() +# print("meta states num: ",state_num) +# print("states num: ",vaild_state_num) +# print("act num: ",len(action_list)) + +goal_states = [] + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() + + +all_result=[] +max_merge_times=20 +dataset_ls = [easy_data_set,medium_data_set,hard_data_set] +parm_difficule_ls = ['Easy','Medium','Hard'] + +# dataset_ls = [hard_data_set] +# parm_difficule_ls = ['Hard'] + +for index, dataset in enumerate(dataset_ls): + + print(f"\n----------- {parm_difficule_ls[index]} ----------\n") + + sections = re.split(r'\n\s*\n', dataset) + outputs_list = [[] for _ in range(len(sections))] + goal_set_ls = [] + for i, s in enumerate(sections): + x, y = s.strip().splitlines() + x = x.strip() + y = y.strip().replace("Goal: ", "") + goal_set_ls.append(y) + goal_states = goal_set_ls + + import time + + # 针对一个difficult 跑10次 + condticks_avg_ls=[] + + merge_cond_tick_total = [[] for merge_time in range(max_merge_times)] + + for iter in range(iters_times): + + action_list = iter_action_ls[iter] + + planning_time_ls=[] + planning_time_total=0 + for count, goal_str in enumerate(goal_states): + goal = copy.deepcopy(goal_transfer_str(goal_str)) + algo = OptBTExpAlgorithm(verbose=False) + algo.clear() + algo.bt_merge=False + start_time = time.time() + algo_right = algo.run_algorithm(start_robowaiter, goal, action_list) + end_time = time.time() + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + for merge_time in range(max_merge_times): + # 根据子树个数进行合并 + bt = algo.merge_subtree(merge_time) + # 计算合并后的 cond tick + # 开始从初始状态运行行为树，测试 + state = copy.deepcopy(start_robowaiter) + steps = 0 + current_cond_tick_time = 0 + val, obj, cost, tick_time, cond_times = bt.cost_tick_cond(state, 0, 0, 0) # tick行为树，obj为所运行的行动 + current_cond_tick_time += cond_times + while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 + state = state_transition(state, obj) + val, obj, cost, tick_time, cond_times = bt.cost_tick_cond(state, 0, 0, 0) + current_cond_tick_time += cond_times + if (val == 'failure'): + print("bt fails at step", steps) + error = True + break + steps += 1 + if (steps >= 500): # 至多运行500步 + break + # 检查执行后状态满不满足，只有 goal 里有一个满足就行 + error = True + for gg in goal: + if gg <= state: + error = False + break + if error: + print("error") + break + # 结束从初始状态运行行为树，测试 + merge_cond_tick_total[merge_time].append(current_cond_tick_time) + print("iter:", iter,"cond:",merge_cond_tick_total) + merge_cond_tick_total_np = np.array(merge_cond_tick_total) + merge_cond_tick_averages = np.mean(merge_cond_tick_total_np, axis=1) + print(merge_cond_tick_averages) + + all_result.append(merge_cond_tick_averages) + + +import pandas as pd +df = pd.DataFrame(all_result) +import time +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'merged_result_easy_medium_hard_'+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp4_bt_random.py b/BTExpansionCode/EXP/exp4_bt_random.py new file mode 100644 index 0000000..8750344 --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random.py @@ -0,0 +1,164 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm_cond2act import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") + +from tools import print_action_data_table,BTTest_act_start_goal +# from tools import print_action_data_table,BTTest,BTTest_act_start_goal,get_act_start_goal + + +def get_act_start_goal(seed=1, literals_num=10, depth=10, iters=10, total_count=1000,pre_max=10000): + + literals_num_set = {i for i in range(literals_num)} + + act_list = [] + start_list = [] + goal_list = [] + total_action_num=[] + total_state_num=[] + + total_time_dic = {"start_to_goal": 0, + "random_act":0} + start_time_0=time.time() + for count in range(total_count): + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + action_num = 1 + states = [] + actions = [] + start = generate_random_state(literals_num) + state_set = {i for i in range(literals_num)} + state = copy.deepcopy(start) + states.append(state) + # print (state) + + for i in range(0, depth): + a = Action() + # a.generate_from_state_local(state, literals_num_set,pre_max) + a.generate_from_state_local(state, literals_num_set) + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + # print(state) + goal = states[-1] + + k_act_total = int(iters* (2 / 3)/depth) + + if k_act_total<1: + k_act_total = random.randint(1, 2) + + # for k in range(int(iters/depth)): + for k in range(k_act_total): + depth_random = random.randint(depth, depth+10) + for i in range(0, depth - 1): + a = Action() + + start_time = time.time() + # a.generate_from_state_local(state, literals_num_set,pre_max) + a.generate_from_state_local(state, literals_num_set) + end_time = time.time() + total_time_dic["start_to_goal"] += end_time - start_time + + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + + if not goal <= states[-1]: + a = Action() + + # if len(states[-1])==0: + # a.pre=set() + # else: + pre_num = random.randint(0, min(pre_max,len(states[-1]))) + # a.pre = set(np.random.choice(list(states[-1]), pre_num, replace=False)) + a.pre = set(random.sample(states[-1], pre_num)) + + a.add = goal - states[-1] + def_set = state_set - goal + + # if len(def_set)==0: + # a.del_set=set() + # else: + def_num = random.randint(0, len(def_set)) + # a.del_set = set(np.random.choice(list(def_set), def_num, replace=False)) + a.del_set = set(random.sample(def_set, def_num)) + + a.cost = random.randint(1, 100) + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + + + + + state = copy.deepcopy(start) + for i in range(0, int(iters* (2 / 3))): + a = Action() + + start_time = time.time() + # a.generate_from_state_local(state, literals_num_set,pre_max) + a.generate_from_state_local(state, literals_num_set) + end_time = time.time() + total_time_dic["random_act"] += end_time - start_time + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + state = random.sample(states, 1)[0] + + + act_list.append(actions) + start_list.append(start) + goal_list.append(goal) + + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) +literals_num = 3 +depth = 3 +iters = 3 + +# total_count = 5 +act_list, start_list, goal_list = get_act_start_goal(seed=seed, literals_num=literals_num, depth=depth, iters=iters, + total_count=1000,pre_max=10000) +BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list) +# BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list) diff --git a/BTExpansionCode/EXP/exp4_bt_random_final.py b/BTExpansionCode/EXP/exp4_bt_random_final.py new file mode 100644 index 0000000..68dc825 --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random_final.py @@ -0,0 +1,206 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm_cond2act import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") +from tools import print_action_data_table,BTTest_act_start_goal + +def copy_act(a,actions,action_num,state,states,copy_time): + + ca_num=0 + + for ct in range(copy_time): + ca = copy.deepcopy(a) + + # pre\del 都为原来的子集 + # pre_num = random.randint(0, len(ca.pre)) + # ca.pre = set(random.sample(ca.pre, pre_num)) + # + # del_set_num = random.randint(0, len(ca.del_set)) + # ca.del_set = set(random.sample(ca.del_set, del_set_num)) + + ca.cost = random.randint(1, 100) + if not ca in actions: + ca_num+=1 + ca.name = "a" + str(action_num) + action_num += 1 + actions.append(ca) + s = state_transition(state, a) + if s in states: + pass + else: + states.append(s) + return ca_num + +def get_act_start_goal(seed=1, literals_num=10, depth=10, iters=10, total_count=1000,max_copy_times=5): + + + + literals_num_set = {i for i in range(literals_num)} + + act_list = [] + start_list = [] + goal_list = [] + total_action_num=[] + total_state_num=[] + + total_time_dic = {"start_to_goal": 0, + "random_act":0} + start_time_0=time.time() + for count in range(total_count): + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + action_num = 1 + states = [] + actions = [] + start = generate_random_state(literals_num) + state = copy.deepcopy(start) + states.append(state) + + + for i in range(0, depth): + a = Action() + a.generate_from_state_local(state, literals_num_set) + a.cost = random.randint(1, 10) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + + # if max_copy_times!=0: + # copy_times = random.randint(1, max_copy_times) + # ca_num = copy_act(a,actions,action_num,state,states,copy_times) + # action_num += ca_num + + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + + + goal = states[-1] + # state = copy.deepcopy(start) + for i in range (0,iters): + a = Action() + state = generate_random_state(literals_num) + a.generate_from_state_local(state, literals_num_set) + + a.cost = random.randint(50, 100) + if not a in actions: + a.name = "a"+str(action_num) + action_num+=1 + actions.append(a) + + # if max_copy_times!=0: + # copy_times = random.randint(1, max_copy_times) + # ca_num = copy_act(a,actions,action_num,state,states,copy_times) + # action_num += ca_num + + state = state_transition(state,a) + if state in states: + pass + else: + states.append(state) + # state = random.sample(states,1)[0] + + + + act_list.append(actions) + start_list.append(start) + goal_list.append(goal) + + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of States:", round(np.mean(total_state_num),3)) # 1000次问题的平均状态数 + print("Average Number of Actions", round(np.mean(total_action_num),3)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list,round(np.mean(total_state_num),3),round(np.mean(total_action_num),3) + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) +literals_num = 2 +depth = 2 +iters = 2 + +# literals_num_ls=[10,10,10,100,100,10,10,10,100,100] +# depth_ls=[10,10,10,10,10,50,50,50,50,50] +# iters_ls=[10,100,1000,10,1000,10,100,1000,10,1000] +# literals_num_ls=[10,10,10,10, 100,100,100,100] +# depth_ls=[10,10,10,10, 10,10,10,10] +# iters_ls=[5,10,100,500, 5,10,100,500] + +# literals_num_ls=[10,10,10,10,100,100,100,100] #+[100,100] +# depth_ls=[10,10,10,10,10,10,10,10] #+[10,10] +# iters_ls=[5,10,100,500,5,10,100,500] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] #+[10,20] + +# literals_num_ls=[10,10,10,10,100,100,100,100] + [100,100] #+[100,100] +# depth_ls=15 * [10] +# iters_ls=[5,10,100,300,5,10,100,300,175,105] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] + [10,20] #+[10,20] + +literals_num_ls=[10] #+[100,100] +depth_ls=15 * [10] +iters_ls=[10] #+[int(500/2),int(500/4)] +max_copy_times_ls=6*[5]+[10,20] #+[10,20] + + +all_result=[] + +for literals_num,depth,iters,max_copy_times in zip(literals_num_ls, depth_ls, iters_ls,max_copy_times_ls): + print(f"\n------literals_num: {literals_num},depth:{depth},iters:{iters},max_copy_times:{max_copy_times}-----------") + # 为 act建立 add映射 + + act_list, start_list, goal_list,state_avg,act_avg = get_act_start_goal(seed=seed, literals_num=literals_num, depth=depth, iters=iters, + total_count=2,max_copy_times=max_copy_times) + + param_ls = [max_copy_times,literals_num,depth,iters,state_avg,act_avg] + + baseline_result = BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, + goal_list=goal_list,literals_num=literals_num) + + obt_result = BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list,literals_num=literals_num) + + a_result=[] + a_result.extend(param_ls) + a_result.append("OBTEA") + a_result.extend(obt_result) + all_result.append(a_result) + + a_result=[] + a_result.extend(param_ls) + a_result.append("Baseline") + a_result.extend(baseline_result) + all_result.append(a_result) + + +import pandas as pd +df = pd.DataFrame(all_result, columns=[ + 'max_actcopy', + 'literals_num','depth','iters','state','act', + 'btalgorithm', + 'tree_size_avg', 'tree_size_std', + 'ticks_avg', 'ticks_std', + 'cost_avg', 'cost_std', + 'step_avg','step_std', + 'state_num_avg','state_num_std', + 'expand_num_avg','expand_num_std', + 'plan_time_avg', 'plan_time_std', 'plan_time_total']) + +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'bt_result_copyact=1-5_pre_del_time='+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp4_bt_random_final_obj.py b/BTExpansionCode/EXP/exp4_bt_random_final_obj.py new file mode 100644 index 0000000..98efe14 --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random_final_obj.py @@ -0,0 +1,346 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") +from tools import print_action_data_table,BTTest_act_start_goal + + +def modify_set(s, obj): + return {f"{num}_{obj}" for num in s} + +def get_act_start_goal(seed=1, max_copy_times=5,cond_pred=10, depth=10, act_pred=10, total_count=1000,obj_num=0): + max_copy_times=max_copy_times + + literals_num_set = {i for i in range(cond_pred)} + all_obj_set = {i for i in range(obj_num)} + + act_list = [] + start_list = [] + goal_list = [] + + total_literals_count=[] + total_states_num=[] + total_action_num = [] + total_act_pred_num=[] + + start_time_0=time.time() + for count in range(total_count): + + actions_ls = [] + literals_obj_set=set() + state_num = 0 + action_num = 1 + + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + states = [] + actions = [] + start = generate_random_state(cond_pred) + state = copy.deepcopy(start) + states.append(state) + obj_index = random.randint(0, obj_num-1) # 确定一个物体 + + aa_main = [] # 主路径上的动作谓词 + + for i in range(0, depth): + a = Action() + a.generate_from_state_local(state, literals_num_set,all_obj_set,obj_num,obj_index) + a.cost = random.randint(0, 100) + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + aa_main.append(a) + + state = state_transition(state, a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num+= a.vaild_num + + + goal = states[-1] + # state = copy.deepcopy(start) + for i in range (0,act_pred): + a = Action() + state = generate_random_state(cond_pred) # 随机选择一个状态 + a.generate_from_state_local(state, literals_num_set, all_obj_set, obj_num) + a.cost = random.randint(0, 100) + if not a in actions: + a.name = "a"+str(action_num) + action_num+=1 + actions.append(a) + + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + state = state_transition(state,a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + + for act in actions: + # if act.vild_args==set(): + # print(a.name,a.pre,a.add,a.cost,a.vaild_num) + for obj in act.vild_args: + a = Action( + name=act.name + "_" + str(obj), + pre=modify_set(act.pre, obj), + add=modify_set(act.add, obj), + del_set=modify_set(act.del_set, obj), + cost=act.cost, + ) + if a.pre != set(): + literals_obj_set |= a.pre + if a.add != set(): + literals_obj_set |= a.add + if a.del_set != set(): + literals_obj_set |= a.del_set + actions_ls.append(a) + + # actions_ls = [ + # copy.deepcopy(act).update( + # name=act.name + "_" + str(obj), + # pre=modify_set(act.pre, obj), + # del_set=modify_set(act.del_set, obj), + # add=modify_set(act.add, obj) + # ) + # for act in actions + # for obj in act.vild_args + # ] + + if max_copy_times != 0: + for a in aa_main: + # if a.vild_args == set(): + # print(a.name, a.pre, a.add, a.cost, a.vaild_num) + copy_times = random.randint(0, max_copy_times) + for ck in range(copy_times): + ca=copy.deepcopy(a) + ca.cost = random.randint(1, 100) + ca = ca.update( + name=ca.name + "_" + str(obj_index), + pre=modify_set(ca.pre, obj_index), + del_set=modify_set(ca.del_set, obj_index), + add=modify_set(ca.add, obj_index) + ) + if ca.pre != set(): + literals_obj_set |= ca.pre + if ca.add != set(): + literals_obj_set |= ca.add + if ca.del_set != set(): + literals_obj_set |= ca.del_set + actions_ls.append(ca) + + # 计算所有 文字 + + + + start = modify_set(start, obj_index) + goal = modify_set(goal,obj_index) + + + act_list.append(actions_ls) + start_list.append(start) + goal_list.append(goal) + # print(literals_obj_set) + # print(len(literals_obj_set)) + total_literals_count.append(len(literals_obj_set)) + total_action_num.append(len(actions_ls)) + total_act_pred_num.append(len(actions)) + total_states_num.append(state_num) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + # print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + # print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of literals_obj", round(np.mean(total_literals_count), 3)) # 1000次问题的平均行动数 + print("Average Number of States", round(np.mean(total_states_num), 3)) # 1000次问题的平均行动数 + print("Average Number of Actions", round(np.mean(total_action_num),3)) # 1000次问题的平均行动数 + print("Average Number of Act Pred", round(np.mean(total_act_pred_num), 3)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list, \ + round(np.mean(total_literals_count), 3),\ + round(np.mean(total_states_num),3),round(np.mean(total_action_num),3),round(np.mean(total_act_pred_num),3) + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) + +# literals_num_ls=[10,10,10,100,100,10,10,10,100,100] +# depth_ls=[10,10,10,10,10,50,50,50,50,50] +# iters_ls=[10,100,1000,10,1000,10,100,1000,10,1000] +# literals_num_ls=[10,10,10,10, 100,100,100,100] +# depth_ls=[10,10,10,10, 10,10,10,10] +# iters_ls=[5,10,100,500, 5,10,100,500] + +# literals_num_ls=[10,10,10,10,100,100,100,100] #+[100,100] +# depth_ls=[10,10,10,10,10,10,10,10] #+[10,10] +# iters_ls=[5,10,100,500,5,10,100,500] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] #+[10,20] + +# literals_num_ls=[10,10,10,10,100,100,100,100] + [100,100] #+[100,100] +# depth_ls=15 * [10] +# iters_ls=[5,10,100,300,5,10,100,300,175,105] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] + [10,20] #+[10,20] + + +# obj_num_ls = [10,50,100,500] +# obj_num_ls = 3*[100] +# obj_num_ls = 4*[100] +# obj_num_ls=3*[100] +# obj_num_ls=[50] + + +# 随机动作数量 +# iters_ls= 3*[100] +# iters_ls = 3* [10] +# iters_ls = [100,500,1000] +# iters_ls = 4*[100] + +# depth_ls=[30,30,10] + 3*[30] +[50,50] +# obj_num_ls = [10,100] + 2*[50] + 4*[100] +# iters_ls=5*[100] + 3*[500] +# literals_num_ls= 7*[100] + [300] +# max_copy_times_ls=[0,0] + 6*[5] + +# depth_ls=[30,30,10] + 3*[30] +[50] +# obj_num_ls = [10,100] + 2*[50] + 3*[100] +# iters_ls=5*[100] + 2*[500] +# literals_num_ls= 7*[100] +# max_copy_times_ls=[0,0] + 5*[5] + +# depth_ls=[50] +# obj_num_ls = [100] +# iters_ls=[500] +# literals_num_ls= [300] +# max_copy_times_ls=[5] + + + +# obj_num_ls = 9*[100,300,500] #9* [100,300,500] +# # Iterations Action Predicates +# act_pred_ls= 3*[0] + 3*[20] + 3*[40] +# act_pred_ls = 3*act_pred_ls +# #Condition Predicates +# cond_pred_ls= 9* [10] + 9* [30] + 9*[50] + +obj_num_ls = [10] #9* [100,300,500] +# Iterations Action Predicates +act_pred_ls= [10] +act_pred_ls = 3*act_pred_ls +#Condition Predicates +cond_pred_ls= [10] +# +# +# max_copy_times_ls= [0,0] + 6*[5] #[5]*27 + +# obj_num_ls = [300] +# # Iterations Action Predicates +# act_pred_ls= [40] +# #Condition Predicates +# cond_pred_ls= [50] + +max_copy_times_ls= 27*[0] +depth_ls=[10]*27 + +# obj_num_ls = [500] +# # Iterations Action Predicates +# act_pred_ls= [40] +# #Condition Predicates +# cond_pred_ls= [50] +# max_copy_times_ls= [5] +# +# depth_ls=[10]*8 + + +# 文字数量 Cond Predicate +# literals_num_ls= 5*[10] +# literals_num_ls= [100,500,1000] +# literals_num_ls= 4*[100] + +# depth_ls= 100 * [10] + +# max_copy_times_ls=[5,5] + + +all_result=[] + +for cond_pred,depth,act_pred,max_copy_times,obj_num in zip(cond_pred_ls, depth_ls, act_pred_ls,max_copy_times_ls,obj_num_ls): + + # if obj_num!=500: + # continue + + print( + f"\n------depth:{depth},obj: {obj_num},cond_pred:{cond_pred},act_pred:{act_pred},max_copy_times:{max_copy_times}-----------") + # print(f"\n------literals_num: {literals_num},depth:{depth},iters:{iters},obj_num:{obj_num},max_copy_times:{max_copy_times}-----------") + # 为 act建立 add映射 + + act_list, start_list, goal_list,literals_obj_count,state_avg,act_avg,act_pred_num = get_act_start_goal(seed=seed, max_copy_times=max_copy_times,\ + cond_pred=cond_pred, depth=depth, act_pred=act_pred,\ + total_count=1000,obj_num=obj_num) + + # param_ls = [max_copy_times,depth, obj_num,iters,act_pred_num,literals_num,act_avg] + param_ls = [depth,obj_num, cond_pred, act_pred_num, max_copy_times, literals_obj_count, state_avg,act_avg] + + literals_num = cond_pred + obt_result = BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list,literals_num=literals_num) + + + # baseline_result = BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, + # goal_list=goal_list,literals_num=literals_num) + + + a_result=[] + a_result.extend(param_ls) + a_result.append("OBTEA") + a_result.extend(obt_result) + all_result.append(a_result) + + a_result=[] + a_result.extend(param_ls) + a_result.append("Baseline") + a_result.extend(baseline_result) + all_result.append(a_result) + + +# import pandas as pd +# df = pd.DataFrame(all_result, columns=[ +# # 'max_actcopy', +# # 'literals_num','depth','iters','state','act', +# # 'copy_act', +# # 'depth', 'obj_num','iters','act_pred_num','literals_num','act_avg', +# 'depth','obj_num', 'cond_pred', 'act_pred', 'max_copy_times', 'literals_obj_count', 'state_avg','act_avg', +# 'btalgorithm', +# +# 'tree_size_avg', 'tree_size_std', +# 'ticks_avg', 'ticks_std', +# 'wm_cond_tick_avg','wm_cond_tick_std', +# 'cond_tick_avg','cond_tick_std', +# 'cost_avg', 'cost_std', +# 'step_avg','step_std', +# # 'state_num_avg','state_num_std', +# 'expand_num_avg','expand_num_std', +# 'for_num_avg','for_num_std', +# 'plan_time_avg', 'plan_time_std', 'plan_time_total']) +# +# time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +# csv_file_path = f'bt_randon_o={obj_num_ls[0]}_cp={cond_pred_ls[0]}_ap={act_pred_ls[0]+10}_MAE={max_copy_times_ls[0]}_time={time_str}.csv' +# # param_ls = [depth, obj_num, cond_pred, act_pred_num, max_copy_times, literals_obj_count, state_avg, act_avg] +# df.to_csv(csv_file_path, index=True) +# print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp4_bt_random_final_obj_merge.py b/BTExpansionCode/EXP/exp4_bt_random_final_obj_merge.py new file mode 100644 index 0000000..b53eea5 --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random_final_obj_merge.py @@ -0,0 +1,302 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") +from tools import print_action_data_table,BTTest_act_start_goal + + +def modify_set(s, obj): + return {f"{num}_{obj}" for num in s} + +def get_act_start_goal(seed=1, max_copy_times=5,cond_pred=10, depth=10, act_pred=10, total_count=1000,obj_num=0): + max_copy_times=max_copy_times + + literals_num_set = {i for i in range(cond_pred)} + all_obj_set = {i for i in range(obj_num)} + + act_list = [] + start_list = [] + goal_list = [] + + total_literals_count=[] + total_states_num=[] + total_action_num = [] + total_act_pred_num=[] + + start_time_0=time.time() + for count in range(total_count): + + actions_ls = [] + literals_obj_set=set() + state_num = 0 + action_num = 1 + + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + states = [] + actions = [] + start = generate_random_state(cond_pred) + state = copy.deepcopy(start) + states.append(state) + obj_index = random.randint(0, obj_num-1) # 确定一个物体 + + aa_main = [] # 主路径上的动作谓词 + + for i in range(0, depth): + a = Action() + a.generate_from_state_local(state, literals_num_set,all_obj_set,obj_num,obj_index) + a.cost = random.randint(0, 100) + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + aa_main.append(a) + + state = state_transition(state, a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num+= a.vaild_num + + + goal = states[-1] + # state = copy.deepcopy(start) + for i in range (0,act_pred): + a = Action() + state = generate_random_state(cond_pred) # 随机选择一个状态 + a.generate_from_state_local(state, literals_num_set, all_obj_set, obj_num) + a.cost = random.randint(0, 100) + if not a in actions: + a.name = "a"+str(action_num) + action_num+=1 + actions.append(a) + + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + state = state_transition(state,a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + + for act in actions: + # if act.vild_args==set(): + # print(a.name,a.pre,a.add,a.cost,a.vaild_num) + for obj in act.vild_args: + a = Action( + name=act.name + "_" + str(obj), + pre=modify_set(act.pre, obj), + add=modify_set(act.add, obj), + del_set=modify_set(act.del_set, obj), + cost=act.cost, + ) + if a.pre != set(): + literals_obj_set |= a.pre + if a.add != set(): + literals_obj_set |= a.add + if a.del_set != set(): + literals_obj_set |= a.del_set + actions_ls.append(a) + + # actions_ls = [ + # copy.deepcopy(act).update( + # name=act.name + "_" + str(obj), + # pre=modify_set(act.pre, obj), + # del_set=modify_set(act.del_set, obj), + # add=modify_set(act.add, obj) + # ) + # for act in actions + # for obj in act.vild_args + # ] + + if max_copy_times != 0: + for a in aa_main: + # if a.vild_args == set(): + # print(a.name, a.pre, a.add, a.cost, a.vaild_num) + copy_times = random.randint(0, max_copy_times) + for ck in range(copy_times): + ca=copy.deepcopy(a) + ca.cost = random.randint(1, 100) + ca = ca.update( + name=ca.name + "_" + str(obj_index), + pre=modify_set(ca.pre, obj_index), + del_set=modify_set(ca.del_set, obj_index), + add=modify_set(ca.add, obj_index) + ) + if ca.pre != set(): + literals_obj_set |= ca.pre + if ca.add != set(): + literals_obj_set |= ca.add + if ca.del_set != set(): + literals_obj_set |= ca.del_set + actions_ls.append(ca) + + # 计算所有 文字 + + + + start = modify_set(start, obj_index) + goal = modify_set(goal,obj_index) + + + act_list.append(actions_ls) + start_list.append(start) + goal_list.append(goal) + # print(literals_obj_set) + # print(len(literals_obj_set)) + total_literals_count.append(len(literals_obj_set)) + total_action_num.append(len(actions_ls)) + total_act_pred_num.append(len(actions)) + total_states_num.append(state_num) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + # print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + # print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of literals_obj", round(np.mean(total_literals_count), 3)) # 1000次问题的平均行动数 + print("Average Number of States", round(np.mean(total_states_num), 3)) # 1000次问题的平均行动数 + print("Average Number of Actions", round(np.mean(total_action_num),3)) # 1000次问题的平均行动数 + print("Average Number of Act Pred", round(np.mean(total_act_pred_num), 3)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list, \ + round(np.mean(total_literals_count), 3),\ + round(np.mean(total_states_num),3),round(np.mean(total_action_num),3),round(np.mean(total_act_pred_num),3) + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) + + + +# obj_num_ls = [100,500] +4*[100] +[300,500] #9* [100,300,500] +# cond_pred_ls= [10,50,10,50] + 4*[50] +# act_pred_ls= [0,40,0,0,20,40,40,40] +# max_copy_times_ls= [0,0] + 6*[5] + + +# obj_num_ls = [100,500] +4*[100] +[300,500] #9* [100,300,500] +# cond_pred_ls= [10,50,10,50] + 4*[50] +# act_pred_ls= [0,40,0,0,20,40,40,40] +# max_copy_times_ls= [0,0] + 3*[5] + +obj_num_ls = [500] #9* [100,300,500] +cond_pred_ls= [50] +act_pred_ls= [40] +max_copy_times_ls= [5,5] + + +# obj_num_ls = 9*[100,300,500] #9* [100,300,500] +# # Iterations Action Predicates +# act_pred_ls= 3*[0] + 3*[20] + 3*[40] +# act_pred_ls = 3*act_pred_ls +# #Condition Predicates +# cond_pred_ls= 9* [10] + 9* [30] + 9*[50] + +# obj_num_ls = [5] +# # Iterations Action Predicates +# act_pred_ls= [0] +# #Condition Predicates +# cond_pred_ls= [2] +# +# max_copy_times_ls= 27*[5] +# depth_ls=[10]*27 + + + +depth_ls=[10]*27 + + + + +all_result=[] + +new_all_result=[] + +for cond_pred,depth,act_pred,max_copy_times,obj_num in zip(cond_pred_ls, depth_ls, act_pred_ls,max_copy_times_ls,obj_num_ls): + print( + f"\n------depth:{depth},obj: {obj_num},cond_pred:{cond_pred},act_pred:{act_pred},max_copy_times:{max_copy_times}-----------") + # print(f"\n------literals_num: {literals_num},depth:{depth},iters:{iters},obj_num:{obj_num},max_copy_times:{max_copy_times}-----------") + # 为 act建立 add映射 + + act_list, start_list, goal_list,literals_obj_count,state_avg,act_avg,act_pred_num = get_act_start_goal(seed=seed, max_copy_times=max_copy_times,\ + cond_pred=cond_pred, depth=depth, act_pred=act_pred,\ + total_count=1000,obj_num=obj_num) + + # param_ls = [max_copy_times,depth, obj_num,iters,act_pred_num,literals_num,act_avg] + param_ls = [depth,obj_num, cond_pred, act_pred_num, max_copy_times, literals_obj_count, state_avg,act_avg] + + literals_num = cond_pred + obt_result = BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list,literals_num=literals_num) + + + baseline_result = BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, + goal_list=goal_list,literals_num=literals_num) + + m_result=[] + m_result.extend(param_ls[1:]) + m_result.extend([baseline_result[3],obt_result[2],obt_result[3],baseline_result[4],obt_result[4]]) + new_all_result.append(m_result) + + + a_result=[] + a_result.extend(param_ls) + a_result.append("OBTEA") + a_result.extend(obt_result) + all_result.append(a_result) + + a_result=[] + a_result.extend(param_ls) + a_result.append("Baseline") + a_result.extend(baseline_result) + all_result.append(a_result) + + +import pandas as pd +df = pd.DataFrame(all_result, columns=[ + 'depth','obj_num', 'cond_pred', 'act_pred', 'max_copy_times', 'literals_obj_count', 'state_avg','act_avg', + 'btalgorithm', + 'tree_size_avg', + 'ticks_avg', + 'wm_cond_ticks', + 'cond_tick_avg', + 'cost_avg', + 'step_avg', + 'expand_num_avg', + 'plan_time_avg', 'plan_time_total' +]) + +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'bt_result_1logic='+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) + + +df = pd.DataFrame(new_all_result, columns=[ + 'obj_num', 'cond_pred', 'act_pred', 'max_copy_times', 'literals_obj_count', 'state_avg','act_avg', + 'Cond_B', + 'Cond_WM', + 'Cond_OUR', + 'Cost_B', + 'Cost_OUR', +]) + +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'bt_result_random_wm='+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("New CSV文件已生成:", csv_file_path) diff --git a/BTExpansionCode/EXP/exp4_bt_random_final_obj_old.py b/BTExpansionCode/EXP/exp4_bt_random_final_obj_old.py new file mode 100644 index 0000000..cdb33ee --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random_final_obj_old.py @@ -0,0 +1,341 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") +from tools import print_action_data_table,BTTest_act_start_goal + + +def modify_set(s, obj): + return {f"{num}_{obj}" for num in s} + +def get_act_start_goal(seed=1, max_copy_times=5,cond_pred=10, depth=10, act_pred=10, total_count=1000,obj_num=0): + max_copy_times=max_copy_times + + literals_num_set = {i for i in range(cond_pred)} + all_obj_set = {i for i in range(obj_num)} + + act_list = [] + start_list = [] + goal_list = [] + + total_literals_count=[] + total_states_num=[] + total_action_num = [] + total_act_pred_num=[] + + start_time_0=time.time() + for count in range(total_count): + + actions_ls = [] + literals_obj_set=set() + state_num = 0 + action_num = 1 + + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + states = [] + actions = [] + start = generate_random_state(cond_pred) + state = copy.deepcopy(start) + states.append(state) + obj_index = random.randint(0, obj_num-1) # 确定一个物体 + + aa_main = [] # 主路径上的动作谓词 + + for i in range(0, depth): + a = Action() + a.generate_from_state_local(state, literals_num_set,all_obj_set,obj_num,obj_index) + a.cost = random.randint(0, 100) + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + aa_main.append(a) + + state = state_transition(state, a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num+= a.vaild_num + + + goal = states[-1] + # state = copy.deepcopy(start) + for i in range (0,act_pred): + a = Action() + state = generate_random_state(cond_pred) # 随机选择一个状态 + a.generate_from_state_local(state, literals_num_set, all_obj_set, obj_num) + a.cost = random.randint(0, 100) + if not a in actions: + a.name = "a"+str(action_num) + action_num+=1 + actions.append(a) + + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + state = state_transition(state,a) + # 存入一个状态 + if state in states: + pass + else: + states.append(state) + state_num += a.vaild_num + + for act in actions: + # if act.vild_args==set(): + # print(a.name,a.pre,a.add,a.cost,a.vaild_num) + for obj in act.vild_args: + a = Action( + name=act.name + "_" + str(obj), + pre=modify_set(act.pre, obj), + add=modify_set(act.add, obj), + del_set=modify_set(act.del_set, obj), + cost=act.cost, + ) + if a.pre != set(): + literals_obj_set |= a.pre + if a.add != set(): + literals_obj_set |= a.add + if a.del_set != set(): + literals_obj_set |= a.del_set + actions_ls.append(a) + + # actions_ls = [ + # copy.deepcopy(act).update( + # name=act.name + "_" + str(obj), + # pre=modify_set(act.pre, obj), + # del_set=modify_set(act.del_set, obj), + # add=modify_set(act.add, obj) + # ) + # for act in actions + # for obj in act.vild_args + # ] + + if max_copy_times != 0: + for a in aa_main: + # if a.vild_args == set(): + # print(a.name, a.pre, a.add, a.cost, a.vaild_num) + copy_times = random.randint(0, max_copy_times) + for ck in range(copy_times): + ca=copy.deepcopy(a) + ca.cost = random.randint(1, 100) + ca = ca.update( + name=ca.name + "_" + str(obj_index), + pre=modify_set(ca.pre, obj_index), + del_set=modify_set(ca.del_set, obj_index), + add=modify_set(ca.add, obj_index) + ) + if ca.pre != set(): + literals_obj_set |= ca.pre + if ca.add != set(): + literals_obj_set |= ca.add + if ca.del_set != set(): + literals_obj_set |= ca.del_set + actions_ls.append(ca) + + # 计算所有 文字 + + + + start = modify_set(start, obj_index) + goal = modify_set(goal,obj_index) + + + act_list.append(actions_ls) + start_list.append(start) + goal_list.append(goal) + # print(literals_obj_set) + # print(len(literals_obj_set)) + total_literals_count.append(len(literals_obj_set)) + total_action_num.append(len(actions_ls)) + total_act_pred_num.append(len(actions)) + total_states_num.append(state_num) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + # print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + # print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of literals_obj", round(np.mean(total_literals_count), 3)) # 1000次问题的平均行动数 + print("Average Number of States", round(np.mean(total_states_num), 3)) # 1000次问题的平均行动数 + print("Average Number of Actions", round(np.mean(total_action_num),3)) # 1000次问题的平均行动数 + print("Average Number of Act Pred", round(np.mean(total_act_pred_num), 3)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list, \ + round(np.mean(total_literals_count), 3),\ + round(np.mean(total_states_num),3),round(np.mean(total_action_num),3),round(np.mean(total_act_pred_num),3) + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) + +# literals_num_ls=[10,10,10,100,100,10,10,10,100,100] +# depth_ls=[10,10,10,10,10,50,50,50,50,50] +# iters_ls=[10,100,1000,10,1000,10,100,1000,10,1000] +# literals_num_ls=[10,10,10,10, 100,100,100,100] +# depth_ls=[10,10,10,10, 10,10,10,10] +# iters_ls=[5,10,100,500, 5,10,100,500] + +# literals_num_ls=[10,10,10,10,100,100,100,100] #+[100,100] +# depth_ls=[10,10,10,10,10,10,10,10] #+[10,10] +# iters_ls=[5,10,100,500,5,10,100,500] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] #+[10,20] + +# literals_num_ls=[10,10,10,10,100,100,100,100] + [100,100] #+[100,100] +# depth_ls=15 * [10] +# iters_ls=[5,10,100,300,5,10,100,300,175,105] #+[int(500/2),int(500/4)] +# max_copy_times_ls=8*[5] + [10,20] #+[10,20] + + +# obj_num_ls = [10,50,100,500] +# obj_num_ls = 3*[100] +# obj_num_ls = 4*[100] +# obj_num_ls=3*[100] +# obj_num_ls=[50] + + +# 随机动作数量 +# iters_ls= 3*[100] +# iters_ls = 3* [10] +# iters_ls = [100,500,1000] +# iters_ls = 4*[100] + +# depth_ls=[30,30,10] + 3*[30] +[50,50] +# obj_num_ls = [10,100] + 2*[50] + 4*[100] +# iters_ls=5*[100] + 3*[500] +# literals_num_ls= 7*[100] + [300] +# max_copy_times_ls=[0,0] + 6*[5] + +# depth_ls=[30,30,10] + 3*[30] +[50] +# obj_num_ls = [10,100] + 2*[50] + 3*[100] +# iters_ls=5*[100] + 2*[500] +# literals_num_ls= 7*[100] +# max_copy_times_ls=[0,0] + 5*[5] + +# depth_ls=[50] +# obj_num_ls = [100] +# iters_ls=[500] +# literals_num_ls= [300] +# max_copy_times_ls=[5] + + + +# obj_num_ls = 9*[100,300,500] #9* [100,300,500] +# # Iterations Action Predicates +# act_pred_ls= 3*[0] + 3*[20] + 3*[40] +# act_pred_ls = 3*act_pred_ls +# #Condition Predicates +# cond_pred_ls= 9* [10] + 9* [30] + 9*[50] + +obj_num_ls = [100] #9* [100,300,500] +# Iterations Action Predicates +act_pred_ls= [0] +act_pred_ls = 3*act_pred_ls +#Condition Predicates +cond_pred_ls= [50] +# +# +# max_copy_times_ls= [0,0] + 6*[5] #[5]*27 + +# obj_num_ls = [300] +# # Iterations Action Predicates +# act_pred_ls= [40] +# #Condition Predicates +# cond_pred_ls= [50] + +max_copy_times_ls= 27*[0] +depth_ls=[10]*27 + +# obj_num_ls = [500] +# # Iterations Action Predicates +# act_pred_ls= [40] +# #Condition Predicates +# cond_pred_ls= [50] +# max_copy_times_ls= [5] +# +# depth_ls=[10]*8 + + +# 文字数量 Cond Predicate +# literals_num_ls= 5*[10] +# literals_num_ls= [100,500,1000] +# literals_num_ls= 4*[100] + +# depth_ls= 100 * [10] + +# max_copy_times_ls=[5,5] + + +all_result=[] + +for cond_pred,depth,act_pred,max_copy_times,obj_num in zip(cond_pred_ls, depth_ls, act_pred_ls,max_copy_times_ls,obj_num_ls): + print( + f"\n------depth:{depth},obj: {obj_num},cond_pred:{cond_pred},act_pred:{act_pred},max_copy_times:{max_copy_times}-----------") + # print(f"\n------literals_num: {literals_num},depth:{depth},iters:{iters},obj_num:{obj_num},max_copy_times:{max_copy_times}-----------") + # 为 act建立 add映射 + + act_list, start_list, goal_list,literals_obj_count,state_avg,act_avg,act_pred_num = get_act_start_goal(seed=seed, max_copy_times=max_copy_times,\ + cond_pred=cond_pred, depth=depth, act_pred=act_pred,\ + total_count=1000,obj_num=obj_num) + + # param_ls = [max_copy_times,depth, obj_num,iters,act_pred_num,literals_num,act_avg] + param_ls = [depth,obj_num, cond_pred, act_pred_num, max_copy_times, literals_obj_count, state_avg,act_avg] + + literals_num = cond_pred + obt_result = BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list,literals_num=literals_num) + + + baseline_result = BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, + goal_list=goal_list,literals_num=literals_num) + + + a_result=[] + a_result.extend(param_ls) + a_result.append("OBTEA") + a_result.extend(obt_result) + all_result.append(a_result) + + a_result=[] + a_result.extend(param_ls) + a_result.append("Baseline") + a_result.extend(baseline_result) + all_result.append(a_result) + + +import pandas as pd +df = pd.DataFrame(all_result, columns=[ + # 'max_actcopy', + # 'literals_num','depth','iters','state','act', + # 'copy_act', + # 'depth', 'obj_num','iters','act_pred_num','literals_num','act_avg', +'depth','obj_num', 'cond_pred', 'act_pred', 'max_copy_times', 'literals_obj_count', 'state_avg','act_avg', + 'btalgorithm', + + 'tree_size_avg', 'tree_size_std', + 'ticks_avg', 'ticks_std', + 'cond_tick_avg','cond_tick_std', +'wm_cond_tick_avg','wm_cond_tick_std', + 'cost_avg', 'cost_std', + 'step_avg','step_std', + # 'state_num_avg','state_num_std', + 'expand_num_avg','expand_num_std', + 'for_num_avg','for_num_std', + 'plan_time_avg', 'plan_time_std', 'plan_time_total']) + +time_str = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()).replace("-","").replace(":","") +csv_file_path = 'bt_result_1logic='+time_str+'.csv' +df.to_csv(csv_file_path, index=True) +print("CSV文件已生成:", csv_file_path) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp4_bt_random_nodistance.py b/BTExpansionCode/EXP/exp4_bt_random_nodistance.py new file mode 100644 index 0000000..535d617 --- /dev/null +++ b/BTExpansionCode/EXP/exp4_bt_random_nodistance.py @@ -0,0 +1,164 @@ +import random +import numpy as np +import copy +import time +from OptimalBTExpansionAlgorithm_cond2act import Action,generate_random_state,state_transition +from Examples import * +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") + +from tools import print_action_data_table,BTTest_act_start_goal +# from tools import print_action_data_table,BTTest,BTTest_act_start_goal,get_act_start_goal + + +def get_act_start_goal(seed=1, literals_num=10, iters=10, total_count=1000,pre_max=10000): + + literals_num_set = {i for i in range(literals_num)} + + act_list = [] + start_list = [] + goal_list = [] + total_action_num=[] + total_state_num=[] + + total_time_dic = {"start_to_goal": 0, + "random_act":0} + start_time_0=time.time() + for count in range(total_count): + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + action_num = 1 + states = [] + actions = [] + start = generate_random_state(literals_num) + state_set = {i for i in range(literals_num)} + state = copy.deepcopy(start) + states.append(state) + # print (state) + + depth = random.randint(1, 10) + + for i in range(0, depth): + a = Action() + a.generate_from_state_local(state, literals_num_set,pre_max) + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + # print(state) + goal = states[-1] + + k_act_total = int(iters* (2 / 3)/depth) + if k_act_total<1: + k_act_total = random.randint(1, 2) + + + for k in range(k_act_total): + depth = random.randint(1, 10) + for i in range(0, depth - 1): + a = Action() + + start_time = time.time() + a.generate_from_state_local(state, literals_num_set,pre_max) + end_time = time.time() + total_time_dic["start_to_goal"] += end_time - start_time + + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + + if not goal <= states[-1]: + a = Action() + + # if len(states[-1])==0: + # a.pre=set() + # else: + pre_num = random.randint(0, min(pre_max,len(states[-1]))) + # a.pre = set(np.random.choice(list(states[-1]), pre_num, replace=False)) + a.pre = set(random.sample(states[-1], pre_num)) + + a.add = goal - states[-1] + def_set = state_set - goal + + # if len(def_set)==0: + # a.del_set=set() + # else: + def_num = random.randint(0, len(def_set)) + # a.del_set = set(np.random.choice(list(def_set), def_num, replace=False)) + a.del_set = set(random.sample(def_set, def_num)) + + a.cost = random.randint(1, 100) + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + + state = copy.deepcopy(start) + last_act_total=iters-len(actions) + if last_act_total<0: + last_act_total = 0 + # print(last_act_total) + # for i in range(0, int(iters* (2 / 3))): + for i in range(last_act_total): + a = Action() + + start_time = time.time() + a.generate_from_state_local(state, literals_num_set,pre_max) + end_time = time.time() + total_time_dic["random_act"] += end_time - start_time + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + state = random.sample(states, 1)[0] + + + act_list.append(actions) + start_list.append(start) + goal_list.append(goal) + + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list + + + +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 +seed = 1 +random.seed(1) +np.random.seed(1) +literals_num = 10 +iters = 10 + +# total_count = 5 +act_list, start_list, goal_list = get_act_start_goal(seed=seed, literals_num=literals_num, iters=iters, + total_count=1000) + +BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list) +BTTest_act_start_goal(bt_algo_opt=True, act_list=act_list, start_list=start_list, goal_list=goal_list) \ No newline at end of file diff --git a/BTExpansionCode/EXP/exp_tools.py b/BTExpansionCode/EXP/exp_tools.py index 7eef699..c1ee1d7 100644 --- a/BTExpansionCode/EXP/exp_tools.py +++ b/BTExpansionCode/EXP/exp_tools.py @@ -15,6 +15,9 @@ from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算 import time from utils.bt.draw import render_dot_tree from utils.bt.load import load_bt_from_ptml +from EXP.behavior_lib._base.Behavior import Bahavior +from EXP.behavior_lib.cond import Holding + root_path = os.path.abspath( os.path.join(__file__, "../../..") ) @@ -36,6 +39,7 @@ def goal_transfer_str(goal): literal += ')' # 替换剩余的 '_' 为 ',' literal = literal.replace('_', ',') + literal=literal.replace('~', 'Not ') g_set.add(literal) goal_set.append(g_set) @@ -50,10 +54,10 @@ def goal_transfer_str(goal): goal_set.append(g_set) return goal_set -def collect_action_nodes(random): - multiple_num=2 - action_list = [] +def collect_action_nodes_multiple_num(random,multiple_num=1): + behavior_dict = load_behavior_tree_lib() + action_list = [] for cls in behavior_dict["act"].values(): if cls.can_be_expanded: @@ -68,8 +72,10 @@ def collect_action_nodes(random): info = cls.get_info(arg) action_list.append(Action(name=cls.get_ins_name(arg) + str(num), **info)) if cls.num_args > 1: + # for num in range(multiple_num): for num in range(multiple_num): for args in cls.valid_args: + # xx += 1 info = cls.get_info(*args) action_list.append(Action(name=cls.get_ins_name(*args) + str(num),**info)) @@ -77,13 +83,62 @@ def collect_action_nodes(random): for i in range(len(action_list)): cost = random.randint(1, 100) action_list[i].cost=cost + return action_list + + +def collect_action_nodes(random,multiple_num=1,iters_times=1): + + behavior_dict = load_behavior_tree_lib() + + iter_action_ls=[] + for iter in range(iters_times): + action_list = [] + + for cls in behavior_dict["act"].values(): + if cls.can_be_expanded: + print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") + if cls.num_args == 0: + mr = random.randint(1, multiple_num+1) + for num in range(mr): + info = cls.get_info() + action_list.append(Action(name=cls.get_ins_name() + str(num), **info)) + if cls.num_args == 1: + mr = random.randint(1, multiple_num+1) + for num in range(mr): + for arg in cls.valid_args: + info = cls.get_info(arg) + action_list.append(Action(name=cls.get_ins_name(arg) + str(num), **info)) + if cls.num_args > 1: + # for num in range(multiple_num): + mr = random.randint(1, multiple_num+1) + for num in range(mr): + for args in cls.valid_args: + # xx += 1 + info = cls.get_info(*args) + action_list.append(Action(name=cls.get_ins_name(*args) + str(num),**info)) + # if xx%2==0 or xx%3==0: + # break + + + action_list = sorted(action_list, key=lambda x: x.name) + for i in range(len(action_list)): + cost = random.randint(1, 100) + action_list[i].cost=cost + iter_action_ls.append(action_list) + print("len(action_list):",len(action_list)) + if iters_times==1: + return action_list + else: + return iter_action_ls + + + def collect_action_nodes_old(random): action_list = [] behavior_dict = load_behavior_tree_lib() - behavior_ls = list() - # behavior_ls.sort() + behavior_ls = list() # behavior_ls.sort() behavior_ls = [cls for cls in behavior_ls] behavior_ls = sorted(behavior_ls, key=lambda x: x.__class__.__name__) @@ -114,17 +169,80 @@ def collect_action_nodes_old(random): return action_list +def collect_cond_nodes(): + cond_list = [] + behavior_dict = load_behavior_tree_lib() + num=0 + vaild_num=1 + vaild_num = f"{vaild_num:.2e}" + for cls in behavior_dict["cond"].values(): + if cls.can_be_expanded: + print(f"可扩展条件：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") + if cls.num_params == 0: + num+=1 + # vaild_num*=2 + if cls.num_params == 1: + num += len(cls.valid_args) + # if cls.__name__=="Holding" or cls.__name__=='RobotNear': + # vaild_num *= (len(cls.valid_args)) + # else: + # vaild_num *= (2**len(cls.valid_args)) + if cls.num_params > 1: + cartesian_product_size=1 + for s in cls.valid_args: + cartesian_product_size *= len(s) + num += cartesian_product_size + # if cls.__name__ == "On": + # vaild_num *= (len(cls.valid_args[1])**len(cls.valid_args[0])) + return num,vaild_num + + def get_start(): - start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', - 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', - 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', - 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', - 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', - 'Holding(Nothing)', - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + # start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', + # 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', + # 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', + # 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', + # 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', + # 'Holding(Nothing)', + # 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + start_robowaiter = {'RobotNear(Bar)', + 'Not Active(AC)','Not Active(HallLight)','Active(TubeLight)','Not Closed(Curtain)', + 'Not Exists(Coffee)','Not Exists(Water)','Not Exists(Dessert)', + 'Holding(Nothing)', + 'Not IsClean(Table1)', 'Not IsClean(Floor)', 'Not IsClean(Chairs)', + 'On(Softdrink,Table1)','On(VacuumCup,Table2)', + + # 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', + # 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', + # 'On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', + # 'On(VacuumCup,Table2)', + } + + all_obj_place= Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding + start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'} + start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object} + start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + # 'Softdrink' 在Table1 + start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place!="Table1"} + start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"} + + + # 默认物品都在 Bar 上 + start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \ + and obj != 'Softdrink' and obj != 'VacuumCup' } + for place in Bahavior.all_place: + if place!="Bar": + start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object} + # start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if + # obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + + # 这三样哪里都没有 + make_obj = {"Coffee",'Water','Dessert'} + for place in Bahavior.all_place: + start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj } return start_robowaiter @@ -144,6 +262,335 @@ def state_transition(state,action): return new_state +def BTTest_easy_medium_hard(bt_algo_opt,goal_states,action_list,start_robowaiter): + + if bt_algo_opt: + print("============= OptBT Test ==============") + else: + print("============= XiaoCai BT Test ==============") + + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num = [] + total_cost = [] + total_tick = [] + success_count = 0 + failure_count = 0 + planning_time_total = 0.0 + planning_time_ls=[] + states=[] ####？？？ + actions = copy.deepcopy(action_list) + start = copy.deepcopy(start_robowaiter) + + error=False + + total_count = len(goal_states) + total_cond_tick = [] + + for count, goal_str in enumerate(goal_states): + + goal = copy.deepcopy(goal_transfer_str(goal_str)) + # goal = goal_str + # print("count:", count, "goal:", goal) + + + if bt_algo_opt: + # if count==874: + # algo = OptBTExpAlgorithm(verbose=False) + # else: + algo = OptBTExpAlgorithm(verbose=False) + else: + algo = BTExpAlgorithm(verbose=False) + algo.clear() + + # algo = Weakalgorithm() + + # if count == 6 : #874: + # print_action_data_table(goal, start, list(actions)) + # print_action_data_table(goal, start, list(actions)) + + start_time = time.time() + algo_right = algo.run_algorithm(start, goal, actions) + end_time = time.time() + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + # print("xxxx") + + if algo_right: # 运行算法，规划后行为树为algo.bt + # total_tree_size.append(algo.bt.count_size() - 1) + total_tree_size.append(algo.bfs_cal_tree_size()) + # if count==10: + # algo.print_solution() + # algo.print_solution() # 打印行为树 + # 画出行为树 + # if count == 2: + # ptml_string = algo.get_ptml_many_act() + # print(ptml_string) + # file_name = "sub_task" + # file_path = f'{file_name}.ptml' + # with open(file_path, 'w') as file: + # file.write(ptml_string) + # ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml') + # behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib') + # bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path) + # if bt_algo_opt: + # render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False) + # else: + # render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False) + else: + print("error") + + # 开始从初始状态运行行为树，测试 + state = start + steps = 0 + current_cost = 0 + current_tick_time = 0 + current_cond_tick_time=0 + # val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) # tick行为树，obj为所运行的行动 + val, obj, cost, tick_time, cond_times = algo.bt.cost_tick_cond(state, 0, 0, 0) + current_cond_tick_time += cond_times + current_tick_time += tick_time + current_cost += cost + while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 + state = state_transition(state, obj) + # val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) + val, obj, cost, tick_time, cond_times = algo.bt.cost_tick_cond(state, 0, 0, 0) + current_cond_tick_time += cond_times + current_cost += cost + current_tick_time += tick_time + if (val == 'failure'): + print("bt fails at step", steps) + error = True + break + steps += 1 + if (steps >= 500): # 至多运行500步 + break + # 检查执行后状态满不满足，只有 goal 里有一个满足就行 + error = True + for gg in goal: + if gg<=state: + error = False + success_count += 1 + total_steps_num.append(steps) + break + if error: + failure_count += 1 + # if not goal[0] <= state: # 错误解，目标条件不在执行后状态满足 + # # print ("wrong solution",steps) + # failure_count += 1 + # error = True + # else: # 正确解，满足目标条件 + # # print ("right solution",steps) + # success_count += 1 + # total_steps_num.append(steps) + if error: + # print_action_data_table(goal, start, list(actions)) + # algo.print_solution() + break + + algo.clear() + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + total_cost.append(current_cost) + total_tick.append(current_tick_time) + total_cond_tick.append(current_cond_tick_time) + + print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 + print("*** Total Tree Size: mean=", round(np.mean(total_tree_size),2), "std=", round(np.std(total_tree_size, ddof=1),2)) # 1000次测试树大小 + print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) + print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + print("Planning Time Total:", planning_time_total) + print("*** Planning Time mean=:", round(np.mean(planning_time_ls),3), "std=", round(np.std(planning_time_ls),3)) + print("*** Average Number of Ticks", round(np.mean(total_tick),3), "std=", round(np.std(total_tick, ddof=1),3)) + print("*** Average Cost of Execution:", round(np.mean(total_cost),3), "std=", round(np.std(total_cost, ddof=1),3)) + print("*** Cond Ticks:", round(np.mean(total_cond_tick), 3), "std=", round(np.std(total_cond_tick, ddof=1), 3)) + + tree_size = [round(np.mean(total_tree_size), 3), round(np.std(total_tree_size, ddof=1), 3)] + ticks = [round(np.mean(total_tick), 3), round(np.std(total_tick, ddof=1), 3)] + cond_ticks = [round(np.mean(total_cond_tick), 3)] + cost = [round(np.mean(total_cost), 3), round(np.std(total_cost, ddof=1), 3)] + plan_time = [round(np.mean(planning_time_ls), 5), round(np.std(planning_time_ls), 5), round(planning_time_total, 5)] + + tmp_ls=[] + tmp_ls.extend(tree_size) + tmp_ls.extend(ticks) + tmp_ls.extend(cond_ticks) + tmp_ls.extend(cost) + tmp_ls.extend(plan_time) + return tmp_ls + + + + +def BTTest_Merge_easy_medium_hard(bt_algo_opt,goal_states,action_list,start_robowaiter,merge_time=99999): + + merge_time = merge_time + + if bt_algo_opt: + print("============= OptBT Test ==============") + else: + print("============= XiaoCai BT Test ==============") + + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num = [] + total_cost = [] + total_tick = [] + success_count = 0 + failure_count = 0 + planning_time_total = 0.0 + planning_time_ls=[] + states=[] ####？？？ + actions = copy.deepcopy(action_list) + start = copy.deepcopy(start_robowaiter) + + total_cond_tick = [] + + error=False + + total_count = len(goal_states) + + for count, goal_str in enumerate(goal_states): + + goal = copy.deepcopy(goal_transfer_str(goal_str)) + # goal = goal_str + # print("count:", count, "goal:", goal) + + + if bt_algo_opt: + # if count==874: + # algo = OptBTExpAlgorithm(verbose=False) + # else: + algo = OptBTExpAlgorithm(verbose=False) + else: + algo = BTExpAlgorithm(verbose=False) + algo.clear() + + # algo = Weakalgorithm() + + # if count == 6 : #874: + # print_action_data_table(goal, start, list(actions)) + # print_action_data_table(goal, start, list(actions)) + + start_time = time.time() + # algo_right = algo.run_algorithm(start, goal, actions) + algo_right = algo.run_algorithm(start, goal, actions, merge_time) + end_time = time.time() + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + if algo_right: # 运行算法，规划后行为树为algo.bt + # total_tree_size.append(algo.bt.count_size() - 1) + total_tree_size.append(algo.bfs_cal_tree_size()) + # if count==10: + # algo.print_solution() + # algo.print_solution() # 打印行为树 + # 画出行为树 + # if count == 2: + # ptml_string = algo.get_ptml_many_act() + # # print(ptml_string) + # file_name = "sub_task" + # file_path = f'{file_name}.ptml' + # with open(file_path, 'w') as file: + # file.write(ptml_string) + # ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml') + # behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib') + # bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path) + # if bt_algo_opt: + # render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False) + # else: + # render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False) + else: + print("error") + + # 开始从初始状态运行行为树，测试 + state = start + steps = 0 + current_cost = 0 + current_tick_time = 0 + current_cond_tick_time = 0 + val, obj, cost, tick_time,cond_times = algo.bt.cost_tick_cond(state, 0, 0,0) # tick行为树，obj为所运行的行动 + # val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) + + current_tick_time += tick_time + current_cost += cost + current_cond_tick_time+=cond_times + while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 + state = state_transition(state, obj) + val, obj, cost, tick_time,cond_times = algo.bt.cost_tick_cond(state, 0, 0,0) + # val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) + current_cost += cost + current_tick_time += tick_time + current_cond_tick_time += cond_times + if (val == 'failure'): + print("bt fails at step", steps) + error = True + break + steps += 1 + if (steps >= 500): # 至多运行500步 + break + # 检查执行后状态满不满足，只有 goal 里有一个满足就行 + error = True + for gg in goal: + if gg<=state: + error = False + success_count += 1 + total_steps_num.append(steps) + break + if error: + failure_count += 1 + # if not goal[0] <= state: # 错误解，目标条件不在执行后状态满足 + # # print ("wrong solution",steps) + # failure_count += 1 + # error = True + # else: # 正确解，满足目标条件 + # # print ("right solution",steps) + # success_count += 1 + # total_steps_num.append(steps) + if error: + # print_action_data_table(goal, start, list(actions)) + # algo.print_solution() + break + + algo.clear() + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + total_cost.append(current_cost) + total_tick.append(current_tick_time) + total_cond_tick.append(current_cond_tick_time) + + print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 + print("*** Total Tree Size: mean=", round(np.mean(total_tree_size),2), "std=", round(np.std(total_tree_size, ddof=1),2)) # 1000次测试树大小 + print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) + print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + print("Planning Time Total:", planning_time_total) + print("*** Planning Time mean=:", round(np.mean(planning_time_ls),3), "std=", round(np.std(planning_time_ls),3)) + print("*** Average Number of Ticks", round(np.mean(total_tick),3), "std=", round(np.std(total_tick, ddof=1),3)) + print("*** Average Number of Cond Ticks", round(np.mean(total_cond_tick), 3), "std=", round(np.std(total_cond_tick, ddof=1), 3)) + print("*** Average Cost of Execution:", round(np.mean(total_cost),3), "std=", round(np.std(total_cost, ddof=1),3)) + + tree_size = [round(np.mean(total_tree_size), 3), round(np.std(total_tree_size, ddof=1), 3)] + ticks = [round(np.mean(total_tick), 3), round(np.std(total_tick, ddof=1), 3)] + cond_ticks = [round(np.mean(total_cond_tick), 3), round(np.std(total_cond_tick, ddof=1), 3)] + cost = [round(np.mean(total_cost), 3), round(np.std(total_cost, ddof=1), 3)] + plan_time = [round(np.mean(planning_time_ls), 5), round(np.std(planning_time_ls), 5), round(planning_time_total, 5)] + + tmp_ls=[] + tmp_ls.extend(tree_size) + tmp_ls.extend(ticks) + tmp_ls.extend(cond_ticks) + tmp_ls.extend(cost) + tmp_ls.extend(plan_time) + return tmp_ls + + + + def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): if bt_algo_opt: @@ -160,15 +607,19 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): success_count = 0 failure_count = 0 planning_time_total = 0.0 + planning_time_ls=[] states=[] ####？？？ actions = copy.deepcopy(action_list) start = copy.deepcopy(start_robowaiter) error=False + total_count = len(goal_states) + for count, goal_str in enumerate(goal_states): goal = copy.deepcopy(goal_transfer_str(goal_str)) + # goal = goal_str print("count:", count, "goal:", goal) @@ -176,24 +627,146 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): # if count==874: # algo = OptBTExpAlgorithm(verbose=False) # else: - algo = OptBTExpAlgorithm(verbose=False) + algo = OptBTExpAlgorithm(verbose=True) else: algo = BTExpAlgorithm(verbose=False) algo.clear() # algo = Weakalgorithm() - start_time = time.time() - # if count == 11 : #874: + + # if count == 6 : #874: # print_action_data_table(goal, start, list(actions)) # print_action_data_table(goal, start, list(actions)) - if algo.run_algorithm(start, goal, actions): # 运行算法，规划后行为树为algo.bt - total_tree_size.append(algo.bt.count_size() - 1) + + start_time = time.time() + algo_right = algo.run_algorithm(start, goal, actions) + end_time = time.time() + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + if algo_right: # 运行算法，规划后行为树为algo.bt + # total_tree_size.append(algo.bt.count_size() - 1) + total_tree_size.append(algo.bfs_cal_tree_size()) + # if count==10: + # algo.print_solution() + algo.print_solution() # 打印行为树 + # 画出行为树 + # if count == 2: + ptml_string = algo.get_ptml_many_act() + # # print(ptml_string) + file_name = "sub_task" + file_path = f'./EXP/{file_name}.ptml' + with open(file_path, 'w') as file: + file.write(ptml_string) + ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml') + behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib') + bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path) + if bt_algo_opt: + render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False) + else: + render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False) + else: + print("error") + + # 开始从初始状态运行行为树，测试 + state = start + steps = 0 + current_cost = 0 + current_tick_time = 0 + val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) # tick行为树，obj为所运行的行动 + + current_tick_time += tick_time + current_cost += cost + while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 + state = state_transition(state, obj) + val, obj, cost, tick_time = algo.bt.cost_tick(state, 0, 0) + current_cost += cost + current_tick_time += tick_time + if (val == 'failure'): + print("bt fails at step", steps) + error = True + break + steps += 1 + if (steps >= 500): # 至多运行500步 + break + if not goal[0] <= state: # 错误解，目标条件不在执行后状态满足 + # print ("wrong solution",steps) + failure_count += 1 + error = True + else: # 正确解，满足目标条件 + # print ("right solution",steps) + success_count += 1 + total_steps_num.append(steps) + if error: + # print_action_data_table(goal, start, list(actions)) + # algo.print_solution() + break + + algo.clear() + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + total_cost.append(current_cost) + total_tick.append(current_tick_time) + + print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 + print("*** Total Tree Size: mean=", round(np.mean(total_tree_size),2), "std=", round(np.std(total_tree_size, ddof=1),2)) # 1000次测试树大小 + print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) + print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + print("Planning Time Total:", planning_time_total) + print("*** Planning Time mean=:", round(np.mean(planning_time_ls),3), "std=", round(np.std(planning_time_ls),3)) + print("*** Average Number of Ticks", round(np.mean(total_tick),3), "std=", round(np.std(total_tick, ddof=1),3)) + print("*** Average Cost of Execution:", round(np.mean(total_cost),3), "std=", round(np.std(total_cost, ddof=1),3)) + + + + +def BTTest_Merge(bt_algo_opt,goal_states,action_list,start_robowaiter,merge_time=3): + + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num = [] + total_cost = [] + total_tick = [] + success_count = 0 + failure_count = 0 + planning_time_total = 0.0 + planning_time_ls=[] + states=[] ####？？？ + actions = copy.deepcopy(action_list) + start = copy.deepcopy(start_robowaiter) + + error=False + + total_count = len(goal_states) + + total_time_dic={} + + + for count, goal_str in enumerate(goal_states): + goal = copy.deepcopy(goal_transfer_str(goal_str)) + + if bt_algo_opt: + algo = OptBTExpAlgorithm(verbose=False) + else: + algo = BTExpAlgorithm(verbose=False) + algo.clear() + + start_time = time.time() + algo_right,time_dic = algo.run_algorithm(start, goal, actions,merge_time) + end_time = time.time() + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + if algo_right: # 运行算法，规划后行为树为algo.bt + # total_tree_size.append(algo.bt.count_size() - 1) + total_tree_size.append(algo.bfs_cal_tree_size()) # if count==10: # algo.print_solution() # algo.print_solution() # 打印行为树 - # 画出行为树 - # if count == 11: + # if count == 2: # ptml_string = algo.get_ptml_many_act() # file_name = "sub_task" # file_path = f'./{file_name}.ptml' @@ -206,11 +779,8 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): # render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False) # else: # render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False) - else: print("error") - end_time = time.time() - planning_time_total += (end_time - start_time) # 开始从初始状态运行行为树，测试 state = start @@ -252,13 +822,156 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): total_cost.append(current_cost) total_tick.append(current_tick_time) - print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 - print("Total Tree Size: mean=", np.mean(total_tree_size), "std=", np.std(total_tree_size, ddof=1)) # 1000次测试树大小 - print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) - print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 - print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 - print("Planning Time Total:", planning_time_total, planning_time_total / 1000.0) - print("Average Number of Ticks", np.mean(total_tick), "std=", np.std(total_tick, ddof=1)) - print("Average Cost of Execution:", np.mean(total_cost), "std=", np.std(total_cost, ddof=1)) + # print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 + # print("*** Total Tree Size: mean=", round(np.mean(total_tree_size),2), "std=", round(np.std(total_tree_size, ddof=1),2)) # 1000次测试树大小 + # print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) + # print("Average Number of States:", np.mean(total_state_num)) # 1000次问题的平均状态数 + # print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + # print("Planning Time Total:", planning_time_total) + # print("*** Planning Time mean=:", round(np.mean(planning_time_ls),3), "std=", round(np.std(planning_time_ls),3)) + # print("*** Average Number of Ticks", round(np.mean(total_tick),3), "std=", round(np.std(total_tick, ddof=1),3)) + # print("*** Average Cost of Execution:", round(np.mean(total_cost),3), "std=", round(np.std(total_cost, ddof=1),3)) + + tree_size=[round(np.mean(total_tree_size),2), round(np.std(total_tree_size, ddof=1),2)] + plan_time=[round(np.mean(planning_time_ls),3), round(np.std(planning_time_ls),3),round(planning_time_total,3)] + ticks=[round(np.mean(total_tick),3),round(np.std(total_tick, ddof=1),3)] + cost=[round(np.mean(total_cost),3),round(np.std(total_cost, ddof=1),3)] + return tree_size,plan_time,ticks,cost + + +def get_act_start_goal(seed=1, literals_num=10, depth=10, iters=10, total_count=1000): + + max_copy_time = 5 + + literals_num_set = {i for i in range(literals_num)} + + act_list = [] + start_list = [] + goal_list = [] + total_action_num=[] + total_state_num=[] + + total_time_dic = {"start_to_goal": 0, + "random_act":0} + start_time_0=time.time() + for count in range(total_count): + # 生成一个规划问题，包括随机的状态和行动，以及目标状态 + action_num = 1 + states = [] + actions = [] + start = generate_random_state(literals_num) + state_set = {i for i in range(literals_num)} + state = copy.deepcopy(start) + states.append(state) + + # for i in range(0, depth): + # a = Action() + # a.generate_from_state_local(state, literals_num_set) + # a.cost = random.randint(1, 100) + # if not a in actions: + # a.name = "a" + str(action_num) + # action_num += 1 + # actions.append(a) + # state = state_transition(state, a) + # if state in states: + # pass + # else: + # states.append(state) + # # print(state) + # goal = states[-1] + + # k_act_total = int(iters*np.random.uniform()/depth) + # if k_act_total<1: + # k_act_total = random.randint(1, 5) + # for k in range(k_act_total): + for i in range(0, depth): + start_time = time.time() + a = Action() + a.generate_from_state_local(state, literals_num_set) + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + copy_times = random.randint(1, max_copy_time) + # copy_times = 0 + for ct in range(copy_times): + ca = copy.deepcopy(a) + ca.cost = random.randint(1, 100) + if not ca in actions: + ca.name = "a" + str(action_num) + action_num += 1 + actions.append(ca) + end_time = time.time() + total_time_dic["start_to_goal"] += end_time - start_time + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + + if not goal <= states[-1]: + a = Action() + pre_num = random.randint(0, len(states[-1])) + a.pre = set(random.sample(states[-1], pre_num)) + a.add = goal - states[-1] + def_set = state_set - goal + def_num = random.randint(0, len(def_set)) + a.del_set = set(random.sample(def_set, def_num)) + a.cost = random.randint(1, 100) + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + + # copy_times = random.randint(1, 5) + copy_times = 0 + for ct in range(copy_times): + ca = copy.deepcopy(a) + ca.cost = random.randint(1, 100) + if not ca in actions: + ca.name = "a" + str(action_num) + action_num += 1 + actions.append(ca) + + + state = copy.deepcopy(start) + last_act_total=iters+2*depth-len(actions) + if last_act_total<0: + last_act_total = 0 + for i in range(last_act_total): + a = Action() + start_time = time.time() + a.generate_from_state_local(state, literals_num_set) + end_time = time.time() + total_time_dic["random_act"] += end_time - start_time + + if not a in actions: + a.name = "a" + str(action_num) + action_num += 1 + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + state = random.sample(states, 1)[0] + + act_list.append(actions) + start_list.append(start) + goal_list.append(goal) + + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + + end_time_0=time.time() + + print("Total Time:", end_time_0-start_time_0) + print("Total Time (start_to_goal):", total_time_dic["start_to_goal"]) + print("Total Time (random_act):",total_time_dic["random_act"]) + print("Average Number of States:", round(np.mean(total_state_num),3)) # 1000次问题的平均状态数 + print("Average Number of Actions", round(np.mean(total_action_num),3)) # 1000次问题的平均行动数 + # print_action_data_table(goal, start, list(actions)) + return act_list, start_list, goal_list,round(np.mean(total_state_num),3),round(np.mean(total_action_num),3) + diff --git a/BTExpansionCode/EXP/expanded_bt_obt.dot b/BTExpansionCode/EXP/expanded_bt_obt.dot index 91d0a17..bd0de72 100644 --- a/BTExpansionCode/EXP/expanded_bt_obt.dot +++ b/BTExpansionCode/EXP/expanded_bt_obt.dot @@ -3,3461 +3,483 @@ ordering=out; graph [fontname="times-roman"]; node 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[fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"fd3ca530-82e7-4c54-865a-97a3bb36c61a" -> "18a1e5ed-fb26-468f-8e57-94c734016075"; -"3d0ae5c1-0f42-4d5d-82a9-b99342e37ed0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"18a1e5ed-fb26-468f-8e57-94c734016075" -> "3d0ae5c1-0f42-4d5d-82a9-b99342e37ed0"; -"dfb64018-04a9-46df-8fd1-193f227cae97" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"3d0ae5c1-0f42-4d5d-82a9-b99342e37ed0" -> "dfb64018-04a9-46df-8fd1-193f227cae97"; -"3c737c2d-d671-4a24-b6bb-dd333ffc9ac6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"dfb64018-04a9-46df-8fd1-193f227cae97" -> "3c737c2d-d671-4a24-b6bb-dd333ffc9ac6"; -"0f6abb0c-d7e7-436e-97d2-88bce1c06640" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"3c737c2d-d671-4a24-b6bb-dd333ffc9ac6" -> "0f6abb0c-d7e7-436e-97d2-88bce1c06640"; -"d1c710c7-ed10-4a46-8e99-828eff86718b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"0f6abb0c-d7e7-436e-97d2-88bce1c06640" -> "d1c710c7-ed10-4a46-8e99-828eff86718b"; -"18a30aed-ba20-4b43-922e-f83be5f9bfbd" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"d1c710c7-ed10-4a46-8e99-828eff86718b" -> "18a30aed-ba20-4b43-922e-f83be5f9bfbd"; -"5087f925-32e6-4576-a014-66c60dcf9b9a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"18a30aed-ba20-4b43-922e-f83be5f9bfbd" -> "5087f925-32e6-4576-a014-66c60dcf9b9a"; -"90a5c49b-f033-4c77-b249-8177f9a79187" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"5087f925-32e6-4576-a014-66c60dcf9b9a" -> "90a5c49b-f033-4c77-b249-8177f9a79187"; -"9048adb5-4153-40b4-bfbb-4063d8effece" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"90a5c49b-f033-4c77-b249-8177f9a79187" -> "9048adb5-4153-40b4-bfbb-4063d8effece"; -"c0fc0fab-7a5c-42b7-8a1b-91056c192280" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"9048adb5-4153-40b4-bfbb-4063d8effece" -> "c0fc0fab-7a5c-42b7-8a1b-91056c192280"; -"ade49021-14f5-4075-82c7-d73d779e734d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"c0fc0fab-7a5c-42b7-8a1b-91056c192280" -> "ade49021-14f5-4075-82c7-d73d779e734d"; -"58a7151a-24d5-44ca-a43e-2a71197b0d5b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"ade49021-14f5-4075-82c7-d73d779e734d" -> "58a7151a-24d5-44ca-a43e-2a71197b0d5b"; -"e659f106-6cfa-4b84-9d15-36f2fc80d950" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"58a7151a-24d5-44ca-a43e-2a71197b0d5b" -> "e659f106-6cfa-4b84-9d15-36f2fc80d950"; -"585af931-ed55-4d38-a75c-aa1c24489338" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e659f106-6cfa-4b84-9d15-36f2fc80d950" -> "585af931-ed55-4d38-a75c-aa1c24489338"; -"3d7b0a2e-59c5-4dd8-8c24-dd38e29c9004" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"585af931-ed55-4d38-a75c-aa1c24489338" -> "3d7b0a2e-59c5-4dd8-8c24-dd38e29c9004"; -"2a235c5e-9a5b-4d35-9bfa-e84805a90b29" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"3d7b0a2e-59c5-4dd8-8c24-dd38e29c9004" -> "2a235c5e-9a5b-4d35-9bfa-e84805a90b29"; -"0fb7f560-8a14-4b18-b97f-61e64efaf1c8" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"2a235c5e-9a5b-4d35-9bfa-e84805a90b29" -> "0fb7f560-8a14-4b18-b97f-61e64efaf1c8"; -"8aa760a6-abd5-4bbe-ab76-94648c24b8e3" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"0fb7f560-8a14-4b18-b97f-61e64efaf1c8" -> "8aa760a6-abd5-4bbe-ab76-94648c24b8e3"; -"84b0c8f4-7297-4441-ba47-cefa147440ac" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"8aa760a6-abd5-4bbe-ab76-94648c24b8e3" -> "84b0c8f4-7297-4441-ba47-cefa147440ac"; -"b06a8fa4-471c-4501-b756-146b03cfc2b3" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"84b0c8f4-7297-4441-ba47-cefa147440ac" -> "b06a8fa4-471c-4501-b756-146b03cfc2b3"; -"e5e13f57-09db-49b0-9bed-3ff7e9a54778" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"b06a8fa4-471c-4501-b756-146b03cfc2b3" -> "e5e13f57-09db-49b0-9bed-3ff7e9a54778"; -"a160c9d3-ce9e-42d0-ba04-83b7f2541209" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e5e13f57-09db-49b0-9bed-3ff7e9a54778" -> "a160c9d3-ce9e-42d0-ba04-83b7f2541209"; -"7fe798d9-1aed-487f-87bd-0e4c0e441f94" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"a160c9d3-ce9e-42d0-ba04-83b7f2541209" -> "7fe798d9-1aed-487f-87bd-0e4c0e441f94"; -"62564879-2a5b-441f-b3a4-5f8b716f2bd1" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"7fe798d9-1aed-487f-87bd-0e4c0e441f94" -> "62564879-2a5b-441f-b3a4-5f8b716f2bd1"; -"f01b3a96-2a8d-43da-b1af-3e1a55d29d7f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"62564879-2a5b-441f-b3a4-5f8b716f2bd1" -> "f01b3a96-2a8d-43da-b1af-3e1a55d29d7f"; -"bc3d1324-628a-4e9a-967f-e1a34dc200b8" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"f01b3a96-2a8d-43da-b1af-3e1a55d29d7f" -> "bc3d1324-628a-4e9a-967f-e1a34dc200b8"; -"004f17d7-1676-4f1c-9e6f-7816026332a6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"bc3d1324-628a-4e9a-967f-e1a34dc200b8" -> "004f17d7-1676-4f1c-9e6f-7816026332a6"; -"29bbf4c7-fb1e-4aad-bdb2-5645d3fe7cf0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"004f17d7-1676-4f1c-9e6f-7816026332a6" -> "29bbf4c7-fb1e-4aad-bdb2-5645d3fe7cf0"; -"a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"29bbf4c7-fb1e-4aad-bdb2-5645d3fe7cf0" -> "a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a"; -"4c959985-cc3f-4ae6-9c8d-6bd9cdd4e5f4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a" -> "4c959985-cc3f-4ae6-9c8d-6bd9cdd4e5f4"; -"e2663fe2-b6b8-46b6-b144-aaed69b30e67" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"4c959985-cc3f-4ae6-9c8d-6bd9cdd4e5f4" -> "e2663fe2-b6b8-46b6-b144-aaed69b30e67"; -"e2bda1a6-8ef6-4a06-b2ae-1f5f74934231" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e2663fe2-b6b8-46b6-b144-aaed69b30e67" -> "e2bda1a6-8ef6-4a06-b2ae-1f5f74934231"; -"05f8c3e9-f956-423c-b839-03115d159e07" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e2bda1a6-8ef6-4a06-b2ae-1f5f74934231" -> "05f8c3e9-f956-423c-b839-03115d159e07"; -"08436766-f477-43dd-a09d-b5617b70f31d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"05f8c3e9-f956-423c-b839-03115d159e07" -> "08436766-f477-43dd-a09d-b5617b70f31d"; -"1ce1f06c-48ff-49b0-abaa-7fe6256dff31" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"08436766-f477-43dd-a09d-b5617b70f31d" -> "1ce1f06c-48ff-49b0-abaa-7fe6256dff31"; -"79c089ff-c9df-4d57-b38d-06a107557312" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"1ce1f06c-48ff-49b0-abaa-7fe6256dff31" -> "79c089ff-c9df-4d57-b38d-06a107557312"; -"f8c96a86-adb3-42cd-8c08-9ad29a839191" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"79c089ff-c9df-4d57-b38d-06a107557312" -> "f8c96a86-adb3-42cd-8c08-9ad29a839191"; 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[fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"65e8de80-6b8f-438e-a384-c17d1b0d8073" -> "b21ac636-949e-4516-a2a7-e34b22cc370e"; -"faed8aa8-7da2-4ea4-ad68-0d4e5c5e2a67" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"b21ac636-949e-4516-a2a7-e34b22cc370e" -> "faed8aa8-7da2-4ea4-ad68-0d4e5c5e2a67"; -"80f17411-eab1-40af-b212-d24e30cde1fd" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"faed8aa8-7da2-4ea4-ad68-0d4e5c5e2a67" -> "80f17411-eab1-40af-b212-d24e30cde1fd"; -"b1837f13-91df-4680-9a3f-eeff143a8f15" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"80f17411-eab1-40af-b212-d24e30cde1fd" -> "b1837f13-91df-4680-9a3f-eeff143a8f15"; -"e569c310-4e0d-4fba-81f6-fa5af4009be5" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, 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style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "b848d27d-4503-4031-8bae-893393b7123d"; -"7cc0efc9-e201-4447-9b3f-165742aab289" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "7cc0efc9-e201-4447-9b3f-165742aab289"; -"2a5b95c5-f343-4db2-a907-71c7a3e5ccb9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "2a5b95c5-f343-4db2-a907-71c7a3e5ccb9"; -"513473c0-d65c-4d90-967b-fef1bbd23a52" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"81c99573-0eea-464f-8d51-b799ee18a835" -> "513473c0-d65c-4d90-967b-fef1bbd23a52"; -"72eb9fcb-8c48-48b6-b674-46450ae09d36" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "72eb9fcb-8c48-48b6-b674-46450ae09d36"; -"3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49"; -"b867df19-ca63-4f47-9e0d-7aa9a10d4018" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "b867df19-ca63-4f47-9e0d-7aa9a10d4018"; -"9d85da11-9565-437e-b88c-d86bab73887a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"eb6a1163-b9cb-4d0a-a39e-68f2f14323e4" -> "9d85da11-9565-437e-b88c-d86bab73887a"; -"00eaf19f-462b-486a-a79e-36316549be89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"9d85da11-9565-437e-b88c-d86bab73887a" -> "00eaf19f-462b-486a-a79e-36316549be89"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "15670bd3-4a8e-4a9e-afdd-e732ec602959"; -"da5fe5f3-6d23-4c1f-beec-cba7d3164266" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "da5fe5f3-6d23-4c1f-beec-cba7d3164266"; -"ce69e82a-5c3b-48db-966c-ec177602bae0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f3df9e91-27bf-4ca6-b5ef-f9547adb35a2" -> "ce69e82a-5c3b-48db-966c-ec177602bae0"; -"bbc29cc6-20b2-4193-b1dd-7a32f39050e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"ce69e82a-5c3b-48db-966c-ec177602bae0" -> "bbc29cc6-20b2-4193-b1dd-7a32f39050e9"; -"c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"ce69e82a-5c3b-48db-966c-ec177602bae0" -> "c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba"; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ac31a68d-e995-4d21-8da1-9b370463554a" -> "c1af8498-5904-4d8e-bc02-7924ea94bfbc"; -"c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "c8e0c51a-cc3e-4c50-8ea2-cff3010ab36e"; -"b44b27d2-05fa-4162-acce-dfdcb94bfadb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "b44b27d2-05fa-4162-acce-dfdcb94bfadb"; -"1d16f199-e2a2-4e10-abb1-f6884b8bce40" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"c1af8498-5904-4d8e-bc02-7924ea94bfbc" -> "1d16f199-e2a2-4e10-abb1-f6884b8bce40"; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8f8b6712-c336-41c9-a958-3bbc0f7917b4" -> "02e1f562-c2e1-4334-b34a-f92ca4e260af"; -"5ce7094e-7654-41b9-8465-820ea36c399c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "5ce7094e-7654-41b9-8465-820ea36c399c"; -"429753fc-fff9-471e-9576-7faf02c6d2c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "429753fc-fff9-471e-9576-7faf02c6d2c6"; -"d8103559-25b8-4419-b8b3-3e7d9c44ad0e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"02e1f562-c2e1-4334-b34a-f92ca4e260af" -> "d8103559-25b8-4419-b8b3-3e7d9c44ad0e"; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7c8070d3-8878-49fa-a316-bcb565c1d7a6" -> "9c8a5901-1909-4f5a-8f9f-58967edd194e"; -"37077af7-5ba7-477e-a986-728ed85232b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "37077af7-5ba7-477e-a986-728ed85232b5"; -"32c1e73f-ec6a-4e6c-8587-1aadccb33a06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "32c1e73f-ec6a-4e6c-8587-1aadccb33a06"; -"7bd333c9-5b85-4f6e-9581-338117923a32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"9c8a5901-1909-4f5a-8f9f-58967edd194e" -> "7bd333c9-5b85-4f6e-9581-338117923a32"; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" -> "5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48"; -"9d26bd30-b5e3-404a-83e1-02c034f42606" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "9d26bd30-b5e3-404a-83e1-02c034f42606"; -"f8e546b1-0afa-45a7-ae22-0a298bd06d48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "f8e546b1-0afa-45a7-ae22-0a298bd06d48"; -"862ffa6c-152b-4f9f-a196-2dbf57a7a1e1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"5ff77b76-6c95-4dfc-a5ac-8ed47bf7ca48" -> "862ffa6c-152b-4f9f-a196-2dbf57a7a1e1"; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6f4d70e9-d60f-405c-9303-1240b1db3eac" -> "7a296eef-a4d2-4281-8864-9ac00ab561b0"; -"85fd988a-7627-4ae8-99f5-34f3c476dd98" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "85fd988a-7627-4ae8-99f5-34f3c476dd98"; -"878b7df8-4cbd-44a4-9dca-0f8ee4a669a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "878b7df8-4cbd-44a4-9dca-0f8ee4a669a9"; -"d77e461f-d702-4532-b8c7-8b5f8463ce5a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"7a296eef-a4d2-4281-8864-9ac00ab561b0" -> "d77e461f-d702-4532-b8c7-8b5f8463ce5a"; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b170a1d5-5316-44b0-a548-2ba26e761fe0" -> "c1d52509-e83c-4a74-a13d-d1f2b122c7f9"; -"73b964fc-8513-4a02-9396-c2a493f95c40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "73b964fc-8513-4a02-9396-c2a493f95c40"; -"26324ea7-77a7-41e4-8079-6d6d81d54e73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "26324ea7-77a7-41e4-8079-6d6d81d54e73"; -"877ae462-8b57-4127-babe-bb5bed8b88f0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"c1d52509-e83c-4a74-a13d-d1f2b122c7f9" -> "877ae462-8b57-4127-babe-bb5bed8b88f0"; -"f0a3fd38-7073-49f7-ba1f-385e18a22bf5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"90d8126a-a304-4b5b-a923-ff3392ad2822"; -"030df637-c783-4a10-9185-b6b969f5ea8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "030df637-c783-4a10-9185-b6b969f5ea8c"; -"cc2987ee-ed16-4131-943f-d6ac0e4a82b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "cc2987ee-ed16-4131-943f-d6ac0e4a82b7"; -"5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"90d8126a-a304-4b5b-a923-ff3392ad2822" -> "5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6"; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e9b393c4-d19c-49cb-b6d5-32c23b24502e" -> "5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c"; -"59cf5c8e-eb75-49f2-8577-fdfa4f41add5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" -> "59cf5c8e-eb75-49f2-8577-fdfa4f41add5"; -"5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c" -> "5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0"; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6df244a9-d0e3-4afb-acc0-3c57e1f849fa" -> "6dd6157e-d4ea-4770-acf9-e7060c1df669"; -"fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2"; -"c34d1128-1f88-449d-b313-6a1c9e6e5e80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "c34d1128-1f88-449d-b313-6a1c9e6e5e80"; -"068c9e38-5227-48db-8296-2654c69e49ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"6dd6157e-d4ea-4770-acf9-e7060c1df669" -> "068c9e38-5227-48db-8296-2654c69e49ba"; -"ee2de5a6-a5f4-47cc-9219-73e5acca3839" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dc6576b3-e09b-45eb-be31-bd4c829383a7" -> "ee2de5a6-a5f4-47cc-9219-73e5acca3839"; -"1b091b64-58ef-46a2-a252-0bf441aef507" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"ee2de5a6-a5f4-47cc-9219-73e5acca3839" -> "1b091b64-58ef-46a2-a252-0bf441aef507"; -"7219e198-b69a-4fe7-957d-7164945e9d58" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"ee2de5a6-a5f4-47cc-9219-73e5acca3839" -> "7219e198-b69a-4fe7-957d-7164945e9d58"; -"516c552f-1a5c-47a3-a2cd-a3008a417817" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"ee2de5a6-a5f4-47cc-9219-73e5acca3839" -> "516c552f-1a5c-47a3-a2cd-a3008a417817"; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"04ce46f1-7778-4ea2-b47a-89a792555690" -> "a915c4d2-1caf-4f1a-a1a5-eb3137cb6403"; -"35135e9d-aef5-46df-ba0b-0514ac1af341" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "35135e9d-aef5-46df-ba0b-0514ac1af341"; -"61e6593c-573f-4dde-a4fe-abf2848f4914" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "61e6593c-573f-4dde-a4fe-abf2848f4914"; -"9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"a915c4d2-1caf-4f1a-a1a5-eb3137cb6403" -> "9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2"; -"719569ea-8870-4a87-8bd8-28eeae2db12d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8dd3e990-6ca4-4192-a239-b59c873c149b" -> "719569ea-8870-4a87-8bd8-28eeae2db12d"; -"4eda9db4-70bc-4b20-a5ed-110ad74d8c64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "4eda9db4-70bc-4b20-a5ed-110ad74d8c64"; -"b1033a4c-90c2-4eb9-98bb-f84b08613d02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "b1033a4c-90c2-4eb9-98bb-f84b08613d02"; -"cc9b0fc3-e0d4-44eb-9a88-5537b048fa29" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"719569ea-8870-4a87-8bd8-28eeae2db12d" -> "cc9b0fc3-e0d4-44eb-9a88-5537b048fa29"; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"00a847a2-7a8a-4032-ae26-c71813e90091" -> "07a942b0-d8d0-41f3-bf04-f0c506ef90f5"; -"3b59f776-30ce-489e-b723-179344b8b5e5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "3b59f776-30ce-489e-b723-179344b8b5e5"; -"f088619c-7a18-4a50-87f8-a60abe2c58cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "f088619c-7a18-4a50-87f8-a60abe2c58cd"; -"657dc27a-b44c-4940-b904-e46926e3db9f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"07a942b0-d8d0-41f3-bf04-f0c506ef90f5" -> "657dc27a-b44c-4940-b904-e46926e3db9f"; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c0317628-ede8-4066-88fb-d1957c0a29f4" -> "293f6e2d-378c-4060-8770-c6ad0eb9a5b6"; -"9cca3ce0-e527-486f-a66e-f09d9b64a42a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "9cca3ce0-e527-486f-a66e-f09d9b64a42a"; -"cfcfe867-8611-4701-a0e0-297bc54131e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "cfcfe867-8611-4701-a0e0-297bc54131e6"; -"179f6a23-8805-4039-b51a-89d4c915fac9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"293f6e2d-378c-4060-8770-c6ad0eb9a5b6" -> "179f6a23-8805-4039-b51a-89d4c915fac9"; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"20099c42-d264-44b2-986e-d403c9afb4e3" -> "f2f5b020-a6ff-4f32-835d-a429b39f8b86"; -"6d3417d9-e755-42d6-9e7d-88733fffe19a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "6d3417d9-e755-42d6-9e7d-88733fffe19a"; -"a2c30457-2c24-496d-9ffe-d826b860eb11" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "a2c30457-2c24-496d-9ffe-d826b860eb11"; -"1f3a7ef4-3bc9-472d-9505-6d34a647d74c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"f2f5b020-a6ff-4f32-835d-a429b39f8b86" -> "1f3a7ef4-3bc9-472d-9505-6d34a647d74c"; -"107e4167-8879-4b30-948c-3c622bc506f6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b6bf0eb8-fb4f-4948-922c-6007d7f4d95d" -> "107e4167-8879-4b30-948c-3c622bc506f6"; -"d782f876-319b-4fa5-949a-b34bd84ea5d1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "d782f876-319b-4fa5-949a-b34bd84ea5d1"; -"5297618c-5248-4d0a-abe1-9647b8548439" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "5297618c-5248-4d0a-abe1-9647b8548439"; -"4cbaca17-c610-489a-bcc0-00e620e1b0c9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"107e4167-8879-4b30-948c-3c622bc506f6" -> "4cbaca17-c610-489a-bcc0-00e620e1b0c9"; -"db441cec-2dc9-4706-9444-0f99751c73bc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"943d2ebd-7a6c-4d62-afa4-ad75f1576722" -> "db441cec-2dc9-4706-9444-0f99751c73bc"; -"698a89b1-6ddb-4cde-8434-8fb5d60aeca5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "698a89b1-6ddb-4cde-8434-8fb5d60aeca5"; -"2fcfe3f0-1959-483d-b129-e23d429cd9eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "2fcfe3f0-1959-483d-b129-e23d429cd9eb"; -"0dcb2f43-c240-4320-8937-850b5dd3dd82" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"db441cec-2dc9-4706-9444-0f99751c73bc" -> "0dcb2f43-c240-4320-8937-850b5dd3dd82"; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a3ae9b62-12f3-47f0-8489-f9864bbd47e3" -> "2a6a2d27-f063-4de6-b244-b90ca23c3c78"; -"77e6ae5a-b6c3-486f-96b0-0c895f51cbd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "77e6ae5a-b6c3-486f-96b0-0c895f51cbd2"; -"849851d3-61b3-464f-b5dc-499aeecd0260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "849851d3-61b3-464f-b5dc-499aeecd0260"; -"cd486532-ca39-4bd4-a7ae-267cfbb5f4fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"2a6a2d27-f063-4de6-b244-b90ca23c3c78" -> "cd486532-ca39-4bd4-a7ae-267cfbb5f4fd"; -"3cad833d-9229-4d43-97c6-6d718860125c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"afa95aff-d179-44e6-9e02-0d8a50d51ed3" -> "3cad833d-9229-4d43-97c6-6d718860125c"; -"51bafe6f-8600-4d81-ad69-17fafccfe59c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "51bafe6f-8600-4d81-ad69-17fafccfe59c"; -"d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492"; -"83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"3cad833d-9229-4d43-97c6-6d718860125c" -> "83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67"; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1dab6884-ebe3-43bc-812f-fd9c7402e7db" -> "f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc"; -"bba488a3-9fad-44bb-94c7-d1f1d02c8e46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "bba488a3-9fad-44bb-94c7-d1f1d02c8e46"; -"6c9bc359-3bda-430c-8385-69bc1ce6f7d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "6c9bc359-3bda-430c-8385-69bc1ce6f7d7"; -"b8e33d4b-c0f0-4ba8-ab74-452190ccdd52" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc" -> "b8e33d4b-c0f0-4ba8-ab74-452190ccdd52"; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"01d064d6-8151-40c7-b7ae-557a71a7f01b" -> "7951884c-58df-4bcc-9bbd-8be5c12c90f6"; -"0284ed1b-b681-44da-96ce-09a1255ca6cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "0284ed1b-b681-44da-96ce-09a1255ca6cd"; -"bbf5e382-c3ad-468d-a4f8-f374be01feb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "bbf5e382-c3ad-468d-a4f8-f374be01feb5"; -"a2c16372-f6fb-4d86-80ec-236cbabcb9a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"7951884c-58df-4bcc-9bbd-8be5c12c90f6" -> "a2c16372-f6fb-4d86-80ec-236cbabcb9a0"; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8e1356da-b49b-4dca-961c-9c40e512f07c" -> "86314a58-2ccc-4fb7-91d9-73bc3b279053"; -"31e7ae3f-615e-4736-90d6-566a0a889fd0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" -> "31e7ae3f-615e-4736-90d6-566a0a889fd0"; -"1a81935f-de2d-40b6-be72-b1e73dc50d3e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"86314a58-2ccc-4fb7-91d9-73bc3b279053" -> "1a81935f-de2d-40b6-be72-b1e73dc50d3e"; -"cd38cbad-3544-49a6-b04f-ceba780e5105" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1e10f9b8-7550-43f8-abd0-af0bec88f1b5" -> "cd38cbad-3544-49a6-b04f-ceba780e5105"; -"2b5d947e-86c7-4793-8589-5b078d23c3ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"cd38cbad-3544-49a6-b04f-ceba780e5105" -> "2b5d947e-86c7-4793-8589-5b078d23c3ae"; -"293b1666-f500-4299-a2ee-58624788a5ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"cd38cbad-3544-49a6-b04f-ceba780e5105" -> "293b1666-f500-4299-a2ee-58624788a5ce"; -"785bee13-46ed-42c7-b1c2-afd5071767f7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3e15b5fb-b9e0-4998-a5c6-cf6d9a2bc485" -> "785bee13-46ed-42c7-b1c2-afd5071767f7"; -"b901f988-aa6b-49a1-a92c-92ca244bef51" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "b901f988-aa6b-49a1-a92c-92ca244bef51"; -"fb91924f-ffda-4973-a837-34943d54e8d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "fb91924f-ffda-4973-a837-34943d54e8d8"; -"338f2150-e9d1-4f72-bdb2-096aca18f084" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "338f2150-e9d1-4f72-bdb2-096aca18f084"; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"093cee6f-557c-41cf-abe9-4c44c3b97182" -> "c83d3a89-967b-4f36-8744-24f6d8eec61d"; -"4cd9a3e4-72f6-4b1b-b391-11bd91854db8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "4cd9a3e4-72f6-4b1b-b391-11bd91854db8"; -"d176519d-5e57-49d2-b0bc-eb7e2e4891b1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "d176519d-5e57-49d2-b0bc-eb7e2e4891b1"; -"8e340491-cb49-446c-a3d3-afa9892b3d70" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"c83d3a89-967b-4f36-8744-24f6d8eec61d" -> "8e340491-cb49-446c-a3d3-afa9892b3d70"; -"28e1249c-6624-4afa-ac64-6efbcf95164c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ada34932-96e6-406b-ac1a-3b5f4d9a46fd" -> "28e1249c-6624-4afa-ac64-6efbcf95164c"; -"ded7865f-6577-4dfe-ad38-c7a8fd18a83b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "ded7865f-6577-4dfe-ad38-c7a8fd18a83b"; -"7b9ee1d6-9c06-4a88-a65b-4ea2441259f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "7b9ee1d6-9c06-4a88-a65b-4ea2441259f1"; -"8a974333-e215-46e3-8f39-8d30d76f8bbe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"28e1249c-6624-4afa-ac64-6efbcf95164c" -> "8a974333-e215-46e3-8f39-8d30d76f8bbe"; -"d9a4f305-e312-4d82-86be-d5a8810b9207" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0956cf2a-6459-4bf1-967a-aa398a8ac30c" -> "d9a4f305-e312-4d82-86be-d5a8810b9207"; -"d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef"; -"f89231f1-a4b1-4924-986b-2f686df09cdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "f89231f1-a4b1-4924-986b-2f686df09cdd"; -"c9534f28-0e44-4dfa-9761-59541e9b8473" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"d9a4f305-e312-4d82-86be-d5a8810b9207" -> 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-"4f947b7c-c82c-44cd-8a07-02f766e680ad" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"91e05fca-fbb5-4003-92b4-55baac05b1d1" -> "4f947b7c-c82c-44cd-8a07-02f766e680ad"; -"a99949a0-15f0-419d-b245-0aa9993d581c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"4f947b7c-c82c-44cd-8a07-02f766e680ad" -> "a99949a0-15f0-419d-b245-0aa9993d581c"; -"121c6258-04b4-4533-9cc3-3c7fdf4f6adb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"4f947b7c-c82c-44cd-8a07-02f766e680ad" -> "121c6258-04b4-4533-9cc3-3c7fdf4f6adb"; -"8b489962-a822-491d-86df-aa48341bd7cb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"21fd7093-eb00-471a-99a3-ee5a755724cd" -> "8b489962-a822-491d-86df-aa48341bd7cb"; -"2a650737-30ca-42c5-a57f-092be0af0aae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "2a650737-30ca-42c5-a57f-092be0af0aae"; -"7bdbbd94-4abd-4082-9c0c-0a3a65977b67" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "7bdbbd94-4abd-4082-9c0c-0a3a65977b67"; -"1bf2e458-810a-4990-b2e7-feffcca5ab56" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"8b489962-a822-491d-86df-aa48341bd7cb" -> "1bf2e458-810a-4990-b2e7-feffcca5ab56"; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"36be88ea-4675-456b-b0df-2a6187d48de7" -> "fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0"; -"f2058ab0-1533-4839-b91d-c0d9cb653575" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "f2058ab0-1533-4839-b91d-c0d9cb653575"; -"cf91265c-4dd2-4f6a-9d12-b3891e0a0da9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "cf91265c-4dd2-4f6a-9d12-b3891e0a0da9"; -"d9f00865-e753-4e72-85c0-159cdba091fb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable)", shape=box, style=filled]; -"fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0" -> "d9f00865-e753-4e72-85c0-159cdba091fb"; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d1a9ed2-1f2f-4746-ad55-c4636aaad48b" -> "4eba4835-fbda-4597-aa37-cd13062bd8ce"; -"079925a4-43ce-42ba-92ba-8154ca889611" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "079925a4-43ce-42ba-92ba-8154ca889611"; -"c23686f2-ac6d-4cbe-9de3-311246b1be61" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "c23686f2-ac6d-4cbe-9de3-311246b1be61"; -"973b988d-12f0-4411-b2cd-8fb2c5abd591" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"4eba4835-fbda-4597-aa37-cd13062bd8ce" -> "973b988d-12f0-4411-b2cd-8fb2c5abd591"; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"19a064ff-4ff2-4a56-b208-d7cc0aca3a80" -> "029b689e-f1f1-4b03-9f6f-4c7e9edbfadb"; -"17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1"; -"d9025c0c-6766-47a9-a80c-38e8706abb94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "d9025c0c-6766-47a9-a80c-38e8706abb94"; -"92424231-7640-4a42-a287-e3c36a02d3a6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"029b689e-f1f1-4b03-9f6f-4c7e9edbfadb" -> "92424231-7640-4a42-a287-e3c36a02d3a6"; -"77b582a1-d0ba-4db0-85b8-571d478869cf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"89288e52-97e1-4145-a293-2f9706b0dfca" -> "77b582a1-d0ba-4db0-85b8-571d478869cf"; -"2851f753-cf4e-4320-9366-f2cdcbf16531" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "2851f753-cf4e-4320-9366-f2cdcbf16531"; -"2f9b2c68-b7a4-4680-9594-c5aa2b967eee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "2f9b2c68-b7a4-4680-9594-c5aa2b967eee"; -"462362be-ae45-4d66-bb6b-583826e1e2be" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"77b582a1-d0ba-4db0-85b8-571d478869cf" -> "462362be-ae45-4d66-bb6b-583826e1e2be"; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"21308556-c633-49f0-91b8-7bb278eeb026" -> "e52df62e-50ef-4ee3-8489-df240fb1bf46"; -"cdd772ef-0c50-4390-8e1f-642bf45921b4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "cdd772ef-0c50-4390-8e1f-642bf45921b4"; -"049acd36-669b-4c0b-9e12-f0ab7aa43980" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "049acd36-669b-4c0b-9e12-f0ab7aa43980"; -"5c3f3a34-3212-451e-9e8a-e644dcc3335c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"e52df62e-50ef-4ee3-8489-df240fb1bf46" -> "5c3f3a34-3212-451e-9e8a-e644dcc3335c"; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d7df84ac-9fe8-481b-b80b-dc57492ee0aa" -> "c72d5831-0a6e-4fc3-94df-dc91ca6defa2"; -"13748cf9-e4bf-4fe3-8bcf-255b1233108e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" -> "13748cf9-e4bf-4fe3-8bcf-255b1233108e"; -"839c7fe5-8cc8-4fba-b740-8286eb20c0a3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"c72d5831-0a6e-4fc3-94df-dc91ca6defa2" -> "839c7fe5-8cc8-4fba-b740-8286eb20c0a3"; -"7940c6e2-05bc-4843-9432-3a2d88bfda8b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a107a801-1676-4df5-9ee2-53bf3bcdf4a2" -> "7940c6e2-05bc-4843-9432-3a2d88bfda8b"; -"4fdc6c0a-9b37-440f-84e5-8d141774790f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"7940c6e2-05bc-4843-9432-3a2d88bfda8b" -> "4fdc6c0a-9b37-440f-84e5-8d141774790f"; -"513a902d-f746-4813-b2a6-b21d43ddcf59" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"7940c6e2-05bc-4843-9432-3a2d88bfda8b" -> "513a902d-f746-4813-b2a6-b21d43ddcf59"; -"faf295b0-9cab-47c0-b466-f63995f8516b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; 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"be3cb027-b354-483b-94f8-ecc57564dfc3"; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1d00a068-b9b8-45b5-a158-687d809a5058" -> "7042d7d5-4a12-48a8-9d28-66476ffa4961"; -"f4452fb6-2840-4e8e-b744-c0d9ddfff0a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "f4452fb6-2840-4e8e-b744-c0d9ddfff0a3"; -"81fc32e0-aaf7-49db-9ce9-530c0a79d86c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "81fc32e0-aaf7-49db-9ce9-530c0a79d86c"; -"bcc42379-a0e1-45cd-86cd-4781e7f91414" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"7042d7d5-4a12-48a8-9d28-66476ffa4961" -> "bcc42379-a0e1-45cd-86cd-4781e7f91414"; 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fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"a20a9352-58fb-44f9-927f-2688e5fb247a" -> "d41bf27e-27fa-40d1-ae8e-e006e4283d5f"; -"44a1ea8a-c2ca-42bc-923f-a6de619202bb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"a20a9352-58fb-44f9-927f-2688e5fb247a" -> "44a1ea8a-c2ca-42bc-923f-a6de619202bb"; -"dd5b6a53-91d0-463b-a4bb-5fede8d24e04" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f09bba5f-24ff-4feb-815e-168753c794ee" -> "dd5b6a53-91d0-463b-a4bb-5fede8d24e04"; -"231329a9-9300-4adc-812f-569f12ec8021" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"dd5b6a53-91d0-463b-a4bb-5fede8d24e04" -> "231329a9-9300-4adc-812f-569f12ec8021"; -"7fc5a790-2626-427e-b294-ec7873ad2caf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"dd5b6a53-91d0-463b-a4bb-5fede8d24e04" -> "7fc5a790-2626-427e-b294-ec7873ad2caf"; -"ac2ef713-ebb8-46e6-80b1-bd8b49463924" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"dd5b6a53-91d0-463b-a4bb-5fede8d24e04" -> "ac2ef713-ebb8-46e6-80b1-bd8b49463924"; -"2073c4bb-6f17-438a-b94d-f4208e926cf1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"07da896b-352f-45cc-978a-7910e32e26f8" -> "2073c4bb-6f17-438a-b94d-f4208e926cf1"; -"d4d74652-5e42-4ae1-852d-dc34d1757f2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"2073c4bb-6f17-438a-b94d-f4208e926cf1" -> "d4d74652-5e42-4ae1-852d-dc34d1757f2b"; -"dcb6bfbe-5f56-4486-8d82-1568062d8075" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"4a329bfb-bcd2-48d5-85c6-c6ca4fab4829" -> "61bfa8b0-cacf-47df-910e-9760176ed8e4"; -"897789de-2ba2-4fc2-a545-a9d063ec1eb0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"417d9e62-684c-41dd-a93a-d57f8d814688" -> "897789de-2ba2-4fc2-a545-a9d063ec1eb0"; -"5aa25411-045b-4652-8b40-fa8b0a78e7c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"897789de-2ba2-4fc2-a545-a9d063ec1eb0" -> "5aa25411-045b-4652-8b40-fa8b0a78e7c2"; -"f569a560-f1c0-47da-b8c0-dbbdd7528719" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"897789de-2ba2-4fc2-a545-a9d063ec1eb0" -> "f569a560-f1c0-47da-b8c0-dbbdd7528719"; -"02969dae-62e1-4fc3-a1f6-4223a6076102" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "588a88fc-3193-4125-8c92-4af744142949"; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8abbbe14-7bb3-4cdd-a878-f771d9a76405" -> "4420c96e-5dc0-472f-9b43-583bb8881e0a"; -"57570039-5327-4562-9eac-fe0cff3859cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "57570039-5327-4562-9eac-fe0cff3859cc"; -"3579af47-3ccd-4228-8cb7-4504cd60641e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "3579af47-3ccd-4228-8cb7-4504cd60641e"; -"d19fe253-149b-41f5-b8ee-3c7ed46eca1d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "d19fe253-149b-41f5-b8ee-3c7ed46eca1d"; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b44901e-bc2e-43f7-8184-38a882f90b21" -> "828d319d-b761-4e6d-a4a0-8e849b5e518a"; -"b38b6526-ce1c-4d10-b611-80e2e37c40c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "b38b6526-ce1c-4d10-b611-80e2e37c40c6"; -"a2447d54-5597-4ce9-8c57-57a65fe5623d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "a2447d54-5597-4ce9-8c57-57a65fe5623d"; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"91a774b2-afce-4652-a025-0833b932cfad" -> "2fdc5379-f4d4-493a-8833-6f67ab5f4d09"; -"00553d6b-5309-47c5-88d4-01f1223178ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "00553d6b-5309-47c5-88d4-01f1223178ff"; -"e71843bd-491d-47c9-a038-ba1c4db024ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "e71843bd-491d-47c9-a038-ba1c4db024ff"; -"f542972b-e9e4-43a8-a70d-762ceb041785" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "f542972b-e9e4-43a8-a70d-762ceb041785"; -"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "58382970-74a2-49ce-b81a-70111007f373"; -"b2c0b744-0e4c-4bf8-938c-27fe48b2c993" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "b2c0b744-0e4c-4bf8-938c-27fe48b2c993"; -"a5353d30-768a-475c-b5a8-7234de505cac" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"975b80c6-d9a3-4a36-a09d-01e3baf3b861" -> "a5353d30-768a-475c-b5a8-7234de505cac"; -"9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0"; -"5ff437fc-cf02-4f45-9fee-88ce714e4218" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "5ff437fc-cf02-4f45-9fee-88ce714e4218"; -"34fcacac-b8ec-4d08-80f2-8a8693a20b6d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"a5353d30-768a-475c-b5a8-7234de505cac" -> "34fcacac-b8ec-4d08-80f2-8a8693a20b6d"; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c7bced11-3911-4897-89f7-1954bff7e8e5" -> "110e9c91-6bd5-4ea6-b1d1-8e557eab3918"; -"c82038f2-4c62-4776-8757-9da9c47990a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "c82038f2-4c62-4776-8757-9da9c47990a5"; -"6047e98a-b183-425e-9a3a-762c595da13a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> 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fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "a92fe07e-ee29-438d-a0fc-a645bb24c1f1"; -"770de18c-016a-41a8-9edf-140f8c9e470a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b98236b8-ac11-4588-b3de-75785853b33d" -> "770de18c-016a-41a8-9edf-140f8c9e470a"; -"a848b8e4-8954-48d6-9142-13734142c8a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "a848b8e4-8954-48d6-9142-13734142c8a3"; -"14123744-dc27-4d50-815a-d74803618ab4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "14123744-dc27-4d50-815a-d74803618ab4"; -"8335c2e3-e3d0-4173-b9d0-1efb7f76d50a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"770de18c-016a-41a8-9edf-140f8c9e470a" -> "8335c2e3-e3d0-4173-b9d0-1efb7f76d50a"; -"19d8afdb-494e-4c22-83ec-df322276364a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a92fba10-9dad-43f4-96b6-1f44f8a80d18" -> "19d8afdb-494e-4c22-83ec-df322276364a"; -"cbbbdf9b-8e80-4160-a45d-f847ab12ac2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"19d8afdb-494e-4c22-83ec-df322276364a" -> "cbbbdf9b-8e80-4160-a45d-f847ab12ac2d"; -"b5c29a9a-3466-4d25-9758-5da2f1c28bb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"19d8afdb-494e-4c22-83ec-df322276364a" -> "b5c29a9a-3466-4d25-9758-5da2f1c28bb5"; -"d3beea2e-1911-44d2-bb78-9dac64dd50e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; 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"2d4c04c3-db2a-4009-8590-379a46ea5a8d"; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ea8bf2ce-f82a-4664-8e81-ebd92617e2e7" -> "ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042"; -"3b5cef66-1203-4c9f-bb6c-579f43865fd6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "3b5cef66-1203-4c9f-bb6c-579f43865fd6"; -"a9c352d8-c0ba-46c6-834f-d578e4117c41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "a9c352d8-c0ba-46c6-834f-d578e4117c41"; -"b8522f83-3f41-4a92-b94b-046ee1e05b98" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "b8522f83-3f41-4a92-b94b-046ee1e05b98"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5d229a97-2d12-4200-8cbe-d09f317acf60" -> "96b7cc8b-243d-4ad8-9a07-b66c7452d38b"; -"7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" -> "7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af"; -"816c6c49-1721-4ded-aa4e-181aada7027d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" -> "816c6c49-1721-4ded-aa4e-181aada7027d"; -"d6a74623-9c9e-4531-8433-97e96815385f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"13503e59-ca4e-4874-8bb1-8a1301d2dff9" -> "d6a74623-9c9e-4531-8433-97e96815385f"; -"f8a2f962-83b6-4f71-ad32-a7780324272e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "f8a2f962-83b6-4f71-ad32-a7780324272e"; -"08eab795-08c6-4a34-8a85-edc19fce6434" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "08eab795-08c6-4a34-8a85-edc19fce6434"; -"c478713f-1362-46b6-b624-e2a66a8f2ee2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"d6a74623-9c9e-4531-8433-97e96815385f" -> "c478713f-1362-46b6-b624-e2a66a8f2ee2"; -"c886baab-cc44-4b81-991e-9f94b5d832dd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0a5da1ce-9977-4e10-9689-b870ece14a6e" -> "c886baab-cc44-4b81-991e-9f94b5d832dd"; -"951ce9ee-cde9-4f12-adea-57de340229b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "9eef9e79-7b05-44d6-811c-e076f3a84fe7"; -"e48f0f38-110d-4b0b-9a9c-72c997bd67fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; -"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "e48f0f38-110d-4b0b-9a9c-72c997bd67fd"; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"bd6006db-657d-4cfb-9c4f-f7db747f3a59" -> "4e3d0895-1c5a-46fe-bca5-d7b4688c1da3"; -"a2a71737-a1f1-4dd0-8ccd-215aecae969b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" -> "a2a71737-a1f1-4dd0-8ccd-215aecae969b"; -"8c624e84-2758-47e7-b4c5-d796aa5eb00c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" -> "8c624e84-2758-47e7-b4c5-d796aa5eb00c"; -"c4af5d27-b619-4f9d-94c6-95dd4d624e65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" -> "c4af5d27-b619-4f9d-94c6-95dd4d624e65"; -"92d4a20e-07f7-4491-bd05-a8bb0ea70024" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled]; -"4e3d0895-1c5a-46fe-bca5-d7b4688c1da3" -> "92d4a20e-07f7-4491-bd05-a8bb0ea70024"; -"69533f5f-ba30-4e69-9331-13b8988e84ba" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"59083db9-409f-4a7f-a4b3-4f1a133c2e09" -> "69533f5f-ba30-4e69-9331-13b8988e84ba"; -"362283a2-9150-4cd5-a1c7-053d08bcc222" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; 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"3d8b8b44-b647-424b-9537-b8b8fd44e205"; -"780aa568-1076-44e9-867c-772b7bbf89f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3d8b8b44-b647-424b-9537-b8b8fd44e205" -> "780aa568-1076-44e9-867c-772b7bbf89f1"; -"e3146bad-d503-41a0-982d-432fc406d0cf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"3d8b8b44-b647-424b-9537-b8b8fd44e205" -> "e3146bad-d503-41a0-982d-432fc406d0cf"; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a542388b-fb34-42c8-8331-a7bb8dab6228" -> "c28cc49f-4cc9-4b40-acc7-58181fbedfa5"; -"43b8292e-5cf6-4600-91a8-84500c1cbf1a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "43b8292e-5cf6-4600-91a8-84500c1cbf1a"; 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fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "91e811e6-e031-421c-9277-dcfc5e92d55f"; -"81190fe2-6954-4659-9a71-6de9e0f921ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "81190fe2-6954-4659-9a71-6de9e0f921ef"; -"627a5490-1b04-4db7-b031-d0804771aeba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "627a5490-1b04-4db7-b031-d0804771aeba"; -"92cfcb89-7041-4f3c-9257-ab20a8c6b054" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"777943a8-4870-4f42-b54e-7c34c65c0348" -> "92cfcb89-7041-4f3c-9257-ab20a8c6b054"; -"6a51f1ac-7a21-4648-b76d-655473560d8f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b04d93a8-bbcd-4a75-baff-bd7ab1740cfd" -> "6a51f1ac-7a21-4648-b76d-655473560d8f"; -"f69f13ce-8182-45a8-b94f-aa46dac09dc2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "f69f13ce-8182-45a8-b94f-aa46dac09dc2"; -"4034f176-0054-4141-bfce-7f86b3c3ffe4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "4034f176-0054-4141-bfce-7f86b3c3ffe4"; -"1fd02b0a-89c3-41ac-a090-b917999f8dc5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; -"6a51f1ac-7a21-4648-b76d-655473560d8f" -> "1fd02b0a-89c3-41ac-a090-b917999f8dc5"; -"635f029d-7e8e-43bb-af73-f59982b883c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"deef9627-5620-4faf-81c8-9c370f8f41c8" -> "635f029d-7e8e-43bb-af73-f59982b883c9"; -"c3f3a059-5a3a-4057-875a-cf4d319c916b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "c3f3a059-5a3a-4057-875a-cf4d319c916b"; -"d38c3e99-6cb5-4686-a6a7-4077aee3f0c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "d38c3e99-6cb5-4686-a6a7-4077aee3f0c3"; -"4dcf28ca-7477-4205-b07a-d01baa2c16a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"635f029d-7e8e-43bb-af73-f59982b883c9" -> "4dcf28ca-7477-4205-b07a-d01baa2c16a2"; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0c06bf3b-4753-4a80-b0cf-d478dcae5f3f" -> "cddbabf5-4840-46df-9106-fa9b8c39db4a"; -"a733e528-055b-4803-a44b-4971dadcb9cb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" -> "a733e528-055b-4803-a44b-4971dadcb9cb"; -"a92088f3-d7c7-4a6e-8961-e559230bdba0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"cddbabf5-4840-46df-9106-fa9b8c39db4a" -> "a92088f3-d7c7-4a6e-8961-e559230bdba0"; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a03c2de-1bd5-46e8-a39a-7bf3dcd16cbb" -> "c48d43c6-b345-4dcf-9501-bf3d2d43626d"; -"066d2cb3-1353-4a8d-9a90-6ca5886b51d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "066d2cb3-1353-4a8d-9a90-6ca5886b51d2"; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "27e7d307-3b9f-4a14-a704-8a1360a3c9bc"; -"28a1c50d-c9b9-46a2-906b-6fa5d70a2f23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "28a1c50d-c9b9-46a2-906b-6fa5d70a2f23"; -"ea09bee9-38e8-4d36-887d-83192d009059" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "ea09bee9-38e8-4d36-887d-83192d009059"; -"a868a464-99dd-4340-9c17-88ff206817d3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"394b9d67-70bf-4cb6-9d37-9fb3bb761ed1" -> "a868a464-99dd-4340-9c17-88ff206817d3"; -"5901b814-dc74-410c-996e-9df4d7702e21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"918a212f-a881-4a48-bf9c-24545a9fbe15" -> "5901b814-dc74-410c-996e-9df4d7702e21"; -"4104e161-9132-4700-ae53-41aab7632651" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "4104e161-9132-4700-ae53-41aab7632651"; -"a0a196c8-6894-4131-8a72-752a96ff1e53" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "a0a196c8-6894-4131-8a72-752a96ff1e53"; -"f385e5d4-a4de-4bfa-9961-50b78d68742d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"5901b814-dc74-410c-996e-9df4d7702e21" -> "f385e5d4-a4de-4bfa-9961-50b78d68742d"; -"ac75c0eb-1604-4171-b420-9ec922baf009" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"b3dd9303-135f-4282-a733-40e66a08acd4"; -"3fc67e68-bc9d-43cd-9433-2286980b6b68" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "3fc67e68-bc9d-43cd-9433-2286980b6b68"; -"e6c0889a-dd7c-4824-9377-f623393530ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "e6c0889a-dd7c-4824-9377-f623393530ff"; -"92fdc637-7f76-467a-bba8-5c7d7ec0d0ab" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"b3dd9303-135f-4282-a733-40e66a08acd4" -> "92fdc637-7f76-467a-bba8-5c7d7ec0d0ab"; -"e186f38d-9873-4327-9047-f7936f3c51b4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4e9a10b7-1cef-4d7b-b687-fdc5eaa2e157" -> "e186f38d-9873-4327-9047-f7936f3c51b4"; -"85a0756b-fe6d-44c2-9fa0-ee5423898151" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "85a0756b-fe6d-44c2-9fa0-ee5423898151"; -"4466e5fa-331e-45c2-9a5e-49ba9c45d6d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "4466e5fa-331e-45c2-9a5e-49ba9c45d6d8"; -"eb79f110-620f-45cb-bc62-ca347951ba4a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "eb79f110-620f-45cb-bc62-ca347951ba4a"; -"eaa97337-c32e-4296-9a9c-2991e4cde892" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; -"e186f38d-9873-4327-9047-f7936f3c51b4" -> "eaa97337-c32e-4296-9a9c-2991e4cde892"; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"46b863fb-fc32-4621-807c-ee9d7ecaf437" -> "e1f7d896-fa19-4d37-b398-8cec46b2b123"; -"20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1"; -"6645a93c-0c9e-4ad0-b7a5-3e820378eb59" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "6645a93c-0c9e-4ad0-b7a5-3e820378eb59"; -"9e2ca20a-3fd4-4a57-8984-e7a4a4e00847" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"e1f7d896-fa19-4d37-b398-8cec46b2b123" -> "9e2ca20a-3fd4-4a57-8984-e7a4a4e00847"; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"875f0032-4ffc-4976-bc28-4a935ce6ec9e" -> "ddb50a39-d2d4-45f9-aff1-a9be3f00293d"; -"cb541a51-94db-4332-8064-27af46ca10a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "cb541a51-94db-4332-8064-27af46ca10a4"; -"b46e955f-3fdb-4413-a5f6-6762e8ee52ba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "b46e955f-3fdb-4413-a5f6-6762e8ee52ba"; -"b7cb7041-27ac-43ad-8aba-587d346ee76e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"ddb50a39-d2d4-45f9-aff1-a9be3f00293d" -> "b7cb7041-27ac-43ad-8aba-587d346ee76e"; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6d188403-a068-4ad0-ab75-95f9e68b0005" -> "bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a"; -"1b8d7129-9d8b-4426-96c3-c81c43853723" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "1b8d7129-9d8b-4426-96c3-c81c43853723"; -"71c78c86-36d6-4b4a-8b5d-1467b3b67681" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "71c78c86-36d6-4b4a-8b5d-1467b3b67681"; -"6ab33c24-dd49-494a-acfa-1bb7c7399b4a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a" -> "6ab33c24-dd49-494a-acfa-1bb7c7399b4a"; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7daa64a6-e717-4779-83b9-2f5262385dba" -> "2ea5c9b7-401b-4771-98b9-0cb9f84cf93f"; -"7412ef88-9056-4fc4-b1a6-d2d7de96aa96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "7412ef88-9056-4fc4-b1a6-d2d7de96aa96"; -"b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d"; -"5d331ec1-31e0-491f-9f2d-02ef63288bf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "5d331ec1-31e0-491f-9f2d-02ef63288bf2"; -"3192259d-0ac1-42c6-8055-17a50c6931ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "3192259d-0ac1-42c6-8055-17a50c6931ba"; -"f727407f-28e9-4157-be0e-0776c8c9b234" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dd20004b-9276-47ff-85ca-58620d796052" -> "f727407f-28e9-4157-be0e-0776c8c9b234"; -"0c2d75f1-03b8-4a2e-aea4-40274c78b40a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "0c2d75f1-03b8-4a2e-aea4-40274c78b40a"; -"d5d61d09-8054-4c71-97c9-aaa51a5fcb94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "d5d61d09-8054-4c71-97c9-aaa51a5fcb94"; -"ffc98d8c-20e4-4a74-99c4-950b72b08f33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "ffc98d8c-20e4-4a74-99c4-950b72b08f33"; -"26198c04-22c4-46a7-8468-254c45f85a1b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"f727407f-28e9-4157-be0e-0776c8c9b234" -> "26198c04-22c4-46a7-8468-254c45f85a1b"; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"11d8b598-758e-4eb5-95b7-5e131116b4c7" -> "7f627d97-bdce-4478-8fbe-7f693fd142f3"; -"40d08376-a513-4f21-b26e-414499dd24c1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "40d08376-a513-4f21-b26e-414499dd24c1"; -"0478d81a-07c2-4833-9f24-1350d4104005" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "0478d81a-07c2-4833-9f24-1350d4104005"; -"2763af4f-1892-4959-b003-198e47990442" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"7f627d97-bdce-4478-8fbe-7f693fd142f3" -> "2763af4f-1892-4959-b003-198e47990442"; -"62e4898d-5171-483e-a228-8f9a42a15d5e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ff69c7fb-8568-47c9-b834-0eb33d45fe4c" -> "62e4898d-5171-483e-a228-8f9a42a15d5e"; -"e9fb5b22-f970-4d3d-b0a6-8520344eca95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "e9fb5b22-f970-4d3d-b0a6-8520344eca95"; -"61086fc2-68ac-4c53-be58-23f7f4cde3c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "61086fc2-68ac-4c53-be58-23f7f4cde3c2"; -"43692518-19ba-4c06-b0b4-ee872f43a223" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "43692518-19ba-4c06-b0b4-ee872f43a223"; -"5a643705-c422-4be1-bd03-ab97e650e6d2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2228dd03-f9f2-4278-b48e-5a9193f1e732" -> "5a643705-c422-4be1-bd03-ab97e650e6d2"; -"ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d"; -"878f5fb0-f80f-443b-b82b-ca9172dda9a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "878f5fb0-f80f-443b-b82b-ca9172dda9a2"; -"aec37d57-bdda-46f1-854f-f524dc17e96a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "aec37d57-bdda-46f1-854f-f524dc17e96a"; -"54f16326-fb05-4358-94c5-800240d91cc9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8937cf83-4a84-43ea-9287-974867ba5d4a" -> "54f16326-fb05-4358-94c5-800240d91cc9"; -"ad378294-328c-4168-bdb9-e11a53f3f391" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "ad378294-328c-4168-bdb9-e11a53f3f391"; -"709eff6e-629e-4cf0-b3e1-f7638cbd485b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "709eff6e-629e-4cf0-b3e1-f7638cbd485b"; -"6c257551-94b8-402f-9b8b-2da373da7400" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "6c257551-94b8-402f-9b8b-2da373da7400"; -"c0bb2a92-f285-479f-973a-d496e08a32ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; -"54f16326-fb05-4358-94c5-800240d91cc9" -> "c0bb2a92-f285-479f-973a-d496e08a32ce"; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"65d3cf0f-75ba-4923-8f85-38c6abbee3df" -> "da34b6e2-6a1e-4240-8270-e8c15221daa5"; -"604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf"; -"ce32a4ed-7d51-4545-a382-eca150065ade" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "ce32a4ed-7d51-4545-a382-eca150065ade"; -"c2f9c606-8021-40a3-9b11-91e271005078" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; 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shape=box, style=filled, width=0.01]; -"041f1fcd-057e-49a5-9bcd-2750002de76e" -> "faeec06c-caaa-4fc2-b2a4-04dc26afac6c"; -"a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488"; -"2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42"; -"6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81"; -"18d11699-9155-4776-80e0-4f781207e44d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "3fcce7d9-5fab-435a-b7d5-40bb2df70bb2"; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2ead2019-1dad-47f3-ad5f-7057bf1a4527" -> "fa9691bb-77c7-447d-88d2-9c89dd0a6613"; -"09b47fc1-08cd-4fb7-a32f-c9c5963deb1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "09b47fc1-08cd-4fb7-a32f-c9c5963deb1f"; -"f08535d8-d598-4ae0-b597-ab2483605a7b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "f08535d8-d598-4ae0-b597-ab2483605a7b"; -"f7d8ef5e-6e4d-488b-861d-1ad6413ced1a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; -"fa9691bb-77c7-447d-88d2-9c89dd0a6613" -> "f7d8ef5e-6e4d-488b-861d-1ad6413ced1a"; -"4ab320b6-025a-4df8-8c02-c69080b47b87" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"36acfc44-2032-42c3-bed2-fc59565dab3b" -> "4ab320b6-025a-4df8-8c02-c69080b47b87"; -"eac40a1e-d6c4-4bb2-9380-12b92d5f7cef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "eac40a1e-d6c4-4bb2-9380-12b92d5f7cef"; -"8a54e21a-8890-4687-8850-41e07c4a4d99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "8a54e21a-8890-4687-8850-41e07c4a4d99"; -"0682a0df-2d52-4c68-9b05-dfdc3656d33d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; 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"eaefc7de-fa28-4e98-b306-772277184bfb"; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b017079-e14d-4e13-8491-1a1777242d0a" -> "625d83d9-e08c-4ac3-aa8a-e3e4c340793e"; -"f8d2716c-b3f2-4702-a731-bff0e2453004" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "f8d2716c-b3f2-4702-a731-bff0e2453004"; -"07c73914-6168-4138-a92b-32d93b6c535d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "07c73914-6168-4138-a92b-32d93b6c535d"; -"837cf8fc-dfe5-4efa-82ac-d29c4fd6014b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" -> "837cf8fc-dfe5-4efa-82ac-d29c4fd6014b"; 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fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "2294d0da-fe1c-4f6b-8680-f8411a95a150"; -"52389270-6462-46a5-a742-a7d9302a4b25" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"5aabe81e-933c-452a-b8fa-7ee52b405253" -> "52389270-6462-46a5-a742-a7d9302a4b25"; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5687d0f9-e491-46fe-a422-5f5020557463" -> "5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2"; -"46c992aa-02de-49e7-baab-57463d4c3e05" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "46c992aa-02de-49e7-baab-57463d4c3e05"; -"51f22fe4-8b5d-4834-983b-b422e3167246" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "51f22fe4-8b5d-4834-983b-b422e3167246"; -"eae5ef7d-a86c-4862-bbc7-99732ea6921f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2" -> "eae5ef7d-a86c-4862-bbc7-99732ea6921f"; -"9ecdc792-6c23-4258-a882-8812b08de238" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ae4c6211-be9c-451e-a1c9-3d223b3c93c1" -> "9ecdc792-6c23-4258-a882-8812b08de238"; -"0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> "0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa"; -"f2a3d02d-9b72-4c1c-9848-980098a4ca40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9ecdc792-6c23-4258-a882-8812b08de238" -> 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fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc"; -"7376f71b-e73c-4bf6-9d2e-aab526e8afe0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "7376f71b-e73c-4bf6-9d2e-aab526e8afe0"; -"7d8b59d4-7068-43ac-9f99-51680c4798cd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; -"30a71bb2-440c-4665-9807-46b4e8b76a05" -> "7d8b59d4-7068-43ac-9f99-51680c4798cd"; -"45f6fec1-9dd6-48a3-b301-8c0505bc01ac" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"db87691f-3434-40e8-88d8-b9b2d6fb4613" -> "45f6fec1-9dd6-48a3-b301-8c0505bc01ac"; -"4b0c79aa-f9a1-47c8-9b80-6af7614ff47f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"45f6fec1-9dd6-48a3-b301-8c0505bc01ac" -> "4b0c79aa-f9a1-47c8-9b80-6af7614ff47f"; -"7f2a2034-1341-44b2-92b8-84051dc89801" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"45f6fec1-9dd6-48a3-b301-8c0505bc01ac" -> "7f2a2034-1341-44b2-92b8-84051dc89801"; -"4b5d2c4d-32f6-4393-93b3-fac150f53c31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"45f6fec1-9dd6-48a3-b301-8c0505bc01ac" -> "4b5d2c4d-32f6-4393-93b3-fac150f53c31"; -"3934305d-97bd-4407-94f2-a95d81917dab" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"45f6fec1-9dd6-48a3-b301-8c0505bc01ac" -> "3934305d-97bd-4407-94f2-a95d81917dab"; -"a7b2635d-e137-4211-83ee-421956f2cfdf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"26a0dca4-81b9-4b94-86b2-81b5892e2306" -> "a7b2635d-e137-4211-83ee-421956f2cfdf"; -"7c74da8b-f45f-4d07-b985-0d1051a3fd80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"a7b2635d-e137-4211-83ee-421956f2cfdf" -> "7c74da8b-f45f-4d07-b985-0d1051a3fd80"; -"fbcb8673-994d-425f-aa9d-4c717747ab5e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"a7b2635d-e137-4211-83ee-421956f2cfdf" -> "fbcb8673-994d-425f-aa9d-4c717747ab5e"; -"2428964a-46c6-40f7-9f89-4131dba49a6c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"a7b2635d-e137-4211-83ee-421956f2cfdf" -> "2428964a-46c6-40f7-9f89-4131dba49a6c"; -"004c2926-083f-43bd-ab7b-a221795e9c5e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c6516339-3c7c-4c12-a646-e3f6b8031737" -> "004c2926-083f-43bd-ab7b-a221795e9c5e"; -"b409b69e-1cc1-4231-80cd-cc9c74c88863" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"004c2926-083f-43bd-ab7b-a221795e9c5e" -> "b409b69e-1cc1-4231-80cd-cc9c74c88863"; -"81221ff5-61a2-419b-a416-0e6913f12299" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"004c2926-083f-43bd-ab7b-a221795e9c5e" -> "81221ff5-61a2-419b-a416-0e6913f12299"; -"4c4ef890-0e95-46d7-a599-bbd582445249" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"004c2926-083f-43bd-ab7b-a221795e9c5e" -> "4c4ef890-0e95-46d7-a599-bbd582445249"; -"eba32320-02c3-4245-a359-623281600d5b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"31e4a24e-e72b-4fe5-952d-009b10257ac5" -> "eba32320-02c3-4245-a359-623281600d5b"; -"e0d3fc13-3bef-486a-bc4d-cee686b94f4d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"eba32320-02c3-4245-a359-623281600d5b" -> "e0d3fc13-3bef-486a-bc4d-cee686b94f4d"; -"ae2a63cf-ff64-403c-b01c-225ce7f74ab4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"eba32320-02c3-4245-a359-623281600d5b" -> "ae2a63cf-ff64-403c-b01c-225ce7f74ab4"; -"f97c5a74-0d4e-4046-9ed8-afd6c5619d11" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"eba32320-02c3-4245-a359-623281600d5b" -> "f97c5a74-0d4e-4046-9ed8-afd6c5619d11"; -"afa82b45-f6cb-4d4b-b818-581fa9ec2a4c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"eba32320-02c3-4245-a359-623281600d5b" -> "afa82b45-f6cb-4d4b-b818-581fa9ec2a4c"; -"27d58bb1-4f25-4c39-b943-fd2ed64db0c3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4c176a70-cb75-40ee-9880-5cb7860cc7fb" -> "27d58bb1-4f25-4c39-b943-fd2ed64db0c3"; -"2bc72737-927d-4dfc-9a64-b9a5371aa307" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"27d58bb1-4f25-4c39-b943-fd2ed64db0c3" -> "2bc72737-927d-4dfc-9a64-b9a5371aa307"; -"3aeb35ca-ca9b-4884-9877-842076a21309" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"27d58bb1-4f25-4c39-b943-fd2ed64db0c3" -> "3aeb35ca-ca9b-4884-9877-842076a21309"; -"924a2907-dda0-43e7-a0bb-35852d7211ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"27d58bb1-4f25-4c39-b943-fd2ed64db0c3" -> "924a2907-dda0-43e7-a0bb-35852d7211ef"; -"c610d253-f0f5-40a1-9081-08b8f4beff57" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"27d58bb1-4f25-4c39-b943-fd2ed64db0c3" -> "c610d253-f0f5-40a1-9081-08b8f4beff57"; -"1e357102-a61a-487e-ae61-6eae75b6590d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d1217769-f4b0-4f6b-ba86-6758da8aa93d" -> "1e357102-a61a-487e-ae61-6eae75b6590d"; -"e311e6ac-1378-4532-9ee8-99541008156d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1e357102-a61a-487e-ae61-6eae75b6590d" -> "e311e6ac-1378-4532-9ee8-99541008156d"; -"38f3c5ff-4194-40c1-bc77-0203e14945bb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"1e357102-a61a-487e-ae61-6eae75b6590d" -> "38f3c5ff-4194-40c1-bc77-0203e14945bb"; -"979c77e0-e6b6-40c6-a32d-4c443743c52f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"1e357102-a61a-487e-ae61-6eae75b6590d" -> "979c77e0-e6b6-40c6-a32d-4c443743c52f"; -"59d9da32-d653-46c1-817f-023f6741825b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"1e357102-a61a-487e-ae61-6eae75b6590d" -> "59d9da32-d653-46c1-817f-023f6741825b"; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2600578a-a1ec-47d6-a7b8-f7e9568eb7ae" -> "81c08679-1907-4f4d-885e-08a1ddc4e4e7"; -"86bf4fe6-7320-4a6f-816e-5aad92292910" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "86bf4fe6-7320-4a6f-816e-5aad92292910"; -"ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd"; -"7e047adb-babc-421e-a145-d8bf04c6c8ff" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"81c08679-1907-4f4d-885e-08a1ddc4e4e7" -> "7e047adb-babc-421e-a145-d8bf04c6c8ff"; -"866cf8fb-2136-4d2b-be9b-5d9caa6f88c1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"86c955fd-85d8-48f5-9df9-f37a8f99e614" -> "866cf8fb-2136-4d2b-be9b-5d9caa6f88c1"; -"dacf4ccb-2925-4291-8e90-32cf688ea6a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"866cf8fb-2136-4d2b-be9b-5d9caa6f88c1" -> "dacf4ccb-2925-4291-8e90-32cf688ea6a4"; -"dc21dcd4-519d-4fe8-aded-ee9bf1d36d17" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"866cf8fb-2136-4d2b-be9b-5d9caa6f88c1" -> "dc21dcd4-519d-4fe8-aded-ee9bf1d36d17"; -"80195ff0-a958-49e1-99dd-3b077e5e78a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"866cf8fb-2136-4d2b-be9b-5d9caa6f88c1" -> "80195ff0-a958-49e1-99dd-3b077e5e78a0"; -"813f11c9-1db9-4fca-af8f-70a760976d7e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"dc9437d8-2498-4ed4-a0e4-f3e391f22453" -> "813f11c9-1db9-4fca-af8f-70a760976d7e"; -"812f018b-4ca7-46b9-8695-cc82e65b1980" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"813f11c9-1db9-4fca-af8f-70a760976d7e" -> "812f018b-4ca7-46b9-8695-cc82e65b1980"; -"da1b6ab0-8b4a-4848-b5a7-3374914c8fae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"813f11c9-1db9-4fca-af8f-70a760976d7e" -> "da1b6ab0-8b4a-4848-b5a7-3374914c8fae"; -"c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"813f11c9-1db9-4fca-af8f-70a760976d7e" -> "c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06"; -"b5b0d342-52e8-4cba-91c1-861f4e8c2227" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"96eb2ba9-d846-431c-8f3a-ac62ee7c9a8b" -> "b5b0d342-52e8-4cba-91c1-861f4e8c2227"; -"1002d801-1e43-40f3-b1fb-b8657f104a60" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"b5b0d342-52e8-4cba-91c1-861f4e8c2227" -> "1002d801-1e43-40f3-b1fb-b8657f104a60"; -"a9c3df84-17f9-470f-b388-57b2c002bd46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"b5b0d342-52e8-4cba-91c1-861f4e8c2227" -> "a9c3df84-17f9-470f-b388-57b2c002bd46"; -"426b2690-3855-4227-a1b6-b240ce1b2322" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b5b0d342-52e8-4cba-91c1-861f4e8c2227" -> "426b2690-3855-4227-a1b6-b240ce1b2322"; -"a3ab5026-3dd6-4723-9dd0-57317c53bf38" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; -"b5b0d342-52e8-4cba-91c1-861f4e8c2227" -> "a3ab5026-3dd6-4723-9dd0-57317c53bf38"; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"880cf0dc-d72a-40ed-9cd0-863be06a4fe9" -> "5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b"; -"5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f"; -"f633a9af-8e3f-4440-a544-0fdcb05c9f20" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "f633a9af-8e3f-4440-a544-0fdcb05c9f20"; -"5c392f47-73ed-4668-bf87-d212be015365" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "5c392f47-73ed-4668-bf87-d212be015365"; -"6640e386-7fac-4f4f-bb6e-362337ea39fe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b" -> "6640e386-7fac-4f4f-bb6e-362337ea39fe"; -"7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"cdb9ca6b-e71b-415b-bb42-8404948771b6" -> "7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee"; -"c53b9468-f979-43a9-aa91-83804e2f0219" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee" -> "c53b9468-f979-43a9-aa91-83804e2f0219"; -"19442f4a-44ca-4c2b-901f-c98b80abc3a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee" -> "19442f4a-44ca-4c2b-901f-c98b80abc3a0"; -"75e404b0-f802-4296-9d68-3d32b8ce5a27" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee" -> "75e404b0-f802-4296-9d68-3d32b8ce5a27"; -"c6749d61-32be-4dfa-ac1d-9343defcc8fc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee" -> "c6749d61-32be-4dfa-ac1d-9343defcc8fc"; -"7ea25606-dff8-40c1-a687-0c7b9c26d3c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9b792df2-0b92-4f39-859c-7c18d5f1eb85" -> "7ea25606-dff8-40c1-a687-0c7b9c26d3c9"; -"14d89893-b1f2-4345-adf6-6e6ca7494451" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"7ea25606-dff8-40c1-a687-0c7b9c26d3c9" -> "14d89893-b1f2-4345-adf6-6e6ca7494451"; -"a0711cd0-2e11-4afd-b816-b3d1ee9c77fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"7ea25606-dff8-40c1-a687-0c7b9c26d3c9" -> "a0711cd0-2e11-4afd-b816-b3d1ee9c77fa"; -"de174e5b-56eb-4fee-8ed3-fadddc0385fb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"7ea25606-dff8-40c1-a687-0c7b9c26d3c9" -> "de174e5b-56eb-4fee-8ed3-fadddc0385fb"; -"832db9ec-f75a-4ce7-927e-10fcf0e7ec23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"55ff074f-91d2-4ea4-b066-15863c193b0b" -> "832db9ec-f75a-4ce7-927e-10fcf0e7ec23"; -"1f741667-90e3-4938-8294-91be3ced97ca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"832db9ec-f75a-4ce7-927e-10fcf0e7ec23" -> "1f741667-90e3-4938-8294-91be3ced97ca"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"23802024-3113-45c2-917f-a4b4790437e9" -> "a7060826-7c13-4267-9c70-03c3e2bb0b9f"; -"31330f4c-7607-4e3b-9a52-916601af3344" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"23802024-3113-45c2-917f-a4b4790437e9" -> "31330f4c-7607-4e3b-9a52-916601af3344"; -"605aca0d-387d-4dc4-ac4e-a90b2c384e97" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"23802024-3113-45c2-917f-a4b4790437e9" -> "605aca0d-387d-4dc4-ac4e-a90b2c384e97"; -"7bfa0197-ff28-4eed-96f2-462e1576137e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9b4eaf4c-a813-4f92-a4cb-f708fc7543c3" -> "7bfa0197-ff28-4eed-96f2-462e1576137e"; -"5699fc12-546c-4c1a-b3ae-c3d87e15d822" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"7bfa0197-ff28-4eed-96f2-462e1576137e" -> "5699fc12-546c-4c1a-b3ae-c3d87e15d822"; -"a1e9ca93-8ad1-4157-9f02-38b2989e88bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7bfa0197-ff28-4eed-96f2-462e1576137e" -> "a1e9ca93-8ad1-4157-9f02-38b2989e88bc"; -"0ee1e970-b7e9-468e-b483-59b3163d9437" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"7bfa0197-ff28-4eed-96f2-462e1576137e" -> "0ee1e970-b7e9-468e-b483-59b3163d9437"; -"b64c2a64-1a97-47f6-8492-72c92a78bc01" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"414d44a1-0e77-46b7-9179-583a13a172c6" -> "b64c2a64-1a97-47f6-8492-72c92a78bc01"; -"6adbd380-443d-4045-9349-abe57cc179f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "efde675d-48b0-4ed9-b0b0-9a1f059b654f"; -"7a497311-39b3-4751-a208-228e6461c483" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "7a497311-39b3-4751-a208-228e6461c483"; -"58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"ae105f85-f01a-4c79-9a74-3fab543f9978" -> "58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d"; -"e5effab4-b593-4905-aebb-01d31111f402" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"80f17411-eab1-40af-b212-d24e30cde1fd" -> "e5effab4-b593-4905-aebb-01d31111f402"; -"0f5e077f-a059-4b93-836d-9c971a37d1e8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0f5e077f-a059-4b93-836d-9c971a37d1e8"; -"0de58d1f-03c7-4199-898e-4ebd4be7fce6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0de58d1f-03c7-4199-898e-4ebd4be7fce6"; -"0612c6db-d68e-42b6-b50c-cc4a1b5b08f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "0612c6db-d68e-42b6-b50c-cc4a1b5b08f9"; -"9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"e5effab4-b593-4905-aebb-01d31111f402" -> "9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce"; -"7080ae36-c007-407e-a090-ec88b3ef4784" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"faed8aa8-7da2-4ea4-ad68-0d4e5c5e2a67" -> 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fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"956ed16a-05f0-4cd8-beed-cf07b2cce3e5" -> "a79786be-a702-42c6-8c99-1ff095b8c7e4"; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"65e8de80-6b8f-438e-a384-c17d1b0d8073" -> "54ddbef1-d8ef-496b-b604-1e7f19f24c19"; -"6062aef1-a27f-4b14-b0e8-4490596bba0b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "6062aef1-a27f-4b14-b0e8-4490596bba0b"; -"3e22a516-4936-4550-a936-1929e951fc1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "3e22a516-4936-4550-a936-1929e951fc1f"; -"f00a8e84-4991-44d4-b88b-a351f692845c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "f00a8e84-4991-44d4-b88b-a351f692845c"; -"57af8aec-39c6-4229-9f3e-ee46c9e7eba5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"54ddbef1-d8ef-496b-b604-1e7f19f24c19" -> "57af8aec-39c6-4229-9f3e-ee46c9e7eba5"; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8f465d03-72ee-4195-80eb-ea52f1c76f62" -> "a69bd96b-9db6-49de-95d4-6de549aabfb3"; -"bb928c1c-f780-4403-bc36-4af636006525" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"a69bd96b-9db6-49de-95d4-6de549aabfb3" -> "bb928c1c-f780-4403-bc36-4af636006525"; -"66710455-8f8f-4caa-bad5-b91b810cc331" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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"2389f72e-3704-4c9a-8e82-538a610254ce"; -"6f9def00-382b-4a5f-a052-d1318890e049" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "6f9def00-382b-4a5f-a052-d1318890e049"; -"2e06a655-0f3f-4064-a249-f58ae557ffc3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable)", shape=box, style=filled]; -"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "2e06a655-0f3f-4064-a249-f58ae557ffc3"; -"cbf7b199-6629-412c-9137-692cf2a5d42c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1b870b46-c11c-48f3-ae42-efa9bcc80bf6" -> "cbf7b199-6629-412c-9137-692cf2a5d42c"; -"21cf96ff-e94a-40a3-80dc-b17e38731d82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "21cf96ff-e94a-40a3-80dc-b17e38731d82"; 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fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "c0c06538-5e97-4ecd-82c9-7e8e203af45b"; -"e61e9b1b-8594-449e-b8f7-ec253c475aba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "e61e9b1b-8594-449e-b8f7-ec253c475aba"; -"9cb90b6a-2c29-4b34-addb-b0561a9fcee8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "9cb90b6a-2c29-4b34-addb-b0561a9fcee8"; -"2c33e1f7-af3b-4fc9-8046-a556e7af9d77" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "2c33e1f7-af3b-4fc9-8046-a556e7af9d77"; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"79c089ff-c9df-4d57-b38d-06a107557312" -> "f71fd15d-367c-4cc6-8b2b-0024d9369f77"; -"19ff069d-85f6-4d66-8736-d44dc5d76317" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "19ff069d-85f6-4d66-8736-d44dc5d76317"; -"d32f5f55-13fb-4d9d-88cd-c6bea827c3b0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "d32f5f55-13fb-4d9d-88cd-c6bea827c3b0"; -"1d0b443f-4c6f-4158-9df2-1f2b8fa0f483" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "1d0b443f-4c6f-4158-9df2-1f2b8fa0f483"; -"3cb754ba-c534-42bc-ba6e-4c4b88b271f6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "3cb754ba-c534-42bc-ba6e-4c4b88b271f6"; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ce1f06c-48ff-49b0-abaa-7fe6256dff31" -> "0713f79f-1dc8-485f-83b5-9ac2e15bdd02"; -"127a9013-ea01-4f30-a92f-831b088b62ce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "127a9013-ea01-4f30-a92f-831b088b62ce"; -"1f0ae071-5dcd-4438-9a1a-159a2e81ad3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "1f0ae071-5dcd-4438-9a1a-159a2e81ad3d"; -"7f9beeff-e7d6-49b1-9898-1a60351e2092" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "7f9beeff-e7d6-49b1-9898-1a60351e2092"; -"eb6139cb-d6c4-4acf-9481-edf3894b3511" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"08436766-f477-43dd-a09d-b5617b70f31d" -> "eb6139cb-d6c4-4acf-9481-edf3894b3511"; -"8b86c7ad-f2ee-4a4a-9644-7f14d5be3535" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "8b86c7ad-f2ee-4a4a-9644-7f14d5be3535"; -"fa21fcf0-619e-4d21-87ca-148123cbc14d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "fa21fcf0-619e-4d21-87ca-148123cbc14d"; -"e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca"; -"7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"05f8c3e9-f956-423c-b839-03115d159e07" -> "7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a"; -"7b8d4254-e73e-4af1-a00e-697b22c184bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a" -> "7b8d4254-e73e-4af1-a00e-697b22c184bd"; -"15f2d53d-fcbc-4e74-b1e6-9109d6105dba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a" -> "15f2d53d-fcbc-4e74-b1e6-9109d6105dba"; -"90ab23d5-2916-45fd-b0fc-322de36c14e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a" -> "90ab23d5-2916-45fd-b0fc-322de36c14e0"; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e2bda1a6-8ef6-4a06-b2ae-1f5f74934231" -> "a736acd0-8bfc-4884-b4f8-f6c4e8c84adc"; -"d6e52e33-b65f-41da-8e5e-bf2227b42589" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "d6e52e33-b65f-41da-8e5e-bf2227b42589"; -"247c0ccd-9707-4a6c-bb1d-566c91b6aac9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "247c0ccd-9707-4a6c-bb1d-566c91b6aac9"; -"6fb8a925-6be7-4a8b-b0ee-be91f220850a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "6fb8a925-6be7-4a8b-b0ee-be91f220850a"; -"6d35016c-e20b-4da7-b20e-c0f469e87258" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e2663fe2-b6b8-46b6-b144-aaed69b30e67" -> "6d35016c-e20b-4da7-b20e-c0f469e87258"; -"c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b"; -"53e07dc5-d8cc-417b-8d7f-1bbfaf272315" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "53e07dc5-d8cc-417b-8d7f-1bbfaf272315"; -"6a170051-1032-4004-85a6-3d71d91f408d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "6a170051-1032-4004-85a6-3d71d91f408d"; -"5acf912c-6ac0-4461-90cf-da19390f2655" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "5acf912c-6ac0-4461-90cf-da19390f2655"; -"7b991051-6f88-42a4-b316-9801bc229121" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4c959985-cc3f-4ae6-9c8d-6bd9cdd4e5f4" -> "7b991051-6f88-42a4-b316-9801bc229121"; -"402b0fee-e30e-40b8-895b-0baef293a2ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "402b0fee-e30e-40b8-895b-0baef293a2ea"; -"ca818b84-6b8f-41b8-9f42-546cb1dd0267" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "ca818b84-6b8f-41b8-9f42-546cb1dd0267"; -"69ed2fe0-5613-4e88-b17b-cb6c6e696e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "69ed2fe0-5613-4e88-b17b-cb6c6e696e4e"; -"088c04d4-7fe8-4370-bfdd-639f973f036a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"7b991051-6f88-42a4-b316-9801bc229121" -> "088c04d4-7fe8-4370-bfdd-639f973f036a"; -"08700f66-ea41-48ef-8047-80f0085084e3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a" -> "08700f66-ea41-48ef-8047-80f0085084e3"; -"36c90cfe-877c-4b67-9f0b-098409e534df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "36c90cfe-877c-4b67-9f0b-098409e534df"; -"93c1130d-b14a-4e3e-8955-0c5959faa0c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "93c1130d-b14a-4e3e-8955-0c5959faa0c5"; -"9e6ede65-3570-4c5c-80b9-693b96226195" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"08700f66-ea41-48ef-8047-80f0085084e3" -> "9e6ede65-3570-4c5c-80b9-693b96226195"; -"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"29bbf4c7-fb1e-4aad-bdb2-5645d3fe7cf0" -> "30ad7df2-542d-4cbb-abe1-4b5b66950ff4"; -"2c0604bf-2fb6-4c52-9db1-9a95562fab32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "2c0604bf-2fb6-4c52-9db1-9a95562fab32"; -"f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0"; -"5589dee3-0240-49e0-a18a-7824f4d6513d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "5589dee3-0240-49e0-a18a-7824f4d6513d"; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"004f17d7-1676-4f1c-9e6f-7816026332a6" -> "6da04b02-dd38-4464-8dd5-d4bff3780df8"; -"c347772b-1b37-4a39-aed1-d8e73230199d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "c347772b-1b37-4a39-aed1-d8e73230199d"; -"2506ae41-6951-4276-88b1-9aaa46e43b50" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "2506ae41-6951-4276-88b1-9aaa46e43b50"; -"e949b1b9-8027-4247-95bb-d90461635a32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable)", shape=box, style=filled]; -"6da04b02-dd38-4464-8dd5-d4bff3780df8" -> "e949b1b9-8027-4247-95bb-d90461635a32"; -"09002791-8297-479a-a8d0-b3dd78543323" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"bc3d1324-628a-4e9a-967f-e1a34dc200b8" -> "09002791-8297-479a-a8d0-b3dd78543323"; -"8957447b-bb99-4e33-b429-695946b66b15" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "8957447b-bb99-4e33-b429-695946b66b15"; -"0c1e2234-19ad-4045-acaf-ff0fbc730aee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "0c1e2234-19ad-4045-acaf-ff0fbc730aee"; -"7632732a-9148-431b-9bcc-ee0676180390" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"09002791-8297-479a-a8d0-b3dd78543323" -> "7632732a-9148-431b-9bcc-ee0676180390"; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f01b3a96-2a8d-43da-b1af-3e1a55d29d7f" -> "1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec"; -"08fb72b5-5e16-49a8-8c2d-35af6baa434b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "08fb72b5-5e16-49a8-8c2d-35af6baa434b"; -"efa96bda-e5a8-4391-97ea-18fb600eca96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "efa96bda-e5a8-4391-97ea-18fb600eca96"; -"9b3c54e8-6412-4364-bac8-836051dc2a9a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec" -> "9b3c54e8-6412-4364-bac8-836051dc2a9a"; -"c16ae82a-98fe-4915-8a2f-e169039236fa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"62564879-2a5b-441f-b3a4-5f8b716f2bd1" -> "c16ae82a-98fe-4915-8a2f-e169039236fa"; -"76bddc29-f789-4ce1-bf9d-4f38ca5a604e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "76bddc29-f789-4ce1-bf9d-4f38ca5a604e"; -"c5c291d4-5657-44c3-a404-f135a9ffb299" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "c5c291d4-5657-44c3-a404-f135a9ffb299"; -"480811b7-3f6a-49c4-9b7f-e0a554ac1ec6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "480811b7-3f6a-49c4-9b7f-e0a554ac1ec6"; -"f284902f-86e8-49aa-bfa2-a12089ee906d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"c16ae82a-98fe-4915-8a2f-e169039236fa" -> "f284902f-86e8-49aa-bfa2-a12089ee906d"; -"0af98ad1-14e8-4ca5-831a-0043a32b9a20" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7fe798d9-1aed-487f-87bd-0e4c0e441f94" -> "0af98ad1-14e8-4ca5-831a-0043a32b9a20"; -"865bddb7-988d-42fa-9e65-c876ab15dfe7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"0af98ad1-14e8-4ca5-831a-0043a32b9a20" -> "865bddb7-988d-42fa-9e65-c876ab15dfe7"; -"efa8eb89-2b75-4156-beeb-00edfc54f281" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0af98ad1-14e8-4ca5-831a-0043a32b9a20" -> "efa8eb89-2b75-4156-beeb-00edfc54f281"; -"98a38739-268c-42de-b329-a6b57dff58b2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"0af98ad1-14e8-4ca5-831a-0043a32b9a20" -> "98a38739-268c-42de-b329-a6b57dff58b2"; -"010f9273-c7ba-45e3-9908-6527bed01f29" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a160c9d3-ce9e-42d0-ba04-83b7f2541209" -> "010f9273-c7ba-45e3-9908-6527bed01f29"; -"d5cb51ce-3c07-429e-a9ea-d984bda522a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "d5cb51ce-3c07-429e-a9ea-d984bda522a2"; -"0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e"; -"d0dbecb7-081d-46d3-83b8-e6fe57beb9ca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "d0dbecb7-081d-46d3-83b8-e6fe57beb9ca"; -"fea09512-494d-4115-ae6f-8a8b6821bd76" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable)", shape=box, style=filled]; -"010f9273-c7ba-45e3-9908-6527bed01f29" -> "fea09512-494d-4115-ae6f-8a8b6821bd76"; -"a4446cff-d8f0-402e-9aaa-739b89d8e015" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e5e13f57-09db-49b0-9bed-3ff7e9a54778" -> "a4446cff-d8f0-402e-9aaa-739b89d8e015"; -"e8765ae0-75a2-4bf2-96fb-162a1b82c7c1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"a4446cff-d8f0-402e-9aaa-739b89d8e015" -> "e8765ae0-75a2-4bf2-96fb-162a1b82c7c1"; -"4e7bcb74-b675-487d-938e-9293c9eb423f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"a4446cff-d8f0-402e-9aaa-739b89d8e015" -> "4e7bcb74-b675-487d-938e-9293c9eb423f"; -"e4b3fae3-7eff-4edc-bd29-686589619154" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"a4446cff-d8f0-402e-9aaa-739b89d8e015" -> "e4b3fae3-7eff-4edc-bd29-686589619154"; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b06a8fa4-471c-4501-b756-146b03cfc2b3" -> "eeea53a2-4bcd-431c-b158-f2fb0f1b7044"; -"cbfa0254-2deb-42fb-8c86-fc8ae1bf2591" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "cbfa0254-2deb-42fb-8c86-fc8ae1bf2591"; -"b6cfce40-21e4-470f-af31-a7779576ff93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "b6cfce40-21e4-470f-af31-a7779576ff93"; -"357d4961-3535-45fe-a4cf-9a2d9710acbb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "357d4961-3535-45fe-a4cf-9a2d9710acbb"; -"de252508-e970-4614-8c46-1c9dc16c6381" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; -"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "de252508-e970-4614-8c46-1c9dc16c6381"; -"2ecaa42a-192e-404b-9eef-0859b7572009" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"84b0c8f4-7297-4441-ba47-cefa147440ac" -> "2ecaa42a-192e-404b-9eef-0859b7572009"; -"8c9ab08f-b132-448d-bbe2-84752d5fce37" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "8c9ab08f-b132-448d-bbe2-84752d5fce37"; -"c9ab5c24-50c4-4583-9e40-76fd9ebece5a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "c9ab5c24-50c4-4583-9e40-76fd9ebece5a"; -"435e064b-f46e-4847-9a57-6f334e5d52e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "435e064b-f46e-4847-9a57-6f334e5d52e4"; -"9dd1f173-e14b-426a-a6cb-9457c220706e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; -"2ecaa42a-192e-404b-9eef-0859b7572009" -> "9dd1f173-e14b-426a-a6cb-9457c220706e"; -"7f75ac32-ea20-4af6-80b4-333b565d916b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"8aa760a6-abd5-4bbe-ab76-94648c24b8e3" -> "7f75ac32-ea20-4af6-80b4-333b565d916b"; -"2f677de5-f029-4a7c-bcbe-2a6cc31a2084" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"7f75ac32-ea20-4af6-80b4-333b565d916b" -> "2f677de5-f029-4a7c-bcbe-2a6cc31a2084"; -"abddf89c-3766-46b6-81ac-db57268a04f6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7f75ac32-ea20-4af6-80b4-333b565d916b" -> "abddf89c-3766-46b6-81ac-db57268a04f6"; -"0ad53ec7-dc55-43b1-b3fd-631b6c89ddba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"7f75ac32-ea20-4af6-80b4-333b565d916b" -> "0ad53ec7-dc55-43b1-b3fd-631b6c89ddba"; -"77d5c904-3e85-4f7b-8973-e3961633b0ec" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; -"7f75ac32-ea20-4af6-80b4-333b565d916b" -> "77d5c904-3e85-4f7b-8973-e3961633b0ec"; -"8b447805-a48b-4409-86da-05560e618a02" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0fb7f560-8a14-4b18-b97f-61e64efaf1c8" -> "8b447805-a48b-4409-86da-05560e618a02"; -"47f5dd59-63fc-4a4d-806f-ba4d84d4ed44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"8b447805-a48b-4409-86da-05560e618a02" -> "47f5dd59-63fc-4a4d-806f-ba4d84d4ed44"; -"0966966e-9d54-4d56-9e87-21e9e0bf94d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"8b447805-a48b-4409-86da-05560e618a02" -> "0966966e-9d54-4d56-9e87-21e9e0bf94d6"; -"af13e152-f421-46bc-8b20-74eae82aabeb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"8b447805-a48b-4409-86da-05560e618a02" -> "af13e152-f421-46bc-8b20-74eae82aabeb"; -"1634729f-d45a-4b59-8e13-79af29cab73a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a235c5e-9a5b-4d35-9bfa-e84805a90b29" -> "1634729f-d45a-4b59-8e13-79af29cab73a"; -"2396e8ce-7164-4155-9bde-32a759e9851c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"1634729f-d45a-4b59-8e13-79af29cab73a" -> "2396e8ce-7164-4155-9bde-32a759e9851c"; -"385a432b-feff-488c-ad9f-fea1df09e1b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"1634729f-d45a-4b59-8e13-79af29cab73a" -> "385a432b-feff-488c-ad9f-fea1df09e1b6"; -"cd922a50-219f-4f78-9b9e-b2a4edba2eec" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"1634729f-d45a-4b59-8e13-79af29cab73a" -> "cd922a50-219f-4f78-9b9e-b2a4edba2eec"; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d7b0a2e-59c5-4dd8-8c24-dd38e29c9004" -> "e776c240-7b60-496c-8e3f-55a5ed3a5a52"; -"232e52fe-9a3d-4e6d-9546-46c9f5e23702" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" -> "232e52fe-9a3d-4e6d-9546-46c9f5e23702"; -"1c06496a-7850-4dd1-81ef-8d4ec5418e42" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"e776c240-7b60-496c-8e3f-55a5ed3a5a52" -> "1c06496a-7850-4dd1-81ef-8d4ec5418e42"; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"585af931-ed55-4d38-a75c-aa1c24489338" -> "89795a18-6ed6-4754-bdc1-4908fc7dbf01"; -"475ed724-d8b1-4282-ac39-d03de0c393c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "475ed724-d8b1-4282-ac39-d03de0c393c0"; -"a299c8dd-9b0f-4385-9d74-159ee44e1941" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "a299c8dd-9b0f-4385-9d74-159ee44e1941"; -"8fc18784-3f1e-49f4-9aad-6020b02be8d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "8fc18784-3f1e-49f4-9aad-6020b02be8d4"; -"b036a3af-39f7-4009-bf78-75ecde237758" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"89795a18-6ed6-4754-bdc1-4908fc7dbf01" -> "b036a3af-39f7-4009-bf78-75ecde237758"; -"baa1b047-3659-4ed8-b23d-a3df308a4474" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e659f106-6cfa-4b84-9d15-36f2fc80d950" -> "baa1b047-3659-4ed8-b23d-a3df308a4474"; -"aa776227-73d3-42ad-9c61-cd3bafb76a8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"baa1b047-3659-4ed8-b23d-a3df308a4474" -> "aa776227-73d3-42ad-9c61-cd3bafb76a8e"; -"d969c149-738c-4fbc-b93a-ffccf9f23cd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"baa1b047-3659-4ed8-b23d-a3df308a4474" -> "d969c149-738c-4fbc-b93a-ffccf9f23cd2"; -"f48c7470-ba27-405c-986f-0b51d0101e44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"baa1b047-3659-4ed8-b23d-a3df308a4474" -> "f48c7470-ba27-405c-986f-0b51d0101e44"; -"a4451b8a-2605-4c0f-ba28-89abe5733b53" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled]; -"baa1b047-3659-4ed8-b23d-a3df308a4474" -> "a4451b8a-2605-4c0f-ba28-89abe5733b53"; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"58a7151a-24d5-44ca-a43e-2a71197b0d5b" -> "4eb9da8e-f733-43e6-a767-2aa9961fd37d"; -"e756e00f-048a-47af-b314-3d4f1c0ea203" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "e756e00f-048a-47af-b314-3d4f1c0ea203"; -"a45497a8-c919-4735-b932-250c523b7086" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "a45497a8-c919-4735-b932-250c523b7086"; -"221eedef-8c3a-40d0-bfde-7dd4881dcf2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "221eedef-8c3a-40d0-bfde-7dd4881dcf2b"; -"feb19577-0313-4793-a2ce-6d7a7e5e49e5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"4eb9da8e-f733-43e6-a767-2aa9961fd37d" -> "feb19577-0313-4793-a2ce-6d7a7e5e49e5"; -"bc953241-c9dc-452d-b3e3-71550b2394fc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ade49021-14f5-4075-82c7-d73d779e734d" -> "bc953241-c9dc-452d-b3e3-71550b2394fc"; -"2bc3725a-afe7-4440-ac02-d9d2b4d21b06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "2bc3725a-afe7-4440-ac02-d9d2b4d21b06"; -"c7e388c8-3eac-4aac-a37e-ac2e383570af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "c7e388c8-3eac-4aac-a37e-ac2e383570af"; -"b1371f8c-e0b8-4c8d-9803-4cea839bf384" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"bc953241-c9dc-452d-b3e3-71550b2394fc" -> "b1371f8c-e0b8-4c8d-9803-4cea839bf384"; -"2b279313-d461-45a1-acac-0725886258e1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c0fc0fab-7a5c-42b7-8a1b-91056c192280" -> "2b279313-d461-45a1-acac-0725886258e1"; -"ecc679b4-d702-4385-8e24-5f3a04a84e07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"2b279313-d461-45a1-acac-0725886258e1" -> "ecc679b4-d702-4385-8e24-5f3a04a84e07"; -"b861368e-9dc0-472f-b614-14211d39072d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"2b279313-d461-45a1-acac-0725886258e1" -> "b861368e-9dc0-472f-b614-14211d39072d"; -"c70a97c8-d14d-48e3-8984-95e9f573a76b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; -"2b279313-d461-45a1-acac-0725886258e1" -> "c70a97c8-d14d-48e3-8984-95e9f573a76b"; -"294882bd-86af-43da-8748-6624e459f264" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9048adb5-4153-40b4-bfbb-4063d8effece" -> "294882bd-86af-43da-8748-6624e459f264"; -"9e6d0c93-fb21-49eb-b0e0-caa3247f2386" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"294882bd-86af-43da-8748-6624e459f264" -> "9e6d0c93-fb21-49eb-b0e0-caa3247f2386"; -"abeffd9e-56bc-4d2e-bf27-75d28c0d1c09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"294882bd-86af-43da-8748-6624e459f264" -> "abeffd9e-56bc-4d2e-bf27-75d28c0d1c09"; -"9fc32118-179f-4614-9572-78eb70f12863" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable)", shape=box, style=filled]; -"294882bd-86af-43da-8748-6624e459f264" -> "9fc32118-179f-4614-9572-78eb70f12863"; -"6679a19f-f613-4ef9-8ed7-faceb609f2db" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"90a5c49b-f033-4c77-b249-8177f9a79187" -> "6679a19f-f613-4ef9-8ed7-faceb609f2db"; -"c875d596-63df-40ed-9fc8-0d88af80fa7a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"6679a19f-f613-4ef9-8ed7-faceb609f2db" -> "c875d596-63df-40ed-9fc8-0d88af80fa7a"; -"3185e9c6-884d-4c01-a4d9-8e295f9c9c65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"6679a19f-f613-4ef9-8ed7-faceb609f2db" -> "3185e9c6-884d-4c01-a4d9-8e295f9c9c65"; -"48c3848f-f8e3-4036-8665-d0f1b070e650" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"6679a19f-f613-4ef9-8ed7-faceb609f2db" -> "48c3848f-f8e3-4036-8665-d0f1b070e650"; -"7f02976d-51e7-496f-a792-4b910402af26" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"5087f925-32e6-4576-a014-66c60dcf9b9a" -> "7f02976d-51e7-496f-a792-4b910402af26"; -"82a9ffc3-ac4a-4b31-8a83-5220a4b873b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7f02976d-51e7-496f-a792-4b910402af26" -> "82a9ffc3-ac4a-4b31-8a83-5220a4b873b5"; -"7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"7f02976d-51e7-496f-a792-4b910402af26" -> "7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1"; -"c6ebbfc3-2a2e-458d-960c-0a17379b49dc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"7f02976d-51e7-496f-a792-4b910402af26" -> "c6ebbfc3-2a2e-458d-960c-0a17379b49dc"; -"28dabec8-b3c3-448b-897e-d7d0c6560b42" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"18a30aed-ba20-4b43-922e-f83be5f9bfbd" -> "28dabec8-b3c3-448b-897e-d7d0c6560b42"; -"d30d0972-9127-46eb-af8c-f8256b93530e" [fillcolor="#FFFF80", 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label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"3f64b5a2-59df-4ec4-b8c6-c7b516580e4a" -> "39fb2a74-8d7d-4e77-9dde-b943d874cbbb"; -"a071a359-b49f-45f0-b923-f678feca625f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3f64b5a2-59df-4ec4-b8c6-c7b516580e4a" -> "a071a359-b49f-45f0-b923-f678feca625f"; -"213e1f32-d906-486b-a60c-18818e68a75f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; -"3f64b5a2-59df-4ec4-b8c6-c7b516580e4a" -> "213e1f32-d906-486b-a60c-18818e68a75f"; -"48c0f054-e108-48a7-a209-81568da3ef9a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0f6abb0c-d7e7-436e-97d2-88bce1c06640" -> "48c0f054-e108-48a7-a209-81568da3ef9a"; -"f7314b03-4a39-46e1-a450-c120803062a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "f7314b03-4a39-46e1-a450-c120803062a2"; -"0624cd1b-7c6b-4581-ae97-bcc97e2f6061" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "0624cd1b-7c6b-4581-ae97-bcc97e2f6061"; -"fd553284-ac8c-492b-9d15-34a9340bab9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "fd553284-ac8c-492b-9d15-34a9340bab9b"; -"e3df8b28-45ab-4c42-b362-a9729e3688dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"48c0f054-e108-48a7-a209-81568da3ef9a" -> "e3df8b28-45ab-4c42-b362-a9729e3688dd"; -"1c943ba7-9df6-4a0d-bda3-19ed00830ef1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"c76a17bc-4969-491e-a3f4-8178a43377fd"; -"bf150465-54c0-4bf6-89f8-9c955648cf0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "bf150465-54c0-4bf6-89f8-9c955648cf0f"; -"be7a44cf-af69-4586-afd6-a49918778d2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "be7a44cf-af69-4586-afd6-a49918778d2c"; -"77a3fc89-aee3-4f3e-a679-b4a1d3223847" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c76a17bc-4969-491e-a3f4-8178a43377fd" -> "77a3fc89-aee3-4f3e-a679-b4a1d3223847"; -"78c5bcb3-62c3-42b3-ba2b-d2ca943b258e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3d0ae5c1-0f42-4d5d-82a9-b99342e37ed0" -> "78c5bcb3-62c3-42b3-ba2b-d2ca943b258e"; 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fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "d4c8235d-675b-4739-9954-0932ad3c7391"; -"ee89dc28-891b-499f-bdb8-18a2d50ff9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "ee89dc28-891b-499f-bdb8-18a2d50ff9d4"; -"f0d1222e-6ea2-4bf5-abcc-1708ec86e011" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "f0d1222e-6ea2-4bf5-abcc-1708ec86e011"; -"a3aa157a-e2d2-4bc3-8f55-9cc20775e766" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled]; -"338562f0-39f0-4e20-9602-2aa051361e0e" -> "a3aa157a-e2d2-4bc3-8f55-9cc20775e766"; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"fd3ca530-82e7-4c54-865a-97a3bb36c61a" -> "5289ce83-20c8-4325-8f9b-8dbba6206dd3"; -"9c895931-a6b3-4d7d-8be1-5a37ed88a53a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "9c895931-a6b3-4d7d-8be1-5a37ed88a53a"; -"97d0584b-41e5-4570-af42-797891b7be6f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "97d0584b-41e5-4570-af42-797891b7be6f"; -"8db697cf-3b54-4463-ad3e-737c2552fcbc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "8db697cf-3b54-4463-ad3e-737c2552fcbc"; -"8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"5289ce83-20c8-4325-8f9b-8dbba6206dd3" -> "8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6"; -"514c2581-7577-4869-8783-e45e9cb48631" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"90bbd217-2fd1-4b42-bd2f-f4c2716b77b4" -> "514c2581-7577-4869-8783-e45e9cb48631"; -"882d28f2-1dcd-4a4f-a22e-d55b8a7f8220" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "882d28f2-1dcd-4a4f-a22e-d55b8a7f8220"; -"d3e0a545-bf05-44bc-a758-47a929891289" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "d3e0a545-bf05-44bc-a758-47a929891289"; -"bff51aa2-1c73-4c6e-b091-0b08ec95a7fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"514c2581-7577-4869-8783-e45e9cb48631" -> "bff51aa2-1c73-4c6e-b091-0b08ec95a7fb"; 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fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"ddd046e2-ee86-425e-8c5d-179cdf95e1df" -> "8d2fb99c-7a9d-4e62-81dc-7db5e26649f4"; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4f33e409-1e85-4707-a192-21c7c4488517" -> "6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1"; -"e79b3589-51f0-439b-84ec-999fe883f296" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "e79b3589-51f0-439b-84ec-999fe883f296"; -"48b12dd8-7543-46f5-add0-bbbe2c8a0224" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "48b12dd8-7543-46f5-add0-bbbe2c8a0224"; -"1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1" -> "1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4"; -"83843420-1b90-4385-89b5-a9f9736efe3b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a09e8739-7fce-49fd-bdd9-16ce943bfd39" -> "83843420-1b90-4385-89b5-a9f9736efe3b"; -"3124d5cc-ef98-487f-a196-fc5aeca8dbec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"83843420-1b90-4385-89b5-a9f9736efe3b" -> "3124d5cc-ef98-487f-a196-fc5aeca8dbec"; -"f774812c-d3a9-4f3b-ae2f-115501b34066" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"83843420-1b90-4385-89b5-a9f9736efe3b" -> "f774812c-d3a9-4f3b-ae2f-115501b34066"; -"05d7003c-2568-4f82-bdb5-fe680208feff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"83843420-1b90-4385-89b5-a9f9736efe3b" -> "05d7003c-2568-4f82-bdb5-fe680208feff"; -"4a4670cf-51cb-480a-b8e5-e58381acb089" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled]; -"83843420-1b90-4385-89b5-a9f9736efe3b" -> "4a4670cf-51cb-480a-b8e5-e58381acb089"; -"238452db-ec43-48e8-8d8a-bb7ae4965e56" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c10a5066-dafb-4c22-aebf-1e70168e094d" -> "238452db-ec43-48e8-8d8a-bb7ae4965e56"; -"0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"238452db-ec43-48e8-8d8a-bb7ae4965e56" -> "0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f"; -"cdfebe6c-15a5-4e36-82f9-681eadd325ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"238452db-ec43-48e8-8d8a-bb7ae4965e56" -> "cdfebe6c-15a5-4e36-82f9-681eadd325ad"; -"514a549e-4bc7-43ce-b428-0083c3f1804f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"238452db-ec43-48e8-8d8a-bb7ae4965e56" -> "514a549e-4bc7-43ce-b428-0083c3f1804f"; -"fec2478a-3ade-4426-83bb-d5276b7c93f9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"238452db-ec43-48e8-8d8a-bb7ae4965e56" -> "fec2478a-3ade-4426-83bb-d5276b7c93f9"; -"aa2073df-4ec5-43e4-b17a-5b8c1b87396c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"bf7754b1-55bc-46b1-854e-672a5acf3398" -> "aa2073df-4ec5-43e4-b17a-5b8c1b87396c"; -"9093df31-a3f0-47a4-917d-5eeae09ef843" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"aa2073df-4ec5-43e4-b17a-5b8c1b87396c" -> "9093df31-a3f0-47a4-917d-5eeae09ef843"; -"3129f976-24c9-42ae-b244-49c29370dc68" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"aa2073df-4ec5-43e4-b17a-5b8c1b87396c" -> "3129f976-24c9-42ae-b244-49c29370dc68"; -"b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"aa2073df-4ec5-43e4-b17a-5b8c1b87396c" -> "b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f"; -"9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled]; -"aa2073df-4ec5-43e4-b17a-5b8c1b87396c" -> "9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e"; -"27d0abda-83c8-4aa2-b4ed-956e4b18b66d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"81d7bdaa-1b77-4c28-b108-fbcd2d3b1539" -> "27d0abda-83c8-4aa2-b4ed-956e4b18b66d"; -"dacb5ff2-4a54-4f5c-9ad7-aa558af78f87" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"27d0abda-83c8-4aa2-b4ed-956e4b18b66d" -> "dacb5ff2-4a54-4f5c-9ad7-aa558af78f87"; -"8c5f8a76-da42-4306-9569-ed8edb7a2279" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"27d0abda-83c8-4aa2-b4ed-956e4b18b66d" -> "8c5f8a76-da42-4306-9569-ed8edb7a2279"; -"ef61694c-ced0-446f-af9e-4611a9214972" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled]; -"27d0abda-83c8-4aa2-b4ed-956e4b18b66d" -> "ef61694c-ced0-446f-af9e-4611a9214972"; -"7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ff780932-ddcf-4f31-974b-24efbabfb53a" -> "7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9"; -"dcf30978-087b-46fa-80c6-359f6ca278f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9" -> "dcf30978-087b-46fa-80c6-359f6ca278f2"; -"4ff62126-c3ec-4bf4-ad71-f81e75912179" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9" -> "4ff62126-c3ec-4bf4-ad71-f81e75912179"; -"4b4c4220-7cc9-48b7-a0de-bfaa63832abf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9" -> "4b4c4220-7cc9-48b7-a0de-bfaa63832abf"; -"3454d555-e55c-47cf-8e0f-9c3251e1f1be" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"679458a2-38ef-4966-a725-99459784ad48" -> "3454d555-e55c-47cf-8e0f-9c3251e1f1be"; -"8b6b2872-1cbf-42bd-9b0b-09411689657e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"3454d555-e55c-47cf-8e0f-9c3251e1f1be" -> "8b6b2872-1cbf-42bd-9b0b-09411689657e"; -"43683008-65f6-40b3-b3bf-ccacc277f93b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"3454d555-e55c-47cf-8e0f-9c3251e1f1be" -> "43683008-65f6-40b3-b3bf-ccacc277f93b"; -"855257b6-eea6-450f-afd0-1b8c5c117d19" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"3454d555-e55c-47cf-8e0f-9c3251e1f1be" -> "855257b6-eea6-450f-afd0-1b8c5c117d19"; -"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e73c84e1-d76e-4052-b600-a42e317e145b" -> "f067b4e7-6b09-4f04-ae8a-eea1ff6597d0"; -"b5f4d66f-5aad-4f56-88d3-7c6c2e443cec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" -> "b5f4d66f-5aad-4f56-88d3-7c6c2e443cec"; -"e8cf00f3-e3ea-4be3-af55-b29bb68bd064" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" -> "e8cf00f3-e3ea-4be3-af55-b29bb68bd064"; -"28f19662-89e8-402c-91ed-941d5491ded9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" -> "28f19662-89e8-402c-91ed-941d5491ded9"; -"af203b76-012b-4800-9b05-162dfff01fdf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" -> "af203b76-012b-4800-9b05-162dfff01fdf"; -"84e44467-a7eb-410d-9881-21a92cc90a4e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"817d0f27-30fb-45c9-af1c-6f23d9c75c7c" -> "84e44467-a7eb-410d-9881-21a92cc90a4e"; -"dcacce3e-2265-4c33-9dc2-a0157ae14cf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "dcacce3e-2265-4c33-9dc2-a0157ae14cf2"; -"a0c4c448-51d0-4b28-a81f-b744d6d41eb3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "a0c4c448-51d0-4b28-a81f-b744d6d41eb3"; -"bd677783-e320-4287-a012-03d76a574232" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "bd677783-e320-4287-a012-03d76a574232"; -"c7bcbd70-f236-4e20-88ed-db330f433028" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"84e44467-a7eb-410d-9881-21a92cc90a4e" -> "c7bcbd70-f236-4e20-88ed-db330f433028"; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ebbb4c4f-cac9-4ae0-8caa-51eb6f2d4745" -> "b7054641-bfd4-432f-88f3-4879e28bb4cb"; -"3c0e4816-5aa0-436e-8a9c-0629089207b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" -> "3c0e4816-5aa0-436e-8a9c-0629089207b7"; -"6a3801cb-5a68-42c8-981d-e45ddac71503" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" -> "6a3801cb-5a68-42c8-981d-e45ddac71503"; -"c5dfc66d-8d4b-4d18-b240-c7b36ff3f262" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" -> "c5dfc66d-8d4b-4d18-b240-c7b36ff3f262"; -"330af15b-9a6a-4dbf-aed1-978e9f312398" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"b7054641-bfd4-432f-88f3-4879e28bb4cb" -> "330af15b-9a6a-4dbf-aed1-978e9f312398"; -"94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"304f47d3-fb6d-4fa1-90e5-72f670f92c9b" -> "94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc"; -"bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc" -> "bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9"; -"b47aaf8d-bc05-4f77-83f5-a9015dd8eee7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc" -> "b47aaf8d-bc05-4f77-83f5-a9015dd8eee7"; -"44300b17-7dde-482c-aa08-21bfadd8b188" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc" -> "44300b17-7dde-482c-aa08-21bfadd8b188"; -"2b5e0db0-a74d-4858-9a16-710930152894" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c6fad513-4f47-48b4-9505-1b0911d9651a" -> "2b5e0db0-a74d-4858-9a16-710930152894"; -"fdcc3387-4abb-4038-a44d-dc03c17714cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"2b5e0db0-a74d-4858-9a16-710930152894" -> "fdcc3387-4abb-4038-a44d-dc03c17714cf"; -"ab294e8b-1e90-4b91-b636-ed1654719cb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"2b5e0db0-a74d-4858-9a16-710930152894" -> "ab294e8b-1e90-4b91-b636-ed1654719cb7"; -"9c81e585-f1a4-422a-a900-8a657d3a8bab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2b5e0db0-a74d-4858-9a16-710930152894" -> "9c81e585-f1a4-422a-a900-8a657d3a8bab"; -"edec917b-c388-4a9d-b66d-6dcad04dbce3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"2b5e0db0-a74d-4858-9a16-710930152894" -> "edec917b-c388-4a9d-b66d-6dcad04dbce3"; -"20265943-985d-41af-ac10-fd9457336358" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2a830835-5e01-4227-8032-062fcba8a54e" -> "20265943-985d-41af-ac10-fd9457336358"; -"ff2c4207-85d0-4c10-a476-bbce149c63a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "ff2c4207-85d0-4c10-a476-bbce149c63a3"; -"06dd468e-f94f-4635-aa4e-f31b9b602516" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "06dd468e-f94f-4635-aa4e-f31b9b602516"; -"d54188e9-b47a-4074-a477-e108d8c3072f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "d54188e9-b47a-4074-a477-e108d8c3072f"; -"b7b5b7cc-e176-461e-a546-2c9ab90ecd3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; -"20265943-985d-41af-ac10-fd9457336358" -> "b7b5b7cc-e176-461e-a546-2c9ab90ecd3a"; -"81a41ef9-359f-4f50-911f-02a6765fc40d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e0905c84-ce1d-47e5-8fea-c39592969026" -> "81a41ef9-359f-4f50-911f-02a6765fc40d"; -"0267bae9-a581-4015-88db-64e3a188ead7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> "0267bae9-a581-4015-88db-64e3a188ead7"; -"55b61f3d-a1f2-45c9-bc60-32ac0d4b743c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> "55b61f3d-a1f2-45c9-bc60-32ac0d4b743c"; -"82f11715-6aba-42e2-b04b-238ae19fe8b4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"81a41ef9-359f-4f50-911f-02a6765fc40d" -> "82f11715-6aba-42e2-b04b-238ae19fe8b4"; -"03b8c40e-335a-4f94-823b-0ddcd97f0304" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2b2990d2-57c2-4c42-90c5-aa9e9bdc7e36" -> "03b8c40e-335a-4f94-823b-0ddcd97f0304"; -"f5908b95-4ad4-4c7b-b509-439cadacfb7b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"03b8c40e-335a-4f94-823b-0ddcd97f0304" -> "f5908b95-4ad4-4c7b-b509-439cadacfb7b"; -"f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"03b8c40e-335a-4f94-823b-0ddcd97f0304" -> "f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30"; -"6e5bd5f4-d388-48ce-90df-240b3011bc17" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"03b8c40e-335a-4f94-823b-0ddcd97f0304" -> "6e5bd5f4-d388-48ce-90df-240b3011bc17"; -"e5224d43-2747-424f-ac9c-2e665bb91a6e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7958b4cf-e32a-4635-ba87-ffe12d1322e4" -> "e5224d43-2747-424f-ac9c-2e665bb91a6e"; -"3f1c0bb6-88b2-44e7-bf2e-894d14b54929" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"e5224d43-2747-424f-ac9c-2e665bb91a6e" -> "3f1c0bb6-88b2-44e7-bf2e-894d14b54929"; -"3fe1afeb-bbac-4054-9cef-5332e29abce0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e5224d43-2747-424f-ac9c-2e665bb91a6e" -> "3fe1afeb-bbac-4054-9cef-5332e29abce0"; -"18499505-b547-496b-9779-c6d1d64c5987" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"e5224d43-2747-424f-ac9c-2e665bb91a6e" -> "18499505-b547-496b-9779-c6d1d64c5987"; -"6d73eb3d-7f31-4a32-bc46-b1c60d654844" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e3b0c201-c610-4811-8316-39002e4c3aa8" -> "6d73eb3d-7f31-4a32-bc46-b1c60d654844"; -"27face7c-b974-441b-9c0e-b9b823c1f652" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"6d73eb3d-7f31-4a32-bc46-b1c60d654844" -> "27face7c-b974-441b-9c0e-b9b823c1f652"; -"748418c0-94eb-4543-bd09-6f84f4d842b1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6d73eb3d-7f31-4a32-bc46-b1c60d654844" -> "748418c0-94eb-4543-bd09-6f84f4d842b1"; -"f9b727a1-3525-482e-b859-e550c60c0a08" [fillcolor=lightgreen, 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shape=ellipse, style=filled]; -"d9098826-c653-4b0b-a1ad-45bbee67c301" -> "1e3b5d53-c0c9-4943-93c7-736d96372ce8"; -"d45e80ec-a6c6-4664-863e-9f08856515d7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; -"d9098826-c653-4b0b-a1ad-45bbee67c301" -> "d45e80ec-a6c6-4664-863e-9f08856515d7"; -"57245369-a2ff-4da1-890c-554895376e0b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"fecc4010-1c0b-4b80-8011-1b7ce43d05aa" -> "57245369-a2ff-4da1-890c-554895376e0b"; -"3d53dfb8-974e-49e3-8d0b-88b03820a4ee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"57245369-a2ff-4da1-890c-554895376e0b" -> "3d53dfb8-974e-49e3-8d0b-88b03820a4ee"; -"01551be9-8f2f-423c-ad5e-88fb82652ead" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"8badaabb-93be-4176-a126-ee040c644ee5" -> "a60d4ced-95c8-4e32-a3bf-bbbf729ad706"; -"86d08cd9-5d1b-4da9-bfaa-30b318c6756c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8badaabb-93be-4176-a126-ee040c644ee5" -> "86d08cd9-5d1b-4da9-bfaa-30b318c6756c"; -"eb0a824a-15dc-49f7-9f75-660f5d97e150" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"8badaabb-93be-4176-a126-ee040c644ee5" -> "eb0a824a-15dc-49f7-9f75-660f5d97e150"; -"d2209567-48ae-4092-bce8-cd4c2d93a8e8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"8badaabb-93be-4176-a126-ee040c644ee5" -> "d2209567-48ae-4092-bce8-cd4c2d93a8e8"; -"538aa6e0-4648-4ac6-86d7-cb102a0daf7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"018a7ef8-7e49-43ed-a824-403a85d57153" -> "538aa6e0-4648-4ac6-86d7-cb102a0daf7b"; -"cf477e05-d3f6-48ea-a4bd-465360ff905c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"538aa6e0-4648-4ac6-86d7-cb102a0daf7b" -> "cf477e05-d3f6-48ea-a4bd-465360ff905c"; -"607c1b4e-64cf-47e8-8165-2870fee24828" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"538aa6e0-4648-4ac6-86d7-cb102a0daf7b" -> "607c1b4e-64cf-47e8-8165-2870fee24828"; -"ff92fef8-6345-457f-a85c-4f1ee6c2fcb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"538aa6e0-4648-4ac6-86d7-cb102a0daf7b" -> "ff92fef8-6345-457f-a85c-4f1ee6c2fcb7"; -"7e10129f-f51f-42bd-b71f-a540cff5aff7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff" -> "4602fd85-7c06-447f-9ad3-40e807ca9932"; -"43c56c83-4fc1-42ca-a163-8772840e3237" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff" -> "43c56c83-4fc1-42ca-a163-8772840e3237"; -"d380e7dc-1796-4396-82b6-3c186b7b210b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"c9206c5f-988d-4e1a-b338-d12c9684f503" -> "d380e7dc-1796-4396-82b6-3c186b7b210b"; -"7e3335d0-7899-4a29-b980-81010e0962d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "7e3335d0-7899-4a29-b980-81010e0962d4"; -"5459e8c0-3515-4e0a-8c9e-327f743eaded" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "5459e8c0-3515-4e0a-8c9e-327f743eaded"; -"7c13618b-c3e6-4861-9be9-bb01c1c6617e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "7c13618b-c3e6-4861-9be9-bb01c1c6617e"; -"0d234682-defb-4ccc-8b07-40a021eddfeb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,WaterTable)", shape=box, style=filled]; -"d380e7dc-1796-4396-82b6-3c186b7b210b" -> "0d234682-defb-4ccc-8b07-40a021eddfeb"; -"f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"536cd52c-b59d-477d-ab85-fc2ac82f22cf" -> "f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9"; -"63294e49-3b86-4ae6-9e6f-431bd912099c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; 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"95b6c99d-7b8d-4a53-b8d5-69c4dce933de"; -"c230ed39-df7d-47dc-b5f5-a30e54a60053" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "c230ed39-df7d-47dc-b5f5-a30e54a60053"; -"2958eb51-9948-4750-9f94-18df6c505a70" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "2958eb51-9948-4750-9f94-18df6c505a70"; -"9f499f30-73bb-480e-a39f-b587d90426f5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2f82702d-34c4-46cd-b7f9-4b2e2ca0635e" -> "9f499f30-73bb-480e-a39f-b587d90426f5"; -"6be54bb0-915e-4eb6-8a25-c349e6b6931c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "6be54bb0-915e-4eb6-8a25-c349e6b6931c"; -"a97dea86-290b-4b81-bae0-0734085e47c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "a97dea86-290b-4b81-bae0-0734085e47c3"; -"f557d0f3-df7e-4b26-8143-f90fd5606c59" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"9f499f30-73bb-480e-a39f-b587d90426f5" -> "f557d0f3-df7e-4b26-8143-f90fd5606c59"; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"94af08c0-5d38-4f1d-990f-2e4602df2554" -> "56db291e-98df-4d96-82ff-0ce1151d9e3f"; -"9b366298-aa3d-4b67-886f-d3b6921b5f93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "9b366298-aa3d-4b67-886f-d3b6921b5f93"; -"015369b8-b257-4452-9059-237b57a2d15d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "015369b8-b257-4452-9059-237b57a2d15d"; -"c52b0601-dda3-479b-8694-0ec10abc776d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "c52b0601-dda3-479b-8694-0ec10abc776d"; -"44f3ea46-8af6-483b-9120-8ac48e0235fc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; -"56db291e-98df-4d96-82ff-0ce1151d9e3f" -> "44f3ea46-8af6-483b-9120-8ac48e0235fc"; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"87233bdc-4529-4173-ab2c-4fc9c9a72c0a" -> "0395eea3-0e86-482d-bb5b-2e7c14153c48"; -"c1eb1bc7-cf06-4b3a-93dd-bfb636beb887" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "c1eb1bc7-cf06-4b3a-93dd-bfb636beb887"; -"afa4a407-c318-474e-b873-9a0cb468041d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "afa4a407-c318-474e-b873-9a0cb468041d"; -"10a2e40f-810b-4c9e-b737-4242459e7330" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"0395eea3-0e86-482d-bb5b-2e7c14153c48" -> "10a2e40f-810b-4c9e-b737-4242459e7330"; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"43623d97-bc75-4f0a-b2db-d164bad8e2be" -> "16d0bb61-c6dd-4aff-b253-23eadb38f42d"; -"a66afc4c-1c4d-43a1-9365-18a072604ecc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "a66afc4c-1c4d-43a1-9365-18a072604ecc"; -"448c08bc-a093-4b82-b818-2454d660c4ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "448c08bc-a093-4b82-b818-2454d660c4ef"; -"e15cd32b-0302-49db-bb70-92a5e04d762e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"16d0bb61-c6dd-4aff-b253-23eadb38f42d" -> "e15cd32b-0302-49db-bb70-92a5e04d762e"; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4224d467-afe3-425d-8a83-07ac80640952" -> "733bf35b-5e4a-47e7-8ed0-f3725793ff40"; -"c869b2e5-0248-4fc2-baf6-76a216e7facb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "c869b2e5-0248-4fc2-baf6-76a216e7facb"; -"1fe9a706-4d65-4be2-aee1-ae50d9b69021" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "1fe9a706-4d65-4be2-aee1-ae50d9b69021"; -"c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926"; -"39846621-25aa-4670-8867-127115cc2b63" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"733bf35b-5e4a-47e7-8ed0-f3725793ff40" -> "39846621-25aa-4670-8867-127115cc2b63"; -"68460c52-faf1-4213-b3b9-87ad0b40c757" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d4e6522e-6461-4e45-9d8f-d599937d1687" -> "68460c52-faf1-4213-b3b9-87ad0b40c757"; -"5c80761b-44c3-44ae-8a43-b6dc9af5d05b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "5c80761b-44c3-44ae-8a43-b6dc9af5d05b"; -"ddf0ae84-86f2-41c4-98a8-1f2a7e761353" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "ddf0ae84-86f2-41c4-98a8-1f2a7e761353"; -"3f97f67c-7668-4ccb-9df9-29c8062bed8d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"68460c52-faf1-4213-b3b9-87ad0b40c757" -> "3f97f67c-7668-4ccb-9df9-29c8062bed8d"; -"4a2983d3-f81a-4411-985b-6cc021e16708" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"daa4024d-cc1b-4a5e-89c2-8f28691d4c60" -> "4a2983d3-f81a-4411-985b-6cc021e16708"; -"0f32ff49-f822-40ea-9212-d74c02e0f257" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"4a2983d3-f81a-4411-985b-6cc021e16708" -> "0f32ff49-f822-40ea-9212-d74c02e0f257"; -"f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"4a2983d3-f81a-4411-985b-6cc021e16708" -> "f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4"; -"d7b06e04-36aa-41a5-b9ed-c614c54b6616" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"4a2983d3-f81a-4411-985b-6cc021e16708" -> "d7b06e04-36aa-41a5-b9ed-c614c54b6616"; -"620050d1-cbcb-4043-910b-83d81ba1b464" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"49cbd1fa-5a43-4ac5-bd7d-2dda8ef9b3e5" -> "620050d1-cbcb-4043-910b-83d81ba1b464"; -"b53761c8-e407-4a85-bb8c-5a1b8750a82d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"620050d1-cbcb-4043-910b-83d81ba1b464" -> "b53761c8-e407-4a85-bb8c-5a1b8750a82d"; -"b0ae358c-70ee-4ee5-a9f8-95d86aeac323" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"620050d1-cbcb-4043-910b-83d81ba1b464" -> "b0ae358c-70ee-4ee5-a9f8-95d86aeac323"; -"642ec862-ca0e-4eed-86a9-5aa9a0d3892f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"620050d1-cbcb-4043-910b-83d81ba1b464" -> "642ec862-ca0e-4eed-86a9-5aa9a0d3892f"; -"50c6a4eb-abfc-4f98-af3c-662132ed5c13" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"620050d1-cbcb-4043-910b-83d81ba1b464" -> "50c6a4eb-abfc-4f98-af3c-662132ed5c13"; -"37ac1e7b-9639-4a51-a2b0-ff0cf575b569" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"84d3b0e7-e084-4f4c-ae40-aa66d05112be" -> "37ac1e7b-9639-4a51-a2b0-ff0cf575b569"; -"0a30e9fb-c1cd-4f01-9b3f-e76ef155be41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"37ac1e7b-9639-4a51-a2b0-ff0cf575b569" -> "0a30e9fb-c1cd-4f01-9b3f-e76ef155be41"; -"f1196bde-83f5-4d7c-b386-29eb9a28d9d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"37ac1e7b-9639-4a51-a2b0-ff0cf575b569" -> "f1196bde-83f5-4d7c-b386-29eb9a28d9d7"; -"c57b08f0-95ef-4c62-8550-1dd0b919071e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"37ac1e7b-9639-4a51-a2b0-ff0cf575b569" -> "c57b08f0-95ef-4c62-8550-1dd0b919071e"; -"6ab69435-8538-48cc-93fa-b19e51b432f6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"37ac1e7b-9639-4a51-a2b0-ff0cf575b569" -> "6ab69435-8538-48cc-93fa-b19e51b432f6"; -"5f1cb1d9-8a61-4566-9e73-aa8c26a05d42" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2585035d-6cb3-40b9-8bec-f03ac5fd4b0c" -> "5f1cb1d9-8a61-4566-9e73-aa8c26a05d42"; -"76141062-e706-4b6c-9978-a9b11ba76cf8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"5f1cb1d9-8a61-4566-9e73-aa8c26a05d42" -> "76141062-e706-4b6c-9978-a9b11ba76cf8"; -"6724b3dc-9fd3-428c-a410-9597423bbce0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"5f1cb1d9-8a61-4566-9e73-aa8c26a05d42" -> "6724b3dc-9fd3-428c-a410-9597423bbce0"; -"8b2eecf9-acd6-42be-ab03-42da49e8dcfb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5f1cb1d9-8a61-4566-9e73-aa8c26a05d42" -> "8b2eecf9-acd6-42be-ab03-42da49e8dcfb"; 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fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7aa691bb-0c63-4266-93f9-3a43e1cf5d29" -> "2f81158d-4fcb-48de-8134-c167c0d213ca"; -"2c8ca16a-1fb5-495b-baa0-915913a647c7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"7aa691bb-0c63-4266-93f9-3a43e1cf5d29" -> "2c8ca16a-1fb5-495b-baa0-915913a647c7"; -"2c4072d2-b593-436c-bba9-ca83ddfb28d8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"7ae8d630-722b-47c7-8b03-13e8322231ed" -> "2c4072d2-b593-436c-bba9-ca83ddfb28d8"; -"689f9452-13d5-431e-935c-1cddae840866" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"2c4072d2-b593-436c-bba9-ca83ddfb28d8" -> "689f9452-13d5-431e-935c-1cddae840866"; -"69d9021e-450e-485a-80d2-e63f7eb71d64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"2c4072d2-b593-436c-bba9-ca83ddfb28d8" -> "69d9021e-450e-485a-80d2-e63f7eb71d64"; -"3c964f32-2f16-4675-95d5-ca2f82ee8180" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"2c4072d2-b593-436c-bba9-ca83ddfb28d8" -> "3c964f32-2f16-4675-95d5-ca2f82ee8180"; -"8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9854a7d1-13d2-4a18-9957-7e7a098e4d64" -> "8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35"; -"1f2d2bb4-0159-49f6-b94c-32375c34016f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35" -> "1f2d2bb4-0159-49f6-b94c-32375c34016f"; -"6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35" -> "6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e"; -"66c8cc13-a56b-4d31-9e05-d2bc680fe3a4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35" -> "66c8cc13-a56b-4d31-9e05-d2bc680fe3a4"; -"738dc8e3-48c4-4822-8271-854f4beb546b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a630c6f1-fb18-47f6-8939-d0c35e9591fb" -> "738dc8e3-48c4-4822-8271-854f4beb546b"; -"54bbb936-6e7e-45da-bc73-a0126147371c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"738dc8e3-48c4-4822-8271-854f4beb546b" -> "54bbb936-6e7e-45da-bc73-a0126147371c"; -"b3359d76-135d-49a1-a4fc-23758e9c20ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"738dc8e3-48c4-4822-8271-854f4beb546b" -> "b3359d76-135d-49a1-a4fc-23758e9c20ed"; -"a9e7fd6e-89a5-4a17-a6db-6260025a5f0c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; -"738dc8e3-48c4-4822-8271-854f4beb546b" -> "a9e7fd6e-89a5-4a17-a6db-6260025a5f0c"; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e35245fd-9dec-4330-ac85-b7cab237cb10" -> "0183c1db-974c-4bb1-93ec-5eb2f9857390"; -"cc36e32b-a9e0-454d-9640-8060f831a762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "cc36e32b-a9e0-454d-9640-8060f831a762"; -"30c89365-7725-46ab-a962-b5bec5900b29" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "30c89365-7725-46ab-a962-b5bec5900b29"; -"0541a12a-5038-4e9e-b172-b301ed795e09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "0541a12a-5038-4e9e-b172-b301ed795e09"; -"764584e3-f242-4c4c-b5d9-e0c8020523a1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"0183c1db-974c-4bb1-93ec-5eb2f9857390" -> "764584e3-f242-4c4c-b5d9-e0c8020523a1"; -"1201d711-dcf0-4ab2-a385-788d3e998632" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"eab88873-b314-4aaf-92ba-a14c6b261333" -> "1201d711-dcf0-4ab2-a385-788d3e998632"; -"52d77e55-5352-4720-a1c7-e39cd2164a6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"1201d711-dcf0-4ab2-a385-788d3e998632" -> "52d77e55-5352-4720-a1c7-e39cd2164a6d"; -"99e90a62-1a09-409a-8f10-7f4351aae38d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"1201d711-dcf0-4ab2-a385-788d3e998632" -> "99e90a62-1a09-409a-8f10-7f4351aae38d"; -"6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"1201d711-dcf0-4ab2-a385-788d3e998632" -> "6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19"; -"c4110df5-4b52-45de-aefd-32441be0f38a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4da23d52-854e-4ac6-9603-40e1b925c74a" -> "c4110df5-4b52-45de-aefd-32441be0f38a"; -"a40ac1cd-bf4a-4697-a57b-de9aac2497b9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"c4110df5-4b52-45de-aefd-32441be0f38a" -> "a40ac1cd-bf4a-4697-a57b-de9aac2497b9"; -"7adc49aa-d97b-4547-9515-0c386801d3e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c4110df5-4b52-45de-aefd-32441be0f38a" -> "7adc49aa-d97b-4547-9515-0c386801d3e9"; -"ee45b069-e40e-4993-b892-00355984b939" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"c4110df5-4b52-45de-aefd-32441be0f38a" -> "ee45b069-e40e-4993-b892-00355984b939"; -"e471c31a-f83f-43af-824c-47a154b24485" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; -"c4110df5-4b52-45de-aefd-32441be0f38a" -> "e471c31a-f83f-43af-824c-47a154b24485"; -"51362d97-d3fc-412a-b305-acdb608d2779" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"b3b1e9a1-1da6-43cb-99d7-884e7c6a5fb0" -> "51362d97-d3fc-412a-b305-acdb608d2779"; -"98caa188-0f5a-4a3d-9711-331403998b5d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "98caa188-0f5a-4a3d-9711-331403998b5d"; -"e8eaea33-c8b8-42d6-96c8-46043d3b4c89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "e8eaea33-c8b8-42d6-96c8-46043d3b4c89"; -"bee4b51a-4377-4526-ab9c-01e78f041974" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "bee4b51a-4377-4526-ab9c-01e78f041974"; -"0aabe889-857d-4736-85d7-44ed700407b3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable)", shape=box, style=filled]; -"51362d97-d3fc-412a-b305-acdb608d2779" -> "0aabe889-857d-4736-85d7-44ed700407b3"; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e680d8b9-3c9e-4a0d-8a62-4ef521a289f7" -> "62848b20-c257-4ad8-99a6-b64ff83dee7b"; -"fb74a922-5cda-4f0f-a676-d18d4b4c5499" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "fb74a922-5cda-4f0f-a676-d18d4b4c5499"; -"ed00b51c-9bfb-4fba-9e5c-b15f0ef82671" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "ed00b51c-9bfb-4fba-9e5c-b15f0ef82671"; -"a17e7daa-80d8-437b-9904-3b1a9da510f5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; -"62848b20-c257-4ad8-99a6-b64ff83dee7b" -> "a17e7daa-80d8-437b-9904-3b1a9da510f5"; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"637c8817-f35b-4ac7-9fc6-b5ed12b5c45e" -> "3fdb8f04-11f0-4603-bb21-39bacbb4ec17"; -"8b5b19d6-0f6d-485d-a6e3-acf861582841" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" -> "8b5b19d6-0f6d-485d-a6e3-acf861582841"; -"0d543dd4-1331-4bf0-85bb-7e9ab977b9a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" -> "0d543dd4-1331-4bf0-85bb-7e9ab977b9a1"; -"75ecd76a-f7f7-4a8d-ae54-8bd76c14515e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" -> "75ecd76a-f7f7-4a8d-ae54-8bd76c14515e"; -"0acf4047-763e-4d76-bf69-3128c51b3883" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"3fdb8f04-11f0-4603-bb21-39bacbb4ec17" -> "0acf4047-763e-4d76-bf69-3128c51b3883"; -"20861f5b-9d14-46fd-b3fc-2b684b75fd29" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"d167ca09-032a-48f0-89d8-23ccc311818c" -> "b53b5e45-b474-4fbb-9ff6-bb403b23d3c5"; -"f08e1df5-585f-4c1b-a445-754acdce1b6b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"b53b5e45-b474-4fbb-9ff6-bb403b23d3c5" -> "f08e1df5-585f-4c1b-a445-754acdce1b6b"; -"2b366aa6-23f3-4cbe-9291-8e6bcc001e91" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"b53b5e45-b474-4fbb-9ff6-bb403b23d3c5" -> "2b366aa6-23f3-4cbe-9291-8e6bcc001e91"; -"da3f4bd1-6072-4ac7-b162-d7c9eb948570" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"b53b5e45-b474-4fbb-9ff6-bb403b23d3c5" -> "da3f4bd1-6072-4ac7-b162-d7c9eb948570"; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f02bbf5d-d352-4640-9076-c62f4f0fff1a" -> "f47b8690-ff5f-4cad-afe6-5ae7d5a3d925"; -"d43f44e8-87a3-4206-bd1a-cb7c05c2024c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "d43f44e8-87a3-4206-bd1a-cb7c05c2024c"; -"92598cc5-c10c-42dd-91e1-e98b8139d9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "92598cc5-c10c-42dd-91e1-e98b8139d9d4"; -"0f702082-b16b-4006-ab92-e64b966dcb44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"f47b8690-ff5f-4cad-afe6-5ae7d5a3d925" -> "0f702082-b16b-4006-ab92-e64b966dcb44"; -"f4c91ee4-fad5-4eca-87e1-76bd556df233" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; 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label="At(Robot,Table2)", shape=ellipse, style=filled]; -"5cec4309-f466-470c-a956-bedec0203e0e" -> "922bbf9a-7640-453f-b2d1-ad8854b6ba7f"; -"3f2f961f-ed99-4efa-b3d0-c96a67045623" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"5cec4309-f466-470c-a956-bedec0203e0e" -> "3f2f961f-ed99-4efa-b3d0-c96a67045623"; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"11bb2765-fafb-452f-8667-dffb225daa9c" -> "363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6"; -"84871e91-93af-4dc6-9633-149e0a2a9c0c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6" -> "84871e91-93af-4dc6-9633-149e0a2a9c0c"; -"f458ed65-6c31-4108-abfe-1e638245f767" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; 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"3da65e43-c905-4523-862b-fd313780f660"; -"2eb86c0f-bb9e-4577-9470-f819263be0c6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"882b0365-0c1d-4a20-831a-07c5facf6024" -> "2eb86c0f-bb9e-4577-9470-f819263be0c6"; -"b78235fd-b312-4f3c-b2db-522346d6334b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ae241c9-0d7e-4330-8dfa-7e3659869c4e" -> "b78235fd-b312-4f3c-b2db-522346d6334b"; -"24f347cd-a573-43b8-8aeb-fba3821f19c9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "24f347cd-a573-43b8-8aeb-fba3821f19c9"; -"af0acce2-0523-4715-a7f0-5ea33d64baaf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "af0acce2-0523-4715-a7f0-5ea33d64baaf"; -"7446585c-7884-4b51-9123-a4687db8ae2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "7446585c-7884-4b51-9123-a4687db8ae2c"; -"300db2e4-2b2d-4973-a2e5-68c6fca3342d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; -"b78235fd-b312-4f3c-b2db-522346d6334b" -> "300db2e4-2b2d-4973-a2e5-68c6fca3342d"; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"baf1177f-3f68-4597-a8be-73fab71fe07c" -> "44b5bd4e-b292-4f35-a08c-62c6c8ee6afb"; -"9dc377a0-802a-4938-9557-d2484887e2c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "9dc377a0-802a-4938-9557-d2484887e2c8"; -"eed4c344-508b-4271-a3f3-b65659894c2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "eed4c344-508b-4271-a3f3-b65659894c2a"; -"236d682d-2465-4ad9-87d2-efcaa2174de8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "236d682d-2465-4ad9-87d2-efcaa2174de8"; -"8c0a1060-ace9-421c-a756-03855c0e69b3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"44b5bd4e-b292-4f35-a08c-62c6c8ee6afb" -> "8c0a1060-ace9-421c-a756-03855c0e69b3"; -"3de1c2a4-bec7-465c-a7ab-d34169f30c88" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"243374c3-6aab-41ca-a2bb-a155eed84368" -> "3de1c2a4-bec7-465c-a7ab-d34169f30c88"; -"44d21d5b-9395-44d8-9767-838704c41f3c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"3de1c2a4-bec7-465c-a7ab-d34169f30c88" -> "44d21d5b-9395-44d8-9767-838704c41f3c"; -"a5fdd66f-1934-43ba-be76-ce75f456f80b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"3de1c2a4-bec7-465c-a7ab-d34169f30c88" -> "a5fdd66f-1934-43ba-be76-ce75f456f80b"; -"b3c5bbe0-0730-4d71-83c3-d433d1967bc8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; -"3de1c2a4-bec7-465c-a7ab-d34169f30c88" -> "b3c5bbe0-0730-4d71-83c3-d433d1967bc8"; -"c4758168-fcec-4f27-af96-33187081f78f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1003765f-f36b-4327-bef7-3c6124abe494" -> "c4758168-fcec-4f27-af96-33187081f78f"; -"e0a0db31-5c35-4a84-b31b-1edf381ae1c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "e0a0db31-5c35-4a84-b31b-1edf381ae1c6"; -"756cf405-74c3-40bf-8b93-17ce64f5a837" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "756cf405-74c3-40bf-8b93-17ce64f5a837"; -"e878b930-8bfb-4953-a63b-a9237815f18a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled]; -"c4758168-fcec-4f27-af96-33187081f78f" -> "e878b930-8bfb-4953-a63b-a9237815f18a"; -"f285fd67-1400-4727-9581-5a861e886c7b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"18986915-a3c3-44fb-ba64-6b3c6fb0701d" -> "f285fd67-1400-4727-9581-5a861e886c7b"; -"a15c1760-a84c-404f-99cd-92f1f80468af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "a15c1760-a84c-404f-99cd-92f1f80468af"; -"3617af51-2e8c-4d2e-91e5-89431bccf003" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "3617af51-2e8c-4d2e-91e5-89431bccf003"; -"72d2f650-b16f-44ff-8b5f-793dd7d1094d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable)", shape=box, style=filled]; -"f285fd67-1400-4727-9581-5a861e886c7b" -> "72d2f650-b16f-44ff-8b5f-793dd7d1094d"; -"8d953b09-a3e1-4896-b2de-305ed11747c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"c0e15c1f-0cb4-4458-9e5f-3dd0e251f1fe" -> "8d953b09-a3e1-4896-b2de-305ed11747c4"; -"89492c29-fbf6-44ba-a996-06db94f78073" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"363a8a50-ecf1-4ae8-9853-98761c6f0710" -> "89492c29-fbf6-44ba-a996-06db94f78073"; -"ba251089-126c-47f7-ad69-34918cadcac9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "ba251089-126c-47f7-ad69-34918cadcac9"; -"9c1612a8-8571-44e1-92da-d9ffeb32b8c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "9c1612a8-8571-44e1-92da-d9ffeb32b8c5"; -"7b93fa6e-339f-45c5-b78f-7d30c196824f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"89492c29-fbf6-44ba-a996-06db94f78073" -> "7b93fa6e-339f-45c5-b78f-7d30c196824f"; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"78b5fe64-0f4a-4a9c-aacf-3c960917a552" -> "027384f4-79f9-4882-8b91-0ed3a677cc5a"; -"0387e629-3b69-4b83-bbdb-29c46476dc58" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" -> "0387e629-3b69-4b83-bbdb-29c46476dc58"; -"cf0fe3c7-a17f-4a99-bd47-0e7964fede6b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" -> "cf0fe3c7-a17f-4a99-bd47-0e7964fede6b"; -"5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; -"027384f4-79f9-4882-8b91-0ed3a677cc5a" -> "5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0"; -"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"92f080b0-ac31-4421-968a-9b4088c0910f" -> "5db03d6c-bb8c-4c4e-a851-1b880d2304ec"; -"24353119-6160-4567-ad79-d841faa2e7da" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" -> "24353119-6160-4567-ad79-d841faa2e7da"; -"32cf3641-33af-4478-8557-e24ac074977c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" -> "32cf3641-33af-4478-8557-e24ac074977c"; -"67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; -"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" -> "67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322"; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e2526972-9479-4ff1-842c-4934730759ee" -> "3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe"; -"98b367c0-2ad3-4c3b-9e43-548a7b324274" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "98b367c0-2ad3-4c3b-9e43-548a7b324274"; -"5d50943c-e92c-4fb2-8777-12b0c363afb0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "5d50943c-e92c-4fb2-8777-12b0c363afb0"; -"3ff61034-f0f0-4b3d-a8cf-6650e4197374" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; -"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "3ff61034-f0f0-4b3d-a8cf-6650e4197374"; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e966e843-c2c1-42a2-9467-434be3dc2079" -> "3c001919-c566-45d8-8a3e-ece15d47ff4e"; -"aa79fb13-82d1-4cff-ae00-7372a8d8512c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "aa79fb13-82d1-4cff-ae00-7372a8d8512c"; -"941718c7-c6a7-4433-83be-28138785ed12" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "941718c7-c6a7-4433-83be-28138785ed12"; -"be6f0429-1347-4e55-8400-3ae0a2625869" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; -"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "be6f0429-1347-4e55-8400-3ae0a2625869"; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"92bc4b9e-cf77-4744-8947-87a8b252cb8f" -> "60b60bf9-6bef-4cd0-8b2e-4dff52e21df9"; -"97714157-6033-471b-b0ec-3ab685c8fbf7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "97714157-6033-471b-b0ec-3ab685c8fbf7"; -"e53a85c8-fc0a-44be-a0c6-31d6fcfad294" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "e53a85c8-fc0a-44be-a0c6-31d6fcfad294"; -"3ffab793-f8bb-4c86-ab1a-474549d5fc79" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "3ffab793-f8bb-4c86-ab1a-474549d5fc79"; -"f140a3d3-aee2-49bf-b202-cef758185d3f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3e129f78-f55f-4e80-85a1-158623b1db63" -> "f140a3d3-aee2-49bf-b202-cef758185d3f"; -"d1111e99-05bd-4c42-b322-12719d5bf47b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"f140a3d3-aee2-49bf-b202-cef758185d3f" -> "d1111e99-05bd-4c42-b322-12719d5bf47b"; -"c6d9397f-368e-4408-8ee7-df270aca61bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f140a3d3-aee2-49bf-b202-cef758185d3f" -> "c6d9397f-368e-4408-8ee7-df270aca61bd"; -"51e89b6c-a00c-4d9e-b342-a829a5ad779f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"f140a3d3-aee2-49bf-b202-cef758185d3f" -> "51e89b6c-a00c-4d9e-b342-a829a5ad779f"; -"7fcdcdfc-6d56-4e61-a511-b28a71ce315c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"a5e8af65-f15b-4caf-8479-120456da60f3" -> "7fcdcdfc-6d56-4e61-a511-b28a71ce315c"; -"991bae5a-85b2-48ff-8a55-402993a86e79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"7fcdcdfc-6d56-4e61-a511-b28a71ce315c" -> "991bae5a-85b2-48ff-8a55-402993a86e79"; -"7fa53882-c109-4384-ac3a-4977104daa52" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"7fcdcdfc-6d56-4e61-a511-b28a71ce315c" -> "7fa53882-c109-4384-ac3a-4977104daa52"; -"1262beb1-e241-45d7-8ede-c4abe1453363" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; -"7fcdcdfc-6d56-4e61-a511-b28a71ce315c" -> "1262beb1-e241-45d7-8ede-c4abe1453363"; -"395d71df-9e65-458a-acf8-f1250b115233" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2f2e37eb-0f14-46a2-862d-7e7887ee36f5" -> "395d71df-9e65-458a-acf8-f1250b115233"; -"73e377fd-8ef7-44f8-bbbd-fe3801a03d9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"395d71df-9e65-458a-acf8-f1250b115233" -> "73e377fd-8ef7-44f8-bbbd-fe3801a03d9b"; -"d0015d60-f323-4e52-a228-9a6c40f9195b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, 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label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"d97bfc33-4579-4024-a3ca-8048e2682ee2" -> "6ed85a43-0121-4069-82a1-66b725290360"; -"03ab89f4-73f6-493c-ad46-e6adb568ee80" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ebad5a2f-31cc-49f7-b5b3-64a4c32099d3" -> "03ab89f4-73f6-493c-ad46-e6adb568ee80"; -"4db7eafb-decf-446b-8ece-c5ccf41dfdd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"03ab89f4-73f6-493c-ad46-e6adb568ee80" -> "4db7eafb-decf-446b-8ece-c5ccf41dfdd9"; -"c52f1ba4-f3b3-4758-af21-93d23a8d1aab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"03ab89f4-73f6-493c-ad46-e6adb568ee80" -> "c52f1ba4-f3b3-4758-af21-93d23a8d1aab"; -"92a44a86-e7a4-47fb-818d-3ae0c26cc875" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e5e13351-ce74-4939-879f-2f92277efc49" -> "5573ec3f-e72e-44a8-a0cb-2657d9724697"; -"60bd1030-b480-41c0-aeca-0eff5cc3bfb8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"5573ec3f-e72e-44a8-a0cb-2657d9724697" -> "60bd1030-b480-41c0-aeca-0eff5cc3bfb8"; -"74489635-5fbd-4d09-9b88-4dcb590171ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"5573ec3f-e72e-44a8-a0cb-2657d9724697" -> "74489635-5fbd-4d09-9b88-4dcb590171ed"; -"ee1de8dc-7d6e-40b5-af27-e16af6062aac" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"5573ec3f-e72e-44a8-a0cb-2657d9724697" -> "ee1de8dc-7d6e-40b5-af27-e16af6062aac"; -"56301bba-19f2-451c-be24-ea71fe3db4d5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"9935ba8d-6aa1-4173-9d1d-139838438fcd" -> "56301bba-19f2-451c-be24-ea71fe3db4d5"; -"b2ece267-7650-426d-aa37-4a3ac310af14" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"56301bba-19f2-451c-be24-ea71fe3db4d5" -> "b2ece267-7650-426d-aa37-4a3ac310af14"; -"557a71f3-f40b-4de2-87ae-50b69b166224" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"56301bba-19f2-451c-be24-ea71fe3db4d5" -> "557a71f3-f40b-4de2-87ae-50b69b166224"; -"4bdfb484-479a-4a76-a583-dd0ad0ec301b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"56301bba-19f2-451c-be24-ea71fe3db4d5" -> "4bdfb484-479a-4a76-a583-dd0ad0ec301b"; -"bd09cbfe-9e92-4577-a319-8016df328dbc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6c886d78-0228-41b5-aa69-665bc3244b46" -> 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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]; 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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]; 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[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, 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-9d85da11-9565-437e-b88c-d86bab73887a->08f160b8-20de-480b-9236-b66121e6dce2 - - - - - -f73ea383-7619-464b-9394-e3c9a618a559 - -PutDown(Softdrink,BrightTable) - - - -9d85da11-9565-437e-b88c-d86bab73887a->f73ea383-7619-464b-9394-e3c9a618a559 - - - - - -f5627266-d96c-4669-93b9-be258441a1ad - -At(Robot,WaterTable) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->f5627266-d96c-4669-93b9-be258441a1ad - - - - - -15670bd3-4a8e-4a9e-afdd-e732ec602959 - -Holding(Coffee) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->15670bd3-4a8e-4a9e-afdd-e732ec602959 - - - - - -da5fe5f3-6d23-4c1f-beec-cba7d3164266 - -PutDown(Coffee,WaterTable) - - - -ded7ee1c-6186-4f48-a8a0-bb43c3c2a857->da5fe5f3-6d23-4c1f-beec-cba7d3164266 - - - - - -bbc29cc6-20b2-4193-b1dd-7a32f39050e9 - -Holding(NFCJuice) - - - -ce69e82a-5c3b-48db-966c-ec177602bae0->bbc29cc6-20b2-4193-b1dd-7a32f39050e9 - - - - - -c4eca1d7-a2f9-4c89-8144-ee2ff37df5ba - -PutDown(NFCJuice,Bar) - - - 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-f0a3fd38-7073-49f7-ba1f-385e18a22bf5->0ef2be89-71d2-47bc-b8ec-2e7bc50ec5c4 - - - - - -1ea5269d-2bfa-4407-a59b-c30774437fbd - -Holding(Dessert) - - - -f0a3fd38-7073-49f7-ba1f-385e18a22bf5->1ea5269d-2bfa-4407-a59b-c30774437fbd - - - - - -08d0835b-8eee-400c-83de-db2e9494440d - -PutDown(Dessert,WaterTable) - - - -f0a3fd38-7073-49f7-ba1f-385e18a22bf5->08d0835b-8eee-400c-83de-db2e9494440d - - - - - -030df637-c783-4a10-9185-b6b969f5ea8c - -At(Robot,Bar) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->030df637-c783-4a10-9185-b6b969f5ea8c - - - - - -cc2987ee-ed16-4131-943f-d6ac0e4a82b7 - -Holding(Dessert) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->cc2987ee-ed16-4131-943f-d6ac0e4a82b7 - - - - - -5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6 - -PutDown(Dessert,Bar) - - - -90d8126a-a304-4b5b-a923-ff3392ad2822->5fd2158f-66b0-4a33-bbd5-d7f65ac2b2e6 - - - - - -59cf5c8e-eb75-49f2-8577-fdfa4f41add5 - -Holding(SpringWater) - - - -5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c->59cf5c8e-eb75-49f2-8577-fdfa4f41add5 - - - - - -5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0 - -PutDown(SpringWater,Bar) - - - -5d60a29b-f2e1-4f86-9dcb-14c2aea6f28c->5b0de631-0c35-4c0d-83a8-b4dd1e03cbc0 - - - - - -fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2 - -At(Robot,BrightTable6) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->fb9773d9-7ee0-47f1-ab81-64bd75fd0ef2 - - - - - -c34d1128-1f88-449d-b313-6a1c9e6e5e80 - -Holding(SpringWater) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->c34d1128-1f88-449d-b313-6a1c9e6e5e80 - - - - - -068c9e38-5227-48db-8296-2654c69e49ba - -PutDown(SpringWater,BrightTable) - - - -6dd6157e-d4ea-4770-acf9-e7060c1df669->068c9e38-5227-48db-8296-2654c69e49ba - - - - - -1b091b64-58ef-46a2-a252-0bf441aef507 - -At(Robot,Bar) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->1b091b64-58ef-46a2-a252-0bf441aef507 - - - - - -7219e198-b69a-4fe7-957d-7164945e9d58 - -Holding(Dessert) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->7219e198-b69a-4fe7-957d-7164945e9d58 - - - - - -516c552f-1a5c-47a3-a2cd-a3008a417817 - -PutDown(Dessert,Bar) - - - -ee2de5a6-a5f4-47cc-9219-73e5acca3839->516c552f-1a5c-47a3-a2cd-a3008a417817 - - - - - -35135e9d-aef5-46df-ba0b-0514ac1af341 - -Holding(Coffee) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->35135e9d-aef5-46df-ba0b-0514ac1af341 - - - - - -61e6593c-573f-4dde-a4fe-abf2848f4914 - -At(Robot,Table2) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->61e6593c-573f-4dde-a4fe-abf2848f4914 - - - - - -9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2 - -PutDown(Coffee,Table) - - - -a915c4d2-1caf-4f1a-a1a5-eb3137cb6403->9bcacdb1-5a73-4e45-a7b1-ac5cc2931ef2 - - - - - -4eda9db4-70bc-4b20-a5ed-110ad74d8c64 - -Holding(VacuumCup) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->4eda9db4-70bc-4b20-a5ed-110ad74d8c64 - - - - - -b1033a4c-90c2-4eb9-98bb-f84b08613d02 - -At(Robot,Table3) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->b1033a4c-90c2-4eb9-98bb-f84b08613d02 - - - - - -cc9b0fc3-e0d4-44eb-9a88-5537b048fa29 - -PutDown(VacuumCup,Table) - - - -719569ea-8870-4a87-8bd8-28eeae2db12d->cc9b0fc3-e0d4-44eb-9a88-5537b048fa29 - - - - - -3b59f776-30ce-489e-b723-179344b8b5e5 - -Holding(Yogurt) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->3b59f776-30ce-489e-b723-179344b8b5e5 - - - - - -f088619c-7a18-4a50-87f8-a60abe2c58cd - -At(Robot,Table2) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->f088619c-7a18-4a50-87f8-a60abe2c58cd - - - - - -657dc27a-b44c-4940-b904-e46926e3db9f - -PutDown(Yogurt,Table) - - - -07a942b0-d8d0-41f3-bf04-f0c506ef90f5->657dc27a-b44c-4940-b904-e46926e3db9f - - - - - -9cca3ce0-e527-486f-a66e-f09d9b64a42a - -Holding(ADMilk) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->9cca3ce0-e527-486f-a66e-f09d9b64a42a - - - - - -cfcfe867-8611-4701-a0e0-297bc54131e6 - -At(Robot,Bar) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->cfcfe867-8611-4701-a0e0-297bc54131e6 - - - - - -179f6a23-8805-4039-b51a-89d4c915fac9 - -PutDown(ADMilk,Bar) - - - -293f6e2d-378c-4060-8770-c6ad0eb9a5b6->179f6a23-8805-4039-b51a-89d4c915fac9 - - - - - -6d3417d9-e755-42d6-9e7d-88733fffe19a - -At(Robot,BrightTable6) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->6d3417d9-e755-42d6-9e7d-88733fffe19a - - - - - -a2c30457-2c24-496d-9ffe-d826b860eb11 - -Holding(Water) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->a2c30457-2c24-496d-9ffe-d826b860eb11 - - - - - -1f3a7ef4-3bc9-472d-9505-6d34a647d74c - -PutDown(Water,BrightTable) - - - -f2f5b020-a6ff-4f32-835d-a429b39f8b86->1f3a7ef4-3bc9-472d-9505-6d34a647d74c - - - - - -d782f876-319b-4fa5-949a-b34bd84ea5d1 - -Holding(Dessert) - - - -107e4167-8879-4b30-948c-3c622bc506f6->d782f876-319b-4fa5-949a-b34bd84ea5d1 - - - - - -5297618c-5248-4d0a-abe1-9647b8548439 - -At(Robot,Table2) - - - -107e4167-8879-4b30-948c-3c622bc506f6->5297618c-5248-4d0a-abe1-9647b8548439 - - - - - -4cbaca17-c610-489a-bcc0-00e620e1b0c9 - -PutDown(Dessert,Table) - - - -107e4167-8879-4b30-948c-3c622bc506f6->4cbaca17-c610-489a-bcc0-00e620e1b0c9 - - - - - -698a89b1-6ddb-4cde-8434-8fb5d60aeca5 - -Holding(Milk) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->698a89b1-6ddb-4cde-8434-8fb5d60aeca5 - - - - - -2fcfe3f0-1959-483d-b129-e23d429cd9eb - -At(Robot,WaterTable) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->2fcfe3f0-1959-483d-b129-e23d429cd9eb - - - - - -0dcb2f43-c240-4320-8937-850b5dd3dd82 - -PutDown(Milk,WaterTable) - - - -db441cec-2dc9-4706-9444-0f99751c73bc->0dcb2f43-c240-4320-8937-850b5dd3dd82 - - - - - -77e6ae5a-b6c3-486f-96b0-0c895f51cbd2 - -Holding(BottledDrink) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->77e6ae5a-b6c3-486f-96b0-0c895f51cbd2 - - - - - -849851d3-61b3-464f-b5dc-499aeecd0260 - -At(Robot,Table2) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->849851d3-61b3-464f-b5dc-499aeecd0260 - - - - - -cd486532-ca39-4bd4-a7ae-267cfbb5f4fd - -PutDown(BottledDrink,Table) - - - -2a6a2d27-f063-4de6-b244-b90ca23c3c78->cd486532-ca39-4bd4-a7ae-267cfbb5f4fd - - - - - -51bafe6f-8600-4d81-ad69-17fafccfe59c - -Holding(Softdrink) - - - -3cad833d-9229-4d43-97c6-6d718860125c->51bafe6f-8600-4d81-ad69-17fafccfe59c - - - - - -d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492 - -At(Robot,WaterTable) - - - -3cad833d-9229-4d43-97c6-6d718860125c->d5c3f09a-dceb-4fc2-9d84-f7e2c20d4492 - - - - - -83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67 - -PutDown(Softdrink,WaterTable) - - - -3cad833d-9229-4d43-97c6-6d718860125c->83a76c1c-fc62-42f2-9e0f-f3bc60ed1f67 - - - - - -bba488a3-9fad-44bb-94c7-d1f1d02c8e46 - -At(Robot,Table3) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->bba488a3-9fad-44bb-94c7-d1f1d02c8e46 - - - - - -6c9bc359-3bda-430c-8385-69bc1ce6f7d7 - -Holding(SpringWater) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->6c9bc359-3bda-430c-8385-69bc1ce6f7d7 - - - - - -b8e33d4b-c0f0-4ba8-ab74-452190ccdd52 - -PutDown(SpringWater,Table) - - - -f3ee52e0-1ecd-4b69-be9e-a9f35c8739fc->b8e33d4b-c0f0-4ba8-ab74-452190ccdd52 - - - - - -0284ed1b-b681-44da-96ce-09a1255ca6cd - -At(Robot,BrightTable6) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->0284ed1b-b681-44da-96ce-09a1255ca6cd - - - - - -bbf5e382-c3ad-468d-a4f8-f374be01feb5 - -Holding(Yogurt) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->bbf5e382-c3ad-468d-a4f8-f374be01feb5 - - - - - -a2c16372-f6fb-4d86-80ec-236cbabcb9a0 - -PutDown(Yogurt,BrightTable) - - - -7951884c-58df-4bcc-9bbd-8be5c12c90f6->a2c16372-f6fb-4d86-80ec-236cbabcb9a0 - - - - - -31e7ae3f-615e-4736-90d6-566a0a889fd0 - -Holding(NFCJuice) - - - -86314a58-2ccc-4fb7-91d9-73bc3b279053->31e7ae3f-615e-4736-90d6-566a0a889fd0 - - - - - -1a81935f-de2d-40b6-be72-b1e73dc50d3e - -PutDown(NFCJuice,Bar) - - - -86314a58-2ccc-4fb7-91d9-73bc3b279053->1a81935f-de2d-40b6-be72-b1e73dc50d3e - - - - - -2b5d947e-86c7-4793-8589-5b078d23c3ae - -Holding(ADMilk) - - - -cd38cbad-3544-49a6-b04f-ceba780e5105->2b5d947e-86c7-4793-8589-5b078d23c3ae - - - - - -293b1666-f500-4299-a2ee-58624788a5ce - -PutDown(ADMilk,Bar) - - - -cd38cbad-3544-49a6-b04f-ceba780e5105->293b1666-f500-4299-a2ee-58624788a5ce - - - - - -b901f988-aa6b-49a1-a92c-92ca244bef51 - -At(Robot,Bar) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->b901f988-aa6b-49a1-a92c-92ca244bef51 - - - - - -fb91924f-ffda-4973-a837-34943d54e8d8 - -Holding(Milk) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->fb91924f-ffda-4973-a837-34943d54e8d8 - - - - - -338f2150-e9d1-4f72-bdb2-096aca18f084 - -PutDown(Milk,Bar) - - - -785bee13-46ed-42c7-b1c2-afd5071767f7->338f2150-e9d1-4f72-bdb2-096aca18f084 - - - - - -4cd9a3e4-72f6-4b1b-b391-11bd91854db8 - -Holding(NFCJuice) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->4cd9a3e4-72f6-4b1b-b391-11bd91854db8 - - - - - -d176519d-5e57-49d2-b0bc-eb7e2e4891b1 - -At(Robot,BrightTable6) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->d176519d-5e57-49d2-b0bc-eb7e2e4891b1 - - - - - -8e340491-cb49-446c-a3d3-afa9892b3d70 - -PutDown(NFCJuice,BrightTable) - - - -c83d3a89-967b-4f36-8744-24f6d8eec61d->8e340491-cb49-446c-a3d3-afa9892b3d70 - - - - - -ded7865f-6577-4dfe-ad38-c7a8fd18a83b - -Holding(SpringWater) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->ded7865f-6577-4dfe-ad38-c7a8fd18a83b - - - - - -7b9ee1d6-9c06-4a88-a65b-4ea2441259f1 - -At(Robot,Table1) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->7b9ee1d6-9c06-4a88-a65b-4ea2441259f1 - - - - - -8a974333-e215-46e3-8f39-8d30d76f8bbe - -PutDown(SpringWater,Table) - - - -28e1249c-6624-4afa-ac64-6efbcf95164c->8a974333-e215-46e3-8f39-8d30d76f8bbe - - - - - -d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef - -At(Robot,Bar) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef - - - - - -f89231f1-a4b1-4924-986b-2f686df09cdd - -Holding(Yogurt) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->f89231f1-a4b1-4924-986b-2f686df09cdd - - - - - -c9534f28-0e44-4dfa-9761-59541e9b8473 - -PutDown(Yogurt,Bar) - - - -d9a4f305-e312-4d82-86be-d5a8810b9207->c9534f28-0e44-4dfa-9761-59541e9b8473 - - - - - -9db0055a-6599-4c65-b0c3-7255395fd5be - -Holding(Bernachon) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->9db0055a-6599-4c65-b0c3-7255395fd5be - - - - - -76679c05-648f-49c6-9cd4-3fb270f78148 - -At(Robot,Bar) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->76679c05-648f-49c6-9cd4-3fb270f78148 - - - - - -6158fe20-cb1a-4068-9658-2277d81916dd - -PutDown(Bernachon,Bar) - - - -1f9494fb-5549-4899-bc6d-07c1e5b31fde->6158fe20-cb1a-4068-9658-2277d81916dd - - - - - -a99949a0-15f0-419d-b245-0aa9993d581c - -Holding(Bernachon) - - - -4f947b7c-c82c-44cd-8a07-02f766e680ad->a99949a0-15f0-419d-b245-0aa9993d581c - - - - - -121c6258-04b4-4533-9cc3-3c7fdf4f6adb - -PutDown(Bernachon,Bar) - - - -4f947b7c-c82c-44cd-8a07-02f766e680ad->121c6258-04b4-4533-9cc3-3c7fdf4f6adb - - - - - -2a650737-30ca-42c5-a57f-092be0af0aae - -At(Robot,Bar) - - - -8b489962-a822-491d-86df-aa48341bd7cb->2a650737-30ca-42c5-a57f-092be0af0aae - - - - - -7bdbbd94-4abd-4082-9c0c-0a3a65977b67 - -Holding(Milk) - - - -8b489962-a822-491d-86df-aa48341bd7cb->7bdbbd94-4abd-4082-9c0c-0a3a65977b67 - - - - - -1bf2e458-810a-4990-b2e7-feffcca5ab56 - -PutDown(Milk,Bar) - - - -8b489962-a822-491d-86df-aa48341bd7cb->1bf2e458-810a-4990-b2e7-feffcca5ab56 - - - - - -f2058ab0-1533-4839-b91d-c0d9cb653575 - -At(Robot,BrightTable6) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->f2058ab0-1533-4839-b91d-c0d9cb653575 - - - - - -cf91265c-4dd2-4f6a-9d12-b3891e0a0da9 - -Holding(Milk) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->cf91265c-4dd2-4f6a-9d12-b3891e0a0da9 - - - - - -d9f00865-e753-4e72-85c0-159cdba091fb - -PutDown(Milk,BrightTable) - - - -fc1b7d5e-b18d-4cf1-ab0d-40c77f6fd8f0->d9f00865-e753-4e72-85c0-159cdba091fb - - - - - -079925a4-43ce-42ba-92ba-8154ca889611 - -Holding(VacuumCup) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->079925a4-43ce-42ba-92ba-8154ca889611 - - - - - -c23686f2-ac6d-4cbe-9de3-311246b1be61 - -At(Robot,BrightTable6) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->c23686f2-ac6d-4cbe-9de3-311246b1be61 - - - - - -973b988d-12f0-4411-b2cd-8fb2c5abd591 - -PutDown(VacuumCup,BrightTable) - - - -4eba4835-fbda-4597-aa37-cd13062bd8ce->973b988d-12f0-4411-b2cd-8fb2c5abd591 - - - - - -17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1 - -At(Robot,CoffeeTable) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->17f8c45b-7fcf-4e4a-84f1-1e3a00244fb1 - - - - - -d9025c0c-6766-47a9-a80c-38e8706abb94 - -Holding(Coffee) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->d9025c0c-6766-47a9-a80c-38e8706abb94 - - - - - -92424231-7640-4a42-a287-e3c36a02d3a6 - -PutDown(Coffee,CoffeeTable) - - - -029b689e-f1f1-4b03-9f6f-4c7e9edbfadb->92424231-7640-4a42-a287-e3c36a02d3a6 - - - - - -2851f753-cf4e-4320-9366-f2cdcbf16531 - -Holding(Coffee) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->2851f753-cf4e-4320-9366-f2cdcbf16531 - - - - - -2f9b2c68-b7a4-4680-9594-c5aa2b967eee - -At(Robot,Table2) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->2f9b2c68-b7a4-4680-9594-c5aa2b967eee - - - - - -462362be-ae45-4d66-bb6b-583826e1e2be - -PutDown(Coffee,Table) - - - -77b582a1-d0ba-4db0-85b8-571d478869cf->462362be-ae45-4d66-bb6b-583826e1e2be - - - - - -cdd772ef-0c50-4390-8e1f-642bf45921b4 - -At(Robot,Table3) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->cdd772ef-0c50-4390-8e1f-642bf45921b4 - - - - - -049acd36-669b-4c0b-9e12-f0ab7aa43980 - -Holding(Dessert) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->049acd36-669b-4c0b-9e12-f0ab7aa43980 - - - - - -5c3f3a34-3212-451e-9e8a-e644dcc3335c - -PutDown(Dessert,Table) - - - -e52df62e-50ef-4ee3-8489-df240fb1bf46->5c3f3a34-3212-451e-9e8a-e644dcc3335c - - - - - -13748cf9-e4bf-4fe3-8bcf-255b1233108e - -Holding(Water) - - - -c72d5831-0a6e-4fc3-94df-dc91ca6defa2->13748cf9-e4bf-4fe3-8bcf-255b1233108e - - - - - -839c7fe5-8cc8-4fba-b740-8286eb20c0a3 - -PutDown(Water,Bar) - - - -c72d5831-0a6e-4fc3-94df-dc91ca6defa2->839c7fe5-8cc8-4fba-b740-8286eb20c0a3 - - - - - -4fdc6c0a-9b37-440f-84e5-8d141774790f - -Holding(Bernachon) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->4fdc6c0a-9b37-440f-84e5-8d141774790f - - - - - -513a902d-f746-4813-b2a6-b21d43ddcf59 - -At(Robot,CoffeeTable) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->513a902d-f746-4813-b2a6-b21d43ddcf59 - - - - - -faf295b0-9cab-47c0-b466-f63995f8516b - -PutDown(Bernachon,CoffeeTable) - - - -7940c6e2-05bc-4843-9432-3a2d88bfda8b->faf295b0-9cab-47c0-b466-f63995f8516b - - - - - -0187f0c8-fdd0-4c14-9216-1652e1f72092 - -At(Robot,BrightTable6) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->0187f0c8-fdd0-4c14-9216-1652e1f72092 - - - - - -282013fb-5596-4c1f-bb6b-c218b7d5ef65 - -Holding(Chips) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->282013fb-5596-4c1f-bb6b-c218b7d5ef65 - - - - - -be3cb027-b354-483b-94f8-ecc57564dfc3 - -PutDown(Chips,BrightTable) - - - -d9d2a2ae-4c46-4b3c-b6f5-7fa48c1039c9->be3cb027-b354-483b-94f8-ecc57564dfc3 - - - - - -f4452fb6-2840-4e8e-b744-c0d9ddfff0a3 - -Holding(VacuumCup) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->f4452fb6-2840-4e8e-b744-c0d9ddfff0a3 - - - - - -81fc32e0-aaf7-49db-9ce9-530c0a79d86c - -At(Robot,Table2) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->81fc32e0-aaf7-49db-9ce9-530c0a79d86c - - - - - -bcc42379-a0e1-45cd-86cd-4781e7f91414 - -PutDown(VacuumCup,Table) - - - -7042d7d5-4a12-48a8-9d28-66476ffa4961->bcc42379-a0e1-45cd-86cd-4781e7f91414 - - - - - -f5e0deb8-77b8-45b7-a2e4-27e6254241fe - -Holding(Yogurt) - - - -5c6608df-a2bf-4e90-9641-96143a879210->f5e0deb8-77b8-45b7-a2e4-27e6254241fe - - - - - -1b1bd566-436d-4fa6-8367-98d5e09ffd26 - -PutDown(Yogurt,Bar) - - - -5c6608df-a2bf-4e90-9641-96143a879210->1b1bd566-436d-4fa6-8367-98d5e09ffd26 - - - - - -a176c3f2-399e-4444-a32b-f2684a01309f - -Holding(BottledDrink) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->a176c3f2-399e-4444-a32b-f2684a01309f - - - - - -1cb42d57-d7de-4257-8678-25de6e6be32d - -At(Robot,WaterTable) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->1cb42d57-d7de-4257-8678-25de6e6be32d - - - - - -b6938345-3572-4ab4-be18-6ee9a69fdcd6 - -PutDown(BottledDrink,WaterTable) - - - -bf6a6f36-bcbd-4be0-866e-c5ec1d7242ee->b6938345-3572-4ab4-be18-6ee9a69fdcd6 - - - - - -e0a055b6-d453-4143-a167-feab69c9f2e2 - -Holding(VacuumCup) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->e0a055b6-d453-4143-a167-feab69c9f2e2 - - - - - -32f9bb5c-f679-4656-82e5-6e522143a8c8 - -At(Robot,WaterTable) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->32f9bb5c-f679-4656-82e5-6e522143a8c8 - - - - - -3080fe69-51a7-48ec-9c69-b7aab7115ec9 - -PutDown(VacuumCup,WaterTable) - - - -03a5c996-55ea-4da3-b8f6-12831b00c237->3080fe69-51a7-48ec-9c69-b7aab7115ec9 - - - - - -75d9767d-845e-4710-88ee-cb0e3370e821 - -At(Robot,Bar) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->75d9767d-845e-4710-88ee-cb0e3370e821 - - - - - -d8a528d5-4935-46cc-aac6-f04facd611fb - -Holding(SpringWater) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->d8a528d5-4935-46cc-aac6-f04facd611fb - - - - - -2cdb744a-663a-492e-94b6-d8dee71b5782 - -PutDown(SpringWater,Bar) - - - -015c3bb3-e629-4f45-a269-98b4516acc38->2cdb744a-663a-492e-94b6-d8dee71b5782 - - - - - -45b23a1e-766b-4cc9-b741-8c9e2d72e71a - -Holding(VacuumCup) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->45b23a1e-766b-4cc9-b741-8c9e2d72e71a - - - - - -8fe2d3fe-5fee-462c-befb-73417b25b79f - -At(Robot,Bar) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->8fe2d3fe-5fee-462c-befb-73417b25b79f - - - - - -0266af83-dfad-4865-9431-8d3e5b34f318 - -PutDown(VacuumCup,Bar) - - - -2118a4fe-fe7b-472a-ad9a-8b1c5ff1bd91->0266af83-dfad-4865-9431-8d3e5b34f318 - - - - - -5c733d9b-a057-436c-9671-59525fc69916 - -Holding(Yogurt) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->5c733d9b-a057-436c-9671-59525fc69916 - - - - - -30a0deaf-92f0-4721-9f86-ec2d1fba966c - -At(Robot,Table1) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->30a0deaf-92f0-4721-9f86-ec2d1fba966c - - - - - -114e600a-4afb-4dfb-9cb8-d3418e9e4474 - -PutDown(Yogurt,Table) - - - -efbb2289-f4de-4436-bbec-d98af14cf7c9->114e600a-4afb-4dfb-9cb8-d3418e9e4474 - - - - - -e03896f2-6351-4758-aabb-f72f6aafa6bc - -Holding(NFCJuice) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->e03896f2-6351-4758-aabb-f72f6aafa6bc - - - - - -d41bf27e-27fa-40d1-ae8e-e006e4283d5f - -At(Robot,Table3) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->d41bf27e-27fa-40d1-ae8e-e006e4283d5f - - - - - -44a1ea8a-c2ca-42bc-923f-a6de619202bb - -PutDown(NFCJuice,Table) - - - -a20a9352-58fb-44f9-927f-2688e5fb247a->44a1ea8a-c2ca-42bc-923f-a6de619202bb - - - - - -231329a9-9300-4adc-812f-569f12ec8021 - -Holding(Softdrink) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->231329a9-9300-4adc-812f-569f12ec8021 - - - - - -7fc5a790-2626-427e-b294-ec7873ad2caf - -At(Robot,Bar) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->7fc5a790-2626-427e-b294-ec7873ad2caf - - - - - -ac2ef713-ebb8-46e6-80b1-bd8b49463924 - -PutDown(Softdrink,Bar) - - - -dd5b6a53-91d0-463b-a4bb-5fede8d24e04->ac2ef713-ebb8-46e6-80b1-bd8b49463924 - - - - - -d4d74652-5e42-4ae1-852d-dc34d1757f2b - -Holding(Bernachon) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->d4d74652-5e42-4ae1-852d-dc34d1757f2b - - - - - -dcb6bfbe-5f56-4486-8d82-1568062d8075 - -At(Robot,BrightTable6) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->dcb6bfbe-5f56-4486-8d82-1568062d8075 - - - - - -55722123-89a3-4197-a99d-9444210aca1b - -PutDown(Bernachon,BrightTable) - - - -2073c4bb-6f17-438a-b94d-f4208e926cf1->55722123-89a3-4197-a99d-9444210aca1b - - - - - -da651ac6-fa9c-4046-b8f7-ba70b1a3ce02 - -Holding(Bernachon) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->da651ac6-fa9c-4046-b8f7-ba70b1a3ce02 - - - - - -fad875ab-1d11-419d-819b-dedbde9951e4 - -At(Robot,Table2) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->fad875ab-1d11-419d-819b-dedbde9951e4 - - - - - -69b0fac3-7b9f-4fba-a75d-0e351996e85e - -PutDown(Bernachon,Table) - - - -e79a386a-9ffe-486e-a0dd-b16ebea4549c->69b0fac3-7b9f-4fba-a75d-0e351996e85e - - - - - -8c91ef51-4e0b-420d-ad64-8f3ae97978c4 - -At(Robot,BrightTable6) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->8c91ef51-4e0b-420d-ad64-8f3ae97978c4 - - - - - -ff6e50f9-ad14-48bd-bfad-ba373febf01a - -Holding(Coffee) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->ff6e50f9-ad14-48bd-bfad-ba373febf01a - - - - - -0c5a79f2-9966-4f5f-8dac-870297c858fb - -PutDown(Coffee,BrightTable) - - - -9208773f-bf26-4d18-a620-ed2b05d3c611->0c5a79f2-9966-4f5f-8dac-870297c858fb - - - - - -24abb813-51f8-4366-bd4b-bf6a332637be - -Holding(Dessert) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->24abb813-51f8-4366-bd4b-bf6a332637be - - - - - -72945395-ef11-417d-8b9c-d74c39cbaaa0 - -At(Robot,Table1) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->72945395-ef11-417d-8b9c-d74c39cbaaa0 - - - - - -61bfa8b0-cacf-47df-910e-9760176ed8e4 - -PutDown(Dessert,Table) - - - -4a329bfb-bcd2-48d5-85c6-c6ca4fab4829->61bfa8b0-cacf-47df-910e-9760176ed8e4 - - - - - -5aa25411-045b-4652-8b40-fa8b0a78e7c2 - -At(Robot,Table3) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->5aa25411-045b-4652-8b40-fa8b0a78e7c2 - - - - - -f569a560-f1c0-47da-b8c0-dbbdd7528719 - -Holding(Coffee) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->f569a560-f1c0-47da-b8c0-dbbdd7528719 - - - - - -02969dae-62e1-4fc3-a1f6-4223a6076102 - -PutDown(Coffee,Table) - - - -897789de-2ba2-4fc2-a545-a9d063ec1eb0->02969dae-62e1-4fc3-a1f6-4223a6076102 - - - - - -65265be7-cf4b-4c66-9bca-384ead7e954f - -Holding(Milk) - - - -365b26f3-7e3a-42a0-b2ee-3f242b3811aa->65265be7-cf4b-4c66-9bca-384ead7e954f - - - - - -7dbff78b-87a2-4e07-952c-8d3a6b200a01 - -PutDown(Milk,Bar) - - - -365b26f3-7e3a-42a0-b2ee-3f242b3811aa->7dbff78b-87a2-4e07-952c-8d3a6b200a01 - - - - - -a0d36e83-396c-4cdd-b794-0c06c3d7f85a - -Holding(SpringWater) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->a0d36e83-396c-4cdd-b794-0c06c3d7f85a - - - - - -1d41d3c3-5722-4179-b6ac-2068ac52466f - -At(Robot,Table2) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->1d41d3c3-5722-4179-b6ac-2068ac52466f - - - - - -38ec4631-59cd-4047-ad4f-bcdc962703b5 - -PutDown(SpringWater,Table) - - - -bed21ac0-2375-4f89-ad70-0a2f9c26db74->38ec4631-59cd-4047-ad4f-bcdc962703b5 - - - - - -d345a96c-5dcf-477f-a4c9-6447645a52f6 - -Holding(BottledDrink) - - - -74432b94-a528-4201-908a-f1684b28412f->d345a96c-5dcf-477f-a4c9-6447645a52f6 - - - - - -ccbf7f0c-0bd6-4bfd-9741-e2af0b012968 - -At(Robot,Bar) - - - -74432b94-a528-4201-908a-f1684b28412f->ccbf7f0c-0bd6-4bfd-9741-e2af0b012968 - - - - - -fb5a8dc4-b76c-4ed0-bfa1-dde1373c0da5 - -PutDown(BottledDrink,Bar) - - - -74432b94-a528-4201-908a-f1684b28412f->fb5a8dc4-b76c-4ed0-bfa1-dde1373c0da5 - - - - - -17fabf45-c50a-4239-8c8c-6f67f1dfe832 - -Holding(Dessert) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->17fabf45-c50a-4239-8c8c-6f67f1dfe832 - - - - - -bfb65f98-d483-4e76-846f-feddfe3965c3 - -At(Robot,Table1) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->bfb65f98-d483-4e76-846f-feddfe3965c3 - - - - - -9ddefa75-8db8-43f8-9b4a-a277fa208997 - -PutDown(Dessert,Table) - - - -0d24fd1f-b989-4534-9e8b-f3beeb1d8714->9ddefa75-8db8-43f8-9b4a-a277fa208997 - - - - - -745b23c4-ba17-4963-b689-963e32c5cfa7 - -At(Robot,CoffeeTable) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->745b23c4-ba17-4963-b689-963e32c5cfa7 - - - - - -2cd53937-5571-4f9f-9841-a7506faef46d - -Holding(Milk) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->2cd53937-5571-4f9f-9841-a7506faef46d - - - - - -290d1011-05e6-4c78-a48b-73d5aa194d48 - -PutDown(Milk,CoffeeTable) - - - -537038bc-418b-4746-9a3a-5a86b0ac8854->290d1011-05e6-4c78-a48b-73d5aa194d48 - - - - - -c7a4fee5-377d-4cf1-ab4e-6b15ec8ab317 - -Holding(Yogurt) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->c7a4fee5-377d-4cf1-ab4e-6b15ec8ab317 - - - - - -442e8e16-2578-4921-9dd3-f33111394cae - -At(Robot,Table1) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->442e8e16-2578-4921-9dd3-f33111394cae - - - - - -8b9fecfd-9aaa-42db-8c15-14ec2321d313 - -PutDown(Yogurt,Table) - - - -3108723c-32fe-4746-80b3-88764c6a7c14->8b9fecfd-9aaa-42db-8c15-14ec2321d313 - - - - - -f4e257fc-ce55-4346-94f2-59b5a8e6ea3e - -At(Robot,CoffeeTable) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->f4e257fc-ce55-4346-94f2-59b5a8e6ea3e - - - - - -691b9a12-ef49-4461-8121-9b9aadc39f7f - -Holding(Dessert) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->691b9a12-ef49-4461-8121-9b9aadc39f7f - - - - - -88699af8-d85c-418f-9af9-2b691b80e236 - -PutDown(Dessert,CoffeeTable) - - - -4b293960-9460-4ce0-8897-7130cfede8a6->88699af8-d85c-418f-9af9-2b691b80e236 - - - - - -84ec9743-85a0-4179-b3dc-2d835af0ef31 - -At(Robot,WaterTable) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->84ec9743-85a0-4179-b3dc-2d835af0ef31 - - - - - -a4d0a06a-6e49-4dde-988e-20706904d93a - -Holding(Water) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->a4d0a06a-6e49-4dde-988e-20706904d93a - - - - - -4cc79ad1-2752-4ab6-8ffb-1d490fda9100 - -PutDown(Water,WaterTable) - - - -bc5af95b-492d-4768-b42e-c2b5be92250e->4cc79ad1-2752-4ab6-8ffb-1d490fda9100 - - - - - -40a718d4-43c8-4837-8d12-3f3952542ffc - -At(Robot,WaterTable) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->40a718d4-43c8-4837-8d12-3f3952542ffc - - - - - -44c30be2-9b4d-4d49-910a-e7fb8577a1db - -Holding(Dessert) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->44c30be2-9b4d-4d49-910a-e7fb8577a1db - - - - - -236d2b90-d441-4151-903e-8996c6d6ee17 - -PutDown(Dessert,WaterTable) - - - -77d10f24-c970-4110-bbc0-aca52bf714d7->236d2b90-d441-4151-903e-8996c6d6ee17 - - - - - -92194c48-047c-4448-b344-d896fd89d789 - -Holding(Milk) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->92194c48-047c-4448-b344-d896fd89d789 - - - - - -27259794-486e-492a-8055-a7b1ad77f0d4 - -At(Robot,Table1) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->27259794-486e-492a-8055-a7b1ad77f0d4 - - - - - -a148de94-cb05-4ea4-a480-430ffd476823 - -PutDown(Milk,Table) - - - -bc949ae7-67ff-4356-8339-24df0ee483bb->a148de94-cb05-4ea4-a480-430ffd476823 - - - - - -17da88a0-d365-40e2-9980-09f74969873e - -Holding(Water) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->17da88a0-d365-40e2-9980-09f74969873e - - - - - -5a1e0833-bd3c-402b-ba7a-1d34955b459f - -At(Robot,Table1) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->5a1e0833-bd3c-402b-ba7a-1d34955b459f - - - - - -6c4815b0-4817-4a33-9a05-ae6ac9732eeb - -PutDown(Water,Table) - - - -1cfae803-8aef-476e-a0fb-614d05a2afe8->6c4815b0-4817-4a33-9a05-ae6ac9732eeb - - - - - -6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4 - -Holding(Softdrink) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4 - - - - - -93ad1052-46d3-482d-8d4e-f77bcd3fff9a - -At(Robot,WaterTable) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->93ad1052-46d3-482d-8d4e-f77bcd3fff9a - - - - - -299b9ea7-2b9a-4592-a8b3-21253fb55b0f - -PutDown(Softdrink,WaterTable) - - - -1dbbd4f6-6335-4999-8bb1-3fe5970a740f->299b9ea7-2b9a-4592-a8b3-21253fb55b0f - - - - - -837526c8-3f87-4888-803e-2a7230ab4d24 - -At(Robot,CoffeeTable) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->837526c8-3f87-4888-803e-2a7230ab4d24 - - - - - -19e02c66-29a9-4903-8052-93d83a36cdaf - -Holding(SpringWater) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->19e02c66-29a9-4903-8052-93d83a36cdaf - - - - - -588a88fc-3193-4125-8c92-4af744142949 - -PutDown(SpringWater,CoffeeTable) - - - -fddb3fd3-3a80-46d4-800f-27c85188ac35->588a88fc-3193-4125-8c92-4af744142949 - - - - - -57570039-5327-4562-9eac-fe0cff3859cc - -Holding(ADMilk) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->57570039-5327-4562-9eac-fe0cff3859cc - - - - - -3579af47-3ccd-4228-8cb7-4504cd60641e - -At(Robot,Table3) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->3579af47-3ccd-4228-8cb7-4504cd60641e - - - - - -d19fe253-149b-41f5-b8ee-3c7ed46eca1d - -PutDown(ADMilk,Table) - - - -4420c96e-5dc0-472f-9b43-583bb8881e0a->d19fe253-149b-41f5-b8ee-3c7ed46eca1d - - - - - -b38b6526-ce1c-4d10-b611-80e2e37c40c6 - -Holding(SpringWater) - - - -828d319d-b761-4e6d-a4a0-8e849b5e518a->b38b6526-ce1c-4d10-b611-80e2e37c40c6 - - - - - -a2447d54-5597-4ce9-8c57-57a65fe5623d - -PutDown(SpringWater,Bar) - - - -828d319d-b761-4e6d-a4a0-8e849b5e518a->a2447d54-5597-4ce9-8c57-57a65fe5623d - - - - - -00553d6b-5309-47c5-88d4-01f1223178ff - -At(Robot,BrightTable6) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->00553d6b-5309-47c5-88d4-01f1223178ff - - - - - -e71843bd-491d-47c9-a038-ba1c4db024ff - -Holding(SpringWater) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->e71843bd-491d-47c9-a038-ba1c4db024ff - - - - - -f542972b-e9e4-43a8-a70d-762ceb041785 - -PutDown(SpringWater,BrightTable) - - - -2fdc5379-f4d4-493a-8833-6f67ab5f4d09->f542972b-e9e4-43a8-a70d-762ceb041785 - - - - - -5e06de8f-6a5c-419d-b364-e9a6ae8a36bf - -At(Robot,Table3) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->5e06de8f-6a5c-419d-b364-e9a6ae8a36bf - - - - - -6a1d6f5e-38f0-460e-a92d-a0e309ef2de3 - -Holding(Milk) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->6a1d6f5e-38f0-460e-a92d-a0e309ef2de3 - - - - - -65bce72b-bd43-42a7-b43e-15ac243d8e92 - -PutDown(Milk,Table) - - - -5c5f3a4f-4ccd-41e3-8ce3-feb81296a181->65bce72b-bd43-42a7-b43e-15ac243d8e92 - - - - - -a0c4f1da-a957-4af7-8a18-a94fa81ba8b3 - -Holding(Softdrink) - - - -42464321-f838-4c84-94f1-278d8cba1140->a0c4f1da-a957-4af7-8a18-a94fa81ba8b3 - - - - - -f7b41db3-1716-4ffd-88d1-ea4046494846 - -At(Robot,Table1) - - - -42464321-f838-4c84-94f1-278d8cba1140->f7b41db3-1716-4ffd-88d1-ea4046494846 - - - - - -dbd2c7b0-0b19-4d89-909c-bff63e2306b9 - -PutDown(Softdrink,Table) - - - -42464321-f838-4c84-94f1-278d8cba1140->dbd2c7b0-0b19-4d89-909c-bff63e2306b9 - - - - - -5e782315-7d35-4678-b6ae-ff7185280f93 - -At(Robot,Table3) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->5e782315-7d35-4678-b6ae-ff7185280f93 - - - - - -ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e - -Holding(Water) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e - - - - - -78266c3d-83f5-40d0-91a6-1cc154dc1b80 - -PutDown(Water,Table) - - - -bf325ccd-77c2-405a-9f65-5b8f708b1318->78266c3d-83f5-40d0-91a6-1cc154dc1b80 - - - - - -58382970-74a2-49ce-b81a-70111007f373 - -Holding(Yogurt) - - - -dc2264f0-e947-4060-ad89-0907a5c9d54d->58382970-74a2-49ce-b81a-70111007f373 - - - - - -b2c0b744-0e4c-4bf8-938c-27fe48b2c993 - -PutDown(Yogurt,Bar) - - - -dc2264f0-e947-4060-ad89-0907a5c9d54d->b2c0b744-0e4c-4bf8-938c-27fe48b2c993 - - - - - -9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0 - -At(Robot,Bar) - - - -a5353d30-768a-475c-b5a8-7234de505cac->9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0 - - - - - -5ff437fc-cf02-4f45-9fee-88ce714e4218 - -Holding(Coffee) - - - -a5353d30-768a-475c-b5a8-7234de505cac->5ff437fc-cf02-4f45-9fee-88ce714e4218 - - - - - -34fcacac-b8ec-4d08-80f2-8a8693a20b6d - -PutDown(Coffee,Bar) - - - -a5353d30-768a-475c-b5a8-7234de505cac->34fcacac-b8ec-4d08-80f2-8a8693a20b6d - - - - - -c82038f2-4c62-4776-8757-9da9c47990a5 - -At(Robot,CoffeeTable) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->c82038f2-4c62-4776-8757-9da9c47990a5 - - - - - -6047e98a-b183-425e-9a3a-762c595da13a - -Holding(Yogurt) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->6047e98a-b183-425e-9a3a-762c595da13a - - - - - -4dd29ff1-8ec0-4af7-b775-54cff7026216 - -PutDown(Yogurt,CoffeeTable) - - - -110e9c91-6bd5-4ea6-b1d1-8e557eab3918->4dd29ff1-8ec0-4af7-b775-54cff7026216 - - - - - -06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c - -Holding(Bernachon) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c - - - - - -f01f92ad-44cf-4fe3-888c-ff0a216176c8 - -At(Robot,Table3) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->f01f92ad-44cf-4fe3-888c-ff0a216176c8 - - - - - -51e777b5-00b7-4178-a663-0ba485c0d490 - -PutDown(Bernachon,Table) - - - -d4d510fa-1141-41dc-8a50-c7fde736e019->51e777b5-00b7-4178-a663-0ba485c0d490 - - - - - -9be1d6ba-d537-4e47-a97f-f8d3cc339b24 - -Holding(Chips) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->9be1d6ba-d537-4e47-a97f-f8d3cc339b24 - - - - - -b5da0763-457f-443a-ba43-59ee3367b59f - -At(Robot,Table2) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->b5da0763-457f-443a-ba43-59ee3367b59f - - - - - -a92fe07e-ee29-438d-a0fc-a645bb24c1f1 - -PutDown(Chips,Table) - - - -a49b9ddb-78ba-47d2-8e05-962e3f1521a8->a92fe07e-ee29-438d-a0fc-a645bb24c1f1 - - - - - -a848b8e4-8954-48d6-9142-13734142c8a3 - -At(Robot,Table3) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->a848b8e4-8954-48d6-9142-13734142c8a3 - - - - - -14123744-dc27-4d50-815a-d74803618ab4 - -Holding(Dessert) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->14123744-dc27-4d50-815a-d74803618ab4 - - - - - -8335c2e3-e3d0-4173-b9d0-1efb7f76d50a - -PutDown(Dessert,Table) - - - -770de18c-016a-41a8-9edf-140f8c9e470a->8335c2e3-e3d0-4173-b9d0-1efb7f76d50a - - - - - -cbbbdf9b-8e80-4160-a45d-f847ab12ac2d - -Holding(VacuumCup) - - - -19d8afdb-494e-4c22-83ec-df322276364a->cbbbdf9b-8e80-4160-a45d-f847ab12ac2d - - - - - -b5c29a9a-3466-4d25-9758-5da2f1c28bb5 - -At(Robot,Table3) - - - -19d8afdb-494e-4c22-83ec-df322276364a->b5c29a9a-3466-4d25-9758-5da2f1c28bb5 - - - - - -d3beea2e-1911-44d2-bb78-9dac64dd50e0 - -PutDown(VacuumCup,Table) - - - -19d8afdb-494e-4c22-83ec-df322276364a->d3beea2e-1911-44d2-bb78-9dac64dd50e0 - - - - - -80486efa-ad51-4499-86df-2702e88f813f - -At(Robot,WaterTable) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->80486efa-ad51-4499-86df-2702e88f813f - - - - - -5f863430-26a9-4950-8c7b-f3a87ef9be46 - -Holding(Yogurt) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->5f863430-26a9-4950-8c7b-f3a87ef9be46 - - - - - -2d4c04c3-db2a-4009-8590-379a46ea5a8d - -PutDown(Yogurt,WaterTable) - - - -6e81f6ba-deda-47bd-b738-0f4d45250e6e->2d4c04c3-db2a-4009-8590-379a46ea5a8d - - - - - -3b5cef66-1203-4c9f-bb6c-579f43865fd6 - -Holding(Bernachon) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->3b5cef66-1203-4c9f-bb6c-579f43865fd6 - - - - - -a9c352d8-c0ba-46c6-834f-d578e4117c41 - -At(Robot,WaterTable) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->a9c352d8-c0ba-46c6-834f-d578e4117c41 - - - - - -b8522f83-3f41-4a92-b94b-046ee1e05b98 - -PutDown(Bernachon,WaterTable) - - - -ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042->b8522f83-3f41-4a92-b94b-046ee1e05b98 - - - - - -880f5dad-cdf4-485e-9fde-dc4af658c30c - -Holding(Chips) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->880f5dad-cdf4-485e-9fde-dc4af658c30c - - - - - -8ab7e758-ee22-46f2-a95a-9a2bc8d105ec - -At(Robot,Table1) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->8ab7e758-ee22-46f2-a95a-9a2bc8d105ec - - - - - -af304235-f3c4-4d16-b562-6bf44dc5c2e5 - -PutDown(Chips,Table) - - - -7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe->af304235-f3c4-4d16-b562-6bf44dc5c2e5 - - - - - -7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af - -Holding(Chips) - - - -96b7cc8b-243d-4ad8-9a07-b66c7452d38b->7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af - - - - - -816c6c49-1721-4ded-aa4e-181aada7027d - -PutDown(Chips,Bar) - - - -96b7cc8b-243d-4ad8-9a07-b66c7452d38b->816c6c49-1721-4ded-aa4e-181aada7027d - - - - - -f8a2f962-83b6-4f71-ad32-a7780324272e - -Holding(ADMilk) - - - -d6a74623-9c9e-4531-8433-97e96815385f->f8a2f962-83b6-4f71-ad32-a7780324272e - - - - - -08eab795-08c6-4a34-8a85-edc19fce6434 - -At(Robot,CoffeeTable) - - - -d6a74623-9c9e-4531-8433-97e96815385f->08eab795-08c6-4a34-8a85-edc19fce6434 - - - - - -c478713f-1362-46b6-b624-e2a66a8f2ee2 - -PutDown(ADMilk,CoffeeTable) - - - -d6a74623-9c9e-4531-8433-97e96815385f->c478713f-1362-46b6-b624-e2a66a8f2ee2 - - - - - -951ce9ee-cde9-4f12-adea-57de340229b6 - -Holding(VacuumCup) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->951ce9ee-cde9-4f12-adea-57de340229b6 - - - - - -04e41bce-c822-4b1f-804d-65eb164e7624 - -At(Robot,Table2) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->04e41bce-c822-4b1f-804d-65eb164e7624 - - - - - -9d19f16b-4883-4dcb-afb3-8ce0b7b04136 - -PutDown(VacuumCup,Table) - - - -c886baab-cc44-4b81-991e-9f94b5d832dd->9d19f16b-4883-4dcb-afb3-8ce0b7b04136 - - - - - -14a6240a-e776-4415-9407-67f445a56e09 - -At(Robot,Table3) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->14a6240a-e776-4415-9407-67f445a56e09 - - - - - -309a5205-11f5-4127-89f2-a4eb3c847a4c - -Holding(Yogurt) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->309a5205-11f5-4127-89f2-a4eb3c847a4c - - - - - -5fe49bcd-96cd-4fef-910d-5cc2f52b8944 - -PutDown(Yogurt,Table) - - - -77f2cd0c-2116-47c6-9d2f-ec78902dc7d8->5fe49bcd-96cd-4fef-910d-5cc2f52b8944 - - - - - -d5bbc537-6a78-4a9f-a8eb-fe00b1fac138 - -Holding(Nothing) - - - -d56ffac4-40cc-4a6f-9015-8f69d5bcf242->d5bbc537-6a78-4a9f-a8eb-fe00b1fac138 - - - - - -9f492abf-3bcd-438f-83a7-b777b2df4187 - -PickUp(MilkDrink) - - - -d56ffac4-40cc-4a6f-9015-8f69d5bcf242->9f492abf-3bcd-438f-83a7-b777b2df4187 - - - - - -961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4 - -Holding(BottledDrink) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4 - - - - - -709cad57-8f58-4cff-9035-c683406d2d41 - -At(Robot,CoffeeTable) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->709cad57-8f58-4cff-9035-c683406d2d41 - - - - - -9eef9e79-7b05-44d6-811c-e076f3a84fe7 - -At(Robot,Bar2) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->9eef9e79-7b05-44d6-811c-e076f3a84fe7 - - - - - -e48f0f38-110d-4b0b-9a9c-72c997bd67fd - -PutDown(BottledDrink,CoffeeTable) - - - -3de47dc2-1b1d-49f8-bba1-75b84143f082->e48f0f38-110d-4b0b-9a9c-72c997bd67fd - - - - - -a2a71737-a1f1-4dd0-8ccd-215aecae969b - -At(Robot,CoffeeTable) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->a2a71737-a1f1-4dd0-8ccd-215aecae969b - - - - - -8c624e84-2758-47e7-b4c5-d796aa5eb00c - -At(Robot,Bar2) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->8c624e84-2758-47e7-b4c5-d796aa5eb00c - - - - - -c4af5d27-b619-4f9d-94c6-95dd4d624e65 - -Holding(Water) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->c4af5d27-b619-4f9d-94c6-95dd4d624e65 - - - - - -92d4a20e-07f7-4491-bd05-a8bb0ea70024 - -PutDown(Water,CoffeeTable) - - - -4e3d0895-1c5a-46fe-bca5-d7b4688c1da3->92d4a20e-07f7-4491-bd05-a8bb0ea70024 - - - - - -362283a2-9150-4cd5-a1c7-053d08bcc222 - -At(Robot,BrightTable6) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->362283a2-9150-4cd5-a1c7-053d08bcc222 - - - - - -804a782a-9b7a-4605-9861-0afcc05d37d2 - -Holding(ADMilk) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->804a782a-9b7a-4605-9861-0afcc05d37d2 - - - - - -69092d6a-0062-4bcd-b014-17f3b2923387 - -At(Robot,Bar2) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->69092d6a-0062-4bcd-b014-17f3b2923387 - - - - - -c9a0a70f-839c-40db-a494-1038fd35858a - -PutDown(ADMilk,BrightTable) - - - -69533f5f-ba30-4e69-9331-13b8988e84ba->c9a0a70f-839c-40db-a494-1038fd35858a - - - - - -780aa568-1076-44e9-867c-772b7bbf89f1 - -At(Robot,Bar2) - - - -3d8b8b44-b647-424b-9537-b8b8fd44e205->780aa568-1076-44e9-867c-772b7bbf89f1 - - - - - -e3146bad-d503-41a0-982d-432fc406d0cf - -PutDown(Anything,Anywhere) - - - -3d8b8b44-b647-424b-9537-b8b8fd44e205->e3146bad-d503-41a0-982d-432fc406d0cf - - - - - -43b8292e-5cf6-4600-91a8-84500c1cbf1a - -Holding(NFCJuice) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->43b8292e-5cf6-4600-91a8-84500c1cbf1a - - - - - -6b2fb587-f191-4b57-bf6a-bf1b80b3103b - -At(Robot,Bar) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->6b2fb587-f191-4b57-bf6a-bf1b80b3103b - - - - - -da59efbb-cdad-48a7-9d33-d37834666a3b - -At(Robot,Bar2) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->da59efbb-cdad-48a7-9d33-d37834666a3b - - - - - -3c431ab3-b142-4266-aab9-ad3af3005506 - -PutDown(NFCJuice,Bar) - - - -c28cc49f-4cc9-4b40-acc7-58181fbedfa5->3c431ab3-b142-4266-aab9-ad3af3005506 - - - - - -91e811e6-e031-421c-9277-dcfc5e92d55f - -Holding(Softdrink) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->91e811e6-e031-421c-9277-dcfc5e92d55f - - - - - -81190fe2-6954-4659-9a71-6de9e0f921ef - -At(Robot,BrightTable6) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->81190fe2-6954-4659-9a71-6de9e0f921ef - - - - - -627a5490-1b04-4db7-b031-d0804771aeba - -At(Robot,Bar2) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->627a5490-1b04-4db7-b031-d0804771aeba - - - - - -92cfcb89-7041-4f3c-9257-ab20a8c6b054 - -PutDown(Softdrink,BrightTable) - - - -777943a8-4870-4f42-b54e-7c34c65c0348->92cfcb89-7041-4f3c-9257-ab20a8c6b054 - - - - - -f69f13ce-8182-45a8-b94f-aa46dac09dc2 - -Holding(BottledDrink) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->f69f13ce-8182-45a8-b94f-aa46dac09dc2 - - - - - -4034f176-0054-4141-bfce-7f86b3c3ffe4 - -At(Robot,CoffeeTable) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->4034f176-0054-4141-bfce-7f86b3c3ffe4 - - - - - -1fd02b0a-89c3-41ac-a090-b917999f8dc5 - -PutDown(BottledDrink,CoffeeTable) - - - -6a51f1ac-7a21-4648-b76d-655473560d8f->1fd02b0a-89c3-41ac-a090-b917999f8dc5 - - - - - -c3f3a059-5a3a-4057-875a-cf4d319c916b - -At(Robot,Table3) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->c3f3a059-5a3a-4057-875a-cf4d319c916b - - - - - -d38c3e99-6cb5-4686-a6a7-4077aee3f0c3 - -Holding(Chips) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->d38c3e99-6cb5-4686-a6a7-4077aee3f0c3 - - - - - -4dcf28ca-7477-4205-b07a-d01baa2c16a2 - -PutDown(Chips,Table) - - - -635f029d-7e8e-43bb-af73-f59982b883c9->4dcf28ca-7477-4205-b07a-d01baa2c16a2 - - - - - -a733e528-055b-4803-a44b-4971dadcb9cb - -Holding(Nothing) - - - -cddbabf5-4840-46df-9106-fa9b8c39db4a->a733e528-055b-4803-a44b-4971dadcb9cb - - - - - -a92088f3-d7c7-4a6e-8961-e559230bdba0 - -PickUp(MilkDrink) - - - -cddbabf5-4840-46df-9106-fa9b8c39db4a->a92088f3-d7c7-4a6e-8961-e559230bdba0 - - - - - -066d2cb3-1353-4a8d-9a90-6ca5886b51d2 - -Holding(Bernachon) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->066d2cb3-1353-4a8d-9a90-6ca5886b51d2 - - - - - -7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c - -At(Robot,Bar2) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c - - - - - -e024f87f-9eec-4ad8-ad36-c4fd5e09afd0 - -At(Robot,Table2) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->e024f87f-9eec-4ad8-ad36-c4fd5e09afd0 - - - - - -95643fcf-702f-4dfc-8f62-9f8665035ea9 - -PutDown(Bernachon,Table) - - - -c48d43c6-b345-4dcf-9501-bf3d2d43626d->95643fcf-702f-4dfc-8f62-9f8665035ea9 - - - - - -27e7d307-3b9f-4a14-a704-8a1360a3c9bc - -At(Robot,Bar2) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->27e7d307-3b9f-4a14-a704-8a1360a3c9bc - - - - - -28a1c50d-c9b9-46a2-906b-6fa5d70a2f23 - -At(Robot,WaterTable) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->28a1c50d-c9b9-46a2-906b-6fa5d70a2f23 - - - - - -ea09bee9-38e8-4d36-887d-83192d009059 - -Holding(Water) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->ea09bee9-38e8-4d36-887d-83192d009059 - - - - - -a868a464-99dd-4340-9c17-88ff206817d3 - -PutDown(Water,WaterTable) - - - -394b9d67-70bf-4cb6-9d37-9fb3bb761ed1->a868a464-99dd-4340-9c17-88ff206817d3 - - - - - -4104e161-9132-4700-ae53-41aab7632651 - -Holding(Bernachon) - - - -5901b814-dc74-410c-996e-9df4d7702e21->4104e161-9132-4700-ae53-41aab7632651 - - - - - -a0a196c8-6894-4131-8a72-752a96ff1e53 - -At(Robot,BrightTable6) - - - -5901b814-dc74-410c-996e-9df4d7702e21->a0a196c8-6894-4131-8a72-752a96ff1e53 - - - - - -f385e5d4-a4de-4bfa-9961-50b78d68742d - -PutDown(Bernachon,BrightTable) - - - -5901b814-dc74-410c-996e-9df4d7702e21->f385e5d4-a4de-4bfa-9961-50b78d68742d - - - - - -f500c207-e3fc-4461-8131-12faed45d4e4 - -At(Robot,BrightTable6) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->f500c207-e3fc-4461-8131-12faed45d4e4 - - - - - -e3e4b8fd-0f24-4220-b1cb-e5effc9952e2 - -Holding(Dessert) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->e3e4b8fd-0f24-4220-b1cb-e5effc9952e2 - - - - - -0b1343f6-cd35-4117-b74a-367ec4b107fa - -PutDown(Dessert,BrightTable) - - - -ac75c0eb-1604-4171-b420-9ec922baf009->0b1343f6-cd35-4117-b74a-367ec4b107fa - - - - - -3fc67e68-bc9d-43cd-9433-2286980b6b68 - -At(Robot,Table3) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->3fc67e68-bc9d-43cd-9433-2286980b6b68 - - - - - -e6c0889a-dd7c-4824-9377-f623393530ff - -Holding(SpringWater) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->e6c0889a-dd7c-4824-9377-f623393530ff - - - - - -92fdc637-7f76-467a-bba8-5c7d7ec0d0ab - -PutDown(SpringWater,Table) - - - -b3dd9303-135f-4282-a733-40e66a08acd4->92fdc637-7f76-467a-bba8-5c7d7ec0d0ab - - - - - -85a0756b-fe6d-44c2-9fa0-ee5423898151 - -Holding(Chips) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->85a0756b-fe6d-44c2-9fa0-ee5423898151 - - - - - -4466e5fa-331e-45c2-9a5e-49ba9c45d6d8 - -At(Robot,CoffeeTable) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->4466e5fa-331e-45c2-9a5e-49ba9c45d6d8 - - - - - -eb79f110-620f-45cb-bc62-ca347951ba4a - -At(Robot,Bar2) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->eb79f110-620f-45cb-bc62-ca347951ba4a - - - - - -eaa97337-c32e-4296-9a9c-2991e4cde892 - -PutDown(Chips,CoffeeTable) - - - -e186f38d-9873-4327-9047-f7936f3c51b4->eaa97337-c32e-4296-9a9c-2991e4cde892 - - - - - -20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1 - -Holding(NFCJuice) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->20e4b3a3-7b3d-4ae5-a4b6-61efc29eaaa1 - - - - - -6645a93c-0c9e-4ad0-b7a5-3e820378eb59 - -At(Robot,Bar) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->6645a93c-0c9e-4ad0-b7a5-3e820378eb59 - - - - - -9e2ca20a-3fd4-4a57-8984-e7a4a4e00847 - -PutDown(NFCJuice,Bar) - - - -e1f7d896-fa19-4d37-b398-8cec46b2b123->9e2ca20a-3fd4-4a57-8984-e7a4a4e00847 - - - - - -cb541a51-94db-4332-8064-27af46ca10a4 - -Holding(Water) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->cb541a51-94db-4332-8064-27af46ca10a4 - - - - - -b46e955f-3fdb-4413-a5f6-6762e8ee52ba - -At(Robot,Table2) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->b46e955f-3fdb-4413-a5f6-6762e8ee52ba - - - - - -b7cb7041-27ac-43ad-8aba-587d346ee76e - -PutDown(Water,Table) - - - -ddb50a39-d2d4-45f9-aff1-a9be3f00293d->b7cb7041-27ac-43ad-8aba-587d346ee76e - - - - - -1b8d7129-9d8b-4426-96c3-c81c43853723 - -At(Robot,Bar) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->1b8d7129-9d8b-4426-96c3-c81c43853723 - - - - - -71c78c86-36d6-4b4a-8b5d-1467b3b67681 - -Holding(Yogurt) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->71c78c86-36d6-4b4a-8b5d-1467b3b67681 - - - - - -6ab33c24-dd49-494a-acfa-1bb7c7399b4a - -PutDown(Yogurt,Bar) - - - -bfd29ec8-fa5a-4a32-bc56-2e6a5c1cdd3a->6ab33c24-dd49-494a-acfa-1bb7c7399b4a - - - - - -7412ef88-9056-4fc4-b1a6-d2d7de96aa96 - -Holding(Chips) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->7412ef88-9056-4fc4-b1a6-d2d7de96aa96 - - - - - -b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d - -At(Robot,Bar2) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d - - - - - -5d331ec1-31e0-491f-9f2d-02ef63288bf2 - -At(Robot,Table2) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->5d331ec1-31e0-491f-9f2d-02ef63288bf2 - - - - - -3192259d-0ac1-42c6-8055-17a50c6931ba - -PutDown(Chips,Table) - - - -2ea5c9b7-401b-4771-98b9-0cb9f84cf93f->3192259d-0ac1-42c6-8055-17a50c6931ba - - - - - -0c2d75f1-03b8-4a2e-aea4-40274c78b40a - -At(Robot,Bar2) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->0c2d75f1-03b8-4a2e-aea4-40274c78b40a - - - - - -d5d61d09-8054-4c71-97c9-aaa51a5fcb94 - -Holding(SpringWater) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->d5d61d09-8054-4c71-97c9-aaa51a5fcb94 - - - - - -ffc98d8c-20e4-4a74-99c4-950b72b08f33 - -At(Robot,Table1) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->ffc98d8c-20e4-4a74-99c4-950b72b08f33 - - - - - -26198c04-22c4-46a7-8468-254c45f85a1b - -PutDown(SpringWater,Table) - - - -f727407f-28e9-4157-be0e-0776c8c9b234->26198c04-22c4-46a7-8468-254c45f85a1b - - - - - -40d08376-a513-4f21-b26e-414499dd24c1 - -Holding(ADMilk) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->40d08376-a513-4f21-b26e-414499dd24c1 - - - - - -0478d81a-07c2-4833-9f24-1350d4104005 - -At(Robot,Table1) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->0478d81a-07c2-4833-9f24-1350d4104005 - - - - - -2763af4f-1892-4959-b003-198e47990442 - -PutDown(ADMilk,Table) - - - -7f627d97-bdce-4478-8fbe-7f693fd142f3->2763af4f-1892-4959-b003-198e47990442 - - - - - -e9fb5b22-f970-4d3d-b0a6-8520344eca95 - -At(Robot,BrightTable6) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->e9fb5b22-f970-4d3d-b0a6-8520344eca95 - - - - - -61086fc2-68ac-4c53-be58-23f7f4cde3c2 - -Holding(Coffee) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->61086fc2-68ac-4c53-be58-23f7f4cde3c2 - - - - - -43692518-19ba-4c06-b0b4-ee872f43a223 - -PutDown(Coffee,BrightTable) - - - -62e4898d-5171-483e-a228-8f9a42a15d5e->43692518-19ba-4c06-b0b4-ee872f43a223 - - - - - -ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d - -At(Robot,BrightTable6) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d - - - - - -878f5fb0-f80f-443b-b82b-ca9172dda9a2 - -Holding(Softdrink) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->878f5fb0-f80f-443b-b82b-ca9172dda9a2 - - - - - -aec37d57-bdda-46f1-854f-f524dc17e96a - -PutDown(Softdrink,BrightTable) - - - -5a643705-c422-4be1-bd03-ab97e650e6d2->aec37d57-bdda-46f1-854f-f524dc17e96a - - - - - -ad378294-328c-4168-bdb9-e11a53f3f391 - -Holding(BottledDrink) - - - -54f16326-fb05-4358-94c5-800240d91cc9->ad378294-328c-4168-bdb9-e11a53f3f391 - - - - - -709eff6e-629e-4cf0-b3e1-f7638cbd485b - -At(Robot,Bar2) - - - -54f16326-fb05-4358-94c5-800240d91cc9->709eff6e-629e-4cf0-b3e1-f7638cbd485b - - - - - -6c257551-94b8-402f-9b8b-2da373da7400 - -At(Robot,WaterTable) - - - -54f16326-fb05-4358-94c5-800240d91cc9->6c257551-94b8-402f-9b8b-2da373da7400 - - - - - -c0bb2a92-f285-479f-973a-d496e08a32ce - -PutDown(BottledDrink,WaterTable) - - - -54f16326-fb05-4358-94c5-800240d91cc9->c0bb2a92-f285-479f-973a-d496e08a32ce - - - - - -604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf - -Holding(NFCJuice) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf - - - - - -ce32a4ed-7d51-4545-a382-eca150065ade - -At(Robot,Bar2) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->ce32a4ed-7d51-4545-a382-eca150065ade - - - - - -c2f9c606-8021-40a3-9b11-91e271005078 - -At(Robot,Table2) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->c2f9c606-8021-40a3-9b11-91e271005078 - - - - - -806e24e2-e0a5-48f6-93ba-28af6529e656 - -PutDown(NFCJuice,Table) - - - -da34b6e2-6a1e-4240-8270-e8c15221daa5->806e24e2-e0a5-48f6-93ba-28af6529e656 - - - - - -957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70 - -Holding(Softdrink) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->957dcb92-cd4b-4a2c-a919-9e1ed5f8fa70 - - - - - -e7be60d6-3117-42d9-b998-82b3b57d1f07 - -At(Robot,Bar2) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->e7be60d6-3117-42d9-b998-82b3b57d1f07 - - - - - -75187baf-fe88-4226-9863-3b25fb809ff2 - -At(Robot,Table2) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->75187baf-fe88-4226-9863-3b25fb809ff2 - - - - - -3675c0db-86c1-4ad2-be97-fc04c66aad17 - -PutDown(Softdrink,Table) - - - -9fd64a3c-7f94-47ee-a67a-31905d90ac92->3675c0db-86c1-4ad2-be97-fc04c66aad17 - - - - - -cba7e126-a209-4c34-bde4-8c80a9566e31 - -At(Robot,CoffeeTable) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->cba7e126-a209-4c34-bde4-8c80a9566e31 - - - - - -1bfc4fb5-f58b-452a-a0a5-1ffca35407cc - -At(Robot,Bar2) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->1bfc4fb5-f58b-452a-a0a5-1ffca35407cc - - - - - -15de4356-531c-4f01-9866-e36c803c73bd - -Holding(Yogurt) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->15de4356-531c-4f01-9866-e36c803c73bd - - - - - -c503ca42-c06d-44a1-8d3b-cb6ce26435df - -PutDown(Yogurt,CoffeeTable) - - - -bb02971f-4aae-471f-8dab-09dff9c8f696->c503ca42-c06d-44a1-8d3b-cb6ce26435df - - - - - -ff36f6be-0589-41ea-be22-20cd30bc22fc - -At(Robot,WaterTable) - - - -21973779-00b7-4010-a639-5132ed55acec->ff36f6be-0589-41ea-be22-20cd30bc22fc - - - - - -b1fc8b04-8e06-46b3-8503-3f778dc7ee9f - -Holding(Coffee) - - - -21973779-00b7-4010-a639-5132ed55acec->b1fc8b04-8e06-46b3-8503-3f778dc7ee9f - - - - - -c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816 - -PutDown(Coffee,WaterTable) - - - -21973779-00b7-4010-a639-5132ed55acec->c3b27cd9-8f57-4d68-a2e9-b3f56b8eb816 - - - - - -cb8009a2-d064-4d1b-adb3-76ec0ccc3682 - -At(Robot,WaterTable) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->cb8009a2-d064-4d1b-adb3-76ec0ccc3682 - - - - - -a7233cbd-b043-4cf3-b66b-75bf4f5b45b5 - -Holding(SpringWater) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->a7233cbd-b043-4cf3-b66b-75bf4f5b45b5 - - - - - -4687c2ea-e137-4135-9c6e-96f4d8b5ede2 - -PutDown(SpringWater,WaterTable) - - - -97864247-400f-4c30-9bda-e3efb2b65f09->4687c2ea-e137-4135-9c6e-96f4d8b5ede2 - - - - - -3c52ce20-1816-45d3-a5a7-3167587c0919 - -Holding(VacuumCup) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->3c52ce20-1816-45d3-a5a7-3167587c0919 - - - - - -255c1613-cd3a-4785-9d6e-fc9fc432133a - -At(Robot,Table1) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->255c1613-cd3a-4785-9d6e-fc9fc432133a - - - - - -b92f24c8-7392-4a9c-b39c-e9d4b55b69d0 - -PutDown(VacuumCup,Table) - - - -4014f6fe-14e4-471a-8fea-66ab305f6127->b92f24c8-7392-4a9c-b39c-e9d4b55b69d0 - - - - - -75c95506-08e9-42a7-8419-b9abe291ed7b - -At(Robot,Bar) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->75c95506-08e9-42a7-8419-b9abe291ed7b - - - - - -be696c22-3ab1-47ea-95d9-36c25544fb72 - -At(Robot,Bar2) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->be696c22-3ab1-47ea-95d9-36c25544fb72 - - - - - -bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882 - -Holding(Water) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882 - - - - - -43fec34b-8178-4e3f-a124-b9f408b481ca - -PutDown(Water,Bar) - - - -8dd7e518-0a93-4774-ace7-d4ee136e8fef->43fec34b-8178-4e3f-a124-b9f408b481ca - - - - - -c3ddd6c6-6a50-456a-8904-477d8d2a6bca - -Holding(ADMilk) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->c3ddd6c6-6a50-456a-8904-477d8d2a6bca - - - - - -5f80db81-2a79-4e65-98da-0be87c709964 - -At(Robot,Table2) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->5f80db81-2a79-4e65-98da-0be87c709964 - - - - - -074409a8-d0bc-4350-8835-37e0e00d43ac - -PutDown(ADMilk,Table) - - - -16e95ea7-900d-4c9b-9b41-136ba8e71113->074409a8-d0bc-4350-8835-37e0e00d43ac - - - - - -49799868-71db-487b-8fd0-055781c1d41e - -At(Robot,Bar) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->49799868-71db-487b-8fd0-055781c1d41e - - - - - -b3f91120-5de5-42a5-825b-59a18c8675c6 - -Holding(SpringWater) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->b3f91120-5de5-42a5-825b-59a18c8675c6 - - - - - -0a60d085-830d-4959-9197-9ab252e65b35 - -PutDown(SpringWater,Bar) - - - -7494652d-64a1-48b9-9956-b4fe65019ad8->0a60d085-830d-4959-9197-9ab252e65b35 - - - - - -ddfed584-480c-40f4-bde0-7e9b21473a3d - -At(Robot,Bar2) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->ddfed584-480c-40f4-bde0-7e9b21473a3d - - - - - -70b36b68-61bd-445e-baae-61f7fd08bee0 - -Holding(Dessert) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->70b36b68-61bd-445e-baae-61f7fd08bee0 - - - - - -e077fbfb-4cbf-418c-8257-e01eb13126a2 - -PutDown(Dessert,Bar) - - - -e7c0766e-5de8-4816-9ec4-7147c68b6592->e077fbfb-4cbf-418c-8257-e01eb13126a2 - - - - - -819edd5a-4068-4585-887b-13a2c716cc77 - -Holding(NFCJuice) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->819edd5a-4068-4585-887b-13a2c716cc77 - - - - - -203e3db6-229e-4c7d-8db5-898be8f94d79 - -At(Robot,CoffeeTable) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->203e3db6-229e-4c7d-8db5-898be8f94d79 - - - - - -9ba782db-dd98-401c-b1ec-342d22ee0dab - -At(Robot,Bar2) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->9ba782db-dd98-401c-b1ec-342d22ee0dab - - - - - -aa0d480f-32fe-405f-a187-0a4942239a15 - -PutDown(NFCJuice,CoffeeTable) - - - -d6c17b61-b091-44ff-b2b8-b13bd2c7badf->aa0d480f-32fe-405f-a187-0a4942239a15 - - - - - -f3108373-0c05-4447-aca9-d55cdd021ec5 - -Holding(Softdrink) - - - -13835c1d-0502-4e60-882b-4bb846b43271->f3108373-0c05-4447-aca9-d55cdd021ec5 - - - - - -4855d77d-4f6d-4afa-977d-52379a4615cc - -At(Robot,Bar) - - - -13835c1d-0502-4e60-882b-4bb846b43271->4855d77d-4f6d-4afa-977d-52379a4615cc - - - - - -348fe856-9357-4d0d-bed5-2f051ed1a179 - -At(Robot,Bar2) - - - -13835c1d-0502-4e60-882b-4bb846b43271->348fe856-9357-4d0d-bed5-2f051ed1a179 - - - - - -27d91b91-06ea-4939-b286-0742662eb8e0 - -PutDown(Softdrink,Bar) - - - -13835c1d-0502-4e60-882b-4bb846b43271->27d91b91-06ea-4939-b286-0742662eb8e0 - - - - - -603b1dcd-e423-4877-80da-388e20057bb2 - -At(Robot,Bar) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->603b1dcd-e423-4877-80da-388e20057bb2 - - - - - -63813d31-143f-4104-b73e-07ebcf000398 - -Holding(Chips) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->63813d31-143f-4104-b73e-07ebcf000398 - - - - - -6df0bbdd-0d3b-43a9-9be3-e762fb72f770 - -PutDown(Chips,Bar) - - - -4a460311-2bb1-43b5-baf2-fcbf1afed5f2->6df0bbdd-0d3b-43a9-9be3-e762fb72f770 - - - - - -1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc - -Holding(Softdrink) - - - -2116f1d5-78c8-4630-8691-850709ba7098->1310bb37-c5d2-47dd-bd96-5cdad0e8c1dc - - - - - -16e3f098-2f52-4d4b-8812-3699be1caee6 - -At(Robot,Table3) - - - -2116f1d5-78c8-4630-8691-850709ba7098->16e3f098-2f52-4d4b-8812-3699be1caee6 - - - - - -7d4f6389-a2a7-4a2b-9e41-d9b14b5bdcb7 - -PutDown(Softdrink,Table) - - - -2116f1d5-78c8-4630-8691-850709ba7098->7d4f6389-a2a7-4a2b-9e41-d9b14b5bdcb7 - - - - - -a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488 - -Holding(BottledDrink) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->a875a2b3-35a6-4bfa-a4aa-8bbdd6bd3488 - - - - - -2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42 - -At(Robot,Bar) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42 - - - - - -6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81 - -At(Robot,Bar2) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81 - - - - - -18d11699-9155-4776-80e0-4f781207e44d - -PutDown(BottledDrink,Bar) - - - -faeec06c-caaa-4fc2-b2a4-04dc26afac6c->18d11699-9155-4776-80e0-4f781207e44d - - - - - -38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f - -At(Robot,Bar2) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f - - - - - -2ed978ae-a160-48a9-8a3f-6d7fcda113ba - -Holding(Coffee) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->2ed978ae-a160-48a9-8a3f-6d7fcda113ba - - - - - -91b82c9c-b659-4f2e-89ef-88849128f1db - -PutDown(Coffee,Bar) - - - -a1fa30b6-280f-4a5f-9f7d-0e78025a2e66->91b82c9c-b659-4f2e-89ef-88849128f1db - - - - - -cd9dcedc-1f87-4f17-a108-d0a9b7729f33 - -Holding(Milk) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->cd9dcedc-1f87-4f17-a108-d0a9b7729f33 - - - - - -477407bf-b361-4061-ad94-b35c1745d21a - -At(Robot,Bar2) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->477407bf-b361-4061-ad94-b35c1745d21a - - - - - -d05c6f3f-be0d-4171-aa77-a0e9a19a4488 - -At(Robot,Table2) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->d05c6f3f-be0d-4171-aa77-a0e9a19a4488 - - - - - -dd638b54-b43d-48d9-be54-be6cd89e04a9 - -PutDown(Milk,Table) - - - -19c105f0-a4f5-490c-97d1-673e80c12e0a->dd638b54-b43d-48d9-be54-be6cd89e04a9 - - - - - -680fb62b-2d9e-4f12-a8a5-e094839a5dfe - -Holding(VacuumCup) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->680fb62b-2d9e-4f12-a8a5-e094839a5dfe - - - - - -906b6039-76b7-44af-9b39-f6054b265dd5 - -At(Robot,Bar2) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->906b6039-76b7-44af-9b39-f6054b265dd5 - - - - - -3fcce7d9-5fab-435a-b7d5-40bb2df70bb2 - -PutDown(VacuumCup,Bar) - - - -c30b4742-6aaf-4efb-9255-547c5b4754fd->3fcce7d9-5fab-435a-b7d5-40bb2df70bb2 - - - - - -09b47fc1-08cd-4fb7-a32f-c9c5963deb1f - -At(Robot,WaterTable) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->09b47fc1-08cd-4fb7-a32f-c9c5963deb1f - - - - - -f08535d8-d598-4ae0-b597-ab2483605a7b - -Holding(Dessert) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->f08535d8-d598-4ae0-b597-ab2483605a7b - - - - - -f7d8ef5e-6e4d-488b-861d-1ad6413ced1a - -PutDown(Dessert,WaterTable) - - - -fa9691bb-77c7-447d-88d2-9c89dd0a6613->f7d8ef5e-6e4d-488b-861d-1ad6413ced1a - - - - - -eac40a1e-d6c4-4bb2-9380-12b92d5f7cef - -At(Robot,Bar) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->eac40a1e-d6c4-4bb2-9380-12b92d5f7cef - - - - - -8a54e21a-8890-4687-8850-41e07c4a4d99 - -Holding(Dessert) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->8a54e21a-8890-4687-8850-41e07c4a4d99 - - - - - -0682a0df-2d52-4c68-9b05-dfdc3656d33d - -PutDown(Dessert,Bar) - - - -4ab320b6-025a-4df8-8c02-c69080b47b87->0682a0df-2d52-4c68-9b05-dfdc3656d33d - - - - - -5ca0dc91-08e8-4172-9294-de3ec48de710 - -At(Robot,BrightTable6) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->5ca0dc91-08e8-4172-9294-de3ec48de710 - - - - - -13183db8-06a3-4e34-bd92-3d247e796af1 - -Holding(SpringWater) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->13183db8-06a3-4e34-bd92-3d247e796af1 - - - - - -eaefc7de-fa28-4e98-b306-772277184bfb - -PutDown(SpringWater,BrightTable) - - - -02384e82-67c4-4289-9635-30cdebc7bc58->eaefc7de-fa28-4e98-b306-772277184bfb - - - - - -f8d2716c-b3f2-4702-a731-bff0e2453004 - -Holding(ADMilk) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->f8d2716c-b3f2-4702-a731-bff0e2453004 - - - - - -07c73914-6168-4138-a92b-32d93b6c535d - -At(Robot,Bar2) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->07c73914-6168-4138-a92b-32d93b6c535d - - - - - -837cf8fc-dfe5-4efa-82ac-d29c4fd6014b - -At(Robot,Table2) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->837cf8fc-dfe5-4efa-82ac-d29c4fd6014b - - - - - -6c15552d-d4fe-4036-bc72-eb08079ddc2e - -PutDown(ADMilk,Table) - - - -625d83d9-e08c-4ac3-aa8a-e3e4c340793e->6c15552d-d4fe-4036-bc72-eb08079ddc2e - - - - - -f0c3f2de-0d5d-46ce-8904-4626e610f7ba - -At(Robot,Bar2) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->f0c3f2de-0d5d-46ce-8904-4626e610f7ba - - - - - -dabf9a96-b681-4ef2-8a49-34d4fd6024fb - -Holding(Milk) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->dabf9a96-b681-4ef2-8a49-34d4fd6024fb - - - - - -2294d0da-fe1c-4f6b-8680-f8411a95a150 - -At(Robot,WaterTable) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->2294d0da-fe1c-4f6b-8680-f8411a95a150 - - - - - -52389270-6462-46a5-a742-a7d9302a4b25 - -PutDown(Milk,WaterTable) - - - -5aabe81e-933c-452a-b8fa-7ee52b405253->52389270-6462-46a5-a742-a7d9302a4b25 - - - - - -46c992aa-02de-49e7-baab-57463d4c3e05 - -At(Robot,Bar) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->46c992aa-02de-49e7-baab-57463d4c3e05 - - - - - -51f22fe4-8b5d-4834-983b-b422e3167246 - -Holding(Dessert) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->51f22fe4-8b5d-4834-983b-b422e3167246 - - - - - -eae5ef7d-a86c-4862-bbc7-99732ea6921f - -PutDown(Dessert,Bar) - - - -5f4c7a33-c36c-40e2-bb85-57dc4dc0faf2->eae5ef7d-a86c-4862-bbc7-99732ea6921f - - - - - -0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa - -At(Robot,Bar) - - - -9ecdc792-6c23-4258-a882-8812b08de238->0d53dcd6-5c2a-4473-aa9d-04b15eadf4fa - - - - - -f2a3d02d-9b72-4c1c-9848-980098a4ca40 - -At(Robot,Bar2) - - - -9ecdc792-6c23-4258-a882-8812b08de238->f2a3d02d-9b72-4c1c-9848-980098a4ca40 - - - - - -9702bf65-61eb-45fa-8e61-5973bc125718 - -Holding(Chips) - - - -9ecdc792-6c23-4258-a882-8812b08de238->9702bf65-61eb-45fa-8e61-5973bc125718 - - - - - -5b0aeaaa-901b-409e-a31f-906cc3047dc5 - -PutDown(Chips,Bar) - - - -9ecdc792-6c23-4258-a882-8812b08de238->5b0aeaaa-901b-409e-a31f-906cc3047dc5 - - - - - -2c7b61ab-29d0-4d26-beaa-0f359d31f244 - -Holding(Coffee) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->2c7b61ab-29d0-4d26-beaa-0f359d31f244 - - - - - -0874e5a1-7f91-46d4-b195-e2abf697cf24 - -At(Robot,Table2) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->0874e5a1-7f91-46d4-b195-e2abf697cf24 - - - - - -9ff5dab6-dad6-4796-9efc-b6a476852716 - -PutDown(Coffee,Table) - - - -837db8e3-e199-408f-8e5f-82e5bd6a3551->9ff5dab6-dad6-4796-9efc-b6a476852716 - - - - - -ea83bc85-0e59-45b3-9b6e-d06224a88791 - -Holding(ADMilk) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->ea83bc85-0e59-45b3-9b6e-d06224a88791 - - - - - -4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc - -At(Robot,CoffeeTable) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->4d99f3e0-5b8b-4bb5-b700-a96851ee4ffc - - - - - -7376f71b-e73c-4bf6-9d2e-aab526e8afe0 - -At(Robot,Bar2) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->7376f71b-e73c-4bf6-9d2e-aab526e8afe0 - - - - - -7d8b59d4-7068-43ac-9f99-51680c4798cd - -PutDown(ADMilk,CoffeeTable) - - - -30a71bb2-440c-4665-9807-46b4e8b76a05->7d8b59d4-7068-43ac-9f99-51680c4798cd - - - - - -4b0c79aa-f9a1-47c8-9b80-6af7614ff47f - -Holding(Chips) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->4b0c79aa-f9a1-47c8-9b80-6af7614ff47f - - - - - -7f2a2034-1341-44b2-92b8-84051dc89801 - -At(Robot,Bar2) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->7f2a2034-1341-44b2-92b8-84051dc89801 - - - - - -4b5d2c4d-32f6-4393-93b3-fac150f53c31 - -At(Robot,Table1) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->4b5d2c4d-32f6-4393-93b3-fac150f53c31 - - - - - -3934305d-97bd-4407-94f2-a95d81917dab - -PutDown(Chips,Table) - - - -45f6fec1-9dd6-48a3-b301-8c0505bc01ac->3934305d-97bd-4407-94f2-a95d81917dab - - - - - -7c74da8b-f45f-4d07-b985-0d1051a3fd80 - -Holding(VacuumCup) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->7c74da8b-f45f-4d07-b985-0d1051a3fd80 - - - - - -fbcb8673-994d-425f-aa9d-4c717747ab5e - -At(Robot,Table3) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->fbcb8673-994d-425f-aa9d-4c717747ab5e - - - - - -2428964a-46c6-40f7-9f89-4131dba49a6c - -PutDown(VacuumCup,Table) - - - -a7b2635d-e137-4211-83ee-421956f2cfdf->2428964a-46c6-40f7-9f89-4131dba49a6c - - - - - -b409b69e-1cc1-4231-80cd-cc9c74c88863 - -Holding(Yogurt) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->b409b69e-1cc1-4231-80cd-cc9c74c88863 - - - - - -81221ff5-61a2-419b-a416-0e6913f12299 - -At(Robot,Table2) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->81221ff5-61a2-419b-a416-0e6913f12299 - - - - - -4c4ef890-0e95-46d7-a599-bbd582445249 - -PutDown(Yogurt,Table) - - - -004c2926-083f-43bd-ab7b-a221795e9c5e->4c4ef890-0e95-46d7-a599-bbd582445249 - - - - - -e0d3fc13-3bef-486a-bc4d-cee686b94f4d - -At(Robot,Table3) - - - -eba32320-02c3-4245-a359-623281600d5b->e0d3fc13-3bef-486a-bc4d-cee686b94f4d - - - - - -ae2a63cf-ff64-403c-b01c-225ce7f74ab4 - -Holding(Milk) - - - -eba32320-02c3-4245-a359-623281600d5b->ae2a63cf-ff64-403c-b01c-225ce7f74ab4 - - - - - -f97c5a74-0d4e-4046-9ed8-afd6c5619d11 - -At(Robot,Bar2) - - - -eba32320-02c3-4245-a359-623281600d5b->f97c5a74-0d4e-4046-9ed8-afd6c5619d11 - - - - - -afa82b45-f6cb-4d4b-b818-581fa9ec2a4c - -PutDown(Milk,Table) - - - -eba32320-02c3-4245-a359-623281600d5b->afa82b45-f6cb-4d4b-b818-581fa9ec2a4c - - - - - -2bc72737-927d-4dfc-9a64-b9a5371aa307 - -At(Robot,BrightTable6) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->2bc72737-927d-4dfc-9a64-b9a5371aa307 - - - - - -3aeb35ca-ca9b-4884-9877-842076a21309 - -At(Robot,Bar2) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->3aeb35ca-ca9b-4884-9877-842076a21309 - - - - - -924a2907-dda0-43e7-a0bb-35852d7211ef - -Holding(Water) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->924a2907-dda0-43e7-a0bb-35852d7211ef - - - - - -c610d253-f0f5-40a1-9081-08b8f4beff57 - -PutDown(Water,BrightTable) - - - -27d58bb1-4f25-4c39-b943-fd2ed64db0c3->c610d253-f0f5-40a1-9081-08b8f4beff57 - - - - - -e311e6ac-1378-4532-9ee8-99541008156d - -At(Robot,Bar2) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->e311e6ac-1378-4532-9ee8-99541008156d - - - - - -38f3c5ff-4194-40c1-bc77-0203e14945bb - -Holding(Water) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->38f3c5ff-4194-40c1-bc77-0203e14945bb - - - - - -979c77e0-e6b6-40c6-a32d-4c443743c52f - -At(Robot,Table2) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->979c77e0-e6b6-40c6-a32d-4c443743c52f - - - - - -59d9da32-d653-46c1-817f-023f6741825b - -PutDown(Water,Table) - - - -1e357102-a61a-487e-ae61-6eae75b6590d->59d9da32-d653-46c1-817f-023f6741825b - - - - - -86bf4fe6-7320-4a6f-816e-5aad92292910 - -Holding(ADMilk) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->86bf4fe6-7320-4a6f-816e-5aad92292910 - - - - - -ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd - -At(Robot,Bar) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->ba8b70aa-e21b-45f3-a532-dec3eb9fa7cd - - - - - -7e047adb-babc-421e-a145-d8bf04c6c8ff - -PutDown(ADMilk,Bar) - - - -81c08679-1907-4f4d-885e-08a1ddc4e4e7->7e047adb-babc-421e-a145-d8bf04c6c8ff - - - - - -dacf4ccb-2925-4291-8e90-32cf688ea6a4 - -At(Robot,BrightTable6) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->dacf4ccb-2925-4291-8e90-32cf688ea6a4 - - - - - -dc21dcd4-519d-4fe8-aded-ee9bf1d36d17 - -Holding(Water) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->dc21dcd4-519d-4fe8-aded-ee9bf1d36d17 - - - - - -80195ff0-a958-49e1-99dd-3b077e5e78a0 - -PutDown(Water,BrightTable) - - - -866cf8fb-2136-4d2b-be9b-5d9caa6f88c1->80195ff0-a958-49e1-99dd-3b077e5e78a0 - - - - - -812f018b-4ca7-46b9-8695-cc82e65b1980 - -Holding(Bernachon) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->812f018b-4ca7-46b9-8695-cc82e65b1980 - - - - - -da1b6ab0-8b4a-4848-b5a7-3374914c8fae - -At(Robot,Bar2) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->da1b6ab0-8b4a-4848-b5a7-3374914c8fae - - - - - -c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06 - -PutDown(Bernachon,Bar) - - - -813f11c9-1db9-4fca-af8f-70a760976d7e->c520ffd3-0aa3-45ea-9008-e0e8ebb4ac06 - - - - - -1002d801-1e43-40f3-b1fb-b8657f104a60 - -Holding(Chips) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->1002d801-1e43-40f3-b1fb-b8657f104a60 - - - - - -a9c3df84-17f9-470f-b388-57b2c002bd46 - -At(Robot,CoffeeTable) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->a9c3df84-17f9-470f-b388-57b2c002bd46 - - - - - -426b2690-3855-4227-a1b6-b240ce1b2322 - -At(Robot,Bar2) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->426b2690-3855-4227-a1b6-b240ce1b2322 - - - - - -a3ab5026-3dd6-4723-9dd0-57317c53bf38 - -PutDown(Chips,CoffeeTable) - - - -b5b0d342-52e8-4cba-91c1-861f4e8c2227->a3ab5026-3dd6-4723-9dd0-57317c53bf38 - - - - - -5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f - -Holding(NFCJuice) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->5d1d1bc0-ad0e-4c9c-9717-c9aadc0fcd2f - - - - - -f633a9af-8e3f-4440-a544-0fdcb05c9f20 - -At(Robot,Bar2) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->f633a9af-8e3f-4440-a544-0fdcb05c9f20 - - - - - -5c392f47-73ed-4668-bf87-d212be015365 - -At(Robot,Table1) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->5c392f47-73ed-4668-bf87-d212be015365 - - - - - -6640e386-7fac-4f4f-bb6e-362337ea39fe - -PutDown(NFCJuice,Table) - - - -5d3a13de-d35b-49d0-9e7b-9f5cb327dd8b->6640e386-7fac-4f4f-bb6e-362337ea39fe - - - - - -c53b9468-f979-43a9-aa91-83804e2f0219 - -At(Robot,Bar2) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->c53b9468-f979-43a9-aa91-83804e2f0219 - - - - - -19442f4a-44ca-4c2b-901f-c98b80abc3a0 - -Holding(Water) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->19442f4a-44ca-4c2b-901f-c98b80abc3a0 - - - - - -75e404b0-f802-4296-9d68-3d32b8ce5a27 - -At(Robot,Table1) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->75e404b0-f802-4296-9d68-3d32b8ce5a27 - - - - - -c6749d61-32be-4dfa-ac1d-9343defcc8fc - -PutDown(Water,Table) - - - -7dbc0b6f-96d3-4e7b-8dbc-256c8fb36fee->c6749d61-32be-4dfa-ac1d-9343defcc8fc - - - - - -14d89893-b1f2-4345-adf6-6e6ca7494451 - -Holding(Dessert) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->14d89893-b1f2-4345-adf6-6e6ca7494451 - - - - - -a0711cd0-2e11-4afd-b816-b3d1ee9c77fa - -At(Robot,Table2) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->a0711cd0-2e11-4afd-b816-b3d1ee9c77fa - - - - - -de174e5b-56eb-4fee-8ed3-fadddc0385fb - -PutDown(Dessert,Table) - - - -7ea25606-dff8-40c1-a687-0c7b9c26d3c9->de174e5b-56eb-4fee-8ed3-fadddc0385fb - - - - - -1f741667-90e3-4938-8294-91be3ced97ca - -Holding(Milk) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->1f741667-90e3-4938-8294-91be3ced97ca - - - - - -ea3d6a75-51fe-40cf-8ff3-465534fa2a80 - -At(Robot,WaterTable) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->ea3d6a75-51fe-40cf-8ff3-465534fa2a80 - - - - - -d6d15ce7-6c6e-4bfd-98c3-02f4fa788563 - -PutDown(Milk,WaterTable) - - - -832db9ec-f75a-4ce7-927e-10fcf0e7ec23->d6d15ce7-6c6e-4bfd-98c3-02f4fa788563 - - - - - -1e3808d9-ba4e-4871-b2a6-d4caeec0f160 - -Holding(ADMilk) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->1e3808d9-ba4e-4871-b2a6-d4caeec0f160 - - - - - -37a167fc-0841-4c3b-86f7-b3e200dd4173 - -At(Robot,Bar) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->37a167fc-0841-4c3b-86f7-b3e200dd4173 - - - - - -4d5fdf86-30f0-475a-951b-ebc90e379711 - -At(Robot,Bar2) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->4d5fdf86-30f0-475a-951b-ebc90e379711 - - - - - -a9a65a59-3064-46a7-b68e-a68088dd3df3 - -PutDown(ADMilk,Bar) - - - -b3919dfc-7f98-43fb-b5fd-0873f63c4b25->a9a65a59-3064-46a7-b68e-a68088dd3df3 - - - - - -e8801653-4327-4c67-a64e-c158c82ec58f - -Holding(Bernachon) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->e8801653-4327-4c67-a64e-c158c82ec58f - - - - - -4a3aade2-f0d2-41dd-a9d1-51a0e74f50e5 - -At(Robot,Table3) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->4a3aade2-f0d2-41dd-a9d1-51a0e74f50e5 - - - - - -87233aa7-548f-4235-b21f-e7046e2c9698 - -At(Robot,Bar2) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->87233aa7-548f-4235-b21f-e7046e2c9698 - - - - - -25fca8ad-03af-47fa-9821-0dc9ae4aec00 - -PutDown(Bernachon,Table) - - - -9fd7968a-2e1c-48aa-afb2-c0f492dc8c4d->25fca8ad-03af-47fa-9821-0dc9ae4aec00 - - - - - -988609e6-e7ab-41d3-a965-1b5f961b6996 - -Holding(BottledDrink) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->988609e6-e7ab-41d3-a965-1b5f961b6996 - - - - - -e49dfb23-7ada-4206-b054-e13a61f99c10 - -At(Robot,Bar2) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->e49dfb23-7ada-4206-b054-e13a61f99c10 - - - - - -89c79c64-ee14-4ae4-a1d6-f6cbbf8bc40a - -At(Robot,Table1) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->89c79c64-ee14-4ae4-a1d6-f6cbbf8bc40a - - - - - -7e27c85a-8cae-4dfe-bf24-a2181aee6ca8 - -PutDown(BottledDrink,Table) - - - -6d7f9da7-e00b-4ab6-bc7b-9c36049ff573->7e27c85a-8cae-4dfe-bf24-a2181aee6ca8 - - - - - -14fc00f8-4d49-40c2-8e55-c21bdfe679e3 - -Holding(VacuumCup) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->14fc00f8-4d49-40c2-8e55-c21bdfe679e3 - - - - - -52489c95-f25f-431e-93db-42c4d353315d - -At(Robot,Bar2) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->52489c95-f25f-431e-93db-42c4d353315d - - - - - -2583f711-e135-4b41-82b2-34739dc7fe72 - -At(Robot,Table1) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->2583f711-e135-4b41-82b2-34739dc7fe72 - - - - - -0c4698a7-feb5-486f-aa01-541afe43c7dc - -PutDown(VacuumCup,Table) - - - -cb8089e5-6df0-40dc-a6d6-40bb2649a6ea->0c4698a7-feb5-486f-aa01-541afe43c7dc - - - - - -13a43656-501b-48e5-9fe4-299c3c185ca2 - -At(Robot,BrightTable6) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->13a43656-501b-48e5-9fe4-299c3c185ca2 - - - - - -bcc9062e-9b44-44e2-8375-1a1d21206978 - -Holding(ADMilk) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->bcc9062e-9b44-44e2-8375-1a1d21206978 - - - - - -1e8e052c-6424-446c-9eb0-b6e282077121 - -At(Robot,Bar2) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->1e8e052c-6424-446c-9eb0-b6e282077121 - - - - - -aabb1583-238d-44a8-82de-f57ad7f14f45 - -PutDown(ADMilk,BrightTable) - - - -b0e1c587-9075-49cc-875b-5870f332e0ba->aabb1583-238d-44a8-82de-f57ad7f14f45 - - - - - -80d4e364-c68e-4948-9991-08d3486100b6 - -Holding(BottledDrink) - - - -babcc445-5325-41ab-8093-803796ee6dc8->80d4e364-c68e-4948-9991-08d3486100b6 - - - - - -aac3e302-a5e6-496b-80e0-d489adb8a968 - -At(Robot,Bar2) - - - -babcc445-5325-41ab-8093-803796ee6dc8->aac3e302-a5e6-496b-80e0-d489adb8a968 - - - - - -8e380f1b-816e-4839-afa7-042e27102c38 - -At(Robot,Table2) - - - -babcc445-5325-41ab-8093-803796ee6dc8->8e380f1b-816e-4839-afa7-042e27102c38 - - - - - -0d5e5203-f1df-4437-9d54-37f68d5145af - -PutDown(BottledDrink,Table) - - - -babcc445-5325-41ab-8093-803796ee6dc8->0d5e5203-f1df-4437-9d54-37f68d5145af - - - - - -4b590a3a-fea6-4292-a0a8-5ad34cfd6a02 - -Holding(NFCJuice) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->4b590a3a-fea6-4292-a0a8-5ad34cfd6a02 - - - - - -1567c5cc-5c63-4a8c-a98b-4a9b7cc2201d - -At(Robot,Bar2) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->1567c5cc-5c63-4a8c-a98b-4a9b7cc2201d - - - - - -d61ad8ae-3924-4268-82b3-4e3ef6cd1b9f - -At(Robot,WaterTable) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->d61ad8ae-3924-4268-82b3-4e3ef6cd1b9f - - - - - -742cd464-34ba-43a5-a707-6842be075743 - -PutDown(NFCJuice,WaterTable) - - - -e2613b89-1da0-4c31-bb3f-ff2aedaf5e33->742cd464-34ba-43a5-a707-6842be075743 - - - - - -beb45a9a-96eb-4a27-b053-a4737c60836e - -Holding(BottledDrink) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->beb45a9a-96eb-4a27-b053-a4737c60836e - - - - - -0a163006-2d3e-422c-9d9c-b0da6ba0d002 - -At(Robot,Table2) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->0a163006-2d3e-422c-9d9c-b0da6ba0d002 - - - - - -c3706352-c0c6-44b0-a36f-5e38d887b7c1 - -PutDown(BottledDrink,Table) - - - -4a153e7e-15b5-40d8-9fe1-9124aa295094->c3706352-c0c6-44b0-a36f-5e38d887b7c1 - - - - - -a7060826-7c13-4267-9c70-03c3e2bb0b9f - -Holding(Softdrink) - - - -23802024-3113-45c2-917f-a4b4790437e9->a7060826-7c13-4267-9c70-03c3e2bb0b9f - - - - - -31330f4c-7607-4e3b-9a52-916601af3344 - -At(Robot,WaterTable) - - - -23802024-3113-45c2-917f-a4b4790437e9->31330f4c-7607-4e3b-9a52-916601af3344 - - - - - -605aca0d-387d-4dc4-ac4e-a90b2c384e97 - -PutDown(Softdrink,WaterTable) - - - -23802024-3113-45c2-917f-a4b4790437e9->605aca0d-387d-4dc4-ac4e-a90b2c384e97 - - - - - -5699fc12-546c-4c1a-b3ae-c3d87e15d822 - -At(Robot,Table3) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->5699fc12-546c-4c1a-b3ae-c3d87e15d822 - - - - - -a1e9ca93-8ad1-4157-9f02-38b2989e88bc - -Holding(SpringWater) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->a1e9ca93-8ad1-4157-9f02-38b2989e88bc - - - - - -0ee1e970-b7e9-468e-b483-59b3163d9437 - -PutDown(SpringWater,Table) - - - -7bfa0197-ff28-4eed-96f2-462e1576137e->0ee1e970-b7e9-468e-b483-59b3163d9437 - - - - - -6adbd380-443d-4045-9349-abe57cc179f0 - -At(Robot,Bar2) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->6adbd380-443d-4045-9349-abe57cc179f0 - - - - - -89b4e18d-9a55-412f-8253-ecf4cade4b44 - -Holding(Milk) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->89b4e18d-9a55-412f-8253-ecf4cade4b44 - - - - - -798beb99-f0f2-4d5d-b001-efc0b999d452 - -PutDown(Milk,Bar) - - - -b64c2a64-1a97-47f6-8492-72c92a78bc01->798beb99-f0f2-4d5d-b001-efc0b999d452 - - - - - -ffa656f3-8c1d-4bf7-b902-264cf3be6958 - -Holding(Softdrink) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->ffa656f3-8c1d-4bf7-b902-264cf3be6958 - - - - - -88266ee8-a355-4f80-9836-c7758be8ef6b - -At(Robot,Bar2) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->88266ee8-a355-4f80-9836-c7758be8ef6b - - - - - -c321bbb9-98cd-4577-b495-c802dbfd1941 - -PutDown(Softdrink,Bar) - - - -220a843b-0088-4622-b35e-d03c48ff01d5->c321bbb9-98cd-4577-b495-c802dbfd1941 - - - - - -62716efd-8fd7-4864-9bdc-b7533f28bbc3 - -At(Robot,BrightTable6) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->62716efd-8fd7-4864-9bdc-b7533f28bbc3 - - - - - -92fddbf9-472f-48b6-aacf-f2bbfd424e26 - -Holding(Yogurt) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->92fddbf9-472f-48b6-aacf-f2bbfd424e26 - - - - - -2509b6fc-47b8-4568-9860-edf7abb4b277 - -PutDown(Yogurt,BrightTable) - - - -2501c271-687e-4344-a2ce-4054e5aef3ad->2509b6fc-47b8-4568-9860-edf7abb4b277 - - - - - -6672a974-12d2-4a02-810b-246e8dc40a84 - -At(Robot,Table3) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->6672a974-12d2-4a02-810b-246e8dc40a84 - - - - - -efde675d-48b0-4ed9-b0b0-9a1f059b654f - -At(Robot,Bar2) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->efde675d-48b0-4ed9-b0b0-9a1f059b654f - - - - - -7a497311-39b3-4751-a208-228e6461c483 - -Holding(Chips) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->7a497311-39b3-4751-a208-228e6461c483 - - - - - -58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d - -PutDown(Chips,Table) - - - -ae105f85-f01a-4c79-9a74-3fab543f9978->58273b1e-c8a9-4b11-8401-bbe3b2a1fe7d - - - - - -0f5e077f-a059-4b93-836d-9c971a37d1e8 - -Holding(Bernachon) - - - -e5effab4-b593-4905-aebb-01d31111f402->0f5e077f-a059-4b93-836d-9c971a37d1e8 - - - - - -0de58d1f-03c7-4199-898e-4ebd4be7fce6 - -At(Robot,Bar2) - - - -e5effab4-b593-4905-aebb-01d31111f402->0de58d1f-03c7-4199-898e-4ebd4be7fce6 - - - - - -0612c6db-d68e-42b6-b50c-cc4a1b5b08f9 - -At(Robot,Table1) - - - -e5effab4-b593-4905-aebb-01d31111f402->0612c6db-d68e-42b6-b50c-cc4a1b5b08f9 - - - - - -9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce - -PutDown(Bernachon,Table) - - - -e5effab4-b593-4905-aebb-01d31111f402->9cdb6a3b-31e7-4069-bf7e-fa3e0e0ac0ce - - - - - -5789ffe7-51d4-4e1f-9a5a-f23af71931d3 - -Holding(Chips) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->5789ffe7-51d4-4e1f-9a5a-f23af71931d3 - - - - - -b49d9f11-3784-42d6-9787-4156a31da0fa - -At(Robot,Bar2) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->b49d9f11-3784-42d6-9787-4156a31da0fa - - - - - -f4d13eaa-3b34-4971-947c-a729d3209c9a - -At(Robot,WaterTable) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->f4d13eaa-3b34-4971-947c-a729d3209c9a - - - - - -6c3b4421-1846-494f-b6f6-549905c18991 - -PutDown(Chips,WaterTable) - - - -7080ae36-c007-407e-a090-ec88b3ef4784->6c3b4421-1846-494f-b6f6-549905c18991 - - - - - -49d388b2-26b1-4723-935c-f1e519831d13 - -Holding(NFCJuice) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->49d388b2-26b1-4723-935c-f1e519831d13 - - - - - -c7257cea-13d5-4660-b455-35bcd02f485a - -At(Robot,Bar2) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->c7257cea-13d5-4660-b455-35bcd02f485a - - - - - -32a33d52-b759-4494-8f23-8f2b30500b94 - -At(Robot,Table2) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->32a33d52-b759-4494-8f23-8f2b30500b94 - - - - - -a79786be-a702-42c6-8c99-1ff095b8c7e4 - -PutDown(NFCJuice,Table) - - - -956ed16a-05f0-4cd8-beed-cf07b2cce3e5->a79786be-a702-42c6-8c99-1ff095b8c7e4 - - - - - -6062aef1-a27f-4b14-b0e8-4490596bba0b - -Holding(Bernachon) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->6062aef1-a27f-4b14-b0e8-4490596bba0b - - - - - -3e22a516-4936-4550-a936-1929e951fc1f - -At(Robot,Bar2) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->3e22a516-4936-4550-a936-1929e951fc1f - - - - - -f00a8e84-4991-44d4-b88b-a351f692845c - -At(Robot,Table1) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->f00a8e84-4991-44d4-b88b-a351f692845c - - - - - -57af8aec-39c6-4229-9f3e-ee46c9e7eba5 - -PutDown(Bernachon,Table) - - - -54ddbef1-d8ef-496b-b604-1e7f19f24c19->57af8aec-39c6-4229-9f3e-ee46c9e7eba5 - - - - - -bb928c1c-f780-4403-bc36-4af636006525 - -Holding(BottledDrink) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->bb928c1c-f780-4403-bc36-4af636006525 - - - - - -66710455-8f8f-4caa-bad5-b91b810cc331 - -At(Robot,Bar2) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->66710455-8f8f-4caa-bad5-b91b810cc331 - - - - - -6bc26454-fe9e-4878-a5f2-8f3741230eb3 - -PutDown(BottledDrink,Bar) - - - -a69bd96b-9db6-49de-95d4-6de549aabfb3->6bc26454-fe9e-4878-a5f2-8f3741230eb3 - - - - - -92264400-fad1-480a-a1f3-26da0e8137e9 - -At(Robot,BrightTable6) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->92264400-fad1-480a-a1f3-26da0e8137e9 - - - - - -2389f72e-3704-4c9a-8e82-538a610254ce - -Holding(Chips) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->2389f72e-3704-4c9a-8e82-538a610254ce - - - - - -6f9def00-382b-4a5f-a052-d1318890e049 - -At(Robot,Bar2) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->6f9def00-382b-4a5f-a052-d1318890e049 - - - - - -2e06a655-0f3f-4064-a249-f58ae557ffc3 - -PutDown(Chips,BrightTable) - - - -aff42b81-f528-4d7e-85de-4dcf531b057e->2e06a655-0f3f-4064-a249-f58ae557ffc3 - - - - - -21cf96ff-e94a-40a3-80dc-b17e38731d82 - -At(Robot,Bar2) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->21cf96ff-e94a-40a3-80dc-b17e38731d82 - - - - - -13efdb93-b016-4304-870a-18e8d8aafdbe - -Holding(Coffee) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->13efdb93-b016-4304-870a-18e8d8aafdbe - - - - - -87119439-531e-4661-b8a1-44efe26cf124 - -At(Robot,Table1) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->87119439-531e-4661-b8a1-44efe26cf124 - - - - - -efd7fd42-a6d7-4203-a978-6cfa89268981 - -PutDown(Coffee,Table) - - - -cbf7b199-6629-412c-9137-692cf2a5d42c->efd7fd42-a6d7-4203-a978-6cfa89268981 - - - - - -c0c06538-5e97-4ecd-82c9-7e8e203af45b - -At(Robot,Table3) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->c0c06538-5e97-4ecd-82c9-7e8e203af45b - - - - - -e61e9b1b-8594-449e-b8f7-ec253c475aba - -At(Robot,Bar2) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->e61e9b1b-8594-449e-b8f7-ec253c475aba - - - - - -9cb90b6a-2c29-4b34-addb-b0561a9fcee8 - -Holding(Coffee) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->9cb90b6a-2c29-4b34-addb-b0561a9fcee8 - - - - - -2c33e1f7-af3b-4fc9-8046-a556e7af9d77 - -PutDown(Coffee,Table) - - - -3aac1498-9cbd-47fc-9279-fd9df032ffe0->2c33e1f7-af3b-4fc9-8046-a556e7af9d77 - - - - - -19ff069d-85f6-4d66-8736-d44dc5d76317 - -At(Robot,Table3) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->19ff069d-85f6-4d66-8736-d44dc5d76317 - - - - - -d32f5f55-13fb-4d9d-88cd-c6bea827c3b0 - -At(Robot,Bar2) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->d32f5f55-13fb-4d9d-88cd-c6bea827c3b0 - - - - - -1d0b443f-4c6f-4158-9df2-1f2b8fa0f483 - -Holding(Yogurt) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->1d0b443f-4c6f-4158-9df2-1f2b8fa0f483 - - - - - -3cb754ba-c534-42bc-ba6e-4c4b88b271f6 - -PutDown(Yogurt,Table) - - - -f71fd15d-367c-4cc6-8b2b-0024d9369f77->3cb754ba-c534-42bc-ba6e-4c4b88b271f6 - - - - - -127a9013-ea01-4f30-a92f-831b088b62ce - -At(Robot,Bar) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->127a9013-ea01-4f30-a92f-831b088b62ce - - - - - -1f0ae071-5dcd-4438-9a1a-159a2e81ad3d - -Holding(Milk) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->1f0ae071-5dcd-4438-9a1a-159a2e81ad3d - - - - - -7f9beeff-e7d6-49b1-9898-1a60351e2092 - -PutDown(Milk,Bar) - - - -0713f79f-1dc8-485f-83b5-9ac2e15bdd02->7f9beeff-e7d6-49b1-9898-1a60351e2092 - - - - - -8b86c7ad-f2ee-4a4a-9644-7f14d5be3535 - -Holding(NFCJuice) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->8b86c7ad-f2ee-4a4a-9644-7f14d5be3535 - - - - - -fa21fcf0-619e-4d21-87ca-148123cbc14d - -At(Robot,BrightTable6) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->fa21fcf0-619e-4d21-87ca-148123cbc14d - - - - - -e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca - -PutDown(NFCJuice,BrightTable) - - - -eb6139cb-d6c4-4acf-9481-edf3894b3511->e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca - - - - - -7b8d4254-e73e-4af1-a00e-697b22c184bd - -Holding(SpringWater) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->7b8d4254-e73e-4af1-a00e-697b22c184bd - - - - - -15f2d53d-fcbc-4e74-b1e6-9109d6105dba - -At(Robot,Table1) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->15f2d53d-fcbc-4e74-b1e6-9109d6105dba - - - - - -90ab23d5-2916-45fd-b0fc-322de36c14e0 - -PutDown(SpringWater,Table) - - - -7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a->90ab23d5-2916-45fd-b0fc-322de36c14e0 - - - - - -d6e52e33-b65f-41da-8e5e-bf2227b42589 - -At(Robot,Bar) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->d6e52e33-b65f-41da-8e5e-bf2227b42589 - - - - - -247c0ccd-9707-4a6c-bb1d-566c91b6aac9 - -Holding(Yogurt) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->247c0ccd-9707-4a6c-bb1d-566c91b6aac9 - - - - - -6fb8a925-6be7-4a8b-b0ee-be91f220850a - -PutDown(Yogurt,Bar) - - - -a736acd0-8bfc-4884-b4f8-f6c4e8c84adc->6fb8a925-6be7-4a8b-b0ee-be91f220850a - - - - - -c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b - -Holding(BottledDrink) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b - - - - - -53e07dc5-d8cc-417b-8d7f-1bbfaf272315 - -At(Robot,Table3) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->53e07dc5-d8cc-417b-8d7f-1bbfaf272315 - - - - - -6a170051-1032-4004-85a6-3d71d91f408d - -At(Robot,Bar2) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->6a170051-1032-4004-85a6-3d71d91f408d - - - - - -5acf912c-6ac0-4461-90cf-da19390f2655 - -PutDown(BottledDrink,Table) - - - -6d35016c-e20b-4da7-b20e-c0f469e87258->5acf912c-6ac0-4461-90cf-da19390f2655 - - - - - -402b0fee-e30e-40b8-895b-0baef293a2ea - -At(Robot,Bar2) - - - -7b991051-6f88-42a4-b316-9801bc229121->402b0fee-e30e-40b8-895b-0baef293a2ea - - - - - -ca818b84-6b8f-41b8-9f42-546cb1dd0267 - -At(Robot,WaterTable) - - - -7b991051-6f88-42a4-b316-9801bc229121->ca818b84-6b8f-41b8-9f42-546cb1dd0267 - - - - - -69ed2fe0-5613-4e88-b17b-cb6c6e696e4e - -Holding(SpringWater) - - - -7b991051-6f88-42a4-b316-9801bc229121->69ed2fe0-5613-4e88-b17b-cb6c6e696e4e - - - - - -088c04d4-7fe8-4370-bfdd-639f973f036a - -PutDown(SpringWater,WaterTable) - - - -7b991051-6f88-42a4-b316-9801bc229121->088c04d4-7fe8-4370-bfdd-639f973f036a - - - - - -36c90cfe-877c-4b67-9f0b-098409e534df - -Holding(Bernachon) - - - -08700f66-ea41-48ef-8047-80f0085084e3->36c90cfe-877c-4b67-9f0b-098409e534df - - - - - -93c1130d-b14a-4e3e-8955-0c5959faa0c5 - -At(Robot,Bar) - - - -08700f66-ea41-48ef-8047-80f0085084e3->93c1130d-b14a-4e3e-8955-0c5959faa0c5 - - - - - -9e6ede65-3570-4c5c-80b9-693b96226195 - -PutDown(Bernachon,Bar) - - - -08700f66-ea41-48ef-8047-80f0085084e3->9e6ede65-3570-4c5c-80b9-693b96226195 - - - - - -2c0604bf-2fb6-4c52-9db1-9a95562fab32 - -At(Robot,Bar) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->2c0604bf-2fb6-4c52-9db1-9a95562fab32 - - - - - -f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0 - -Holding(Milk) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0 - - - - - -5589dee3-0240-49e0-a18a-7824f4d6513d - -PutDown(Milk,Bar) - - - -30ad7df2-542d-4cbb-abe1-4b5b66950ff4->5589dee3-0240-49e0-a18a-7824f4d6513d - - - - - -c347772b-1b37-4a39-aed1-d8e73230199d - -At(Robot,BrightTable6) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->c347772b-1b37-4a39-aed1-d8e73230199d - - - - - -2506ae41-6951-4276-88b1-9aaa46e43b50 - -Holding(Milk) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->2506ae41-6951-4276-88b1-9aaa46e43b50 - - - - - -e949b1b9-8027-4247-95bb-d90461635a32 - -PutDown(Milk,BrightTable) - - - -6da04b02-dd38-4464-8dd5-d4bff3780df8->e949b1b9-8027-4247-95bb-d90461635a32 - - - - - -8957447b-bb99-4e33-b429-695946b66b15 - -Holding(VacuumCup) - - - -09002791-8297-479a-a8d0-b3dd78543323->8957447b-bb99-4e33-b429-695946b66b15 - - - - - -0c1e2234-19ad-4045-acaf-ff0fbc730aee - -At(Robot,BrightTable6) - - - -09002791-8297-479a-a8d0-b3dd78543323->0c1e2234-19ad-4045-acaf-ff0fbc730aee - - - - - -7632732a-9148-431b-9bcc-ee0676180390 - -PutDown(VacuumCup,BrightTable) - - - -09002791-8297-479a-a8d0-b3dd78543323->7632732a-9148-431b-9bcc-ee0676180390 - - - - - -08fb72b5-5e16-49a8-8c2d-35af6baa434b - -At(Robot,Bar2) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->08fb72b5-5e16-49a8-8c2d-35af6baa434b - - - - - -efa96bda-e5a8-4391-97ea-18fb600eca96 - -Holding(Chips) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->efa96bda-e5a8-4391-97ea-18fb600eca96 - - - - - -9b3c54e8-6412-4364-bac8-836051dc2a9a - -PutDown(Chips,Bar) - - - -1cb08cc0-a26c-4340-bb9d-1a12a6bc0aec->9b3c54e8-6412-4364-bac8-836051dc2a9a - - - - - -76bddc29-f789-4ce1-bf9d-4f38ca5a604e - -At(Robot,Bar2) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->76bddc29-f789-4ce1-bf9d-4f38ca5a604e - - - - - -c5c291d4-5657-44c3-a404-f135a9ffb299 - -Holding(SpringWater) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->c5c291d4-5657-44c3-a404-f135a9ffb299 - - - - - -480811b7-3f6a-49c4-9b7f-e0a554ac1ec6 - -At(Robot,Table2) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->480811b7-3f6a-49c4-9b7f-e0a554ac1ec6 - - - - - -f284902f-86e8-49aa-bfa2-a12089ee906d - -PutDown(SpringWater,Table) - - - -c16ae82a-98fe-4915-8a2f-e169039236fa->f284902f-86e8-49aa-bfa2-a12089ee906d - - - - - -865bddb7-988d-42fa-9e65-c876ab15dfe7 - -Holding(VacuumCup) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->865bddb7-988d-42fa-9e65-c876ab15dfe7 - - - - - -efa8eb89-2b75-4156-beeb-00edfc54f281 - -At(Robot,Bar2) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->efa8eb89-2b75-4156-beeb-00edfc54f281 - - - - - -98a38739-268c-42de-b329-a6b57dff58b2 - -PutDown(VacuumCup,Bar) - - - -0af98ad1-14e8-4ca5-831a-0043a32b9a20->98a38739-268c-42de-b329-a6b57dff58b2 - - - - - -d5cb51ce-3c07-429e-a9ea-d984bda522a2 - -At(Robot,BrightTable6) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->d5cb51ce-3c07-429e-a9ea-d984bda522a2 - - - - - -0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e - -At(Robot,Bar2) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->0e971f52-6be0-44f1-ae5d-04a0f0b0fe1e - - - - - -d0dbecb7-081d-46d3-83b8-e6fe57beb9ca - -Holding(Yogurt) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->d0dbecb7-081d-46d3-83b8-e6fe57beb9ca - - - - - -fea09512-494d-4115-ae6f-8a8b6821bd76 - -PutDown(Yogurt,BrightTable) - - - -010f9273-c7ba-45e3-9908-6527bed01f29->fea09512-494d-4115-ae6f-8a8b6821bd76 - - - - - -e8765ae0-75a2-4bf2-96fb-162a1b82c7c1 - -At(Robot,CoffeeTable) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->e8765ae0-75a2-4bf2-96fb-162a1b82c7c1 - - - - - -4e7bcb74-b675-487d-938e-9293c9eb423f - -Holding(Coffee) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->4e7bcb74-b675-487d-938e-9293c9eb423f - - - - - -e4b3fae3-7eff-4edc-bd29-686589619154 - -PutDown(Coffee,CoffeeTable) - - - -a4446cff-d8f0-402e-9aaa-739b89d8e015->e4b3fae3-7eff-4edc-bd29-686589619154 - - - - - -cbfa0254-2deb-42fb-8c86-fc8ae1bf2591 - -Holding(Bernachon) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->cbfa0254-2deb-42fb-8c86-fc8ae1bf2591 - - - - - -b6cfce40-21e4-470f-af31-a7779576ff93 - -At(Robot,Bar2) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->b6cfce40-21e4-470f-af31-a7779576ff93 - - - - - -357d4961-3535-45fe-a4cf-9a2d9710acbb - -At(Robot,WaterTable) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->357d4961-3535-45fe-a4cf-9a2d9710acbb - - - - - -de252508-e970-4614-8c46-1c9dc16c6381 - -PutDown(Bernachon,WaterTable) - - - -eeea53a2-4bcd-431c-b158-f2fb0f1b7044->de252508-e970-4614-8c46-1c9dc16c6381 - - - - - -8c9ab08f-b132-448d-bbe2-84752d5fce37 - -Holding(Softdrink) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->8c9ab08f-b132-448d-bbe2-84752d5fce37 - - - - - -c9ab5c24-50c4-4583-9e40-76fd9ebece5a - -At(Robot,CoffeeTable) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->c9ab5c24-50c4-4583-9e40-76fd9ebece5a - - - - - -435e064b-f46e-4847-9a57-6f334e5d52e4 - -At(Robot,Bar2) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->435e064b-f46e-4847-9a57-6f334e5d52e4 - - - - - -9dd1f173-e14b-426a-a6cb-9457c220706e - -PutDown(Softdrink,CoffeeTable) - - - -2ecaa42a-192e-404b-9eef-0859b7572009->9dd1f173-e14b-426a-a6cb-9457c220706e - - - - - -2f677de5-f029-4a7c-bcbe-2a6cc31a2084 - -Holding(VacuumCup) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->2f677de5-f029-4a7c-bcbe-2a6cc31a2084 - - - - - -abddf89c-3766-46b6-81ac-db57268a04f6 - -At(Robot,Bar2) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->abddf89c-3766-46b6-81ac-db57268a04f6 - - - - - -0ad53ec7-dc55-43b1-b3fd-631b6c89ddba - -At(Robot,WaterTable) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->0ad53ec7-dc55-43b1-b3fd-631b6c89ddba - - - - - -77d5c904-3e85-4f7b-8973-e3961633b0ec - -PutDown(VacuumCup,WaterTable) - - - -7f75ac32-ea20-4af6-80b4-333b565d916b->77d5c904-3e85-4f7b-8973-e3961633b0ec - - - - - -47f5dd59-63fc-4a4d-806f-ba4d84d4ed44 - -Holding(Coffee) - - - -8b447805-a48b-4409-86da-05560e618a02->47f5dd59-63fc-4a4d-806f-ba4d84d4ed44 - - - - - -0966966e-9d54-4d56-9e87-21e9e0bf94d6 - -At(Robot,Table2) - - - -8b447805-a48b-4409-86da-05560e618a02->0966966e-9d54-4d56-9e87-21e9e0bf94d6 - - - - - -af13e152-f421-46bc-8b20-74eae82aabeb - -PutDown(Coffee,Table) - - - -8b447805-a48b-4409-86da-05560e618a02->af13e152-f421-46bc-8b20-74eae82aabeb - - - - - -2396e8ce-7164-4155-9bde-32a759e9851c - -At(Robot,Table3) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->2396e8ce-7164-4155-9bde-32a759e9851c - - - - - -385a432b-feff-488c-ad9f-fea1df09e1b6 - -Holding(Dessert) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->385a432b-feff-488c-ad9f-fea1df09e1b6 - - - - - -cd922a50-219f-4f78-9b9e-b2a4edba2eec - -PutDown(Dessert,Table) - - - -1634729f-d45a-4b59-8e13-79af29cab73a->cd922a50-219f-4f78-9b9e-b2a4edba2eec - - - - - -232e52fe-9a3d-4e6d-9546-46c9f5e23702 - -At(Robot,Bar2) - - - -e776c240-7b60-496c-8e3f-55a5ed3a5a52->232e52fe-9a3d-4e6d-9546-46c9f5e23702 - - - - - -1c06496a-7850-4dd1-81ef-8d4ec5418e42 - -PutDown(Anything,Anywhere) - - - -e776c240-7b60-496c-8e3f-55a5ed3a5a52->1c06496a-7850-4dd1-81ef-8d4ec5418e42 - - - - - -475ed724-d8b1-4282-ac39-d03de0c393c0 - -At(Robot,Bar2) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->475ed724-d8b1-4282-ac39-d03de0c393c0 - - - - - -a299c8dd-9b0f-4385-9d74-159ee44e1941 - -Holding(Coffee) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->a299c8dd-9b0f-4385-9d74-159ee44e1941 - - - - - -8fc18784-3f1e-49f4-9aad-6020b02be8d4 - -At(Robot,Table1) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->8fc18784-3f1e-49f4-9aad-6020b02be8d4 - - - - - -b036a3af-39f7-4009-bf78-75ecde237758 - -PutDown(Coffee,Table) - - - -89795a18-6ed6-4754-bdc1-4908fc7dbf01->b036a3af-39f7-4009-bf78-75ecde237758 - - - - - -aa776227-73d3-42ad-9c61-cd3bafb76a8e - -Holding(ADMilk) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->aa776227-73d3-42ad-9c61-cd3bafb76a8e - - - - - -d969c149-738c-4fbc-b93a-ffccf9f23cd2 - -At(Robot,Bar2) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->d969c149-738c-4fbc-b93a-ffccf9f23cd2 - - - - - -f48c7470-ba27-405c-986f-0b51d0101e44 - -At(Robot,WaterTable) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->f48c7470-ba27-405c-986f-0b51d0101e44 - - - - - -a4451b8a-2605-4c0f-ba28-89abe5733b53 - -PutDown(ADMilk,WaterTable) - - - -baa1b047-3659-4ed8-b23d-a3df308a4474->a4451b8a-2605-4c0f-ba28-89abe5733b53 - - - - - -e756e00f-048a-47af-b314-3d4f1c0ea203 - -Holding(VacuumCup) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->e756e00f-048a-47af-b314-3d4f1c0ea203 - - - - - -a45497a8-c919-4735-b932-250c523b7086 - -At(Robot,Bar) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->a45497a8-c919-4735-b932-250c523b7086 - - - - - -221eedef-8c3a-40d0-bfde-7dd4881dcf2b - -At(Robot,Bar2) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->221eedef-8c3a-40d0-bfde-7dd4881dcf2b - - - - - -feb19577-0313-4793-a2ce-6d7a7e5e49e5 - -PutDown(VacuumCup,Bar) - - - -4eb9da8e-f733-43e6-a767-2aa9961fd37d->feb19577-0313-4793-a2ce-6d7a7e5e49e5 - - - - - -2bc3725a-afe7-4440-ac02-d9d2b4d21b06 - -At(Robot,Bar2) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->2bc3725a-afe7-4440-ac02-d9d2b4d21b06 - - - - - -c7e388c8-3eac-4aac-a37e-ac2e383570af - -Holding(Water) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->c7e388c8-3eac-4aac-a37e-ac2e383570af - - - - - -b1371f8c-e0b8-4c8d-9803-4cea839bf384 - -PutDown(Water,Bar) - - - -bc953241-c9dc-452d-b3e3-71550b2394fc->b1371f8c-e0b8-4c8d-9803-4cea839bf384 - - - - - -ecc679b4-d702-4385-8e24-5f3a04a84e07 - -Holding(Bernachon) - - - -2b279313-d461-45a1-acac-0725886258e1->ecc679b4-d702-4385-8e24-5f3a04a84e07 - - - - - -b861368e-9dc0-472f-b614-14211d39072d - -At(Robot,CoffeeTable) - - - -2b279313-d461-45a1-acac-0725886258e1->b861368e-9dc0-472f-b614-14211d39072d - - - - - -c70a97c8-d14d-48e3-8984-95e9f573a76b - -PutDown(Bernachon,CoffeeTable) - - - -2b279313-d461-45a1-acac-0725886258e1->c70a97c8-d14d-48e3-8984-95e9f573a76b - - - - - -9e6d0c93-fb21-49eb-b0e0-caa3247f2386 - -At(Robot,BrightTable6) - - - -294882bd-86af-43da-8748-6624e459f264->9e6d0c93-fb21-49eb-b0e0-caa3247f2386 - - - - - -abeffd9e-56bc-4d2e-bf27-75d28c0d1c09 - -Holding(Chips) - - - -294882bd-86af-43da-8748-6624e459f264->abeffd9e-56bc-4d2e-bf27-75d28c0d1c09 - - - - - -9fc32118-179f-4614-9572-78eb70f12863 - -PutDown(Chips,BrightTable) - - - -294882bd-86af-43da-8748-6624e459f264->9fc32118-179f-4614-9572-78eb70f12863 - - - - - -c875d596-63df-40ed-9fc8-0d88af80fa7a - -Holding(VacuumCup) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->c875d596-63df-40ed-9fc8-0d88af80fa7a - - - - - -3185e9c6-884d-4c01-a4d9-8e295f9c9c65 - -At(Robot,Table2) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->3185e9c6-884d-4c01-a4d9-8e295f9c9c65 - - - - - -48c3848f-f8e3-4036-8665-d0f1b070e650 - -PutDown(VacuumCup,Table) - - - -6679a19f-f613-4ef9-8ed7-faceb609f2db->48c3848f-f8e3-4036-8665-d0f1b070e650 - - - - - -82a9ffc3-ac4a-4b31-8a83-5220a4b873b5 - -At(Robot,Bar2) - - - -7f02976d-51e7-496f-a792-4b910402af26->82a9ffc3-ac4a-4b31-8a83-5220a4b873b5 - - - - - -7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1 - -Holding(Coffee) - - - -7f02976d-51e7-496f-a792-4b910402af26->7127bdc3-8fc1-49cf-bcbe-4c9df741d5b1 - - - - - -c6ebbfc3-2a2e-458d-960c-0a17379b49dc - -PutDown(Coffee,Bar) - - - -7f02976d-51e7-496f-a792-4b910402af26->c6ebbfc3-2a2e-458d-960c-0a17379b49dc - - - - - -d30d0972-9127-46eb-af8c-f8256b93530e - -Holding(BottledDrink) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->d30d0972-9127-46eb-af8c-f8256b93530e - - - - - -7c7d5164-90c3-4c65-8d54-3a2cc03c981d - -At(Robot,WaterTable) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->7c7d5164-90c3-4c65-8d54-3a2cc03c981d - - - - - -0ed18b24-f6fd-4aae-a45c-4770206eb880 - -PutDown(BottledDrink,WaterTable) - - - -28dabec8-b3c3-448b-897e-d7d0c6560b42->0ed18b24-f6fd-4aae-a45c-4770206eb880 - - - - - -39fb2a74-8d7d-4e77-9dde-b943d874cbbb - -Holding(VacuumCup) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->39fb2a74-8d7d-4e77-9dde-b943d874cbbb - - - - - -a071a359-b49f-45f0-b923-f678feca625f - -At(Robot,WaterTable) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->a071a359-b49f-45f0-b923-f678feca625f - - - - - -213e1f32-d906-486b-a60c-18818e68a75f - -PutDown(VacuumCup,WaterTable) - - - -3f64b5a2-59df-4ec4-b8c6-c7b516580e4a->213e1f32-d906-486b-a60c-18818e68a75f - - - - - -f7314b03-4a39-46e1-a450-c120803062a2 - -Holding(BottledDrink) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->f7314b03-4a39-46e1-a450-c120803062a2 - - - - - -0624cd1b-7c6b-4581-ae97-bcc97e2f6061 - -At(Robot,BrightTable6) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->0624cd1b-7c6b-4581-ae97-bcc97e2f6061 - - - - - -fd553284-ac8c-492b-9d15-34a9340bab9b - -At(Robot,Bar2) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->fd553284-ac8c-492b-9d15-34a9340bab9b - - - - - -e3df8b28-45ab-4c42-b362-a9729e3688dd - -PutDown(BottledDrink,BrightTable) - - - -48c0f054-e108-48a7-a209-81568da3ef9a->e3df8b28-45ab-4c42-b362-a9729e3688dd - - - - - -93004468-66a9-4a62-a772-644ad58ba08a - -At(Robot,Bar) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->93004468-66a9-4a62-a772-644ad58ba08a - - - - - -ead2890d-69ab-47a4-844c-dc4cdffc2f67 - -Holding(SpringWater) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->ead2890d-69ab-47a4-844c-dc4cdffc2f67 - - - - - -1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb - -PutDown(SpringWater,Bar) - - - -1c943ba7-9df6-4a0d-bda3-19ed00830ef1->1af2fc9e-a4b7-4dc6-9a41-33e89494b9eb - - - - - -bf150465-54c0-4bf6-89f8-9c955648cf0f - -Holding(VacuumCup) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->bf150465-54c0-4bf6-89f8-9c955648cf0f - - - - - -be7a44cf-af69-4586-afd6-a49918778d2c - -At(Robot,Bar) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->be7a44cf-af69-4586-afd6-a49918778d2c - - - - - -77a3fc89-aee3-4f3e-a679-b4a1d3223847 - -PutDown(VacuumCup,Bar) - - - -c76a17bc-4969-491e-a3f4-8178a43377fd->77a3fc89-aee3-4f3e-a679-b4a1d3223847 - - - - - -1cda3f69-17e4-4e80-9d6f-ba56d9177e75 - -Holding(Yogurt) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->1cda3f69-17e4-4e80-9d6f-ba56d9177e75 - - - - - -2305c412-9ec6-4a73-8e88-7e66574b6b33 - -At(Robot,Table1) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->2305c412-9ec6-4a73-8e88-7e66574b6b33 - - - - - -d93dfd10-096e-44b3-988e-a2bc245ae79c - -PutDown(Yogurt,Table) - - - -78c5bcb3-62c3-42b3-ba2b-d2ca943b258e->d93dfd10-096e-44b3-988e-a2bc245ae79c - - - - - -d4c8235d-675b-4739-9954-0932ad3c7391 - -Holding(ADMilk) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->d4c8235d-675b-4739-9954-0932ad3c7391 - - - - - -ee89dc28-891b-499f-bdb8-18a2d50ff9d4 - -At(Robot,Bar2) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->ee89dc28-891b-499f-bdb8-18a2d50ff9d4 - - - - - -f0d1222e-6ea2-4bf5-abcc-1708ec86e011 - -At(Robot,WaterTable) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->f0d1222e-6ea2-4bf5-abcc-1708ec86e011 - - - - - -a3aa157a-e2d2-4bc3-8f55-9cc20775e766 - -PutDown(ADMilk,WaterTable) - - - -338562f0-39f0-4e20-9602-2aa051361e0e->a3aa157a-e2d2-4bc3-8f55-9cc20775e766 - - - - - -9c895931-a6b3-4d7d-8be1-5a37ed88a53a - -At(Robot,Bar) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->9c895931-a6b3-4d7d-8be1-5a37ed88a53a - - - - - -97d0584b-41e5-4570-af42-797891b7be6f - -At(Robot,Bar2) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->97d0584b-41e5-4570-af42-797891b7be6f - - - - - -8db697cf-3b54-4463-ad3e-737c2552fcbc - -Holding(Coffee) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->8db697cf-3b54-4463-ad3e-737c2552fcbc - - - - - -8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6 - -PutDown(Coffee,Bar) - - - -5289ce83-20c8-4325-8f9b-8dbba6206dd3->8cbc8726-bd8b-4e59-bcad-f7a750bcdbd6 - - - - - -882d28f2-1dcd-4a4f-a22e-d55b8a7f8220 - -At(Robot,Table3) - - - -514c2581-7577-4869-8783-e45e9cb48631->882d28f2-1dcd-4a4f-a22e-d55b8a7f8220 - - - - - -d3e0a545-bf05-44bc-a758-47a929891289 - -At(Robot,Bar2) - - - -514c2581-7577-4869-8783-e45e9cb48631->d3e0a545-bf05-44bc-a758-47a929891289 - - - - - -bff51aa2-1c73-4c6e-b091-0b08ec95a7fb - -Holding(Water) - - - -514c2581-7577-4869-8783-e45e9cb48631->bff51aa2-1c73-4c6e-b091-0b08ec95a7fb - - - - - -68fb962a-25c0-4879-af34-75b631d26c6d - -PutDown(Water,Table) - - - -514c2581-7577-4869-8783-e45e9cb48631->68fb962a-25c0-4879-af34-75b631d26c6d - - - - - -e767bc9c-ce6f-42c5-ab1b-04e59876e5f0 - -Holding(NFCJuice) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->e767bc9c-ce6f-42c5-ab1b-04e59876e5f0 - - - - - -00962160-1052-458f-9871-ede403f9c35c - -At(Robot,Table3) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->00962160-1052-458f-9871-ede403f9c35c - - - - - -8d2fb99c-7a9d-4e62-81dc-7db5e26649f4 - -PutDown(NFCJuice,Table) - - - -ddd046e2-ee86-425e-8c5d-179cdf95e1df->8d2fb99c-7a9d-4e62-81dc-7db5e26649f4 - - - - - -e79b3589-51f0-439b-84ec-999fe883f296 - -Holding(Softdrink) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->e79b3589-51f0-439b-84ec-999fe883f296 - - - - - -48b12dd8-7543-46f5-add0-bbbe2c8a0224 - -At(Robot,Bar) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->48b12dd8-7543-46f5-add0-bbbe2c8a0224 - - - - - -1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4 - -PutDown(Softdrink,Bar) - - - -6cf98fc0-91b7-4210-a6c1-6b3bd4f647a1->1e90d1b7-44c3-4bf2-9ccd-31bf8a3bc4d4 - - - - - -3124d5cc-ef98-487f-a196-fc5aeca8dbec - -Holding(Chips) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->3124d5cc-ef98-487f-a196-fc5aeca8dbec - - - - - -f774812c-d3a9-4f3b-ae2f-115501b34066 - -At(Robot,Bar2) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->f774812c-d3a9-4f3b-ae2f-115501b34066 - - - - - -05d7003c-2568-4f82-bdb5-fe680208feff - -At(Robot,WaterTable) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->05d7003c-2568-4f82-bdb5-fe680208feff - - - - - -4a4670cf-51cb-480a-b8e5-e58381acb089 - -PutDown(Chips,WaterTable) - - - -83843420-1b90-4385-89b5-a9f9736efe3b->4a4670cf-51cb-480a-b8e5-e58381acb089 - - - - - -0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f - -At(Robot,Bar2) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->0f5e9be9-1437-4a80-8a2f-8cc4b5d1eb2f - - - - - -cdfebe6c-15a5-4e36-82f9-681eadd325ad - -Holding(Dessert) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->cdfebe6c-15a5-4e36-82f9-681eadd325ad - - - - - -514a549e-4bc7-43ce-b428-0083c3f1804f - -At(Robot,Table2) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->514a549e-4bc7-43ce-b428-0083c3f1804f - - - - - -fec2478a-3ade-4426-83bb-d5276b7c93f9 - -PutDown(Dessert,Table) - - - -238452db-ec43-48e8-8d8a-bb7ae4965e56->fec2478a-3ade-4426-83bb-d5276b7c93f9 - - - - - -9093df31-a3f0-47a4-917d-5eeae09ef843 - -Holding(VacuumCup) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->9093df31-a3f0-47a4-917d-5eeae09ef843 - - - - - -3129f976-24c9-42ae-b244-49c29370dc68 - -At(Robot,CoffeeTable) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->3129f976-24c9-42ae-b244-49c29370dc68 - - - - - -b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f - -At(Robot,Bar2) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->b8c4a468-e8de-4ca5-bec8-4ddea0f05f2f - - - - - -9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e - -PutDown(VacuumCup,CoffeeTable) - - - -aa2073df-4ec5-43e4-b17a-5b8c1b87396c->9dfe088f-dcd8-4527-bfe8-fe8ae2888a5e - - - - - -dacb5ff2-4a54-4f5c-9ad7-aa558af78f87 - -Holding(Bernachon) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->dacb5ff2-4a54-4f5c-9ad7-aa558af78f87 - - - - - -8c5f8a76-da42-4306-9569-ed8edb7a2279 - -At(Robot,BrightTable6) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->8c5f8a76-da42-4306-9569-ed8edb7a2279 - - - - - -ef61694c-ced0-446f-af9e-4611a9214972 - -PutDown(Bernachon,BrightTable) - - - -27d0abda-83c8-4aa2-b4ed-956e4b18b66d->ef61694c-ced0-446f-af9e-4611a9214972 - - - - - -dcf30978-087b-46fa-80c6-359f6ca278f2 - -Holding(Bernachon) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->dcf30978-087b-46fa-80c6-359f6ca278f2 - - - - - -4ff62126-c3ec-4bf4-ad71-f81e75912179 - -At(Robot,Table2) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->4ff62126-c3ec-4bf4-ad71-f81e75912179 - - - - - -4b4c4220-7cc9-48b7-a0de-bfaa63832abf - -PutDown(Bernachon,Table) - - - -7cf2a39f-a2a9-4f5c-85c9-1906bbb2c7e9->4b4c4220-7cc9-48b7-a0de-bfaa63832abf - - - - - -8b6b2872-1cbf-42bd-9b0b-09411689657e - -At(Robot,BrightTable6) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->8b6b2872-1cbf-42bd-9b0b-09411689657e - - - - - -43683008-65f6-40b3-b3bf-ccacc277f93b - -Holding(Coffee) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->43683008-65f6-40b3-b3bf-ccacc277f93b - - - - - -855257b6-eea6-450f-afd0-1b8c5c117d19 - -PutDown(Coffee,BrightTable) - - - -3454d555-e55c-47cf-8e0f-9c3251e1f1be->855257b6-eea6-450f-afd0-1b8c5c117d19 - - - - - -b5f4d66f-5aad-4f56-88d3-7c6c2e443cec - -Holding(NFCJuice) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->b5f4d66f-5aad-4f56-88d3-7c6c2e443cec - - - - - -e8cf00f3-e3ea-4be3-af55-b29bb68bd064 - -At(Robot,Table3) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->e8cf00f3-e3ea-4be3-af55-b29bb68bd064 - - - - - -28f19662-89e8-402c-91ed-941d5491ded9 - -At(Robot,Bar2) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->28f19662-89e8-402c-91ed-941d5491ded9 - - - - - -af203b76-012b-4800-9b05-162dfff01fdf - -PutDown(NFCJuice,Table) - - - -f067b4e7-6b09-4f04-ae8a-eea1ff6597d0->af203b76-012b-4800-9b05-162dfff01fdf - - - - - -dcacce3e-2265-4c33-9dc2-a0157ae14cf2 - -Holding(Softdrink) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->dcacce3e-2265-4c33-9dc2-a0157ae14cf2 - - - - - -a0c4c448-51d0-4b28-a81f-b744d6d41eb3 - -At(Robot,Bar2) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->a0c4c448-51d0-4b28-a81f-b744d6d41eb3 - - - - - -bd677783-e320-4287-a012-03d76a574232 - -At(Robot,Table2) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->bd677783-e320-4287-a012-03d76a574232 - - - - - -c7bcbd70-f236-4e20-88ed-db330f433028 - -PutDown(Softdrink,Table) - - - -84e44467-a7eb-410d-9881-21a92cc90a4e->c7bcbd70-f236-4e20-88ed-db330f433028 - - - - - -3c0e4816-5aa0-436e-8a9c-0629089207b7 - -At(Robot,CoffeeTable) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->3c0e4816-5aa0-436e-8a9c-0629089207b7 - - - - - -6a3801cb-5a68-42c8-981d-e45ddac71503 - -At(Robot,Bar2) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->6a3801cb-5a68-42c8-981d-e45ddac71503 - - - - - -c5dfc66d-8d4b-4d18-b240-c7b36ff3f262 - -Holding(Coffee) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->c5dfc66d-8d4b-4d18-b240-c7b36ff3f262 - - - - - -330af15b-9a6a-4dbf-aed1-978e9f312398 - -PutDown(Coffee,CoffeeTable) - - - -b7054641-bfd4-432f-88f3-4879e28bb4cb->330af15b-9a6a-4dbf-aed1-978e9f312398 - - - - - -bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9 - -Holding(Dessert) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->bdf849f2-5b6a-43d7-b11c-cbb8e20b25f9 - - - - - -b47aaf8d-bc05-4f77-83f5-a9015dd8eee7 - -At(Robot,Table1) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->b47aaf8d-bc05-4f77-83f5-a9015dd8eee7 - - - - - -44300b17-7dde-482c-aa08-21bfadd8b188 - -PutDown(Dessert,Table) - - - -94c0fa7e-ddfe-4db7-a3cf-3f051c1f86dc->44300b17-7dde-482c-aa08-21bfadd8b188 - - - - - -fdcc3387-4abb-4038-a44d-dc03c17714cf - -Holding(Bernachon) - - - -2b5e0db0-a74d-4858-9a16-710930152894->fdcc3387-4abb-4038-a44d-dc03c17714cf - - - - - -ab294e8b-1e90-4b91-b636-ed1654719cb7 - -At(Robot,Bar) - - - -2b5e0db0-a74d-4858-9a16-710930152894->ab294e8b-1e90-4b91-b636-ed1654719cb7 - - - - - -9c81e585-f1a4-422a-a900-8a657d3a8bab - -At(Robot,Bar2) - - - -2b5e0db0-a74d-4858-9a16-710930152894->9c81e585-f1a4-422a-a900-8a657d3a8bab - - - - - -edec917b-c388-4a9d-b66d-6dcad04dbce3 - -PutDown(Bernachon,Bar) - - - -2b5e0db0-a74d-4858-9a16-710930152894->edec917b-c388-4a9d-b66d-6dcad04dbce3 - - - - - -ff2c4207-85d0-4c10-a476-bbce149c63a3 - -At(Robot,Bar2) - - - -20265943-985d-41af-ac10-fd9457336358->ff2c4207-85d0-4c10-a476-bbce149c63a3 - - - - - -06dd468e-f94f-4635-aa4e-f31b9b602516 - -At(Robot,CoffeeTable) - - - -20265943-985d-41af-ac10-fd9457336358->06dd468e-f94f-4635-aa4e-f31b9b602516 - - - - - -d54188e9-b47a-4074-a477-e108d8c3072f - -Holding(Milk) - - - -20265943-985d-41af-ac10-fd9457336358->d54188e9-b47a-4074-a477-e108d8c3072f - - - - - -b7b5b7cc-e176-461e-a546-2c9ab90ecd3a - -PutDown(Milk,CoffeeTable) - - - -20265943-985d-41af-ac10-fd9457336358->b7b5b7cc-e176-461e-a546-2c9ab90ecd3a - - - - - -0267bae9-a581-4015-88db-64e3a188ead7 - -At(Robot,Table3) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->0267bae9-a581-4015-88db-64e3a188ead7 - - - - - -55b61f3d-a1f2-45c9-bc60-32ac0d4b743c - -Holding(Coffee) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->55b61f3d-a1f2-45c9-bc60-32ac0d4b743c - - - - - -82f11715-6aba-42e2-b04b-238ae19fe8b4 - -PutDown(Coffee,Table) - - - -81a41ef9-359f-4f50-911f-02a6765fc40d->82f11715-6aba-42e2-b04b-238ae19fe8b4 - - - - - -f5908b95-4ad4-4c7b-b509-439cadacfb7b - -Holding(SpringWater) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->f5908b95-4ad4-4c7b-b509-439cadacfb7b - - - - - -f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30 - -At(Robot,Table2) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->f9bd11d3-e5d0-4c8e-9054-833bc7b4fc30 - - - - - -6e5bd5f4-d388-48ce-90df-240b3011bc17 - -PutDown(SpringWater,Table) - - - -03b8c40e-335a-4f94-823b-0ddcd97f0304->6e5bd5f4-d388-48ce-90df-240b3011bc17 - - - - - -3f1c0bb6-88b2-44e7-bf2e-894d14b54929 - -Holding(Softdrink) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->3f1c0bb6-88b2-44e7-bf2e-894d14b54929 - - - - - -3fe1afeb-bbac-4054-9cef-5332e29abce0 - -At(Robot,Bar2) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->3fe1afeb-bbac-4054-9cef-5332e29abce0 - - - - - -18499505-b547-496b-9779-c6d1d64c5987 - -PutDown(Softdrink,Bar) - - - -e5224d43-2747-424f-ac9c-2e665bb91a6e->18499505-b547-496b-9779-c6d1d64c5987 - - - - - -27face7c-b974-441b-9c0e-b9b823c1f652 - -Holding(BottledDrink) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->27face7c-b974-441b-9c0e-b9b823c1f652 - - - - - -748418c0-94eb-4543-bd09-6f84f4d842b1 - -At(Robot,Bar2) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->748418c0-94eb-4543-bd09-6f84f4d842b1 - - - - - -f9b727a1-3525-482e-b859-e550c60c0a08 - -PutDown(BottledDrink,Bar) - - - -6d73eb3d-7f31-4a32-bc46-b1c60d654844->f9b727a1-3525-482e-b859-e550c60c0a08 - - - - - -e0a73add-4130-4c11-8a45-41a4958b5645 - -At(Robot,BrightTable6) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->e0a73add-4130-4c11-8a45-41a4958b5645 - - - - - -9f587f54-c802-4a42-804f-61fd37fd42dc - -At(Robot,Bar2) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->9f587f54-c802-4a42-804f-61fd37fd42dc - - - - - -4a10b7ac-a7c4-4dfb-adc6-1225f3fa795d - -Holding(Milk) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->4a10b7ac-a7c4-4dfb-adc6-1225f3fa795d - - - - - -f1b427f7-a8bb-4d74-86f9-4edb13511491 - -PutDown(Milk,BrightTable) - - - -aeb44f29-7132-4b30-ad04-e6a6a2fef133->f1b427f7-a8bb-4d74-86f9-4edb13511491 - - - - - -1c9685dd-a7ab-4a84-814a-d21f19f5e83b - -Holding(Softdrink) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->1c9685dd-a7ab-4a84-814a-d21f19f5e83b - - - - - -fa810821-d3d1-4978-8247-657c1f3828bf - -At(Robot,Bar2) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->fa810821-d3d1-4978-8247-657c1f3828bf - - - - - -b5e5f6e6-5872-4dd1-8168-f4f714a970e1 - -At(Robot,Table1) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->b5e5f6e6-5872-4dd1-8168-f4f714a970e1 - - - - - -f136b4a2-3c67-4867-b4c2-885ed7bbe5a1 - -PutDown(Softdrink,Table) - - - -f4d63f70-3935-43b8-9dbe-d180c6628854->f136b4a2-3c67-4867-b4c2-885ed7bbe5a1 - - - - - -ace08332-567d-4da3-adf4-8216e915cde2 - -Holding(BottledDrink) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->ace08332-567d-4da3-adf4-8216e915cde2 - - - - - -f2aa4ab3-7c7a-44c6-a3f3-e104c6855a28 - -At(Robot,Bar) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->f2aa4ab3-7c7a-44c6-a3f3-e104c6855a28 - - - - - -0b76cffd-3117-4ee6-8b03-59afc8e15e74 - -PutDown(BottledDrink,Bar) - - - -49fc51cd-7beb-4b99-8da0-906fc8031e95->0b76cffd-3117-4ee6-8b03-59afc8e15e74 - - - - - -054b9ef7-9d5e-4322-a6b5-3e9323983855 - -Holding(Dessert) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->054b9ef7-9d5e-4322-a6b5-3e9323983855 - - - - - -e45659b8-d6c0-4806-ac3f-6bdf07ea22dc - -At(Robot,Table1) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->e45659b8-d6c0-4806-ac3f-6bdf07ea22dc - - - - - -c9f83e21-306b-49dc-b580-4cc71228c898 - -PutDown(Dessert,Table) - - - -e7fea3d7-456e-47bd-849a-b2e009e09351->c9f83e21-306b-49dc-b580-4cc71228c898 - - - - - -9023ba80-5c46-4a24-b35c-9372bf3059ea - -At(Robot,CoffeeTable) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->9023ba80-5c46-4a24-b35c-9372bf3059ea - - - - - -dbe1ef19-6415-4e5e-88de-6f0b3cd59223 - -Holding(Milk) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->dbe1ef19-6415-4e5e-88de-6f0b3cd59223 - - - - - -6bdab791-c823-41b1-aa03-c6f73b4f8a5d - -PutDown(Milk,CoffeeTable) - - - -47263260-869c-4119-97c5-2f87d5e73b8a->6bdab791-c823-41b1-aa03-c6f73b4f8a5d - - - - - -115714fa-f378-4a06-ad36-983f7b3c15f3 - -Holding(Yogurt) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->115714fa-f378-4a06-ad36-983f7b3c15f3 - - - - - -1e3b5d53-c0c9-4943-93c7-736d96372ce8 - -At(Robot,Table1) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->1e3b5d53-c0c9-4943-93c7-736d96372ce8 - - - - - -d45e80ec-a6c6-4664-863e-9f08856515d7 - -PutDown(Yogurt,Table) - - - -d9098826-c653-4b0b-a1ad-45bbee67c301->d45e80ec-a6c6-4664-863e-9f08856515d7 - - - - - -3d53dfb8-974e-49e3-8d0b-88b03820a4ee - -At(Robot,CoffeeTable) - - - -57245369-a2ff-4da1-890c-554895376e0b->3d53dfb8-974e-49e3-8d0b-88b03820a4ee - - - - - -01551be9-8f2f-423c-ad5e-88fb82652ead - -At(Robot,Bar2) - - - -57245369-a2ff-4da1-890c-554895376e0b->01551be9-8f2f-423c-ad5e-88fb82652ead - - - - - -66026056-a873-41ae-a241-0669522bd9e6 - -Holding(Water) - - - -57245369-a2ff-4da1-890c-554895376e0b->66026056-a873-41ae-a241-0669522bd9e6 - - - - - -b32ec4f3-3937-4edd-b090-9b5dacff669a - -PutDown(Water,CoffeeTable) - - - -57245369-a2ff-4da1-890c-554895376e0b->b32ec4f3-3937-4edd-b090-9b5dacff669a - - - - - -377fb595-6ae7-486e-b5c2-50b2162b23ac - -At(Robot,CoffeeTable) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->377fb595-6ae7-486e-b5c2-50b2162b23ac - - - - - -a755f76a-7ac4-4c53-b611-b5ca4e50d670 - -Holding(Dessert) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->a755f76a-7ac4-4c53-b611-b5ca4e50d670 - - - - - -9b3402c5-1856-446e-9c9e-51dd849d85d4 - -PutDown(Dessert,CoffeeTable) - - - -bdbf76b3-460c-42e7-aea3-30e66b13a195->9b3402c5-1856-446e-9c9e-51dd849d85d4 - - - - - -f76ebcd1-b7a3-47e9-aca6-6c42a39d2d11 - -At(Robot,Bar2) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->f76ebcd1-b7a3-47e9-aca6-6c42a39d2d11 - - - - - -9640a0ec-e326-4dc2-89f6-75f08e45fcf5 - -At(Robot,WaterTable) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->9640a0ec-e326-4dc2-89f6-75f08e45fcf5 - - - - - -7c878525-43e6-487f-8eb4-5df1cefa0054 - -Holding(Coffee) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->7c878525-43e6-487f-8eb4-5df1cefa0054 - - - - - -ea37aa66-06aa-480d-a722-2770a5d41b00 - -PutDown(Coffee,WaterTable) - - - -287527b8-8948-495e-b8f5-a98bf54c140d->ea37aa66-06aa-480d-a722-2770a5d41b00 - - - - - -a60d4ced-95c8-4e32-a3bf-bbbf729ad706 - -Holding(NFCJuice) - - - -8badaabb-93be-4176-a126-ee040c644ee5->a60d4ced-95c8-4e32-a3bf-bbbf729ad706 - - - - - -86d08cd9-5d1b-4da9-bfaa-30b318c6756c - -At(Robot,Bar2) - - - -8badaabb-93be-4176-a126-ee040c644ee5->86d08cd9-5d1b-4da9-bfaa-30b318c6756c - - - - - -eb0a824a-15dc-49f7-9f75-660f5d97e150 - -At(Robot,Table1) - - - -8badaabb-93be-4176-a126-ee040c644ee5->eb0a824a-15dc-49f7-9f75-660f5d97e150 - - - - - -d2209567-48ae-4092-bce8-cd4c2d93a8e8 - -PutDown(NFCJuice,Table) - - - -8badaabb-93be-4176-a126-ee040c644ee5->d2209567-48ae-4092-bce8-cd4c2d93a8e8 - - - - - -cf477e05-d3f6-48ea-a4bd-465360ff905c - -Holding(Softdrink) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->cf477e05-d3f6-48ea-a4bd-465360ff905c - - - - - -607c1b4e-64cf-47e8-8165-2870fee24828 - -At(Robot,CoffeeTable) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->607c1b4e-64cf-47e8-8165-2870fee24828 - - - - - -ff92fef8-6345-457f-a85c-4f1ee6c2fcb7 - -At(Robot,Bar2) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->ff92fef8-6345-457f-a85c-4f1ee6c2fcb7 - - - - - -7e10129f-f51f-42bd-b71f-a540cff5aff7 - -PutDown(Softdrink,CoffeeTable) - - - -538aa6e0-4648-4ac6-86d7-cb102a0daf7b->7e10129f-f51f-42bd-b71f-a540cff5aff7 - - - - - -3262aa29-47a2-48d7-af55-752595f71db2 - -At(Robot,Bar) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->3262aa29-47a2-48d7-af55-752595f71db2 - - - - - -79a97d9c-5710-4dc7-a2ab-3137dedecb8b - -At(Robot,Bar2) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->79a97d9c-5710-4dc7-a2ab-3137dedecb8b - - - - - -28ac3942-8629-43e4-b2d2-71927ea85293 - -Holding(Water) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->28ac3942-8629-43e4-b2d2-71927ea85293 - - - - - -824595e4-0976-4e91-92dd-485bb084b227 - -PutDown(Water,Bar) - - - -80a55d5e-0655-451f-ae0f-33f82a8c47c4->824595e4-0976-4e91-92dd-485bb084b227 - - - - - -8501bdba-5e11-4f62-a73e-ceca589d9ec8 - -At(Robot,Bar2) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->8501bdba-5e11-4f62-a73e-ceca589d9ec8 - - - - - -1ed16c26-8320-4cb3-82ba-99b0132f936e - -At(Robot,Table2) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->1ed16c26-8320-4cb3-82ba-99b0132f936e - - - - - -3d21ac06-f36a-4397-b6ad-f4115c97704b - -Holding(Yogurt) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->3d21ac06-f36a-4397-b6ad-f4115c97704b - - - - - -ecb78259-c0ff-4d26-906f-b305f777afa2 - -PutDown(Yogurt,Table) - - - -ebc43b27-c2b0-4f00-9df1-9c585e62f31b->ecb78259-c0ff-4d26-906f-b305f777afa2 - - - - - -f89c3ad9-001d-46f0-8b36-688e84c188a7 - -At(Robot,WaterTable) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->f89c3ad9-001d-46f0-8b36-688e84c188a7 - - - - - -4602fd85-7c06-447f-9ad3-40e807ca9932 - -Holding(Water) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->4602fd85-7c06-447f-9ad3-40e807ca9932 - - - - - -43c56c83-4fc1-42ca-a163-8772840e3237 - -PutDown(Water,WaterTable) - - - -6e62144f-1ff6-4aaa-a7e5-0a880d5a2bff->43c56c83-4fc1-42ca-a163-8772840e3237 - - - - - -7e3335d0-7899-4a29-b980-81010e0962d4 - -At(Robot,Bar2) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->7e3335d0-7899-4a29-b980-81010e0962d4 - - - - - -5459e8c0-3515-4e0a-8c9e-327f743eaded - -At(Robot,WaterTable) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->5459e8c0-3515-4e0a-8c9e-327f743eaded - - - - - -7c13618b-c3e6-4861-9be9-bb01c1c6617e - -Holding(Yogurt) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->7c13618b-c3e6-4861-9be9-bb01c1c6617e - - - - - -0d234682-defb-4ccc-8b07-40a021eddfeb - -PutDown(Yogurt,WaterTable) - - - -d380e7dc-1796-4396-82b6-3c186b7b210b->0d234682-defb-4ccc-8b07-40a021eddfeb - - - - - -63294e49-3b86-4ae6-9e6f-431bd912099c - -At(Robot,WaterTable) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->63294e49-3b86-4ae6-9e6f-431bd912099c - - - - - -1d933602-c87b-4408-98c8-4b2ccbf09652 - -Holding(Dessert) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->1d933602-c87b-4408-98c8-4b2ccbf09652 - - - - - -047c2c08-a7b0-4fc8-a578-839a0ffcba95 - -PutDown(Dessert,WaterTable) - - - -f099a5e4-eb7e-4cfc-8a6f-5abb69d64ff9->047c2c08-a7b0-4fc8-a578-839a0ffcba95 - - - - - -95b6c99d-7b8d-4a53-b8d5-69c4dce933de - -Holding(Milk) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->95b6c99d-7b8d-4a53-b8d5-69c4dce933de - - - - - -c230ed39-df7d-47dc-b5f5-a30e54a60053 - -At(Robot,Table1) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->c230ed39-df7d-47dc-b5f5-a30e54a60053 - - - - - -2958eb51-9948-4750-9f94-18df6c505a70 - -PutDown(Milk,Table) - - - -177d1f3b-65bc-4b34-9503-9470b49aede7->2958eb51-9948-4750-9f94-18df6c505a70 - - - - - -6be54bb0-915e-4eb6-8a25-c349e6b6931c - -Holding(Water) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->6be54bb0-915e-4eb6-8a25-c349e6b6931c - - - - - -a97dea86-290b-4b81-bae0-0734085e47c3 - -At(Robot,Table1) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->a97dea86-290b-4b81-bae0-0734085e47c3 - - - - - -f557d0f3-df7e-4b26-8143-f90fd5606c59 - -PutDown(Water,Table) - - - -9f499f30-73bb-480e-a39f-b587d90426f5->f557d0f3-df7e-4b26-8143-f90fd5606c59 - - - - - -9b366298-aa3d-4b67-886f-d3b6921b5f93 - -Holding(NFCJuice) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->9b366298-aa3d-4b67-886f-d3b6921b5f93 - - - - - -015369b8-b257-4452-9059-237b57a2d15d - -At(Robot,Bar2) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->015369b8-b257-4452-9059-237b57a2d15d - - - - - -c52b0601-dda3-479b-8694-0ec10abc776d - -At(Robot,WaterTable) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->c52b0601-dda3-479b-8694-0ec10abc776d - - - - - -44f3ea46-8af6-483b-9120-8ac48e0235fc - -PutDown(NFCJuice,WaterTable) - - - -56db291e-98df-4d96-82ff-0ce1151d9e3f->44f3ea46-8af6-483b-9120-8ac48e0235fc - - - - - -c1eb1bc7-cf06-4b3a-93dd-bfb636beb887 - -Holding(Softdrink) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->c1eb1bc7-cf06-4b3a-93dd-bfb636beb887 - - - - - -afa4a407-c318-474e-b873-9a0cb468041d - -At(Robot,WaterTable) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->afa4a407-c318-474e-b873-9a0cb468041d - - - - - -10a2e40f-810b-4c9e-b737-4242459e7330 - -PutDown(Softdrink,WaterTable) - - - -0395eea3-0e86-482d-bb5b-2e7c14153c48->10a2e40f-810b-4c9e-b737-4242459e7330 - - - - - -a66afc4c-1c4d-43a1-9365-18a072604ecc - -At(Robot,CoffeeTable) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->a66afc4c-1c4d-43a1-9365-18a072604ecc - - - - - -448c08bc-a093-4b82-b818-2454d660c4ef - -Holding(SpringWater) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->448c08bc-a093-4b82-b818-2454d660c4ef - - - - - -e15cd32b-0302-49db-bb70-92a5e04d762e - -PutDown(SpringWater,CoffeeTable) - - - -16d0bb61-c6dd-4aff-b253-23eadb38f42d->e15cd32b-0302-49db-bb70-92a5e04d762e - - - - - -c869b2e5-0248-4fc2-baf6-76a216e7facb - -Holding(Milk) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->c869b2e5-0248-4fc2-baf6-76a216e7facb - - - - - -1fe9a706-4d65-4be2-aee1-ae50d9b69021 - -At(Robot,Bar2) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->1fe9a706-4d65-4be2-aee1-ae50d9b69021 - - - - - -c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926 - -At(Robot,Table2) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->c1ab770f-f8d0-4f0f-bb2d-9fb8f1132926 - - - - - -39846621-25aa-4670-8867-127115cc2b63 - -PutDown(Milk,Table) - - - -733bf35b-5e4a-47e7-8ed0-f3725793ff40->39846621-25aa-4670-8867-127115cc2b63 - - - - - -5c80761b-44c3-44ae-8a43-b6dc9af5d05b - -Holding(ADMilk) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->5c80761b-44c3-44ae-8a43-b6dc9af5d05b - - - - - -ddf0ae84-86f2-41c4-98a8-1f2a7e761353 - -At(Robot,Table3) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->ddf0ae84-86f2-41c4-98a8-1f2a7e761353 - - - - - -3f97f67c-7668-4ccb-9df9-29c8062bed8d - -PutDown(ADMilk,Table) - - - -68460c52-faf1-4213-b3b9-87ad0b40c757->3f97f67c-7668-4ccb-9df9-29c8062bed8d - - - - - -0f32ff49-f822-40ea-9212-d74c02e0f257 - -At(Robot,BrightTable6) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->0f32ff49-f822-40ea-9212-d74c02e0f257 - - - - - -f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4 - -Holding(SpringWater) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->f41917d2-a61c-4c9f-9d4c-71dc87d0f9d4 - - - - - -d7b06e04-36aa-41a5-b9ed-c614c54b6616 - -PutDown(SpringWater,BrightTable) - - - -4a2983d3-f81a-4411-985b-6cc021e16708->d7b06e04-36aa-41a5-b9ed-c614c54b6616 - - - - - -b53761c8-e407-4a85-bb8c-5a1b8750a82d - -Holding(ADMilk) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->b53761c8-e407-4a85-bb8c-5a1b8750a82d - - - - - -b0ae358c-70ee-4ee5-a9f8-95d86aeac323 - -At(Robot,Table3) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->b0ae358c-70ee-4ee5-a9f8-95d86aeac323 - - - - - -642ec862-ca0e-4eed-86a9-5aa9a0d3892f - -At(Robot,Bar2) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->642ec862-ca0e-4eed-86a9-5aa9a0d3892f - - - - - -50c6a4eb-abfc-4f98-af3c-662132ed5c13 - -PutDown(ADMilk,Table) - - - -620050d1-cbcb-4043-910b-83d81ba1b464->50c6a4eb-abfc-4f98-af3c-662132ed5c13 - - - - - -0a30e9fb-c1cd-4f01-9b3f-e76ef155be41 - -Holding(NFCJuice) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->0a30e9fb-c1cd-4f01-9b3f-e76ef155be41 - - - - - -f1196bde-83f5-4d7c-b386-29eb9a28d9d7 - -At(Robot,CoffeeTable) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->f1196bde-83f5-4d7c-b386-29eb9a28d9d7 - - - - - -c57b08f0-95ef-4c62-8550-1dd0b919071e - -At(Robot,Bar2) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->c57b08f0-95ef-4c62-8550-1dd0b919071e - - - - - -6ab69435-8538-48cc-93fa-b19e51b432f6 - -PutDown(NFCJuice,CoffeeTable) - - - -37ac1e7b-9639-4a51-a2b0-ff0cf575b569->6ab69435-8538-48cc-93fa-b19e51b432f6 - - - - - -76141062-e706-4b6c-9978-a9b11ba76cf8 - -Holding(VacuumCup) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->76141062-e706-4b6c-9978-a9b11ba76cf8 - - - - - -6724b3dc-9fd3-428c-a410-9597423bbce0 - -At(Robot,CoffeeTable) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->6724b3dc-9fd3-428c-a410-9597423bbce0 - - - - - -8b2eecf9-acd6-42be-ab03-42da49e8dcfb - -At(Robot,Bar2) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->8b2eecf9-acd6-42be-ab03-42da49e8dcfb - - - - - -aad92a45-85e3-43d5-8a5f-d3778d4e5f9f - -PutDown(VacuumCup,CoffeeTable) - - - -5f1cb1d9-8a61-4566-9e73-aa8c26a05d42->aad92a45-85e3-43d5-8a5f-d3778d4e5f9f - - - - - -1afe7d45-e30a-48c9-9bf0-6166136527e6 - -Holding(Milk) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->1afe7d45-e30a-48c9-9bf0-6166136527e6 - - - - - -a9f5df05-8b62-456b-b7d0-aa20ab9df15f - -At(Robot,Bar2) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->a9f5df05-8b62-456b-b7d0-aa20ab9df15f - - - - - -2f81158d-4fcb-48de-8134-c167c0d213ca - -At(Robot,Table1) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->2f81158d-4fcb-48de-8134-c167c0d213ca - - - - - -2c8ca16a-1fb5-495b-baa0-915913a647c7 - -PutDown(Milk,Table) - - - -7aa691bb-0c63-4266-93f9-3a43e1cf5d29->2c8ca16a-1fb5-495b-baa0-915913a647c7 - - - - - -689f9452-13d5-431e-935c-1cddae840866 - -At(Robot,Table3) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->689f9452-13d5-431e-935c-1cddae840866 - - - - - -69d9021e-450e-485a-80d2-e63f7eb71d64 - -Holding(Milk) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->69d9021e-450e-485a-80d2-e63f7eb71d64 - - - - - -3c964f32-2f16-4675-95d5-ca2f82ee8180 - -PutDown(Milk,Table) - - - -2c4072d2-b593-436c-bba9-ca83ddfb28d8->3c964f32-2f16-4675-95d5-ca2f82ee8180 - - - - - -1f2d2bb4-0159-49f6-b94c-32375c34016f - -Holding(Softdrink) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->1f2d2bb4-0159-49f6-b94c-32375c34016f - - - - - -6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e - -At(Robot,Table1) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->6b8527ce-df2c-45f9-ac0d-22f58e0f3a2e - - - - - -66c8cc13-a56b-4d31-9e05-d2bc680fe3a4 - -PutDown(Softdrink,Table) - - - -8bf4b8f8-8d67-4ab3-b7f8-fadd7a08da35->66c8cc13-a56b-4d31-9e05-d2bc680fe3a4 - - - - - -54bbb936-6e7e-45da-bc73-a0126147371c - -At(Robot,Table3) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->54bbb936-6e7e-45da-bc73-a0126147371c - - - - - -b3359d76-135d-49a1-a4fc-23758e9c20ed - -Holding(Water) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->b3359d76-135d-49a1-a4fc-23758e9c20ed - - - - - -a9e7fd6e-89a5-4a17-a6db-6260025a5f0c - -PutDown(Water,Table) - - - -738dc8e3-48c4-4822-8271-854f4beb546b->a9e7fd6e-89a5-4a17-a6db-6260025a5f0c - - - - - -cc36e32b-a9e0-454d-9640-8060f831a762 - -Holding(NFCJuice) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->cc36e32b-a9e0-454d-9640-8060f831a762 - - - - - -30c89365-7725-46ab-a962-b5bec5900b29 - -At(Robot,BrightTable6) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->30c89365-7725-46ab-a962-b5bec5900b29 - - - - - -0541a12a-5038-4e9e-b172-b301ed795e09 - -At(Robot,Bar2) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->0541a12a-5038-4e9e-b172-b301ed795e09 - - - - - -764584e3-f242-4c4c-b5d9-e0c8020523a1 - -PutDown(NFCJuice,BrightTable) - - - -0183c1db-974c-4bb1-93ec-5eb2f9857390->764584e3-f242-4c4c-b5d9-e0c8020523a1 - - - - - -52d77e55-5352-4720-a1c7-e39cd2164a6d - -At(Robot,Bar) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->52d77e55-5352-4720-a1c7-e39cd2164a6d - - - - - -99e90a62-1a09-409a-8f10-7f4351aae38d - -Holding(Coffee) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->99e90a62-1a09-409a-8f10-7f4351aae38d - - - - - -6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19 - -PutDown(Coffee,Bar) - - - -1201d711-dcf0-4ab2-a385-788d3e998632->6ef79c7d-74bc-4bcb-97f7-4d17ce96cb19 - - - - - -a40ac1cd-bf4a-4697-a57b-de9aac2497b9 - -Holding(ADMilk) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->a40ac1cd-bf4a-4697-a57b-de9aac2497b9 - - - - - -7adc49aa-d97b-4547-9515-0c386801d3e9 - -At(Robot,Bar2) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->7adc49aa-d97b-4547-9515-0c386801d3e9 - - - - - -ee45b069-e40e-4993-b892-00355984b939 - -At(Robot,Table1) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->ee45b069-e40e-4993-b892-00355984b939 - - - - - -e471c31a-f83f-43af-824c-47a154b24485 - -PutDown(ADMilk,Table) - - - -c4110df5-4b52-45de-aefd-32441be0f38a->e471c31a-f83f-43af-824c-47a154b24485 - - - - - -98caa188-0f5a-4a3d-9711-331403998b5d - -Holding(BottledDrink) - - - -51362d97-d3fc-412a-b305-acdb608d2779->98caa188-0f5a-4a3d-9711-331403998b5d - - - - - -e8eaea33-c8b8-42d6-96c8-46043d3b4c89 - -At(Robot,BrightTable6) - - - -51362d97-d3fc-412a-b305-acdb608d2779->e8eaea33-c8b8-42d6-96c8-46043d3b4c89 - - - - - -bee4b51a-4377-4526-ab9c-01e78f041974 - -At(Robot,Bar2) - - - -51362d97-d3fc-412a-b305-acdb608d2779->bee4b51a-4377-4526-ab9c-01e78f041974 - - - - - -0aabe889-857d-4736-85d7-44ed700407b3 - -PutDown(BottledDrink,BrightTable) - - - -51362d97-d3fc-412a-b305-acdb608d2779->0aabe889-857d-4736-85d7-44ed700407b3 - - - - - -fb74a922-5cda-4f0f-a676-d18d4b4c5499 - -At(Robot,CoffeeTable) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->fb74a922-5cda-4f0f-a676-d18d4b4c5499 - - - - - -ed00b51c-9bfb-4fba-9e5c-b15f0ef82671 - -Holding(Yogurt) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->ed00b51c-9bfb-4fba-9e5c-b15f0ef82671 - - - - - -a17e7daa-80d8-437b-9904-3b1a9da510f5 - -PutDown(Yogurt,CoffeeTable) - - - -62848b20-c257-4ad8-99a6-b64ff83dee7b->a17e7daa-80d8-437b-9904-3b1a9da510f5 - - - - - -8b5b19d6-0f6d-485d-a6e3-acf861582841 - -Holding(BottledDrink) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->8b5b19d6-0f6d-485d-a6e3-acf861582841 - - - - - -0d543dd4-1331-4bf0-85bb-7e9ab977b9a1 - -At(Robot,Bar2) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->0d543dd4-1331-4bf0-85bb-7e9ab977b9a1 - - - - - -75ecd76a-f7f7-4a8d-ae54-8bd76c14515e - -At(Robot,Table1) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->75ecd76a-f7f7-4a8d-ae54-8bd76c14515e - - - - - -0acf4047-763e-4d76-bf69-3128c51b3883 - -PutDown(BottledDrink,Table) - - - -3fdb8f04-11f0-4603-bb21-39bacbb4ec17->0acf4047-763e-4d76-bf69-3128c51b3883 - - - - - -d8d2b020-3941-4d06-a03d-ca1673522ce2 - -Holding(Softdrink) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->d8d2b020-3941-4d06-a03d-ca1673522ce2 - - - - - -a4f5de8a-376d-4524-96fa-3dae8176ead5 - -At(Robot,Table3) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->a4f5de8a-376d-4524-96fa-3dae8176ead5 - - - - - -235ca445-1559-4785-b212-19a57495a1ba - -At(Robot,Bar2) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->235ca445-1559-4785-b212-19a57495a1ba - - - - - -a9fd3cf5-39bb-4a7c-a626-9a884a25d0c3 - -PutDown(Softdrink,Table) - - - -20861f5b-9d14-46fd-b3fc-2b684b75fd29->a9fd3cf5-39bb-4a7c-a626-9a884a25d0c3 - - - - - -a1a512d1-e093-4b17-b963-94e353688e7d - -Holding(Bernachon) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->a1a512d1-e093-4b17-b963-94e353688e7d - - - - - -674c14c1-8f4a-4543-9ac2-21316ecd6632 - -At(Robot,Table3) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->674c14c1-8f4a-4543-9ac2-21316ecd6632 - - - - - -1aa51ca8-3071-4006-ac98-4b5f786b9904 - -PutDown(Bernachon,Table) - - - -3c62d570-b2b1-40b0-9b31-95cd77136bbe->1aa51ca8-3071-4006-ac98-4b5f786b9904 - - - - - -47571a97-fdca-4f8d-9ab6-14119d7333f3 - -Holding(Chips) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->47571a97-fdca-4f8d-9ab6-14119d7333f3 - - - - - -9a9aba7b-5eee-42f9-a35b-3a9217e2a517 - -At(Robot,Table2) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->9a9aba7b-5eee-42f9-a35b-3a9217e2a517 - - - - - -719d9cc7-1237-49a8-9603-66635c4562f1 - -PutDown(Chips,Table) - - - -baaa005c-da87-4b6c-9040-8e02130dab8c->719d9cc7-1237-49a8-9603-66635c4562f1 - - - - - -c0bbe708-d077-4adb-8392-fbd6347bca23 - -At(Robot,Table3) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->c0bbe708-d077-4adb-8392-fbd6347bca23 - - - - - -237f902d-4711-405e-945e-dc015603a877 - -Holding(Dessert) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->237f902d-4711-405e-945e-dc015603a877 - - - - - -c428230d-f1a7-4111-aee2-b1b126208ae0 - -PutDown(Dessert,Table) - - - -e4b71d0e-1540-4fac-8b9b-c72bb3bf9219->c428230d-f1a7-4111-aee2-b1b126208ae0 - - - - - -e4dcb3c7-6a9f-4a91-a6f4-5f996e45f26a - -Holding(VacuumCup) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->e4dcb3c7-6a9f-4a91-a6f4-5f996e45f26a - - - - - -07d455c5-d957-496e-9dd2-b5518275a8c4 - -At(Robot,Table3) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->07d455c5-d957-496e-9dd2-b5518275a8c4 - - - - - -230a26fc-40de-4727-af36-c5ad0fcffdb6 - -PutDown(VacuumCup,Table) - - - -b0749180-be7a-401d-a8b5-d056bcd5374e->230a26fc-40de-4727-af36-c5ad0fcffdb6 - - - - - -da46040e-971e-40e4-a435-f4e3deb67648 - -Holding(Yogurt) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->da46040e-971e-40e4-a435-f4e3deb67648 - - - - - -be7adf39-dc95-49f3-98e6-a95e42631952 - -At(Robot,WaterTable) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->be7adf39-dc95-49f3-98e6-a95e42631952 - - - - - -0cc46565-6061-4515-98fe-c767c247fb8b - -PutDown(Yogurt,WaterTable) - - - -0dca317c-2dc7-45d7-8e32-5012d2c957ba->0cc46565-6061-4515-98fe-c767c247fb8b - - - - - -511be340-f4a0-4faa-8505-cfe5651f8a63 - -At(Robot,CoffeeTable) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->511be340-f4a0-4faa-8505-cfe5651f8a63 - - - - - -685092ab-d4ae-4cba-85cc-8ac7973da19d - -At(Robot,Bar2) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->685092ab-d4ae-4cba-85cc-8ac7973da19d - - - - - -631d2ce5-11d6-42e7-9058-ee0af3b2c871 - -Holding(SpringWater) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->631d2ce5-11d6-42e7-9058-ee0af3b2c871 - - - - - -7d368ce9-8a73-41f0-9b86-4d62decfa5bf - -PutDown(SpringWater,CoffeeTable) - - - -75d670a0-fdc0-41ae-aa1a-8d7742157c5b->7d368ce9-8a73-41f0-9b86-4d62decfa5bf - - - - - -e00805de-5c78-4457-915f-6a478c0e6a60 - -Holding(Bernachon) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->e00805de-5c78-4457-915f-6a478c0e6a60 - - - - - -99987cc1-cbd4-43ce-a0a1-c21b06f2c76b - -At(Robot,WaterTable) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->99987cc1-cbd4-43ce-a0a1-c21b06f2c76b - - - - - -33596d50-442e-4bd0-97fd-424a4fc9f376 - -PutDown(Bernachon,WaterTable) - - - -811cd52e-7a37-47f0-b79d-1e567114ee9f->33596d50-442e-4bd0-97fd-424a4fc9f376 - - - - - -f08e1df5-585f-4c1b-a445-754acdce1b6b - -Holding(Chips) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->f08e1df5-585f-4c1b-a445-754acdce1b6b - - - - - -2b366aa6-23f3-4cbe-9291-8e6bcc001e91 - -At(Robot,Table1) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->2b366aa6-23f3-4cbe-9291-8e6bcc001e91 - - - - - -da3f4bd1-6072-4ac7-b162-d7c9eb948570 - -PutDown(Chips,Table) - - - -b53b5e45-b474-4fbb-9ff6-bb403b23d3c5->da3f4bd1-6072-4ac7-b162-d7c9eb948570 - - - - - -d43f44e8-87a3-4206-bd1a-cb7c05c2024c - -At(Robot,BrightTable6) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->d43f44e8-87a3-4206-bd1a-cb7c05c2024c - - - - - -92598cc5-c10c-42dd-91e1-e98b8139d9d4 - -At(Robot,Bar2) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->92598cc5-c10c-42dd-91e1-e98b8139d9d4 - - - - - -0f702082-b16b-4006-ab92-e64b966dcb44 - -Holding(Dessert) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->0f702082-b16b-4006-ab92-e64b966dcb44 - - - - - -f4c91ee4-fad5-4eca-87e1-76bd556df233 - -PutDown(Dessert,BrightTable) - - - -f47b8690-ff5f-4cad-afe6-5ae7d5a3d925->f4c91ee4-fad5-4eca-87e1-76bd556df233 - - - - - -17e70025-d31f-4bfb-a8ca-f362a8e6061a - -At(Robot,CoffeeTable) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->17e70025-d31f-4bfb-a8ca-f362a8e6061a - - - - - -a192a75c-a813-4018-af51-e3b438754132 - -At(Robot,Bar2) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->a192a75c-a813-4018-af51-e3b438754132 - - - - - -b0d98124-acb8-4455-a5f4-8d03f63108bc - -Holding(Dessert) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->b0d98124-acb8-4455-a5f4-8d03f63108bc - - - - - -e6ece130-a668-4880-b89d-a2b303ee7003 - -PutDown(Dessert,CoffeeTable) - - - -52222621-50a8-4044-a292-97c7c4ae2c69->e6ece130-a668-4880-b89d-a2b303ee7003 - - - - - -e87748cd-345a-4bb0-85b8-462dd36f3572 - -Holding(ADMilk) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->e87748cd-345a-4bb0-85b8-462dd36f3572 - - - - - -675f8b14-47fd-444f-92eb-566bd97bfcb4 - -At(Robot,CoffeeTable) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->675f8b14-47fd-444f-92eb-566bd97bfcb4 - - - - - -fa4a7948-e631-4f7a-86b1-e26da0e486a1 - -PutDown(ADMilk,CoffeeTable) - - - -85ef915d-9cf1-4551-9bc1-33b402f32d98->fa4a7948-e631-4f7a-86b1-e26da0e486a1 - - - - - -9c91a8d7-3a0b-4c4b-8e99-0c2661f59682 - -Holding(Bernachon) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->9c91a8d7-3a0b-4c4b-8e99-0c2661f59682 - - - - - -a574e051-50a7-462e-b4c2-90ade280dfbf - -At(Robot,CoffeeTable) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->a574e051-50a7-462e-b4c2-90ade280dfbf - - - - - -363419d4-ba53-47f4-a1e7-e1d4f16a6b05 - -At(Robot,Bar2) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->363419d4-ba53-47f4-a1e7-e1d4f16a6b05 - - - - - -c11224fc-b599-4fb2-855c-3167a2474f7e - -PutDown(Bernachon,CoffeeTable) - - - -0b3a0742-c11b-413e-b7db-54389340e3b0->c11224fc-b599-4fb2-855c-3167a2474f7e - - - - - -f7866033-04f0-4ddb-b629-2af91ae65eeb - -Holding(VacuumCup) - - - -5cec4309-f466-470c-a956-bedec0203e0e->f7866033-04f0-4ddb-b629-2af91ae65eeb - - - - - -922bbf9a-7640-453f-b2d1-ad8854b6ba7f - -At(Robot,Table2) - - - -5cec4309-f466-470c-a956-bedec0203e0e->922bbf9a-7640-453f-b2d1-ad8854b6ba7f - - - - - -3f2f961f-ed99-4efa-b3d0-c96a67045623 - -PutDown(VacuumCup,Table) - - - -5cec4309-f466-470c-a956-bedec0203e0e->3f2f961f-ed99-4efa-b3d0-c96a67045623 - - - - - -84871e91-93af-4dc6-9633-149e0a2a9c0c - -At(Robot,Table3) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->84871e91-93af-4dc6-9633-149e0a2a9c0c - - - - - -f458ed65-6c31-4108-abfe-1e638245f767 - -Holding(Yogurt) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->f458ed65-6c31-4108-abfe-1e638245f767 - - - - - -59222ab9-cdc9-4f1e-981d-e143533dbf96 - -PutDown(Yogurt,Table) - - - -363a9ffd-b7e0-4d0c-91b6-2d78cce80ae6->59222ab9-cdc9-4f1e-981d-e143533dbf96 - - - - - -b019e373-1dcc-419b-8380-d3738fc14bd5 - -Holding(ADMilk) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->b019e373-1dcc-419b-8380-d3738fc14bd5 - - - - - -3da65e43-c905-4523-862b-fd313780f660 - -At(Robot,Bar2) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->3da65e43-c905-4523-862b-fd313780f660 - - - - - -2eb86c0f-bb9e-4577-9470-f819263be0c6 - -PutDown(ADMilk,Bar) - - - -882b0365-0c1d-4a20-831a-07c5facf6024->2eb86c0f-bb9e-4577-9470-f819263be0c6 - - - - - -24f347cd-a573-43b8-8aeb-fba3821f19c9 - -Holding(BottledDrink) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->24f347cd-a573-43b8-8aeb-fba3821f19c9 - - - - - -af0acce2-0523-4715-a7f0-5ea33d64baaf - -At(Robot,Table3) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->af0acce2-0523-4715-a7f0-5ea33d64baaf - - - - - -7446585c-7884-4b51-9123-a4687db8ae2c - -At(Robot,Bar2) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->7446585c-7884-4b51-9123-a4687db8ae2c - - - - - -300db2e4-2b2d-4973-a2e5-68c6fca3342d - -PutDown(BottledDrink,Table) - - - -b78235fd-b312-4f3c-b2db-522346d6334b->300db2e4-2b2d-4973-a2e5-68c6fca3342d - - - - - -9dc377a0-802a-4938-9557-d2484887e2c8 - -Holding(VacuumCup) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->9dc377a0-802a-4938-9557-d2484887e2c8 - - - - - -eed4c344-508b-4271-a3f3-b65659894c2a - -At(Robot,BrightTable6) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->eed4c344-508b-4271-a3f3-b65659894c2a - - - - - -236d682d-2465-4ad9-87d2-efcaa2174de8 - -At(Robot,Bar2) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->236d682d-2465-4ad9-87d2-efcaa2174de8 - - - - - -8c0a1060-ace9-421c-a756-03855c0e69b3 - -PutDown(VacuumCup,BrightTable) - - - -44b5bd4e-b292-4f35-a08c-62c6c8ee6afb->8c0a1060-ace9-421c-a756-03855c0e69b3 - - - - - -44d21d5b-9395-44d8-9767-838704c41f3c - -Holding(BottledDrink) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->44d21d5b-9395-44d8-9767-838704c41f3c - - - - - -a5fdd66f-1934-43ba-be76-ce75f456f80b - -At(Robot,CoffeeTable) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->a5fdd66f-1934-43ba-be76-ce75f456f80b - - - - - -b3c5bbe0-0730-4d71-83c3-d433d1967bc8 - -PutDown(BottledDrink,CoffeeTable) - - - -3de1c2a4-bec7-465c-a7ab-d34169f30c88->b3c5bbe0-0730-4d71-83c3-d433d1967bc8 - - - - - -e0a0db31-5c35-4a84-b31b-1edf381ae1c6 - -At(Robot,CoffeeTable) - - - -c4758168-fcec-4f27-af96-33187081f78f->e0a0db31-5c35-4a84-b31b-1edf381ae1c6 - - - - - -756cf405-74c3-40bf-8b93-17ce64f5a837 - -Holding(Water) - - - -c4758168-fcec-4f27-af96-33187081f78f->756cf405-74c3-40bf-8b93-17ce64f5a837 - - - - - -e878b930-8bfb-4953-a63b-a9237815f18a - -PutDown(Water,CoffeeTable) - - - -c4758168-fcec-4f27-af96-33187081f78f->e878b930-8bfb-4953-a63b-a9237815f18a - - - - - -a15c1760-a84c-404f-99cd-92f1f80468af - -At(Robot,BrightTable6) - - - -f285fd67-1400-4727-9581-5a861e886c7b->a15c1760-a84c-404f-99cd-92f1f80468af - - - - - -3617af51-2e8c-4d2e-91e5-89431bccf003 - -Holding(ADMilk) - - - -f285fd67-1400-4727-9581-5a861e886c7b->3617af51-2e8c-4d2e-91e5-89431bccf003 - - - - - -72d2f650-b16f-44ff-8b5f-793dd7d1094d - -PutDown(ADMilk,BrightTable) - - - -f285fd67-1400-4727-9581-5a861e886c7b->72d2f650-b16f-44ff-8b5f-793dd7d1094d - - - - - -ba251089-126c-47f7-ad69-34918cadcac9 - -Holding(NFCJuice) - - - -89492c29-fbf6-44ba-a996-06db94f78073->ba251089-126c-47f7-ad69-34918cadcac9 - - - - - -9c1612a8-8571-44e1-92da-d9ffeb32b8c5 - -At(Robot,Bar) - - - -89492c29-fbf6-44ba-a996-06db94f78073->9c1612a8-8571-44e1-92da-d9ffeb32b8c5 - - - - - -7b93fa6e-339f-45c5-b78f-7d30c196824f - -PutDown(NFCJuice,Bar) - - - -89492c29-fbf6-44ba-a996-06db94f78073->7b93fa6e-339f-45c5-b78f-7d30c196824f - - - - - -0387e629-3b69-4b83-bbdb-29c46476dc58 - -At(Robot,BrightTable6) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->0387e629-3b69-4b83-bbdb-29c46476dc58 - - - - - -cf0fe3c7-a17f-4a99-bd47-0e7964fede6b - -Holding(Softdrink) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->cf0fe3c7-a17f-4a99-bd47-0e7964fede6b - - - - - -5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0 - -PutDown(Softdrink,BrightTable) - - - -027384f4-79f9-4882-8b91-0ed3a677cc5a->5ab9f443-0ae4-430a-8eae-1ec5c8d6e8d0 - - - - - -24353119-6160-4567-ad79-d841faa2e7da - -Holding(Bernachon) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->24353119-6160-4567-ad79-d841faa2e7da - - - - - -32cf3641-33af-4478-8557-e24ac074977c - -At(Robot,Table2) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->32cf3641-33af-4478-8557-e24ac074977c - - - - - -67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322 - -PutDown(Bernachon,Table) - - - -5db03d6c-bb8c-4c4e-a851-1b880d2304ec->67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322 - - - - - -98b367c0-2ad3-4c3b-9e43-548a7b324274 - -At(Robot,WaterTable) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->98b367c0-2ad3-4c3b-9e43-548a7b324274 - - - - - -5d50943c-e92c-4fb2-8777-12b0c363afb0 - -Holding(Water) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->5d50943c-e92c-4fb2-8777-12b0c363afb0 - - - - - -3ff61034-f0f0-4b3d-a8cf-6650e4197374 - -PutDown(Water,WaterTable) - - - -3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe->3ff61034-f0f0-4b3d-a8cf-6650e4197374 - - - - - -aa79fb13-82d1-4cff-ae00-7372a8d8512c - -At(Robot,CoffeeTable) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->aa79fb13-82d1-4cff-ae00-7372a8d8512c - - - - - -941718c7-c6a7-4433-83be-28138785ed12 - -Holding(Chips) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->941718c7-c6a7-4433-83be-28138785ed12 - - - - - -be6f0429-1347-4e55-8400-3ae0a2625869 - -PutDown(Chips,CoffeeTable) - - - -3c001919-c566-45d8-8a3e-ece15d47ff4e->be6f0429-1347-4e55-8400-3ae0a2625869 - - - - - -97714157-6033-471b-b0ec-3ab685c8fbf7 - -Holding(Chips) - - - -60b60bf9-6bef-4cd0-8b2e-4dff52e21df9->97714157-6033-471b-b0ec-3ab685c8fbf7 - - - - - -e53a85c8-fc0a-44be-a0c6-31d6fcfad294 - -At(Robot,Table2) - - - -60b60bf9-6bef-4cd0-8b2e-4dff52e21df9->e53a85c8-fc0a-44be-a0c6-31d6fcfad294 - - 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-17a12609-dff0-4378-957c-715c50109f2a->e188781f-84e7-4c88-a0fb-9e802598967a - - - - - -aeb5fa52-dd5c-44fe-b4fa-2820ca2b0dac - -At(Robot,Bar) - - - -17a12609-dff0-4378-957c-715c50109f2a->aeb5fa52-dd5c-44fe-b4fa-2820ca2b0dac - - - - - -52bb5495-3c59-4cca-bc7a-c6e2cec5861b - -PutDown(BottledDrink,Bar) - - - -17a12609-dff0-4378-957c-715c50109f2a->52bb5495-3c59-4cca-bc7a-c6e2cec5861b - - - - - -6c209b97-f2b1-4472-bad9-1f4a47ef638c - -Holding(Milk) - - - -3438501a-6b3b-4dd4-98bc-72320779cad2->6c209b97-f2b1-4472-bad9-1f4a47ef638c - - - - - -82d2a265-650c-41f5-b365-9cc1140312da - -At(Robot,Table2) - - - -3438501a-6b3b-4dd4-98bc-72320779cad2->82d2a265-650c-41f5-b365-9cc1140312da - - - - - -44ffa530-c6e8-4084-9865-b1835f6b4c29 - -PutDown(Milk,Table) - - - -3438501a-6b3b-4dd4-98bc-72320779cad2->44ffa530-c6e8-4084-9865-b1835f6b4c29 - - - - - -3e177ff6-1a6a-4940-a7d8-8b1ca1de8a89 - -Holding(ADMilk) - - - -dc62bc34-2f97-40eb-8884-6ffa866c9d44->3e177ff6-1a6a-4940-a7d8-8b1ca1de8a89 - - - - - -e1783bdd-b5c1-4dc9-9b6b-15460ad2b902 - -At(Robot,Table2) - - - -dc62bc34-2f97-40eb-8884-6ffa866c9d44->e1783bdd-b5c1-4dc9-9b6b-15460ad2b902 - - - - - -87de2144-8f8c-415f-8826-429127cd5623 - -PutDown(ADMilk,Table) - - - -dc62bc34-2f97-40eb-8884-6ffa866c9d44->87de2144-8f8c-415f-8826-429127cd5623 - - - - - -60bd1030-b480-41c0-aeca-0eff5cc3bfb8 - -Holding(Milk) - - - -5573ec3f-e72e-44a8-a0cb-2657d9724697->60bd1030-b480-41c0-aeca-0eff5cc3bfb8 - - - - - -74489635-5fbd-4d09-9b88-4dcb590171ed - -At(Robot,WaterTable) - - - -5573ec3f-e72e-44a8-a0cb-2657d9724697->74489635-5fbd-4d09-9b88-4dcb590171ed - - - - - -ee1de8dc-7d6e-40b5-af27-e16af6062aac - -PutDown(Milk,WaterTable) - - - -5573ec3f-e72e-44a8-a0cb-2657d9724697->ee1de8dc-7d6e-40b5-af27-e16af6062aac - - - - - -b2ece267-7650-426d-aa37-4a3ac310af14 - -At(Robot,Bar) - - - -56301bba-19f2-451c-be24-ea71fe3db4d5->b2ece267-7650-426d-aa37-4a3ac310af14 - - - - - -557a71f3-f40b-4de2-87ae-50b69b166224 - -Holding(Chips) - - - 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-41a58832-efa8-48be-9bdd-ff7f4892c5b8 - -PutDown(Chips,Table) - - - -ea7a38fa-9fe9-4598-8a24-0d3cffba0201->41a58832-efa8-48be-9bdd-ff7f4892c5b8 - - - - - -f012e335-9b64-4240-8597-90b9a92105a6 - -Holding(Nothing) - - - -94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d->f012e335-9b64-4240-8597-90b9a92105a6 - - - - - -5630ce1f-ae46-424a-88a9-578ba5cee633 - -Exist(MilkDrink) - - - -94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d->5630ce1f-ae46-424a-88a9-578ba5cee633 - - - - - -b023a71a-93ce-4587-81a0-3fdb9a268e59 - -MoveTo(MilkDrink) - - - -94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d->b023a71a-93ce-4587-81a0-3fdb9a268e59 - - +adabc6e9-54a0-4bc0-a7ea-a01061dc262f->c0120cc2-786f-4316-a5d1-c5ca8a9464f0 + + + + + +a2a615f2-04c6-4887-8c24-24d79023b39c + +Active(AC) + + + +777752c8-fef9-4949-898a-6c8a70494ef0->a2a615f2-04c6-4887-8c24-24d79023b39c + + diff --git a/BTExpansionCode/EXP/expanded_bt_xiaocai.dot b/BTExpansionCode/EXP/expanded_bt_xiaocai.dot index ad60848..49f798b 100644 --- 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fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; -"bf1a100a-8afb-427d-8fd9-87a216267bf6" -> "56464c66-8daf-400d-bd61-9c283344beec"; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e20e9a5a-84fb-493e-9fa3-55876b86aef5"; -"d578ed48-352e-4e42-8278-434b4f5451d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" -> "d578ed48-352e-4e42-8278-434b4f5451d6"; -"dc84eb2f-37a8-4ca8-b22f-d6dc29c36298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"e20e9a5a-84fb-493e-9fa3-55876b86aef5" -> "dc84eb2f-37a8-4ca8-b22f-d6dc29c36298"; -"06a33dff-e6e9-41b2-81db-93a258d25af7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, 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style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3c719827-c0c0-4a62-9df0-8b6f2db0efca"; -"9dfbc4a2-d4bd-4b03-a645-6c613afd8801" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "9dfbc4a2-d4bd-4b03-a645-6c613afd8801"; -"505c330a-783a-4cc4-a3c4-fdf2c3c60ee4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(MilkDrink)", shape=ellipse, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "505c330a-783a-4cc4-a3c4-fdf2c3c60ee4"; -"9e90c5c6-4012-4199-b50b-9fc9959bd72b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(MilkDrink)", shape=box, style=filled]; -"3c719827-c0c0-4a62-9df0-8b6f2db0efca" -> "9e90c5c6-4012-4199-b50b-9fc9959bd72b"; -"f8322e61-c760-48a0-8134-bec0db031fa3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "301d7108-c6ac-4732-8b0f-ec1d0bad0d5f"; -"c6d68849-8d9e-4e58-a632-211f052d7171" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"301d7108-c6ac-4732-8b0f-ec1d0bad0d5f" -> "c6d68849-8d9e-4e58-a632-211f052d7171"; -"39b9a303-a8a1-4d01-b64c-d4f3eabeb452" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"301d7108-c6ac-4732-8b0f-ec1d0bad0d5f" -> "39b9a303-a8a1-4d01-b64c-d4f3eabeb452"; -"e285a7c7-339d-484e-86f8-18309409c93a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"301d7108-c6ac-4732-8b0f-ec1d0bad0d5f" -> "e285a7c7-339d-484e-86f8-18309409c93a"; -"2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, 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shape=ellipse, style=filled]; -"e7af3f11-ba83-4173-b7d3-46ff1510bd22" -> "b2cd1491-4e58-4f41-9ccb-3fcf9de0ac4e"; -"83b5ff29-e0c1-4907-a68d-b162372acd82" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"e7af3f11-ba83-4173-b7d3-46ff1510bd22" -> "83b5ff29-e0c1-4907-a68d-b162372acd82"; -"6ebac339-c9cb-48e7-a359-e9e02de17c4d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6ebac339-c9cb-48e7-a359-e9e02de17c4d"; -"62e3d172-0b47-4b14-98b6-f384102b5d3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6ebac339-c9cb-48e7-a359-e9e02de17c4d" -> "62e3d172-0b47-4b14-98b6-f384102b5d3e"; -"b215492e-c435-4f8f-9db8-6f4c32b6e337" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"6ebac339-c9cb-48e7-a359-e9e02de17c4d" -> "b215492e-c435-4f8f-9db8-6f4c32b6e337"; -"b4ffe34c-970d-4aba-89da-d670307abe6a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"6ebac339-c9cb-48e7-a359-e9e02de17c4d" -> "b4ffe34c-970d-4aba-89da-d670307abe6a"; -"6547d751-1a71-4fa0-9caa-38f796a0dda8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"6ebac339-c9cb-48e7-a359-e9e02de17c4d" -> "6547d751-1a71-4fa0-9caa-38f796a0dda8"; -"8fceaf0a-a5e5-443f-9f6b-6959fba51c60" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "8fceaf0a-a5e5-443f-9f6b-6959fba51c60"; -"ad914b2f-e3f4-454b-a6e3-2c7775b2a761" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8fceaf0a-a5e5-443f-9f6b-6959fba51c60" -> "ad914b2f-e3f4-454b-a6e3-2c7775b2a761"; -"80043e31-227d-4035-aaff-9c7e055a9397" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"8fceaf0a-a5e5-443f-9f6b-6959fba51c60" -> "80043e31-227d-4035-aaff-9c7e055a9397"; -"04cd9b74-27a6-4aa3-9450-bd10becfe1fd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"8fceaf0a-a5e5-443f-9f6b-6959fba51c60" -> "04cd9b74-27a6-4aa3-9450-bd10becfe1fd"; -"2fe43a3f-977a-4a20-a3dc-2d8427377377" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"8fceaf0a-a5e5-443f-9f6b-6959fba51c60" -> "2fe43a3f-977a-4a20-a3dc-2d8427377377"; -"22d2ac0f-a289-4782-9598-cbc6b16a8c0d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "22d2ac0f-a289-4782-9598-cbc6b16a8c0d"; -"e775f44f-d71a-49f1-935d-9808e4e5b920" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"22d2ac0f-a289-4782-9598-cbc6b16a8c0d" -> "e775f44f-d71a-49f1-935d-9808e4e5b920"; -"609a9936-2594-4ee1-bf51-0f153e377959" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"22d2ac0f-a289-4782-9598-cbc6b16a8c0d" -> "609a9936-2594-4ee1-bf51-0f153e377959"; -"e553cc56-ab56-43b1-9702-238986aba30a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"22d2ac0f-a289-4782-9598-cbc6b16a8c0d" -> "e553cc56-ab56-43b1-9702-238986aba30a"; -"283bf934-d0e7-4fb8-8fb6-675b80a3ab11" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"22d2ac0f-a289-4782-9598-cbc6b16a8c0d" -> "283bf934-d0e7-4fb8-8fb6-675b80a3ab11"; -"e99ec932-0e7b-493d-accb-27d22f1984fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e99ec932-0e7b-493d-accb-27d22f1984fb"; -"65c93a6d-da01-4eba-9d7a-8d443d0ddec8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e99ec932-0e7b-493d-accb-27d22f1984fb" -> "65c93a6d-da01-4eba-9d7a-8d443d0ddec8"; -"86fa9a54-8a8d-4c97-8e1b-2bfd856a751a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"e99ec932-0e7b-493d-accb-27d22f1984fb" -> "86fa9a54-8a8d-4c97-8e1b-2bfd856a751a"; -"19298d94-c640-4ff5-a5a5-12e728e1b5fe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"e99ec932-0e7b-493d-accb-27d22f1984fb" -> "19298d94-c640-4ff5-a5a5-12e728e1b5fe"; -"e93e03c9-7fbd-4213-be16-fa395afed8b2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; -"e99ec932-0e7b-493d-accb-27d22f1984fb" -> "e93e03c9-7fbd-4213-be16-fa395afed8b2"; -"717621fe-a713-4acb-a011-5f6b2208018e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "717621fe-a713-4acb-a011-5f6b2208018e"; -"276601de-2c7a-426e-a150-932955ab9b25" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"717621fe-a713-4acb-a011-5f6b2208018e" -> "276601de-2c7a-426e-a150-932955ab9b25"; -"cc326672-fbd8-46e9-b61e-f23a7a0a669f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"717621fe-a713-4acb-a011-5f6b2208018e" -> "cc326672-fbd8-46e9-b61e-f23a7a0a669f"; -"87feb2bd-07bf-448a-bde0-c22c88b9fbaa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"717621fe-a713-4acb-a011-5f6b2208018e" -> "87feb2bd-07bf-448a-bde0-c22c88b9fbaa"; -"b5f94560-ad8e-4eaf-aa4d-28f722c521a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled]; -"717621fe-a713-4acb-a011-5f6b2208018e" -> "b5f94560-ad8e-4eaf-aa4d-28f722c521a2"; -"612e4682-a1ca-4ffc-9e3e-cd68efbad95d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "612e4682-a1ca-4ffc-9e3e-cd68efbad95d"; -"4c697c6b-78a1-44ba-a3dd-18168ac80768" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"612e4682-a1ca-4ffc-9e3e-cd68efbad95d" -> "4c697c6b-78a1-44ba-a3dd-18168ac80768"; -"c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"612e4682-a1ca-4ffc-9e3e-cd68efbad95d" -> "c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd"; -"f9ee5435-c257-4d82-9379-2a87f6c3c542" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"612e4682-a1ca-4ffc-9e3e-cd68efbad95d" -> "f9ee5435-c257-4d82-9379-2a87f6c3c542"; -"ae4baf09-97c1-4bae-884b-a019e9d1c61a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled]; -"612e4682-a1ca-4ffc-9e3e-cd68efbad95d" -> "ae4baf09-97c1-4bae-884b-a019e9d1c61a"; -"fb77bc45-cbf4-4248-9bf1-435b0e3a382a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "fb77bc45-cbf4-4248-9bf1-435b0e3a382a"; -"fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"fb77bc45-cbf4-4248-9bf1-435b0e3a382a" -> "fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229"; -"856a8748-8e67-4964-a329-6f097cce9679" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fb77bc45-cbf4-4248-9bf1-435b0e3a382a" -> "856a8748-8e67-4964-a329-6f097cce9679"; -"d556f457-c536-498c-984a-cd0d75ff2602" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"fb77bc45-cbf4-4248-9bf1-435b0e3a382a" -> "d556f457-c536-498c-984a-cd0d75ff2602"; -"368b63e2-05ff-48ee-b882-773f7c92f0f5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"fb77bc45-cbf4-4248-9bf1-435b0e3a382a" -> "368b63e2-05ff-48ee-b882-773f7c92f0f5"; -"b99c7c55-f852-4269-8ffb-092ab98e10d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b99c7c55-f852-4269-8ffb-092ab98e10d3"; -"2df363b1-bdfc-444c-861d-4cbbc12cbb43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"b99c7c55-f852-4269-8ffb-092ab98e10d3" -> "2df363b1-bdfc-444c-861d-4cbbc12cbb43"; -"35a27971-26eb-4607-9be7-931f3e191c48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b99c7c55-f852-4269-8ffb-092ab98e10d3" -> "35a27971-26eb-4607-9be7-931f3e191c48"; -"7a192fec-de4a-49ba-aa20-cc106096b553" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"b99c7c55-f852-4269-8ffb-092ab98e10d3" -> "7a192fec-de4a-49ba-aa20-cc106096b553"; -"d66b69f8-a687-4d91-b97d-5be912f1f8bf" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"b99c7c55-f852-4269-8ffb-092ab98e10d3" -> "d66b69f8-a687-4d91-b97d-5be912f1f8bf"; -"17308f5c-0bdc-482d-886c-b25cf50b01da" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "17308f5c-0bdc-482d-886c-b25cf50b01da"; -"4e450471-ddf5-4737-ade1-ef8fc88160e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"17308f5c-0bdc-482d-886c-b25cf50b01da" -> "4e450471-ddf5-4737-ade1-ef8fc88160e6"; -"236ef38a-12b1-4643-81af-8f3d5a6c33d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"17308f5c-0bdc-482d-886c-b25cf50b01da" -> "236ef38a-12b1-4643-81af-8f3d5a6c33d3"; -"a7678b7d-21a7-4b63-a909-d962de399c0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"17308f5c-0bdc-482d-886c-b25cf50b01da" -> "a7678b7d-21a7-4b63-a909-d962de399c0f"; -"d5f241e2-92f5-44e9-832c-778aeff51353" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"17308f5c-0bdc-482d-886c-b25cf50b01da" -> "d5f241e2-92f5-44e9-832c-778aeff51353"; -"0feb5b3e-82df-4daa-b130-97e0c63e61e7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "0feb5b3e-82df-4daa-b130-97e0c63e61e7"; -"6ec3b45f-727c-4391-b856-9060c33734a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"0feb5b3e-82df-4daa-b130-97e0c63e61e7" -> "6ec3b45f-727c-4391-b856-9060c33734a1"; -"c255e28d-15b1-42a2-8b0c-8ffa0d00a054" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0feb5b3e-82df-4daa-b130-97e0c63e61e7" -> "c255e28d-15b1-42a2-8b0c-8ffa0d00a054"; -"78aab831-39eb-4dbd-bf7f-db946322b24f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"0feb5b3e-82df-4daa-b130-97e0c63e61e7" -> "78aab831-39eb-4dbd-bf7f-db946322b24f"; -"86a27146-6efe-4fcd-a5e0-f5ea89b4b69c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"0feb5b3e-82df-4daa-b130-97e0c63e61e7" -> "86a27146-6efe-4fcd-a5e0-f5ea89b4b69c"; -"2f171682-c376-4afd-a69d-2a8f724ba403" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2f171682-c376-4afd-a69d-2a8f724ba403"; -"3476c95d-20a0-4898-be64-e2fee5ddb753" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"2f171682-c376-4afd-a69d-2a8f724ba403" -> "3476c95d-20a0-4898-be64-e2fee5ddb753"; -"a3478678-e78f-4fa7-a6f1-2adc63cc3b90" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2f171682-c376-4afd-a69d-2a8f724ba403" -> "a3478678-e78f-4fa7-a6f1-2adc63cc3b90"; -"87d2f638-85e9-4297-9345-dc128a563c95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"2f171682-c376-4afd-a69d-2a8f724ba403" -> "87d2f638-85e9-4297-9345-dc128a563c95"; -"aba4bcad-ee7d-4a96-8b22-3e653ac87635" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"2f171682-c376-4afd-a69d-2a8f724ba403" -> "aba4bcad-ee7d-4a96-8b22-3e653ac87635"; -"dda141b7-3692-4a89-9704-bf0de6254dba" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "dda141b7-3692-4a89-9704-bf0de6254dba"; -"b21bc40c-e476-42b4-abc7-01351422612e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"dda141b7-3692-4a89-9704-bf0de6254dba" -> "b21bc40c-e476-42b4-abc7-01351422612e"; -"2b0cb55f-04ee-474c-a6a8-2bec6278c64e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"dda141b7-3692-4a89-9704-bf0de6254dba" -> "2b0cb55f-04ee-474c-a6a8-2bec6278c64e"; -"596ec8ae-3905-492c-bc83-de4542f01a9a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"dda141b7-3692-4a89-9704-bf0de6254dba" -> "596ec8ae-3905-492c-bc83-de4542f01a9a"; -"f04d06a5-2970-428d-9f4e-926c3967d845" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; -"dda141b7-3692-4a89-9704-bf0de6254dba" -> "f04d06a5-2970-428d-9f4e-926c3967d845"; -"8226f96a-1d6f-44af-894b-54d87caf3a11" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "8226f96a-1d6f-44af-894b-54d87caf3a11"; -"f171002e-7bc8-4cf5-a213-6df793da506c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8226f96a-1d6f-44af-894b-54d87caf3a11" -> "f171002e-7bc8-4cf5-a213-6df793da506c"; -"bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"8226f96a-1d6f-44af-894b-54d87caf3a11" -> "bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c"; -"b887fedf-3fe3-4dbd-9f83-9bba594e917a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"8226f96a-1d6f-44af-894b-54d87caf3a11" -> "b887fedf-3fe3-4dbd-9f83-9bba594e917a"; -"38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"8226f96a-1d6f-44af-894b-54d87caf3a11" -> "38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6"; -"52dc2495-549a-4640-8f00-d067f870016f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "52dc2495-549a-4640-8f00-d067f870016f"; -"45b6b11d-def8-412a-b003-621527798c97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"52dc2495-549a-4640-8f00-d067f870016f" -> "45b6b11d-def8-412a-b003-621527798c97"; -"4ba3e4c5-1205-4d30-9bf2-0b75f138e28e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"52dc2495-549a-4640-8f00-d067f870016f" -> "4ba3e4c5-1205-4d30-9bf2-0b75f138e28e"; -"3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"52dc2495-549a-4640-8f00-d067f870016f" -> "3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253"; -"421c9a42-9aa9-49b4-97e3-c1d5acca0d56" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; -"52dc2495-549a-4640-8f00-d067f870016f" -> "421c9a42-9aa9-49b4-97e3-c1d5acca0d56"; -"f042bb90-edf8-441a-8b5f-e5919e30622c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f042bb90-edf8-441a-8b5f-e5919e30622c"; -"0ec4b482-e175-48c0-b3f5-224ff172d8c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f042bb90-edf8-441a-8b5f-e5919e30622c" -> "0ec4b482-e175-48c0-b3f5-224ff172d8c3"; -"8e31cc40-5677-4858-a7db-4120fe2a5d22" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"f042bb90-edf8-441a-8b5f-e5919e30622c" -> "8e31cc40-5677-4858-a7db-4120fe2a5d22"; -"35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f042bb90-edf8-441a-8b5f-e5919e30622c" -> "35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62"; -"f165f483-d705-4877-b418-0bca895d3022" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"f042bb90-edf8-441a-8b5f-e5919e30622c" -> "f165f483-d705-4877-b418-0bca895d3022"; -"16f617b9-bfe1-4915-83b8-3f9855045851" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "16f617b9-bfe1-4915-83b8-3f9855045851"; -"5249ad23-8d25-423f-b97c-409cd8ce051a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"16f617b9-bfe1-4915-83b8-3f9855045851" -> "5249ad23-8d25-423f-b97c-409cd8ce051a"; -"55b8c55e-a685-4e75-82ab-9255781e9fbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"16f617b9-bfe1-4915-83b8-3f9855045851" -> "55b8c55e-a685-4e75-82ab-9255781e9fbf"; -"bb26c356-c78f-48bb-90bd-93314b1e21fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"16f617b9-bfe1-4915-83b8-3f9855045851" -> "bb26c356-c78f-48bb-90bd-93314b1e21fc"; -"2a9ece59-ddf8-49d4-af03-97228c863780" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"16f617b9-bfe1-4915-83b8-3f9855045851" -> "2a9ece59-ddf8-49d4-af03-97228c863780"; -"bd71d929-412f-4dcc-8db2-d86fa0560732" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bd71d929-412f-4dcc-8db2-d86fa0560732"; -"d05dfe53-2a1c-4bba-aabb-e97c7c47c11a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bd71d929-412f-4dcc-8db2-d86fa0560732" -> "d05dfe53-2a1c-4bba-aabb-e97c7c47c11a"; -"8a33d123-ae3c-4d9f-8764-46931cc9e4e5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"bd71d929-412f-4dcc-8db2-d86fa0560732" -> "8a33d123-ae3c-4d9f-8764-46931cc9e4e5"; -"2aed7189-76d6-4973-bf60-e4b132e936ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"bd71d929-412f-4dcc-8db2-d86fa0560732" -> "2aed7189-76d6-4973-bf60-e4b132e936ff"; -"9103bf50-5938-4d0d-bfe8-cb957871b694" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"bd71d929-412f-4dcc-8db2-d86fa0560732" -> "9103bf50-5938-4d0d-bfe8-cb957871b694"; -"2d408dfb-4749-4a30-8a3d-06e42c5b7f03" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2d408dfb-4749-4a30-8a3d-06e42c5b7f03"; -"2f5a0b69-a872-4e90-8449-b234c4c2bbc1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2d408dfb-4749-4a30-8a3d-06e42c5b7f03" -> "2f5a0b69-a872-4e90-8449-b234c4c2bbc1"; -"12f03018-7d43-4b55-900f-928007d73ebb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"2d408dfb-4749-4a30-8a3d-06e42c5b7f03" -> "12f03018-7d43-4b55-900f-928007d73ebb"; -"12575735-4b6e-4562-ada7-c9286bb0e676" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"2d408dfb-4749-4a30-8a3d-06e42c5b7f03" -> "12575735-4b6e-4562-ada7-c9286bb0e676"; -"ede90fca-65c3-464e-a477-f49829d8cc32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"2d408dfb-4749-4a30-8a3d-06e42c5b7f03" -> "ede90fca-65c3-464e-a477-f49829d8cc32"; -"22538fba-9a9e-4185-bb00-3394745bc9fc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "22538fba-9a9e-4185-bb00-3394745bc9fc"; -"f7a4257f-784a-49ad-ad79-f677e4814cc1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"22538fba-9a9e-4185-bb00-3394745bc9fc" -> "f7a4257f-784a-49ad-ad79-f677e4814cc1"; -"400bad56-b81f-4c6f-95f3-13b3d368775b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"22538fba-9a9e-4185-bb00-3394745bc9fc" -> "400bad56-b81f-4c6f-95f3-13b3d368775b"; -"1cb17cb9-64ff-42d9-a206-d7c40aa87991" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"22538fba-9a9e-4185-bb00-3394745bc9fc" -> "1cb17cb9-64ff-42d9-a206-d7c40aa87991"; -"d759a488-58b3-400c-83b8-867ab1623c13" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"22538fba-9a9e-4185-bb00-3394745bc9fc" -> "d759a488-58b3-400c-83b8-867ab1623c13"; -"defc2569-40fc-4a50-a184-d0362e9d4b32" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "defc2569-40fc-4a50-a184-d0362e9d4b32"; -"203eaea7-8ce5-43c6-8256-17c2fd365bc5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"defc2569-40fc-4a50-a184-d0362e9d4b32" -> "203eaea7-8ce5-43c6-8256-17c2fd365bc5"; -"4b38504f-df7b-4972-a3d6-d6f335d4e81c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"defc2569-40fc-4a50-a184-d0362e9d4b32" -> "4b38504f-df7b-4972-a3d6-d6f335d4e81c"; -"3f4e7407-0478-468b-a469-f2ceaa31b5f4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"defc2569-40fc-4a50-a184-d0362e9d4b32" -> "3f4e7407-0478-468b-a469-f2ceaa31b5f4"; -"f9b4bb84-4516-4e3d-ad90-b73f96912388" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"defc2569-40fc-4a50-a184-d0362e9d4b32" -> "f9b4bb84-4516-4e3d-ad90-b73f96912388"; -"06a64029-ec99-435a-8556-ffe23636b15e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "06a64029-ec99-435a-8556-ffe23636b15e"; -"ed689067-3752-4648-b16d-3edb24fd1b19" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"06a64029-ec99-435a-8556-ffe23636b15e" -> "ed689067-3752-4648-b16d-3edb24fd1b19"; -"8285265e-4387-4957-a278-ea65714c9b10" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"06a64029-ec99-435a-8556-ffe23636b15e" -> "8285265e-4387-4957-a278-ea65714c9b10"; -"26fb2071-f3f9-4ca0-9d08-291907bb2c06" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"06a64029-ec99-435a-8556-ffe23636b15e" -> "26fb2071-f3f9-4ca0-9d08-291907bb2c06"; -"d3c14ddb-5b7e-49f6-b464-f2ffe917b764" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"06a64029-ec99-435a-8556-ffe23636b15e" -> "d3c14ddb-5b7e-49f6-b464-f2ffe917b764"; -"1f2e88e1-99ef-4fd3-acec-afa922752c3a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "1f2e88e1-99ef-4fd3-acec-afa922752c3a"; -"02a087bd-9348-4823-88df-3acbb635138b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1f2e88e1-99ef-4fd3-acec-afa922752c3a" -> "02a087bd-9348-4823-88df-3acbb635138b"; -"b81d8430-97c0-42c2-bfbc-2a0f6128302a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"1f2e88e1-99ef-4fd3-acec-afa922752c3a" -> "b81d8430-97c0-42c2-bfbc-2a0f6128302a"; -"ac6a20f4-7295-4964-b647-926215a783d0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"1f2e88e1-99ef-4fd3-acec-afa922752c3a" -> "ac6a20f4-7295-4964-b647-926215a783d0"; -"a5d213d1-42e4-42d0-8ed2-80fa863a34ed" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"1f2e88e1-99ef-4fd3-acec-afa922752c3a" -> "a5d213d1-42e4-42d0-8ed2-80fa863a34ed"; -"e647a664-bc8e-4a07-83b7-03e9faf31955" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e647a664-bc8e-4a07-83b7-03e9faf31955"; -"d28c444b-6fbd-488f-b367-2f5483faa357" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"e647a664-bc8e-4a07-83b7-03e9faf31955" -> "d28c444b-6fbd-488f-b367-2f5483faa357"; -"1606c400-d9e7-4fec-bb1c-dbfb3cce7a66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"7b3a59ae-e52a-4211-bbb2-5a12731edeaf" -> "d4f938b5-d4c2-45a5-95f7-be36c7b80cfd"; -"d476ce6a-d765-43af-87ca-da83dcddefca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; -"7b3a59ae-e52a-4211-bbb2-5a12731edeaf" -> "d476ce6a-d765-43af-87ca-da83dcddefca"; -"8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba"; -"a776c31a-bdce-42fe-a709-5b4cc0899c79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba" -> "a776c31a-bdce-42fe-a709-5b4cc0899c79"; -"efa622c9-a217-4e88-bd8c-88d253671768" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9a75fb5c-b84c-4dad-bc7d-560cf594f2ae"; -"28c94a05-231a-49eb-8b1d-629d1eb9ad66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"9a75fb5c-b84c-4dad-bc7d-560cf594f2ae" -> "28c94a05-231a-49eb-8b1d-629d1eb9ad66"; -"ea24db7b-d8bd-46b6-81e8-02a46b05a9ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9a75fb5c-b84c-4dad-bc7d-560cf594f2ae" -> "ea24db7b-d8bd-46b6-81e8-02a46b05a9ae"; -"7645899a-5ff4-4596-89a4-d7cfa11835c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9a75fb5c-b84c-4dad-bc7d-560cf594f2ae" -> "7645899a-5ff4-4596-89a4-d7cfa11835c0"; -"c60d32c6-bd04-4b12-abcb-f41ab62bc63d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"9a75fb5c-b84c-4dad-bc7d-560cf594f2ae" -> "c60d32c6-bd04-4b12-abcb-f41ab62bc63d"; -"f84c5863-11f4-46c5-8bc6-f5fd8184d6c5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f84c5863-11f4-46c5-8bc6-f5fd8184d6c5"; -"74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"f84c5863-11f4-46c5-8bc6-f5fd8184d6c5" -> "74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f"; -"2e8a95f0-93cd-453f-b2ff-4ae32f52a549" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f84c5863-11f4-46c5-8bc6-f5fd8184d6c5" -> "2e8a95f0-93cd-453f-b2ff-4ae32f52a549"; -"a1832156-ed5b-4fa6-9f74-924e87d75e82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"421a9419-d6b0-495e-a038-de34c8e754e7" -> "921d10ae-0db9-435b-865f-60350c0e7701"; -"63c9c538-54c5-4c00-93b6-3087e1a0999d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"421a9419-d6b0-495e-a038-de34c8e754e7" -> "63c9c538-54c5-4c00-93b6-3087e1a0999d"; -"6fa3a465-190f-4a6a-9bac-44bda4c807b2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"421a9419-d6b0-495e-a038-de34c8e754e7" -> "6fa3a465-190f-4a6a-9bac-44bda4c807b2"; -"ba677dec-cf51-4b37-9288-ec712aa55ec6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; -"421a9419-d6b0-495e-a038-de34c8e754e7" -> "ba677dec-cf51-4b37-9288-ec712aa55ec6"; -"cf9a3de2-ce17-4798-8bfa-9c65676ebd18" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cf9a3de2-ce17-4798-8bfa-9c65676ebd18"; -"3c6f644e-33fa-4883-bb38-6a2bdb269356" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cf9a3de2-ce17-4798-8bfa-9c65676ebd18" -> "3c6f644e-33fa-4883-bb38-6a2bdb269356"; -"1fce3f97-6c7c-4680-ac2d-ab10d16d85df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"cf9a3de2-ce17-4798-8bfa-9c65676ebd18" -> "1fce3f97-6c7c-4680-ac2d-ab10d16d85df"; -"a054d6a8-d54c-4d3f-9f6c-2913ce7abda1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"cf9a3de2-ce17-4798-8bfa-9c65676ebd18" -> "a054d6a8-d54c-4d3f-9f6c-2913ce7abda1"; -"d9856db9-f380-4ddf-8256-1e33424f14d3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"cf9a3de2-ce17-4798-8bfa-9c65676ebd18" -> "d9856db9-f380-4ddf-8256-1e33424f14d3"; -"5822bf6a-c2ba-43b9-9911-9812dbd59a1d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "5822bf6a-c2ba-43b9-9911-9812dbd59a1d"; -"099bc4a6-4c9c-4810-84d4-f34292b45a55" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5822bf6a-c2ba-43b9-9911-9812dbd59a1d" -> "099bc4a6-4c9c-4810-84d4-f34292b45a55"; -"324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"5822bf6a-c2ba-43b9-9911-9812dbd59a1d" -> "324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9"; -"275ad62b-53f8-4000-ae2c-a03841d7d1a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"5822bf6a-c2ba-43b9-9911-9812dbd59a1d" -> "275ad62b-53f8-4000-ae2c-a03841d7d1a0"; -"0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"5822bf6a-c2ba-43b9-9911-9812dbd59a1d" -> "0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0"; -"56f4f23e-6247-4a95-a24a-f68435b106a0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "56f4f23e-6247-4a95-a24a-f68435b106a0"; -"4efee9c9-80f2-416a-81da-ee57a030502b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"56f4f23e-6247-4a95-a24a-f68435b106a0" -> "4efee9c9-80f2-416a-81da-ee57a030502b"; -"3c15f619-00c8-42f3-8ac3-b48df0b545fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"56f4f23e-6247-4a95-a24a-f68435b106a0" -> "3c15f619-00c8-42f3-8ac3-b48df0b545fb"; -"0b043419-9d52-4579-9926-50fc7cbf92f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"56f4f23e-6247-4a95-a24a-f68435b106a0" -> "0b043419-9d52-4579-9926-50fc7cbf92f3"; -"5a572088-37ba-43f0-8b5d-cabc1c6cb86f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"56f4f23e-6247-4a95-a24a-f68435b106a0" -> "5a572088-37ba-43f0-8b5d-cabc1c6cb86f"; -"04b83ab5-ce5e-41a5-a2f6-e143c80b3d78" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "04b83ab5-ce5e-41a5-a2f6-e143c80b3d78"; -"8f11b63d-48f3-42f2-bbe9-2ffc0ec70500" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"04b83ab5-ce5e-41a5-a2f6-e143c80b3d78" -> "8f11b63d-48f3-42f2-bbe9-2ffc0ec70500"; -"5b89c14d-6a8f-4a27-b135-680fcd54aeaf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"04b83ab5-ce5e-41a5-a2f6-e143c80b3d78" -> "5b89c14d-6a8f-4a27-b135-680fcd54aeaf"; -"69fcc082-c389-4581-8ea3-cecba659450e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"04b83ab5-ce5e-41a5-a2f6-e143c80b3d78" -> "69fcc082-c389-4581-8ea3-cecba659450e"; -"78b2b832-1b7f-4de0-9746-e50880fedeab" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"04b83ab5-ce5e-41a5-a2f6-e143c80b3d78" -> "78b2b832-1b7f-4de0-9746-e50880fedeab"; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2f6eea1d-d934-43d3-93cd-fdc1d0831426"; -"081215cb-6236-440d-9b40-79a307e506a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "081215cb-6236-440d-9b40-79a307e506a4"; -"da1ae0dc-5de1-4a25-9219-379f4225c198" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "da1ae0dc-5de1-4a25-9219-379f4225c198"; -"a4aca557-f0da-4622-9222-48d35a84b1f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "a4aca557-f0da-4622-9222-48d35a84b1f3"; -"5c75d86b-1001-41ab-96fe-3a0d38d9e35c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"2f6eea1d-d934-43d3-93cd-fdc1d0831426" -> "5c75d86b-1001-41ab-96fe-3a0d38d9e35c"; -"27773b8d-65c8-4e6d-ab06-367494244607" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "27773b8d-65c8-4e6d-ab06-367494244607"; -"aba91b8a-5227-49d4-9944-481a861341fd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"27773b8d-65c8-4e6d-ab06-367494244607" -> "aba91b8a-5227-49d4-9944-481a861341fd"; -"8bd02e40-37f9-4be6-90b8-f188cc34de6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"27773b8d-65c8-4e6d-ab06-367494244607" -> "8bd02e40-37f9-4be6-90b8-f188cc34de6d"; -"03c4e0e0-1287-495a-a249-710aa20d0057" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"27773b8d-65c8-4e6d-ab06-367494244607" -> "03c4e0e0-1287-495a-a249-710aa20d0057"; -"252185bd-280b-420b-b678-6ab363f01989" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"27773b8d-65c8-4e6d-ab06-367494244607" -> "252185bd-280b-420b-b678-6ab363f01989"; -"220bff31-dda5-4dcb-93f0-3bf117742609" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "220bff31-dda5-4dcb-93f0-3bf117742609"; -"4cdf5215-82f4-459b-9332-3557f43eb9cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"220bff31-dda5-4dcb-93f0-3bf117742609" -> "4cdf5215-82f4-459b-9332-3557f43eb9cc"; -"df036f21-3981-4289-8d6f-8b5078b2df46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"220bff31-dda5-4dcb-93f0-3bf117742609" -> "df036f21-3981-4289-8d6f-8b5078b2df46"; -"09764188-cdc4-464a-99b2-96d997efd323" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"220bff31-dda5-4dcb-93f0-3bf117742609" -> "09764188-cdc4-464a-99b2-96d997efd323"; -"e8054da7-b79e-434a-ae68-e3651092e471" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"220bff31-dda5-4dcb-93f0-3bf117742609" -> "e8054da7-b79e-434a-ae68-e3651092e471"; -"076cdf4f-4b91-4404-b936-4bb06705d9da" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "076cdf4f-4b91-4404-b936-4bb06705d9da"; -"a4b61ca8-71a1-42cd-9d8a-c66a373deb4a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "a4b61ca8-71a1-42cd-9d8a-c66a373deb4a"; -"e517b5dc-fa48-43db-84ea-8f2bdf4659f5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "e517b5dc-fa48-43db-84ea-8f2bdf4659f5"; -"329f7a75-663a-43e0-a228-e4ed325283ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "329f7a75-663a-43e0-a228-e4ed325283ac"; -"576505ff-6e15-4284-900e-6e084ed8a945" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"076cdf4f-4b91-4404-b936-4bb06705d9da" -> "576505ff-6e15-4284-900e-6e084ed8a945"; -"d29a2927-7c93-4f4f-b56e-7240a761d826" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d29a2927-7c93-4f4f-b56e-7240a761d826"; -"3bdea8c7-c612-4aae-925e-d27be101daf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "3bdea8c7-c612-4aae-925e-d27be101daf1"; -"f4fdd3a3-2c86-4cb8-903a-8f76a9424b94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "f4fdd3a3-2c86-4cb8-903a-8f76a9424b94"; -"61783b56-4bd1-49bf-9d85-02bd84711b73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "61783b56-4bd1-49bf-9d85-02bd84711b73"; -"a234deda-6375-4853-9ac6-8982fa06ef45" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"d29a2927-7c93-4f4f-b56e-7240a761d826" -> "a234deda-6375-4853-9ac6-8982fa06ef45"; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "446abc1a-03b7-40ee-8e57-8f9d97ec1e82"; -"a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" -> "a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac"; -"a9e97936-039b-4658-9e1d-77438208edc5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" -> "a9e97936-039b-4658-9e1d-77438208edc5"; -"6e6ed82b-16da-4fa0-8a89-3fc55c343b55" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" -> "6e6ed82b-16da-4fa0-8a89-3fc55c343b55"; -"3f6a5853-74f7-4a7c-b881-df6a0830eb94" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"446abc1a-03b7-40ee-8e57-8f9d97ec1e82" -> "3f6a5853-74f7-4a7c-b881-df6a0830eb94"; -"6ff860a9-64c1-4388-aaeb-fecd8c4715fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6ff860a9-64c1-4388-aaeb-fecd8c4715fd"; -"05d4078a-5643-4f17-b97b-3e1a1787530b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"6ff860a9-64c1-4388-aaeb-fecd8c4715fd" -> "05d4078a-5643-4f17-b97b-3e1a1787530b"; -"5f70d628-eab8-428e-90db-e101f06f1b34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6ff860a9-64c1-4388-aaeb-fecd8c4715fd" -> "5f70d628-eab8-428e-90db-e101f06f1b34"; -"b0e6798d-42f1-4267-8d4d-ac65ba080dbd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6ff860a9-64c1-4388-aaeb-fecd8c4715fd" -> "b0e6798d-42f1-4267-8d4d-ac65ba080dbd"; -"2538518f-79c8-4142-a2c0-cb30556b3f2d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"6ff860a9-64c1-4388-aaeb-fecd8c4715fd" -> "2538518f-79c8-4142-a2c0-cb30556b3f2d"; -"1672ffca-eee5-4bc9-a1b1-499a2618328d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"4a3fd97e-55e3-4d1e-ae7a-bc823f221b1a"; -"bb8c7dea-840c-4852-8cae-7ae8b14d3f1f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bb8c7dea-840c-4852-8cae-7ae8b14d3f1f"; -"e7476a36-5aa6-4c36-8ede-b60436e75186" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"bb8c7dea-840c-4852-8cae-7ae8b14d3f1f" -> "e7476a36-5aa6-4c36-8ede-b60436e75186"; -"f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"bb8c7dea-840c-4852-8cae-7ae8b14d3f1f" -> "f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3"; -"46f42b47-a4bf-4e34-ba88-d02dc8867411" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bb8c7dea-840c-4852-8cae-7ae8b14d3f1f" -> "46f42b47-a4bf-4e34-ba88-d02dc8867411"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5"; -"a4ce4a53-e9ae-4556-bc0c-e4585fdee7db" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "a4ce4a53-e9ae-4556-bc0c-e4585fdee7db"; -"6f497f79-0e73-4257-928d-14bacf0446c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "6f497f79-0e73-4257-928d-14bacf0446c0"; -"3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; -"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" -> "3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2"; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2f37605f-c13c-484d-92fe-82a2ef42ff15"; -"fc316e74-31a5-4606-bfab-cd4282b13428" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "fc316e74-31a5-4606-bfab-cd4282b13428"; -"0162a1f7-8e7f-46f1-809e-53d628f1843f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "0162a1f7-8e7f-46f1-809e-53d628f1843f"; -"b445ed70-2bd4-4351-887c-a5e0715b9222" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"2f37605f-c13c-484d-92fe-82a2ef42ff15" -> "b445ed70-2bd4-4351-887c-a5e0715b9222"; -"a17591f2-18a0-4964-a0f8-d2e5060a0226" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"1a185175-90e1-4c20-acbe-0f9843f426d2" -> "e454845f-437c-4fda-91d0-37e3d2977390"; -"4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1a185175-90e1-4c20-acbe-0f9843f426d2" -> "4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1"; -"1ba74bf4-ed58-4ca0-9b36-cddd3566e30a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable)", shape=box, style=filled]; -"1a185175-90e1-4c20-acbe-0f9843f426d2" -> "1ba74bf4-ed58-4ca0-9b36-cddd3566e30a"; -"e0b06574-32d0-4b86-8918-3722b833ec17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e0b06574-32d0-4b86-8918-3722b833ec17"; -"b83947ad-303a-4a7b-907a-32c431fadad9" [fillcolor="#FFFF80", fontcolor=black, 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style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "aa63d770-a886-468f-8809-ed48eadfebb2"; -"b1e8c742-75ca-4fae-8177-a43b6051f5d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"aa63d770-a886-468f-8809-ed48eadfebb2" -> "b1e8c742-75ca-4fae-8177-a43b6051f5d6"; -"9918cbb3-2c2f-41bf-9592-afaa6e4a3c33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"aa63d770-a886-468f-8809-ed48eadfebb2" -> "9918cbb3-2c2f-41bf-9592-afaa6e4a3c33"; -"36e25fd7-9fba-4937-8651-0bfcab1d443a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"aa63d770-a886-468f-8809-ed48eadfebb2" -> "36e25fd7-9fba-4937-8651-0bfcab1d443a"; -"c42fceaa-3bf2-4424-9bbd-1e0f715d3794" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b42ab8f3-33e0-465e-b7d3-ba6531b65454" -> "6dc74268-687d-4a1c-a7a9-57e85e3f0c04"; -"f4699daa-83d0-4b89-9d6b-568a9e74177b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"b42ab8f3-33e0-465e-b7d3-ba6531b65454" -> "f4699daa-83d0-4b89-9d6b-568a9e74177b"; -"1c960a11-115c-4c32-839d-bd17238e5f2d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"b42ab8f3-33e0-465e-b7d3-ba6531b65454" -> "1c960a11-115c-4c32-839d-bd17238e5f2d"; -"6c610ed6-d81e-48c4-92f1-292e12a072c3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "6c610ed6-d81e-48c4-92f1-292e12a072c3"; -"151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"6c610ed6-d81e-48c4-92f1-292e12a072c3" -> "151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8"; -"ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6c610ed6-d81e-48c4-92f1-292e12a072c3" -> "ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262"; -"db42eef3-1481-4e39-847e-465a787b8efb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"6c610ed6-d81e-48c4-92f1-292e12a072c3" -> "db42eef3-1481-4e39-847e-465a787b8efb"; -"69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"6c610ed6-d81e-48c4-92f1-292e12a072c3" -> "69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd"; -"45ed0621-17b6-4d47-af1d-c877c9e79efe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"70a91257-e1b1-49a5-990b-6623ff00ca2c" -> "2bed3a27-a89e-4462-9b93-4945600a7554"; -"7e593aee-707b-4210-9fb0-450fe4ed464d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"70a91257-e1b1-49a5-990b-6623ff00ca2c" -> "7e593aee-707b-4210-9fb0-450fe4ed464d"; -"efca8ee0-c464-43f7-bbcc-6fec6cdd125a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"70a91257-e1b1-49a5-990b-6623ff00ca2c" -> "efca8ee0-c464-43f7-bbcc-6fec6cdd125a"; -"a0fa96b1-64ba-48fa-9f5c-45c4c7a19512" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled]; -"70a91257-e1b1-49a5-990b-6623ff00ca2c" -> "a0fa96b1-64ba-48fa-9f5c-45c4c7a19512"; -"43f1412b-eade-4e41-b384-7a4281d51b6a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "43f1412b-eade-4e41-b384-7a4281d51b6a"; -"591b9c34-fc4b-4c71-ba20-93281002cb4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; -"43f1412b-eade-4e41-b384-7a4281d51b6a" -> "591b9c34-fc4b-4c71-ba20-93281002cb4c"; -"2d64dc71-fa0d-43a2-8300-5a67808ce081" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"43f1412b-eade-4e41-b384-7a4281d51b6a" -> "2d64dc71-fa0d-43a2-8300-5a67808ce081"; -"62fb6fd6-6fb2-4fe5-b016-75d836a04f6a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"43f1412b-eade-4e41-b384-7a4281d51b6a" -> "62fb6fd6-6fb2-4fe5-b016-75d836a04f6a"; -"3ed259b7-1a9b-414c-96e5-a0027b7e515c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"43f1412b-eade-4e41-b384-7a4281d51b6a" -> "3ed259b7-1a9b-414c-96e5-a0027b7e515c"; -"3cbc5010-3968-45a6-937a-cc0617c55555" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3cbc5010-3968-45a6-937a-cc0617c55555"; -"77fbbe09-49a6-4466-a77d-04f2349211f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; -"3cbc5010-3968-45a6-937a-cc0617c55555" -> "77fbbe09-49a6-4466-a77d-04f2349211f2"; -"82130e97-ba4e-4731-bc0c-095bc96f31c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"3cbc5010-3968-45a6-937a-cc0617c55555" -> "82130e97-ba4e-4731-bc0c-095bc96f31c8"; -"293a8181-4944-4a77-a0c2-395fb92da429" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"3cbc5010-3968-45a6-937a-cc0617c55555" -> "293a8181-4944-4a77-a0c2-395fb92da429"; -"28538aff-92f5-44b6-a7bb-3fc064d88f34" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"3cbc5010-3968-45a6-937a-cc0617c55555" -> "28538aff-92f5-44b6-a7bb-3fc064d88f34"; -"cc9c6876-7bfd-4668-957b-22007c8eef59" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cc9c6876-7bfd-4668-957b-22007c8eef59"; -"2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8"; -"6fe486b0-cf2a-4612-87e2-92987e476fb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "6fe486b0-cf2a-4612-87e2-92987e476fb7"; -"45003d83-2342-4e51-a035-86137bff3b9e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "45003d83-2342-4e51-a035-86137bff3b9e"; -"6dde11aa-2738-4584-9575-f827384923dc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; -"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "6dde11aa-2738-4584-9575-f827384923dc"; -"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b7a1f95c-7154-4d5c-9e53-df475a8ac8fe"; -"941de543-d2c2-4e7a-bfef-d6dc0ada1337" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "941de543-d2c2-4e7a-bfef-d6dc0ada1337"; -"5c9af632-74fc-40e2-b4fc-927256bd85c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "5c9af632-74fc-40e2-b4fc-927256bd85c8"; -"23375cd4-a3fe-4c4e-879d-1639ef95a5ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "23375cd4-a3fe-4c4e-879d-1639ef95a5ad"; -"9eb434c3-e503-493c-9adc-a82d762d586a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; -"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "9eb434c3-e503-493c-9adc-a82d762d586a"; -"153ba37e-b408-419a-9c90-7f2a028495b2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "153ba37e-b408-419a-9c90-7f2a028495b2"; -"d95cd8e4-e6cf-4445-9997-a3e7baca49a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"153ba37e-b408-419a-9c90-7f2a028495b2" -> "d95cd8e4-e6cf-4445-9997-a3e7baca49a0"; -"4aeab62f-e599-43b3-bafd-e302262d4ffa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4aeab62f-e599-43b3-bafd-e302262d4ffa"; -"4d777bdd-f3e1-41e5-b2cd-88f45725f492" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4d777bdd-f3e1-41e5-b2cd-88f45725f492"; -"4f68e88b-ed85-4a4d-953e-b865502c07f0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; -"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4f68e88b-ed85-4a4d-953e-b865502c07f0"; -"43bd2501-8497-44cf-816e-7b1d92dffde8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "43bd2501-8497-44cf-816e-7b1d92dffde8"; -"aa1362f4-3d0e-42e0-af0e-261b75fcebf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "aa1362f4-3d0e-42e0-af0e-261b75fcebf2"; -"51801e5e-b4dc-426d-929a-6bde538d048d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "51801e5e-b4dc-426d-929a-6bde538d048d"; -"26f5465c-1b9e-4970-ab5f-fe4fa9838903" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "26f5465c-1b9e-4970-ab5f-fe4fa9838903"; -"ca700651-9410-41b3-8515-385ef35fba1a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; -"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "ca700651-9410-41b3-8515-385ef35fba1a"; -"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317"; -"cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0"; -"c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32"; -"9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc"; -"aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; -"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655"; -"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bc0cbfff-650c-4b61-9dcc-bfe2a8895524"; -"d6036efd-e852-45de-8cfd-08270944d42f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "d6036efd-e852-45de-8cfd-08270944d42f"; -"50790486-112c-4551-bb75-2182cfadedf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "50790486-112c-4551-bb75-2182cfadedf2"; -"c5f42ef3-c170-41d9-8473-b16d00239b0a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "c5f42ef3-c170-41d9-8473-b16d00239b0a"; -"b843cdb2-ff72-4241-8087-0180bd5797cc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; -"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "b843cdb2-ff72-4241-8087-0180bd5797cc"; -"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9"; -"6191c3d6-f4f9-435f-a3d3-439114f8f1f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; -"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "6191c3d6-f4f9-435f-a3d3-439114f8f1f0"; -"b1c8089d-7646-4116-b227-b498270b8a96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "b1c8089d-7646-4116-b227-b498270b8a96"; -"8f120095-58f3-4732-bac6-0bccb201ae49" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "8f120095-58f3-4732-bac6-0bccb201ae49"; -"719c49bd-8d3a-4f6a-b242-f40c67237040" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; -"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "719c49bd-8d3a-4f6a-b242-f40c67237040"; -"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "4a17b594-7ff7-46af-8b71-1f02b5b3e42c"; -"2b4769c2-3de2-46e9-a1a4-77ed768a6c64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; -"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "2b4769c2-3de2-46e9-a1a4-77ed768a6c64"; -"28be1710-e38f-4ece-aafc-e5c4ed6d7896" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "28be1710-e38f-4ece-aafc-e5c4ed6d7896"; -"2929935a-0d13-41d0-b0f3-e7022ece035d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "2929935a-0d13-41d0-b0f3-e7022ece035d"; -"07c4487a-9bda-40ba-bf8e-584abcce469c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; -"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "07c4487a-9bda-40ba-bf8e-584abcce469c"; -"46192f43-7060-41ce-aa31-dabc6fe5b1b3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "46192f43-7060-41ce-aa31-dabc6fe5b1b3"; -"09bc58a6-e2b0-42a5-8d0a-e6d64a8e7474" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "09bc58a6-e2b0-42a5-8d0a-e6d64a8e7474"; -"54aba7d7-034f-4430-8e47-e880eab1e876" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "54aba7d7-034f-4430-8e47-e880eab1e876"; -"ea6b159d-2aec-4397-804b-6ca51de8467b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; -"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "ea6b159d-2aec-4397-804b-6ca51de8467b"; -"399e9866-eadb-44b4-9ff4-92ecec8a11a7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; -"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "399e9866-eadb-44b4-9ff4-92ecec8a11a7"; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d3a0ea81-121e-4cb1-8240-850d5798e3c1"; -"a2794aea-a1de-4ef7-93eb-27f34cdcec78" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "a2794aea-a1de-4ef7-93eb-27f34cdcec78"; -"9a37d685-93bb-412e-a1e3-f1e19749e71c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "9a37d685-93bb-412e-a1e3-f1e19749e71c"; -"e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d"; -"d75a08c2-c604-41d5-8366-d4eb2f673e21" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; -"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "d75a08c2-c604-41d5-8366-d4eb2f673e21"; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef"; -"d2745cd3-df57-46ce-9786-92941548695e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "d2745cd3-df57-46ce-9786-92941548695e"; -"1558b313-ba00-4a35-9b33-78fd31ee8fd4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "1558b313-ba00-4a35-9b33-78fd31ee8fd4"; -"c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65"; -"6b883883-7f0e-40f8-b094-cb93a28e7a30" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; -"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "6b883883-7f0e-40f8-b094-cb93a28e7a30"; -"5adaae44-afd2-4387-a568-569cb2bfc1af" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "5adaae44-afd2-4387-a568-569cb2bfc1af"; -"59d8bfc0-b8a3-4fc8-bfda-2fd9c06214e7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "59d8bfc0-b8a3-4fc8-bfda-2fd9c06214e7"; -"9b046497-53c6-4730-8cec-c8f6898f0e34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "9b046497-53c6-4730-8cec-c8f6898f0e34"; -"5105b369-d457-41c5-915e-1005e2997c08" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; -"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "5105b369-d457-41c5-915e-1005e2997c08"; -"74b6a96b-0e17-4909-aa0e-505c003e9472" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; -"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "74b6a96b-0e17-4909-aa0e-505c003e9472"; -"3967d2b4-648e-4dfd-b25e-1aa784813266" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"0d027cbc-4d3a-48ed-9d82-a5dcd86c844d" -> "3967d2b4-648e-4dfd-b25e-1aa784813266"; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0436df48-93c8-490d-af8c-ea3144c29ef4" -> "4a7729ee-b319-4f3f-b05a-6b9e28132562"; -"e81cc950-9b01-4f65-af1b-c7cc8d017a31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "e81cc950-9b01-4f65-af1b-c7cc8d017a31"; -"dfb932c2-a728-46dc-94c1-403b812fd121" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "dfb932c2-a728-46dc-94c1-403b812fd121"; -"86f2ff30-84ec-4391-af26-8c0f3789a0a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "86f2ff30-84ec-4391-af26-8c0f3789a0a9"; -"1e344576-bced-47f1-8a1d-dc61827847e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; -"79334f30-98f4-451a-a037-cf8bb0447077" -> "1e344576-bced-47f1-8a1d-dc61827847e2"; -"422c8b7e-6bc0-4276-9163-aa7d9a97395e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "422c8b7e-6bc0-4276-9163-aa7d9a97395e"; -"b8a8650d-e5ce-4323-88bf-a69c30a1bd92" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"422c8b7e-6bc0-4276-9163-aa7d9a97395e" -> "b8a8650d-e5ce-4323-88bf-a69c30a1bd92"; -"33e66130-b4cd-46aa-8b1d-2a8018c0a91a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; -"422c8b7e-6bc0-4276-9163-aa7d9a97395e" -> "33e66130-b4cd-46aa-8b1d-2a8018c0a91a"; -"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c"; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" -> "0dc269ea-c832-4b1a-b9da-bd24df9c655a"; -"d399256c-80ea-49a2-8271-fc498d3e1f45" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d399256c-80ea-49a2-8271-fc498d3e1f45"; -"de195d80-ef44-499d-8609-30fd45b38cf9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "de195d80-ef44-499d-8609-30fd45b38cf9"; -"ab049362-2256-4be9-b6fb-a3c4af3c0c44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ab049362-2256-4be9-b6fb-a3c4af3c0c44"; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bfb4a80f-72e7-4d1b-b853-8286ea839cec"; -"6225269e-b587-41ba-8b75-a5aa10d5eaad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "6225269e-b587-41ba-8b75-a5aa10d5eaad"; -"80595db0-adbd-40d1-b111-17291dd0f357" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "80595db0-adbd-40d1-b111-17291dd0f357"; -"a65885be-e53b-4176-ab2d-9a3f2fdfdcd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "a65885be-e53b-4176-ab2d-9a3f2fdfdcd2"; -"37172bd4-521d-472e-8cd1-58e2bc30113f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "37172bd4-521d-472e-8cd1-58e2bc30113f"; -"c8516e6a-8f35-4f6b-919e-eca639f7d7a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; -"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "c8516e6a-8f35-4f6b-919e-eca639f7d7a9"; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fc3c37fa-95ba-4d67-ba7d-2178b77b5e22"; -"091ec51c-d491-4d70-9afa-562bf54b9fe9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "091ec51c-d491-4d70-9afa-562bf54b9fe9"; -"2365ca31-392f-4d5b-9358-36b3cae4b998" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "2365ca31-392f-4d5b-9358-36b3cae4b998"; -"901bffcd-9ff9-46fc-893c-b9a023ff4972" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "901bffcd-9ff9-46fc-893c-b9a023ff4972"; -"d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd"; -"f88efbab-7228-4e7f-93d6-abfe49639004" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; -"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "f88efbab-7228-4e7f-93d6-abfe49639004"; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a8972ad8-5539-449e-9c33-3ea25c5187ae"; -"14ccb286-5b9e-47e5-b33f-ec94b572aed8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "14ccb286-5b9e-47e5-b33f-ec94b572aed8"; -"54606ca9-3c5b-448e-bb1a-5abceae90b3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "54606ca9-3c5b-448e-bb1a-5abceae90b3e"; -"4401bde4-5527-444c-beb0-10826d394e32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "4401bde4-5527-444c-beb0-10826d394e32"; -"39ddd05f-ea53-46dc-8664-de927ffcdcc3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "39ddd05f-ea53-46dc-8664-de927ffcdcc3"; -"7770dd21-aec6-42d0-b15a-4a4e6bf614a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; -"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "7770dd21-aec6-42d0-b15a-4a4e6bf614a0"; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "05ca37fc-db68-4bfb-b898-6d97ef555d46"; -"76dc5841-5780-4989-ac03-040d4d0f7603" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "76dc5841-5780-4989-ac03-040d4d0f7603"; -"34ffb13c-c55f-4d4a-9d63-79f25cf2d313" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "34ffb13c-c55f-4d4a-9d63-79f25cf2d313"; -"b973ee26-ec87-43b4-a20f-9c197236137c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "b973ee26-ec87-43b4-a20f-9c197236137c"; -"fa667db2-6cb6-4d1b-9705-740dbe46f246" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "fa667db2-6cb6-4d1b-9705-740dbe46f246"; -"5ef72d36-d76e-4c41-8dd1-6b6da0c2434e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; -"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "5ef72d36-d76e-4c41-8dd1-6b6da0c2434e"; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "6b95c26d-9695-44af-b5dc-b91ba5dfc939"; -"538a99e7-9d7f-4415-b472-ab7a9e898008" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" -> "538a99e7-9d7f-4415-b472-ab7a9e898008"; -"eaa63c73-703c-4b0a-a2d2-8a5bab141d91" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" -> "eaa63c73-703c-4b0a-a2d2-8a5bab141d91"; -"2b648b26-f53e-41e5-902c-2fff1edf7111" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" -> "2b648b26-f53e-41e5-902c-2fff1edf7111"; -"4f58f615-fa14-4bea-88f6-77c8ce008b30" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" -> "4f58f615-fa14-4bea-88f6-77c8ce008b30"; -"fcc71432-24fb-474c-8c70-6f3084566e17" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Table)", shape=box, style=filled]; -"6b95c26d-9695-44af-b5dc-b91ba5dfc939" -> "fcc71432-24fb-474c-8c70-6f3084566e17"; -"cb74e74f-994d-41a1-af4f-1f283bb1209c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "cb74e74f-994d-41a1-af4f-1f283bb1209c"; -"e0363159-0cc3-4012-a141-9dea33c3a4ab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"cb74e74f-994d-41a1-af4f-1f283bb1209c" -> "e0363159-0cc3-4012-a141-9dea33c3a4ab"; -"32068e83-bd68-47f4-800e-0131055411d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cb74e74f-994d-41a1-af4f-1f283bb1209c" -> "32068e83-bd68-47f4-800e-0131055411d2"; -"306bae27-e34a-49d7-9428-60c71a28823e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"cb74e74f-994d-41a1-af4f-1f283bb1209c" -> "306bae27-e34a-49d7-9428-60c71a28823e"; -"9fb7c834-18ec-42da-9aa1-f3025a0d0654" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cb74e74f-994d-41a1-af4f-1f283bb1209c" -> "9fb7c834-18ec-42da-9aa1-f3025a0d0654"; -"38e10a99-45bc-4005-b2a9-8a57d8b2ae9a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Table)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "26f69ff3-f46c-44ce-b984-375bb60b771a"; -"ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b"; -"27f4c058-065a-40e4-9577-f29905024ac3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "27f4c058-065a-40e4-9577-f29905024ac3"; -"fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf"; -"5fd421d0-9802-41c0-87b3-5b67fc17c140" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, 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shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "44d17e3e-f5c5-4b53-a312-c0d02971ae74"; -"d905a183-7970-4cdc-898f-829fdddec398" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "d905a183-7970-4cdc-898f-829fdddec398"; -"48145ce1-0261-4d20-9b61-63b7e0d3f780" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "48145ce1-0261-4d20-9b61-63b7e0d3f780"; -"6ca14c8d-6c5a-4ef4-9577-af55724e1a9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "6ca14c8d-6c5a-4ef4-9577-af55724e1a9b"; -"b106d35f-a070-4d53-9f80-788c34d24dd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "23c8b0e7-6198-44a1-8152-6288177732d2"; -"0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"23c8b0e7-6198-44a1-8152-6288177732d2" -> "0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2"; -"4fd7ac9f-0513-4a98-af16-d86541d010d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"23c8b0e7-6198-44a1-8152-6288177732d2" -> "4fd7ac9f-0513-4a98-af16-d86541d010d7"; -"2c1e8629-6e3d-4e52-9f04-d63527ed8d04" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"23c8b0e7-6198-44a1-8152-6288177732d2" -> "2c1e8629-6e3d-4e52-9f04-d63527ed8d04"; -"6a676250-8f39-46e6-8878-40e635d56e83" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"23c8b0e7-6198-44a1-8152-6288177732d2" -> 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "d0b0aae4-4950-4001-b96d-beb265b7b3aa"; -"dcf8d4df-4ee7-4562-94d7-1ddb67da742d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "dcf8d4df-4ee7-4562-94d7-1ddb67da742d"; -"026ef45d-ec4e-4fb2-8052-ffbc8fe653a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "026ef45d-ec4e-4fb2-8052-ffbc8fe653a2"; -"c242b12d-0760-4374-b7d9-edd62f970bb0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "c242b12d-0760-4374-b7d9-edd62f970bb0"; -"0f373a6c-3dbd-4532-89c9-d71833ac26f1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; -"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "0f373a6c-3dbd-4532-89c9-d71833ac26f1"; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e7e4973b-8c5b-4a24-aa2a-f15b1643c175"; -"2ff3a129-644e-457b-abfd-29d6efaa59d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" -> "2ff3a129-644e-457b-abfd-29d6efaa59d3"; -"3419c4de-bf76-4670-93f8-9262e6741bad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" -> "3419c4de-bf76-4670-93f8-9262e6741bad"; -"373cb676-c8fc-42b4-9a9a-118ff5bc201c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"e7e4973b-8c5b-4a24-aa2a-f15b1643c175" -> 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "50206ede-41b6-4d43-9ac8-21c1e52aaf8a"; -"643e6045-6a02-4b7a-9e53-e4d30bc35c2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "643e6045-6a02-4b7a-9e53-e4d30bc35c2a"; -"cb6150b2-3103-4011-9980-68fb83970ccc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "cb6150b2-3103-4011-9980-68fb83970ccc"; -"d341fa15-852e-46bf-9116-6ca6ebeabc6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "d341fa15-852e-46bf-9116-6ca6ebeabc6d"; -"393f19f0-b440-4b84-8673-be92155b910d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "393f19f0-b440-4b84-8673-be92155b910d"; -"21c2909e-720a-4670-b0ef-46e0ef56c24e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"50206ede-41b6-4d43-9ac8-21c1e52aaf8a" -> "21c2909e-720a-4670-b0ef-46e0ef56c24e"; -"8c114576-e366-4086-992b-686572634a0c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8c114576-e366-4086-992b-686572634a0c"; -"5baac3e0-e779-4da5-a27c-28f134a391af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8c114576-e366-4086-992b-686572634a0c" -> "5baac3e0-e779-4da5-a27c-28f134a391af"; -"ac031a4e-2820-4866-a778-d12864bfb086" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "70cc462b-d3a5-49e6-be06-48d5b6f33269"; -"7232382c-8ae7-441b-812c-8c60d149a481" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "7232382c-8ae7-441b-812c-8c60d149a481"; -"5cb5db0e-c8f1-4bf8-a867-58d61bc60df1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "5cb5db0e-c8f1-4bf8-a867-58d61bc60df1"; -"eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6"; -"cf79696b-cb1b-4a16-ab97-f0b39ca41638" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"9b951d0d-080e-44f7-be07-4111258ec601" -> "2b25992c-502b-4db8-83cd-785a5ce25a1f"; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4f384bd2-c40a-466d-85d6-9d608a811aaa"; -"0be147d5-86c3-4f4b-bcfd-9eb7ab01295c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "0be147d5-86c3-4f4b-bcfd-9eb7ab01295c"; -"dc0453ab-415b-4ccd-9fb3-09409b9e26fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "dc0453ab-415b-4ccd-9fb3-09409b9e26fa"; -"59fe20f3-8cbe-4855-a21a-0548505d189b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "59fe20f3-8cbe-4855-a21a-0548505d189b"; -"368846e6-6dfc-4b46-a429-b4d29bd0e0c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "368846e6-6dfc-4b46-a429-b4d29bd0e0c8"; -"beaa13f0-58d0-4942-9706-86203bf82009" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled]; -"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "beaa13f0-58d0-4942-9706-86203bf82009"; -"66399520-c790-471d-9878-a1b499b3a0d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "66399520-c790-471d-9878-a1b499b3a0d3"; -"cf38aac7-aeeb-4b43-9000-7dc680a52932" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "4a51b3dd-7b00-4539-ab7e-fda1a9b409f9"; -"2638fccb-215b-40eb-baf1-8e18b5e2274e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "2638fccb-215b-40eb-baf1-8e18b5e2274e"; -"e748a68c-7368-4c17-a8be-00fec63bd86e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "e748a68c-7368-4c17-a8be-00fec63bd86e"; -"a10d9f52-3027-4bca-aa75-2107253fd161" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"70bda9cf-80c2-4267-b572-8bc433f218dd" -> "a10d9f52-3027-4bca-aa75-2107253fd161"; -"cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110"; -"13b4fe9b-91f6-4b73-aa0c-4e56fa393e73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110" -> "13b4fe9b-91f6-4b73-aa0c-4e56fa393e73"; -"8922ded4-2b72-430f-8529-27fc7d19f947" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110" -> "8922ded4-2b72-430f-8529-27fc7d19f947"; -"43b4fe45-400f-4ab9-8894-271f2a6282b9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110" -> "43b4fe45-400f-4ab9-8894-271f2a6282b9"; -"eb2e86ba-b2f4-4d3b-bcd0-dc62fe46926e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110" -> 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "ff54400e-ed82-4a38-8287-9668be7fab62"; -"a671bc5f-4059-4ba0-972e-07dfd50684f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "a671bc5f-4059-4ba0-972e-07dfd50684f3"; -"892500fb-ada3-47e1-9edd-946701aa44eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "892500fb-ada3-47e1-9edd-946701aa44eb"; -"f6e18d48-1a41-4d49-b669-637324d7e49c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "f6e18d48-1a41-4d49-b669-637324d7e49c"; -"7a0238d5-31b0-485f-91ae-b85cd46d1389" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; -"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "7a0238d5-31b0-485f-91ae-b85cd46d1389"; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f062ee78-08c2-4635-b86c-b1d61d1ce780"; -"68e8d5fd-6314-47fa-84a9-ebfdb3b7656d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "68e8d5fd-6314-47fa-84a9-ebfdb3b7656d"; -"9f0f1564-6824-4904-9cd7-24dcf64a9c80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "9f0f1564-6824-4904-9cd7-24dcf64a9c80"; -"efdf9e09-6dcb-42d5-b9c6-edf95436a688" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "efdf9e09-6dcb-42d5-b9c6-edf95436a688"; -"239f2050-5285-482c-8eea-68bddfa9728f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "239f2050-5285-482c-8eea-68bddfa9728f"; -"82c13004-f5c7-46d7-986e-6ee7e2f92cdb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; -"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "82c13004-f5c7-46d7-986e-6ee7e2f92cdb"; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "1a251157-2e17-40f2-ba6c-a6f9bd4c4421"; -"23a27ffc-edd0-4937-b2ad-65bb734fc599" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "23a27ffc-edd0-4937-b2ad-65bb734fc599"; -"5938a175-0bbb-4f41-97a6-6184110d23b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "5938a175-0bbb-4f41-97a6-6184110d23b5"; -"0889d29b-85e5-4c2a-b606-1aaedca484d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "0889d29b-85e5-4c2a-b606-1aaedca484d6"; -"bde75cae-ea4e-4012-a0f4-de5161ce490a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "bde75cae-ea4e-4012-a0f4-de5161ce490a"; -"1fb3eaec-7f56-4584-a360-66e07c4dc416" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "1fb3eaec-7f56-4584-a360-66e07c4dc416"; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f2b87ec4-db2e-48de-b46d-e14c4c2a3e85"; -"98d7404f-dd5a-40d7-b630-5763e4a5bcd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "98d7404f-dd5a-40d7-b630-5763e4a5bcd9"; -"85048b9a-9975-418a-a6d9-34e5c44ef607" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "85048b9a-9975-418a-a6d9-34e5c44ef607"; -"eb3e6750-6a7b-488a-b013-83a56b71697c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "eb3e6750-6a7b-488a-b013-83a56b71697c"; -"84a6978f-9f0d-4acc-8ff0-f8837468f7b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "84a6978f-9f0d-4acc-8ff0-f8837468f7b7"; -"e6e83dcc-2dbf-480e-8334-bd3aad6cced8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "e6e83dcc-2dbf-480e-8334-bd3aad6cced8"; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "483c3b89-03fb-4327-a675-fd2d185c6b1a"; -"7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c"; -"e9a91d69-5c3e-4274-9f99-b49974881a8f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "e9a91d69-5c3e-4274-9f99-b49974881a8f"; -"665dc59b-c4ce-4374-9179-e5f21185506d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "665dc59b-c4ce-4374-9179-e5f21185506d"; -"b6dc0660-03e6-43b6-80a4-4d606324d4ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "b6dc0660-03e6-43b6-80a4-4d606324d4ea"; -"e3a767ee-8ab5-482a-923c-5d6212bfb15d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "e3a767ee-8ab5-482a-923c-5d6212bfb15d"; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "5734c96d-b12d-4ac7-99d4-0b8378d957c9"; -"b3afcb1e-da93-4952-a007-301fe363edf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "b3afcb1e-da93-4952-a007-301fe363edf1"; -"d525ec57-4fcb-49c3-ab43-c3cd21a87e29" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "d525ec57-4fcb-49c3-ab43-c3cd21a87e29"; -"e4d507de-5d6c-461e-a4fd-0308683d2b92" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "e4d507de-5d6c-461e-a4fd-0308683d2b92"; -"872697bc-4a71-46a3-ad41-1f6f08dd92fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "872697bc-4a71-46a3-ad41-1f6f08dd92fa"; -"4894ea3d-1fc5-48d3-a3d7-ac865c366c4c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "4894ea3d-1fc5-48d3-a3d7-ac865c366c4c"; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "08f02a9b-15cb-49cd-863f-a6adeaf910ca"; -"0e6edf62-51e1-48d9-8fc4-40db4e4e666a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "0e6edf62-51e1-48d9-8fc4-40db4e4e666a"; -"2338d5ff-6e3b-41fc-a1b1-97eaacf95eab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "2338d5ff-6e3b-41fc-a1b1-97eaacf95eab"; -"3ad5ccb8-92e0-4d59-b58b-242d1d190a41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "3ad5ccb8-92e0-4d59-b58b-242d1d190a41"; -"04b95868-3639-42ab-ad2b-234547064076" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "04b95868-3639-42ab-ad2b-234547064076"; -"ee14313c-024b-4fa7-a3ce-15c2e57371f8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "ee14313c-024b-4fa7-a3ce-15c2e57371f8"; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f741e061-f36f-48f9-b3ec-32ec3e3d7d17"; -"28e795e6-2776-4279-bac5-8783301d2f9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "28e795e6-2776-4279-bac5-8783301d2f9b"; -"47538db7-618c-4eab-a667-876d6b3bcf55" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "47538db7-618c-4eab-a667-876d6b3bcf55"; -"ac716817-8653-4fc8-81f9-16d9222e5364" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "ac716817-8653-4fc8-81f9-16d9222e5364"; -"bc6a9354-403c-4383-8ae5-36d3f58b4d97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "bc6a9354-403c-4383-8ae5-36d3f58b4d97"; -"8e8039c0-336a-4d40-94e0-b4ef541f3265" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; -"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "8e8039c0-336a-4d40-94e0-b4ef541f3265"; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "303f84e5-f9e7-46f9-8a89-ad5aececeaaf"; -"e564d8f7-3108-49d5-8cfc-ccc15312722e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "e564d8f7-3108-49d5-8cfc-ccc15312722e"; -"302c3e3b-767d-446e-9106-e2b0c5f7e16c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "302c3e3b-767d-446e-9106-e2b0c5f7e16c"; -"3a454d87-725e-427f-b36d-04f0379edb4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "3a454d87-725e-427f-b36d-04f0379edb4f"; -"e2c5c5db-9c36-450c-8a78-f11c554e2824" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "e2c5c5db-9c36-450c-8a78-f11c554e2824"; -"1adbcf75-1905-42d4-8f51-fc4abd5b3f58" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; -"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" -> "1adbcf75-1905-42d4-8f51-fc4abd5b3f58"; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "c652027f-33b5-485f-8a1e-58ec4f4d6206"; -"3effc8b5-b38d-4242-80bc-ec7aba738252" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c652027f-33b5-485f-8a1e-58ec4f4d6206" -> "3effc8b5-b38d-4242-80bc-ec7aba738252"; -"ee3ba389-1e9c-48c0-bc5e-922a950520c0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c0122912-2669-4e28-bb43-572d2bc2b4ec" -> "37fe0494-39ca-425c-ae58-e1295a9fba63"; -"8dcc1adb-2d86-4d73-b863-f8f0537c4b9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"c0122912-2669-4e28-bb43-572d2bc2b4ec" -> "8dcc1adb-2d86-4d73-b863-f8f0537c4b9f"; -"603f4284-669f-496e-8247-d4537c08d29c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"c0122912-2669-4e28-bb43-572d2bc2b4ec" -> "603f4284-669f-496e-8247-d4537c08d29c"; -"d441e492-2db4-476f-a46b-762f5351c9eb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d441e492-2db4-476f-a46b-762f5351c9eb"; -"de0fd426-6a83-46c5-807d-013e7e8d8d8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "de0fd426-6a83-46c5-807d-013e7e8d8d8c"; -"8ca35f0c-d9d9-424f-8c54-08955de17e4b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "8ca35f0c-d9d9-424f-8c54-08955de17e4b"; -"1d976968-3c0f-4286-8f0d-0f797ae0e548" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "1d976968-3c0f-4286-8f0d-0f797ae0e548"; -"a53e39e0-d1ec-4c6d-b713-00a4c398ca49" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"d441e492-2db4-476f-a46b-762f5351c9eb" -> "a53e39e0-d1ec-4c6d-b713-00a4c398ca49"; -"75412662-c754-4317-a447-76d6a7c56bdb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "75412662-c754-4317-a447-76d6a7c56bdb"; -"ccab9e0f-6109-429b-be6a-a8862f02c26a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"75412662-c754-4317-a447-76d6a7c56bdb" -> "ccab9e0f-6109-429b-be6a-a8862f02c26a"; -"8869c4d8-2d2b-4efa-849d-5dbda015ac2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"75412662-c754-4317-a447-76d6a7c56bdb" -> "8869c4d8-2d2b-4efa-849d-5dbda015ac2d"; -"5091f0c2-348d-4e30-8a56-3e6bf1c6fde7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"75412662-c754-4317-a447-76d6a7c56bdb" -> "5091f0c2-348d-4e30-8a56-3e6bf1c6fde7"; -"89aaef8c-ed43-4ec7-b692-bb650752a5c3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"75412662-c754-4317-a447-76d6a7c56bdb" -> "89aaef8c-ed43-4ec7-b692-bb650752a5c3"; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7c526f97-e3c3-4a0e-b7bf-0e8328caede5"; -"3e456905-9d54-441a-87d7-bf468e458494" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" -> "3e456905-9d54-441a-87d7-bf468e458494"; -"b4100464-e6aa-4476-85ed-19fe6ec08795" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" -> "b4100464-e6aa-4476-85ed-19fe6ec08795"; -"f249bddf-362e-4319-9969-ef576e5e607d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" -> "f249bddf-362e-4319-9969-ef576e5e607d"; -"df18beaf-318b-4302-8d11-521a0b31e515" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" -> "df18beaf-318b-4302-8d11-521a0b31e515"; -"cea79165-29d4-42ca-aa88-b94a92b3948e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"7c526f97-e3c3-4a0e-b7bf-0e8328caede5" -> "cea79165-29d4-42ca-aa88-b94a92b3948e"; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2"; -"f9727d1c-73b4-4928-9ac0-f4f2cca56c18" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "f9727d1c-73b4-4928-9ac0-f4f2cca56c18"; -"07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc"; -"c4d462f4-b479-4414-84c1-c925176ca40a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "c4d462f4-b479-4414-84c1-c925176ca40a"; -"52a357d2-983e-45f9-a861-a5d0035f328c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "52a357d2-983e-45f9-a861-a5d0035f328c"; -"a6f03038-7fa8-4a66-ab5c-b960b6e4c342" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; -"9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2" -> "a6f03038-7fa8-4a66-ab5c-b960b6e4c342"; -"577c0aea-a006-430c-816c-8348d6606e3d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "577c0aea-a006-430c-816c-8348d6606e3d"; -"1d505dc4-ac2f-4a59-a358-04851ce05bb3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "1d505dc4-ac2f-4a59-a358-04851ce05bb3"; -"3f80d1e8-f2db-43e8-8278-0813fe5112dd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "3f80d1e8-f2db-43e8-8278-0813fe5112dd"; -"bd7695fc-29ac-4d56-8409-aa8cf78915f6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "bd7695fc-29ac-4d56-8409-aa8cf78915f6"; -"1b628cc0-b45b-4e96-bd8a-c7e81f500856" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "1b628cc0-b45b-4e96-bd8a-c7e81f500856"; -"c014ee15-80a9-4dd3-9ebb-1f1c313f4d16" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"577c0aea-a006-430c-816c-8348d6606e3d" -> "c014ee15-80a9-4dd3-9ebb-1f1c313f4d16"; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38"; -"1aa3e74e-1e05-440a-b705-8c2410857e8a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> "1aa3e74e-1e05-440a-b705-8c2410857e8a"; -"f78dc5f1-1945-4ab3-a235-9b2cc0fef58e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> "f78dc5f1-1945-4ab3-a235-9b2cc0fef58e"; -"73de4b04-24a2-4bfd-a424-fa903919a101" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> "73de4b04-24a2-4bfd-a424-fa903919a101"; -"1573def4-00a5-4c47-81af-8dadb1838080" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> "1573def4-00a5-4c47-81af-8dadb1838080"; -"0c5a442c-ce91-4799-807f-7a5d8725b87f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; -"0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38" -> "0c5a442c-ce91-4799-807f-7a5d8725b87f"; -"d3f1fd05-85df-4b35-9571-78b735258719" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d3f1fd05-85df-4b35-9571-78b735258719"; -"e2f44336-e68f-4dea-a369-7a0b0c3bff70" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "e2f44336-e68f-4dea-a369-7a0b0c3bff70"; -"26431d94-da5f-4db5-b646-99be969f7b9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "26431d94-da5f-4db5-b646-99be969f7b9f"; -"7ac1c62e-a45b-441c-a0d8-6f34f531601f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "7ac1c62e-a45b-441c-a0d8-6f34f531601f"; -"bd13d76f-1213-4bcd-a5d7-0c7a2988828d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "bd13d76f-1213-4bcd-a5d7-0c7a2988828d"; -"93d7c3ad-c70b-4061-b06f-c6ac55ca6e65" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; -"d3f1fd05-85df-4b35-9571-78b735258719" -> "93d7c3ad-c70b-4061-b06f-c6ac55ca6e65"; -"95080450-e4f1-48f1-a9d7-da3c9e3f0276" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "95080450-e4f1-48f1-a9d7-da3c9e3f0276"; -"d1952e9d-1f01-416a-b93c-8fe200d18901" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"95080450-e4f1-48f1-a9d7-da3c9e3f0276" -> "d1952e9d-1f01-416a-b93c-8fe200d18901"; -"7b9f4862-0e3a-411c-9bad-513117271765" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"95080450-e4f1-48f1-a9d7-da3c9e3f0276" -> "7b9f4862-0e3a-411c-9bad-513117271765"; -"8a8f12f7-c897-4218-ac58-117d776070d9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e0569027-3cdc-4b15-a7ad-49886b56be6b"; -"99918538-9f5c-43bd-863b-11dca11f9d47" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "99918538-9f5c-43bd-863b-11dca11f9d47"; -"9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae"; -"e69096a2-e09a-4abd-8485-7760760098d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "e69096a2-e09a-4abd-8485-7760760098d8"; -"3f44da18-2090-48ca-9438-fe1e5a039fc8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "3f44da18-2090-48ca-9438-fe1e5a039fc8"; -"e1f88597-d372-48bf-be27-226fb1d7a537" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"e0569027-3cdc-4b15-a7ad-49886b56be6b" -> "e1f88597-d372-48bf-be27-226fb1d7a537"; -"2a234b02-c0d4-453c-b058-ee6121393edc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2a234b02-c0d4-453c-b058-ee6121393edc"; -"7128b9e3-37e5-4b92-a310-2db00b23030a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"2a234b02-c0d4-453c-b058-ee6121393edc" -> "7128b9e3-37e5-4b92-a310-2db00b23030a"; -"3ab05ca4-709c-49dd-86b3-6e85a983b5f4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"876093a3-cef6-445b-bdfb-33864e5fc07f" -> "2e425296-595f-46c2-a867-ec82f9f6f662"; -"cbe22c6c-74f5-46a8-8d49-ab743ca5af93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"876093a3-cef6-445b-bdfb-33864e5fc07f" -> "cbe22c6c-74f5-46a8-8d49-ab743ca5af93"; -"1fe53814-3609-408a-8120-ab2f647b2902" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; -"876093a3-cef6-445b-bdfb-33864e5fc07f" -> "1fe53814-3609-408a-8120-ab2f647b2902"; -"419acfc1-aa9b-4572-9561-217e20dbf7da" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "419acfc1-aa9b-4572-9561-217e20dbf7da"; -"c7e602d1-6581-4621-af1c-6cfc67e62a4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "c7e602d1-6581-4621-af1c-6cfc67e62a4c"; -"fdf722b1-053a-4cf9-b97b-b894d7249270" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "fdf722b1-053a-4cf9-b97b-b894d7249270"; -"57cb32b0-c56b-4830-8aa3-72f3a6ba6029" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "57cb32b0-c56b-4830-8aa3-72f3a6ba6029"; -"6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62"; -"dc923371-bda2-4190-a201-86bc5d4bb6dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "dc923371-bda2-4190-a201-86bc5d4bb6dd"; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "86e40d6f-a8f9-42a4-8e72-d9c30bd1230b"; -"056d63d1-fbfd-4d47-84ac-4c97a72f412e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" -> "056d63d1-fbfd-4d47-84ac-4c97a72f412e"; -"5a604a9b-e06a-4a38-b6a1-c58438f96f7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" -> "5a604a9b-e06a-4a38-b6a1-c58438f96f7d"; -"795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" -> "795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b"; -"65d4f9e4-b1f1-432a-84b6-786824c464a1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" -> "65d4f9e4-b1f1-432a-84b6-786824c464a1"; -"acd75dbe-6863-4c3e-afee-68c22d529fb5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; -"86e40d6f-a8f9-42a4-8e72-d9c30bd1230b" -> "acd75dbe-6863-4c3e-afee-68c22d529fb5"; -"8c963084-5f74-4b33-a359-bc98ab067e5e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8c963084-5f74-4b33-a359-bc98ab067e5e"; -"ccbf6e12-f838-47e0-83ed-534fc9569cd7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "ccbf6e12-f838-47e0-83ed-534fc9569cd7"; -"cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221"; -"e67923ef-45a9-4b6d-88fd-75cb8e87d6c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "e67923ef-45a9-4b6d-88fd-75cb8e87d6c8"; -"c06d4711-09ea-4648-9283-5296f79d7fd7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "c06d4711-09ea-4648-9283-5296f79d7fd7"; -"22fc2739-ffa4-4377-8745-3ef90e4bde80" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"8c963084-5f74-4b33-a359-bc98ab067e5e" -> "22fc2739-ffa4-4377-8745-3ef90e4bde80"; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "53bd47b5-0a5b-486d-b0fe-f98b85079e57"; -"d6f4b983-571a-4f96-9fd5-6c9dab97f013" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "d6f4b983-571a-4f96-9fd5-6c9dab97f013"; -"25a0dc72-3aaf-4419-8340-35675963abce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "25a0dc72-3aaf-4419-8340-35675963abce"; -"b4adf49a-74c2-46be-92d2-e300e07fc1b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "b4adf49a-74c2-46be-92d2-e300e07fc1b6"; -"3381c632-765c-465a-a8a2-0a6a716cfaa1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "3381c632-765c-465a-a8a2-0a6a716cfaa1"; -"92e20f04-b5ce-42b5-a106-60d6d53f4370" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "92e20f04-b5ce-42b5-a106-60d6d53f4370"; -"ee858d86-4fac-4681-8f13-a50fec769602" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ee858d86-4fac-4681-8f13-a50fec769602"; -"960e0182-e7ea-4a18-b7ff-ecdd7a804106" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ee858d86-4fac-4681-8f13-a50fec769602" -> "960e0182-e7ea-4a18-b7ff-ecdd7a804106"; -"c9e72ce4-b00c-4d69-bdae-06ddf2bc2866" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ee858d86-4fac-4681-8f13-a50fec769602" -> "c9e72ce4-b00c-4d69-bdae-06ddf2bc2866"; -"29dad91a-76fc-46c3-a145-a94f9f4c0291" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"ee858d86-4fac-4681-8f13-a50fec769602" -> "29dad91a-76fc-46c3-a145-a94f9f4c0291"; -"b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"ee858d86-4fac-4681-8f13-a50fec769602" -> "b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e"; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b"; -"3d49ff67-9b5f-46a7-bf94-9bc93fdf0912" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "3d49ff67-9b5f-46a7-bf94-9bc93fdf0912"; -"7b02338a-05b9-43bf-b03f-1c187183271d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "7b02338a-05b9-43bf-b03f-1c187183271d"; -"1c62a5b7-7f08-42a7-a7b4-f054a6260d54" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "1c62a5b7-7f08-42a7-a7b4-f054a6260d54"; -"e6d8651c-0c4d-44dd-858e-4067b873f31a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "e6d8651c-0c4d-44dd-858e-4067b873f31a"; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7b1242bd-b528-45d0-bbe0-9901f89d3048"; -"b86de745-e8fd-4a69-a9f7-b24a55b46880" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "b86de745-e8fd-4a69-a9f7-b24a55b46880"; -"70a89f7f-d4e3-40da-9129-d8c1c2beaedf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "70a89f7f-d4e3-40da-9129-d8c1c2beaedf"; -"99d238b9-5219-4e40-8a80-ad44064505fd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "99d238b9-5219-4e40-8a80-ad44064505fd"; -"149bff68-eac1-4a37-97db-54120a941812" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "149bff68-eac1-4a37-97db-54120a941812"; -"3a941fb5-3fbe-4f55-912f-d8c39d302dd9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "3a941fb5-3fbe-4f55-912f-d8c39d302dd9"; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bcbdf785-4877-4e2e-af09-94e7fe764a9c"; -"274d4d6e-b4f7-4588-bf40-575f0c836a07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "274d4d6e-b4f7-4588-bf40-575f0c836a07"; -"d4e7fb66-74bd-43af-ac44-8efee75d0346" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "d4e7fb66-74bd-43af-ac44-8efee75d0346"; -"ce8588e4-cd34-4606-ba16-21718af4c14b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "ce8588e4-cd34-4606-ba16-21718af4c14b"; -"a421e929-698f-44a3-a1e9-9cf29a95f173" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "a421e929-698f-44a3-a1e9-9cf29a95f173"; -"c24a0a17-1114-4197-a422-502a10a4a386" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; -"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "c24a0a17-1114-4197-a422-502a10a4a386"; -"d5a11f3d-4498-422c-9363-c25a18274e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d5a11f3d-4498-422c-9363-c25a18274e15"; -"ce27e756-127d-4b48-bbb9-1723ccd0d360" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "ce27e756-127d-4b48-bbb9-1723ccd0d360"; -"962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e"; -"b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe"; -"2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d"; -"4dde59c3-139d-4f1a-83bd-f101df1e13f6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"d5a11f3d-4498-422c-9363-c25a18274e15" -> "4dde59c3-139d-4f1a-83bd-f101df1e13f6"; -"8e52d219-0e0c-41ce-83d1-d01c85336169" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8e52d219-0e0c-41ce-83d1-d01c85336169"; -"6f27d961-bf8b-498d-9483-049abafdf443" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "6f27d961-bf8b-498d-9483-049abafdf443"; -"e0e55da1-a57b-47f1-be86-286c76140a34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "e0e55da1-a57b-47f1-be86-286c76140a34"; -"f5e1ab44-1577-4786-bc95-be83be2bec1c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "f5e1ab44-1577-4786-bc95-be83be2bec1c"; -"56fb626c-eec0-494b-9b0f-db5cbf7fa1d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "56fb626c-eec0-494b-9b0f-db5cbf7fa1d2"; -"85e2b90d-c56b-4e7b-a562-7ad41804ff42" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; -"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "85e2b90d-c56b-4e7b-a562-7ad41804ff42"; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf"; -"03d4e138-3566-4e85-b87f-89c83bd1e010" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" -> "03d4e138-3566-4e85-b87f-89c83bd1e010"; -"133bb189-04c6-4abf-b66c-61c5343f85a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" -> "133bb189-04c6-4abf-b66c-61c5343f85a0"; -"319a20e1-410d-4a53-87c7-42937351e3b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" -> "319a20e1-410d-4a53-87c7-42937351e3b5"; -"fa5217d7-9057-4c81-8bd7-92851f610f9d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" -> "fa5217d7-9057-4c81-8bd7-92851f610f9d"; -"753be064-5b56-43a1-a9c9-a6a08c7efabd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf" -> "753be064-5b56-43a1-a9c9-a6a08c7efabd"; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e696add1-1e77-42c9-81f8-d85fb97b6e8c"; -"ae49647e-da74-4406-8676-472adbd51c73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "ae49647e-da74-4406-8676-472adbd51c73"; -"e0f6f1e5-c264-4199-94e3-0baca9b96347" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "e0f6f1e5-c264-4199-94e3-0baca9b96347"; -"7bf275e4-a768-4929-b736-369b047890bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "7bf275e4-a768-4929-b736-369b047890bd"; -"1157dd05-84fc-4aa0-b6b0-64456b0396c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "1157dd05-84fc-4aa0-b6b0-64456b0396c3"; -"5967f861-96f7-4375-85ed-b20cf102bce8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "5967f861-96f7-4375-85ed-b20cf102bce8"; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a57200e5-add0-4fa8-90d9-8b34c6a75c0a"; -"9bebca6d-78d9-45bc-8bfa-95eeac24b405" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" -> "9bebca6d-78d9-45bc-8bfa-95eeac24b405"; -"a44c6a71-a767-4ecf-b824-7671fca25295" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" -> "a44c6a71-a767-4ecf-b824-7671fca25295"; -"ba6f209d-bd4b-47fb-b3b0-56f350c22d61" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" -> "ba6f209d-bd4b-47fb-b3b0-56f350c22d61"; -"ecf43f79-f2af-4870-bcca-826f4c723505" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" -> "ecf43f79-f2af-4870-bcca-826f4c723505"; -"5f689d38-0baf-4dd4-8c2d-080f45e48005" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"a57200e5-add0-4fa8-90d9-8b34c6a75c0a" -> "5f689d38-0baf-4dd4-8c2d-080f45e48005"; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fb5ab923-fcbb-47c5-be51-00b59f5717b0"; -"607b042a-4777-4920-a051-332013efdb19" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" -> "607b042a-4777-4920-a051-332013efdb19"; -"1c56b1b1-4e0b-494f-bd5c-50c376374277" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" -> "1c56b1b1-4e0b-494f-bd5c-50c376374277"; -"18fb7a42-0d7f-48f9-b407-d47c9583c1d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" -> "18fb7a42-0d7f-48f9-b407-d47c9583c1d3"; -"c14e1486-bdc6-4d59-abf0-58319b690564" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" -> "c14e1486-bdc6-4d59-abf0-58319b690564"; -"3ccc07d8-bfe5-4fae-b8ae-7b4d70008900" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"fb5ab923-fcbb-47c5-be51-00b59f5717b0" -> "3ccc07d8-bfe5-4fae-b8ae-7b4d70008900"; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ee1891b1-c1ca-4937-9797-e1561f63ba99"; -"5f8e746b-3708-4742-9129-677753bfb3d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "5f8e746b-3708-4742-9129-677753bfb3d8"; -"e73cae43-c50e-43a5-b0ab-96c1d3c05f7f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "e73cae43-c50e-43a5-b0ab-96c1d3c05f7f"; -"031848ca-382f-49c8-b057-964066b9c76f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "031848ca-382f-49c8-b057-964066b9c76f"; -"7c93f875-2de1-4025-b66b-d02801dadb0b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "7c93f875-2de1-4025-b66b-d02801dadb0b"; -"840532f7-edf2-48ea-9938-5e3109e38c13" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "840532f7-edf2-48ea-9938-5e3109e38c13"; -"07db873c-4419-4b4f-8205-6bbc486d423a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "07db873c-4419-4b4f-8205-6bbc486d423a"; -"ab887bfb-9143-4ca8-89c7-a359225ab80a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"07db873c-4419-4b4f-8205-6bbc486d423a" -> "ab887bfb-9143-4ca8-89c7-a359225ab80a"; -"356f8860-f249-4ec3-ba78-d5976554ec8b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"07db873c-4419-4b4f-8205-6bbc486d423a" -> "356f8860-f249-4ec3-ba78-d5976554ec8b"; -"47474376-a398-4f1b-b321-1d6c1d5cef02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"07db873c-4419-4b4f-8205-6bbc486d423a" -> "47474376-a398-4f1b-b321-1d6c1d5cef02"; -"07aa76ec-9f74-42d4-aa8b-9024aff1fd7c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"07db873c-4419-4b4f-8205-6bbc486d423a" -> "07aa76ec-9f74-42d4-aa8b-9024aff1fd7c"; -"82a89e82-8f75-4126-b756-d419bc92cd47" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; -"07db873c-4419-4b4f-8205-6bbc486d423a" -> "82a89e82-8f75-4126-b756-d419bc92cd47"; -"cf92a672-9466-4fad-a43b-43524387d782" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "cf92a672-9466-4fad-a43b-43524387d782"; -"04ddba9e-811b-4624-bdbf-86ac874b2850" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cf92a672-9466-4fad-a43b-43524387d782" -> "04ddba9e-811b-4624-bdbf-86ac874b2850"; -"a952521a-a0f6-4171-9c95-4108af61047f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"cf92a672-9466-4fad-a43b-43524387d782" -> "a952521a-a0f6-4171-9c95-4108af61047f"; -"48be13c8-3663-4ed9-a534-8cb664615163" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"cf92a672-9466-4fad-a43b-43524387d782" -> "48be13c8-3663-4ed9-a534-8cb664615163"; -"44d0bb58-1731-40e2-bd0c-de6b5c59cd01" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cf92a672-9466-4fad-a43b-43524387d782" -> "44d0bb58-1731-40e2-bd0c-de6b5c59cd01"; -"2e9f1707-a8cb-41b1-8620-0171a98afc36" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"cf92a672-9466-4fad-a43b-43524387d782" -> "2e9f1707-a8cb-41b1-8620-0171a98afc36"; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9c8a0c95-9a18-46da-b0cb-450eaa24a6ad"; -"45529897-b745-4969-896a-8c6dfcecd2c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" -> "45529897-b745-4969-896a-8c6dfcecd2c6"; -"1ffbf500-dbb5-4f66-a9c0-203195fa5cc2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" -> "1ffbf500-dbb5-4f66-a9c0-203195fa5cc2"; -"73b73f86-49af-4ebd-b8e6-5923fdb40e09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" -> "73b73f86-49af-4ebd-b8e6-5923fdb40e09"; -"fb4a2de8-f189-4080-b655-d0d25a89863c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" -> "fb4a2de8-f189-4080-b655-d0d25a89863c"; -"b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; -"9c8a0c95-9a18-46da-b0cb-450eaa24a6ad" -> "b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8"; -"940f5b43-f9b5-40bc-9057-a428fa1d2d22" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "940f5b43-f9b5-40bc-9057-a428fa1d2d22"; -"cbfe020c-0e72-4de3-9159-eba816a54f8b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"940f5b43-f9b5-40bc-9057-a428fa1d2d22" -> "cbfe020c-0e72-4de3-9159-eba816a54f8b"; -"8cc7fef1-444b-4e83-ab82-2db7ad97004c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"940f5b43-f9b5-40bc-9057-a428fa1d2d22" -> "8cc7fef1-444b-4e83-ab82-2db7ad97004c"; -"f475751e-023e-4bd5-9828-cc98f710695d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"940f5b43-f9b5-40bc-9057-a428fa1d2d22" -> "f475751e-023e-4bd5-9828-cc98f710695d"; -"9b1cc745-955e-411a-bd89-6b11569208fb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "c351fabc-d971-47b6-bd75-49117283f717"; -"8c3675c0-10e9-49f8-9e33-7cb64747bf17" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"c351fabc-d971-47b6-bd75-49117283f717" -> "8c3675c0-10e9-49f8-9e33-7cb64747bf17"; -"d9b162b5-1c20-4603-b65c-91fed5800245" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"c351fabc-d971-47b6-bd75-49117283f717" -> "d9b162b5-1c20-4603-b65c-91fed5800245"; -"96dff594-c2d3-4674-88c9-c1aae3fc963d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c351fabc-d971-47b6-bd75-49117283f717" -> "96dff594-c2d3-4674-88c9-c1aae3fc963d"; -"3d4e71a0-98d9-42b3-a7ec-6015607f343e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"c351fabc-d971-47b6-bd75-49117283f717" -> "3d4e71a0-98d9-42b3-a7ec-6015607f343e"; -"8f3183a1-332d-44e3-ae08-840619298e48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8f3183a1-332d-44e3-ae08-840619298e48"; -"84091fd5-8774-4a6d-9336-66c90e29113b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"8f3183a1-332d-44e3-ae08-840619298e48" -> "84091fd5-8774-4a6d-9336-66c90e29113b"; -"e4031364-ccfa-4895-9e0b-74089a93a9a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"8f3183a1-332d-44e3-ae08-840619298e48" -> "e4031364-ccfa-4895-9e0b-74089a93a9a9"; -"23f261ac-bb50-4bba-9fef-74aba985127d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e3d5896b-137c-43a5-be5e-dc67441d6302" -> "7bee6a38-2b42-4c8f-b838-0a409ff74ac1"; -"5831a3a2-a94b-4ee0-adb4-53b25a1be11b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled]; -"e3d5896b-137c-43a5-be5e-dc67441d6302" -> "5831a3a2-a94b-4ee0-adb4-53b25a1be11b"; -"03219396-157b-408a-8256-e0ca7ffa7ed2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "03219396-157b-408a-8256-e0ca7ffa7ed2"; -"4e783e98-4d44-43a7-af06-03178756bf3a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"03219396-157b-408a-8256-e0ca7ffa7ed2" -> "4e783e98-4d44-43a7-af06-03178756bf3a"; -"848b9025-d789-4494-be68-c393e26fd526" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"03219396-157b-408a-8256-e0ca7ffa7ed2" -> "848b9025-d789-4494-be68-c393e26fd526"; -"3d647450-4aed-4ca7-a8e1-369cee1be676" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; -"03219396-157b-408a-8256-e0ca7ffa7ed2" -> "3d647450-4aed-4ca7-a8e1-369cee1be676"; -"35c1569d-1ad2-4b8f-ac71-f8e427038d1e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"03219396-157b-408a-8256-e0ca7ffa7ed2" -> "35c1569d-1ad2-4b8f-ac71-f8e427038d1e"; -"e10eed7a-50db-4fbe-b56c-153316c19176" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled]; -"03219396-157b-408a-8256-e0ca7ffa7ed2" -> "e10eed7a-50db-4fbe-b56c-153316c19176"; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4c81069c-a26f-4150-ba9c-d29ce8d1231b"; -"a4b3dec3-c098-4441-8aa8-43d53f61a345" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> "a4b3dec3-c098-4441-8aa8-43d53f61a345"; -"807feefc-a535-4aa2-99a3-4d1f2be818a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> "807feefc-a535-4aa2-99a3-4d1f2be818a7"; -"8ed56b6b-8033-44cf-89d4-c47c3f7ff399" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> "8ed56b6b-8033-44cf-89d4-c47c3f7ff399"; -"45f60cc2-e4a0-4235-885d-c9dc4b02da2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"4c81069c-a26f-4150-ba9c-d29ce8d1231b" -> 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fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" -> "ba9c8ae8-ad93-46f5-b90a-a6c77b4d87c9"; -"39564a71-ccf4-411a-9ee1-f9190cced51e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" -> "39564a71-ccf4-411a-9ee1-f9190cced51e"; -"c4bde2c3-9c42-4a76-8478-a34f2aa2937c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" -> "c4bde2c3-9c42-4a76-8478-a34f2aa2937c"; -"6e143c38-9f9d-408c-ba59-cd2ae2a727fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" -> "6e143c38-9f9d-408c-ba59-cd2ae2a727fa"; -"50002230-0d75-4d96-8375-280ab77bd7e6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"cb9a8ed6-fbc5-414e-a168-9761c6012c71" -> "50002230-0d75-4d96-8375-280ab77bd7e6"; -"d9824a78-a503-4435-a735-762f770d3813" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d9824a78-a503-4435-a735-762f770d3813"; -"44b8c0f1-5a20-4d32-a025-01df32367444" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"d9824a78-a503-4435-a735-762f770d3813" -> "44b8c0f1-5a20-4d32-a025-01df32367444"; -"89211a8f-ef87-425c-8ce6-bafca509dc20" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d9824a78-a503-4435-a735-762f770d3813" -> "89211a8f-ef87-425c-8ce6-bafca509dc20"; -"baeff367-13e1-498a-b28e-bce2aff7491a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d9824a78-a503-4435-a735-762f770d3813" -> "baeff367-13e1-498a-b28e-bce2aff7491a"; -"63f90689-f405-4727-b2d9-5e59633242d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"d9824a78-a503-4435-a735-762f770d3813" -> "63f90689-f405-4727-b2d9-5e59633242d7"; -"344402b7-89cc-422b-9afe-1e2be790495c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"d9824a78-a503-4435-a735-762f770d3813" -> "344402b7-89cc-422b-9afe-1e2be790495c"; -"17329e69-af80-4180-9904-8cec14e717ab" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "17329e69-af80-4180-9904-8cec14e717ab"; -"fcda5a3f-de41-464a-828c-7556c20f6803" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "fcda5a3f-de41-464a-828c-7556c20f6803"; -"734dddba-26b7-439e-b25c-b8980c349326" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "734dddba-26b7-439e-b25c-b8980c349326"; -"8a4296bc-6dc8-4450-8a97-3142785da995" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "8a4296bc-6dc8-4450-8a97-3142785da995"; -"83418e71-fac4-4c24-a7ea-df982ef48360" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "83418e71-fac4-4c24-a7ea-df982ef48360"; -"48f10d91-a710-4f19-9705-ddd02e0ac26b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"17329e69-af80-4180-9904-8cec14e717ab" -> "48f10d91-a710-4f19-9705-ddd02e0ac26b"; -"290d5562-d7bc-4920-b539-3e51f2377361" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "290d5562-d7bc-4920-b539-3e51f2377361"; -"6260a159-47d6-494d-9712-f2028d68df2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "6260a159-47d6-494d-9712-f2028d68df2f"; -"69c3035b-e6e0-417f-94ad-3a2b51ab24a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "69c3035b-e6e0-417f-94ad-3a2b51ab24a5"; -"fcd2eb97-af08-43b9-b6a1-347076c24a44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "fcd2eb97-af08-43b9-b6a1-347076c24a44"; -"c5abc375-7ac4-4445-8e24-d254f5b7065e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "c5abc375-7ac4-4445-8e24-d254f5b7065e"; -"b33809b1-5d7b-4a97-b78a-0aefe9e7073b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; -"290d5562-d7bc-4920-b539-3e51f2377361" -> "b33809b1-5d7b-4a97-b78a-0aefe9e7073b"; -"2d2645c1-433b-4138-beac-caa410346f8e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2d2645c1-433b-4138-beac-caa410346f8e"; -"18786d2d-7b00-4262-abc0-16bf5ca538ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "18786d2d-7b00-4262-abc0-16bf5ca538ae"; -"1836cf05-9041-47cd-9514-c3d6787d5b6e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "1836cf05-9041-47cd-9514-c3d6787d5b6e"; -"6bae1ff2-6aa1-43db-a7ca-834432e23627" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "6bae1ff2-6aa1-43db-a7ca-834432e23627"; -"cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925"; -"9f9f03a6-3460-46e0-9bb1-8513b1a448e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; -"2d2645c1-433b-4138-beac-caa410346f8e" -> "9f9f03a6-3460-46e0-9bb1-8513b1a448e0"; -"6f14c627-0122-40be-8c57-541d752e60f6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "6f14c627-0122-40be-8c57-541d752e60f6"; -"ff974da8-a580-4f70-b296-c824dafcc1d3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "ff974da8-a580-4f70-b296-c824dafcc1d3"; -"94795be3-4cc7-4397-a95e-93be13059439" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "94795be3-4cc7-4397-a95e-93be13059439"; -"403f1a36-a06a-445a-89f3-547f081ce8fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "403f1a36-a06a-445a-89f3-547f081ce8fa"; -"a1c3ac38-3116-4270-8775-36ede882f9b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "a1c3ac38-3116-4270-8775-36ede882f9b7"; -"7aa50814-aa97-4653-a8dd-1978b69f2e3b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; -"6f14c627-0122-40be-8c57-541d752e60f6" -> "7aa50814-aa97-4653-a8dd-1978b69f2e3b"; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3"; -"1a04993a-d418-4956-90b4-14189ccf5cb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "1a04993a-d418-4956-90b4-14189ccf5cb5"; -"dfdc946c-2e77-471d-8e48-045ebdfe5c4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "dfdc946c-2e77-471d-8e48-045ebdfe5c4f"; -"cbf799b8-1b49-404c-9380-af018958a916" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "cbf799b8-1b49-404c-9380-af018958a916"; -"9e0ebfbd-0f56-426b-ae0f-301f44ef154b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "9e0ebfbd-0f56-426b-ae0f-301f44ef154b"; -"037b3c8c-0f69-4a29-bb5e-f7a345b4b06b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "037b3c8c-0f69-4a29-bb5e-f7a345b4b06b"; -"5f362f89-c782-474d-be59-53598c8aa969" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "5f362f89-c782-474d-be59-53598c8aa969"; -"d8cfabad-4a31-4736-9d2b-fe71cf5d35f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "d8cfabad-4a31-4736-9d2b-fe71cf5d35f3"; -"4c840a0c-4bd2-4ed0-aed8-9886d2a850d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "4c840a0c-4bd2-4ed0-aed8-9886d2a850d6"; -"e5707913-d39f-40cd-9e04-74134a4c0ca9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "e5707913-d39f-40cd-9e04-74134a4c0ca9"; -"d3d816e7-c870-405c-913d-cbf092c227af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "d3d816e7-c870-405c-913d-cbf092c227af"; -"424ef6e3-4622-4f09-8b17-1a46413f6992" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"5f362f89-c782-474d-be59-53598c8aa969" -> "424ef6e3-4622-4f09-8b17-1a46413f6992"; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb"; -"902b4913-b516-430b-95db-cb212e5943bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "902b4913-b516-430b-95db-cb212e5943bc"; -"f967093d-5e4c-40d7-879e-d2e8b69bb2c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "f967093d-5e4c-40d7-879e-d2e8b69bb2c8"; -"051b2383-2318-42fa-b4c8-a0b2e69e0640" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "051b2383-2318-42fa-b4c8-a0b2e69e0640"; -"2e6b6503-3251-4c75-b27e-5d8f6527246b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb" -> "2e6b6503-3251-4c75-b27e-5d8f6527246b"; -"fd9e2412-2a05-4377-9807-573a4de33e6e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fd9e2412-2a05-4377-9807-573a4de33e6e"; -"a383abe1-2d5a-44b2-a0d2-2528751529d5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "a383abe1-2d5a-44b2-a0d2-2528751529d5"; -"c5e474e3-8a89-4834-8cc8-477c803e81ce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "c5e474e3-8a89-4834-8cc8-477c803e81ce"; -"bba16fe9-4805-4acb-a1f9-e86864f96d78" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "bba16fe9-4805-4acb-a1f9-e86864f96d78"; -"78b3fd77-4601-4812-96cc-6865e95f4031" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "78b3fd77-4601-4812-96cc-6865e95f4031"; -"369c501f-069a-41ea-889f-15482c82ed21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "369c501f-069a-41ea-889f-15482c82ed21"; -"6a60bddc-f42c-42ce-80ea-1355ee068ad2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "6a60bddc-f42c-42ce-80ea-1355ee068ad2"; -"a081bb1b-ad83-447a-9511-f68ed21445be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "a081bb1b-ad83-447a-9511-f68ed21445be"; -"5907dade-629a-4dac-ba8c-edf9b16929c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "5907dade-629a-4dac-ba8c-edf9b16929c7"; -"9c302604-9b15-451b-b999-adc0cdd56af4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "9c302604-9b15-451b-b999-adc0cdd56af4"; -"eb8e0c1d-2b1f-47b8-a72b-08277db6f713" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; -"369c501f-069a-41ea-889f-15482c82ed21" -> "eb8e0c1d-2b1f-47b8-a72b-08277db6f713"; -"474a0991-dd82-4d38-bfbe-3c788b5d6652" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"586b2202-a47a-4486-ad21-dec513e1f928" -> "e3e48fca-7389-4b4a-9331-dc7cb644eb9d"; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bd85c8a6-59c0-4420-960a-39ac2e0734a5"; -"e40004ee-1c4e-4abb-9b59-faf12c0eca4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" -> "e40004ee-1c4e-4abb-9b59-faf12c0eca4f"; -"bd259f63-57a7-433f-b79e-9d2ae869a24d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" -> "bd259f63-57a7-433f-b79e-9d2ae869a24d"; -"c4510c3e-374f-440d-ad32-e11877fefb09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" -> "c4510c3e-374f-440d-ad32-e11877fefb09"; -"a114a9b0-a660-4cd7-a3eb-3620b210a4fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" -> "a114a9b0-a660-4cd7-a3eb-3620b210a4fa"; -"96e45707-91e1-4dc6-8c2f-69e1448cba37" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; -"bd85c8a6-59c0-4420-960a-39ac2e0734a5" -> "96e45707-91e1-4dc6-8c2f-69e1448cba37"; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8"; -"b24a7976-85ef-4c20-ade1-31c50f2631a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" -> "b24a7976-85ef-4c20-ade1-31c50f2631a3"; -"22a14e8f-ca8b-4c56-a83d-30bd9fa135bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" -> "22a14e8f-ca8b-4c56-a83d-30bd9fa135bf"; -"8d375109-f798-4047-8dea-ecf9741f3f4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" -> "8d375109-f798-4047-8dea-ecf9741f3f4c"; -"250685a0-9822-4cfd-bbf2-ac2caa83510e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" -> "250685a0-9822-4cfd-bbf2-ac2caa83510e"; -"91f7f0c0-b7ce-422e-b493-953701f85a24" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; -"01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8" -> "91f7f0c0-b7ce-422e-b493-953701f85a24"; 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fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"a24396ec-c378-4099-8bec-aeafc6ae1f7b" -> "bcf3ef41-f280-49cb-86df-869363c66731"; -"a0721a73-6baa-4415-aeac-5ac39df02075" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; -"a24396ec-c378-4099-8bec-aeafc6ae1f7b" -> "a0721a73-6baa-4415-aeac-5ac39df02075"; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "1abb0463-bf7b-4cd5-af70-2867852e2fd2"; -"271bcaba-bed5-45be-8da7-71b3a2dec01a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" -> "271bcaba-bed5-45be-8da7-71b3a2dec01a"; -"3772fb1c-856e-4900-b797-88a3a5572505" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" -> "3772fb1c-856e-4900-b797-88a3a5572505"; -"4e69cd11-f983-4328-a418-373ae6027296" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" -> "4e69cd11-f983-4328-a418-373ae6027296"; -"771bd2ba-5012-4e06-bb54-c4dfefd9bdd7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" -> "771bd2ba-5012-4e06-bb54-c4dfefd9bdd7"; -"bc0d96aa-ef6c-431d-bcda-a05ea1893da2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; -"1abb0463-bf7b-4cd5-af70-2867852e2fd2" -> "bc0d96aa-ef6c-431d-bcda-a05ea1893da2"; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8af07d81-96cf-4ca2-9faa-6ff1e9a39b20"; -"66d1dbc9-b984-4812-a313-9762b55d0efa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" -> "66d1dbc9-b984-4812-a313-9762b55d0efa"; -"86d92f19-5d37-435e-b209-8e719bc8af11" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" -> "86d92f19-5d37-435e-b209-8e719bc8af11"; -"d24b22d1-f655-41ae-a13c-8a907da43201" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" -> "d24b22d1-f655-41ae-a13c-8a907da43201"; -"2edc75ba-4c7e-45c7-b3ee-ca9f22adf222" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" -> "2edc75ba-4c7e-45c7-b3ee-ca9f22adf222"; -"1cba1f80-fe9d-444a-80c2-496fa145f528" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; -"8af07d81-96cf-4ca2-9faa-6ff1e9a39b20" -> "1cba1f80-fe9d-444a-80c2-496fa145f528"; -"761e7793-c16b-471b-ba87-82d5a4645a8a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "761e7793-c16b-471b-ba87-82d5a4645a8a"; -"3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; -"761e7793-c16b-471b-ba87-82d5a4645a8a" -> "3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b"; -"783ccf13-0676-4f2b-963c-02f4d770878a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"761e7793-c16b-471b-ba87-82d5a4645a8a" -> "783ccf13-0676-4f2b-963c-02f4d770878a"; -"47cd0e94-a7a5-4392-8487-76855d3e61a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"761e7793-c16b-471b-ba87-82d5a4645a8a" -> "47cd0e94-a7a5-4392-8487-76855d3e61a4"; -"dca72791-3951-45de-b896-e4d86a07f9d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"761e7793-c16b-471b-ba87-82d5a4645a8a" -> "dca72791-3951-45de-b896-e4d86a07f9d6"; -"3d3eb50a-f6a2-45f5-8f32-2072e9784b4a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; -"761e7793-c16b-471b-ba87-82d5a4645a8a" -> "3d3eb50a-f6a2-45f5-8f32-2072e9784b4a"; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9ad7631a-b9f7-4b3e-98d3-6730b507256c"; -"7065c818-ca23-4001-aede-fa50e6072be8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" -> "7065c818-ca23-4001-aede-fa50e6072be8"; -"842104c6-fa9e-4c71-ba42-c9ed01b6f464" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" -> "842104c6-fa9e-4c71-ba42-c9ed01b6f464"; -"9c443d08-c0fa-41f6-a0af-014052c914f5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" -> "9c443d08-c0fa-41f6-a0af-014052c914f5"; -"a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" -> "a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a"; -"f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; -"9ad7631a-b9f7-4b3e-98d3-6730b507256c" -> "f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee"; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0"; -"7eb9f4a0-0ddc-49fe-8131-656e04ba927f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" -> "7eb9f4a0-0ddc-49fe-8131-656e04ba927f"; -"72fd5888-1566-4756-8f5f-bfd393a80c09" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" -> "72fd5888-1566-4756-8f5f-bfd393a80c09"; -"6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" -> "6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07"; -"f7ac8ce3-23d4-456f-a641-707cee5aa8ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" -> "f7ac8ce3-23d4-456f-a641-707cee5aa8ec"; -"9295f6df-79e8-437c-b126-2750b2bcd7c0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; -"c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0" -> "9295f6df-79e8-437c-b126-2750b2bcd7c0"; -"a707dc95-0771-4752-89ef-5ae1121ced50" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a707dc95-0771-4752-89ef-5ae1121ced50"; -"f9a5e7cc-347e-4588-925f-b9363c85a8b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; -"a707dc95-0771-4752-89ef-5ae1121ced50" -> "f9a5e7cc-347e-4588-925f-b9363c85a8b6"; -"65754975-e322-4745-b7e5-438724fed1ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"a707dc95-0771-4752-89ef-5ae1121ced50" -> "65754975-e322-4745-b7e5-438724fed1ac"; -"de692fae-d1f4-4160-8626-ecf15343d37c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"a707dc95-0771-4752-89ef-5ae1121ced50" -> "de692fae-d1f4-4160-8626-ecf15343d37c"; -"49803b4c-ba7d-47bf-aa7c-f33bef1f41e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a707dc95-0771-4752-89ef-5ae1121ced50" -> "49803b4c-ba7d-47bf-aa7c-f33bef1f41e1"; -"6a330d89-e6f4-4570-9c20-9d43f75c2ae4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; -"a707dc95-0771-4752-89ef-5ae1121ced50" -> "6a330d89-e6f4-4570-9c20-9d43f75c2ae4"; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "b3361f93-c501-4bf5-bdd7-da4fca5f788d"; -"1d84df2b-00ac-4ce4-acca-d072bc4d3253" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "1d84df2b-00ac-4ce4-acca-d072bc4d3253"; -"b04b8a4e-337d-42cd-8574-bf32e3d14da0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "b04b8a4e-337d-42cd-8574-bf32e3d14da0"; -"b2d4495e-8819-4132-939b-790f05705c12" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "b2d4495e-8819-4132-939b-790f05705c12"; -"10fadc09-1f95-4c56-a036-7017e34b454f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "10fadc09-1f95-4c56-a036-7017e34b454f"; -"62259e36-7192-41cc-b8af-c9dd55698def" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; -"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "62259e36-7192-41cc-b8af-c9dd55698def"; -"d8112776-987a-40cc-aea5-a988d434820f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d8112776-987a-40cc-aea5-a988d434820f"; -"9d4dacd4-138f-454a-bf9e-ee912a80846b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"d8112776-987a-40cc-aea5-a988d434820f" -> "9d4dacd4-138f-454a-bf9e-ee912a80846b"; -"0d3898b7-800e-4e02-b5ae-f9fd2f8f712e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"d8112776-987a-40cc-aea5-a988d434820f" -> "0d3898b7-800e-4e02-b5ae-f9fd2f8f712e"; -"a9661ecd-7321-43e4-919a-e086a0e44c90" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d8112776-987a-40cc-aea5-a988d434820f" -> "a9661ecd-7321-43e4-919a-e086a0e44c90"; -"baab60eb-5942-447d-bf5b-92e929d47598" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; -"d8112776-987a-40cc-aea5-a988d434820f" -> "baab60eb-5942-447d-bf5b-92e929d47598"; -"832b4930-d3f0-43a5-a5f1-30a7f6fcf183" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; -"d8112776-987a-40cc-aea5-a988d434820f" -> "832b4930-d3f0-43a5-a5f1-30a7f6fcf183"; -"dd539879-2232-4b19-9e46-b9e529164e39" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "dd539879-2232-4b19-9e46-b9e529164e39"; -"c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"dd539879-2232-4b19-9e46-b9e529164e39" -> "c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4"; -"721c2699-58a4-4f21-9b29-d59f5638de0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"dd539879-2232-4b19-9e46-b9e529164e39" -> "721c2699-58a4-4f21-9b29-d59f5638de0f"; -"7528f112-c933-45c1-8a44-199aa4c947c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"dd539879-2232-4b19-9e46-b9e529164e39" -> "7528f112-c933-45c1-8a44-199aa4c947c8"; -"392fa799-0e95-4b0b-9dc6-6fd4c756ddd1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; -"dd539879-2232-4b19-9e46-b9e529164e39" -> "392fa799-0e95-4b0b-9dc6-6fd4c756ddd1"; -"25488972-8f9e-4133-8ef5-614d1f44fa21" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; -"dd539879-2232-4b19-9e46-b9e529164e39" -> "25488972-8f9e-4133-8ef5-614d1f44fa21"; -"30159de6-fa5b-4a6b-a35d-746511f9e77e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" -> "30159de6-fa5b-4a6b-a35d-746511f9e77e"; -"44779d09-30a2-45c9-a92f-f44080ab466d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "44779d09-30a2-45c9-a92f-f44080ab466d"; -"43ec745e-4af5-4f95-9491-8a1f56c08517" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; -"44779d09-30a2-45c9-a92f-f44080ab466d" -> "43ec745e-4af5-4f95-9491-8a1f56c08517"; -"b9a89fba-a181-40ae-ab24-57f90fdc4841" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"44779d09-30a2-45c9-a92f-f44080ab466d" -> "b9a89fba-a181-40ae-ab24-57f90fdc4841"; -"a8e81fa6-7fef-4c5e-91d9-f6ae292cad90" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"44779d09-30a2-45c9-a92f-f44080ab466d" -> "a8e81fa6-7fef-4c5e-91d9-f6ae292cad90"; -"e097aa28-deb9-4a84-b19a-b9430d1f577c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; -"44779d09-30a2-45c9-a92f-f44080ab466d" -> "e097aa28-deb9-4a84-b19a-b9430d1f577c"; -"ee994789-611a-41f7-9e4a-882a85a8f84d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "ee994789-611a-41f7-9e4a-882a85a8f84d"; -"54a62036-3639-43ea-91ce-0ce4d445507b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"ee994789-611a-41f7-9e4a-882a85a8f84d" -> "54a62036-3639-43ea-91ce-0ce4d445507b"; -"8bf7e018-e1de-493f-a03b-705bda72f99a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> "8bf7e018-e1de-493f-a03b-705bda72f99a"; -"e55228f5-07a0-4baf-bbe8-6234c18cf124" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> "e55228f5-07a0-4baf-bbe8-6234c18cf124"; -"350c0d4f-496a-4929-bdc5-928b73a370ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"54a62036-3639-43ea-91ce-0ce4d445507b" -> "350c0d4f-496a-4929-bdc5-928b73a370ff"; -"6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"ee994789-611a-41f7-9e4a-882a85a8f84d" -> "6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0"; -"92737c2e-e4ef-4aba-a173-db324c8f545a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "92737c2e-e4ef-4aba-a173-db324c8f545a"; -"7fe2cc4c-2825-43cb-b93d-f5e24456d291" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; -"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "7fe2cc4c-2825-43cb-b93d-f5e24456d291"; -"92f0d697-ba3a-40c9-b43d-df7d97d13b0a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "92f0d697-ba3a-40c9-b43d-df7d97d13b0a"; -"d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa"; -"a4b01280-6d45-4f24-b206-7ed4d1baa0df" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; -"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "a4b01280-6d45-4f24-b206-7ed4d1baa0df"; -"a7f6796d-5664-494a-9040-9c85fe75f1fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a7f6796d-5664-494a-9040-9c85fe75f1fd"; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "3ee90b91-65ce-424d-bc4b-a734249dd7e6"; -"ed698829-defc-4bd7-b5b5-a787873ab161" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "ed698829-defc-4bd7-b5b5-a787873ab161"; -"d2970d23-0525-42c5-a6d5-d1801429c17b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "d2970d23-0525-42c5-a6d5-d1801429c17b"; -"8614c8da-8a04-4907-a164-6d4e6e21ac2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "8614c8da-8a04-4907-a164-6d4e6e21ac2c"; -"7b1ddbba-b4d2-443c-b646-39eb933fd102" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "7b1ddbba-b4d2-443c-b646-39eb933fd102"; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "8b6ff78e-014c-44d7-ba78-2006b86db3fd"; -"1c09ff47-400c-466e-8714-d8c8429db7e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "1c09ff47-400c-466e-8714-d8c8429db7e6"; -"327e2478-87b5-4eba-9dd1-6918366c7da1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "327e2478-87b5-4eba-9dd1-6918366c7da1"; -"60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97"; -"c5e01a62-e85f-4707-a45f-49eb624b5da4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; -"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "c5e01a62-e85f-4707-a45f-49eb624b5da4"; -"eb9ec3da-8aec-484c-b0da-62884f057827" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "eb9ec3da-8aec-484c-b0da-62884f057827"; -"02754f4b-66b5-46f8-b427-c9043b6c323d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"eb9ec3da-8aec-484c-b0da-62884f057827" -> "02754f4b-66b5-46f8-b427-c9043b6c323d"; -"66773396-42d7-4b86-b195-289ee353bea1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "66773396-42d7-4b86-b195-289ee353bea1"; -"10caf46d-5682-45ed-b60d-d30a074d9cab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "10caf46d-5682-45ed-b60d-d30a074d9cab"; -"38a751c3-d97d-4e30-b2a1-92cc0bf1748c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "38a751c3-d97d-4e30-b2a1-92cc0bf1748c"; -"4b866074-42e4-4eb6-bf22-e3f9e3efc8c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"eb9ec3da-8aec-484c-b0da-62884f057827" -> "4b866074-42e4-4eb6-bf22-e3f9e3efc8c4"; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "226631db-0755-4e1c-83c7-9c23e7fc31ec"; -"f7b2afd5-172e-4f61-a7fd-7635fdf998c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "f7b2afd5-172e-4f61-a7fd-7635fdf998c7"; -"e16be6cb-8fec-486e-a03d-6dff87de936e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "e16be6cb-8fec-486e-a03d-6dff87de936e"; -"d48b849a-4b45-4e2b-bfa2-006c7f88d051" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "d48b849a-4b45-4e2b-bfa2-006c7f88d051"; -"9e20a4f6-e58f-4110-a538-14881df9fba1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; -"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "9e20a4f6-e58f-4110-a538-14881df9fba1"; -"80bb0311-1f87-4af6-a786-20e869ddffbf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "80bb0311-1f87-4af6-a786-20e869ddffbf"; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "f6e6a3e1-0759-44e1-8e5b-d350636a36b0"; -"ec10b3b5-792b-47d7-bb00-0454a405e5e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "ec10b3b5-792b-47d7-bb00-0454a405e5e1"; -"8614a2e8-9005-4fca-8d71-60143de2b08d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "8614a2e8-9005-4fca-8d71-60143de2b08d"; -"557ba623-a633-432b-8779-eac1ead8c539" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "557ba623-a633-432b-8779-eac1ead8c539"; -"e044fc55-062c-472c-9c8e-4f32bbead6d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "e044fc55-062c-472c-9c8e-4f32bbead6d6"; -"d05a6846-39b7-44e5-b12a-a98dabae6736" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d05a6846-39b7-44e5-b12a-a98dabae6736"; -"a1732476-b4cc-481c-9d25-22295111d762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "a1732476-b4cc-481c-9d25-22295111d762"; -"49c6c9ec-3b95-43dc-88f5-06675d0e5bf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "49c6c9ec-3b95-43dc-88f5-06675d0e5bf1"; -"ed55981d-75e8-4ad0-bc1f-7332e123d260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "ed55981d-75e8-4ad0-bc1f-7332e123d260"; -"04fb64d5-6c56-4f53-9a86-e498ed641ba3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; -"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "04fb64d5-6c56-4f53-9a86-e498ed641ba3"; -"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "e6a68b9e-80e9-49aa-98f5-ac87f6288da7"; -"e477cd0c-327d-4be3-af19-45dc454ff83e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "e477cd0c-327d-4be3-af19-45dc454ff83e"; -"8603671b-a28b-4c77-a70d-7693a479c895" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "8603671b-a28b-4c77-a70d-7693a479c895"; -"9e6e96b9-4e95-4f6c-8ed5-b69fe487087d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "9e6e96b9-4e95-4f6c-8ed5-b69fe487087d"; -"c1afe35f-6e04-4ae8-bc21-5810d71efd7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "c1afe35f-6e04-4ae8-bc21-5810d71efd7d"; -"98150a13-3731-47c8-9a8e-d78a55e3645d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "98150a13-3731-47c8-9a8e-d78a55e3645d"; -"132bf3f9-ef25-4e05-9813-002cf8021409" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "132bf3f9-ef25-4e05-9813-002cf8021409"; -"e60445d9-2ff8-46a5-bfe4-c28830bb672b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"132bf3f9-ef25-4e05-9813-002cf8021409" -> "e60445d9-2ff8-46a5-bfe4-c28830bb672b"; -"a9da3177-f487-4698-a59f-bfa320d329f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"132bf3f9-ef25-4e05-9813-002cf8021409" -> "a9da3177-f487-4698-a59f-bfa320d329f2"; -"dc8676aa-bd2e-4961-8f2f-a337d17e05d0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"132bf3f9-ef25-4e05-9813-002cf8021409" -> "dc8676aa-bd2e-4961-8f2f-a337d17e05d0"; -"14fdadac-4678-4f2a-a5db-89bb1300fb3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"132bf3f9-ef25-4e05-9813-002cf8021409" -> "14fdadac-4678-4f2a-a5db-89bb1300fb3a"; -"6b5035f6-4e7d-4914-881e-efc040a46e92" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6b5035f6-4e7d-4914-881e-efc040a46e92"; -"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "34aa96bb-cb46-4b9e-a46a-f07b7d5b435f"; -"c6647b89-208f-4669-9079-5b68c076ab9c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "c6647b89-208f-4669-9079-5b68c076ab9c"; -"82cb330f-8288-4c34-ba33-3f0af489a8a8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "82cb330f-8288-4c34-ba33-3f0af489a8a8"; -"e452ea52-2d8e-41d5-a217-f401cd032e2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "e452ea52-2d8e-41d5-a217-f401cd032e2b"; -"be59844a-9caf-45e2-94a6-a19f660a279c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "be59844a-9caf-45e2-94a6-a19f660a279c"; -"32096f54-f5d3-49cc-9702-3bddf080d2fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "32096f54-f5d3-49cc-9702-3bddf080d2fe"; -"ef27f545-f3b5-46a1-aea1-3e77e4c7ef99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "ef27f545-f3b5-46a1-aea1-3e77e4c7ef99"; -"f2892b78-6688-4c60-91d3-97750ceb48f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; -"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "f2892b78-6688-4c60-91d3-97750ceb48f3"; -"4980523b-34b7-4b53-ba9b-bf4c5212c479" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "4980523b-34b7-4b53-ba9b-bf4c5212c479"; -"5354575b-84af-40ed-8e01-c31e8b1d3b90" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; -"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "5354575b-84af-40ed-8e01-c31e8b1d3b90"; -"4939a51b-2fed-4df4-8db8-b3914cb99572" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "4939a51b-2fed-4df4-8db8-b3914cb99572"; -"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "a822d82e-b6b0-4a56-8a3e-0241521d3d0c"; -"55c3bd46-df99-4607-8f4a-43713ffd728b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "55c3bd46-df99-4607-8f4a-43713ffd728b"; -"3ce080d0-3205-4929-9166-49c4ff633e79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "3ce080d0-3205-4929-9166-49c4ff633e79"; -"0cfd551b-c03c-42e1-b315-24b151ca76c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "0cfd551b-c03c-42e1-b315-24b151ca76c2"; -"636ee734-15b7-4024-a99a-c4a1be49cb4b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "636ee734-15b7-4024-a99a-c4a1be49cb4b"; -"71eb1e55-077c-481e-a969-d95c0c50de23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "71eb1e55-077c-481e-a969-d95c0c50de23"; -"18fd2435-dc2d-4bb5-92cb-41bae1112cdc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; -"71eb1e55-077c-481e-a969-d95c0c50de23" -> "18fd2435-dc2d-4bb5-92cb-41bae1112cdc"; -"5f1c3314-2fd1-45e9-b521-ed2b72c21796" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"71eb1e55-077c-481e-a969-d95c0c50de23" -> "5f1c3314-2fd1-45e9-b521-ed2b72c21796"; -"a3783c9f-ae12-49ae-907a-f474593665a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"71eb1e55-077c-481e-a969-d95c0c50de23" -> "a3783c9f-ae12-49ae-907a-f474593665a2"; -"19c9848f-caa2-40af-8534-43e9c2f16cc8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; -"71eb1e55-077c-481e-a969-d95c0c50de23" -> "19c9848f-caa2-40af-8534-43e9c2f16cc8"; -"44c46a4a-e646-4274-a23b-ffd4686afa61" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "44c46a4a-e646-4274-a23b-ffd4686afa61"; -"ed86cd17-3f27-4930-aed4-c55dda092d5a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "ed86cd17-3f27-4930-aed4-c55dda092d5a"; -"0977779f-a2d6-44af-b12b-9a00dc620cf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "0977779f-a2d6-44af-b12b-9a00dc620cf2"; -"69c7c338-8c7a-466d-bec4-006beff4df4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "69c7c338-8c7a-466d-bec4-006beff4df4c"; -"602e1341-9186-4478-ae53-0c0feed21e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "602e1341-9186-4478-ae53-0c0feed21e4e"; -"51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc"; -"be610373-908a-4cdf-a276-eb63c0927891" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "be610373-908a-4cdf-a276-eb63c0927891"; -"b1da90b9-0bca-40b0-be7c-52025d64cb95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; -"be610373-908a-4cdf-a276-eb63c0927891" -> "b1da90b9-0bca-40b0-be7c-52025d64cb95"; -"51176ed0-b011-4b3a-88e1-a2cbe51f50cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"be610373-908a-4cdf-a276-eb63c0927891" -> "51176ed0-b011-4b3a-88e1-a2cbe51f50cf"; -"ac5a6273-34c5-4827-8f01-6cff2ce195b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"be610373-908a-4cdf-a276-eb63c0927891" -> "ac5a6273-34c5-4827-8f01-6cff2ce195b3"; -"b3d397d6-35b3-4a04-9a6f-70201d0d06e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; -"be610373-908a-4cdf-a276-eb63c0927891" -> "b3d397d6-35b3-4a04-9a6f-70201d0d06e2"; -"a1a9032d-687a-4505-ba96-a4951b52a1fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a1a9032d-687a-4505-ba96-a4951b52a1fb"; -"1240ebfd-7e0f-403d-8b84-999c77431f55" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"a1a9032d-687a-4505-ba96-a4951b52a1fb" -> "1240ebfd-7e0f-403d-8b84-999c77431f55"; -"55de91f8-8252-45d9-9940-cac57334d7a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "55de91f8-8252-45d9-9940-cac57334d7a7"; -"81e7d562-7203-411f-ac99-b4993421209f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "81e7d562-7203-411f-ac99-b4993421209f"; -"bafa5440-348f-4c14-af1a-ed97197b26cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "bafa5440-348f-4c14-af1a-ed97197b26cd"; -"c035e88c-1906-4a98-a716-1c5b1db8b975" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"a1a9032d-687a-4505-ba96-a4951b52a1fb" -> "c035e88c-1906-4a98-a716-1c5b1db8b975"; -"a23e4845-02b2-40a5-ae00-092f9516be12" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a23e4845-02b2-40a5-ae00-092f9516be12"; -"9a41cb8f-65e6-4309-b451-48b7992a62f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"a23e4845-02b2-40a5-ae00-092f9516be12" -> "9a41cb8f-65e6-4309-b451-48b7992a62f2"; -"37280f2a-9646-4b54-b532-22032d4dddb8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"a23e4845-02b2-40a5-ae00-092f9516be12" -> "37280f2a-9646-4b54-b532-22032d4dddb8"; -"272cb815-fc07-4590-b2f8-d4b9fc454339" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"a23e4845-02b2-40a5-ae00-092f9516be12" -> "272cb815-fc07-4590-b2f8-d4b9fc454339"; -"8407cdcb-73ae-49c8-aaf2-bf3751ced541" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; -"a23e4845-02b2-40a5-ae00-092f9516be12" -> "8407cdcb-73ae-49c8-aaf2-bf3751ced541"; -"a1481776-efcf-4951-9af8-3f060e3a2d85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a1481776-efcf-4951-9af8-3f060e3a2d85"; -"185f596d-f400-4055-8d07-f579b50bc711" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "185f596d-f400-4055-8d07-f579b50bc711"; -"6dfe7617-104b-449c-bc93-2480450ffede" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"185f596d-f400-4055-8d07-f579b50bc711" -> "6dfe7617-104b-449c-bc93-2480450ffede"; -"d12a6c42-3089-4773-925e-9cb106948c96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"185f596d-f400-4055-8d07-f579b50bc711" -> "d12a6c42-3089-4773-925e-9cb106948c96"; -"9419f1c4-688f-46e6-a3d2-e8287d596b48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"185f596d-f400-4055-8d07-f579b50bc711" -> "9419f1c4-688f-46e6-a3d2-e8287d596b48"; -"3dc6a373-605d-49e1-b7e0-157be73bd02d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "3dc6a373-605d-49e1-b7e0-157be73bd02d"; -"7c5a7025-8822-428b-b1f0-6ba69f3871b9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7c5a7025-8822-428b-b1f0-6ba69f3871b9"; -"90c999b2-e118-47eb-ac33-58114ef78067" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "90c999b2-e118-47eb-ac33-58114ef78067"; -"ae03ea63-1515-4427-bffe-7de75cc3b7ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "ae03ea63-1515-4427-bffe-7de75cc3b7ea"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "15edc351-573b-4906-ad03-297f4bd85d93"; -"d5b5cc68-7498-434b-9a16-a1c7e6afec4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "d5b5cc68-7498-434b-9a16-a1c7e6afec4e"; -"dc002244-de3d-4769-89e5-bfa498142b4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "dc002244-de3d-4769-89e5-bfa498142b4c"; -"d187eff6-e61c-4a75-993c-e23f27d59a11" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"79959fc1-102b-4dd0-bd26-0024bfab722a" -> "d187eff6-e61c-4a75-993c-e23f27d59a11"; -"d02a9e30-e1a8-403e-be19-df39bc160e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d02a9e30-e1a8-403e-be19-df39bc160e15"; -"bd378d36-4f17-4a82-b7ce-cb9e187b3376" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; -"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd378d36-4f17-4a82-b7ce-cb9e187b3376"; -"bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298"; -"dbc4c650-9570-4d64-b445-d032032f1447" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "dbc4c650-9570-4d64-b445-d032032f1447"; -"44efea8b-425c-41bb-88e8-77c9d8d91462" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; -"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "44efea8b-425c-41bb-88e8-77c9d8d91462"; -"6ff1a552-442a-469e-85a7-005b0545de29" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6ff1a552-442a-469e-85a7-005b0545de29"; -"9da7cc2d-4610-4e56-834f-734a473cf45f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"6ff1a552-442a-469e-85a7-005b0545de29" -> "9da7cc2d-4610-4e56-834f-734a473cf45f"; -"5753e20b-77fb-46bc-bca7-e09f8b90a47d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "5753e20b-77fb-46bc-bca7-e09f8b90a47d"; -"f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e"; -"579d5579-5bec-4bcc-9902-9098af0e84b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "579d5579-5bec-4bcc-9902-9098af0e84b3"; -"6dfa4b2a-855a-4675-acf1-f27ffd3c4907" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"6ff1a552-442a-469e-85a7-005b0545de29" -> "6dfa4b2a-855a-4675-acf1-f27ffd3c4907"; -"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b905bc4e-5fa0-41d1-ab6a-468bf85d2b85"; -"03c0a5b0-59b6-4840-a65b-186db7e4be39" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "03c0a5b0-59b6-4840-a65b-186db7e4be39"; -"e6035e64-c2b0-452b-a47a-39dc1309d3ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; -"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "e6035e64-c2b0-452b-a47a-39dc1309d3ea"; -"7d7bbbb0-d84c-47da-8595-2fe0920193aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "7d7bbbb0-d84c-47da-8595-2fe0920193aa"; -"1a4f10a2-f887-44f3-9ff5-d8459cc4e15f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; -"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "1a4f10a2-f887-44f3-9ff5-d8459cc4e15f"; -"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7f39a0b3-a29d-47ef-9293-045cf65eb9c6"; -"c5587f32-fc90-4f69-ba6a-7b75074ba50a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "c5587f32-fc90-4f69-ba6a-7b75074ba50a"; -"691a7203-e4a5-452e-b22d-bd4af678aa01" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "691a7203-e4a5-452e-b22d-bd4af678aa01"; -"63517f53-aacd-45d7-a8f9-0f3fcd62efdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "63517f53-aacd-45d7-a8f9-0f3fcd62efdd"; -"78a69b57-aa86-44ab-9687-2bcf3e06648b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "78a69b57-aa86-44ab-9687-2bcf3e06648b"; -"250c1cc7-54e9-471f-ac1e-a9e3989d500a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "250c1cc7-54e9-471f-ac1e-a9e3989d500a"; -"b2638e75-d5a6-4b29-9228-dc6b42948ec0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b2638e75-d5a6-4b29-9228-dc6b42948ec0"; -"3c6de616-03f1-4aa9-a467-26e9bb08ad40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "3c6de616-03f1-4aa9-a467-26e9bb08ad40"; -"0eaaf3d0-de63-44e1-a166-f0cb6d262a8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "0eaaf3d0-de63-44e1-a166-f0cb6d262a8c"; -"14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; -"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3"; -"37267417-bf55-440e-860e-c48b3b8b1fd3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; -"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "37267417-bf55-440e-860e-c48b3b8b1fd3"; -"c491468c-2123-4406-bb5c-67e268c947c8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled]; -"4465f4c9-b8fa-4f4b-b14b-1fea92565591" -> "c491468c-2123-4406-bb5c-67e268c947c8"; -"95ea79df-397e-4ace-932c-370e2db017ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"6198a9aa-bfec-497d-bd83-a9efac95446f" -> "95ea79df-397e-4ace-932c-370e2db017ae"; -"db9f748d-5b42-4c8a-98f7-62a22a435362" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"95ea79df-397e-4ace-932c-370e2db017ae" -> "db9f748d-5b42-4c8a-98f7-62a22a435362"; -"a30f3c74-e181-46e5-82fe-aa9b75eb2a28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; -"95ea79df-397e-4ace-932c-370e2db017ae" -> "a30f3c74-e181-46e5-82fe-aa9b75eb2a28"; -"a84a7024-3472-4350-bb95-d794977232bb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled]; -"95ea79df-397e-4ace-932c-370e2db017ae" -> "a84a7024-3472-4350-bb95-d794977232bb"; +"67b2ae18-a7c7-48b1-8360-72c761a9a9a0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"d583007e-a805-4876-a522-1e2abd80ac0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Chips,Table3)", shape=ellipse, style=filled]; +"67b2ae18-a7c7-48b1-8360-72c761a9a9a0" -> "d583007e-a805-4876-a522-1e2abd80ac0f"; +"ab3c6afd-5817-4454-8f51-96ccca156b32" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"67b2ae18-a7c7-48b1-8360-72c761a9a9a0" -> "ab3c6afd-5817-4454-8f51-96ccca156b32"; +"fbc30aed-25ef-4b3c-9050-c00337a4a468" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"ab3c6afd-5817-4454-8f51-96ccca156b32" -> "fbc30aed-25ef-4b3c-9050-c00337a4a468"; +"f1b51e83-c071-44af-9d9b-20fdf9526249" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"fbc30aed-25ef-4b3c-9050-c00337a4a468" -> "f1b51e83-c071-44af-9d9b-20fdf9526249"; +"9de2bc28-78c1-4211-bc1e-88cdc51f1c17" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled]; +"fbc30aed-25ef-4b3c-9050-c00337a4a468" -> "9de2bc28-78c1-4211-bc1e-88cdc51f1c17"; +"d682657d-a510-4edf-966b-d54f9a264ae0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"9de2bc28-78c1-4211-bc1e-88cdc51f1c17" -> 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; +"7e96b1b2-219a-4762-b3ba-a09504782aff" -> "81a4cf7e-9188-4c88-b750-1ed307e6eddf"; +"c31fcc75-5078-4be6-8dcb-42c80fb949bd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"144be956-4bde-45c0-98b9-f5d26f5d4cb9" -> "c31fcc75-5078-4be6-8dcb-42c80fb949bd"; +"9adad266-9938-4c7d-8594-6a26ab95f333" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"c31fcc75-5078-4be6-8dcb-42c80fb949bd" -> "9adad266-9938-4c7d-8594-6a26ab95f333"; +"6a9ba722-b3d7-4e2c-8772-2c8678fa6d5b" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled]; +"c31fcc75-5078-4be6-8dcb-42c80fb949bd" -> "6a9ba722-b3d7-4e2c-8772-2c8678fa6d5b"; +"c510c509-5c55-412d-a8c5-de2492244074" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Table1)", shape=ellipse, 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"144be956-4bde-45c0-98b9-f5d26f5d4cb9" -> "d106a70a-1ae2-4691-9481-8f7302033e5f"; +"439e1694-deb3-4fc6-862b-f894f14dd263" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"d106a70a-1ae2-4691-9481-8f7302033e5f" -> "439e1694-deb3-4fc6-862b-f894f14dd263"; +"5642a092-fe33-4c25-a37f-3164f0e47721" [fillcolor=orange, fontcolor=black, fontsize=20, label="!", shape=diamond, style=filled]; +"d106a70a-1ae2-4691-9481-8f7302033e5f" -> "5642a092-fe33-4c25-a37f-3164f0e47721"; +"84d39dd5-a1fe-4a67-b475-7c7d53fc6d7c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Dessert)", shape=ellipse, style=filled]; +"5642a092-fe33-4c25-a37f-3164f0e47721" -> "84d39dd5-a1fe-4a67-b475-7c7d53fc6d7c"; +"0974d8a9-5b03-4284-bfe1-d45740398b1b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Chips)", shape=ellipse, style=filled]; 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fontsize=20, label="Exists(Chips)", shape=ellipse, style=filled]; +"05a15c97-8628-4473-9595-2615ab5b98c5" -> "639d66db-9197-4f01-8c13-ddd24eb04c3d"; +"3ac43ca5-3f5a-42c6-b80f-2fefdf304511" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"05a15c97-8628-4473-9595-2615ab5b98c5" -> "3ac43ca5-3f5a-42c6-b80f-2fefdf304511"; +"a21bc4e8-0274-409c-9dd6-d9a0d76c5f32" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Chips)", shape=box, style=filled]; +"05a15c97-8628-4473-9595-2615ab5b98c5" -> "a21bc4e8-0274-409c-9dd6-d9a0d76c5f32"; +"d3deff95-268c-403e-bc26-560068060a04" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"144be956-4bde-45c0-98b9-f5d26f5d4cb9" -> "d3deff95-268c-403e-bc26-560068060a04"; +"768358ea-f6a0-4d91-9c35-9ff30f8251c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Chips)", shape=ellipse, style=filled]; 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-9dfbc4a2-d4bd-4b03-a645-6c613afd8801 - -Holding(Nothing) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->9dfbc4a2-d4bd-4b03-a645-6c613afd8801 - - - - - -505c330a-783a-4cc4-a3c4-fdf2c3c60ee4 - -Exist(MilkDrink) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->505c330a-783a-4cc4-a3c4-fdf2c3c60ee4 - - - - - -9e90c5c6-4012-4199-b50b-9fc9959bd72b - -MoveTo(MilkDrink) - - - -3c719827-c0c0-4a62-9df0-8b6f2db0efca->9e90c5c6-4012-4199-b50b-9fc9959bd72b - - - - - -834ad8eb-436d-4c81-9931-61b88846c09a - -At(Robot,Bar) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->834ad8eb-436d-4c81-9931-61b88846c09a - - - - - -f9b84816-e5a7-4852-a61d-17d4734952bb - -Holding(ADMilk) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->f9b84816-e5a7-4852-a61d-17d4734952bb - - - - - -b892ace1-a73e-45ee-b821-926575e7402e - -At(Robot,MilkDrink) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->b892ace1-a73e-45ee-b821-926575e7402e - - - - - -e82c8c59-d69c-43d7-8c14-8f4c8af8bb73 - -PutDown(ADMilk,Bar) - - - -f8322e61-c760-48a0-8134-bec0db031fa3->e82c8c59-d69c-43d7-8c14-8f4c8af8bb73 - - - - - -bc5769d3-4515-4a5d-a071-4aaaef6f4ccb - -At(Robot,Bar) - - - -756a6001-5872-411e-9656-4598b09b2715->bc5769d3-4515-4a5d-a071-4aaaef6f4ccb - - - - - -006499a6-def1-4daa-a18a-5e2be825511e - -Holding(ADMilk) - - - -756a6001-5872-411e-9656-4598b09b2715->006499a6-def1-4daa-a18a-5e2be825511e - - - - - -0b08d271-4e68-43c3-9eba-76272242bb1e - -At(Robot,MilkDrink) - - - -756a6001-5872-411e-9656-4598b09b2715->0b08d271-4e68-43c3-9eba-76272242bb1e - - - - - -b890b50e-6907-4f8c-82dd-79f6874ca7b5 - -PutDown(ADMilk,Bar) - - - -756a6001-5872-411e-9656-4598b09b2715->b890b50e-6907-4f8c-82dd-79f6874ca7b5 - - - - - -2e5caa84-0a1d-4492-8eb9-9325c5bff8ef - -Holding(ADMilk) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->2e5caa84-0a1d-4492-8eb9-9325c5bff8ef - - - - - -6a0dbd1f-dad3-4057-9560-c55e654f8b29 - -At(Robot,MilkDrink) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->6a0dbd1f-dad3-4057-9560-c55e654f8b29 - - - - - -f045b81c-9246-4b92-bc5d-2f2a60da5c74 - -At(Robot,Bar2) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->f045b81c-9246-4b92-bc5d-2f2a60da5c74 - - - - - -e6c2fff2-e61f-4d30-9963-313c507283b4 - -PutDown(ADMilk,Bar) - - - -a3b9edf2-4503-47c3-bb7a-bca0cf082adc->e6c2fff2-e61f-4d30-9963-313c507283b4 - - - - - -67766f45-1eb8-4c6e-a22d-e5d88c305596 - -Holding(ADMilk) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->67766f45-1eb8-4c6e-a22d-e5d88c305596 - - - - - -2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5 - -At(Robot,MilkDrink) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->2d8dfbda-7ac2-4bf3-9d27-6beb723f0cd5 - - - - - -811b780f-ff50-414b-8892-b2088b9aa876 - -At(Robot,Bar2) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->811b780f-ff50-414b-8892-b2088b9aa876 - - - - - -00de2ae3-25f6-4ac9-be9b-c914d52f1d80 - -PutDown(ADMilk,Bar) - - - -b755d127-56e2-4960-ad85-d858ad1c0b93->00de2ae3-25f6-4ac9-be9b-c914d52f1d80 - - - - - -5fa030e4-3735-4786-8df4-f286eb54c507 - -At(Robot,BrightTable6) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->5fa030e4-3735-4786-8df4-f286eb54c507 - - - - - -f1482616-78e8-4d02-bf01-6fef3474cedf - -At(Robot,MilkDrink) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->f1482616-78e8-4d02-bf01-6fef3474cedf - - - - - -a6b9d511-7200-4141-8323-7c9795d6ec62 - -Holding(ADMilk) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->a6b9d511-7200-4141-8323-7c9795d6ec62 - - - - - -fcc60694-2f14-40a0-ad98-009615c14554 - -PutDown(ADMilk,BrightTable) - - - -fdef7b85-e1de-4320-9cf9-1a90f6da09dc->fcc60694-2f14-40a0-ad98-009615c14554 - - - - - -4a2ec554-cacf-4119-b4ff-ca28deecb50a - -At(Robot,BrightTable6) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->4a2ec554-cacf-4119-b4ff-ca28deecb50a - - - - - -b31c21b7-e275-4e18-a29d-94aba02e18b7 - -At(Robot,MilkDrink) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->b31c21b7-e275-4e18-a29d-94aba02e18b7 - - - - - -07bdf2e1-65fc-4eca-b287-f3a27bb9943a - -Holding(ADMilk) - - - -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->07bdf2e1-65fc-4eca-b287-f3a27bb9943a - - - - +ab3c6afd-5817-4454-8f51-96ccca156b32->9e9c45af-405c-45e3-a7e5-6725b025d401 + + + + + +f1b51e83-c071-44af-9d9b-20fdf9526249 + +Holding(Chips) + + + +fbc30aed-25ef-4b3c-9050-c00337a4a468->f1b51e83-c071-44af-9d9b-20fdf9526249 + + + + + +9de2bc28-78c1-4211-bc1e-88cdc51f1c17 + +! + + + +fbc30aed-25ef-4b3c-9050-c00337a4a468->9de2bc28-78c1-4211-bc1e-88cdc51f1c17 + + + + + +07c82e53-159a-4eaf-bafb-2921345123b0 + +RobotNear(Table3) + + + +fbc30aed-25ef-4b3c-9050-c00337a4a468->07c82e53-159a-4eaf-bafb-2921345123b0 + + + + + +9f1477c7-6537-43a6-9f84-9732a48a8db1 + +→ + + + +fbc30aed-25ef-4b3c-9050-c00337a4a468->9f1477c7-6537-43a6-9f84-9732a48a8db1 + + + + + +d682657d-a510-4edf-966b-d54f9a264ae0 + +Holding(Nothing) + + + +9de2bc28-78c1-4211-bc1e-88cdc51f1c17->d682657d-a510-4edf-966b-d54f9a264ae0 + + + + + +bd26e473-3e44-4d48-8b3b-a8aa705d9e6c + +? + + + +9f1477c7-6537-43a6-9f84-9732a48a8db1->bd26e473-3e44-4d48-8b3b-a8aa705d9e6c + + + + -7336e78b-dfe2-49ad-ab03-082ff310e178 - -PutDown(ADMilk,BrightTable) +9ccef0c0-5d87-45d7-8b42-99005220830b + +MoveTo(Table) - + -71e31f7a-6278-45b4-bf59-8ee3b72d5eb3->7336e78b-dfe2-49ad-ab03-082ff310e178 - - - - - -c77bcc04-cc34-4ce3-8419-d78d859202fb - -Holding(ADMilk) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->c77bcc04-cc34-4ce3-8419-d78d859202fb - - - - - -1560a805-7b2e-4fd7-97a1-1e1a07d68c66 - -At(Robot,MilkDrink) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->1560a805-7b2e-4fd7-97a1-1e1a07d68c66 - - - - - -90df8f80-2ddd-4c42-9135-f781ca2c99ed - -At(Robot,CoffeeTable) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->90df8f80-2ddd-4c42-9135-f781ca2c99ed - - - - - -310b5bff-57fc-4048-99c3-4b8755ef4e46 - -PutDown(ADMilk,CoffeeTable) - - - -6f385c7d-ad18-49d2-8d52-42b9fee7ec45->310b5bff-57fc-4048-99c3-4b8755ef4e46 - - - - - -2a110753-7a00-406b-b470-e780bb5785d8 - -Holding(ADMilk) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->2a110753-7a00-406b-b470-e780bb5785d8 - - - - - -50c846c3-53d5-42b5-b66d-93115ece3e6e - -At(Robot,MilkDrink) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->50c846c3-53d5-42b5-b66d-93115ece3e6e - - - - - -bed539fb-82fa-4847-a200-018df318dff2 - -At(Robot,CoffeeTable) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->bed539fb-82fa-4847-a200-018df318dff2 - - - - - -9a6fde0f-1b5e-49c5-b870-3e308e7f460c - -PutDown(ADMilk,CoffeeTable) - - - -e034cb78-c51b-45a9-b086-6dfbbd8837c9->9a6fde0f-1b5e-49c5-b870-3e308e7f460c - - - - - -e85d5cbb-5b61-420a-a815-6568d921baad - -Holding(ADMilk) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->e85d5cbb-5b61-420a-a815-6568d921baad - - - - - -7237eafd-ce32-4249-847b-a5cc536fc1d9 - -At(Robot,MilkDrink) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->7237eafd-ce32-4249-847b-a5cc536fc1d9 - - - - - -d3eab907-ace7-4de5-a647-5bee699778d5 - -At(Robot,Table1) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->d3eab907-ace7-4de5-a647-5bee699778d5 - - - - - -41b241f2-6239-4e66-a9eb-c4a2bd809b2e - -PutDown(ADMilk,Table) - - - -e2dc7578-000a-4e38-a525-93d26ee743b1->41b241f2-6239-4e66-a9eb-c4a2bd809b2e - - - - - -ed384a38-5be1-4604-83b7-958335a6185d - -Holding(ADMilk) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->ed384a38-5be1-4604-83b7-958335a6185d - - - - - -e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a - -At(Robot,MilkDrink) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->e8d5e3ff-d5ad-4a5a-90d6-c198ed06446a - - - - - -2db70426-2b53-4497-b4ca-556a0d01d586 - -At(Robot,Table1) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->2db70426-2b53-4497-b4ca-556a0d01d586 - - - - - -b6f84f8a-e197-47fd-9c6d-738ae6ee42e7 - -PutDown(ADMilk,Table) - - - -a4158887-42f3-4699-b0ee-1da6eef3bd65->b6f84f8a-e197-47fd-9c6d-738ae6ee42e7 - - - - - -25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0 - -Holding(ADMilk) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->25d1b3e3-06ec-43f8-9bdd-c46c68d4b3b0 - - - - - -16d65b39-e95e-4972-b048-a6e7251ba689 - -At(Robot,MilkDrink) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->16d65b39-e95e-4972-b048-a6e7251ba689 - - - - - -089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9 - -At(Robot,Table2) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->089701e1-4c2d-4c25-8fcf-3fa5abb7f8f9 - - - - - -77427661-0eee-4a1e-af10-d769245f7268 - -PutDown(ADMilk,Table) - - - -2e5476e8-c94c-4628-8e50-974a5abbd50b->77427661-0eee-4a1e-af10-d769245f7268 - - - - - -5e849c18-18ee-4ac3-b17c-9168e36406f2 - -Holding(ADMilk) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->5e849c18-18ee-4ac3-b17c-9168e36406f2 - - - - - -82466a6e-61e4-419d-8be1-1aadf126c405 - -At(Robot,MilkDrink) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->82466a6e-61e4-419d-8be1-1aadf126c405 - - - - - -1d858640-7346-4898-9eb3-5e49bb05f1e2 - -At(Robot,Table2) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->1d858640-7346-4898-9eb3-5e49bb05f1e2 - - - - - -7bbadfc4-914b-4e76-b9f8-0ab1f5930ce1 - -PutDown(ADMilk,Table) - - - -b97daea1-259e-4da7-908c-2194b1e4faaf->7bbadfc4-914b-4e76-b9f8-0ab1f5930ce1 - - - - - -320c90f1-9770-4b01-bac3-6698884a67d0 - -Holding(ADMilk) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->320c90f1-9770-4b01-bac3-6698884a67d0 - - - - - -643bbb37-60a5-4abb-8347-2479abbab0c9 - -At(Robot,MilkDrink) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->643bbb37-60a5-4abb-8347-2479abbab0c9 - - - - - -73fb90fb-e136-41c0-b96a-961d1f5618b8 - -At(Robot,Table3) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->73fb90fb-e136-41c0-b96a-961d1f5618b8 - - - - - -bf095964-eed1-4f4d-818b-1884876b036f - -PutDown(ADMilk,Table) - - - -69e00aac-f7bc-4c09-9d13-ef897236102b->bf095964-eed1-4f4d-818b-1884876b036f - - - - - -f36cdeae-df64-4087-828f-0fe7c8dfdfd4 - -Holding(ADMilk) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->f36cdeae-df64-4087-828f-0fe7c8dfdfd4 - - - - - -9fcb2912-5056-454f-8bce-4d11df6a5348 - -At(Robot,MilkDrink) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->9fcb2912-5056-454f-8bce-4d11df6a5348 - - - - - -2dae5760-f6a7-4364-b7cb-652f50b90c83 - -At(Robot,Table3) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->2dae5760-f6a7-4364-b7cb-652f50b90c83 - - - - - -3ce66a5d-6428-42d5-bc64-841446ff2b36 - -PutDown(ADMilk,Table) - - - -2976000f-f58d-477f-8ef0-5bb449c20e74->3ce66a5d-6428-42d5-bc64-841446ff2b36 - - - - - -9270904a-6cec-4caf-ad65-574fa5de72ec - -Holding(ADMilk) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->9270904a-6cec-4caf-ad65-574fa5de72ec - - - - - -c3075fdf-2eb6-4418-aa8b-3aa1959d9045 - -At(Robot,MilkDrink) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->c3075fdf-2eb6-4418-aa8b-3aa1959d9045 - - - - - -f796afb5-ed2d-4825-bb50-929711a0f552 - -At(Robot,WaterTable) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->f796afb5-ed2d-4825-bb50-929711a0f552 - - - - - -26bd79ef-78df-4886-86b9-d7dea70f3e9c - -PutDown(ADMilk,WaterTable) - - - -bfad1e0d-b43d-41a2-bae6-fe2de994b3bc->26bd79ef-78df-4886-86b9-d7dea70f3e9c - - - - - -cb674bdb-7312-4677-a96c-9c6f191dd762 - -Holding(ADMilk) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->cb674bdb-7312-4677-a96c-9c6f191dd762 - - - - - -76478388-380e-4236-8999-f5e7c6afccf6 - -At(Robot,MilkDrink) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->76478388-380e-4236-8999-f5e7c6afccf6 - - - - - -ba8b5826-592f-456b-92a8-e060ab5b16ac - -At(Robot,WaterTable) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->ba8b5826-592f-456b-92a8-e060ab5b16ac - - - - - -2fa942d5-e576-4f09-930c-d948bdae3e42 - -PutDown(ADMilk,WaterTable) - - - -fcf1e90b-19f8-46f4-8bb3-7a75de295c7d->2fa942d5-e576-4f09-930c-d948bdae3e42 - - - - - -8237fd26-b823-4596-958e-9ebeda722a54 - -At(Robot,MilkDrink) - - - -d5cb3020-4e02-4d0d-9148-ea648f2bb9cc->8237fd26-b823-4596-958e-9ebeda722a54 - - - - - -c825a1d6-a5f7-452f-a848-24d15f63414b - -PutDown(Anything,Anywhere) - - - -d5cb3020-4e02-4d0d-9148-ea648f2bb9cc->c825a1d6-a5f7-452f-a848-24d15f63414b - - - - - -d25928c8-1f99-45fe-b7ee-74f10b4f693b - -At(Robot,MilkDrink) - - - -e28ec206-b5b3-4fa6-9e68-48198f269c79->d25928c8-1f99-45fe-b7ee-74f10b4f693b - - - - - -c98a5d3c-9cca-4a65-9916-21883b730200 - -PutDown(Anything,Anywhere) - - - -e28ec206-b5b3-4fa6-9e68-48198f269c79->c98a5d3c-9cca-4a65-9916-21883b730200 - - - - - -02577764-d663-4b32-ad51-80f7cb737c70 - -Holding(Bernachon) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->02577764-d663-4b32-ad51-80f7cb737c70 - - - - - -573e4c1a-9adf-4a2e-8334-7f4b9603017a - -At(Robot,MilkDrink) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->573e4c1a-9adf-4a2e-8334-7f4b9603017a - - - - - -ea552750-a109-466f-961c-0791bf5d30e3 - -At(Robot,Bar) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->ea552750-a109-466f-961c-0791bf5d30e3 - - - - - -8000c9d4-a026-4d6b-9ad9-100af03743d6 - -PutDown(Bernachon,Bar) - - - -27a991b1-f415-4f13-a39a-07e5d8795ea6->8000c9d4-a026-4d6b-9ad9-100af03743d6 - - - - - -413c8a22-430f-400b-b511-f6117cd8d699 - -Holding(Bernachon) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->413c8a22-430f-400b-b511-f6117cd8d699 - - - - - -687e0702-e6e1-436a-866c-f7299042afc3 - -At(Robot,MilkDrink) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->687e0702-e6e1-436a-866c-f7299042afc3 - - - - - -7ab1269e-e35b-4027-b10d-93d6ca701a34 - -At(Robot,Bar) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->7ab1269e-e35b-4027-b10d-93d6ca701a34 - - - - - -fc2c41f0-271a-4371-b3bd-e23dd2d875f9 - -PutDown(Bernachon,Bar) - - - -2c89dc33-6fc6-4051-92a4-a635e8aa64ca->fc2c41f0-271a-4371-b3bd-e23dd2d875f9 - - - - - -6d64bcf2-064b-4eec-8155-a6249d808a9d - -Holding(Bernachon) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->6d64bcf2-064b-4eec-8155-a6249d808a9d - - - - - -e543a2a0-30cb-467f-b928-ea82daf32669 - -At(Robot,MilkDrink) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->e543a2a0-30cb-467f-b928-ea82daf32669 - - - - - -3b5faddc-7688-4cf7-8282-d1ab88e56b1e - -At(Robot,Bar2) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->3b5faddc-7688-4cf7-8282-d1ab88e56b1e - - - - - -d1caa5bc-ddd7-488b-8f7d-712dcfd5a096 - -PutDown(Bernachon,Bar) - - - -63bbcb66-0e65-4d99-a27a-a3587fa49a3f->d1caa5bc-ddd7-488b-8f7d-712dcfd5a096 - - - - - -6ec02829-3e8d-4b90-87f5-91e9d466d127 - -Holding(Bernachon) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->6ec02829-3e8d-4b90-87f5-91e9d466d127 - - - - - -5a6b9b87-c0ff-4237-be5b-29d7f3adc571 - -At(Robot,MilkDrink) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->5a6b9b87-c0ff-4237-be5b-29d7f3adc571 - - - - - -fda32cb2-9479-440b-b0e3-d54e7b855d67 - -At(Robot,Bar2) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->fda32cb2-9479-440b-b0e3-d54e7b855d67 - - - - - -96ed9db2-f11a-436b-ac00-65bcc7089658 - -PutDown(Bernachon,Bar) - - - -af05df4c-a247-45d7-8cb1-0802c22cb65a->96ed9db2-f11a-436b-ac00-65bcc7089658 - - - - - -725da734-2dde-4338-898b-8eb99f31ffb5 - -Holding(Bernachon) - - - -357efdd8-9523-409b-b111-9eba86ebb279->725da734-2dde-4338-898b-8eb99f31ffb5 - - - - - -41cd0dec-c20e-429a-9052-f1e5dc47c3b6 - -At(Robot,BrightTable6) - - - -357efdd8-9523-409b-b111-9eba86ebb279->41cd0dec-c20e-429a-9052-f1e5dc47c3b6 - - - - - -1cc26fcd-14f9-4534-ada7-608f39f271c9 - -At(Robot,MilkDrink) - - - -357efdd8-9523-409b-b111-9eba86ebb279->1cc26fcd-14f9-4534-ada7-608f39f271c9 - - - - - -154c27c1-f26e-4a7c-8fca-821c67c6df4a - -PutDown(Bernachon,BrightTable) - - - -357efdd8-9523-409b-b111-9eba86ebb279->154c27c1-f26e-4a7c-8fca-821c67c6df4a - - - - - -519ab3a9-d5b5-4866-b9c9-1f0cb46e08da - -Holding(Bernachon) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->519ab3a9-d5b5-4866-b9c9-1f0cb46e08da - - - - - -67eec967-9e13-4829-98fc-5ab457415e5a - -At(Robot,BrightTable6) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->67eec967-9e13-4829-98fc-5ab457415e5a - - - - - -94601f3b-0988-4521-b762-858f83a16962 - -At(Robot,MilkDrink) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->94601f3b-0988-4521-b762-858f83a16962 - - - - - -af67d48b-581e-4f8c-9a34-8eb40374279b - -PutDown(Bernachon,BrightTable) - - - -e7690e2b-f63d-448d-8ba4-aa6e073cec63->af67d48b-581e-4f8c-9a34-8eb40374279b - - - - - -e895c1c9-3eeb-43ad-ba9a-6725f830b745 - -Holding(Bernachon) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->e895c1c9-3eeb-43ad-ba9a-6725f830b745 - - - - - -ac039bb1-aa57-40a6-977b-a99ac819540b - -At(Robot,MilkDrink) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->ac039bb1-aa57-40a6-977b-a99ac819540b - - - - - -c72acc87-4595-4401-a157-a2be9de817e5 - -At(Robot,CoffeeTable) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->c72acc87-4595-4401-a157-a2be9de817e5 - - - - - -34a536c6-7969-46e1-be66-d6095f08efd2 - -PutDown(Bernachon,CoffeeTable) - - - -5b0a92b5-c6ea-4905-a031-b4cf236f554e->34a536c6-7969-46e1-be66-d6095f08efd2 - - - - - -f9e4fb11-d429-4a92-94d6-0b767ac5cf7a - -Holding(Bernachon) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->f9e4fb11-d429-4a92-94d6-0b767ac5cf7a - - - - - -42687c93-be97-4a2f-8a09-ce0d9e60a9b8 - -At(Robot,MilkDrink) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->42687c93-be97-4a2f-8a09-ce0d9e60a9b8 - - - - - -ebc5df15-34e5-4af4-94f9-5c21a87636ee - -At(Robot,CoffeeTable) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->ebc5df15-34e5-4af4-94f9-5c21a87636ee - - - - - -dd32cf5f-1639-4090-9fa7-6bb6885b7f7d - -PutDown(Bernachon,CoffeeTable) - - - -c20979c4-e5f5-4227-88a7-e46de769aaff->dd32cf5f-1639-4090-9fa7-6bb6885b7f7d - - - - - -03ceebe1-f789-4e5f-b268-673953e52fe3 - -Holding(Bernachon) - - - -801804ea-2973-4813-a83e-3f967aa37235->03ceebe1-f789-4e5f-b268-673953e52fe3 - - - - - -97bacb8c-9b60-4697-a5b7-f0b5304259c3 - -At(Robot,MilkDrink) - - - -801804ea-2973-4813-a83e-3f967aa37235->97bacb8c-9b60-4697-a5b7-f0b5304259c3 - - - - - -a0a8d458-770b-45f3-a61e-6d6405dc6d86 - -At(Robot,Table1) - - - -801804ea-2973-4813-a83e-3f967aa37235->a0a8d458-770b-45f3-a61e-6d6405dc6d86 - - - - - -78254e3f-21d2-43c4-92f9-de3cb22f82af - -PutDown(Bernachon,Table) - - - -801804ea-2973-4813-a83e-3f967aa37235->78254e3f-21d2-43c4-92f9-de3cb22f82af - - - - - -69d1b556-b51d-4dfd-bcca-9616e33eb3aa - -Holding(Bernachon) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->69d1b556-b51d-4dfd-bcca-9616e33eb3aa - - - - - -ba97a2a9-85c1-49b8-8964-0cb131b28fa0 - -At(Robot,MilkDrink) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->ba97a2a9-85c1-49b8-8964-0cb131b28fa0 - - - - - -8fc4a594-0b2c-465a-a3c5-e61fcc4ec285 - -At(Robot,Table1) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->8fc4a594-0b2c-465a-a3c5-e61fcc4ec285 - - - - - -0c7c68cb-3c00-4f1b-b4ac-159f0febfd94 - -PutDown(Bernachon,Table) - - - -bf96c080-fcb6-4f26-a2c1-31b2d99f9a33->0c7c68cb-3c00-4f1b-b4ac-159f0febfd94 - - - - - -87475a82-c787-4333-b98d-4f5129eb1e2a - -Holding(Bernachon) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->87475a82-c787-4333-b98d-4f5129eb1e2a - - - - - -c4807754-3c85-431a-b6f2-7dd3d51edcc0 - -At(Robot,MilkDrink) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->c4807754-3c85-431a-b6f2-7dd3d51edcc0 - - - - - -22296acb-4dcc-4a73-b12e-2f0a389b8693 - -At(Robot,Table2) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->22296acb-4dcc-4a73-b12e-2f0a389b8693 - - - - - -f7b8591b-61b1-4710-80cb-4c85783da0a5 - -PutDown(Bernachon,Table) - - - -9571a8b5-83c4-447b-9cbc-0d3330767e0f->f7b8591b-61b1-4710-80cb-4c85783da0a5 - - - - - -93033635-ec70-4700-ae88-618d64d20102 - -Holding(Bernachon) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->93033635-ec70-4700-ae88-618d64d20102 - - - - - -b1963276-0f4f-434c-aee3-ab70b690cd02 - -At(Robot,MilkDrink) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->b1963276-0f4f-434c-aee3-ab70b690cd02 - - - - - -74706a24-703f-4efd-ac8c-98440aeb77a9 - -At(Robot,Table2) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->74706a24-703f-4efd-ac8c-98440aeb77a9 - - - - - -488d9b15-98de-41ce-9a9a-acaa95681b1f - -PutDown(Bernachon,Table) - - - -440a9751-9462-4400-a181-b7c27b2a9db7->488d9b15-98de-41ce-9a9a-acaa95681b1f - - - - - -7d87a66e-cf22-41e7-abda-d8985caf68dd - -Holding(Bernachon) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->7d87a66e-cf22-41e7-abda-d8985caf68dd - - - - - -e36801ef-69f3-4c4f-bd53-fbe7cc216d65 - -At(Robot,MilkDrink) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->e36801ef-69f3-4c4f-bd53-fbe7cc216d65 - - - - - -9080702b-8b46-4347-b48c-e64cd1c72594 - -At(Robot,Table3) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->9080702b-8b46-4347-b48c-e64cd1c72594 - - - - - -afb32060-9881-48b5-962f-13a9b26a7062 - -PutDown(Bernachon,Table) - - - -6b084472-7fe5-4a08-be92-dcfe450f1927->afb32060-9881-48b5-962f-13a9b26a7062 - - - - - -7f1d8d28-75a8-4022-94a4-b93b6e7bfe98 - -Holding(Bernachon) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->7f1d8d28-75a8-4022-94a4-b93b6e7bfe98 - - - - - -cca9a968-10ae-43d9-896c-86dc4547f343 - -At(Robot,MilkDrink) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->cca9a968-10ae-43d9-896c-86dc4547f343 - - - - - -afdab362-4166-4654-b049-f4d98fe2a04f - -At(Robot,Table3) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->afdab362-4166-4654-b049-f4d98fe2a04f - - - - - -c6355bfb-1a20-4b57-b1c9-2bbc4549de38 - -PutDown(Bernachon,Table) - - - -43c48a71-5a8e-4432-89b5-43fb12bf680e->c6355bfb-1a20-4b57-b1c9-2bbc4549de38 - - - - - -d0eed6d5-ac3d-4355-afbc-96240ab04004 - -Holding(Bernachon) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->d0eed6d5-ac3d-4355-afbc-96240ab04004 - - - - - -3b3bdda4-8900-4393-baab-4ce40b2c8813 - -At(Robot,MilkDrink) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->3b3bdda4-8900-4393-baab-4ce40b2c8813 - - - - - -ae672419-e000-4454-9daf-12d3bd1e7b7d - -At(Robot,WaterTable) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->ae672419-e000-4454-9daf-12d3bd1e7b7d - - - - - -77db7586-030f-4c38-9c00-6579fd80a558 - -PutDown(Bernachon,WaterTable) - - - -75062b28-a86a-403d-b4f1-d7dd1b4c0ab6->77db7586-030f-4c38-9c00-6579fd80a558 - - - - - -fb099622-2563-4600-a960-b4ef8701b551 - -Holding(Bernachon) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->fb099622-2563-4600-a960-b4ef8701b551 - - - - - -b685bea1-4c45-414a-8757-7f14faba128f - -At(Robot,MilkDrink) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->b685bea1-4c45-414a-8757-7f14faba128f - - - - - -dc45fd1b-9411-49bf-bfc1-8a66a3c693f7 - -At(Robot,WaterTable) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->dc45fd1b-9411-49bf-bfc1-8a66a3c693f7 - - - - - -1225c423-38ba-449e-a0d2-3a3f22047cdc - -PutDown(Bernachon,WaterTable) - - - -36f0492d-b544-43d0-b17e-7ee3cade6e77->1225c423-38ba-449e-a0d2-3a3f22047cdc - - - - - -ad6e0026-3910-4ca0-a538-e2ce2afdd4d8 - -Holding(BottledDrink) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->ad6e0026-3910-4ca0-a538-e2ce2afdd4d8 - - - - - -eb397d43-a93a-418f-9cd7-c76469c32f50 - -At(Robot,MilkDrink) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->eb397d43-a93a-418f-9cd7-c76469c32f50 - - - - - -9c86ebe6-2eb4-4371-ae06-8088d17d1081 - -At(Robot,Bar) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->9c86ebe6-2eb4-4371-ae06-8088d17d1081 - - - - - -97576553-3f2f-429b-ad22-3b48711162cb - -PutDown(BottledDrink,Bar) - - - -df747a34-fd41-4806-a3ac-f48039e2dc10->97576553-3f2f-429b-ad22-3b48711162cb - - - - - -fc2b62b2-2877-44b9-9c71-d1bb7574a290 - -Holding(BottledDrink) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->fc2b62b2-2877-44b9-9c71-d1bb7574a290 - - - - - -4fbdba4b-4e97-427c-abc4-b6088b5c8f18 - -At(Robot,MilkDrink) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->4fbdba4b-4e97-427c-abc4-b6088b5c8f18 - - - - - -ab538a18-032d-4cb5-b9a3-deccc603b16f - -At(Robot,Bar) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->ab538a18-032d-4cb5-b9a3-deccc603b16f - - - - - -e6ee2f3f-35d9-4171-9f0d-04da93b5488e - -PutDown(BottledDrink,Bar) - - - -122635e8-1e6d-4cbc-a883-6a2410f50467->e6ee2f3f-35d9-4171-9f0d-04da93b5488e - - - - - -4cbad523-0beb-4146-b0c2-c83ca3ccf159 - -Holding(BottledDrink) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->4cbad523-0beb-4146-b0c2-c83ca3ccf159 - - - - - -d5655201-cf7f-4b5d-9adc-dc9ee630b287 - -At(Robot,MilkDrink) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->d5655201-cf7f-4b5d-9adc-dc9ee630b287 - - - - - -91dabde5-893a-4b25-9e46-0b72c8325415 - -At(Robot,Bar2) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->91dabde5-893a-4b25-9e46-0b72c8325415 - - - - - -96d238d3-df8c-47b1-9afb-c10e78fee039 - -PutDown(BottledDrink,Bar) - - - -9dc33268-f0e6-4c1a-8a72-13f6b8d4ae77->96d238d3-df8c-47b1-9afb-c10e78fee039 - - - - - -b5f54f3c-823e-4c48-b13d-d780a0eb4eb0 - -Holding(BottledDrink) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->b5f54f3c-823e-4c48-b13d-d780a0eb4eb0 - - - - - -89e04d58-5e69-4910-9f1c-35a6f647f68e - -At(Robot,MilkDrink) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->89e04d58-5e69-4910-9f1c-35a6f647f68e - - - - - -837fe7e8-7646-4f8b-94a1-d8fd0215e587 - -At(Robot,Bar2) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->837fe7e8-7646-4f8b-94a1-d8fd0215e587 - - - - - -5d87d48a-9adf-457b-b12e-19ae7ffe4721 - -PutDown(BottledDrink,Bar) - - - -8a064f9e-0372-4bdf-9465-f7f44414234f->5d87d48a-9adf-457b-b12e-19ae7ffe4721 - - - - - -724a6a93-858a-4e7e-b605-e78f0e69ac8a - -Holding(BottledDrink) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->724a6a93-858a-4e7e-b605-e78f0e69ac8a - - - - - -7ca6a300-46b2-4eb7-ae28-1b1906d6845e - -At(Robot,BrightTable6) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->7ca6a300-46b2-4eb7-ae28-1b1906d6845e - - - - - -f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c - -At(Robot,MilkDrink) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->f02a4cf3-e7e6-4ba7-8785-256c7e2ec67c - - - - - -1c21071a-f698-444c-9a42-4c268226d868 - -PutDown(BottledDrink,BrightTable) - - - -2984bc1c-bcf4-4241-8a4d-43cfa38f3707->1c21071a-f698-444c-9a42-4c268226d868 - - - - - -53fae12e-0601-47d5-955d-235e9035d37a - -Holding(BottledDrink) - - - -afdc5417-4174-4acf-b154-466640f47121->53fae12e-0601-47d5-955d-235e9035d37a - - - - - -745f5376-66fa-43a2-8a10-98a72da73ab5 - -At(Robot,BrightTable6) - - - -afdc5417-4174-4acf-b154-466640f47121->745f5376-66fa-43a2-8a10-98a72da73ab5 - - - - - -d5210238-b942-4771-b053-4aa3a4ac2aa1 - -At(Robot,MilkDrink) - - - -afdc5417-4174-4acf-b154-466640f47121->d5210238-b942-4771-b053-4aa3a4ac2aa1 - - - - - -92c6de1c-420b-43d7-b5cb-4e8d52e7555a - -PutDown(BottledDrink,BrightTable) - - - -afdc5417-4174-4acf-b154-466640f47121->92c6de1c-420b-43d7-b5cb-4e8d52e7555a - - - - - -a3781f75-f61f-44f8-836f-eb07a6f382b8 - -Holding(BottledDrink) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->a3781f75-f61f-44f8-836f-eb07a6f382b8 - - - - - -fc4d957b-0c9c-4dcf-88da-324cd6394653 - -At(Robot,MilkDrink) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->fc4d957b-0c9c-4dcf-88da-324cd6394653 - - - - - -3851ec04-8cd7-4947-864e-4b9911bc1e0c - -At(Robot,CoffeeTable) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->3851ec04-8cd7-4947-864e-4b9911bc1e0c - - - - - -7c56c648-1baf-44c3-a77b-90babbbc26bd - -PutDown(BottledDrink,CoffeeTable) - - - -cd558a0b-9d0f-49ef-b57d-ebd98c7c006b->7c56c648-1baf-44c3-a77b-90babbbc26bd - - - - - -1151ab61-e9ef-4e51-a035-d809aa1296a6 - -Holding(BottledDrink) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->1151ab61-e9ef-4e51-a035-d809aa1296a6 - - - - - -3a8df072-70ec-4ee9-b721-7a3514a82f94 - -At(Robot,MilkDrink) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->3a8df072-70ec-4ee9-b721-7a3514a82f94 - - - - - -bf6d1e19-0973-4321-be7b-0b37527d5d0f - -At(Robot,CoffeeTable) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->bf6d1e19-0973-4321-be7b-0b37527d5d0f - - - - - -58d18c7b-3a89-4dea-a0c0-8515a31327e4 - -PutDown(BottledDrink,CoffeeTable) - - - -81d3a74b-83f1-4c4d-a1f8-a7f9189c6084->58d18c7b-3a89-4dea-a0c0-8515a31327e4 - - - - - -c6d68849-8d9e-4e58-a632-211f052d7171 - -Holding(BottledDrink) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->c6d68849-8d9e-4e58-a632-211f052d7171 - - - - - -39b9a303-a8a1-4d01-b64c-d4f3eabeb452 - -At(Robot,MilkDrink) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->39b9a303-a8a1-4d01-b64c-d4f3eabeb452 - - - - - -e285a7c7-339d-484e-86f8-18309409c93a - -At(Robot,Table1) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->e285a7c7-339d-484e-86f8-18309409c93a - - - - - -2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4 - -PutDown(BottledDrink,Table) - - - -301d7108-c6ac-4732-8b0f-ec1d0bad0d5f->2fe2b1a6-cca6-41ef-a9ed-5d1c6ffeb0b4 - - - - - -2a2cd367-8a05-45c0-9307-f26ede2b6d06 - -Holding(BottledDrink) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->2a2cd367-8a05-45c0-9307-f26ede2b6d06 - - - - - -656887dd-6e1a-41ee-b826-ba4fb808b736 - -At(Robot,MilkDrink) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->656887dd-6e1a-41ee-b826-ba4fb808b736 - - - - - -3b9b258e-6357-4fed-a9ea-05288d22e361 - -At(Robot,Table1) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->3b9b258e-6357-4fed-a9ea-05288d22e361 - - - - - -9ed1223e-bcdb-4f79-bda7-0e836fd191db - -PutDown(BottledDrink,Table) - - - -08c03a7d-7918-4cc1-9d71-9fd983a2791e->9ed1223e-bcdb-4f79-bda7-0e836fd191db - - - - - -02d50255-e1bd-40a0-ac0b-35f604ce6337 - -Holding(BottledDrink) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->02d50255-e1bd-40a0-ac0b-35f604ce6337 - - - - - -a8a996e6-5952-4943-8f67-5047cffcd034 - -At(Robot,MilkDrink) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->a8a996e6-5952-4943-8f67-5047cffcd034 - - - - - -2a943904-3e7d-45db-99a9-37e7c19557b7 - -At(Robot,Table2) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->2a943904-3e7d-45db-99a9-37e7c19557b7 - - - - - -a141c668-9935-4bd1-9b29-715d6f6ed9c5 - -PutDown(BottledDrink,Table) - - - -11ca6a7b-396e-465f-b615-ffd74c1b8cb5->a141c668-9935-4bd1-9b29-715d6f6ed9c5 - - - - - -418c55b1-c4c1-42cc-8520-18ab243969ae - -Holding(BottledDrink) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->418c55b1-c4c1-42cc-8520-18ab243969ae - - - - - -f4ce3704-dec2-4cbf-b732-07fdeadc5674 - -At(Robot,MilkDrink) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->f4ce3704-dec2-4cbf-b732-07fdeadc5674 - - - - - -d96f53d3-bee4-416a-97ac-dbbb6d7b8063 - -At(Robot,Table2) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->d96f53d3-bee4-416a-97ac-dbbb6d7b8063 - - - - - -f37250e2-d2ef-4aa9-8003-3699eed7ed9e - -PutDown(BottledDrink,Table) - - - -b6c81cd7-0872-435a-80d6-bd3d604897fb->f37250e2-d2ef-4aa9-8003-3699eed7ed9e - - - - - -55a70505-ec78-4a04-afdf-880169136439 - -Holding(BottledDrink) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->55a70505-ec78-4a04-afdf-880169136439 - - - - - -ed798200-6abe-4fb5-901a-62b4a90c27b2 - -At(Robot,MilkDrink) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->ed798200-6abe-4fb5-901a-62b4a90c27b2 - - - - - -f2e0e68d-3d71-4197-bcbc-2d194c0a3743 - -At(Robot,Table3) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->f2e0e68d-3d71-4197-bcbc-2d194c0a3743 - - - - - -9877c4e4-b4c4-4616-aa96-b54b03bf67b1 - -PutDown(BottledDrink,Table) - - - -f67b77cd-9389-45fe-a8f1-4289c098799d->9877c4e4-b4c4-4616-aa96-b54b03bf67b1 - - - - - -6f29766a-6d89-4c5d-8950-e682d2f4cec5 - -Holding(BottledDrink) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->6f29766a-6d89-4c5d-8950-e682d2f4cec5 - - - - - -cbf065fa-4104-4d93-ba87-c19811201ebe - -At(Robot,MilkDrink) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->cbf065fa-4104-4d93-ba87-c19811201ebe - - - - - -5c13ff26-19a5-4618-bd0d-3d8b6bab2692 - -At(Robot,Table3) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->5c13ff26-19a5-4618-bd0d-3d8b6bab2692 - - - - - -06475929-2d35-4d63-8152-fafb1b28c32e - -PutDown(BottledDrink,Table) - - - -4add34ee-f120-4eb3-af67-149243dcdeda->06475929-2d35-4d63-8152-fafb1b28c32e - - - - - -84cce6e5-9928-4a41-9035-3683e3a0f4c2 - -Holding(BottledDrink) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->84cce6e5-9928-4a41-9035-3683e3a0f4c2 - - - - - -a95a304b-8e90-48cb-a6c9-3b5cb5952a41 - -At(Robot,MilkDrink) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->a95a304b-8e90-48cb-a6c9-3b5cb5952a41 - - - - - -3390b8fd-8b13-42a3-a824-03d79c36e32f - -At(Robot,WaterTable) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->3390b8fd-8b13-42a3-a824-03d79c36e32f - - - - - -b53ff49d-fbb9-4deb-b6e2-40534b2c7e3c - -PutDown(BottledDrink,WaterTable) - - - -631666d0-f1a3-4829-b1e5-0f1014b89fc6->b53ff49d-fbb9-4deb-b6e2-40534b2c7e3c - - - - - -9eba32e1-2f52-45ed-aa7f-accf8d15e4a3 - -Holding(BottledDrink) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->9eba32e1-2f52-45ed-aa7f-accf8d15e4a3 - - - - - -176c819b-aad1-4c93-bd4b-fd833390e9f0 - -At(Robot,MilkDrink) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->176c819b-aad1-4c93-bd4b-fd833390e9f0 - - - - - -e0be09d1-4942-43f2-ba63-5bf606a4e1df - -At(Robot,WaterTable) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->e0be09d1-4942-43f2-ba63-5bf606a4e1df - - - - - -336cf395-babe-4deb-a486-00cb049e42c2 - -PutDown(BottledDrink,WaterTable) - - - -f010795b-5e39-4b99-861c-5c2e15497d7c->336cf395-babe-4deb-a486-00cb049e42c2 - - - - - -009bfe0a-7f3b-4092-b50d-06998bacec9b - -At(Robot,Bar) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->009bfe0a-7f3b-4092-b50d-06998bacec9b - - - - - -04dad2ed-e8a4-4f2f-85e2-6c10b0b5e7f4 - -At(Robot,MilkDrink) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->04dad2ed-e8a4-4f2f-85e2-6c10b0b5e7f4 - - - - - -4c92047e-bb59-43b4-85e2-f01bd3f7dceb - -Holding(Chips) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->4c92047e-bb59-43b4-85e2-f01bd3f7dceb - - - - - -08e0e5a1-6b98-4cc6-873f-9fce6a5a4247 - -PutDown(Chips,Bar) - - - -71f18db7-c445-4a82-b83a-e506a8f299ef->08e0e5a1-6b98-4cc6-873f-9fce6a5a4247 - - - - - -befb881c-bdd0-4c52-a8b5-55f65b0bfb38 - -At(Robot,Bar) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->befb881c-bdd0-4c52-a8b5-55f65b0bfb38 - - - - - -c09bb02c-ca7e-48e1-8477-172b88551b48 - -At(Robot,MilkDrink) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->c09bb02c-ca7e-48e1-8477-172b88551b48 - - - - - -b0b78610-939f-4daa-998c-661cdc4ec8e6 - -Holding(Chips) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->b0b78610-939f-4daa-998c-661cdc4ec8e6 - - - - - -75dc0070-29ae-4d7a-adf0-4e5f6de232d6 - -PutDown(Chips,Bar) - - - -5806a049-1ed3-4fa3-810a-de002720e69e->75dc0070-29ae-4d7a-adf0-4e5f6de232d6 - - - - - -d85806e2-7879-4e81-a3aa-fd1821aba25e - -At(Robot,MilkDrink) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->d85806e2-7879-4e81-a3aa-fd1821aba25e - - - - - -2fe68a89-c09b-4963-988a-fb3a23097331 - -At(Robot,Bar2) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->2fe68a89-c09b-4963-988a-fb3a23097331 - - - - - -c9acd455-2241-4624-89ae-c2a3f5c2b1bf - -Holding(Chips) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->c9acd455-2241-4624-89ae-c2a3f5c2b1bf - - - - - -df1f7ba2-f06a-4349-902f-7e6b81b89699 - -PutDown(Chips,Bar) - - - -b8d5a85d-7d53-4e72-be33-536705d656af->df1f7ba2-f06a-4349-902f-7e6b81b89699 - - - - - -32a71153-27e6-496a-aae1-49c19ae944c8 - -At(Robot,MilkDrink) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->32a71153-27e6-496a-aae1-49c19ae944c8 - - - - - -04342d9c-b7ac-424d-af41-f2b48f88d66d - -At(Robot,Bar2) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->04342d9c-b7ac-424d-af41-f2b48f88d66d - - - - - -dd8fa3b4-8ce4-4a31-873d-7f8b48a84fcb - -Holding(Chips) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->dd8fa3b4-8ce4-4a31-873d-7f8b48a84fcb - - - - - -345d1cdb-de43-450a-909d-26fd5633fe1e - -PutDown(Chips,Bar) - - - -73fa7b2a-080f-4d64-8194-fbcd58e35eab->345d1cdb-de43-450a-909d-26fd5633fe1e - - - - - -29051318-2fcb-4186-9832-a11c0cc92310 - -At(Robot,BrightTable6) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->29051318-2fcb-4186-9832-a11c0cc92310 - - - - - -f8b0bee9-672d-4652-845c-0c5af0b791bf - -At(Robot,MilkDrink) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->f8b0bee9-672d-4652-845c-0c5af0b791bf - - - - - -e4e5675c-bdd1-46c6-9b65-ffeca4424f43 - -Holding(Chips) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->e4e5675c-bdd1-46c6-9b65-ffeca4424f43 - - - - - -8aefd861-ce3e-4580-8426-ac27a41c7cbf - -PutDown(Chips,BrightTable) - - - -d6121acd-acf6-4736-880c-c4387b5354a0->8aefd861-ce3e-4580-8426-ac27a41c7cbf - - - - - -44d2b6ac-b838-4e44-a188-3835e5ef61c9 - -At(Robot,BrightTable6) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->44d2b6ac-b838-4e44-a188-3835e5ef61c9 - - - - - -8b6b5a9a-bb9f-4e7c-af52-4473e57c76d5 - -At(Robot,MilkDrink) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->8b6b5a9a-bb9f-4e7c-af52-4473e57c76d5 - - - - - -3b8ec281-d66f-4cda-bd74-62f5dbf533f6 - -Holding(Chips) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->3b8ec281-d66f-4cda-bd74-62f5dbf533f6 - - - - - -ceeb47f5-df89-4220-8860-3953fcaf724d - -PutDown(Chips,BrightTable) - - - -05f7db52-a58e-417b-be41-ceeb016304ef->ceeb47f5-df89-4220-8860-3953fcaf724d - - - - - -5772c4c1-42fa-4f88-a1a3-5cb52c706af1 - -At(Robot,MilkDrink) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->5772c4c1-42fa-4f88-a1a3-5cb52c706af1 - - - - - -b68bb5ae-3384-46bb-97a7-6916062c7699 - -At(Robot,CoffeeTable) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->b68bb5ae-3384-46bb-97a7-6916062c7699 - - - - - -ddfc125c-5419-4fb1-865d-75509adf81a7 - -Holding(Chips) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->ddfc125c-5419-4fb1-865d-75509adf81a7 - - - - - -d2e02d00-2dc3-4b94-abb0-c04af4099d79 - -PutDown(Chips,CoffeeTable) - - - -eeaaf0e9-cb7c-4c39-8be4-7584bfe7d9fc->d2e02d00-2dc3-4b94-abb0-c04af4099d79 - - - - - -134d9451-d43f-46f5-a2e8-77011226bce9 - -At(Robot,MilkDrink) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->134d9451-d43f-46f5-a2e8-77011226bce9 - - - - - -b614a618-1c15-4fad-8b56-661885a0c84e - -At(Robot,CoffeeTable) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->b614a618-1c15-4fad-8b56-661885a0c84e - - - - - -d0bcca2a-b241-4ad2-bcad-cd8960a9af0e - -Holding(Chips) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->d0bcca2a-b241-4ad2-bcad-cd8960a9af0e - - - - - -1518a83d-2bd8-4a04-9ea7-ffb13f3fa659 - -PutDown(Chips,CoffeeTable) - - - -2a95fb98-ed2b-4ca8-a2ce-1aff3f6bbca9->1518a83d-2bd8-4a04-9ea7-ffb13f3fa659 - - - - - -1459db2f-cacb-44a8-9d56-e9d724ec3631 - -At(Robot,MilkDrink) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->1459db2f-cacb-44a8-9d56-e9d724ec3631 - - - - - -8d373f15-166e-4548-ba0a-6d6108f85f23 - -Holding(Chips) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->8d373f15-166e-4548-ba0a-6d6108f85f23 - - - - - -eb4d95af-dbd8-4971-94e2-7d8fdfd94fa5 - -At(Robot,Table1) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->eb4d95af-dbd8-4971-94e2-7d8fdfd94fa5 - - - - - -944d260e-b86d-43af-890c-006243ae0955 - -PutDown(Chips,Table) - - - -6ffab00f-911d-47e2-a992-ee1f25ebae95->944d260e-b86d-43af-890c-006243ae0955 - - - - - -54075245-90fe-4fcc-b73b-6079e68e752f - -At(Robot,MilkDrink) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->54075245-90fe-4fcc-b73b-6079e68e752f - - - - - -c93378c1-133c-454c-aec7-a2944fd53adb - -Holding(Chips) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->c93378c1-133c-454c-aec7-a2944fd53adb - - - - - -b2cd1491-4e58-4f41-9ccb-3fcf9de0ac4e - -At(Robot,Table1) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->b2cd1491-4e58-4f41-9ccb-3fcf9de0ac4e - - - - - -83b5ff29-e0c1-4907-a68d-b162372acd82 - -PutDown(Chips,Table) - - - -e7af3f11-ba83-4173-b7d3-46ff1510bd22->83b5ff29-e0c1-4907-a68d-b162372acd82 - - - - - -62e3d172-0b47-4b14-98b6-f384102b5d3e - -At(Robot,MilkDrink) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->62e3d172-0b47-4b14-98b6-f384102b5d3e - - - - - -b215492e-c435-4f8f-9db8-6f4c32b6e337 - -Holding(Chips) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->b215492e-c435-4f8f-9db8-6f4c32b6e337 - - - - - -b4ffe34c-970d-4aba-89da-d670307abe6a - -At(Robot,Table2) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->b4ffe34c-970d-4aba-89da-d670307abe6a - - - - - -6547d751-1a71-4fa0-9caa-38f796a0dda8 - -PutDown(Chips,Table) - - - -6ebac339-c9cb-48e7-a359-e9e02de17c4d->6547d751-1a71-4fa0-9caa-38f796a0dda8 - - - - - -ad914b2f-e3f4-454b-a6e3-2c7775b2a761 - -At(Robot,MilkDrink) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->ad914b2f-e3f4-454b-a6e3-2c7775b2a761 - - - - - -80043e31-227d-4035-aaff-9c7e055a9397 - -Holding(Chips) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->80043e31-227d-4035-aaff-9c7e055a9397 - - - - - -04cd9b74-27a6-4aa3-9450-bd10becfe1fd - -At(Robot,Table2) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->04cd9b74-27a6-4aa3-9450-bd10becfe1fd - - - - - -2fe43a3f-977a-4a20-a3dc-2d8427377377 - -PutDown(Chips,Table) - - - -8fceaf0a-a5e5-443f-9f6b-6959fba51c60->2fe43a3f-977a-4a20-a3dc-2d8427377377 - - - - - -e775f44f-d71a-49f1-935d-9808e4e5b920 - -At(Robot,MilkDrink) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->e775f44f-d71a-49f1-935d-9808e4e5b920 - - - - - -609a9936-2594-4ee1-bf51-0f153e377959 - -Holding(Chips) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->609a9936-2594-4ee1-bf51-0f153e377959 - - - - - -e553cc56-ab56-43b1-9702-238986aba30a - -At(Robot,Table3) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->e553cc56-ab56-43b1-9702-238986aba30a - - - - - -283bf934-d0e7-4fb8-8fb6-675b80a3ab11 - -PutDown(Chips,Table) - - - -22d2ac0f-a289-4782-9598-cbc6b16a8c0d->283bf934-d0e7-4fb8-8fb6-675b80a3ab11 - - - - - -65c93a6d-da01-4eba-9d7a-8d443d0ddec8 - -At(Robot,MilkDrink) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->65c93a6d-da01-4eba-9d7a-8d443d0ddec8 - - - - - -86fa9a54-8a8d-4c97-8e1b-2bfd856a751a - -Holding(Chips) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->86fa9a54-8a8d-4c97-8e1b-2bfd856a751a - - - - - -19298d94-c640-4ff5-a5a5-12e728e1b5fe - -At(Robot,Table3) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->19298d94-c640-4ff5-a5a5-12e728e1b5fe - - - - - -e93e03c9-7fbd-4213-be16-fa395afed8b2 - -PutDown(Chips,Table) - - - -e99ec932-0e7b-493d-accb-27d22f1984fb->e93e03c9-7fbd-4213-be16-fa395afed8b2 - - - - - -276601de-2c7a-426e-a150-932955ab9b25 - -At(Robot,MilkDrink) - - - -717621fe-a713-4acb-a011-5f6b2208018e->276601de-2c7a-426e-a150-932955ab9b25 - - - - - -cc326672-fbd8-46e9-b61e-f23a7a0a669f - -Holding(Chips) - - - -717621fe-a713-4acb-a011-5f6b2208018e->cc326672-fbd8-46e9-b61e-f23a7a0a669f - - - - - -87feb2bd-07bf-448a-bde0-c22c88b9fbaa - -At(Robot,WaterTable) - - - -717621fe-a713-4acb-a011-5f6b2208018e->87feb2bd-07bf-448a-bde0-c22c88b9fbaa - - - - - -b5f94560-ad8e-4eaf-aa4d-28f722c521a2 - -PutDown(Chips,WaterTable) - - - -717621fe-a713-4acb-a011-5f6b2208018e->b5f94560-ad8e-4eaf-aa4d-28f722c521a2 - - - - - -4c697c6b-78a1-44ba-a3dd-18168ac80768 - -At(Robot,MilkDrink) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->4c697c6b-78a1-44ba-a3dd-18168ac80768 - - - - - -c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd - -Holding(Chips) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->c2ec25f0-7c5f-450c-b18e-9ddc2bb2a0bd - - - - - -f9ee5435-c257-4d82-9379-2a87f6c3c542 - -At(Robot,WaterTable) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->f9ee5435-c257-4d82-9379-2a87f6c3c542 - - - - - -ae4baf09-97c1-4bae-884b-a019e9d1c61a - -PutDown(Chips,WaterTable) - - - -612e4682-a1ca-4ffc-9e3e-cd68efbad95d->ae4baf09-97c1-4bae-884b-a019e9d1c61a - - - - - -fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229 - -At(Robot,Bar) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->fb1d94eb-b6d0-4ee9-a5ef-a6cdf10d1229 - - - - - -856a8748-8e67-4964-a329-6f097cce9679 - -At(Robot,MilkDrink) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->856a8748-8e67-4964-a329-6f097cce9679 - - - - - -d556f457-c536-498c-984a-cd0d75ff2602 - -Holding(Coffee) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->d556f457-c536-498c-984a-cd0d75ff2602 - - - - - -368b63e2-05ff-48ee-b882-773f7c92f0f5 - -PutDown(Coffee,Bar) - - - -fb77bc45-cbf4-4248-9bf1-435b0e3a382a->368b63e2-05ff-48ee-b882-773f7c92f0f5 - - - - - -2df363b1-bdfc-444c-861d-4cbbc12cbb43 - -At(Robot,Bar) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->2df363b1-bdfc-444c-861d-4cbbc12cbb43 - - - - - -35a27971-26eb-4607-9be7-931f3e191c48 - -At(Robot,MilkDrink) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->35a27971-26eb-4607-9be7-931f3e191c48 - - - - - -7a192fec-de4a-49ba-aa20-cc106096b553 - -Holding(Coffee) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->7a192fec-de4a-49ba-aa20-cc106096b553 - - - - - -d66b69f8-a687-4d91-b97d-5be912f1f8bf - -PutDown(Coffee,Bar) - - - -b99c7c55-f852-4269-8ffb-092ab98e10d3->d66b69f8-a687-4d91-b97d-5be912f1f8bf - - - - - -4e450471-ddf5-4737-ade1-ef8fc88160e6 - -At(Robot,MilkDrink) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->4e450471-ddf5-4737-ade1-ef8fc88160e6 - - - - - -236ef38a-12b1-4643-81af-8f3d5a6c33d3 - -At(Robot,Bar2) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->236ef38a-12b1-4643-81af-8f3d5a6c33d3 - - - - - -a7678b7d-21a7-4b63-a909-d962de399c0f - -Holding(Coffee) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->a7678b7d-21a7-4b63-a909-d962de399c0f - - - - - -d5f241e2-92f5-44e9-832c-778aeff51353 - -PutDown(Coffee,Bar) - - - -17308f5c-0bdc-482d-886c-b25cf50b01da->d5f241e2-92f5-44e9-832c-778aeff51353 - - - - - -6ec3b45f-727c-4391-b856-9060c33734a1 - -At(Robot,MilkDrink) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->6ec3b45f-727c-4391-b856-9060c33734a1 - - - - - -c255e28d-15b1-42a2-8b0c-8ffa0d00a054 - -At(Robot,Bar2) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->c255e28d-15b1-42a2-8b0c-8ffa0d00a054 - - - - - -78aab831-39eb-4dbd-bf7f-db946322b24f - -Holding(Coffee) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->78aab831-39eb-4dbd-bf7f-db946322b24f - - - - - -86a27146-6efe-4fcd-a5e0-f5ea89b4b69c - -PutDown(Coffee,Bar) - - - -0feb5b3e-82df-4daa-b130-97e0c63e61e7->86a27146-6efe-4fcd-a5e0-f5ea89b4b69c - - - - - -3476c95d-20a0-4898-be64-e2fee5ddb753 - -At(Robot,BrightTable6) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->3476c95d-20a0-4898-be64-e2fee5ddb753 - - - - - -a3478678-e78f-4fa7-a6f1-2adc63cc3b90 - -At(Robot,MilkDrink) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->a3478678-e78f-4fa7-a6f1-2adc63cc3b90 - - - - - -87d2f638-85e9-4297-9345-dc128a563c95 - -Holding(Coffee) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->87d2f638-85e9-4297-9345-dc128a563c95 - - - - - -aba4bcad-ee7d-4a96-8b22-3e653ac87635 - -PutDown(Coffee,BrightTable) - - - -2f171682-c376-4afd-a69d-2a8f724ba403->aba4bcad-ee7d-4a96-8b22-3e653ac87635 - - - - - -b21bc40c-e476-42b4-abc7-01351422612e - -At(Robot,BrightTable6) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->b21bc40c-e476-42b4-abc7-01351422612e - - - - - -2b0cb55f-04ee-474c-a6a8-2bec6278c64e - -At(Robot,MilkDrink) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->2b0cb55f-04ee-474c-a6a8-2bec6278c64e - - - - - -596ec8ae-3905-492c-bc83-de4542f01a9a - -Holding(Coffee) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->596ec8ae-3905-492c-bc83-de4542f01a9a - - - - - -f04d06a5-2970-428d-9f4e-926c3967d845 - -PutDown(Coffee,BrightTable) - - - -dda141b7-3692-4a89-9704-bf0de6254dba->f04d06a5-2970-428d-9f4e-926c3967d845 - - - - - -f171002e-7bc8-4cf5-a213-6df793da506c - -At(Robot,MilkDrink) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->f171002e-7bc8-4cf5-a213-6df793da506c - - - - - -bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c - -At(Robot,CoffeeTable) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->bf3b9f6e-059d-4ae9-a146-7e172b4e3e6c - - - - - -b887fedf-3fe3-4dbd-9f83-9bba594e917a - -Holding(Coffee) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->b887fedf-3fe3-4dbd-9f83-9bba594e917a - - - - - -38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6 - -PutDown(Coffee,CoffeeTable) - - - -8226f96a-1d6f-44af-894b-54d87caf3a11->38a7f0ba-59a2-4d76-ae3d-f9c84f287ce6 - - - - - -45b6b11d-def8-412a-b003-621527798c97 - -At(Robot,MilkDrink) - - - -52dc2495-549a-4640-8f00-d067f870016f->45b6b11d-def8-412a-b003-621527798c97 - - - - - -4ba3e4c5-1205-4d30-9bf2-0b75f138e28e - -At(Robot,CoffeeTable) - - - -52dc2495-549a-4640-8f00-d067f870016f->4ba3e4c5-1205-4d30-9bf2-0b75f138e28e - - - - - -3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253 - -Holding(Coffee) - - - -52dc2495-549a-4640-8f00-d067f870016f->3056c0b5-9ea7-4dcc-b05a-2ad2b55fd253 - - - - - -421c9a42-9aa9-49b4-97e3-c1d5acca0d56 - -PutDown(Coffee,CoffeeTable) - - - -52dc2495-549a-4640-8f00-d067f870016f->421c9a42-9aa9-49b4-97e3-c1d5acca0d56 - - - - - -0ec4b482-e175-48c0-b3f5-224ff172d8c3 - -At(Robot,MilkDrink) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->0ec4b482-e175-48c0-b3f5-224ff172d8c3 - - - - - -8e31cc40-5677-4858-a7db-4120fe2a5d22 - -Holding(Coffee) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->8e31cc40-5677-4858-a7db-4120fe2a5d22 - - - - - -35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62 - -At(Robot,Table1) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->35ef5e0e-bdd4-4b7f-bbe2-d617a5815f62 - - - - - -f165f483-d705-4877-b418-0bca895d3022 - -PutDown(Coffee,Table) - - - -f042bb90-edf8-441a-8b5f-e5919e30622c->f165f483-d705-4877-b418-0bca895d3022 - - - - - -5249ad23-8d25-423f-b97c-409cd8ce051a - -At(Robot,MilkDrink) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->5249ad23-8d25-423f-b97c-409cd8ce051a - - - - - -55b8c55e-a685-4e75-82ab-9255781e9fbf - -Holding(Coffee) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->55b8c55e-a685-4e75-82ab-9255781e9fbf - - - - - -bb26c356-c78f-48bb-90bd-93314b1e21fc - -At(Robot,Table1) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->bb26c356-c78f-48bb-90bd-93314b1e21fc - - - - - -2a9ece59-ddf8-49d4-af03-97228c863780 - -PutDown(Coffee,Table) - - - -16f617b9-bfe1-4915-83b8-3f9855045851->2a9ece59-ddf8-49d4-af03-97228c863780 - - - - - -d05dfe53-2a1c-4bba-aabb-e97c7c47c11a - -At(Robot,MilkDrink) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->d05dfe53-2a1c-4bba-aabb-e97c7c47c11a - - - - - -8a33d123-ae3c-4d9f-8764-46931cc9e4e5 - -Holding(Coffee) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->8a33d123-ae3c-4d9f-8764-46931cc9e4e5 - - - - - -2aed7189-76d6-4973-bf60-e4b132e936ff - -At(Robot,Table2) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->2aed7189-76d6-4973-bf60-e4b132e936ff - - - - - -9103bf50-5938-4d0d-bfe8-cb957871b694 - -PutDown(Coffee,Table) - - - -bd71d929-412f-4dcc-8db2-d86fa0560732->9103bf50-5938-4d0d-bfe8-cb957871b694 - - - - - -2f5a0b69-a872-4e90-8449-b234c4c2bbc1 - -At(Robot,MilkDrink) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->2f5a0b69-a872-4e90-8449-b234c4c2bbc1 - - - - - -12f03018-7d43-4b55-900f-928007d73ebb - -Holding(Coffee) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->12f03018-7d43-4b55-900f-928007d73ebb - - - - - -12575735-4b6e-4562-ada7-c9286bb0e676 - -At(Robot,Table2) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->12575735-4b6e-4562-ada7-c9286bb0e676 - - - - - -ede90fca-65c3-464e-a477-f49829d8cc32 - -PutDown(Coffee,Table) - - - -2d408dfb-4749-4a30-8a3d-06e42c5b7f03->ede90fca-65c3-464e-a477-f49829d8cc32 - - - - - -f7a4257f-784a-49ad-ad79-f677e4814cc1 - -At(Robot,MilkDrink) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->f7a4257f-784a-49ad-ad79-f677e4814cc1 - - - - - -400bad56-b81f-4c6f-95f3-13b3d368775b - -At(Robot,Table3) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->400bad56-b81f-4c6f-95f3-13b3d368775b - - - - - -1cb17cb9-64ff-42d9-a206-d7c40aa87991 - -Holding(Coffee) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->1cb17cb9-64ff-42d9-a206-d7c40aa87991 - - - - - -d759a488-58b3-400c-83b8-867ab1623c13 - -PutDown(Coffee,Table) - - - -22538fba-9a9e-4185-bb00-3394745bc9fc->d759a488-58b3-400c-83b8-867ab1623c13 - - - - - -203eaea7-8ce5-43c6-8256-17c2fd365bc5 - -At(Robot,MilkDrink) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->203eaea7-8ce5-43c6-8256-17c2fd365bc5 - - - - - -4b38504f-df7b-4972-a3d6-d6f335d4e81c - -At(Robot,Table3) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->4b38504f-df7b-4972-a3d6-d6f335d4e81c - - - - - -3f4e7407-0478-468b-a469-f2ceaa31b5f4 - -Holding(Coffee) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->3f4e7407-0478-468b-a469-f2ceaa31b5f4 - - - - - -f9b4bb84-4516-4e3d-ad90-b73f96912388 - -PutDown(Coffee,Table) - - - -defc2569-40fc-4a50-a184-d0362e9d4b32->f9b4bb84-4516-4e3d-ad90-b73f96912388 - - - - - -ed689067-3752-4648-b16d-3edb24fd1b19 - -At(Robot,MilkDrink) - - - -06a64029-ec99-435a-8556-ffe23636b15e->ed689067-3752-4648-b16d-3edb24fd1b19 - - - - - -8285265e-4387-4957-a278-ea65714c9b10 - -At(Robot,WaterTable) - - - -06a64029-ec99-435a-8556-ffe23636b15e->8285265e-4387-4957-a278-ea65714c9b10 - - - - - -26fb2071-f3f9-4ca0-9d08-291907bb2c06 - -Holding(Coffee) - - - -06a64029-ec99-435a-8556-ffe23636b15e->26fb2071-f3f9-4ca0-9d08-291907bb2c06 - - - - - -d3c14ddb-5b7e-49f6-b464-f2ffe917b764 - -PutDown(Coffee,WaterTable) - - - -06a64029-ec99-435a-8556-ffe23636b15e->d3c14ddb-5b7e-49f6-b464-f2ffe917b764 - - - - - -02a087bd-9348-4823-88df-3acbb635138b - -At(Robot,MilkDrink) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->02a087bd-9348-4823-88df-3acbb635138b - - - - - -b81d8430-97c0-42c2-bfbc-2a0f6128302a - -At(Robot,WaterTable) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->b81d8430-97c0-42c2-bfbc-2a0f6128302a - - - - - -ac6a20f4-7295-4964-b647-926215a783d0 - -Holding(Coffee) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->ac6a20f4-7295-4964-b647-926215a783d0 - - - - - -a5d213d1-42e4-42d0-8ed2-80fa863a34ed - -PutDown(Coffee,WaterTable) - - - -1f2e88e1-99ef-4fd3-acec-afa922752c3a->a5d213d1-42e4-42d0-8ed2-80fa863a34ed - - - - - -d28c444b-6fbd-488f-b367-2f5483faa357 - -At(Robot,Bar) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->d28c444b-6fbd-488f-b367-2f5483faa357 - - - - - -1606c400-d9e7-4fec-bb1c-dbfb3cce7a66 - -At(Robot,MilkDrink) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->1606c400-d9e7-4fec-bb1c-dbfb3cce7a66 - - - - - -c1d47a8f-d508-4588-93fd-3960d1602897 - -Holding(Dessert) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->c1d47a8f-d508-4588-93fd-3960d1602897 - - - - - -2e3bf379-7622-4887-b522-c2ccac981785 - -PutDown(Dessert,Bar) - - - -e647a664-bc8e-4a07-83b7-03e9faf31955->2e3bf379-7622-4887-b522-c2ccac981785 - - - - - -e977bb65-738c-449d-9846-719665c20901 - -At(Robot,Bar) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->e977bb65-738c-449d-9846-719665c20901 - - - - - -8db1cd71-f861-4c28-ab16-78c745b79767 - -At(Robot,MilkDrink) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->8db1cd71-f861-4c28-ab16-78c745b79767 - - - - - -fae3a278-1435-4e34-9ca9-74fb347d3665 - -Holding(Dessert) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->fae3a278-1435-4e34-9ca9-74fb347d3665 - - - - - -6a5fc0c8-b0d2-4727-9f81-432710d75c62 - -PutDown(Dessert,Bar) - - - -36b995ea-ee2c-4c4c-a37a-03d724b889e7->6a5fc0c8-b0d2-4727-9f81-432710d75c62 - - - - - -59022140-820f-446e-959f-7b50a24f5a90 - -At(Robot,MilkDrink) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->59022140-820f-446e-959f-7b50a24f5a90 - - - - - -e443b2f2-96cb-4e24-b05f-d8e41c1996b1 - -At(Robot,Bar2) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->e443b2f2-96cb-4e24-b05f-d8e41c1996b1 - - - - - -8decd739-590e-4ffa-91e6-7c057c91e00e - -Holding(Dessert) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->8decd739-590e-4ffa-91e6-7c057c91e00e - - - - - -d10df02b-7447-4ccf-976b-c858aa014385 - -PutDown(Dessert,Bar) - - - -6a3b1484-4986-466b-84c0-ddc7a7fe83de->d10df02b-7447-4ccf-976b-c858aa014385 - - - - - -0c6ff15e-5564-4276-a2a4-96ae578239a1 - -At(Robot,MilkDrink) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->0c6ff15e-5564-4276-a2a4-96ae578239a1 - - - - - -bd218177-55bd-4f4d-8c16-a75c10328546 - -At(Robot,Bar2) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->bd218177-55bd-4f4d-8c16-a75c10328546 - - - - - -bbdc7535-0c2c-4d17-a74b-39c9b05a4fd5 - -Holding(Dessert) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->bbdc7535-0c2c-4d17-a74b-39c9b05a4fd5 - - - - - -34fc1064-e69f-4c19-bdf2-7f675d0acaf1 - -PutDown(Dessert,Bar) - - - -11bc7bef-3652-4e2f-bc5d-801abedb8e66->34fc1064-e69f-4c19-bdf2-7f675d0acaf1 - - - - - -bb326c9c-d106-42f0-b382-baad92171a6a - -At(Robot,BrightTable6) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->bb326c9c-d106-42f0-b382-baad92171a6a - - - - - -d5ada66e-713f-49f3-8609-43b03d2d8476 - -At(Robot,MilkDrink) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->d5ada66e-713f-49f3-8609-43b03d2d8476 - - - - - -c49a2c0d-b333-471d-8927-f3661933fa32 - -Holding(Dessert) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->c49a2c0d-b333-471d-8927-f3661933fa32 - - - - - -51b06cb4-e6d3-4e6b-be0c-dc78b87ec330 - -PutDown(Dessert,BrightTable) - - - -e96a5be4-6b3d-4a0a-a60b-0f3fb431600e->51b06cb4-e6d3-4e6b-be0c-dc78b87ec330 - - - - - -8bf9cff2-ab77-435c-8f43-4b872c826f34 - -At(Robot,BrightTable6) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->8bf9cff2-ab77-435c-8f43-4b872c826f34 - - - - - -2b86fd3a-9820-41b8-8381-310dead2acc7 - -At(Robot,MilkDrink) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->2b86fd3a-9820-41b8-8381-310dead2acc7 - - - - - -98303316-3f61-4114-8264-862d25930208 - -Holding(Dessert) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->98303316-3f61-4114-8264-862d25930208 - - - - - -6404bf62-dc86-4ea7-88d1-41b0567329fe - -PutDown(Dessert,BrightTable) - - - -849b45c5-eb82-4cb0-bab0-3132aad6aa3f->6404bf62-dc86-4ea7-88d1-41b0567329fe - - - - - -70108398-c96d-4c24-9bf7-834bb1e808dd - -At(Robot,MilkDrink) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->70108398-c96d-4c24-9bf7-834bb1e808dd - - - - - -f1789245-bcdc-4196-b24d-ecc675dcbb31 - -At(Robot,CoffeeTable) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->f1789245-bcdc-4196-b24d-ecc675dcbb31 - - - - - -37896eee-adfe-4867-8d1d-50423bc06005 - -Holding(Dessert) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->37896eee-adfe-4867-8d1d-50423bc06005 - - - - - -e037b98a-9a1d-4730-a401-99319b4de181 - -PutDown(Dessert,CoffeeTable) - - - -ad7ba3fc-e265-4f6d-9dbf-5d8a9dab467b->e037b98a-9a1d-4730-a401-99319b4de181 - - - - - -73a96584-309b-4b49-9751-e45ee94fe406 - -At(Robot,MilkDrink) - - - -77bade0b-77da-4514-9834-41a608c1974f->73a96584-309b-4b49-9751-e45ee94fe406 - - - - - -b1d43f5d-22fe-4d22-a55b-99b6a144a869 - -At(Robot,CoffeeTable) - - - -77bade0b-77da-4514-9834-41a608c1974f->b1d43f5d-22fe-4d22-a55b-99b6a144a869 - - - - - -ee99ed68-9e8a-4672-9f27-c62d3f101118 - -Holding(Dessert) - - - -77bade0b-77da-4514-9834-41a608c1974f->ee99ed68-9e8a-4672-9f27-c62d3f101118 - - - - - -7ba4ba3d-291f-448b-b38b-cb4ade9e9505 - -PutDown(Dessert,CoffeeTable) - - - -77bade0b-77da-4514-9834-41a608c1974f->7ba4ba3d-291f-448b-b38b-cb4ade9e9505 - - - - - -7a206ff8-e18e-47af-95e8-1981c3423491 - -At(Robot,MilkDrink) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->7a206ff8-e18e-47af-95e8-1981c3423491 - - - - - -36c9c35f-0031-445b-b014-de1cd50ee2aa - -Holding(Dessert) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->36c9c35f-0031-445b-b014-de1cd50ee2aa - - - - - -a153fa09-89c2-48c5-a0f3-8ace6e5121c5 - -At(Robot,Table1) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->a153fa09-89c2-48c5-a0f3-8ace6e5121c5 - - - - - -8b20e089-3dc1-4e22-9390-5fb87026386e - -PutDown(Dessert,Table) - - - -3adba6e3-fc27-49a4-bc78-75440812688c->8b20e089-3dc1-4e22-9390-5fb87026386e - - - - - -5a5a3184-f03e-458e-b244-7870eb84b726 - -At(Robot,MilkDrink) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->5a5a3184-f03e-458e-b244-7870eb84b726 - - - - - -d701a3fe-ad1c-4e26-bfc6-fc0babebec07 - -Holding(Dessert) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->d701a3fe-ad1c-4e26-bfc6-fc0babebec07 - - - - - -b52943d1-dd8c-4e25-95a1-63424080ffa1 - -At(Robot,Table1) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->b52943d1-dd8c-4e25-95a1-63424080ffa1 - - - - - -7dd80a5d-9e73-496c-850c-464f15669025 - -PutDown(Dessert,Table) - - - -069fa54f-a41b-45d9-822b-8f3b2539e88a->7dd80a5d-9e73-496c-850c-464f15669025 - - - - - -c5c571b5-abac-4e59-a240-ff49e9ca184e - -At(Robot,MilkDrink) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->c5c571b5-abac-4e59-a240-ff49e9ca184e - - - - - -7a2aef31-9a0a-404e-acb4-ae4eb4dfe0cd - -Holding(Dessert) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->7a2aef31-9a0a-404e-acb4-ae4eb4dfe0cd - - - - - -c160fe13-4d3c-468e-8fc0-f2ddc0f7985e - -At(Robot,Table2) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->c160fe13-4d3c-468e-8fc0-f2ddc0f7985e - - - - - -ff421530-9082-4b1e-b3bf-e60fb9a7300b - -PutDown(Dessert,Table) - - - -8da21da2-cbc1-47f8-9d1b-70305c08a72e->ff421530-9082-4b1e-b3bf-e60fb9a7300b - - - - - -83c6b5ac-37e7-4c8e-a921-339f7ead9a79 - -At(Robot,MilkDrink) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->83c6b5ac-37e7-4c8e-a921-339f7ead9a79 - - - - - -3b9026fb-b983-428c-9212-e2826e49f113 - -Holding(Dessert) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->3b9026fb-b983-428c-9212-e2826e49f113 - - - - - -e9cbdfce-a7db-4ff3-a709-8f4e9ed2f5e5 - -At(Robot,Table2) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->e9cbdfce-a7db-4ff3-a709-8f4e9ed2f5e5 - - - - - -71268121-1f84-4271-a207-d8366732d0b9 - -PutDown(Dessert,Table) - - - -51e83888-7f26-4b69-aaa8-56b6e3720008->71268121-1f84-4271-a207-d8366732d0b9 - - - - - -b4a66d2b-e478-44d9-a6e5-a2aa0d8943a6 - -Holding(Dessert) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->b4a66d2b-e478-44d9-a6e5-a2aa0d8943a6 - - - - - -4e3f9c6c-aa2c-4d53-935e-309129a165e5 - -At(Robot,MilkDrink) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->4e3f9c6c-aa2c-4d53-935e-309129a165e5 - - - - - -c1714dd1-f8b7-4f9b-bfb5-e856637caa36 - -At(Robot,Table3) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->c1714dd1-f8b7-4f9b-bfb5-e856637caa36 - - - - - -c2221c01-9ce5-48b7-9718-e055a6c9fca3 - -PutDown(Dessert,Table) - - - -80ed382c-0319-40a5-bee7-d50db3b70c8f->c2221c01-9ce5-48b7-9718-e055a6c9fca3 - - - - - -a3c5c03d-a3c7-4077-8e45-8e7d7cbc3e94 - -Holding(Dessert) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->a3c5c03d-a3c7-4077-8e45-8e7d7cbc3e94 - - - - - -114bc173-00ae-4110-aada-dcdf2be63329 - -At(Robot,MilkDrink) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->114bc173-00ae-4110-aada-dcdf2be63329 - - - - - -8a1b03eb-e116-4376-963c-233332239536 - -At(Robot,Table3) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->8a1b03eb-e116-4376-963c-233332239536 - - - - - -99ebe783-2866-4653-b439-c47c954f629a - -PutDown(Dessert,Table) - - - -9d361140-1b18-4678-ac4e-2f672b61a29b->99ebe783-2866-4653-b439-c47c954f629a - - - - - -209360d6-508f-4fd5-8373-e8804c086229 - -At(Robot,MilkDrink) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->209360d6-508f-4fd5-8373-e8804c086229 - - - - - -74227e1c-b23d-4595-afb2-982048daa339 - -At(Robot,WaterTable) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->74227e1c-b23d-4595-afb2-982048daa339 - - - - - -7f703f8e-44ca-4971-89ee-a54a113e53ab - -Holding(Dessert) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->7f703f8e-44ca-4971-89ee-a54a113e53ab - - - - - -4302ea59-44b4-4386-b396-5437c8cdc950 - -PutDown(Dessert,WaterTable) - - - -f05b937f-3846-4c7f-9ae3-9bc1f90838c7->4302ea59-44b4-4386-b396-5437c8cdc950 - - - - - -619e2a01-991c-4cd3-9dc0-4298abb4a53d - -At(Robot,MilkDrink) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->619e2a01-991c-4cd3-9dc0-4298abb4a53d - - - - - -b97fcc30-5291-4706-8ede-69445784c3f4 - -At(Robot,WaterTable) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->b97fcc30-5291-4706-8ede-69445784c3f4 - - - - - -d4f938b5-d4c2-45a5-95f7-be36c7b80cfd - -Holding(Dessert) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->d4f938b5-d4c2-45a5-95f7-be36c7b80cfd - - - - - -d476ce6a-d765-43af-87ca-da83dcddefca - -PutDown(Dessert,WaterTable) - - - -7b3a59ae-e52a-4211-bbb2-5a12731edeaf->d476ce6a-d765-43af-87ca-da83dcddefca - - - - - -a776c31a-bdce-42fe-a709-5b4cc0899c79 - -At(Robot,Bar) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->a776c31a-bdce-42fe-a709-5b4cc0899c79 - - - - - -efa622c9-a217-4e88-bd8c-88d253671768 - -At(Robot,MilkDrink) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->efa622c9-a217-4e88-bd8c-88d253671768 - - - - - -62c38d17-6777-4a1e-993d-6d2b81acfd4c - -Holding(Milk) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->62c38d17-6777-4a1e-993d-6d2b81acfd4c - - - - - -cf8755fb-7036-4ae3-844d-4d229ec0c475 - -PutDown(Milk,Bar) - - - -8219e4ab-b15b-4bf4-85d6-f90fbcb4c8ba->cf8755fb-7036-4ae3-844d-4d229ec0c475 - - - - - -eb4c845f-39a3-48df-a85a-dab347e07242 - -At(Robot,Bar) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->eb4c845f-39a3-48df-a85a-dab347e07242 - - - - - -6f18f494-7255-44e3-99d7-f038ba150517 - -At(Robot,MilkDrink) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->6f18f494-7255-44e3-99d7-f038ba150517 - - - - - -556d62b1-9f41-4467-a185-de0f5c923616 - -Holding(Milk) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->556d62b1-9f41-4467-a185-de0f5c923616 - - - - - -35e40936-da76-4662-afba-4c55dc53179b - -PutDown(Milk,Bar) - - - -a5aae701-29f9-4ed3-ac07-85c3d3cb020e->35e40936-da76-4662-afba-4c55dc53179b - - - - - -1bd3785e-75e5-4b22-a834-f4d0a1b8a29b - -Holding(Milk) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->1bd3785e-75e5-4b22-a834-f4d0a1b8a29b - - - - - -c10acca9-2bb5-403d-961c-c488f3086d26 - -At(Robot,MilkDrink) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->c10acca9-2bb5-403d-961c-c488f3086d26 - - - - - -c7f29a66-ae99-4180-ae51-afd3727842ff - -At(Robot,Bar2) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->c7f29a66-ae99-4180-ae51-afd3727842ff - - - - - -65a7bf50-7541-4673-9067-f046df384d00 - -PutDown(Milk,Bar) - - - -6d7d98f4-4ac0-4cc4-aa3c-b76b9af8c163->65a7bf50-7541-4673-9067-f046df384d00 - - - - - -28c94a05-231a-49eb-8b1d-629d1eb9ad66 - -Holding(Milk) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->28c94a05-231a-49eb-8b1d-629d1eb9ad66 - - - - - -ea24db7b-d8bd-46b6-81e8-02a46b05a9ae - -At(Robot,MilkDrink) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->ea24db7b-d8bd-46b6-81e8-02a46b05a9ae - - - - - -7645899a-5ff4-4596-89a4-d7cfa11835c0 - -At(Robot,Bar2) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->7645899a-5ff4-4596-89a4-d7cfa11835c0 - - - - - -c60d32c6-bd04-4b12-abcb-f41ab62bc63d - -PutDown(Milk,Bar) - - - -9a75fb5c-b84c-4dad-bc7d-560cf594f2ae->c60d32c6-bd04-4b12-abcb-f41ab62bc63d - - - - - -74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f - -At(Robot,BrightTable6) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->74c7a7a2-9e7a-4fb1-a0e0-ec24814e1d9f - - - - - -2e8a95f0-93cd-453f-b2ff-4ae32f52a549 - -At(Robot,MilkDrink) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->2e8a95f0-93cd-453f-b2ff-4ae32f52a549 - - - - - -a1832156-ed5b-4fa6-9f74-924e87d75e82 - -Holding(Milk) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->a1832156-ed5b-4fa6-9f74-924e87d75e82 - - - - - -b6a216b5-1e61-47dc-8b43-2ad3628547d9 - -PutDown(Milk,BrightTable) - - - -f84c5863-11f4-46c5-8bc6-f5fd8184d6c5->b6a216b5-1e61-47dc-8b43-2ad3628547d9 - - - - - -8236497c-3404-4ef0-8ad6-b5e5579cf1e2 - -At(Robot,BrightTable6) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->8236497c-3404-4ef0-8ad6-b5e5579cf1e2 - - - - - -f88e11eb-ec19-41a1-a739-ef38b34d13a1 - -At(Robot,MilkDrink) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->f88e11eb-ec19-41a1-a739-ef38b34d13a1 - - - - - -0672efa9-be1c-4d0c-9000-d3823ea2ab62 - -Holding(Milk) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->0672efa9-be1c-4d0c-9000-d3823ea2ab62 - - - - - -632885ea-e626-4841-88ba-bc5295493f12 - -PutDown(Milk,BrightTable) - - - -37a8d0f0-e30a-4682-9ba6-cf4c26659b76->632885ea-e626-4841-88ba-bc5295493f12 - - - - - -28c51817-c041-4230-b74a-7ea7e71b3ceb - -At(Robot,MilkDrink) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->28c51817-c041-4230-b74a-7ea7e71b3ceb - - - - - -8df177ad-3c5e-4fac-a2dd-182432f557ad - -At(Robot,CoffeeTable) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->8df177ad-3c5e-4fac-a2dd-182432f557ad - - - - - -81275441-f91f-4fa0-acb7-2b6dc77d56a0 - -Holding(Milk) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->81275441-f91f-4fa0-acb7-2b6dc77d56a0 - - - - - -bb67ee72-c37f-4356-8d1e-a4c330cfd890 - -PutDown(Milk,CoffeeTable) - - - -c4cb6767-97d0-478f-95a0-8c7f0c94ffe8->bb67ee72-c37f-4356-8d1e-a4c330cfd890 - - - - - -921d10ae-0db9-435b-865f-60350c0e7701 - -At(Robot,MilkDrink) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->921d10ae-0db9-435b-865f-60350c0e7701 - - - - - -63c9c538-54c5-4c00-93b6-3087e1a0999d - -At(Robot,CoffeeTable) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->63c9c538-54c5-4c00-93b6-3087e1a0999d - - - - - -6fa3a465-190f-4a6a-9bac-44bda4c807b2 - -Holding(Milk) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->6fa3a465-190f-4a6a-9bac-44bda4c807b2 - - - - - -ba677dec-cf51-4b37-9288-ec712aa55ec6 - -PutDown(Milk,CoffeeTable) - - - -421a9419-d6b0-495e-a038-de34c8e754e7->ba677dec-cf51-4b37-9288-ec712aa55ec6 - - - - - -3c6f644e-33fa-4883-bb38-6a2bdb269356 - -At(Robot,MilkDrink) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->3c6f644e-33fa-4883-bb38-6a2bdb269356 - - - - - -1fce3f97-6c7c-4680-ac2d-ab10d16d85df - -Holding(Milk) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->1fce3f97-6c7c-4680-ac2d-ab10d16d85df - - - - - -a054d6a8-d54c-4d3f-9f6c-2913ce7abda1 - -At(Robot,Table1) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->a054d6a8-d54c-4d3f-9f6c-2913ce7abda1 - - - - - -d9856db9-f380-4ddf-8256-1e33424f14d3 - -PutDown(Milk,Table) - - - -cf9a3de2-ce17-4798-8bfa-9c65676ebd18->d9856db9-f380-4ddf-8256-1e33424f14d3 - - - - - -099bc4a6-4c9c-4810-84d4-f34292b45a55 - -At(Robot,MilkDrink) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->099bc4a6-4c9c-4810-84d4-f34292b45a55 - - - - - -324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9 - -Holding(Milk) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->324ab55c-6cdf-4bf7-a9b8-d260e15ac9b9 - - - - - -275ad62b-53f8-4000-ae2c-a03841d7d1a0 - -At(Robot,Table1) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->275ad62b-53f8-4000-ae2c-a03841d7d1a0 - - - - - -0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0 - -PutDown(Milk,Table) - - - -5822bf6a-c2ba-43b9-9911-9812dbd59a1d->0c2ae43f-e820-4fbb-b2ea-8e9f2aff4cd0 - - - - - -4efee9c9-80f2-416a-81da-ee57a030502b - -At(Robot,MilkDrink) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->4efee9c9-80f2-416a-81da-ee57a030502b - - - - - -3c15f619-00c8-42f3-8ac3-b48df0b545fb - -Holding(Milk) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->3c15f619-00c8-42f3-8ac3-b48df0b545fb - - - - - -0b043419-9d52-4579-9926-50fc7cbf92f3 - -At(Robot,Table2) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->0b043419-9d52-4579-9926-50fc7cbf92f3 - - - - - -5a572088-37ba-43f0-8b5d-cabc1c6cb86f - -PutDown(Milk,Table) - - - -56f4f23e-6247-4a95-a24a-f68435b106a0->5a572088-37ba-43f0-8b5d-cabc1c6cb86f - - - - - -8f11b63d-48f3-42f2-bbe9-2ffc0ec70500 - -At(Robot,MilkDrink) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->8f11b63d-48f3-42f2-bbe9-2ffc0ec70500 - - - - - -5b89c14d-6a8f-4a27-b135-680fcd54aeaf - -Holding(Milk) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->5b89c14d-6a8f-4a27-b135-680fcd54aeaf - - - - - -69fcc082-c389-4581-8ea3-cecba659450e - -At(Robot,Table2) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->69fcc082-c389-4581-8ea3-cecba659450e - - - - - -78b2b832-1b7f-4de0-9746-e50880fedeab - -PutDown(Milk,Table) - - - -04b83ab5-ce5e-41a5-a2f6-e143c80b3d78->78b2b832-1b7f-4de0-9746-e50880fedeab - - - - - -081215cb-6236-440d-9b40-79a307e506a4 - -At(Robot,MilkDrink) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->081215cb-6236-440d-9b40-79a307e506a4 - - - - - -da1ae0dc-5de1-4a25-9219-379f4225c198 - -Holding(Milk) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->da1ae0dc-5de1-4a25-9219-379f4225c198 - - - - - -a4aca557-f0da-4622-9222-48d35a84b1f3 - -At(Robot,Table3) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->a4aca557-f0da-4622-9222-48d35a84b1f3 - - - - - -5c75d86b-1001-41ab-96fe-3a0d38d9e35c - -PutDown(Milk,Table) - - - -2f6eea1d-d934-43d3-93cd-fdc1d0831426->5c75d86b-1001-41ab-96fe-3a0d38d9e35c - - - - - -aba91b8a-5227-49d4-9944-481a861341fd - -At(Robot,MilkDrink) - - - -27773b8d-65c8-4e6d-ab06-367494244607->aba91b8a-5227-49d4-9944-481a861341fd - - - - - -8bd02e40-37f9-4be6-90b8-f188cc34de6d - -Holding(Milk) - - - -27773b8d-65c8-4e6d-ab06-367494244607->8bd02e40-37f9-4be6-90b8-f188cc34de6d - - - - - -03c4e0e0-1287-495a-a249-710aa20d0057 - -At(Robot,Table3) - - - -27773b8d-65c8-4e6d-ab06-367494244607->03c4e0e0-1287-495a-a249-710aa20d0057 - - - - - -252185bd-280b-420b-b678-6ab363f01989 - -PutDown(Milk,Table) - - - -27773b8d-65c8-4e6d-ab06-367494244607->252185bd-280b-420b-b678-6ab363f01989 - - - - - -4cdf5215-82f4-459b-9332-3557f43eb9cc - -At(Robot,MilkDrink) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->4cdf5215-82f4-459b-9332-3557f43eb9cc - - - - - -df036f21-3981-4289-8d6f-8b5078b2df46 - -Holding(Milk) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->df036f21-3981-4289-8d6f-8b5078b2df46 - - - - - -09764188-cdc4-464a-99b2-96d997efd323 - -At(Robot,WaterTable) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->09764188-cdc4-464a-99b2-96d997efd323 - - - - - -e8054da7-b79e-434a-ae68-e3651092e471 - -PutDown(Milk,WaterTable) - - - -220bff31-dda5-4dcb-93f0-3bf117742609->e8054da7-b79e-434a-ae68-e3651092e471 - - - - - -a4b61ca8-71a1-42cd-9d8a-c66a373deb4a - -At(Robot,MilkDrink) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->a4b61ca8-71a1-42cd-9d8a-c66a373deb4a - - - - - -e517b5dc-fa48-43db-84ea-8f2bdf4659f5 - -Holding(Milk) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->e517b5dc-fa48-43db-84ea-8f2bdf4659f5 - - - - - -329f7a75-663a-43e0-a228-e4ed325283ac - -At(Robot,WaterTable) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->329f7a75-663a-43e0-a228-e4ed325283ac - - - - - -576505ff-6e15-4284-900e-6e084ed8a945 - -PutDown(Milk,WaterTable) - - - -076cdf4f-4b91-4404-b936-4bb06705d9da->576505ff-6e15-4284-900e-6e084ed8a945 - - - - - -3bdea8c7-c612-4aae-925e-d27be101daf1 - -Holding(NFCJuice) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->3bdea8c7-c612-4aae-925e-d27be101daf1 - - - - - -f4fdd3a3-2c86-4cb8-903a-8f76a9424b94 - -At(Robot,MilkDrink) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->f4fdd3a3-2c86-4cb8-903a-8f76a9424b94 - - - - - -61783b56-4bd1-49bf-9d85-02bd84711b73 - -At(Robot,Bar) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->61783b56-4bd1-49bf-9d85-02bd84711b73 - - - - - -a234deda-6375-4853-9ac6-8982fa06ef45 - -PutDown(NFCJuice,Bar) - - - -d29a2927-7c93-4f4f-b56e-7240a761d826->a234deda-6375-4853-9ac6-8982fa06ef45 - - - - - -a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac - -Holding(NFCJuice) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->a47cfc8e-e819-4ebd-ad36-ad3fc9dcbcac - - - - - -a9e97936-039b-4658-9e1d-77438208edc5 - -At(Robot,MilkDrink) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->a9e97936-039b-4658-9e1d-77438208edc5 - - - - - -6e6ed82b-16da-4fa0-8a89-3fc55c343b55 - -At(Robot,Bar) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->6e6ed82b-16da-4fa0-8a89-3fc55c343b55 - - - - - -3f6a5853-74f7-4a7c-b881-df6a0830eb94 - -PutDown(NFCJuice,Bar) - - - -446abc1a-03b7-40ee-8e57-8f9d97ec1e82->3f6a5853-74f7-4a7c-b881-df6a0830eb94 - - - - - -05d4078a-5643-4f17-b97b-3e1a1787530b - -Holding(NFCJuice) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->05d4078a-5643-4f17-b97b-3e1a1787530b - - - - - -5f70d628-eab8-428e-90db-e101f06f1b34 - -At(Robot,MilkDrink) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->5f70d628-eab8-428e-90db-e101f06f1b34 - - - - - -b0e6798d-42f1-4267-8d4d-ac65ba080dbd - -At(Robot,Bar2) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->b0e6798d-42f1-4267-8d4d-ac65ba080dbd - - - - - -2538518f-79c8-4142-a2c0-cb30556b3f2d - -PutDown(NFCJuice,Bar) - - - -6ff860a9-64c1-4388-aaeb-fecd8c4715fd->2538518f-79c8-4142-a2c0-cb30556b3f2d - - - - - -43c44907-5235-42ca-8863-f3b79fe709e7 - -Holding(NFCJuice) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->43c44907-5235-42ca-8863-f3b79fe709e7 - - - - - -c595efc7-1ef1-4f27-8406-6107a5f89562 - -At(Robot,MilkDrink) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->c595efc7-1ef1-4f27-8406-6107a5f89562 - - - - - -4d3e7b87-915e-4605-a2e2-17b5430aee22 - -At(Robot,Bar2) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->4d3e7b87-915e-4605-a2e2-17b5430aee22 - - - - - -4a3fd97e-55e3-4d1e-ae7a-bc823f221b1a - -PutDown(NFCJuice,Bar) - - - -1672ffca-eee5-4bc9-a1b1-499a2618328d->4a3fd97e-55e3-4d1e-ae7a-bc823f221b1a - - - - - -e7476a36-5aa6-4c36-8ede-b60436e75186 - -Holding(NFCJuice) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->e7476a36-5aa6-4c36-8ede-b60436e75186 - - - - - -f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3 - -At(Robot,BrightTable6) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->f20bfa03-a5c8-4298-9fd3-937b6ad8b0a3 - - - - - -46f42b47-a4bf-4e34-ba88-d02dc8867411 - -At(Robot,MilkDrink) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->46f42b47-a4bf-4e34-ba88-d02dc8867411 - - - - - -625acbc8-19a5-49e3-b264-51d3e4e1fbcb - -PutDown(NFCJuice,BrightTable) - - - -bb8c7dea-840c-4852-8cae-7ae8b14d3f1f->625acbc8-19a5-49e3-b264-51d3e4e1fbcb - - - - - -501080b1-6821-4a5f-b707-a6c4140f6459 - -Holding(NFCJuice) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->501080b1-6821-4a5f-b707-a6c4140f6459 - - - - - -952eaaf5-e265-47d5-87ee-f150c7800939 - -At(Robot,BrightTable6) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->952eaaf5-e265-47d5-87ee-f150c7800939 - - - - - -8bb7a0ed-e0be-432f-9c1c-93e472503cc8 - -At(Robot,MilkDrink) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->8bb7a0ed-e0be-432f-9c1c-93e472503cc8 - - - - - -c54cccc6-852a-445f-b399-8290abefa361 - -PutDown(NFCJuice,BrightTable) - - - -5be565c5-ba39-43f7-bb33-1f9c8e6740c6->c54cccc6-852a-445f-b399-8290abefa361 - - - - - -4295d49e-9675-4c1a-8546-d6d430c7db25 - -Holding(NFCJuice) - - - -445c6064-cdfd-41e0-9c04-810324a01168->4295d49e-9675-4c1a-8546-d6d430c7db25 - - - - - -1e8ee83e-8373-4f92-8d56-c912a86bf2d9 - -At(Robot,MilkDrink) - - - -445c6064-cdfd-41e0-9c04-810324a01168->1e8ee83e-8373-4f92-8d56-c912a86bf2d9 - - - - - -67c1bdb0-f3fc-48f3-9c89-edea8a2ced9f - -At(Robot,CoffeeTable) - - - -445c6064-cdfd-41e0-9c04-810324a01168->67c1bdb0-f3fc-48f3-9c89-edea8a2ced9f - - - - - -266eaa9a-67d4-4e0b-8947-67b3e8d18a53 - -PutDown(NFCJuice,CoffeeTable) - - - -445c6064-cdfd-41e0-9c04-810324a01168->266eaa9a-67d4-4e0b-8947-67b3e8d18a53 - - - - - -592679ca-4369-4845-81b4-bdf1a5fcc621 - -Holding(NFCJuice) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->592679ca-4369-4845-81b4-bdf1a5fcc621 - - - - - -1527e69a-3ef6-4547-9812-4b74c62d8069 - -At(Robot,MilkDrink) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->1527e69a-3ef6-4547-9812-4b74c62d8069 - - - - - -2e1edf26-ab8d-454a-b8ab-f0f00843092d - -At(Robot,CoffeeTable) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->2e1edf26-ab8d-454a-b8ab-f0f00843092d - - - - - -b591ca05-44a7-47be-a6d0-b0f37071abe5 - -PutDown(NFCJuice,CoffeeTable) - - - -5fed78a9-ace8-466c-983c-da759638e9a0->b591ca05-44a7-47be-a6d0-b0f37071abe5 - - - - - -684aca91-2e21-427d-85cd-49b5682049df - -Holding(NFCJuice) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->684aca91-2e21-427d-85cd-49b5682049df - - - - - -38269190-fa4b-47de-b936-0a0448c04c75 - -At(Robot,MilkDrink) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->38269190-fa4b-47de-b936-0a0448c04c75 - - - - - -813ae4b0-c0a2-41df-9b05-d17a32cafc61 - -At(Robot,Table1) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->813ae4b0-c0a2-41df-9b05-d17a32cafc61 - - - - - -bf1f8ded-be64-4537-9313-4a0899c5601e - -PutDown(NFCJuice,Table) - - - -1da39cf9-d6cb-45e8-a6f1-bb972f7df9ec->bf1f8ded-be64-4537-9313-4a0899c5601e - - - - - -2b9a4980-db12-4dc8-b396-a36f82c34514 - -Holding(NFCJuice) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->2b9a4980-db12-4dc8-b396-a36f82c34514 - - - - - -a39ff5a0-9362-43a7-80dc-aea34336dcd7 - -At(Robot,MilkDrink) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->a39ff5a0-9362-43a7-80dc-aea34336dcd7 - - - - - -5d6923a7-5ed5-4099-87d7-c1d1c1498201 - -At(Robot,Table1) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->5d6923a7-5ed5-4099-87d7-c1d1c1498201 - - - - - -d5bfd386-6a7c-4feb-b3fc-c6f6f2b45a62 - -PutDown(NFCJuice,Table) - - - -49e3ac02-88d5-47c9-abfa-dae8077a1caa->d5bfd386-6a7c-4feb-b3fc-c6f6f2b45a62 - - - - - -e0a36365-d48b-4cc0-9c9b-b19f5ce58766 - -Holding(NFCJuice) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->e0a36365-d48b-4cc0-9c9b-b19f5ce58766 - - - - - -d901693d-b3ec-4a7f-b1af-c4d757463c01 - -At(Robot,MilkDrink) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->d901693d-b3ec-4a7f-b1af-c4d757463c01 - - - - - -181c92c0-52b3-4710-a47b-c6e30ca109c4 - -At(Robot,Table2) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->181c92c0-52b3-4710-a47b-c6e30ca109c4 - - - - - -9f087eca-4d02-40ac-88b6-f3f5b11204af - -PutDown(NFCJuice,Table) - - - -0e9c3cc5-5d3e-4f1c-ad66-5074172514cd->9f087eca-4d02-40ac-88b6-f3f5b11204af - - - - - -99072123-9df2-4d41-88a3-9f50fc19af20 - -Holding(NFCJuice) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->99072123-9df2-4d41-88a3-9f50fc19af20 - - - - - -ce6471a7-af1c-4936-9e72-92520463f7d1 - -At(Robot,MilkDrink) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->ce6471a7-af1c-4936-9e72-92520463f7d1 - - - - - -8773d1cb-6382-4b1d-b003-a851258129c0 - -At(Robot,Table2) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->8773d1cb-6382-4b1d-b003-a851258129c0 - - - - - -4990e99b-3010-40d1-8958-da6a3d989048 - -PutDown(NFCJuice,Table) - - - -b922c65f-f660-4f78-9dc4-6a18e75be857->4990e99b-3010-40d1-8958-da6a3d989048 - - - - - -f53c24d4-01b5-4ee3-8515-96fb04a649b3 - -Holding(NFCJuice) - - - -82c5f771-2516-4796-8391-1e5044fec618->f53c24d4-01b5-4ee3-8515-96fb04a649b3 - - - - - -50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93 - -At(Robot,MilkDrink) - - - -82c5f771-2516-4796-8391-1e5044fec618->50bfb1c4-ad3e-493e-a5dc-9ffd4965bc93 - - - - - -80c44005-0697-4136-aa4b-d3fac3e3ec3d - -At(Robot,Table3) - - - -82c5f771-2516-4796-8391-1e5044fec618->80c44005-0697-4136-aa4b-d3fac3e3ec3d - - - - - -c4520aa6-6cba-4b2a-bd58-80a9c793ebe6 - -PutDown(NFCJuice,Table) - - - -82c5f771-2516-4796-8391-1e5044fec618->c4520aa6-6cba-4b2a-bd58-80a9c793ebe6 - - - - - -bb9973b2-5bf3-4f9d-b4e7-72fb839818a0 - -Holding(NFCJuice) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->bb9973b2-5bf3-4f9d-b4e7-72fb839818a0 - - - - - -3f18e8b0-f5d8-44c3-a17e-5863c5823a52 - -At(Robot,MilkDrink) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->3f18e8b0-f5d8-44c3-a17e-5863c5823a52 - - - - - -4e106b5c-3105-4cf5-877a-9b4e300c125f - -At(Robot,Table3) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->4e106b5c-3105-4cf5-877a-9b4e300c125f - - - - - -70f6baee-8b9e-457b-8428-58b1e87b9b74 - -PutDown(NFCJuice,Table) - - - -ad0d3ae9-0981-4e47-812b-c0a5b7693d85->70f6baee-8b9e-457b-8428-58b1e87b9b74 - - - - - -f0b84a43-7c8d-4098-87d0-341d99bb60c5 - -Holding(NFCJuice) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->f0b84a43-7c8d-4098-87d0-341d99bb60c5 - - - - - -ff670abf-601c-48fd-a1ca-74df090adf2c - -At(Robot,MilkDrink) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->ff670abf-601c-48fd-a1ca-74df090adf2c - - - - - -5383fb95-a009-42d0-9de5-f8af70e75fd4 - -At(Robot,WaterTable) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->5383fb95-a009-42d0-9de5-f8af70e75fd4 - - - - - -89d61dbe-a904-46b6-8679-5ceff96e06ef - -PutDown(NFCJuice,WaterTable) - - - -3627fb8a-9a40-4504-96fc-b17757547d97->89d61dbe-a904-46b6-8679-5ceff96e06ef - - - - - -31980608-7b7f-4674-8176-45002baf5a46 - -Holding(NFCJuice) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->31980608-7b7f-4674-8176-45002baf5a46 - - - - - -dda6304a-3d32-493b-aff6-d18b5f290895 - -At(Robot,MilkDrink) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->dda6304a-3d32-493b-aff6-d18b5f290895 - - - - - -9787d5ac-fef5-42ae-a59a-b7013b0e0ccb - -At(Robot,WaterTable) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->9787d5ac-fef5-42ae-a59a-b7013b0e0ccb - - - - - -528277de-1b77-4397-bfee-89ae346c98fd - -PutDown(NFCJuice,WaterTable) - - - -1a5d8223-505b-427c-9dad-bdb905c62ed6->528277de-1b77-4397-bfee-89ae346c98fd - - - - - -222364cf-56a6-407e-a339-be7cdb472ddc - -At(Robot,Bar) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->222364cf-56a6-407e-a339-be7cdb472ddc - - - - - -b7a21420-0944-4e6a-8f63-4fd4f25ca3ad - -Holding(Softdrink) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->b7a21420-0944-4e6a-8f63-4fd4f25ca3ad - - - - - -db33aa78-b3fb-41a7-b214-0a74187d47a3 - -At(Robot,MilkDrink) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->db33aa78-b3fb-41a7-b214-0a74187d47a3 - - - - - -b59b793c-a86b-4ba9-8958-a9ae9ea20b22 - -PutDown(Softdrink,Bar) - - - -084f9714-e571-4c2c-86e1-ce205a10347f->b59b793c-a86b-4ba9-8958-a9ae9ea20b22 - - - - - -72328d6a-f601-4d1a-a01e-f29537ac5c7a - -At(Robot,Bar) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->72328d6a-f601-4d1a-a01e-f29537ac5c7a - - - - - -f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6 - -Holding(Softdrink) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->f5ce1dd9-8a78-4647-ae19-c1cf8b33b9d6 - - - - - -ae211936-0bd4-47c0-8420-91cf566b5511 - -At(Robot,MilkDrink) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->ae211936-0bd4-47c0-8420-91cf566b5511 - - - - - -acf03e81-2012-4d0b-8c2e-174c9f19a8c4 - -PutDown(Softdrink,Bar) - - - -d1a847b9-2de3-49ad-bda2-f52bc398e6cf->acf03e81-2012-4d0b-8c2e-174c9f19a8c4 - - - - - -57fae6c5-2f97-4751-ae9b-eb1d84d032df - -Holding(Softdrink) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->57fae6c5-2f97-4751-ae9b-eb1d84d032df - - - - - -b3e24e78-fed4-424d-83b4-7d583d5fa5c7 - -At(Robot,MilkDrink) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->b3e24e78-fed4-424d-83b4-7d583d5fa5c7 - - - - - -db6edf72-d407-45b7-ae27-ddb404abae89 - -At(Robot,Bar2) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->db6edf72-d407-45b7-ae27-ddb404abae89 - - - - - -f274860c-b1c8-4094-80ff-6e24801009e3 - -PutDown(Softdrink,Bar) - - - -f216c705-05f3-4814-b99a-dc2cb2d0270a->f274860c-b1c8-4094-80ff-6e24801009e3 - - - - - -320a9762-c370-4655-a652-39d241db9341 - -Holding(Softdrink) - - - -3049d991-2145-4012-bb24-9a9b91caa120->320a9762-c370-4655-a652-39d241db9341 - - - - - -ad96ce95-b70c-485c-adc0-a241d4cce425 - -At(Robot,MilkDrink) - - - -3049d991-2145-4012-bb24-9a9b91caa120->ad96ce95-b70c-485c-adc0-a241d4cce425 - - - - - -b948791b-abb1-4111-b0b0-a4898b9dd35d - -At(Robot,Bar2) - - - -3049d991-2145-4012-bb24-9a9b91caa120->b948791b-abb1-4111-b0b0-a4898b9dd35d - - - - - -609d0323-4aed-474e-90d0-1def19bf90ad - -PutDown(Softdrink,Bar) - - - -3049d991-2145-4012-bb24-9a9b91caa120->609d0323-4aed-474e-90d0-1def19bf90ad - - - - - -dee22561-ad74-4f59-a07a-5a11e228bec3 - -Holding(Softdrink) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->dee22561-ad74-4f59-a07a-5a11e228bec3 - - - - - -0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c - -At(Robot,BrightTable6) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c - - - - - -0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f - -At(Robot,MilkDrink) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->0d0dbd39-d8c0-4b10-8ca1-2b5a465e4a9f - - - - - -dc79c8a3-f0dd-47a3-995a-0b415fb4630b - -PutDown(Softdrink,BrightTable) - - - -12ca484e-1e54-4ff5-8289-77bc6efb6027->dc79c8a3-f0dd-47a3-995a-0b415fb4630b - - - - - -92f92acb-38cb-48dd-ba9e-b4ab17177cb9 - -Holding(Softdrink) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->92f92acb-38cb-48dd-ba9e-b4ab17177cb9 - - - - - -2afb5d86-d5a8-4683-8fbc-18284284bdd2 - -At(Robot,BrightTable6) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->2afb5d86-d5a8-4683-8fbc-18284284bdd2 - - - - - -d886cd5a-0fe5-40e1-bd52-ee8e3c58faca - -At(Robot,MilkDrink) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->d886cd5a-0fe5-40e1-bd52-ee8e3c58faca - - - - - -e4c0ae03-79e5-4469-801a-3b04b92a0017 - -PutDown(Softdrink,BrightTable) - - - -8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7->e4c0ae03-79e5-4469-801a-3b04b92a0017 - - - - - -f7f87c98-0765-46af-ae64-409519a38abc - -Holding(Softdrink) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->f7f87c98-0765-46af-ae64-409519a38abc - - - - - -d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9 - -At(Robot,MilkDrink) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9 - - - - - -7a06b0fb-b544-457d-a693-534297a05e00 - -At(Robot,CoffeeTable) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->7a06b0fb-b544-457d-a693-534297a05e00 - - - - - -628b6758-bd53-41ce-890b-1f51766e780a - -PutDown(Softdrink,CoffeeTable) - - - -0d9cdeea-2854-4ca4-9914-993600dbc841->628b6758-bd53-41ce-890b-1f51766e780a - - - - - -b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5 - -Holding(Softdrink) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->b2bb079f-5c66-4d3a-8ef9-ed57830fa2c5 - - - - - -a4ce4a53-e9ae-4556-bc0c-e4585fdee7db - -At(Robot,MilkDrink) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->a4ce4a53-e9ae-4556-bc0c-e4585fdee7db - - - - - -6f497f79-0e73-4257-928d-14bacf0446c0 - -At(Robot,CoffeeTable) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->6f497f79-0e73-4257-928d-14bacf0446c0 - - - - - -3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2 - -PutDown(Softdrink,CoffeeTable) - - - -23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0->3fd2d1e4-af8f-481a-90b3-ca1beb2ef6a2 - - - - - -fc316e74-31a5-4606-bfab-cd4282b13428 - -Holding(Softdrink) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->fc316e74-31a5-4606-bfab-cd4282b13428 - - - - - -0162a1f7-8e7f-46f1-809e-53d628f1843f - -At(Robot,MilkDrink) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->0162a1f7-8e7f-46f1-809e-53d628f1843f - - - - - -b445ed70-2bd4-4351-887c-a5e0715b9222 - -At(Robot,Table1) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->b445ed70-2bd4-4351-887c-a5e0715b9222 - - - - - -a17591f2-18a0-4964-a0f8-d2e5060a0226 - -PutDown(Softdrink,Table) - - - -2f37605f-c13c-484d-92fe-82a2ef42ff15->a17591f2-18a0-4964-a0f8-d2e5060a0226 - - - - - -eb151fe3-ca7d-4734-844f-2dd1c4487fae - -Holding(Softdrink) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->eb151fe3-ca7d-4734-844f-2dd1c4487fae - - - - - -d53022b0-c3b5-4d7e-8ba4-5108148a962e - -At(Robot,MilkDrink) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->d53022b0-c3b5-4d7e-8ba4-5108148a962e - - - - - -608ecfac-b18a-4893-a92d-77089e8aa7aa - -At(Robot,Table1) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->608ecfac-b18a-4893-a92d-77089e8aa7aa - - - - - -d4031ef2-7958-4493-926c-c291a0fd54dd - -PutDown(Softdrink,Table) - - - -b7a6e89b-f7ea-4ce4-af2b-81a26da8ce57->d4031ef2-7958-4493-926c-c291a0fd54dd - - - - - -7382bc82-8794-4ce9-ae3c-e7c4d18578db - -Holding(Softdrink) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->7382bc82-8794-4ce9-ae3c-e7c4d18578db - - - - - -de312934-d9aa-4d00-8651-1be3da5fad3b - -At(Robot,MilkDrink) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->de312934-d9aa-4d00-8651-1be3da5fad3b - - - - - -1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4 - -At(Robot,Table2) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->1e0a171f-cbbb-4f84-9620-0ab5cbedb9f4 - - - - - -3d4774ae-5250-44c0-91cb-c2bc48f35a5d - -PutDown(Softdrink,Table) - - - -b50458ea-d857-4028-9caf-c6507dbe0367->3d4774ae-5250-44c0-91cb-c2bc48f35a5d - - - - - -2a2766e7-5946-41a7-bd39-d979aa06ffb8 - -Holding(Softdrink) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->2a2766e7-5946-41a7-bd39-d979aa06ffb8 - - - - - -14aa9e0c-1323-44ad-8165-aedfd324fd1d - -At(Robot,MilkDrink) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->14aa9e0c-1323-44ad-8165-aedfd324fd1d - - - - - -17b8b396-b658-4b4a-925e-434f7b7a51a5 - -At(Robot,Table2) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->17b8b396-b658-4b4a-925e-434f7b7a51a5 - - - - - -fdf43840-cab0-4103-abec-53d4b3a255af - -PutDown(Softdrink,Table) - - - -d4985bce-a6ca-4cb2-827e-e983362b068c->fdf43840-cab0-4103-abec-53d4b3a255af - - - - - -02907aec-08a8-488c-af6d-af7342fe21ef - -Holding(Softdrink) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->02907aec-08a8-488c-af6d-af7342fe21ef - - - - - -6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6 - -At(Robot,MilkDrink) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->6d6a0b23-03a9-4e26-90bf-6f5fd292a7a6 - - - - - -888276e9-9554-4e1d-9204-19e08f80ea89 - -At(Robot,Table3) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->888276e9-9554-4e1d-9204-19e08f80ea89 - - - - - -25f5c3b8-d357-468d-80af-626fec91e084 - -PutDown(Softdrink,Table) - - - -239068e0-175e-4121-95b3-629f3ed7a3b3->25f5c3b8-d357-468d-80af-626fec91e084 - - - - - -0794d940-1fe0-4c77-84e3-912cea94a8bc - -Holding(Softdrink) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->0794d940-1fe0-4c77-84e3-912cea94a8bc - - - - - -945612c7-f57a-4ec9-af43-25279ae09636 - -At(Robot,MilkDrink) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->945612c7-f57a-4ec9-af43-25279ae09636 - - - - - -c8bd8055-76f1-4c00-8994-0f7bbc29a0c1 - -At(Robot,Table3) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->c8bd8055-76f1-4c00-8994-0f7bbc29a0c1 - - - - - -05bf0af9-bdd2-4728-8ecb-bad64da80b82 - -PutDown(Softdrink,Table) - - - -de8d8dd3-8a45-4270-93d6-1445de298a55->05bf0af9-bdd2-4728-8ecb-bad64da80b82 - - - - - -d2c44489-8673-489b-8807-137660268945 - -Holding(Softdrink) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->d2c44489-8673-489b-8807-137660268945 - - - - - -7cd3f082-a9cd-4d50-8bf5-922422c866d9 - -At(Robot,MilkDrink) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->7cd3f082-a9cd-4d50-8bf5-922422c866d9 - - - - - -56dc9602-bb98-4646-bd82-d45c385ee363 - -At(Robot,WaterTable) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->56dc9602-bb98-4646-bd82-d45c385ee363 - - - - - -45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4 - -PutDown(Softdrink,WaterTable) - - - -ea8e7829-a651-4f60-9630-aaf0c276de47->45ad3847-6eee-4dbb-a7ca-ec621c5eb1d4 - - - - - -0270da4f-f26d-4807-aab8-1e5dec8cecea - -Holding(Softdrink) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->0270da4f-f26d-4807-aab8-1e5dec8cecea - - - - - -a795d0b6-587b-4019-9b90-7b430e103aba - -At(Robot,MilkDrink) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->a795d0b6-587b-4019-9b90-7b430e103aba - - - - - -65220597-5196-482c-83ab-09a93975a10e - -At(Robot,WaterTable) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->65220597-5196-482c-83ab-09a93975a10e - - - - - -e2a41861-4d7d-46d0-8d27-592888b85149 - -PutDown(Softdrink,WaterTable) - - - -8772262b-ac34-405c-83c5-12205b5a9c7b->e2a41861-4d7d-46d0-8d27-592888b85149 - - - - - -ee05476a-23af-4cc9-91c5-b229199d3d9b - -At(Robot,Bar) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->ee05476a-23af-4cc9-91c5-b229199d3d9b - - - - - -e1afc090-cdd4-4941-8682-65ad01349db8 - -At(Robot,MilkDrink) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->e1afc090-cdd4-4941-8682-65ad01349db8 - - - - - -05ee2dab-3373-4ebf-9d45-fb8060fe89c3 - -Holding(SpringWater) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->05ee2dab-3373-4ebf-9d45-fb8060fe89c3 - - - - - -52e20c98-8487-4fa9-83e5-022d2735cff4 - -PutDown(SpringWater,Bar) - - - -bc6d4582-8733-48ca-b529-47f075bfbb15->52e20c98-8487-4fa9-83e5-022d2735cff4 - - - - - -4edb7a66-401f-46ba-88e6-07557c74fcee - -At(Robot,Bar) - - - -99d4c57d-811f-422a-9b48-348032e3367e->4edb7a66-401f-46ba-88e6-07557c74fcee - - - - - -bc09a933-54d4-40f2-b980-4d187b6a22b4 - -At(Robot,MilkDrink) - - - -99d4c57d-811f-422a-9b48-348032e3367e->bc09a933-54d4-40f2-b980-4d187b6a22b4 - - - - - -4a46276c-d26e-4870-97b8-13608dcecc3b - -Holding(SpringWater) - - - -99d4c57d-811f-422a-9b48-348032e3367e->4a46276c-d26e-4870-97b8-13608dcecc3b - - - - - -2474864f-5715-4cc0-bd55-0839544ff9c9 - -PutDown(SpringWater,Bar) - - - -99d4c57d-811f-422a-9b48-348032e3367e->2474864f-5715-4cc0-bd55-0839544ff9c9 - - - - - -5f939a3b-cb18-41f3-9bfe-610e92fcfc28 - -At(Robot,MilkDrink) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->5f939a3b-cb18-41f3-9bfe-610e92fcfc28 - - - - - -bf317ba3-419a-4247-8137-e442930b0270 - -At(Robot,Bar2) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->bf317ba3-419a-4247-8137-e442930b0270 - - - - - -2a4a6184-f30d-4457-af09-8c333f1dbb64 - -Holding(SpringWater) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->2a4a6184-f30d-4457-af09-8c333f1dbb64 - - - - - -729d0066-206f-44e1-8805-795c19fd3274 - -PutDown(SpringWater,Bar) - - - -c9099537-d4f8-4560-9294-81d4efe65d60->729d0066-206f-44e1-8805-795c19fd3274 - - - - - -4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed - -At(Robot,MilkDrink) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->4c8fb3a9-cee2-4fff-bdf6-582c50cc52ed - - - - - -341af69a-ffad-4254-b2ab-82fb94d76db2 - -At(Robot,Bar2) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->341af69a-ffad-4254-b2ab-82fb94d76db2 - - - - - -cc3f0b1d-14e8-4b26-af03-cb0492f3976b - -Holding(SpringWater) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->cc3f0b1d-14e8-4b26-af03-cb0492f3976b - - - - - -34192e02-d930-45df-a459-6060b3ca6ad2 - -PutDown(SpringWater,Bar) - - - -6b1cee73-6b71-4837-af2b-0d92aaaf535b->34192e02-d930-45df-a459-6060b3ca6ad2 - - - - - -2258db2a-6954-4701-8343-3efb93f77a78 - -At(Robot,BrightTable6) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->2258db2a-6954-4701-8343-3efb93f77a78 - - - - - -58975963-4b93-4678-a67c-cb94a9afea4f - -At(Robot,MilkDrink) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->58975963-4b93-4678-a67c-cb94a9afea4f - - - - - -df313cf4-704e-4a47-a460-c1e65a09fcba - -Holding(SpringWater) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->df313cf4-704e-4a47-a460-c1e65a09fcba - - - - - -2298ce8d-f89a-4267-9457-7ff5c4d93411 - -PutDown(SpringWater,BrightTable) - - - -e94a1a39-1c33-421f-b47f-f9528262fe97->2298ce8d-f89a-4267-9457-7ff5c4d93411 - - - - - -dcb185c2-d797-47c7-985b-39f21fbbc37d - -At(Robot,BrightTable6) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->dcb185c2-d797-47c7-985b-39f21fbbc37d - - - - - -ba0114a7-814f-4b78-be3a-2abf98fbbe65 - -At(Robot,MilkDrink) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->ba0114a7-814f-4b78-be3a-2abf98fbbe65 - - - - - -56274c14-7263-437c-8552-4ff405d760b4 - -Holding(SpringWater) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->56274c14-7263-437c-8552-4ff405d760b4 - - - - - -6e826c09-30f0-484c-8ba0-6ff02861fbb1 - -PutDown(SpringWater,BrightTable) - - - -9c2973f4-bb75-468b-9f23-143f2c28498b->6e826c09-30f0-484c-8ba0-6ff02861fbb1 - - - - - -56eca02f-ab04-40ff-8eda-28d535a08e88 - -At(Robot,MilkDrink) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->56eca02f-ab04-40ff-8eda-28d535a08e88 - - - - - -f323e734-764c-4b43-8f74-dd7fc48b62ab - -At(Robot,CoffeeTable) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->f323e734-764c-4b43-8f74-dd7fc48b62ab - - - - - -3db30fa4-8408-425b-a4ba-c76f7f8d4e7c - -Holding(SpringWater) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->3db30fa4-8408-425b-a4ba-c76f7f8d4e7c - - - - - -3f858b58-a74f-43da-bdd9-b9d5ab28823f - -PutDown(SpringWater,CoffeeTable) - - - -e00ea412-de98-450b-8d57-99c26c5a0840->3f858b58-a74f-43da-bdd9-b9d5ab28823f - - - - - -972c7cf0-6f72-42e1-bc55-56e772876de2 - -At(Robot,MilkDrink) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->972c7cf0-6f72-42e1-bc55-56e772876de2 - - - - - -502867af-b0a6-47c9-a1b1-90d4d83f88d8 - -At(Robot,CoffeeTable) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->502867af-b0a6-47c9-a1b1-90d4d83f88d8 - - - - - -8c68a3e4-32b2-4962-a162-25ba391050dd - -Holding(SpringWater) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->8c68a3e4-32b2-4962-a162-25ba391050dd - - - - - -af790aa2-49b6-4f16-a4c6-2b8968bef3b2 - -PutDown(SpringWater,CoffeeTable) - - - -7f0d0e2d-aec4-46a8-bd42-43af822d8e2f->af790aa2-49b6-4f16-a4c6-2b8968bef3b2 - - - - - -2fcee86b-8750-4113-88d7-04bf9883c9d4 - -At(Robot,MilkDrink) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->2fcee86b-8750-4113-88d7-04bf9883c9d4 - - - - - -310477a5-fde3-4175-a85d-9f635336e9a9 - -Holding(SpringWater) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->310477a5-fde3-4175-a85d-9f635336e9a9 - - - - - -0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb - -At(Robot,Table1) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb - - - - - -c535a73c-565e-4292-945d-4e2450e8232c - -PutDown(SpringWater,Table) - - - -49514a35-2550-4662-ac9f-cb0c8227056e->c535a73c-565e-4292-945d-4e2450e8232c - - - - - -08d7c2c4-ca97-48a0-8422-a547d4cf6132 - -At(Robot,MilkDrink) - - - -684b4f3d-8135-43d5-b21a-699010d98938->08d7c2c4-ca97-48a0-8422-a547d4cf6132 - - - - - -87ad5172-4800-4b6d-968b-90e561977cc2 - -Holding(SpringWater) - - - -684b4f3d-8135-43d5-b21a-699010d98938->87ad5172-4800-4b6d-968b-90e561977cc2 - - - - - -c0bbba4e-f59c-4684-b96a-683363df9cae - -At(Robot,Table1) - - - -684b4f3d-8135-43d5-b21a-699010d98938->c0bbba4e-f59c-4684-b96a-683363df9cae - - - - - -1ab442f2-24e0-436b-979c-c1917829f641 - -PutDown(SpringWater,Table) - - - -684b4f3d-8135-43d5-b21a-699010d98938->1ab442f2-24e0-436b-979c-c1917829f641 - - - - - -c243ff20-0550-4f84-b542-03acd228f6d4 - -At(Robot,MilkDrink) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->c243ff20-0550-4f84-b542-03acd228f6d4 - - - - - -ba37857d-99f3-4b06-b9a2-90a16bbda37d - -Holding(SpringWater) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->ba37857d-99f3-4b06-b9a2-90a16bbda37d - - - - - -620bd279-a0fc-4b57-863d-e68ff5b0581c - -At(Robot,Table2) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->620bd279-a0fc-4b57-863d-e68ff5b0581c - - - - - -3b8e4d40-4c21-4994-8ac5-6d8f009097f9 - -PutDown(SpringWater,Table) - - - -72ffc880-0039-47aa-8270-11742cdc19a2->3b8e4d40-4c21-4994-8ac5-6d8f009097f9 - - - - - -52015462-007a-47f1-b56c-e95932028d14 - -At(Robot,MilkDrink) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->52015462-007a-47f1-b56c-e95932028d14 - - - - - -a361b4b1-e0ea-4e5f-857b-885a82283c18 - -Holding(SpringWater) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->a361b4b1-e0ea-4e5f-857b-885a82283c18 - - - - - -47d4cc33-3c9f-4bbd-9c9c-503d5e355739 - -At(Robot,Table2) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->47d4cc33-3c9f-4bbd-9c9c-503d5e355739 - - - - - -7534013c-3eb0-4b50-9a21-0197c2ee2ec7 - -PutDown(SpringWater,Table) - - - -b35bdd7e-05b2-4388-9251-09e1680d53d1->7534013c-3eb0-4b50-9a21-0197c2ee2ec7 - - - - - -02544ff3-ebc5-4e5f-8ba0-56ca3703ece0 - -At(Robot,MilkDrink) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->02544ff3-ebc5-4e5f-8ba0-56ca3703ece0 - - - - - -41d451ca-fe46-4a02-8fb4-06548e9ba7bb - -At(Robot,Table3) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->41d451ca-fe46-4a02-8fb4-06548e9ba7bb - - - - - -b625f75d-04ce-403f-a034-fa1025e4ab55 - -Holding(SpringWater) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->b625f75d-04ce-403f-a034-fa1025e4ab55 - - - - - -cba7f62f-d9bf-44af-96ff-4ef41fe650f5 - -PutDown(SpringWater,Table) - - - -b2c41091-071e-4e10-a8ae-dd6ed200475d->cba7f62f-d9bf-44af-96ff-4ef41fe650f5 - - - - - -767d3027-6aa2-49e7-b39f-d07853d69595 - -At(Robot,MilkDrink) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->767d3027-6aa2-49e7-b39f-d07853d69595 - - - - - -d04b78c7-eedd-4b19-81c4-d33857e6e90d - -At(Robot,Table3) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->d04b78c7-eedd-4b19-81c4-d33857e6e90d - - - - - -7ad6df93-500c-4b58-bd86-ccfd24d6c812 - -Holding(SpringWater) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->7ad6df93-500c-4b58-bd86-ccfd24d6c812 - - - - - -d310c531-141b-4095-bd1f-1dce2daf01a8 - -PutDown(SpringWater,Table) - - - -e07b9dea-ca10-4ac9-b909-26fa6f6019bb->d310c531-141b-4095-bd1f-1dce2daf01a8 - - - - - -1622185d-444e-4bad-8399-d3760f9d8b59 - -At(Robot,MilkDrink) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->1622185d-444e-4bad-8399-d3760f9d8b59 - - - - - -cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed - -At(Robot,WaterTable) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed - - - - - -2cf4f4d6-9938-4c07-9f4a-3b328ef22e30 - -Holding(SpringWater) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->2cf4f4d6-9938-4c07-9f4a-3b328ef22e30 - - - - - -03d65e54-664e-4653-a1d7-09def6540504 - -PutDown(SpringWater,WaterTable) - - - -9a73cb33-e4ee-4ad6-9437-f630a8c77b5d->03d65e54-664e-4653-a1d7-09def6540504 - - - - - -614b5564-d010-48da-b9ac-133dda848bcc - -At(Robot,MilkDrink) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->614b5564-d010-48da-b9ac-133dda848bcc - - - - - -9ba83ca6-be44-40dc-9297-6a7485490f16 - -At(Robot,WaterTable) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->9ba83ca6-be44-40dc-9297-6a7485490f16 - - - - - -3087ebcc-735d-4fb1-b0dc-d5108e48683c - -Holding(SpringWater) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->3087ebcc-735d-4fb1-b0dc-d5108e48683c - - - - - -16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa - -PutDown(SpringWater,WaterTable) - - - -d4f71d0a-88d5-41c0-9cdb-89c0226d98d2->16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa - - - - - -d4456511-d9e4-4617-8888-ba387374e45c - -Holding(VacuumCup) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->d4456511-d9e4-4617-8888-ba387374e45c - - - - - -a10046f3-89fa-4f32-a9fa-004e547751d1 - -At(Robot,MilkDrink) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->a10046f3-89fa-4f32-a9fa-004e547751d1 - - - - - -38854cab-fc25-4cbc-82ec-c76804088790 - -At(Robot,Bar) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->38854cab-fc25-4cbc-82ec-c76804088790 - - - - - -aea531ac-2d8e-4488-89a2-a8843fe24e88 - -PutDown(VacuumCup,Bar) - - - -09abb069-f5de-4604-9442-7c71db5c76d7->aea531ac-2d8e-4488-89a2-a8843fe24e88 - - - - - -41db3aca-9b44-41fc-8c70-cff675a1d354 - -Holding(VacuumCup) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->41db3aca-9b44-41fc-8c70-cff675a1d354 - - - - - -e0e85872-9168-4a2c-a873-d91e54e70f90 - -At(Robot,MilkDrink) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->e0e85872-9168-4a2c-a873-d91e54e70f90 - - - - - -e26471c3-7aef-48de-b904-65da122b094d - -At(Robot,Bar) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->e26471c3-7aef-48de-b904-65da122b094d - - - - - -cbc0ec81-4c3f-40fa-9259-70982f0e4013 - -PutDown(VacuumCup,Bar) - - - -2e0e5886-1e4c-4076-ab04-0440e549d3de->cbc0ec81-4c3f-40fa-9259-70982f0e4013 - - - - - -1aadf52f-9a59-411d-9ece-c0ae01441c6b - -Holding(VacuumCup) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->1aadf52f-9a59-411d-9ece-c0ae01441c6b - - - - - -d4b0e665-365e-4579-a4b9-b031e6ec6350 - -At(Robot,MilkDrink) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->d4b0e665-365e-4579-a4b9-b031e6ec6350 - - - - - -85dbf418-dd7f-401e-87c2-2857743587cd - -At(Robot,Bar2) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->85dbf418-dd7f-401e-87c2-2857743587cd - - - - - -5db37faa-c062-4910-b1f4-47f7f474d384 - -PutDown(VacuumCup,Bar) - - - -e89b50d4-b8e3-445d-82d5-dae2b19aaf6c->5db37faa-c062-4910-b1f4-47f7f474d384 - - - - - -84bb29d1-f8ac-452b-b8b0-9b94ecff3fd2 - -Holding(VacuumCup) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->84bb29d1-f8ac-452b-b8b0-9b94ecff3fd2 - - - - - -454066cc-6ee9-4094-9277-2a1c097d42f2 - -At(Robot,MilkDrink) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->454066cc-6ee9-4094-9277-2a1c097d42f2 - - - - - -c67cb07a-f957-4e6f-ad33-c316cc5c619d - -At(Robot,Bar2) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->c67cb07a-f957-4e6f-ad33-c316cc5c619d - - - - - -de8fa160-45dc-4e77-adb7-8b79a6a7ac20 - -PutDown(VacuumCup,Bar) - - - -efe36bf8-f916-4053-8988-6d147c9496ac->de8fa160-45dc-4e77-adb7-8b79a6a7ac20 - - - - - -d82bcdc7-9201-42ce-8f8b-60cced91b3ae - -Holding(VacuumCup) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->d82bcdc7-9201-42ce-8f8b-60cced91b3ae - - - - - -42dc86d8-3835-4ba2-bae8-62a5b68d3f7f - -At(Robot,BrightTable6) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->42dc86d8-3835-4ba2-bae8-62a5b68d3f7f - - - - - -1bd28c3a-d13f-4bf8-9605-2919d53abb8f - -At(Robot,MilkDrink) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->1bd28c3a-d13f-4bf8-9605-2919d53abb8f - - - - - -8a95fb5d-34a7-4100-909a-847d72627b99 - -PutDown(VacuumCup,BrightTable) - - - -35c206a4-598d-46d2-a6bb-035dc96e2bc1->8a95fb5d-34a7-4100-909a-847d72627b99 - - - - - -9a1f582f-fdb6-4f3c-a6e6-484faa6fac6f - -Holding(VacuumCup) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->9a1f582f-fdb6-4f3c-a6e6-484faa6fac6f - - - - - -e454845f-437c-4fda-91d0-37e3d2977390 - -At(Robot,BrightTable6) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->e454845f-437c-4fda-91d0-37e3d2977390 - - - - - -4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1 - -At(Robot,MilkDrink) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->4f0be34c-bf0f-4fdc-8f25-b5e046f42cb1 - - - - - -1ba74bf4-ed58-4ca0-9b36-cddd3566e30a - -PutDown(VacuumCup,BrightTable) - - - -1a185175-90e1-4c20-acbe-0f9843f426d2->1ba74bf4-ed58-4ca0-9b36-cddd3566e30a - - - - - -b83947ad-303a-4a7b-907a-32c431fadad9 - -Holding(VacuumCup) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->b83947ad-303a-4a7b-907a-32c431fadad9 - - - - - -1c676707-3e0e-40f7-bf9e-096a8491f50b - -At(Robot,MilkDrink) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->1c676707-3e0e-40f7-bf9e-096a8491f50b - - - - - -7987c153-cf4f-40ce-9550-4218f7378172 - -At(Robot,CoffeeTable) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->7987c153-cf4f-40ce-9550-4218f7378172 - - - - - -01cd3f43-cfb6-4a79-a894-35c21cd1c32f - -PutDown(VacuumCup,CoffeeTable) - - - -e0b06574-32d0-4b86-8918-3722b833ec17->01cd3f43-cfb6-4a79-a894-35c21cd1c32f - - - - - -b1e8c742-75ca-4fae-8177-a43b6051f5d6 - -Holding(VacuumCup) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->b1e8c742-75ca-4fae-8177-a43b6051f5d6 - - - - - -9918cbb3-2c2f-41bf-9592-afaa6e4a3c33 - -At(Robot,MilkDrink) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->9918cbb3-2c2f-41bf-9592-afaa6e4a3c33 - - - - - -36e25fd7-9fba-4937-8651-0bfcab1d443a - -At(Robot,CoffeeTable) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->36e25fd7-9fba-4937-8651-0bfcab1d443a - - - - - -c42fceaa-3bf2-4424-9bbd-1e0f715d3794 - -PutDown(VacuumCup,CoffeeTable) - - - -aa63d770-a886-468f-8809-ed48eadfebb2->c42fceaa-3bf2-4424-9bbd-1e0f715d3794 - - - - - -202c972d-cb94-4e13-96e8-fe08500af2f2 - -Holding(VacuumCup) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->202c972d-cb94-4e13-96e8-fe08500af2f2 - - - - - -3d8ea90e-08e1-4d7c-903a-5a4ec5a892ce - -At(Robot,MilkDrink) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->3d8ea90e-08e1-4d7c-903a-5a4ec5a892ce - - - - - -ce54eea3-d36c-46fb-b348-9acbb1f56ead - -At(Robot,Table1) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->ce54eea3-d36c-46fb-b348-9acbb1f56ead - - - - - -5dffb848-0bd3-4faa-8d13-17a889991686 - -PutDown(VacuumCup,Table) - - - -92a5e112-4316-4491-b2ca-ad7fd121621c->5dffb848-0bd3-4faa-8d13-17a889991686 - - - - - -d991d957-d39a-4322-a03b-b3f31e2acfc8 - -Holding(VacuumCup) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->d991d957-d39a-4322-a03b-b3f31e2acfc8 - - - - - -82195942-bed2-4318-abe8-fba034d50e82 - -At(Robot,MilkDrink) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->82195942-bed2-4318-abe8-fba034d50e82 - - - - - -1bf2487d-2071-4e2e-9c72-8c6d74485470 - -At(Robot,Table1) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->1bf2487d-2071-4e2e-9c72-8c6d74485470 - - - - - -149b5d4a-3f42-4ba9-bf46-809e84c65d4d - -PutDown(VacuumCup,Table) - - - -6bebc286-6272-4c7c-a129-e6b73d81f610->149b5d4a-3f42-4ba9-bf46-809e84c65d4d - - - - - -cada4d5e-0ede-4611-a159-4e52ad43049c - -Holding(VacuumCup) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->cada4d5e-0ede-4611-a159-4e52ad43049c - - - - - -6dc74268-687d-4a1c-a7a9-57e85e3f0c04 - -At(Robot,MilkDrink) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->6dc74268-687d-4a1c-a7a9-57e85e3f0c04 - - - - - -f4699daa-83d0-4b89-9d6b-568a9e74177b - -At(Robot,Table2) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->f4699daa-83d0-4b89-9d6b-568a9e74177b - - - - - -1c960a11-115c-4c32-839d-bd17238e5f2d - -PutDown(VacuumCup,Table) - - - -b42ab8f3-33e0-465e-b7d3-ba6531b65454->1c960a11-115c-4c32-839d-bd17238e5f2d - - - - - -151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8 - -Holding(VacuumCup) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->151dbe2d-4d6a-4e9f-831f-b2b1fd777fa8 - - - - - -ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262 - -At(Robot,MilkDrink) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->ecaa3c1e-139e-4a91-b2bc-f10e6d6ad262 - - - - - -db42eef3-1481-4e39-847e-465a787b8efb - -At(Robot,Table2) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->db42eef3-1481-4e39-847e-465a787b8efb - - - - - -69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd - -PutDown(VacuumCup,Table) - - - -6c610ed6-d81e-48c4-92f1-292e12a072c3->69be6fb7-2f2f-4ca3-a4e4-bde6e6fa39bd - - - - - -76648e65-3e98-42b0-a9f6-09e04f485291 - -Holding(VacuumCup) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->76648e65-3e98-42b0-a9f6-09e04f485291 - - - - - -010183a1-2d3b-405a-864a-dabf06c6004b - -At(Robot,MilkDrink) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->010183a1-2d3b-405a-864a-dabf06c6004b - - - - - -ff315594-61bf-4080-b619-26f6918532d6 - -At(Robot,Table3) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->ff315594-61bf-4080-b619-26f6918532d6 - - - - - -e5b75134-ca4c-4326-8486-6b9254ca99cc - -PutDown(VacuumCup,Table) - - - -45ed0621-17b6-4d47-af1d-c877c9e79efe->e5b75134-ca4c-4326-8486-6b9254ca99cc - - - - - -c87d4cfb-5b38-4284-9f91-3656e2b73991 - -Holding(VacuumCup) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->c87d4cfb-5b38-4284-9f91-3656e2b73991 - - - - - -b8448e85-23c5-4139-98e8-ac83091409fb - -At(Robot,MilkDrink) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->b8448e85-23c5-4139-98e8-ac83091409fb - - - - - -9f251026-b6ef-430c-9a22-29432608fc39 - -At(Robot,Table3) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->9f251026-b6ef-430c-9a22-29432608fc39 - - - - - -7df7692d-99d5-4214-a41f-cec825f20b30 - -PutDown(VacuumCup,Table) - - - -3c66aa9f-8895-4188-8f96-143f1597f946->7df7692d-99d5-4214-a41f-cec825f20b30 - - - - - -743eaee0-f0e9-4f25-a32a-fef08c4d9ef5 - -Holding(VacuumCup) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->743eaee0-f0e9-4f25-a32a-fef08c4d9ef5 - - - - - -a3828ca5-3d8c-46f9-8f0f-457a17b1a76d - -At(Robot,MilkDrink) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->a3828ca5-3d8c-46f9-8f0f-457a17b1a76d - - - - - -eb6b17fe-749f-4780-b491-5ea51e4cd5eb - -At(Robot,WaterTable) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->eb6b17fe-749f-4780-b491-5ea51e4cd5eb - - - - - -6ec5f791-5705-4de3-9ea6-4054ff67a025 - -PutDown(VacuumCup,WaterTable) - - - -fbe19be3-6809-480c-81b2-f5edc3656124->6ec5f791-5705-4de3-9ea6-4054ff67a025 - - - - - -3d6dc336-d873-48cf-8d31-02ac16443ecd - -Holding(VacuumCup) - - - -044b416d-9024-4fc5-9074-28cc1e219166->3d6dc336-d873-48cf-8d31-02ac16443ecd - - - - - -42777d91-a6cf-43f0-92cd-f67022f0973c - -At(Robot,MilkDrink) - - - -044b416d-9024-4fc5-9074-28cc1e219166->42777d91-a6cf-43f0-92cd-f67022f0973c - - - - - -6143feec-a65b-4699-8599-b1aee490e77c - -At(Robot,WaterTable) - - - -044b416d-9024-4fc5-9074-28cc1e219166->6143feec-a65b-4699-8599-b1aee490e77c - - - - - -e6f83acb-cda5-4f98-9458-4049949ab160 - -PutDown(VacuumCup,WaterTable) - - - -044b416d-9024-4fc5-9074-28cc1e219166->e6f83acb-cda5-4f98-9458-4049949ab160 - - - - - -694177fe-9f5e-4123-b083-5b4751f6f442 - -At(Robot,Bar) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->694177fe-9f5e-4123-b083-5b4751f6f442 - - - - - -7a451830-1fe1-42cc-b3b5-d46f1b4b8321 - -At(Robot,MilkDrink) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->7a451830-1fe1-42cc-b3b5-d46f1b4b8321 - - - - - -558c90e8-60ab-4507-a54a-075d9a6d2d3b - -Holding(Water) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->558c90e8-60ab-4507-a54a-075d9a6d2d3b - - - - - -6e1c80f3-7d65-4322-a3bc-30146da58fdb - -PutDown(Water,Bar) - - - -4b4fd5b6-75e8-405e-be78-323ecdae5a66->6e1c80f3-7d65-4322-a3bc-30146da58fdb - - - - - -296b609d-efe4-4d20-9eda-f5e8bba7bc70 - -At(Robot,Bar) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->296b609d-efe4-4d20-9eda-f5e8bba7bc70 - - - - - -4959404b-4361-4913-b221-1f8bed81c3e7 - -At(Robot,MilkDrink) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->4959404b-4361-4913-b221-1f8bed81c3e7 - - - - - -d64c7e72-44d3-4535-bcb4-5dd0fed4ea9c - -Holding(Water) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->d64c7e72-44d3-4535-bcb4-5dd0fed4ea9c - - - - - -266c84cf-48ec-4a26-b2ba-bd8c296a1618 - -PutDown(Water,Bar) - - - -7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c->266c84cf-48ec-4a26-b2ba-bd8c296a1618 - - - - - -d9936918-4ece-4624-b22c-5c66256db847 - -At(Robot,MilkDrink) - - - -17d116fa-d989-42a4-b043-de195065c60e->d9936918-4ece-4624-b22c-5c66256db847 - - - - - -1d56bf44-2744-4dcc-b6d4-91c78f344ce6 - -At(Robot,Bar2) - - - -17d116fa-d989-42a4-b043-de195065c60e->1d56bf44-2744-4dcc-b6d4-91c78f344ce6 - - - - - -b5334596-0aed-4f64-aaa4-ec6c11f6e25e - -Holding(Water) - - - -17d116fa-d989-42a4-b043-de195065c60e->b5334596-0aed-4f64-aaa4-ec6c11f6e25e - - - - - -0bb622ce-c466-4bb9-90e8-af0c3ddf907d - -PutDown(Water,Bar) - - - -17d116fa-d989-42a4-b043-de195065c60e->0bb622ce-c466-4bb9-90e8-af0c3ddf907d - - - - - -3354b75b-cc76-4cda-9770-a5c1977761e2 - -At(Robot,MilkDrink) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->3354b75b-cc76-4cda-9770-a5c1977761e2 - - - - - -e56766f1-08b3-496a-bf14-b1876d983c54 - -At(Robot,Bar2) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->e56766f1-08b3-496a-bf14-b1876d983c54 - - - - - -f780f035-028c-46e1-beda-cc39532e9b21 - -Holding(Water) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->f780f035-028c-46e1-beda-cc39532e9b21 - - - - - -5b799be4-7e7d-4cfe-8037-b9549dfd153c - -PutDown(Water,Bar) - - - -d4389079-5bd0-4c46-92d7-0a4e1c1e927b->5b799be4-7e7d-4cfe-8037-b9549dfd153c - - - - - -2866a276-fda0-47c8-9d3e-3b2fe969754b - -At(Robot,BrightTable6) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->2866a276-fda0-47c8-9d3e-3b2fe969754b - - - - - -9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa - -At(Robot,MilkDrink) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa - - - - - -51e6516a-d4c1-4554-9583-af62ed9b6a2f - -Holding(Water) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->51e6516a-d4c1-4554-9583-af62ed9b6a2f - - - - - -6657a394-1a55-477f-b546-13699adb1e23 - -PutDown(Water,BrightTable) - - - -3f3b5a0a-6392-467f-acce-ace7fbb9ed0a->6657a394-1a55-477f-b546-13699adb1e23 - - - - - -95499daf-f31a-407d-96a0-dfd1a96ada66 - -At(Robot,BrightTable6) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->95499daf-f31a-407d-96a0-dfd1a96ada66 - - - - - -be320366-ddfb-44f9-980b-328fd3d7bbd5 - -At(Robot,MilkDrink) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->be320366-ddfb-44f9-980b-328fd3d7bbd5 - - - - - -ebfd746b-6a57-47dd-8195-9d2aa2ba7136 - -Holding(Water) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->ebfd746b-6a57-47dd-8195-9d2aa2ba7136 - - - - - -a3636b9f-9a91-4c2d-af22-686a3ff85c53 - -PutDown(Water,BrightTable) - - - -77d586d6-bc67-4563-a15e-3928cbc26b24->a3636b9f-9a91-4c2d-af22-686a3ff85c53 - - - - - -cd1ef48c-fc85-41d6-948e-1cd29f837b2f - -At(Robot,MilkDrink) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->cd1ef48c-fc85-41d6-948e-1cd29f837b2f - - - - - -46f026de-579b-4df8-84f1-45ff206e27e1 - -At(Robot,CoffeeTable) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->46f026de-579b-4df8-84f1-45ff206e27e1 - - - - - -22ac92e2-4a74-4b68-a2bb-f57888ea1bb3 - -Holding(Water) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->22ac92e2-4a74-4b68-a2bb-f57888ea1bb3 - - - - - -52aa0f09-8832-4464-947d-777d892bed7c - -PutDown(Water,CoffeeTable) - - - -e2faab08-d439-4885-b5b3-31888d7340b8->52aa0f09-8832-4464-947d-777d892bed7c - - - - - -15863c9f-1af6-4e76-a0c2-5d57df330050 - -At(Robot,MilkDrink) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->15863c9f-1af6-4e76-a0c2-5d57df330050 - - - - - -820ae417-9903-407b-9c6d-7ae492feb56a - -At(Robot,CoffeeTable) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->820ae417-9903-407b-9c6d-7ae492feb56a - - - - - -c34b9c16-28cc-484b-826f-f33ba8320a99 - -Holding(Water) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->c34b9c16-28cc-484b-826f-f33ba8320a99 - - - - - -0641ab56-65f0-4fe7-81bf-4401c6fa53f8 - -PutDown(Water,CoffeeTable) - - - -849fa983-1b4e-4d76-beef-ca4e796c8a9a->0641ab56-65f0-4fe7-81bf-4401c6fa53f8 - - - - - -77e16726-5c22-4a4d-94a4-f43da1fd144d - -At(Robot,MilkDrink) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->77e16726-5c22-4a4d-94a4-f43da1fd144d - - - - - -1fb93402-bfc6-44a2-a028-9fc1ffddb029 - -Holding(Water) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->1fb93402-bfc6-44a2-a028-9fc1ffddb029 - - - - - -fdf64c83-e637-4a5e-b69f-5946f279ea57 - -At(Robot,Table1) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->fdf64c83-e637-4a5e-b69f-5946f279ea57 - - - - - -2e74eaae-564c-4122-a820-e567c4ecbe40 - -PutDown(Water,Table) - - - -1d43c9f2-d8fc-4a80-b6c2-b956024ab12b->2e74eaae-564c-4122-a820-e567c4ecbe40 - - - - - -83a3853a-125e-4a91-a9ab-57d309728bba - -At(Robot,MilkDrink) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->83a3853a-125e-4a91-a9ab-57d309728bba - - - - - -84186ce2-c1b7-4ef6-9109-945de019f079 - -Holding(Water) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->84186ce2-c1b7-4ef6-9109-945de019f079 - - - - - -425ee3fe-7450-49f9-8247-0285acf1f167 - -At(Robot,Table1) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->425ee3fe-7450-49f9-8247-0285acf1f167 - - - - - -aa917211-37cf-49b0-bf0a-dca5ce834671 - -PutDown(Water,Table) - - - -45674565-5923-4558-8a0e-adb8b4a4b972->aa917211-37cf-49b0-bf0a-dca5ce834671 - - - - - -25d671e0-3aa3-417a-bc58-aa4e3dc52ee9 - -At(Robot,MilkDrink) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->25d671e0-3aa3-417a-bc58-aa4e3dc52ee9 - - - - - -e0d06a58-41b8-410a-aa28-37c1655b5554 - -Holding(Water) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->e0d06a58-41b8-410a-aa28-37c1655b5554 - - - - - -b97b1628-c67e-40f3-bcd0-61c9b944ddad - -At(Robot,Table2) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->b97b1628-c67e-40f3-bcd0-61c9b944ddad - - - - - -4d49f275-d4f4-4ba9-80c1-0c3b6c648049 - -PutDown(Water,Table) - - - -61a8ee4e-3b21-4659-b131-03e1b491208e->4d49f275-d4f4-4ba9-80c1-0c3b6c648049 - - - - - -9ce83898-0ff3-42b5-8184-0101cc66fbe5 - -At(Robot,MilkDrink) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->9ce83898-0ff3-42b5-8184-0101cc66fbe5 - - - - - -639c0bc7-4fa9-4e49-a048-6f38638a2417 - -Holding(Water) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->639c0bc7-4fa9-4e49-a048-6f38638a2417 - - - - - -880d66ce-f0af-4be4-9c58-bf3054b0d1cc - -At(Robot,Table2) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->880d66ce-f0af-4be4-9c58-bf3054b0d1cc - - - - - -77997d4c-4e88-4ae4-aaa3-b72b8710e6c6 - -PutDown(Water,Table) - - - -c3e3bc6b-abea-432f-881f-b2bcb4ec8583->77997d4c-4e88-4ae4-aaa3-b72b8710e6c6 - - - - - -e9080429-7c99-4df5-b825-0f0770498f16 - -Holding(Water) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->e9080429-7c99-4df5-b825-0f0770498f16 - - - - - -782aad36-90f9-488c-a691-26532dd542fd - -At(Robot,MilkDrink) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->782aad36-90f9-488c-a691-26532dd542fd - - - - - -e373504f-e087-4410-9061-1137ed56825f - -At(Robot,Table3) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->e373504f-e087-4410-9061-1137ed56825f - - - - - -69a8a418-6dbf-48f7-a663-0b4127114130 - -PutDown(Water,Table) - - - -59dfbfeb-cc0c-4470-bcc6-a979ec692ae0->69a8a418-6dbf-48f7-a663-0b4127114130 - - - - - -92084ed5-8524-46e0-961d-703dbe487699 - -Holding(Water) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->92084ed5-8524-46e0-961d-703dbe487699 - - - - - -6eb9e04c-6a9d-4f64-92ff-676a7aea2f9b - -At(Robot,MilkDrink) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->6eb9e04c-6a9d-4f64-92ff-676a7aea2f9b - - - - - -0896cfb9-a6eb-4837-8346-78a86cf613f0 - -At(Robot,Table3) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->0896cfb9-a6eb-4837-8346-78a86cf613f0 - - - - - -65b0d726-0409-428c-8b8b-22d53a3fd0ec - -PutDown(Water,Table) - - - -e6043768-cfe5-46ff-aa0b-bb6ca65e8dca->65b0d726-0409-428c-8b8b-22d53a3fd0ec - - - - - -7d080312-0324-4d3e-9f6f-102f66511609 - -At(Robot,MilkDrink) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->7d080312-0324-4d3e-9f6f-102f66511609 - - - - - -3a746544-2ac9-4331-a4e8-cb4ee783a38e - -At(Robot,WaterTable) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->3a746544-2ac9-4331-a4e8-cb4ee783a38e - - - - - -37176558-ba15-4575-95b7-898ab21899ee - -Holding(Water) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->37176558-ba15-4575-95b7-898ab21899ee - - - - - -eaae25b0-09b7-4197-a9b3-6d74ff4dd43a - -PutDown(Water,WaterTable) - - - -dbcb3204-73c2-41c4-8a1f-03af244e4083->eaae25b0-09b7-4197-a9b3-6d74ff4dd43a - - - - - -4320d013-656e-4a92-af3c-e57661c2d322 - -At(Robot,MilkDrink) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->4320d013-656e-4a92-af3c-e57661c2d322 - - - - - -2188d5c9-a68d-4829-b596-4575aa5c87ab - -At(Robot,WaterTable) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->2188d5c9-a68d-4829-b596-4575aa5c87ab - - - - - -c4771104-b3d3-4c59-a0af-715af862e993 - -Holding(Water) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->c4771104-b3d3-4c59-a0af-715af862e993 - - - - - -44f6f4e7-586d-4925-a8f7-8b90b77eb8b6 - -PutDown(Water,WaterTable) - - - -b528681e-d3fd-476a-8cbb-934962f797ae->44f6f4e7-586d-4925-a8f7-8b90b77eb8b6 - - - - - -2f0dea77-a122-4e39-aa63-9d2cc2a13fdb - -At(Robot,Bar) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->2f0dea77-a122-4e39-aa63-9d2cc2a13fdb - - - - - -3cc18d74-2ee0-48fa-9efd-3a71f843c75b - -At(Robot,MilkDrink) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->3cc18d74-2ee0-48fa-9efd-3a71f843c75b - - - - - -6e913e47-6945-4b8f-bf45-4f733689c66d - -Holding(Yogurt) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->6e913e47-6945-4b8f-bf45-4f733689c66d - - - - - -b309d72d-b6f0-4d7e-b933-24632412fc86 - -PutDown(Yogurt,Bar) - - - -94623d1a-1547-4ed1-91e4-1cf0e6b19849->b309d72d-b6f0-4d7e-b933-24632412fc86 - - - - - -ceb250b5-2895-4c9d-ae9a-3c465fa840ff - -At(Robot,Bar) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->ceb250b5-2895-4c9d-ae9a-3c465fa840ff - - - - - -ae548252-eac5-4a4b-89b1-6e884c8119a8 - -At(Robot,MilkDrink) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->ae548252-eac5-4a4b-89b1-6e884c8119a8 - - - - - -2f45fcb2-583f-4047-b4e4-173869ea8413 - -Holding(Yogurt) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->2f45fcb2-583f-4047-b4e4-173869ea8413 - - - - - -4773ac69-34bb-4041-980a-32a7ce5f291d - -PutDown(Yogurt,Bar) - - - -7a1fc321-4713-4c8e-93b3-aceea7d82213->4773ac69-34bb-4041-980a-32a7ce5f291d - - - - - -abacc14e-77bd-44c5-91ed-5d0f5aa2a693 - -At(Robot,MilkDrink) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->abacc14e-77bd-44c5-91ed-5d0f5aa2a693 - - - - - -9d82a01e-58e2-4269-a5bb-aa7710351603 - -At(Robot,Bar2) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->9d82a01e-58e2-4269-a5bb-aa7710351603 - - - - - -5aa66463-5a39-4527-a9f3-502e98abf763 - -Holding(Yogurt) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->5aa66463-5a39-4527-a9f3-502e98abf763 - - - - - -f9c44207-7575-42a1-a5a3-d23769791470 - -PutDown(Yogurt,Bar) - - - -faed04dc-d3a3-40cc-a3ed-c36d7bce3973->f9c44207-7575-42a1-a5a3-d23769791470 - - - - - -61d854ac-c872-4f6e-a6d1-8b150a0664d1 - -At(Robot,MilkDrink) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->61d854ac-c872-4f6e-a6d1-8b150a0664d1 - - - - - -0d310813-3c10-4394-9c56-e7901cd6900f - -At(Robot,Bar2) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->0d310813-3c10-4394-9c56-e7901cd6900f - - - - - -52425751-eb6e-4acf-885a-27c0018f87f2 - -Holding(Yogurt) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->52425751-eb6e-4acf-885a-27c0018f87f2 - - - - - -3f639023-5290-4a08-9f66-d7f9c46b07bb - -PutDown(Yogurt,Bar) - - - -04bd552a-9522-48e5-88fe-a16de4802e30->3f639023-5290-4a08-9f66-d7f9c46b07bb - - - - - -8640dede-bf2c-4c77-87cf-10bbef8b4488 - -At(Robot,BrightTable6) - - - -e73735c1-7249-4329-b075-305da0f26094->8640dede-bf2c-4c77-87cf-10bbef8b4488 - - - - - -16f27b74-c3a2-4cf3-9f9b-4719cb6988e8 - -At(Robot,MilkDrink) - - - -e73735c1-7249-4329-b075-305da0f26094->16f27b74-c3a2-4cf3-9f9b-4719cb6988e8 - - - - - -00ad0ab8-8d2e-4c06-b852-ac7bcb77ad6b - -Holding(Yogurt) - - - -e73735c1-7249-4329-b075-305da0f26094->00ad0ab8-8d2e-4c06-b852-ac7bcb77ad6b - - - - - -945f4ed9-4cb1-4536-ac1d-da264fedbd42 - -PutDown(Yogurt,BrightTable) - - - -e73735c1-7249-4329-b075-305da0f26094->945f4ed9-4cb1-4536-ac1d-da264fedbd42 - - - - - -0bf10fef-34f1-4d73-9cf9-fcb5e98abbe2 - -At(Robot,BrightTable6) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->0bf10fef-34f1-4d73-9cf9-fcb5e98abbe2 - - - - - -15b7aa7d-7f9a-4149-91a1-57a7f210fd1b - -At(Robot,MilkDrink) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->15b7aa7d-7f9a-4149-91a1-57a7f210fd1b - - - - - -ef07d735-46d6-474a-943c-b142d9090f62 - -Holding(Yogurt) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->ef07d735-46d6-474a-943c-b142d9090f62 - - - - - -38ea937b-4714-4038-b743-1cf31c1e795a - -PutDown(Yogurt,BrightTable) - - - -92c9136b-c6c7-42ca-9510-c452d0226fd4->38ea937b-4714-4038-b743-1cf31c1e795a - - - - - -ae2c935f-d3ab-4b68-8692-aa30d2be40b2 - -At(Robot,MilkDrink) - - - -e6e43745-c962-41c9-b024-da89468c0889->ae2c935f-d3ab-4b68-8692-aa30d2be40b2 - - - - - -72f18ff1-6b16-4176-8892-2419fccb07e7 - -At(Robot,CoffeeTable) - - - -e6e43745-c962-41c9-b024-da89468c0889->72f18ff1-6b16-4176-8892-2419fccb07e7 - - - - - -1e364991-8bcf-4dd5-9f64-a52e6be37dc8 - -Holding(Yogurt) - - - -e6e43745-c962-41c9-b024-da89468c0889->1e364991-8bcf-4dd5-9f64-a52e6be37dc8 - - - - - -509ab9c6-8e20-4087-a5bc-eeef315ea9d2 - -PutDown(Yogurt,CoffeeTable) - - - -e6e43745-c962-41c9-b024-da89468c0889->509ab9c6-8e20-4087-a5bc-eeef315ea9d2 - - - - - -c895c5fe-81d4-4bc3-92c1-5a9915a8535e - -At(Robot,MilkDrink) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->c895c5fe-81d4-4bc3-92c1-5a9915a8535e - - - - - -ac85ef75-18ac-4c2a-96b9-074e71c5641a - -At(Robot,CoffeeTable) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->ac85ef75-18ac-4c2a-96b9-074e71c5641a - - - - - -d773e0aa-ada7-4ee0-9c35-e809b1be1db7 - -Holding(Yogurt) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->d773e0aa-ada7-4ee0-9c35-e809b1be1db7 - - - - - -526cc904-b88b-4802-9e15-b4f88654ac0c - -PutDown(Yogurt,CoffeeTable) - - - -3a6af505-25dc-4f3a-aae6-6ca1a3085965->526cc904-b88b-4802-9e15-b4f88654ac0c - - - - - -f85deeec-8bf0-4a76-ac1a-883d158c8a80 - -At(Robot,MilkDrink) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->f85deeec-8bf0-4a76-ac1a-883d158c8a80 - - - - - -e77e3977-eae5-4661-a46d-e6c3e2a2147d - -Holding(Yogurt) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->e77e3977-eae5-4661-a46d-e6c3e2a2147d - - - - - -f41ad697-2dfd-4c29-94d3-ed7a207974bc - -At(Robot,Table1) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->f41ad697-2dfd-4c29-94d3-ed7a207974bc - - - - - -740a891d-76c3-4fe8-b875-3408dd194eea - -PutDown(Yogurt,Table) - - - -bff1ec7c-fcaa-4f67-ac22-204dff328402->740a891d-76c3-4fe8-b875-3408dd194eea - - - - - -3eb7f422-54bb-4b1c-aba8-5c85de03817b - -At(Robot,MilkDrink) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->3eb7f422-54bb-4b1c-aba8-5c85de03817b - - - - - -9f653469-d7c2-42ed-8c16-5296623bc070 - -Holding(Yogurt) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->9f653469-d7c2-42ed-8c16-5296623bc070 - - - - - -9374787e-60a1-4c12-9a05-2546b5935dc9 - -At(Robot,Table1) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->9374787e-60a1-4c12-9a05-2546b5935dc9 - - - - - -fa91457d-78ba-47b0-aff0-1af44286b23e - -PutDown(Yogurt,Table) - - - -f5cc8d8a-c6fb-4e07-ad50-ae1d53046eec->fa91457d-78ba-47b0-aff0-1af44286b23e - - - - - -e5bcc999-2688-46ca-b4a2-9022751d9423 - -At(Robot,MilkDrink) - - - -b1881190-327c-4338-aba7-546609e324ce->e5bcc999-2688-46ca-b4a2-9022751d9423 - - - - - -f2960881-316c-4f13-b7d0-45507f39ebe2 - -Holding(Yogurt) - - - -b1881190-327c-4338-aba7-546609e324ce->f2960881-316c-4f13-b7d0-45507f39ebe2 - - - - - -38c35074-1e3f-4fa5-83bb-632549e57138 - -At(Robot,Table2) - - - -b1881190-327c-4338-aba7-546609e324ce->38c35074-1e3f-4fa5-83bb-632549e57138 - - - - - -bcabac13-756d-4139-86e6-87977a6d0b03 - -PutDown(Yogurt,Table) - - - -b1881190-327c-4338-aba7-546609e324ce->bcabac13-756d-4139-86e6-87977a6d0b03 - - - - - -f5725b20-0d39-4d62-9a31-bfdee1e08f65 - -At(Robot,MilkDrink) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->f5725b20-0d39-4d62-9a31-bfdee1e08f65 - - - - - -6b8a986d-280a-4793-a76c-2dd2cdae367d - -Holding(Yogurt) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->6b8a986d-280a-4793-a76c-2dd2cdae367d - - - - - -70f9fad0-4123-4cc2-9b6d-738113bfc194 - -At(Robot,Table2) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->70f9fad0-4123-4cc2-9b6d-738113bfc194 - - - - - -998e6cc7-bf39-4e0a-bf4d-48dcaf1227b0 - -PutDown(Yogurt,Table) - - - -ce8a68e1-e865-4b9a-bac4-271e59872f81->998e6cc7-bf39-4e0a-bf4d-48dcaf1227b0 - - - - - -dfcb2828-5906-441e-8e4f-d11d5a59c72d - -At(Robot,MilkDrink) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->dfcb2828-5906-441e-8e4f-d11d5a59c72d - - - - - -747bbe3e-c283-4a02-84ed-17a5f294fa39 - -Holding(Yogurt) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->747bbe3e-c283-4a02-84ed-17a5f294fa39 - - - - - -62714337-0ad0-4d4d-ab1d-facf8155f78c - -At(Robot,Table3) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->62714337-0ad0-4d4d-ab1d-facf8155f78c - - - - - -334812ef-c5e6-47a3-b859-5bc0af2c70cc - -PutDown(Yogurt,Table) - - - -a771cd46-ac5a-45a9-81de-b2b0eb5b1678->334812ef-c5e6-47a3-b859-5bc0af2c70cc - - - - - -eab6ce25-7629-416b-9ca1-d88a27fd0a84 - -At(Robot,MilkDrink) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->eab6ce25-7629-416b-9ca1-d88a27fd0a84 - - - - - -c42db9b6-2ce1-4535-942d-140ddc77bb9f - -Holding(Yogurt) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->c42db9b6-2ce1-4535-942d-140ddc77bb9f - - - - - -11d064ad-aaef-440f-b058-d20c2430d093 - -At(Robot,Table3) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->11d064ad-aaef-440f-b058-d20c2430d093 - - - - - -a84b737c-d3e4-41e2-a1bb-66c9cf98ca60 - -PutDown(Yogurt,Table) - - - -b057d575-4c0c-4a93-8ec3-e89c9f8776ee->a84b737c-d3e4-41e2-a1bb-66c9cf98ca60 - - - - - -4afbcde0-bab8-4568-8968-0b6a8c02d365 - -At(Robot,MilkDrink) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->4afbcde0-bab8-4568-8968-0b6a8c02d365 - - - - - -2aa73d63-e297-4a41-8dee-94d53234c1ca - -Holding(Yogurt) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->2aa73d63-e297-4a41-8dee-94d53234c1ca - - - - - -8cf009e7-8ecb-4772-b531-640098aa2fa4 - -At(Robot,WaterTable) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->8cf009e7-8ecb-4772-b531-640098aa2fa4 - - - - - -a209b430-331a-408e-a186-f871621e6235 - -PutDown(Yogurt,WaterTable) - - - -86c8c1c0-b8cc-45e5-a9c0-92e42508bf5c->a209b430-331a-408e-a186-f871621e6235 - - - - - -c5b63778-d081-4c7b-b552-cdd146b196ad - -At(Robot,MilkDrink) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->c5b63778-d081-4c7b-b552-cdd146b196ad - - - - - -4a3367b4-250d-4e0f-a9c6-48e5a50c343c - -Holding(Yogurt) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->4a3367b4-250d-4e0f-a9c6-48e5a50c343c - - - - - -772af504-2dc4-4767-abde-611a674cd79f - -At(Robot,WaterTable) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->772af504-2dc4-4767-abde-611a674cd79f - - - - - -987664c0-0991-48a6-803b-b5e892e2d1a4 - -PutDown(Yogurt,WaterTable) - - - -8f5caa12-2683-4dc2-a6e4-9bcbe5e059e1->987664c0-0991-48a6-803b-b5e892e2d1a4 - - - - - -b03e5f58-eb83-438d-8ca7-7dde6727c2d4 - -At(Robot,MilkDrink) - - - 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-153ba37e-b408-419a-9c90-7f2a028495b2->4d777bdd-f3e1-41e5-b2cd-88f45725f492 - - - - - -4f68e88b-ed85-4a4d-953e-b865502c07f0 - -Turn(ACTemperature,Up) - - - -153ba37e-b408-419a-9c90-7f2a028495b2->4f68e88b-ed85-4a4d-953e-b865502c07f0 - - - - - -aa1362f4-3d0e-42e0-af0e-261b75fcebf2 - -At(Robot,MilkDrink) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->aa1362f4-3d0e-42e0-af0e-261b75fcebf2 - - - - - -51801e5e-b4dc-426d-929a-6bde538d048d - -Holding(Nothing) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->51801e5e-b4dc-426d-929a-6bde538d048d - - - - - -26f5465c-1b9e-4970-ab5f-fe4fa9838903 - -Is(AC,On) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->26f5465c-1b9e-4970-ab5f-fe4fa9838903 - - - - - -ca700651-9410-41b3-8515-385ef35fba1a - -Turn(ACTemperature,Up) - - - -43bd2501-8497-44cf-816e-7b1d92dffde8->ca700651-9410-41b3-8515-385ef35fba1a - - - - - -cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0 - -Is(HallLight,On) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0 - - - - - -c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32 - -At(Robot,MilkDrink) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32 - - - - - -9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc - -Holding(Nothing) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc - - - - - -aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655 - -Turn(HallLight,Off) - - - -b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317->aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655 - - - - - -d6036efd-e852-45de-8cfd-08270944d42f - -Is(HallLight,On) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->d6036efd-e852-45de-8cfd-08270944d42f - - - - - -50790486-112c-4551-bb75-2182cfadedf2 - -At(Robot,MilkDrink) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->50790486-112c-4551-bb75-2182cfadedf2 - - - - - -c5f42ef3-c170-41d9-8473-b16d00239b0a - -Holding(Nothing) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->c5f42ef3-c170-41d9-8473-b16d00239b0a - - - - - -b843cdb2-ff72-4241-8087-0180bd5797cc - -Turn(HallLight,Off) - - - -bc0cbfff-650c-4b61-9dcc-bfe2a8895524->b843cdb2-ff72-4241-8087-0180bd5797cc - - - - - -6191c3d6-f4f9-435f-a3d3-439114f8f1f0 - -Is(HallLight,Off) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->6191c3d6-f4f9-435f-a3d3-439114f8f1f0 - - - - - -b1c8089d-7646-4116-b227-b498270b8a96 - -At(Robot,MilkDrink) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->b1c8089d-7646-4116-b227-b498270b8a96 - - - - - -8f120095-58f3-4732-bac6-0bccb201ae49 - -Holding(Nothing) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->8f120095-58f3-4732-bac6-0bccb201ae49 - - - - - -719c49bd-8d3a-4f6a-b242-f40c67237040 - -Turn(HallLight,On) - - - -4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9->719c49bd-8d3a-4f6a-b242-f40c67237040 - - - - - -2b4769c2-3de2-46e9-a1a4-77ed768a6c64 - -Is(HallLight,Off) - - - -4a17b594-7ff7-46af-8b71-1f02b5b3e42c->2b4769c2-3de2-46e9-a1a4-77ed768a6c64 - - - - - -28be1710-e38f-4ece-aafc-e5c4ed6d7896 - -At(Robot,MilkDrink) - - - -4a17b594-7ff7-46af-8b71-1f02b5b3e42c->28be1710-e38f-4ece-aafc-e5c4ed6d7896 - - - - - 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-d3a0ea81-121e-4cb1-8240-850d5798e3c1->a2794aea-a1de-4ef7-93eb-27f34cdcec78 - - - - - -9a37d685-93bb-412e-a1e3-f1e19749e71c - -Holding(Nothing) - - - -d3a0ea81-121e-4cb1-8240-850d5798e3c1->9a37d685-93bb-412e-a1e3-f1e19749e71c - - - - - -e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d - -Is(TubeLight,On) - - - -d3a0ea81-121e-4cb1-8240-850d5798e3c1->e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d - - - - - -d75a08c2-c604-41d5-8366-d4eb2f673e21 - -Turn(TubeLight,Off) - - - -d3a0ea81-121e-4cb1-8240-850d5798e3c1->d75a08c2-c604-41d5-8366-d4eb2f673e21 - - - - - -d2745cd3-df57-46ce-9786-92941548695e - -At(Robot,MilkDrink) - - - -cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef->d2745cd3-df57-46ce-9786-92941548695e - - - - - -1558b313-ba00-4a35-9b33-78fd31ee8fd4 - -Holding(Nothing) - - - -cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef->1558b313-ba00-4a35-9b33-78fd31ee8fd4 - - - - - -c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65 - -Is(TubeLight,Off) - - - -cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef->c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65 - - - - - 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-10faa149-a290-48b0-87eb-8d2835183455->9db0a7ae-49e1-440b-b97f-220cc82b5933 - - - - - -d30df1bd-b398-4819-af55-077c83bab117 - -Holding(ADMilk) - - - -28537863-52a9-432f-a890-cc90726286c9->d30df1bd-b398-4819-af55-077c83bab117 - - - - - -5b9338c1-abbb-4330-aaf7-e9e05f5dc480 - -At(Robot,MilkDrink) - - - -28537863-52a9-432f-a890-cc90726286c9->5b9338c1-abbb-4330-aaf7-e9e05f5dc480 - - - - - -2b5d497e-bdb2-4cd8-b175-0a2de19a0e58 - -At(Robot,Bar2) - - - -28537863-52a9-432f-a890-cc90726286c9->2b5d497e-bdb2-4cd8-b175-0a2de19a0e58 - - - - - -4dacf940-6cb9-477b-bddc-f91da1f36f3a - -PutDown(ADMilk,Bar) - - - -28537863-52a9-432f-a890-cc90726286c9->4dacf940-6cb9-477b-bddc-f91da1f36f3a - - - - - -9efa7de4-586b-47c3-a5f5-ccd83735eeb5 - -Holding(ADMilk) - - - -9789960b-c8da-464a-a250-99cf105874fe->9efa7de4-586b-47c3-a5f5-ccd83735eeb5 - - - - - -7cdc2579-e0c9-4fb2-8782-9a0c0cae6b8f - -At(Robot,MilkDrink) - - - -9789960b-c8da-464a-a250-99cf105874fe->7cdc2579-e0c9-4fb2-8782-9a0c0cae6b8f - - - - - -0cba22c5-68b3-4f58-8e54-b7a3d6accd8b - -At(Robot,Bar2) - - - -9789960b-c8da-464a-a250-99cf105874fe->0cba22c5-68b3-4f58-8e54-b7a3d6accd8b - - - - - -4210f3e7-4452-46c0-858d-39edc1d492aa - -PutDown(ADMilk,Bar) - - - -9789960b-c8da-464a-a250-99cf105874fe->4210f3e7-4452-46c0-858d-39edc1d492aa - - - - - -635ea771-71ee-4e24-ac46-bd92cbc38b6e - -At(Robot,BrightTable6) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->635ea771-71ee-4e24-ac46-bd92cbc38b6e - - - - - -a5912ed5-8b1d-43c6-8552-f61430f666f2 - -At(Robot,MilkDrink) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->a5912ed5-8b1d-43c6-8552-f61430f666f2 - - - - - -7c5af63a-e108-47f5-aa29-0880ecbdb6db - -Holding(ADMilk) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->7c5af63a-e108-47f5-aa29-0880ecbdb6db - - - - - -c07cf323-de75-4d44-b968-787b32e4b186 - -At(Robot,Bar2) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->c07cf323-de75-4d44-b968-787b32e4b186 - - - - - -3e48ae65-5181-4eef-b9f8-84792fb06b2b - -PutDown(ADMilk,BrightTable) - - - -698c9009-506c-4926-80a1-da8e2f81f61d->3e48ae65-5181-4eef-b9f8-84792fb06b2b - - - - - -37037c0e-3e3c-49a1-a5fe-162f6efd34da - -At(Robot,BrightTable6) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->37037c0e-3e3c-49a1-a5fe-162f6efd34da - - - - - -e8336496-274b-4032-99d7-07de86fa93f0 - -At(Robot,MilkDrink) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->e8336496-274b-4032-99d7-07de86fa93f0 - - - - - -8502804d-bc7f-46ba-81c3-888ccdf91236 - -Holding(ADMilk) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->8502804d-bc7f-46ba-81c3-888ccdf91236 - - - - - -30f48ccb-27d7-467e-ad3f-5652789f3b02 - -At(Robot,Bar2) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->30f48ccb-27d7-467e-ad3f-5652789f3b02 - - - - - -9d3520b2-e870-40c9-9242-a9572be5cf56 - -PutDown(ADMilk,BrightTable) - - - -efb791e1-37d3-4eff-9fc3-63b430e8be30->9d3520b2-e870-40c9-9242-a9572be5cf56 - - - - - -b9a7d910-afca-470b-a417-0362f0856966 - -Holding(ADMilk) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->b9a7d910-afca-470b-a417-0362f0856966 - - - - - -16ea4e70-7bbf-479c-9d22-d877f33fc2c5 - -At(Robot,MilkDrink) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->16ea4e70-7bbf-479c-9d22-d877f33fc2c5 - - - - - -1b50025a-01a2-44d8-82f7-fc60e8206a6a - -At(Robot,CoffeeTable) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->1b50025a-01a2-44d8-82f7-fc60e8206a6a - - - - - -d71626df-94d5-4d58-83e5-cd8a50b611c2 - -At(Robot,Bar2) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->d71626df-94d5-4d58-83e5-cd8a50b611c2 - - - - - -e093d49c-6aea-40f0-97b9-f02e83c506f2 - -PutDown(ADMilk,CoffeeTable) - - - -3ea8a286-44c5-4260-bc0b-6fa92fda03f6->e093d49c-6aea-40f0-97b9-f02e83c506f2 - - - - - -035dc5db-f5ea-438e-a7ec-30bb0185f5af - -Holding(ADMilk) - - - -1532462c-f171-429a-9c41-3026f0149814->035dc5db-f5ea-438e-a7ec-30bb0185f5af - - - - - -f6e04e93-f027-459a-8842-fcb689a19a32 - -At(Robot,MilkDrink) - - - -1532462c-f171-429a-9c41-3026f0149814->f6e04e93-f027-459a-8842-fcb689a19a32 - - - - - -dade6da4-bd0a-4cd3-8d55-9bd9a3bf3b55 - -At(Robot,CoffeeTable) - - - -1532462c-f171-429a-9c41-3026f0149814->dade6da4-bd0a-4cd3-8d55-9bd9a3bf3b55 - - - - - -4b483763-79a5-4f12-aefd-ed110db04046 - -At(Robot,Bar2) - - - -1532462c-f171-429a-9c41-3026f0149814->4b483763-79a5-4f12-aefd-ed110db04046 - - - - - -94492430-c07c-4c96-9064-664783489838 - -PutDown(ADMilk,CoffeeTable) - - - -1532462c-f171-429a-9c41-3026f0149814->94492430-c07c-4c96-9064-664783489838 - - - - - -21f2e42d-dd39-447d-8afc-2f11f247b327 - -Holding(ADMilk) - - - -818efceb-1428-49ad-a017-734ecb7b5868->21f2e42d-dd39-447d-8afc-2f11f247b327 - - - - - -b153915e-8195-440c-b53b-f77697d2c470 - -At(Robot,MilkDrink) - - - -818efceb-1428-49ad-a017-734ecb7b5868->b153915e-8195-440c-b53b-f77697d2c470 - - - - - -b7ebf6fd-149c-42be-ac0a-a76935561f4d - -At(Robot,Bar2) - - - -818efceb-1428-49ad-a017-734ecb7b5868->b7ebf6fd-149c-42be-ac0a-a76935561f4d - - - - - -eadc9351-ec6d-4a3d-92b8-bd92544231a3 - -At(Robot,Table1) - - - -818efceb-1428-49ad-a017-734ecb7b5868->eadc9351-ec6d-4a3d-92b8-bd92544231a3 - - - - - -3fe57a55-e2c6-4e60-a516-b9e9155440ed - -PutDown(ADMilk,Table) - - - -818efceb-1428-49ad-a017-734ecb7b5868->3fe57a55-e2c6-4e60-a516-b9e9155440ed - - - - - -2d064b0d-3354-44da-a945-fa423d436af5 - -Holding(ADMilk) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->2d064b0d-3354-44da-a945-fa423d436af5 - - - - - -5c649250-82eb-4992-a68f-fc2f7a3a512c - -At(Robot,MilkDrink) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->5c649250-82eb-4992-a68f-fc2f7a3a512c - - - - - -72946a21-41c3-47a6-b5da-93e16b92f382 - -At(Robot,Bar2) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->72946a21-41c3-47a6-b5da-93e16b92f382 - - - - - -330c2360-a2d7-4171-ad45-ceb274a26be8 - -At(Robot,Table1) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->330c2360-a2d7-4171-ad45-ceb274a26be8 - - - - - -0ec56fde-ce17-42f7-84e3-9445d8b4bfca - -PutDown(ADMilk,Table) - - - -27f29fa8-de21-4a0a-aeed-d2f0f01385f9->0ec56fde-ce17-42f7-84e3-9445d8b4bfca - - - - - -30b115ce-6a1a-4c4b-8be9-5100740fca25 - -Holding(ADMilk) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->30b115ce-6a1a-4c4b-8be9-5100740fca25 - - - - - -52aa59f6-bcd0-40e4-ad35-1ffbbcc05a65 - -At(Robot,MilkDrink) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->52aa59f6-bcd0-40e4-ad35-1ffbbcc05a65 - - - - - -72cd73ab-560e-472d-8b8c-10e1d9bba655 - -At(Robot,Bar2) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->72cd73ab-560e-472d-8b8c-10e1d9bba655 - - - - - -38ce608d-6b54-4fce-89ce-55dd1d8f2c69 - -At(Robot,Table2) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->38ce608d-6b54-4fce-89ce-55dd1d8f2c69 - - - - - -7be4dca7-c9c4-4f27-83ae-331ff5b232a7 - -PutDown(ADMilk,Table) - - - -a2157ffd-4fcc-4a02-92f7-990b8059b43b->7be4dca7-c9c4-4f27-83ae-331ff5b232a7 - - - - - -c6737d2a-b67f-4d40-8b0a-1543e9d8af01 - -Holding(ADMilk) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->c6737d2a-b67f-4d40-8b0a-1543e9d8af01 - - - - - -2118a626-739f-46e7-b887-f9f13ee30da0 - -At(Robot,MilkDrink) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->2118a626-739f-46e7-b887-f9f13ee30da0 - - - - - -041ae835-3da0-4c12-a193-ccc386affae2 - -At(Robot,Bar2) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->041ae835-3da0-4c12-a193-ccc386affae2 - - - - - -8b0d1a38-ebd0-483d-96ea-445f054549cd - -At(Robot,Table2) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->8b0d1a38-ebd0-483d-96ea-445f054549cd - - - - - -d06cbea0-fd1e-491c-bb53-0e4b23126ee4 - -PutDown(ADMilk,Table) - - - -06ea4b68-7e97-4384-8429-42e06277df0d->d06cbea0-fd1e-491c-bb53-0e4b23126ee4 - - - - - -bee0ea60-2ae1-42b0-90e6-90279e88f763 - -Holding(ADMilk) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->bee0ea60-2ae1-42b0-90e6-90279e88f763 - - - - - -6eb285cd-2368-4971-825e-61445bfa2e2a - -At(Robot,MilkDrink) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->6eb285cd-2368-4971-825e-61445bfa2e2a - - - - - -43f1e64d-df6d-40c6-afb4-3d7d58e21751 - -At(Robot,Bar2) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->43f1e64d-df6d-40c6-afb4-3d7d58e21751 - - - - - -b5f61c46-a235-459d-8557-2a342d7be854 - -At(Robot,Table3) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->b5f61c46-a235-459d-8557-2a342d7be854 - - - - - -1ab81a05-ddf6-477f-a489-07b5bfe0e6fa - -PutDown(ADMilk,Table) - - - -94258199-a204-4c0b-b8ce-948815aff9ca->1ab81a05-ddf6-477f-a489-07b5bfe0e6fa - - - - - -7ada8bc3-c2dd-4c58-9de8-8d6712b5f927 - -Holding(ADMilk) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->7ada8bc3-c2dd-4c58-9de8-8d6712b5f927 - - - - - -d77b612e-e30b-4db4-ad6f-f415986b8067 - -At(Robot,MilkDrink) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->d77b612e-e30b-4db4-ad6f-f415986b8067 - - - - - -9e903464-09fc-4387-aff7-a91afa16ad50 - -At(Robot,Bar2) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->9e903464-09fc-4387-aff7-a91afa16ad50 - - - - - -72ee7d06-8981-44d6-a800-b814c9fa6849 - -At(Robot,Table3) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->72ee7d06-8981-44d6-a800-b814c9fa6849 - - - - - -d5d11428-d33f-4b3d-8c7a-0ad782f50262 - -PutDown(ADMilk,Table) - - - -676a85af-87b0-4319-8138-2ced1601fb4d->d5d11428-d33f-4b3d-8c7a-0ad782f50262 - - - - - -761133f6-6e5f-452c-a2cf-40f1442b942a - -Holding(ADMilk) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->761133f6-6e5f-452c-a2cf-40f1442b942a - - - - - -235b7099-58f9-4da0-a2a0-bf13ccaa15e0 - -At(Robot,MilkDrink) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->235b7099-58f9-4da0-a2a0-bf13ccaa15e0 - - - - - -ef5ec12f-e2f2-41cb-a621-1fa174d8fb13 - -At(Robot,WaterTable) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->ef5ec12f-e2f2-41cb-a621-1fa174d8fb13 - - - - - -21a1a030-6f5d-44d6-821a-90a277b5ac2d - -At(Robot,Bar2) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->21a1a030-6f5d-44d6-821a-90a277b5ac2d - - - - - -1606fb41-70d7-44a5-982b-c6169c9fae0e - -PutDown(ADMilk,WaterTable) - - - -68744e66-fc73-464b-8c49-3904c59bc16f->1606fb41-70d7-44a5-982b-c6169c9fae0e - - - - - -9ad27052-a300-4c9b-99e5-b2134298f04c - -Holding(ADMilk) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->9ad27052-a300-4c9b-99e5-b2134298f04c - - - - - -467612d0-6f6c-4992-a34e-ad7f8baa8a9c - -At(Robot,MilkDrink) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->467612d0-6f6c-4992-a34e-ad7f8baa8a9c - - - - - -f660c0d5-332c-4701-b39a-019a3ddc9e73 - -At(Robot,WaterTable) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->f660c0d5-332c-4701-b39a-019a3ddc9e73 - - - - - -da8a0c37-aa81-4024-a5d1-04eb6e581cb1 - -At(Robot,Bar2) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->da8a0c37-aa81-4024-a5d1-04eb6e581cb1 - - - - - -4d53c963-b0b8-494d-91ad-4a01baa7779c - -PutDown(ADMilk,WaterTable) - - - -9c7893a8-f346-44e4-8728-8e277b3d7c91->4d53c963-b0b8-494d-91ad-4a01baa7779c - - - - - -ba4ab782-074f-4963-af57-197234a5899d - -At(Robot,MilkDrink) - - - -90701633-332f-4ed8-b687-7f0860d43bda->ba4ab782-074f-4963-af57-197234a5899d - - - - - -ccee5183-981f-4f5b-b94c-aeee837b4435 - -At(Robot,Bar2) - - - -90701633-332f-4ed8-b687-7f0860d43bda->ccee5183-981f-4f5b-b94c-aeee837b4435 - - - - - -cdaaaf8b-dd52-4cb8-a85a-74abc92829df - -PutDown(Anything,Anywhere) - - - -90701633-332f-4ed8-b687-7f0860d43bda->cdaaaf8b-dd52-4cb8-a85a-74abc92829df - - - - - -950496f7-13e5-43a0-ab23-0fcfe814b0df - -At(Robot,MilkDrink) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->950496f7-13e5-43a0-ab23-0fcfe814b0df - - - - - -3917768e-79ed-4d3c-81a4-8b6e0ca18d6d - -At(Robot,Bar2) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->3917768e-79ed-4d3c-81a4-8b6e0ca18d6d - - - - - -33499698-22c6-4c5a-af48-af7d3ac0adf9 - -PutDown(Anything,Anywhere) - - - -7b42cf04-e68e-49d5-a325-9e95a2db5595->33499698-22c6-4c5a-af48-af7d3ac0adf9 - - - - - -27560c14-d07e-4657-bf4c-9d856fbb79cf - -Holding(Bernachon) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->27560c14-d07e-4657-bf4c-9d856fbb79cf - - - - - -737bbb45-61ff-44bc-ac7a-67923f62e8e8 - -At(Robot,MilkDrink) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->737bbb45-61ff-44bc-ac7a-67923f62e8e8 - - - - - -c1f39bf4-1db0-45e9-a5c8-7c0986e44d65 - -At(Robot,Bar2) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->c1f39bf4-1db0-45e9-a5c8-7c0986e44d65 - - - - - -be6bccec-3eda-4cfa-a2ac-a87a0be4aec6 - -At(Robot,Bar) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->be6bccec-3eda-4cfa-a2ac-a87a0be4aec6 - - - - - -b71d87ed-f7e6-4c65-babc-e7b1140d5acb - -PutDown(Bernachon,Bar) - - - -8cbc4950-0b05-48d3-92cc-35768ba88a71->b71d87ed-f7e6-4c65-babc-e7b1140d5acb - - - - - -26f69ff3-f46c-44ce-b984-375bb60b771a - -Holding(Bernachon) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->26f69ff3-f46c-44ce-b984-375bb60b771a - - - - - -ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b - -At(Robot,MilkDrink) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b - - - - - -27f4c058-065a-40e4-9577-f29905024ac3 - -At(Robot,Bar2) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->27f4c058-065a-40e4-9577-f29905024ac3 - - - - - -fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf - -At(Robot,Bar) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf - - - - - -5fd421d0-9802-41c0-87b3-5b67fc17c140 - -PutDown(Bernachon,Bar) - - - -4e796e19-ed8f-4173-8ab5-72fa8951b810->5fd421d0-9802-41c0-87b3-5b67fc17c140 - - - - - -47937091-237a-4565-a2c0-791321417504 - -Holding(Bernachon) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->47937091-237a-4565-a2c0-791321417504 - - - - - -49104a79-50e8-476a-b34e-f1d5a32f8fd5 - -At(Robot,MilkDrink) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->49104a79-50e8-476a-b34e-f1d5a32f8fd5 - - - - - -0d1f5b43-f77a-4f23-8600-4d895d40f60b - -At(Robot,Bar2) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->0d1f5b43-f77a-4f23-8600-4d895d40f60b - - - - - -26612a35-ff1b-4a7f-8fa3-0721e4ce3015 - -PutDown(Bernachon,Bar) - - - -514081e4-2dc1-4ea9-9b64-d78b6d94d426->26612a35-ff1b-4a7f-8fa3-0721e4ce3015 - - - - - -5641449f-f04c-482b-9fe8-662b4ebc3861 - -Holding(Bernachon) - - - -eba47417-d84e-4634-9af4-90147c6ac658->5641449f-f04c-482b-9fe8-662b4ebc3861 - - - - - -e5b460cd-4d6c-45e8-9c97-c0c5fbf53583 - -At(Robot,MilkDrink) - - - -eba47417-d84e-4634-9af4-90147c6ac658->e5b460cd-4d6c-45e8-9c97-c0c5fbf53583 - - - - - -7c90404d-c020-4a5d-b318-44886bacf8bc - -At(Robot,Bar2) - - - -eba47417-d84e-4634-9af4-90147c6ac658->7c90404d-c020-4a5d-b318-44886bacf8bc - - - - - -057d547c-f603-4abc-9c1f-8c0d33a970cb - -PutDown(Bernachon,Bar) - - - -eba47417-d84e-4634-9af4-90147c6ac658->057d547c-f603-4abc-9c1f-8c0d33a970cb - - - - - -410b7c9f-888e-45a3-a1d8-96845f2837e6 - -Holding(Bernachon) - - - -981f947a-75a1-4c4f-a746-36a19e060992->410b7c9f-888e-45a3-a1d8-96845f2837e6 - - - - - -1ad18f2b-ac1a-497f-ba44-08f2a0090d42 - -At(Robot,BrightTable6) - - - -981f947a-75a1-4c4f-a746-36a19e060992->1ad18f2b-ac1a-497f-ba44-08f2a0090d42 - - - - - -ef33cf23-f72b-4c91-a4b0-c5185a2f255f - -At(Robot,MilkDrink) - - - -981f947a-75a1-4c4f-a746-36a19e060992->ef33cf23-f72b-4c91-a4b0-c5185a2f255f - - - - - -958aed18-edb3-4d2a-a407-0ac699c66a23 - -At(Robot,Bar2) - - - -981f947a-75a1-4c4f-a746-36a19e060992->958aed18-edb3-4d2a-a407-0ac699c66a23 - - - - - -f6cfd02f-6474-48ba-8cac-7a948a7cb3a6 - -PutDown(Bernachon,BrightTable) - - - -981f947a-75a1-4c4f-a746-36a19e060992->f6cfd02f-6474-48ba-8cac-7a948a7cb3a6 - - - - - -d905a183-7970-4cdc-898f-829fdddec398 - -Holding(Bernachon) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->d905a183-7970-4cdc-898f-829fdddec398 - - - - - -48145ce1-0261-4d20-9b61-63b7e0d3f780 - -At(Robot,BrightTable6) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->48145ce1-0261-4d20-9b61-63b7e0d3f780 - - - - - -6ca14c8d-6c5a-4ef4-9577-af55724e1a9b - -At(Robot,MilkDrink) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->6ca14c8d-6c5a-4ef4-9577-af55724e1a9b - - - - - -b106d35f-a070-4d53-9f80-788c34d24dd9 - -At(Robot,Bar2) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->b106d35f-a070-4d53-9f80-788c34d24dd9 - - - - - -9b359cea-13ba-4891-a728-2be9eb415bbe - -PutDown(Bernachon,BrightTable) - - - -44d17e3e-f5c5-4b53-a312-c0d02971ae74->9b359cea-13ba-4891-a728-2be9eb415bbe - - - - - -3d069ed6-2539-4460-8113-0018fbda431d - -Holding(Bernachon) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->3d069ed6-2539-4460-8113-0018fbda431d - - - - - -4eda5fbf-3034-494b-b231-3024aae0ae81 - -At(Robot,MilkDrink) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->4eda5fbf-3034-494b-b231-3024aae0ae81 - - - - - -a0196fe9-1aa0-41a9-871e-6be3e1b60d7d - -At(Robot,CoffeeTable) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->a0196fe9-1aa0-41a9-871e-6be3e1b60d7d - - - - - -e89f0df3-78c6-4b04-87e4-948a8ae19920 - -At(Robot,Bar2) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->e89f0df3-78c6-4b04-87e4-948a8ae19920 - - - - - -76146617-91c4-42eb-ac43-1f2821586501 - -PutDown(Bernachon,CoffeeTable) - - - -d17b6efc-c28f-4939-b386-e30532b523dc->76146617-91c4-42eb-ac43-1f2821586501 - - - - - -16226b97-f18f-4ec2-9a58-d3e6e76c1131 - -Holding(Bernachon) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->16226b97-f18f-4ec2-9a58-d3e6e76c1131 - - - - - -92c2e3e0-af40-4c34-a884-d07cc8ddf932 - -At(Robot,MilkDrink) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->92c2e3e0-af40-4c34-a884-d07cc8ddf932 - - - - - -0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf - -At(Robot,CoffeeTable) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf - - - - - -d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9 - -At(Robot,Bar2) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9 - - - - - -7913644d-a844-4efb-a3b4-b8179b4c9cd7 - -PutDown(Bernachon,CoffeeTable) - - - -ac7b74b7-8ad1-4fcb-a121-1439c6564217->7913644d-a844-4efb-a3b4-b8179b4c9cd7 - - - - - -22655187-24da-486e-9736-9ee51b713e35 - -Holding(Bernachon) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->22655187-24da-486e-9736-9ee51b713e35 - - - - - -35a6e96b-64b4-4daf-af59-556dc252259a - -At(Robot,MilkDrink) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->35a6e96b-64b4-4daf-af59-556dc252259a - - - - - -3d6859cf-e1ef-4d6e-9583-7bb967ee7714 - -At(Robot,Bar2) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->3d6859cf-e1ef-4d6e-9583-7bb967ee7714 - - - - - -c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155 - -At(Robot,Table1) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155 - - - - - -59e67492-ea7b-4f78-87d5-0cf36c531eac - -PutDown(Bernachon,Table) - - - -f2f6ac7d-ea99-47e0-b06c-cef97d55f199->59e67492-ea7b-4f78-87d5-0cf36c531eac - - - - - -f955bdd4-6fb6-4c6e-a522-7e006e9c91da - -Holding(Bernachon) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->f955bdd4-6fb6-4c6e-a522-7e006e9c91da - - - - - -943db77e-bf1b-430d-99ab-07a19d5de26f - -At(Robot,MilkDrink) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->943db77e-bf1b-430d-99ab-07a19d5de26f - - - - - -b3075219-4db2-40bf-b26b-be3742af7d33 - -At(Robot,Bar2) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->b3075219-4db2-40bf-b26b-be3742af7d33 - - - - - -c58c05e7-a68a-41a5-90e3-33e1fabeed43 - -At(Robot,Table1) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->c58c05e7-a68a-41a5-90e3-33e1fabeed43 - - - - - -ef973e00-c4ee-4c13-8608-884df668cfb3 - -PutDown(Bernachon,Table) - - - -7c2f8900-3f83-4279-b017-bab0b3694659->ef973e00-c4ee-4c13-8608-884df668cfb3 - - - - - -95e5cfe3-ff24-48eb-b324-d06b516cbab7 - -Holding(Bernachon) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->95e5cfe3-ff24-48eb-b324-d06b516cbab7 - - - - - -3b6e654a-3746-4a43-8587-cd86d886fc66 - -At(Robot,MilkDrink) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->3b6e654a-3746-4a43-8587-cd86d886fc66 - - - - - -2ee3f7f1-5224-4f5a-94ae-f5628c936be2 - -At(Robot,Bar2) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->2ee3f7f1-5224-4f5a-94ae-f5628c936be2 - - - - - -a4492932-07e6-4d98-af96-3b7ab527ffe2 - -At(Robot,Table2) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->a4492932-07e6-4d98-af96-3b7ab527ffe2 - - - - - -7a999957-81f9-42fa-af73-381ea1bf803c - -PutDown(Bernachon,Table) - - - -39ac37ec-c93d-4800-b933-dd4aa6f2e6dd->7a999957-81f9-42fa-af73-381ea1bf803c - - - - - -6c974c2e-d53a-404f-8d52-a1e5ea43b7e1 - -Holding(Bernachon) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->6c974c2e-d53a-404f-8d52-a1e5ea43b7e1 - - - - - -ca09bac4-8ced-458a-8aaa-9492a5929a4e - -At(Robot,MilkDrink) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->ca09bac4-8ced-458a-8aaa-9492a5929a4e - - - - - -a3be3be2-6d61-406a-ba67-52adc96f5ab1 - -At(Robot,Bar2) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->a3be3be2-6d61-406a-ba67-52adc96f5ab1 - - - - - -48099eba-39e2-4e63-8c3a-1a2f7fd6588a - -At(Robot,Table2) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->48099eba-39e2-4e63-8c3a-1a2f7fd6588a - - - - - -61cd4dc6-4bd0-4ff2-8dbd-5859130847ca - -PutDown(Bernachon,Table) - - - -e61a3cff-0ebc-4a94-872f-4a02bd622ba7->61cd4dc6-4bd0-4ff2-8dbd-5859130847ca - - - - - -29806b87-6053-4e7e-91b3-dee3b1e8091f - -Holding(Bernachon) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->29806b87-6053-4e7e-91b3-dee3b1e8091f - - - - - -11f96f5a-7ac4-43e0-80bf-8659c90fa314 - -At(Robot,MilkDrink) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->11f96f5a-7ac4-43e0-80bf-8659c90fa314 - - - - - -c7dc63bf-649f-434d-9a13-c303d21d52b8 - -At(Robot,Bar2) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->c7dc63bf-649f-434d-9a13-c303d21d52b8 - - - - - -bbd8bbc8-4686-4282-ae0f-93e4cafc6232 - -At(Robot,Table3) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->bbd8bbc8-4686-4282-ae0f-93e4cafc6232 - - - - - -3b060950-c0b7-4aad-ad1f-e19476bff722 - -PutDown(Bernachon,Table) - - - -9b873706-be7a-491a-a9fe-3bb698b09896->3b060950-c0b7-4aad-ad1f-e19476bff722 - - - - - -4581a1e5-1a48-461b-8f57-1d8255efbb86 - -Holding(Bernachon) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->4581a1e5-1a48-461b-8f57-1d8255efbb86 - - - - - -9b024115-2d8c-46da-94eb-e3ebed50a2b5 - -At(Robot,MilkDrink) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->9b024115-2d8c-46da-94eb-e3ebed50a2b5 - - - - - -00a52d24-e6e6-4b7e-bb8a-012f9e2284cf - -At(Robot,Bar2) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->00a52d24-e6e6-4b7e-bb8a-012f9e2284cf - - - - - -a46b19e6-f0c5-4111-97c9-8d7800d0e177 - -At(Robot,Table3) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->a46b19e6-f0c5-4111-97c9-8d7800d0e177 - - - - - -1802acfd-39b4-4804-9b8f-4f07b608119d - -PutDown(Bernachon,Table) - - - -250ba37b-98df-4ba1-8cbb-605b5c4e9c21->1802acfd-39b4-4804-9b8f-4f07b608119d - - - - - -492d20e5-6f83-4a14-8d6d-c506b9606667 - -Holding(Bernachon) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->492d20e5-6f83-4a14-8d6d-c506b9606667 - - - - - -bb071d2d-56f5-4697-9bad-47f4583686c5 - -At(Robot,MilkDrink) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->bb071d2d-56f5-4697-9bad-47f4583686c5 - - - - - -b792ee4e-e06c-4830-aed3-48518c10fb3d - -At(Robot,WaterTable) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->b792ee4e-e06c-4830-aed3-48518c10fb3d - - - - - -1d49249a-9b09-4ddc-8033-1a4d16839556 - -At(Robot,Bar2) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->1d49249a-9b09-4ddc-8033-1a4d16839556 - - - - - -f4aa55fe-b718-49a4-92c6-5b3eec65c826 - -PutDown(Bernachon,WaterTable) - - - -dc770f05-7481-4dbe-b87b-9594cf8fcc6f->f4aa55fe-b718-49a4-92c6-5b3eec65c826 - - - - - -ca858fbe-737f-4046-b9a2-d41d5958310e - -Holding(Bernachon) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->ca858fbe-737f-4046-b9a2-d41d5958310e - - - - - -67c034c2-d4eb-4dc2-bdc3-f5d3d8bb48f6 - -At(Robot,MilkDrink) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->67c034c2-d4eb-4dc2-bdc3-f5d3d8bb48f6 - - - - - -2748840e-599f-436d-8652-38baee96c9a2 - -At(Robot,WaterTable) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->2748840e-599f-436d-8652-38baee96c9a2 - - - - - -a5e27b7a-4993-415f-9689-2b577e6a8550 - -At(Robot,Bar2) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->a5e27b7a-4993-415f-9689-2b577e6a8550 - - - - - -c8d38857-9576-4a9d-adaa-315ef83910c7 - -PutDown(Bernachon,WaterTable) - - - -8e4b7656-6302-4047-9a8a-0f4b8f61681f->c8d38857-9576-4a9d-adaa-315ef83910c7 - - - - - -d0644936-99e8-4dd8-80ed-e0f9efe32e82 - -Holding(BottledDrink) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->d0644936-99e8-4dd8-80ed-e0f9efe32e82 - - - - - -5436767b-42d6-4ba4-b1b8-baaab2c9c460 - -At(Robot,MilkDrink) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->5436767b-42d6-4ba4-b1b8-baaab2c9c460 - - - - - -49c9de2a-0941-40bf-bbf4-355bdf065e6c - -At(Robot,Bar2) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->49c9de2a-0941-40bf-bbf4-355bdf065e6c - - - - - -9e81c74d-8c8a-4a46-84aa-85e5187129e2 - -At(Robot,Bar) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->9e81c74d-8c8a-4a46-84aa-85e5187129e2 - - - - - -4be0f9c6-2be7-422f-b6a5-2b7d1df6f1bd - -PutDown(BottledDrink,Bar) - - - -e281f3b4-29a1-48e6-b0ed-2c593723907e->4be0f9c6-2be7-422f-b6a5-2b7d1df6f1bd - - - - - -859941b3-372c-4039-a33c-cc7538787c71 - -Holding(BottledDrink) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->859941b3-372c-4039-a33c-cc7538787c71 - - - - - -1602b595-d09f-40e6-8522-b1fea5f0285b - -At(Robot,MilkDrink) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->1602b595-d09f-40e6-8522-b1fea5f0285b - - - - - -ae9d48b2-c575-43d8-a3ad-52b64a50d248 - -At(Robot,Bar2) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->ae9d48b2-c575-43d8-a3ad-52b64a50d248 - - - - - -ca1e4721-baac-48b1-af69-5e3465ac5b98 - -At(Robot,Bar) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->ca1e4721-baac-48b1-af69-5e3465ac5b98 - - - - - -37242322-ed45-431d-bb7f-a7a737e185cf - -PutDown(BottledDrink,Bar) - - - -7cf58686-cf8e-4ea5-a8a2-0fa76e683d76->37242322-ed45-431d-bb7f-a7a737e185cf - - - - - -e7063c89-519a-4097-ada9-e55c7a879483 - -Holding(BottledDrink) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->e7063c89-519a-4097-ada9-e55c7a879483 - - - - - -d134db5d-5022-4afa-8a9b-5f02b295ebb3 - -At(Robot,MilkDrink) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->d134db5d-5022-4afa-8a9b-5f02b295ebb3 - - - - - -e2ff408c-f4ce-4c6e-9218-96eafd24cb46 - -At(Robot,Bar2) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->e2ff408c-f4ce-4c6e-9218-96eafd24cb46 - - - - - -cb840986-1aed-4e21-bb0a-b28a159851a2 - -PutDown(BottledDrink,Bar) - - - -59b401e8-7a35-4ee2-ac6b-89d39ba7a13a->cb840986-1aed-4e21-bb0a-b28a159851a2 - - - - - -12870a89-aa91-4b19-86dd-dcf4d474c5f1 - -Holding(BottledDrink) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->12870a89-aa91-4b19-86dd-dcf4d474c5f1 - - - - - -78c34afe-b600-40c6-bbad-8119dc9d1088 - -At(Robot,MilkDrink) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->78c34afe-b600-40c6-bbad-8119dc9d1088 - - - - - -7fbaa595-99ee-415c-af4e-7f740071d109 - -At(Robot,Bar2) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->7fbaa595-99ee-415c-af4e-7f740071d109 - - - - - -82eb2eac-c2bd-4c4d-a2b4-2e013345bea9 - -PutDown(BottledDrink,Bar) - - - -2e6b4ef9-d195-442b-8437-ae5f46bc62d7->82eb2eac-c2bd-4c4d-a2b4-2e013345bea9 - - - - - -3e175c68-0d51-44a3-aeb0-1cd024816ab9 - -Holding(BottledDrink) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->3e175c68-0d51-44a3-aeb0-1cd024816ab9 - - - - - -0543ebfd-2985-4ea6-9362-0d3a0537506e - -At(Robot,BrightTable6) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->0543ebfd-2985-4ea6-9362-0d3a0537506e - - - - - -e4295e11-8520-447a-82c1-537c8923ebd7 - -At(Robot,MilkDrink) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->e4295e11-8520-447a-82c1-537c8923ebd7 - - - - - -e686d9c0-40b4-43eb-84d7-b148f5558c5d - -At(Robot,Bar2) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->e686d9c0-40b4-43eb-84d7-b148f5558c5d - - - - - -1440677f-404a-45f2-9f30-598c594caee4 - -PutDown(BottledDrink,BrightTable) - - - -2f2ea6a1-1420-4884-8628-5acb51669a49->1440677f-404a-45f2-9f30-598c594caee4 - - - - - -09ec061d-67c4-49a8-bffb-0e550c49c77a - -Holding(BottledDrink) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->09ec061d-67c4-49a8-bffb-0e550c49c77a - - - - - -ecce104a-53e9-4398-b3c4-e8d98ad38f8b - -At(Robot,BrightTable6) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->ecce104a-53e9-4398-b3c4-e8d98ad38f8b - - - - - -a301249e-5b23-48f6-b262-1a72a828e2a7 - -At(Robot,MilkDrink) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->a301249e-5b23-48f6-b262-1a72a828e2a7 - - - - - -ac06f1e1-7135-43d8-a594-2def36c40326 - -At(Robot,Bar2) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->ac06f1e1-7135-43d8-a594-2def36c40326 - - - - - -1991f33f-b49e-48a5-ae78-3dcc29234970 - -PutDown(BottledDrink,BrightTable) - - - -6b9919e4-5aac-4629-832b-62cfe44e9fc9->1991f33f-b49e-48a5-ae78-3dcc29234970 - - - - - -594cd0eb-aa4d-4a2b-ac87-e5789900ef00 - -Holding(BottledDrink) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->594cd0eb-aa4d-4a2b-ac87-e5789900ef00 - - - - - -daae34d7-2f8d-49e7-9b48-1428707825bd - -At(Robot,MilkDrink) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->daae34d7-2f8d-49e7-9b48-1428707825bd - - - - - -3391d709-6af1-44da-a48e-3e093083d5b0 - -At(Robot,CoffeeTable) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->3391d709-6af1-44da-a48e-3e093083d5b0 - - - - - -2105fa5e-0117-4205-9de1-8f4f07a84a24 - -At(Robot,Bar2) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->2105fa5e-0117-4205-9de1-8f4f07a84a24 - - - - - -b5687ccc-6592-4fae-abe7-85df1be14fd3 - -PutDown(BottledDrink,CoffeeTable) - - - -7b5f9a6b-65df-44d6-b845-7f6cb092a3b1->b5687ccc-6592-4fae-abe7-85df1be14fd3 - - - - - -db551e21-f2f9-4d65-b56e-a0e7d4a7b39e - -Holding(BottledDrink) - - - -9987583f-b565-47dd-8161-418366745ad1->db551e21-f2f9-4d65-b56e-a0e7d4a7b39e - - - - - -5b98133d-dad8-4e7d-97ee-66fc2a7cbb86 - -At(Robot,MilkDrink) - - - -9987583f-b565-47dd-8161-418366745ad1->5b98133d-dad8-4e7d-97ee-66fc2a7cbb86 - - - - - -13175063-6f23-46fc-84f3-9f30b0b64606 - -At(Robot,CoffeeTable) - - - -9987583f-b565-47dd-8161-418366745ad1->13175063-6f23-46fc-84f3-9f30b0b64606 - - - - - -f701df7e-af1d-438f-b524-84b95b88842f - -At(Robot,Bar2) - - - -9987583f-b565-47dd-8161-418366745ad1->f701df7e-af1d-438f-b524-84b95b88842f - - - - - -e67c7c9f-9489-4ad0-ad67-5e8d37806e60 - -PutDown(BottledDrink,CoffeeTable) - - - -9987583f-b565-47dd-8161-418366745ad1->e67c7c9f-9489-4ad0-ad67-5e8d37806e60 - - - - - -d8598671-7ec2-4a72-a61c-744b3cff1f08 - -Holding(BottledDrink) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->d8598671-7ec2-4a72-a61c-744b3cff1f08 - - - - - -4f0d29a9-6baa-487f-8bde-a4f99849d70d - -At(Robot,MilkDrink) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->4f0d29a9-6baa-487f-8bde-a4f99849d70d - - - - - -88904dcd-c0ec-4e9f-a04e-c3d53988bd18 - -At(Robot,Bar2) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->88904dcd-c0ec-4e9f-a04e-c3d53988bd18 - - - - - -47718312-cf7e-4c86-a36f-6361220b38fa - -At(Robot,Table1) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->47718312-cf7e-4c86-a36f-6361220b38fa - - - - - -b9f0c78a-3fdf-4134-8df7-c62d9671daa5 - -PutDown(BottledDrink,Table) - - - -b55788de-1116-48e5-9e5b-e98a6045c4cb->b9f0c78a-3fdf-4134-8df7-c62d9671daa5 - - - - - -045952a7-e566-4c3f-b8e7-231643ee08c5 - -Holding(BottledDrink) - - - -935994b4-413a-418f-83e9-c656366952ac->045952a7-e566-4c3f-b8e7-231643ee08c5 - - - - - -e1d1199a-25ee-4f50-be4d-a6757a74cd20 - -At(Robot,MilkDrink) - - - -935994b4-413a-418f-83e9-c656366952ac->e1d1199a-25ee-4f50-be4d-a6757a74cd20 - - - - - -8ff5a707-d3ca-4087-b57a-ffd6ea4a6b6f - -At(Robot,Bar2) - - - -935994b4-413a-418f-83e9-c656366952ac->8ff5a707-d3ca-4087-b57a-ffd6ea4a6b6f - - - - - -11a2f7be-1ebe-4ff2-9c10-bfedf262a020 - -At(Robot,Table1) - - - -935994b4-413a-418f-83e9-c656366952ac->11a2f7be-1ebe-4ff2-9c10-bfedf262a020 - - - - - -8d9b164a-d086-43ce-9d16-c223028da38a - -PutDown(BottledDrink,Table) - - - -935994b4-413a-418f-83e9-c656366952ac->8d9b164a-d086-43ce-9d16-c223028da38a - - - - - -de1601ab-8b4d-4b58-a05a-1c572adb2542 - -Holding(BottledDrink) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->de1601ab-8b4d-4b58-a05a-1c572adb2542 - - - - - -56dfc89a-6bd8-4862-959c-52d7268c1f14 - -At(Robot,MilkDrink) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->56dfc89a-6bd8-4862-959c-52d7268c1f14 - - - - - -08cf948d-492c-4d4c-bac0-b1103a74fe04 - -At(Robot,Bar2) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->08cf948d-492c-4d4c-bac0-b1103a74fe04 - - - - - -6b8f777e-255a-43ad-8972-7659802ebc9c - -At(Robot,Table2) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->6b8f777e-255a-43ad-8972-7659802ebc9c - - - - - -a24a98c5-96f6-4bde-8c29-b4374200624d - -PutDown(BottledDrink,Table) - - - -48f6ccba-d0fc-4d94-a357-b13d65ff2528->a24a98c5-96f6-4bde-8c29-b4374200624d - - - - - -fd0a2156-4c39-4f87-8121-2ae4b9607fc6 - -Holding(BottledDrink) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->fd0a2156-4c39-4f87-8121-2ae4b9607fc6 - - - - - -0c58f974-c456-46e7-bfa2-4c0bdec8464b - -At(Robot,MilkDrink) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->0c58f974-c456-46e7-bfa2-4c0bdec8464b - - - - - -1314d863-d129-4edd-af11-d96c252b50c9 - -At(Robot,Bar2) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->1314d863-d129-4edd-af11-d96c252b50c9 - - - - - -cd06c2c2-4d1d-4442-8e8d-b2d8291cdd8f - -At(Robot,Table2) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->cd06c2c2-4d1d-4442-8e8d-b2d8291cdd8f - - - - - -2e8a6e95-1825-4ec6-a04e-af19669e5b7a - -PutDown(BottledDrink,Table) - - - -9338fa9c-c0fc-4cbd-9b0f-4229d3e2c940->2e8a6e95-1825-4ec6-a04e-af19669e5b7a - - - - - -6c15e87e-2a48-4a2a-9c8d-0fa750471602 - -Holding(BottledDrink) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->6c15e87e-2a48-4a2a-9c8d-0fa750471602 - - - - - -eae0aca3-a1f7-4679-86c4-671eb0e12432 - -At(Robot,MilkDrink) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->eae0aca3-a1f7-4679-86c4-671eb0e12432 - - - - - -2c287deb-99de-4c46-a98b-0c4715b6758e - -At(Robot,Bar2) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->2c287deb-99de-4c46-a98b-0c4715b6758e - - - - - -f5759d7b-ba1e-4eff-b8a6-e698f99b8230 - -At(Robot,Table3) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->f5759d7b-ba1e-4eff-b8a6-e698f99b8230 - - - - - -b5280704-68c5-40e8-a46c-98066e2d8d6b - -PutDown(BottledDrink,Table) - - - -166bb4c7-0ab4-4185-8750-e83420d6d50d->b5280704-68c5-40e8-a46c-98066e2d8d6b - - - - - -d6100c1b-619b-40c2-92f0-dbf1816fb420 - -Holding(BottledDrink) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->d6100c1b-619b-40c2-92f0-dbf1816fb420 - - - - - -32f914dc-aa60-4eb7-9e34-73f9a2acde58 - -At(Robot,MilkDrink) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->32f914dc-aa60-4eb7-9e34-73f9a2acde58 - - - - - -5ec0f2f9-faf3-466d-96a4-10389685dba2 - -At(Robot,Bar2) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->5ec0f2f9-faf3-466d-96a4-10389685dba2 - - - - - -72878e6a-4357-47cb-85eb-e5c2cf09ff0d - -At(Robot,Table3) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->72878e6a-4357-47cb-85eb-e5c2cf09ff0d - - - - - -070d5ada-8b1f-47ec-93af-bca4b0e16faa - -PutDown(BottledDrink,Table) - - - -248df87e-f34f-4182-9c5a-e4d982a77b69->070d5ada-8b1f-47ec-93af-bca4b0e16faa - - - - - -f9b0dd62-3318-4d21-b8de-f4c3fc59246a - -Holding(BottledDrink) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->f9b0dd62-3318-4d21-b8de-f4c3fc59246a - - - - - -59f10c79-50c7-4999-a92b-fa75eeafe222 - -At(Robot,MilkDrink) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->59f10c79-50c7-4999-a92b-fa75eeafe222 - - - - - -95799546-55df-4551-8bf0-8375beccdc4b - -At(Robot,WaterTable) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->95799546-55df-4551-8bf0-8375beccdc4b - - - - - -8a01d84d-0a85-4fc2-be29-26c76522b37c - -At(Robot,Bar2) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->8a01d84d-0a85-4fc2-be29-26c76522b37c - - - - - -4eda4936-4f57-4d3e-8a0f-d75b82448c9a - -PutDown(BottledDrink,WaterTable) - - - -21cabfb2-d2ab-44cb-b445-7f0d472a7388->4eda4936-4f57-4d3e-8a0f-d75b82448c9a - - - - - -b2aa9985-cb1a-41ac-9d92-de8953733f8f - -Holding(BottledDrink) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->b2aa9985-cb1a-41ac-9d92-de8953733f8f - - - - - -1535ef9c-a0f0-4755-a396-5654e2a58b98 - -At(Robot,MilkDrink) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->1535ef9c-a0f0-4755-a396-5654e2a58b98 - - - - - -0b478723-6f78-4556-bcdd-ff931baa29a5 - -At(Robot,WaterTable) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->0b478723-6f78-4556-bcdd-ff931baa29a5 - - - - - -56e9f315-3f76-429e-8a09-a597db928105 - -At(Robot,Bar2) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->56e9f315-3f76-429e-8a09-a597db928105 - - - - - -87f843bd-c636-4cbf-bca9-92409c75a0e2 - -PutDown(BottledDrink,WaterTable) - - - -e9d0b2ed-16ef-42c4-8deb-664a9342205f->87f843bd-c636-4cbf-bca9-92409c75a0e2 - - - - - -6b748a6b-47b1-4f47-948d-56507b232f2b - -At(Robot,Bar) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->6b748a6b-47b1-4f47-948d-56507b232f2b - - - - - -c503ce13-4658-457d-aeee-a20f5d246215 - -At(Robot,MilkDrink) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->c503ce13-4658-457d-aeee-a20f5d246215 - - - - - -c640e958-ce6e-4f6f-9b57-54dd40052f59 - -At(Robot,Bar2) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->c640e958-ce6e-4f6f-9b57-54dd40052f59 - - - - - -ac3504a2-9073-4207-bf08-1df7c321d95b - -Holding(Chips) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->ac3504a2-9073-4207-bf08-1df7c321d95b - - - - - -4bda56eb-9e1e-4f12-92d1-ff94ea1d8971 - -PutDown(Chips,Bar) - - - -4bb8068f-4e67-452e-8ecb-4820b09129c1->4bda56eb-9e1e-4f12-92d1-ff94ea1d8971 - - - - - -9bddc67b-b891-4b1b-b39c-5faa46f93aca - -At(Robot,Bar) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->9bddc67b-b891-4b1b-b39c-5faa46f93aca - - - - - -d738d803-a294-4d12-99c8-22f13cc7fa4e - -At(Robot,MilkDrink) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->d738d803-a294-4d12-99c8-22f13cc7fa4e - - - - - -d387f134-72f9-4f9c-b04c-b28c769de557 - -At(Robot,Bar2) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->d387f134-72f9-4f9c-b04c-b28c769de557 - - - - - -f0d65fcc-b730-42e9-a9cb-792bae298098 - -Holding(Chips) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->f0d65fcc-b730-42e9-a9cb-792bae298098 - - - - - -b8918439-4d29-4e2d-b5a1-845ffafd3df1 - -PutDown(Chips,Bar) - - - -d6de8af5-b063-4151-8a39-7500e2e6dd6e->b8918439-4d29-4e2d-b5a1-845ffafd3df1 - - - - - -c64c864d-1f90-4f0f-8a65-37443b21a42b - -At(Robot,MilkDrink) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->c64c864d-1f90-4f0f-8a65-37443b21a42b - - - - - -c58b4609-85f8-40d8-b34d-76364abb1c10 - -Holding(Chips) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->c58b4609-85f8-40d8-b34d-76364abb1c10 - - - - - -8e7c925c-1b83-4980-bf79-4f53db849e30 - -At(Robot,Bar2) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->8e7c925c-1b83-4980-bf79-4f53db849e30 - - - - - -2dcd1646-27fe-4a48-829a-8f4f6695672a - -PutDown(Chips,Bar) - - - -99d45dd0-a908-49e3-96d7-bf566d87f3db->2dcd1646-27fe-4a48-829a-8f4f6695672a - - - - - -dfdf489b-3b95-4771-a155-e834f30963d9 - -At(Robot,MilkDrink) - - - -43af8175-bad4-49c8-af7c-b47502052f29->dfdf489b-3b95-4771-a155-e834f30963d9 - - - - - -ab37fb33-1bc5-4dbf-b2ac-0d7a9f20d129 - -Holding(Chips) - - - -43af8175-bad4-49c8-af7c-b47502052f29->ab37fb33-1bc5-4dbf-b2ac-0d7a9f20d129 - - - - - -b6f1e3fa-4f5e-4e66-ac40-ef50f0f8d755 - -At(Robot,Bar2) - - - -43af8175-bad4-49c8-af7c-b47502052f29->b6f1e3fa-4f5e-4e66-ac40-ef50f0f8d755 - - - - - -5d5b4cdc-22ab-4ba9-b517-5ac5521d13aa - -PutDown(Chips,Bar) - - - -43af8175-bad4-49c8-af7c-b47502052f29->5d5b4cdc-22ab-4ba9-b517-5ac5521d13aa - - - - - -38048899-a418-4171-8164-134fcef6a0a3 - -At(Robot,BrightTable6) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->38048899-a418-4171-8164-134fcef6a0a3 - - - - - -96d72e55-fdc1-41a1-a17c-7e06679e42d7 - -At(Robot,MilkDrink) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->96d72e55-fdc1-41a1-a17c-7e06679e42d7 - - - - - -4ded2cb8-300c-4e2b-a59a-ee3422615c64 - -At(Robot,Bar2) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->4ded2cb8-300c-4e2b-a59a-ee3422615c64 - - - - - -94950e53-aa24-4415-80bb-5aec07ac7119 - -Holding(Chips) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->94950e53-aa24-4415-80bb-5aec07ac7119 - - - - - -f2aedadf-e3f7-4ca9-ae49-318fbc5c7937 - -PutDown(Chips,BrightTable) - - - -a0667d45-2585-4c74-b155-2a1dc0d4e7e0->f2aedadf-e3f7-4ca9-ae49-318fbc5c7937 - - - - - -e176d03e-8613-4b92-a6ab-b016a228b3f5 - -At(Robot,BrightTable6) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->e176d03e-8613-4b92-a6ab-b016a228b3f5 - - - - - -49c8eca6-fe25-4940-ba71-0a5f42a60303 - -At(Robot,MilkDrink) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->49c8eca6-fe25-4940-ba71-0a5f42a60303 - - - - - -0b727836-c870-42f8-bbb9-5c7f280da2bd - -At(Robot,Bar2) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->0b727836-c870-42f8-bbb9-5c7f280da2bd - - - - - -f5810749-076f-4276-8826-c18c543fd120 - -Holding(Chips) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->f5810749-076f-4276-8826-c18c543fd120 - - - - - -7540dd0a-973e-4d27-b351-94a55083fb44 - -PutDown(Chips,BrightTable) - - - -6e018610-3c71-4bfb-a3b4-67d79ef7e12a->7540dd0a-973e-4d27-b351-94a55083fb44 - - - - - -41c24bc5-110f-4c1d-9a9f-2631da3ef795 - -At(Robot,MilkDrink) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->41c24bc5-110f-4c1d-9a9f-2631da3ef795 - - - - - -e8d2a44f-f0ce-4ba1-9be3-f37569a0de98 - -At(Robot,CoffeeTable) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->e8d2a44f-f0ce-4ba1-9be3-f37569a0de98 - - - - - -ec684e26-71c0-4f84-b629-afc5b8cc4dc4 - -At(Robot,Bar2) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->ec684e26-71c0-4f84-b629-afc5b8cc4dc4 - - - - - -2816d458-8da6-4158-b4c1-da889e73c715 - -Holding(Chips) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->2816d458-8da6-4158-b4c1-da889e73c715 - - - - - -bc56cdcf-f299-4106-90ec-ac69b18f4cd3 - -PutDown(Chips,CoffeeTable) - - - -62afd6ea-bd37-4d97-a718-9b6bb322aee0->bc56cdcf-f299-4106-90ec-ac69b18f4cd3 - - - - - -ba1b1c81-ac95-4ab8-a05c-92e088217359 - -At(Robot,MilkDrink) - - - -12299d10-cd11-4d86-9ced-3edd884af180->ba1b1c81-ac95-4ab8-a05c-92e088217359 - - - - - -d88be949-995a-4a63-9ef9-cfb38a00bb4b - -At(Robot,CoffeeTable) - - - -12299d10-cd11-4d86-9ced-3edd884af180->d88be949-995a-4a63-9ef9-cfb38a00bb4b - - - - - -e68f2673-08d8-41ab-a9d9-bce6fde9653d - -At(Robot,Bar2) - - - -12299d10-cd11-4d86-9ced-3edd884af180->e68f2673-08d8-41ab-a9d9-bce6fde9653d - - - - - -838f0344-f72e-4d51-9157-cc29bf4009b0 - -Holding(Chips) - - - -12299d10-cd11-4d86-9ced-3edd884af180->838f0344-f72e-4d51-9157-cc29bf4009b0 - - - - - -4b632f2c-a083-4de9-8851-0e8fbb08dd60 - -PutDown(Chips,CoffeeTable) - - - -12299d10-cd11-4d86-9ced-3edd884af180->4b632f2c-a083-4de9-8851-0e8fbb08dd60 - - - - - -c10f116b-ecf7-4750-a72f-1ec66318139d - -At(Robot,MilkDrink) - - - -5385363c-64c6-4dc8-8529-344fabe67317->c10f116b-ecf7-4750-a72f-1ec66318139d - - - - - -7d9b33da-c2cb-4ec8-9935-5f060a468065 - -At(Robot,Bar2) - - - -5385363c-64c6-4dc8-8529-344fabe67317->7d9b33da-c2cb-4ec8-9935-5f060a468065 - - - - - -7d869b12-2c84-4821-8100-2b9f051760f8 - -At(Robot,Table1) - - - -5385363c-64c6-4dc8-8529-344fabe67317->7d869b12-2c84-4821-8100-2b9f051760f8 - - - - - -327987d2-3991-4c80-ad37-f0b56c00a945 - -Holding(Chips) - - - -5385363c-64c6-4dc8-8529-344fabe67317->327987d2-3991-4c80-ad37-f0b56c00a945 - - - - - -760fc1b7-55e0-4304-bc13-f5fb194e02bf - -PutDown(Chips,Table) - - - -5385363c-64c6-4dc8-8529-344fabe67317->760fc1b7-55e0-4304-bc13-f5fb194e02bf - - - - - -5e9046a1-a3cc-4990-a999-20ffe4a9a616 - -At(Robot,MilkDrink) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->5e9046a1-a3cc-4990-a999-20ffe4a9a616 - - - - - -0ca38809-02d2-4943-9f4c-6f6a0b594947 - -At(Robot,Bar2) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->0ca38809-02d2-4943-9f4c-6f6a0b594947 - - - - - -ec7fa1f1-0ec0-4cd2-9e04-f71e2b6bd8df - -At(Robot,Table1) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->ec7fa1f1-0ec0-4cd2-9e04-f71e2b6bd8df - - - - - -9c5a9a45-ebde-4a47-95e0-69c50d198d92 - -Holding(Chips) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->9c5a9a45-ebde-4a47-95e0-69c50d198d92 - - - - - -8dc3e371-ef16-496f-853d-376282bc2261 - -PutDown(Chips,Table) - - - -d41987b8-fa13-4b56-ba3d-0a6fa7683cb1->8dc3e371-ef16-496f-853d-376282bc2261 - - - - - -aba73af9-16d9-4b94-b724-a85b30c0cc36 - -At(Robot,MilkDrink) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->aba73af9-16d9-4b94-b724-a85b30c0cc36 - - - - - -70b108eb-adb5-4718-840f-d74842c51c35 - -At(Robot,Bar2) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->70b108eb-adb5-4718-840f-d74842c51c35 - - - - - -290a4645-3640-406e-807d-bfb0625d401d - -At(Robot,Table2) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->290a4645-3640-406e-807d-bfb0625d401d - - - - - -dfdea406-b866-42f4-818f-7be92fb67f6a - -Holding(Chips) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->dfdea406-b866-42f4-818f-7be92fb67f6a - - - - - -557b13a6-7c10-44f7-9809-79813e4529d1 - -PutDown(Chips,Table) - - - -8d42ec7f-6e6b-4377-b581-b79dbd1c779d->557b13a6-7c10-44f7-9809-79813e4529d1 - - - - - -a8fd6f56-cc03-4330-9b9c-1bb8cd8d8e2d - -At(Robot,MilkDrink) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->a8fd6f56-cc03-4330-9b9c-1bb8cd8d8e2d - - - - - -39da911f-cf5d-49c6-b390-b3b1045ff275 - -At(Robot,Bar2) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->39da911f-cf5d-49c6-b390-b3b1045ff275 - - - - - -1cc875c0-c7a4-4a67-93e3-c39cb2e256b3 - -At(Robot,Table2) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->1cc875c0-c7a4-4a67-93e3-c39cb2e256b3 - - - - - -c83a79e9-2635-4c6f-ac60-8f09de34003c - -Holding(Chips) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->c83a79e9-2635-4c6f-ac60-8f09de34003c - - - - - -953b0f48-b933-4e3c-b09c-2963474dc8ac - -PutDown(Chips,Table) - - - -4919e1fc-a716-4bfe-9e4f-75d01acc5195->953b0f48-b933-4e3c-b09c-2963474dc8ac - - - - - -91354a36-6010-4bef-9f21-47b5f8a5ff7b - -At(Robot,MilkDrink) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->91354a36-6010-4bef-9f21-47b5f8a5ff7b - - - - - -3cc3fdb5-0961-47d0-b454-83c59086ee63 - -At(Robot,Bar2) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->3cc3fdb5-0961-47d0-b454-83c59086ee63 - - - - - -a1a7f089-b1c3-4502-82da-8b0c6641b922 - -At(Robot,Table3) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->a1a7f089-b1c3-4502-82da-8b0c6641b922 - - - - - -a9d402e1-0a0b-4c02-afca-efcb428b1e3c - -Holding(Chips) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->a9d402e1-0a0b-4c02-afca-efcb428b1e3c - - - - - -02559e5e-6b96-4e7c-a44b-e261d70be908 - -PutDown(Chips,Table) - - - -c0e4edc7-3ac9-49cc-b09e-9b4400ee1abb->02559e5e-6b96-4e7c-a44b-e261d70be908 - - - - - -1c4db08b-d21e-488c-8498-a3b294f1e6c6 - -At(Robot,MilkDrink) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->1c4db08b-d21e-488c-8498-a3b294f1e6c6 - - - - - -57ac74a1-7771-4ed2-8c10-03d7c7a9d042 - -At(Robot,Bar2) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->57ac74a1-7771-4ed2-8c10-03d7c7a9d042 - - - - - -5c57e4a3-4bda-4cf1-9582-21e55acbd267 - -At(Robot,Table3) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->5c57e4a3-4bda-4cf1-9582-21e55acbd267 - - - - - -47c310c3-cd60-44e2-8cd2-c4c6276fd67e - -Holding(Chips) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->47c310c3-cd60-44e2-8cd2-c4c6276fd67e - - - - - -a06a9c8d-2892-4cc1-9249-e779d5efde3e - -PutDown(Chips,Table) - - - -5ea41751-8738-45f9-a13c-bf3715a503d6->a06a9c8d-2892-4cc1-9249-e779d5efde3e - - - - - -76cafcd1-7117-4391-a27c-f0aac375b5cf - -At(Robot,MilkDrink) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->76cafcd1-7117-4391-a27c-f0aac375b5cf - - - - - -d8624052-83d5-41c9-b94a-7b728e06b4f1 - -At(Robot,Bar2) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->d8624052-83d5-41c9-b94a-7b728e06b4f1 - - - - - -2d4ebf09-5c64-4254-a060-4cca406240e0 - -At(Robot,WaterTable) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->2d4ebf09-5c64-4254-a060-4cca406240e0 - - - - - -cf6440cc-64bf-4572-a17a-f50b0ae80120 - -Holding(Chips) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->cf6440cc-64bf-4572-a17a-f50b0ae80120 - - - - - -107d1d02-fd73-4790-80cb-397e696f2aaf - -PutDown(Chips,WaterTable) - - - -8b06ccdd-0fc6-4307-8fa9-352fc9aac650->107d1d02-fd73-4790-80cb-397e696f2aaf - - - - - -a5d5a171-4e7e-498b-8036-637a4f814c11 - -At(Robot,MilkDrink) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->a5d5a171-4e7e-498b-8036-637a4f814c11 - - - - - -460ab4a3-3f88-4ea2-b247-c7e9391eb39d - -At(Robot,Bar2) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->460ab4a3-3f88-4ea2-b247-c7e9391eb39d - - - - - -17bd3335-9ec2-4476-a11d-b34350c11501 - -At(Robot,WaterTable) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->17bd3335-9ec2-4476-a11d-b34350c11501 - - - - - -e5b916b4-cb2c-4459-8333-c1e2b557c89f - -Holding(Chips) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->e5b916b4-cb2c-4459-8333-c1e2b557c89f - - - - - -a6527185-6531-48d8-9301-fd6f59b773d0 - -PutDown(Chips,WaterTable) - - - -f4dd5b14-dbd6-468d-b3ef-c9d1f6a5703d->a6527185-6531-48d8-9301-fd6f59b773d0 - - - - - -723ad1a9-0333-42ee-a8c6-77138b1ff72b - -At(Robot,Bar) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->723ad1a9-0333-42ee-a8c6-77138b1ff72b - - - - - -11c4536e-1c95-450f-8c94-70e81d83e5b2 - -At(Robot,MilkDrink) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->11c4536e-1c95-450f-8c94-70e81d83e5b2 - - - - - -2ce2c9ee-e90b-4e5c-9ea7-57a6337380fc - -At(Robot,Bar2) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->2ce2c9ee-e90b-4e5c-9ea7-57a6337380fc - - - - - -48b93d19-fd0c-41d9-ae57-c5e378fd4fb1 - -Holding(Coffee) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->48b93d19-fd0c-41d9-ae57-c5e378fd4fb1 - - - - - -92a8e2fa-b8d6-4af8-8b28-ab913908c550 - -PutDown(Coffee,Bar) - - - -1b355b62-1ebe-4040-bb4a-0ebed9f8ace6->92a8e2fa-b8d6-4af8-8b28-ab913908c550 - - - - - -1492ba59-36d8-49ed-b876-684af4506727 - -At(Robot,Bar) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->1492ba59-36d8-49ed-b876-684af4506727 - - - - - -d93f50a3-6e02-4527-ac43-7a59a8677982 - -At(Robot,MilkDrink) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->d93f50a3-6e02-4527-ac43-7a59a8677982 - - - - - -e653dcde-9369-46a2-9ae9-2cb5045ccab0 - -At(Robot,Bar2) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->e653dcde-9369-46a2-9ae9-2cb5045ccab0 - - - - - -b21c7544-9edb-4f65-ab72-dade15189087 - -Holding(Coffee) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->b21c7544-9edb-4f65-ab72-dade15189087 - - - - - -9347a99e-94e0-4dd3-b094-72b9330f20ab - -PutDown(Coffee,Bar) - - - -b785c1cb-d7c2-4d3f-9382-d6a42bd8420b->9347a99e-94e0-4dd3-b094-72b9330f20ab - - - - - -e8d57b5e-cfeb-4479-b303-66df61b6928d - -At(Robot,MilkDrink) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->e8d57b5e-cfeb-4479-b303-66df61b6928d - - - - - -f646ef62-89ba-4cca-bb39-d49b9601a641 - -At(Robot,Bar2) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->f646ef62-89ba-4cca-bb39-d49b9601a641 - - - - - -920ea526-c2f0-442a-bcc6-d61a3843bb70 - -Holding(Coffee) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->920ea526-c2f0-442a-bcc6-d61a3843bb70 - - - - - -304e9f41-13ac-42e6-b6b6-fd2baff61577 - -PutDown(Coffee,Bar) - - - -0c8bb6e6-40d6-4d15-9004-c083c5868e6c->304e9f41-13ac-42e6-b6b6-fd2baff61577 - - - - - -e07a60e5-e3fe-4f4a-96c7-f200c6dc6a32 - -At(Robot,MilkDrink) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->e07a60e5-e3fe-4f4a-96c7-f200c6dc6a32 - - - - - -bf40a14a-508d-4a07-b9ac-a39a959811d8 - -At(Robot,Bar2) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->bf40a14a-508d-4a07-b9ac-a39a959811d8 - - - - - -40d914c0-2a82-4229-9a73-c44cbfeae3ea - -Holding(Coffee) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->40d914c0-2a82-4229-9a73-c44cbfeae3ea - - - - - -335ea284-8d92-4c07-9bb3-5d66ed6e2554 - -PutDown(Coffee,Bar) - - - -4acf7276-fc42-4b23-8f76-981c666d8716->335ea284-8d92-4c07-9bb3-5d66ed6e2554 - - - - - -b90834c9-540a-45be-8493-c26f3f6ee0b8 - -At(Robot,BrightTable6) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->b90834c9-540a-45be-8493-c26f3f6ee0b8 - - - - - -a45b19d1-f2c0-4b62-959d-a404ef334b9a - -At(Robot,MilkDrink) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->a45b19d1-f2c0-4b62-959d-a404ef334b9a - - - - - -9cdf1a7b-b5b7-4f49-92fc-d64746c29479 - -At(Robot,Bar2) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->9cdf1a7b-b5b7-4f49-92fc-d64746c29479 - - - - - -e43e4e05-57b8-46ad-bc7b-2cac44babb5b - -Holding(Coffee) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->e43e4e05-57b8-46ad-bc7b-2cac44babb5b - - - - - -7f90e6a9-b6f5-4dae-a07e-c612d2f63927 - -PutDown(Coffee,BrightTable) - - - -2bd0842a-b3e3-4525-a0a8-febc0c619bd3->7f90e6a9-b6f5-4dae-a07e-c612d2f63927 - - - - - -801e0a9c-bd81-4684-9ea0-46c3a744ffc1 - -At(Robot,BrightTable6) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->801e0a9c-bd81-4684-9ea0-46c3a744ffc1 - - - - - -3b15a803-f815-4dfb-9f98-5290f783b5c6 - -At(Robot,MilkDrink) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->3b15a803-f815-4dfb-9f98-5290f783b5c6 - - - - - -ef37fd74-4df4-45dd-8616-24854becaeaf - -At(Robot,Bar2) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->ef37fd74-4df4-45dd-8616-24854becaeaf - - - - - -cf6591ef-9ecd-4536-81dc-2cfbb1820ced - -Holding(Coffee) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->cf6591ef-9ecd-4536-81dc-2cfbb1820ced - - - - - -3295b732-27f9-4922-977f-8c8e66549f50 - -PutDown(Coffee,BrightTable) - - - -2e6e4258-431f-44c9-beb0-c5ba168abc53->3295b732-27f9-4922-977f-8c8e66549f50 - - - - - -10491acc-2057-4fcf-97b9-2f4314748f28 - -At(Robot,MilkDrink) - - - -72000264-e9bd-41a1-af1e-025512f52e23->10491acc-2057-4fcf-97b9-2f4314748f28 - - - - - -c907ce8a-227d-4041-b13c-1b86e575cc20 - -At(Robot,CoffeeTable) - - - -72000264-e9bd-41a1-af1e-025512f52e23->c907ce8a-227d-4041-b13c-1b86e575cc20 - - - - - -10bf698d-c421-4d33-8d1d-3639250db306 - -At(Robot,Bar2) - - - -72000264-e9bd-41a1-af1e-025512f52e23->10bf698d-c421-4d33-8d1d-3639250db306 - - - - - -514655f0-2832-4b06-a465-f4058adf678e - -Holding(Coffee) - - - -72000264-e9bd-41a1-af1e-025512f52e23->514655f0-2832-4b06-a465-f4058adf678e - - - - - -127fe61d-c880-4ce8-a7db-a7d7a59b13f3 - -PutDown(Coffee,CoffeeTable) - - - -72000264-e9bd-41a1-af1e-025512f52e23->127fe61d-c880-4ce8-a7db-a7d7a59b13f3 - - - - - -8ca15087-4835-4e63-9da7-f3df1b4851e6 - -At(Robot,MilkDrink) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->8ca15087-4835-4e63-9da7-f3df1b4851e6 - - - - - -61be3b5b-f4eb-4262-8b2c-6e12632fc8ee - -At(Robot,CoffeeTable) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->61be3b5b-f4eb-4262-8b2c-6e12632fc8ee - - - - - -3ec37965-c2d5-4804-86d3-109aaab58006 - -At(Robot,Bar2) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->3ec37965-c2d5-4804-86d3-109aaab58006 - - - - - -3a55a67b-9dba-4400-8a08-04f7b9713784 - -Holding(Coffee) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->3a55a67b-9dba-4400-8a08-04f7b9713784 - - - - - -a8c5ec40-ccdc-401b-864a-85cbc7f40858 - -PutDown(Coffee,CoffeeTable) - - - -b5d6f009-cb58-4fe9-8686-cab5a1545639->a8c5ec40-ccdc-401b-864a-85cbc7f40858 - - - - - -4438c3fe-c454-4166-907a-dfabd548c568 - -At(Robot,MilkDrink) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->4438c3fe-c454-4166-907a-dfabd548c568 - - - - - -3de07ca4-6113-485f-8245-b00155c97d61 - -At(Robot,Bar2) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->3de07ca4-6113-485f-8245-b00155c97d61 - - - - - -f471a4a4-1ab1-4cab-bf41-7cf57bc45e7a - -Holding(Coffee) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->f471a4a4-1ab1-4cab-bf41-7cf57bc45e7a - - - - - -d6d9c156-5f62-4002-b929-0087eb01dfef - -At(Robot,Table1) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->d6d9c156-5f62-4002-b929-0087eb01dfef - - - - - -5e345ebb-658b-4158-83e5-85296d5afb36 - -PutDown(Coffee,Table) - - - -e060b669-31db-41f7-bb6e-bd5ddb030c03->5e345ebb-658b-4158-83e5-85296d5afb36 - - - - - -a57244bb-902c-4763-a57a-ed69b3b0816f - -At(Robot,MilkDrink) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->a57244bb-902c-4763-a57a-ed69b3b0816f - - - - - -7f279566-bcea-4629-86c0-0d0caf64b0eb - -At(Robot,Bar2) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->7f279566-bcea-4629-86c0-0d0caf64b0eb - - - - - -e16f70db-07e7-4741-abe1-1cf40a9ff729 - -Holding(Coffee) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->e16f70db-07e7-4741-abe1-1cf40a9ff729 - - - - - -07a7a5ff-05b6-48e1-90b3-f1c4f6c65ef8 - -At(Robot,Table1) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->07a7a5ff-05b6-48e1-90b3-f1c4f6c65ef8 - - - - - -db481fb5-1c15-444d-a9e7-cc491c52e8bd - -PutDown(Coffee,Table) - - - -bc3be653-4bf2-44ea-9484-d8bef6b15a11->db481fb5-1c15-444d-a9e7-cc491c52e8bd - - - - - -0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2 - -At(Robot,MilkDrink) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->0ad0e94b-c3bd-4be7-9923-8792bd6fe4c2 - - - - - -4fd7ac9f-0513-4a98-af16-d86541d010d7 - -At(Robot,Bar2) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->4fd7ac9f-0513-4a98-af16-d86541d010d7 - - - - - -2c1e8629-6e3d-4e52-9f04-d63527ed8d04 - -Holding(Coffee) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->2c1e8629-6e3d-4e52-9f04-d63527ed8d04 - - - - - -6a676250-8f39-46e6-8878-40e635d56e83 - -At(Robot,Table2) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->6a676250-8f39-46e6-8878-40e635d56e83 - - - - - -0d29e510-d130-4657-a79d-d3f8aff71e7e - -PutDown(Coffee,Table) - - - -23c8b0e7-6198-44a1-8152-6288177732d2->0d29e510-d130-4657-a79d-d3f8aff71e7e - - - - - -ff16c000-4192-491a-a2a7-1bf732bf9fea - -At(Robot,MilkDrink) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ff16c000-4192-491a-a2a7-1bf732bf9fea - - - - - -ed3450ef-64b4-44d8-972e-73a32b74fcdd - -At(Robot,Bar2) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ed3450ef-64b4-44d8-972e-73a32b74fcdd - - - - - -ecc8292f-ac66-4033-bd1e-df7d36b04bb2 - -Holding(Coffee) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->ecc8292f-ac66-4033-bd1e-df7d36b04bb2 - - - - - -0bb2731b-2d77-468d-b9eb-fbe32dbf4ab5 - -At(Robot,Table2) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->0bb2731b-2d77-468d-b9eb-fbe32dbf4ab5 - - - - - -4cff0971-97b4-4168-9941-7a81cf85ece8 - -PutDown(Coffee,Table) - - - -4d0f0618-d5e0-4904-bfff-80322f04af70->4cff0971-97b4-4168-9941-7a81cf85ece8 - - - - - -d0b0aae4-4950-4001-b96d-beb265b7b3aa - -At(Robot,MilkDrink) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->d0b0aae4-4950-4001-b96d-beb265b7b3aa - - - - - -dcf8d4df-4ee7-4562-94d7-1ddb67da742d - -At(Robot,Bar2) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->dcf8d4df-4ee7-4562-94d7-1ddb67da742d - - - - - -026ef45d-ec4e-4fb2-8052-ffbc8fe653a2 - -Holding(Coffee) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->026ef45d-ec4e-4fb2-8052-ffbc8fe653a2 - - - - - -c242b12d-0760-4374-b7d9-edd62f970bb0 - -At(Robot,Table3) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->c242b12d-0760-4374-b7d9-edd62f970bb0 - - - - - -0f373a6c-3dbd-4532-89c9-d71833ac26f1 - -PutDown(Coffee,Table) - - - -d38c2ea4-8357-4e99-953b-8331bf3a1771->0f373a6c-3dbd-4532-89c9-d71833ac26f1 - - - - - -2ff3a129-644e-457b-abfd-29d6efaa59d3 - -At(Robot,MilkDrink) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->2ff3a129-644e-457b-abfd-29d6efaa59d3 - - - - - -3419c4de-bf76-4670-93f8-9262e6741bad - -At(Robot,Bar2) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->3419c4de-bf76-4670-93f8-9262e6741bad - - - - - -373cb676-c8fc-42b4-9a9a-118ff5bc201c - -Holding(Coffee) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->373cb676-c8fc-42b4-9a9a-118ff5bc201c - - - - - -42b2b6ad-f4ec-4e22-83f4-6cfb461dd6d7 - -At(Robot,Table3) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->42b2b6ad-f4ec-4e22-83f4-6cfb461dd6d7 - - - - - -d3423b6a-1293-4eb3-84c4-31aaa2fe9191 - -PutDown(Coffee,Table) - - - -e7e4973b-8c5b-4a24-aa2a-f15b1643c175->d3423b6a-1293-4eb3-84c4-31aaa2fe9191 - - - - - -1c685634-370b-4d45-b89f-dc17b8662258 - -At(Robot,MilkDrink) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->1c685634-370b-4d45-b89f-dc17b8662258 - - - - - -ada445d8-511c-404f-84e5-2e7da0bcc025 - -At(Robot,WaterTable) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->ada445d8-511c-404f-84e5-2e7da0bcc025 - - - - - -e6d86064-a5b8-4018-b554-898fabab7767 - -Holding(Coffee) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->e6d86064-a5b8-4018-b554-898fabab7767 - - - - - -1b977467-de24-403c-883f-649853782707 - -At(Robot,Bar2) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->1b977467-de24-403c-883f-649853782707 - - - - - -3964a543-199e-402f-8029-1573d16bba18 - -PutDown(Coffee,WaterTable) - - - -738da442-3517-4f2c-99e7-0f0801af84e1->3964a543-199e-402f-8029-1573d16bba18 - - - - - -643e6045-6a02-4b7a-9e53-e4d30bc35c2a - -At(Robot,MilkDrink) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->643e6045-6a02-4b7a-9e53-e4d30bc35c2a - - - - - -cb6150b2-3103-4011-9980-68fb83970ccc - -At(Robot,WaterTable) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->cb6150b2-3103-4011-9980-68fb83970ccc - - - - - -d341fa15-852e-46bf-9116-6ca6ebeabc6d - -Holding(Coffee) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->d341fa15-852e-46bf-9116-6ca6ebeabc6d - - - - - -393f19f0-b440-4b84-8673-be92155b910d - -At(Robot,Bar2) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->393f19f0-b440-4b84-8673-be92155b910d - - - - - -21c2909e-720a-4670-b0ef-46e0ef56c24e - -PutDown(Coffee,WaterTable) - - - -50206ede-41b6-4d43-9ac8-21c1e52aaf8a->21c2909e-720a-4670-b0ef-46e0ef56c24e - - - - - -5baac3e0-e779-4da5-a27c-28f134a391af - -At(Robot,Bar) - - - -8c114576-e366-4086-992b-686572634a0c->5baac3e0-e779-4da5-a27c-28f134a391af - - - - - -ac031a4e-2820-4866-a778-d12864bfb086 - -At(Robot,MilkDrink) - - - -8c114576-e366-4086-992b-686572634a0c->ac031a4e-2820-4866-a778-d12864bfb086 - - - - - -c1a72e3c-9851-4316-8dac-ac7e10408463 - -At(Robot,Bar2) - - - -8c114576-e366-4086-992b-686572634a0c->c1a72e3c-9851-4316-8dac-ac7e10408463 - - - - - -180de080-0f4a-49a1-9121-c4a77839e2b9 - -Holding(Dessert) - - - -8c114576-e366-4086-992b-686572634a0c->180de080-0f4a-49a1-9121-c4a77839e2b9 - - - - - -3b6b5235-4a67-4600-8cc0-b7e39af8466f - -PutDown(Dessert,Bar) - - - -8c114576-e366-4086-992b-686572634a0c->3b6b5235-4a67-4600-8cc0-b7e39af8466f - - - - - -6d585971-e4b3-4008-9634-3e8c7a97f108 - -At(Robot,Bar) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->6d585971-e4b3-4008-9634-3e8c7a97f108 - - - - - -06d94a29-78db-43e3-8f22-7d5bb100a715 - -At(Robot,MilkDrink) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->06d94a29-78db-43e3-8f22-7d5bb100a715 - - - - - -7dfca6a0-5333-4be2-874f-3ade6be983a6 - -At(Robot,Bar2) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->7dfca6a0-5333-4be2-874f-3ade6be983a6 - - - - - -a9a6d6c3-0ce1-44e3-95c2-0c828643d426 - -Holding(Dessert) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->a9a6d6c3-0ce1-44e3-95c2-0c828643d426 - - - - - -208d565c-51ea-4004-9b98-7908561cd73d - -PutDown(Dessert,Bar) - - - -189314d4-8e2e-4275-a7bb-dab9fc75076d->208d565c-51ea-4004-9b98-7908561cd73d - - - - - -f2d89fc9-7c84-4cbd-8276-27d1877b4ccb - -At(Robot,MilkDrink) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->f2d89fc9-7c84-4cbd-8276-27d1877b4ccb - - - - - -2f295618-70e2-4b51-a62e-835829991d68 - -At(Robot,Bar2) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->2f295618-70e2-4b51-a62e-835829991d68 - - - - - -c89ab959-8856-42d7-959e-68775532c0dc - -Holding(Dessert) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->c89ab959-8856-42d7-959e-68775532c0dc - - - - - -a58fd281-712e-4240-bdc1-cb7860fb9ea8 - -PutDown(Dessert,Bar) - - - -f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e->a58fd281-712e-4240-bdc1-cb7860fb9ea8 - - - - - -a403f674-0e76-4133-88df-4927b4eafd46 - -At(Robot,MilkDrink) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->a403f674-0e76-4133-88df-4927b4eafd46 - - - - - -986f591a-bdc1-43f3-b7e9-9b78835e1859 - -At(Robot,Bar2) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->986f591a-bdc1-43f3-b7e9-9b78835e1859 - - - - - -fa25a519-c92c-4057-bb1c-f9540eae6bcc - -Holding(Dessert) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->fa25a519-c92c-4057-bb1c-f9540eae6bcc - - - - - -d939e0e5-846e-4a39-891c-0bb6692e0e3d - -PutDown(Dessert,Bar) - - - -8b13d05e-0ec0-4234-ad47-e4a621812c90->d939e0e5-846e-4a39-891c-0bb6692e0e3d - - - - - -d340b26d-6029-4eac-8e8f-190470db2343 - -At(Robot,BrightTable6) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->d340b26d-6029-4eac-8e8f-190470db2343 - - - - - -902f5ff8-2f8c-4d16-935c-35f85684583e - -At(Robot,MilkDrink) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->902f5ff8-2f8c-4d16-935c-35f85684583e - - - - - -4efd940e-0c67-4881-9e11-1f2fa965f6a7 - -At(Robot,Bar2) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->4efd940e-0c67-4881-9e11-1f2fa965f6a7 - - - - - -f6d0540f-34ca-40f6-9d05-71d3c135f4df - -Holding(Dessert) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->f6d0540f-34ca-40f6-9d05-71d3c135f4df - - - - - -1d5b19b6-7999-4ec0-8ca3-6377bc46fe18 - -PutDown(Dessert,BrightTable) - - - -7ca8baa0-24ad-47cf-8ca6-bba234ebf29a->1d5b19b6-7999-4ec0-8ca3-6377bc46fe18 - - - - - -8dd55291-23a0-4695-a707-3baa891985a6 - -At(Robot,BrightTable6) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->8dd55291-23a0-4695-a707-3baa891985a6 - - - - - -ed2ed4a0-c9d5-4554-b229-fd370e21c38c - -At(Robot,MilkDrink) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->ed2ed4a0-c9d5-4554-b229-fd370e21c38c - - - - - -a5561fa1-92e8-4855-b925-d509ed8b7a3d - -At(Robot,Bar2) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->a5561fa1-92e8-4855-b925-d509ed8b7a3d - - - - - -e62341dc-7b2e-4f69-9bf5-62659bb832fc - -Holding(Dessert) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->e62341dc-7b2e-4f69-9bf5-62659bb832fc - - - - - -0bf29e84-27be-4d09-949f-241f8b5d53f7 - -PutDown(Dessert,BrightTable) - - - -81c208d7-eddd-4e11-8438-d228a2751e2b->0bf29e84-27be-4d09-949f-241f8b5d53f7 - - - - - -e5a11ee7-6340-4ef2-983b-3f22c2233702 - -At(Robot,MilkDrink) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->e5a11ee7-6340-4ef2-983b-3f22c2233702 - - - - - -e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e - -At(Robot,CoffeeTable) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e - - - - - -0a07ed17-e492-4a1c-80a9-61cfafae8d30 - -At(Robot,Bar2) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->0a07ed17-e492-4a1c-80a9-61cfafae8d30 - - - - - -5ad6b0a2-ada0-4ba5-b067-4fa6a603d106 - -Holding(Dessert) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->5ad6b0a2-ada0-4ba5-b067-4fa6a603d106 - - - - - -914edf0f-e89e-41d7-bfba-8b9f2ed88dcb - -PutDown(Dessert,CoffeeTable) - - - -fc300949-767f-4324-a69c-736a6ee2f63d->914edf0f-e89e-41d7-bfba-8b9f2ed88dcb - - - - - -7232382c-8ae7-441b-812c-8c60d149a481 - -At(Robot,MilkDrink) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->7232382c-8ae7-441b-812c-8c60d149a481 - - - - - -5cb5db0e-c8f1-4bf8-a867-58d61bc60df1 - -At(Robot,CoffeeTable) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->5cb5db0e-c8f1-4bf8-a867-58d61bc60df1 - - - - - -eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6 - -At(Robot,Bar2) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6 - - - - - -cf79696b-cb1b-4a16-ab97-f0b39ca41638 - -Holding(Dessert) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->cf79696b-cb1b-4a16-ab97-f0b39ca41638 - - - - - -fe0b087e-00d9-43b8-a3a4-9cd23bb4736d - -PutDown(Dessert,CoffeeTable) - - - -70cc462b-d3a5-49e6-be06-48d5b6f33269->fe0b087e-00d9-43b8-a3a4-9cd23bb4736d - - - - - -eade3195-4ffc-4d11-a0c1-a962437c92c7 - -At(Robot,MilkDrink) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->eade3195-4ffc-4d11-a0c1-a962437c92c7 - - - - - -96ab24fb-382c-457e-b5d0-7a222cb6e602 - -At(Robot,Bar2) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->96ab24fb-382c-457e-b5d0-7a222cb6e602 - - - - - -b3b5bb07-a37d-43f2-bea3-262f808b5e72 - -Holding(Dessert) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->b3b5bb07-a37d-43f2-bea3-262f808b5e72 - - - - - -d2c442ed-1d4c-49d3-8a88-223eec6dc425 - -At(Robot,Table1) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->d2c442ed-1d4c-49d3-8a88-223eec6dc425 - - - - - -994dad7a-43ec-41d3-a160-f5635f872acd - -PutDown(Dessert,Table) - - - -95f2fa8b-2664-4e91-9677-0c3012f78c32->994dad7a-43ec-41d3-a160-f5635f872acd - - - - - -dd661277-2298-4e35-a4a7-c6f236a6ab82 - -At(Robot,MilkDrink) - - - -9b951d0d-080e-44f7-be07-4111258ec601->dd661277-2298-4e35-a4a7-c6f236a6ab82 - - - - - -503442c1-32ca-4dad-b50c-8730f2e86148 - -At(Robot,Bar2) - - - -9b951d0d-080e-44f7-be07-4111258ec601->503442c1-32ca-4dad-b50c-8730f2e86148 - - - - - -f0573b81-37fb-4b19-8848-f20c6f6340a9 - -Holding(Dessert) - - - -9b951d0d-080e-44f7-be07-4111258ec601->f0573b81-37fb-4b19-8848-f20c6f6340a9 - - - - - -478a6c6f-c382-4757-9348-4d90707f36e9 - -At(Robot,Table1) - - - -9b951d0d-080e-44f7-be07-4111258ec601->478a6c6f-c382-4757-9348-4d90707f36e9 - - - - - -2b25992c-502b-4db8-83cd-785a5ce25a1f - -PutDown(Dessert,Table) - - - -9b951d0d-080e-44f7-be07-4111258ec601->2b25992c-502b-4db8-83cd-785a5ce25a1f - - - - - -0be147d5-86c3-4f4b-bcfd-9eb7ab01295c - -At(Robot,MilkDrink) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->0be147d5-86c3-4f4b-bcfd-9eb7ab01295c - - - - - -dc0453ab-415b-4ccd-9fb3-09409b9e26fa - -At(Robot,Bar2) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->dc0453ab-415b-4ccd-9fb3-09409b9e26fa - - - - - -59fe20f3-8cbe-4855-a21a-0548505d189b - -Holding(Dessert) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->59fe20f3-8cbe-4855-a21a-0548505d189b - - - - - -368846e6-6dfc-4b46-a429-b4d29bd0e0c8 - -At(Robot,Table2) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->368846e6-6dfc-4b46-a429-b4d29bd0e0c8 - - - - - -beaa13f0-58d0-4942-9706-86203bf82009 - -PutDown(Dessert,Table) - - - -4f384bd2-c40a-466d-85d6-9d608a811aaa->beaa13f0-58d0-4942-9706-86203bf82009 - - - - - -cf38aac7-aeeb-4b43-9000-7dc680a52932 - -At(Robot,MilkDrink) - - - -66399520-c790-471d-9878-a1b499b3a0d3->cf38aac7-aeeb-4b43-9000-7dc680a52932 - - - - - -38340b9b-b4aa-45aa-add2-814abfa8ef43 - -At(Robot,Bar2) - - - -66399520-c790-471d-9878-a1b499b3a0d3->38340b9b-b4aa-45aa-add2-814abfa8ef43 - - - - - -4ed2c578-1c1d-400f-9c1e-cf801d53949d - -Holding(Dessert) - - - -66399520-c790-471d-9878-a1b499b3a0d3->4ed2c578-1c1d-400f-9c1e-cf801d53949d - - - - - -2ec33088-2596-4615-ae3c-8d001d70fdbb - -At(Robot,Table2) - - - -66399520-c790-471d-9878-a1b499b3a0d3->2ec33088-2596-4615-ae3c-8d001d70fdbb - - - - - -0546b30e-5165-4897-ac5b-94b792b5ef90 - -PutDown(Dessert,Table) - - - -66399520-c790-471d-9878-a1b499b3a0d3->0546b30e-5165-4897-ac5b-94b792b5ef90 - - - - - -0cde468e-cded-4e45-9a74-797f7ac72077 - -Holding(Dessert) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->0cde468e-cded-4e45-9a74-797f7ac72077 - - - - - -fb7a487a-1bb7-42d1-bd01-9c4225e0c503 - -At(Robot,MilkDrink) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->fb7a487a-1bb7-42d1-bd01-9c4225e0c503 - - - - - -330c5d83-4072-4fe7-bef3-0c8f9276243b - -At(Robot,Bar2) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->330c5d83-4072-4fe7-bef3-0c8f9276243b - - - - - -d6a58535-7a76-4775-a360-b834ca86b192 - -At(Robot,Table3) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->d6a58535-7a76-4775-a360-b834ca86b192 - - - - - -4f483428-fc52-437a-b91d-1aff26e70321 - -PutDown(Dessert,Table) - - - -106eb298-5ef4-4c0c-b79d-8832633174b6->4f483428-fc52-437a-b91d-1aff26e70321 - - - - - -18420e40-a8c9-409f-9b2a-e4221b6b1c4b - -Holding(Dessert) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->18420e40-a8c9-409f-9b2a-e4221b6b1c4b - - - - - -0455c747-0907-4513-aca5-93e90bd58522 - -At(Robot,MilkDrink) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->0455c747-0907-4513-aca5-93e90bd58522 - - - - - -bbb5c6af-a56d-42ca-99ce-27fad324e5ce - -At(Robot,Bar2) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->bbb5c6af-a56d-42ca-99ce-27fad324e5ce - - - - - -63f43435-5c12-4efd-83d5-e2895285f703 - -At(Robot,Table3) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->63f43435-5c12-4efd-83d5-e2895285f703 - - - - - -10294cd2-633e-4f56-b83e-2f5969cec29c - -PutDown(Dessert,Table) - - - -e8d08f18-d269-4237-bfb9-e730e1bc325a->10294cd2-633e-4f56-b83e-2f5969cec29c - - - - - -ee7b2603-5cd4-4de3-90ad-297d946557cc - -At(Robot,MilkDrink) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->ee7b2603-5cd4-4de3-90ad-297d946557cc - - - - - -b4f0d4c1-95b8-47e9-82d2-79be158379af - -At(Robot,WaterTable) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->b4f0d4c1-95b8-47e9-82d2-79be158379af - - - - - -46617c86-4b1f-4081-9023-b24e745fa2e3 - -Holding(Dessert) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->46617c86-4b1f-4081-9023-b24e745fa2e3 - - - - - -6c90af02-6e57-423d-959c-43fdc03d76b9 - -At(Robot,Bar2) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->6c90af02-6e57-423d-959c-43fdc03d76b9 - - - - - -c311a1c0-64b5-4993-a6e5-bd9f2e5067db - -PutDown(Dessert,WaterTable) - - - -8aba3095-23dd-4195-abc9-1f37499c1fd6->c311a1c0-64b5-4993-a6e5-bd9f2e5067db - - - - - -c75e9f95-ceb5-43af-a515-05cd4d147f6f - -At(Robot,MilkDrink) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->c75e9f95-ceb5-43af-a515-05cd4d147f6f - - - - - -000b0628-049f-4711-98ac-3f4cbaf1b95b - -At(Robot,WaterTable) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->000b0628-049f-4711-98ac-3f4cbaf1b95b - - - - - -f62557c0-7ef1-497b-b255-c0e25706e6a5 - -Holding(Dessert) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->f62557c0-7ef1-497b-b255-c0e25706e6a5 - - - - - -11a74f87-35be-46d8-839e-889e46529933 - -At(Robot,Bar2) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->11a74f87-35be-46d8-839e-889e46529933 - - - - - -fd7fab49-c6ba-4873-8bc0-8014881f6526 - -PutDown(Dessert,WaterTable) - - - -7e4b4039-dd8b-457e-a232-49f35c50c1c4->fd7fab49-c6ba-4873-8bc0-8014881f6526 - - - - - -aa448cf6-df32-49a0-8c0a-ebcf6d4c86de - -At(Robot,Bar) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->aa448cf6-df32-49a0-8c0a-ebcf6d4c86de - - - - - -88e5bb6f-71d1-4480-9eca-558ba269f720 - -At(Robot,MilkDrink) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->88e5bb6f-71d1-4480-9eca-558ba269f720 - - - - - -adc99904-5c8a-4831-964b-55985a5327b0 - -Holding(Milk) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->adc99904-5c8a-4831-964b-55985a5327b0 - - - - - -9c13500d-c330-47a7-98f4-334deba5a97a - -At(Robot,Bar2) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->9c13500d-c330-47a7-98f4-334deba5a97a - - - - - -62d4f441-fc6c-456b-a93d-1fb6fe6bf026 - -PutDown(Milk,Bar) - - - -1adaf67d-4b6a-4e65-a288-50881a90538e->62d4f441-fc6c-456b-a93d-1fb6fe6bf026 - - - - - -0f18c270-c4a9-42dc-a8c2-204c4172a67b - -At(Robot,Bar) - - - -97d15623-0c10-436c-821e-c3b0a28598be->0f18c270-c4a9-42dc-a8c2-204c4172a67b - - - - - -080b5c38-9d82-4644-84f7-386c70ac64e2 - -At(Robot,MilkDrink) - - - -97d15623-0c10-436c-821e-c3b0a28598be->080b5c38-9d82-4644-84f7-386c70ac64e2 - - - - - -bb7f7384-2437-4178-9601-4be66ef0723f - -Holding(Milk) - - - -97d15623-0c10-436c-821e-c3b0a28598be->bb7f7384-2437-4178-9601-4be66ef0723f - - - - - -244a9bde-ae9a-47c2-ab49-b1130fcc5455 - -At(Robot,Bar2) - - - -97d15623-0c10-436c-821e-c3b0a28598be->244a9bde-ae9a-47c2-ab49-b1130fcc5455 - - - - - -5fc9fe9f-c2e9-41e6-9b24-f622ece8a059 - -PutDown(Milk,Bar) - - - -97d15623-0c10-436c-821e-c3b0a28598be->5fc9fe9f-c2e9-41e6-9b24-f622ece8a059 - - - - - -a1d51734-7e9d-4ef5-a4ed-5348e4856f2e - -At(Robot,MilkDrink) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->a1d51734-7e9d-4ef5-a4ed-5348e4856f2e - - - - - -88eaa4e8-1b74-45fb-ae41-d07428191840 - -Holding(Milk) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->88eaa4e8-1b74-45fb-ae41-d07428191840 - - - - - -1aa38d5c-bbbe-42d4-8ecd-791b2866289a - -At(Robot,Bar2) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->1aa38d5c-bbbe-42d4-8ecd-791b2866289a - - - - - -83cb0e02-bc10-4530-b084-e739e061c3ec - -PutDown(Milk,Bar) - - - -bafbbe07-4f9b-47b5-a948-69235df8d813->83cb0e02-bc10-4530-b084-e739e061c3ec - - - - - -4a51b3dd-7b00-4539-ab7e-fda1a9b409f9 - -At(Robot,MilkDrink) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->4a51b3dd-7b00-4539-ab7e-fda1a9b409f9 - - - - - -2638fccb-215b-40eb-baf1-8e18b5e2274e - -Holding(Milk) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->2638fccb-215b-40eb-baf1-8e18b5e2274e - - - - - -e748a68c-7368-4c17-a8be-00fec63bd86e - -At(Robot,Bar2) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->e748a68c-7368-4c17-a8be-00fec63bd86e - - - - - -a10d9f52-3027-4bca-aa75-2107253fd161 - -PutDown(Milk,Bar) - - - -70bda9cf-80c2-4267-b572-8bc433f218dd->a10d9f52-3027-4bca-aa75-2107253fd161 - - - - - -13b4fe9b-91f6-4b73-aa0c-4e56fa393e73 - -At(Robot,BrightTable6) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->13b4fe9b-91f6-4b73-aa0c-4e56fa393e73 - - - - - -8922ded4-2b72-430f-8529-27fc7d19f947 - -At(Robot,MilkDrink) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->8922ded4-2b72-430f-8529-27fc7d19f947 - - - - - -43b4fe45-400f-4ab9-8894-271f2a6282b9 - -Holding(Milk) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->43b4fe45-400f-4ab9-8894-271f2a6282b9 - - - - - -eb2e86ba-b2f4-4d3b-bcd0-dc62fe46926e - -At(Robot,Bar2) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->eb2e86ba-b2f4-4d3b-bcd0-dc62fe46926e - - - - - -ff2a7800-2954-49db-9605-c18291d894ea - -PutDown(Milk,BrightTable) - - - -cc8b6ae3-f771-4cbb-8c53-f6d64ca6a110->ff2a7800-2954-49db-9605-c18291d894ea - - - - - -bdf5a462-ccd7-48f9-ae8e-a8b5b101e8b3 - -At(Robot,BrightTable6) - - - -3eb7f585-7e05-4546-9afc-603efa378447->bdf5a462-ccd7-48f9-ae8e-a8b5b101e8b3 - - - - - -78aac4ad-357c-4ef6-9bc7-4bd46edb85d9 - -At(Robot,MilkDrink) - - - -3eb7f585-7e05-4546-9afc-603efa378447->78aac4ad-357c-4ef6-9bc7-4bd46edb85d9 - - - - - -713a6c69-3c30-46eb-9563-01e2475ae3ae - -Holding(Milk) - - - -3eb7f585-7e05-4546-9afc-603efa378447->713a6c69-3c30-46eb-9563-01e2475ae3ae - - - - - -928bf027-5c53-493e-a073-6e7201e13f2d - -At(Robot,Bar2) - - - -3eb7f585-7e05-4546-9afc-603efa378447->928bf027-5c53-493e-a073-6e7201e13f2d - - - - - -6510316c-a816-48c1-9261-cb1ab60ac1cd - -PutDown(Milk,BrightTable) - - - -3eb7f585-7e05-4546-9afc-603efa378447->6510316c-a816-48c1-9261-cb1ab60ac1cd - - - - - -ff54400e-ed82-4a38-8287-9668be7fab62 - -At(Robot,MilkDrink) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->ff54400e-ed82-4a38-8287-9668be7fab62 - - - - - -a671bc5f-4059-4ba0-972e-07dfd50684f3 - -At(Robot,CoffeeTable) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->a671bc5f-4059-4ba0-972e-07dfd50684f3 - - - - - -892500fb-ada3-47e1-9edd-946701aa44eb - -Holding(Milk) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->892500fb-ada3-47e1-9edd-946701aa44eb - - - - - -f6e18d48-1a41-4d49-b669-637324d7e49c - -At(Robot,Bar2) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->f6e18d48-1a41-4d49-b669-637324d7e49c - - - - - -7a0238d5-31b0-485f-91ae-b85cd46d1389 - -PutDown(Milk,CoffeeTable) - - - -152a0c78-fe7d-4c95-b2cf-515e09d61e2c->7a0238d5-31b0-485f-91ae-b85cd46d1389 - - - - - -68e8d5fd-6314-47fa-84a9-ebfdb3b7656d - -At(Robot,MilkDrink) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->68e8d5fd-6314-47fa-84a9-ebfdb3b7656d - - - - - -9f0f1564-6824-4904-9cd7-24dcf64a9c80 - -At(Robot,CoffeeTable) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->9f0f1564-6824-4904-9cd7-24dcf64a9c80 - - - - - -efdf9e09-6dcb-42d5-b9c6-edf95436a688 - -Holding(Milk) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->efdf9e09-6dcb-42d5-b9c6-edf95436a688 - - - - - -239f2050-5285-482c-8eea-68bddfa9728f - -At(Robot,Bar2) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->239f2050-5285-482c-8eea-68bddfa9728f - - - - - -82c13004-f5c7-46d7-986e-6ee7e2f92cdb - -PutDown(Milk,CoffeeTable) - - - -f062ee78-08c2-4635-b86c-b1d61d1ce780->82c13004-f5c7-46d7-986e-6ee7e2f92cdb - - - - - -23a27ffc-edd0-4937-b2ad-65bb734fc599 - -At(Robot,MilkDrink) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->23a27ffc-edd0-4937-b2ad-65bb734fc599 - - - - - -5938a175-0bbb-4f41-97a6-6184110d23b5 - -At(Robot,Table1) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->5938a175-0bbb-4f41-97a6-6184110d23b5 - - - - - -0889d29b-85e5-4c2a-b606-1aaedca484d6 - -Holding(Milk) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->0889d29b-85e5-4c2a-b606-1aaedca484d6 - - - - - -bde75cae-ea4e-4012-a0f4-de5161ce490a - -At(Robot,Bar2) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->bde75cae-ea4e-4012-a0f4-de5161ce490a - - - - - -1fb3eaec-7f56-4584-a360-66e07c4dc416 - -PutDown(Milk,Table) - - - -1a251157-2e17-40f2-ba6c-a6f9bd4c4421->1fb3eaec-7f56-4584-a360-66e07c4dc416 - - - - - -98d7404f-dd5a-40d7-b630-5763e4a5bcd9 - -At(Robot,MilkDrink) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->98d7404f-dd5a-40d7-b630-5763e4a5bcd9 - - - - - -85048b9a-9975-418a-a6d9-34e5c44ef607 - -At(Robot,Table1) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->85048b9a-9975-418a-a6d9-34e5c44ef607 - - - - - -eb3e6750-6a7b-488a-b013-83a56b71697c - -Holding(Milk) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->eb3e6750-6a7b-488a-b013-83a56b71697c - - - - - -84a6978f-9f0d-4acc-8ff0-f8837468f7b7 - -At(Robot,Bar2) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->84a6978f-9f0d-4acc-8ff0-f8837468f7b7 - - - - - -e6e83dcc-2dbf-480e-8334-bd3aad6cced8 - -PutDown(Milk,Table) - - - -f2b87ec4-db2e-48de-b46d-e14c4c2a3e85->e6e83dcc-2dbf-480e-8334-bd3aad6cced8 - - - - - -7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c - -At(Robot,Table2) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c - - - - - -e9a91d69-5c3e-4274-9f99-b49974881a8f - -At(Robot,MilkDrink) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->e9a91d69-5c3e-4274-9f99-b49974881a8f - - - - - -665dc59b-c4ce-4374-9179-e5f21185506d - -Holding(Milk) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->665dc59b-c4ce-4374-9179-e5f21185506d - - - - - -b6dc0660-03e6-43b6-80a4-4d606324d4ea - -At(Robot,Bar2) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->b6dc0660-03e6-43b6-80a4-4d606324d4ea - - - - - -e3a767ee-8ab5-482a-923c-5d6212bfb15d - -PutDown(Milk,Table) - - - -483c3b89-03fb-4327-a675-fd2d185c6b1a->e3a767ee-8ab5-482a-923c-5d6212bfb15d - - - - - -b3afcb1e-da93-4952-a007-301fe363edf1 - -At(Robot,Table2) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->b3afcb1e-da93-4952-a007-301fe363edf1 - - - - - -d525ec57-4fcb-49c3-ab43-c3cd21a87e29 - -At(Robot,MilkDrink) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->d525ec57-4fcb-49c3-ab43-c3cd21a87e29 - - - - - -e4d507de-5d6c-461e-a4fd-0308683d2b92 - -Holding(Milk) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->e4d507de-5d6c-461e-a4fd-0308683d2b92 - - - - - -872697bc-4a71-46a3-ad41-1f6f08dd92fa - -At(Robot,Bar2) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->872697bc-4a71-46a3-ad41-1f6f08dd92fa - - - - - -4894ea3d-1fc5-48d3-a3d7-ac865c366c4c - -PutDown(Milk,Table) - - - -5734c96d-b12d-4ac7-99d4-0b8378d957c9->4894ea3d-1fc5-48d3-a3d7-ac865c366c4c - - - - - -0e6edf62-51e1-48d9-8fc4-40db4e4e666a - -At(Robot,MilkDrink) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->0e6edf62-51e1-48d9-8fc4-40db4e4e666a - - - - - -2338d5ff-6e3b-41fc-a1b1-97eaacf95eab - -Holding(Milk) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->2338d5ff-6e3b-41fc-a1b1-97eaacf95eab - - - - - -3ad5ccb8-92e0-4d59-b58b-242d1d190a41 - -At(Robot,Table3) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->3ad5ccb8-92e0-4d59-b58b-242d1d190a41 - - - - - -04b95868-3639-42ab-ad2b-234547064076 - -At(Robot,Bar2) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->04b95868-3639-42ab-ad2b-234547064076 - - - - - -ee14313c-024b-4fa7-a3ce-15c2e57371f8 - -PutDown(Milk,Table) - - - -08f02a9b-15cb-49cd-863f-a6adeaf910ca->ee14313c-024b-4fa7-a3ce-15c2e57371f8 - - - - - -28e795e6-2776-4279-bac5-8783301d2f9b - -At(Robot,MilkDrink) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->28e795e6-2776-4279-bac5-8783301d2f9b - - - - - -47538db7-618c-4eab-a667-876d6b3bcf55 - -Holding(Milk) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->47538db7-618c-4eab-a667-876d6b3bcf55 - - - - - -ac716817-8653-4fc8-81f9-16d9222e5364 - -At(Robot,Table3) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->ac716817-8653-4fc8-81f9-16d9222e5364 - - - - - -bc6a9354-403c-4383-8ae5-36d3f58b4d97 - -At(Robot,Bar2) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->bc6a9354-403c-4383-8ae5-36d3f58b4d97 - - - - - -8e8039c0-336a-4d40-94e0-b4ef541f3265 - -PutDown(Milk,Table) - - - -f741e061-f36f-48f9-b3ec-32ec3e3d7d17->8e8039c0-336a-4d40-94e0-b4ef541f3265 - - - - - -e564d8f7-3108-49d5-8cfc-ccc15312722e - -At(Robot,Bar2) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->e564d8f7-3108-49d5-8cfc-ccc15312722e - - - - - -302c3e3b-767d-446e-9106-e2b0c5f7e16c - -At(Robot,MilkDrink) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->302c3e3b-767d-446e-9106-e2b0c5f7e16c - - - - - -3a454d87-725e-427f-b36d-04f0379edb4f - -Holding(Milk) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->3a454d87-725e-427f-b36d-04f0379edb4f - - - - - -e2c5c5db-9c36-450c-8a78-f11c554e2824 - -At(Robot,WaterTable) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->e2c5c5db-9c36-450c-8a78-f11c554e2824 - - - - - -1adbcf75-1905-42d4-8f51-fc4abd5b3f58 - -PutDown(Milk,WaterTable) - - - -303f84e5-f9e7-46f9-8a89-ad5aececeaaf->1adbcf75-1905-42d4-8f51-fc4abd5b3f58 - - - - - -3effc8b5-b38d-4242-80bc-ec7aba738252 - -At(Robot,Bar2) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->3effc8b5-b38d-4242-80bc-ec7aba738252 - - - - - -ee3ba389-1e9c-48c0-bc5e-922a950520c0 - -At(Robot,MilkDrink) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->ee3ba389-1e9c-48c0-bc5e-922a950520c0 - - - - - -052ff164-0d42-4f81-a670-738fb2737167 - -Holding(Milk) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->052ff164-0d42-4f81-a670-738fb2737167 - - - - - -236d05ef-2d12-4713-a036-dc57c85eafda - -At(Robot,WaterTable) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->236d05ef-2d12-4713-a036-dc57c85eafda - - - - - -b09d64a2-43dd-4874-99b4-6ba93c688745 - -PutDown(Milk,WaterTable) - - - -c652027f-33b5-485f-8a1e-58ec4f4d6206->b09d64a2-43dd-4874-99b4-6ba93c688745 - - - - - -759d5ac2-3449-4c4d-b867-cfbc8848c3d9 - -Holding(NFCJuice) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->759d5ac2-3449-4c4d-b867-cfbc8848c3d9 - - - - - -4f7578d4-edd2-47ea-b57f-cb5b50c262bb - -At(Robot,MilkDrink) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->4f7578d4-edd2-47ea-b57f-cb5b50c262bb - - - - - -173f1294-0f99-4f63-a689-005bdd5dc2e7 - -At(Robot,Bar2) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->173f1294-0f99-4f63-a689-005bdd5dc2e7 - - - - - -9c8ba55a-1fcd-4a1f-a178-09256ce7a8de - -At(Robot,Bar) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->9c8ba55a-1fcd-4a1f-a178-09256ce7a8de - - - - - -36d09376-5947-4c06-b666-020f4e21f5e3 - -PutDown(NFCJuice,Bar) - - - -fb790a17-9d4f-4934-bbd9-038b95611fa4->36d09376-5947-4c06-b666-020f4e21f5e3 - - - - - -1ba1b371-6a41-40cb-b355-bf1531ff7053 - -Holding(NFCJuice) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->1ba1b371-6a41-40cb-b355-bf1531ff7053 - - - - - -af70539d-8bcc-4376-82c9-adfade4f98a4 - -At(Robot,MilkDrink) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->af70539d-8bcc-4376-82c9-adfade4f98a4 - - - - - -37fe0494-39ca-425c-ae58-e1295a9fba63 - -At(Robot,Bar2) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->37fe0494-39ca-425c-ae58-e1295a9fba63 - - - - - -8dcc1adb-2d86-4d73-b863-f8f0537c4b9f - -At(Robot,Bar) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->8dcc1adb-2d86-4d73-b863-f8f0537c4b9f - - - - - -603f4284-669f-496e-8247-d4537c08d29c - -PutDown(NFCJuice,Bar) - - - -c0122912-2669-4e28-bb43-572d2bc2b4ec->603f4284-669f-496e-8247-d4537c08d29c - - - - - -de0fd426-6a83-46c5-807d-013e7e8d8d8c - -Holding(NFCJuice) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->de0fd426-6a83-46c5-807d-013e7e8d8d8c - - - - - -8ca35f0c-d9d9-424f-8c54-08955de17e4b - -At(Robot,MilkDrink) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->8ca35f0c-d9d9-424f-8c54-08955de17e4b - - - - - -1d976968-3c0f-4286-8f0d-0f797ae0e548 - -At(Robot,Bar2) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->1d976968-3c0f-4286-8f0d-0f797ae0e548 - - - - - -a53e39e0-d1ec-4c6d-b713-00a4c398ca49 - -PutDown(NFCJuice,Bar) - - - -d441e492-2db4-476f-a46b-762f5351c9eb->a53e39e0-d1ec-4c6d-b713-00a4c398ca49 - - - - - -ccab9e0f-6109-429b-be6a-a8862f02c26a - -Holding(NFCJuice) - - - -75412662-c754-4317-a447-76d6a7c56bdb->ccab9e0f-6109-429b-be6a-a8862f02c26a - - - - - -8869c4d8-2d2b-4efa-849d-5dbda015ac2d - -At(Robot,MilkDrink) - - - -75412662-c754-4317-a447-76d6a7c56bdb->8869c4d8-2d2b-4efa-849d-5dbda015ac2d - - - - - -5091f0c2-348d-4e30-8a56-3e6bf1c6fde7 - -At(Robot,Bar2) - - - -75412662-c754-4317-a447-76d6a7c56bdb->5091f0c2-348d-4e30-8a56-3e6bf1c6fde7 - - - - - -89aaef8c-ed43-4ec7-b692-bb650752a5c3 - -PutDown(NFCJuice,Bar) - - - -75412662-c754-4317-a447-76d6a7c56bdb->89aaef8c-ed43-4ec7-b692-bb650752a5c3 - - - - - -3e456905-9d54-441a-87d7-bf468e458494 - -Holding(NFCJuice) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->3e456905-9d54-441a-87d7-bf468e458494 - - - - - -b4100464-e6aa-4476-85ed-19fe6ec08795 - -At(Robot,BrightTable6) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->b4100464-e6aa-4476-85ed-19fe6ec08795 - - - - - -f249bddf-362e-4319-9969-ef576e5e607d - -At(Robot,MilkDrink) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->f249bddf-362e-4319-9969-ef576e5e607d - - - - - -df18beaf-318b-4302-8d11-521a0b31e515 - -At(Robot,Bar2) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->df18beaf-318b-4302-8d11-521a0b31e515 - - - - - -cea79165-29d4-42ca-aa88-b94a92b3948e - -PutDown(NFCJuice,BrightTable) - - - -7c526f97-e3c3-4a0e-b7bf-0e8328caede5->cea79165-29d4-42ca-aa88-b94a92b3948e - - - - - -f9727d1c-73b4-4928-9ac0-f4f2cca56c18 - -Holding(NFCJuice) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->f9727d1c-73b4-4928-9ac0-f4f2cca56c18 - - - - - -07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc - -At(Robot,BrightTable6) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->07ffc7b7-c0b2-4f6d-8497-a8f364c5b6cc - - - - - -c4d462f4-b479-4414-84c1-c925176ca40a - -At(Robot,MilkDrink) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->c4d462f4-b479-4414-84c1-c925176ca40a - - - - - -52a357d2-983e-45f9-a861-a5d0035f328c - -At(Robot,Bar2) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->52a357d2-983e-45f9-a861-a5d0035f328c - - - - - -a6f03038-7fa8-4a66-ab5c-b960b6e4c342 - -PutDown(NFCJuice,BrightTable) - - - -9e50aea1-8fc8-4f9f-b882-b84cb8c6fac2->a6f03038-7fa8-4a66-ab5c-b960b6e4c342 - - - - - -1d505dc4-ac2f-4a59-a358-04851ce05bb3 - -Holding(NFCJuice) - - - -577c0aea-a006-430c-816c-8348d6606e3d->1d505dc4-ac2f-4a59-a358-04851ce05bb3 - - - - - -3f80d1e8-f2db-43e8-8278-0813fe5112dd - -At(Robot,MilkDrink) - - - -577c0aea-a006-430c-816c-8348d6606e3d->3f80d1e8-f2db-43e8-8278-0813fe5112dd - - - - - -bd7695fc-29ac-4d56-8409-aa8cf78915f6 - -At(Robot,CoffeeTable) - - - -577c0aea-a006-430c-816c-8348d6606e3d->bd7695fc-29ac-4d56-8409-aa8cf78915f6 - - - - - -1b628cc0-b45b-4e96-bd8a-c7e81f500856 - -At(Robot,Bar2) - - - -577c0aea-a006-430c-816c-8348d6606e3d->1b628cc0-b45b-4e96-bd8a-c7e81f500856 - - - - - -c014ee15-80a9-4dd3-9ebb-1f1c313f4d16 - -PutDown(NFCJuice,CoffeeTable) - - - -577c0aea-a006-430c-816c-8348d6606e3d->c014ee15-80a9-4dd3-9ebb-1f1c313f4d16 - - - - - -1aa3e74e-1e05-440a-b705-8c2410857e8a - -Holding(NFCJuice) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->1aa3e74e-1e05-440a-b705-8c2410857e8a - - - - - -f78dc5f1-1945-4ab3-a235-9b2cc0fef58e - -At(Robot,MilkDrink) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->f78dc5f1-1945-4ab3-a235-9b2cc0fef58e - - - - - -73de4b04-24a2-4bfd-a424-fa903919a101 - -At(Robot,CoffeeTable) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->73de4b04-24a2-4bfd-a424-fa903919a101 - - - - - -1573def4-00a5-4c47-81af-8dadb1838080 - -At(Robot,Bar2) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->1573def4-00a5-4c47-81af-8dadb1838080 - - - - - -0c5a442c-ce91-4799-807f-7a5d8725b87f - -PutDown(NFCJuice,CoffeeTable) - - - -0c8eec7e-b0c2-4fc2-ab43-98bcd5363b38->0c5a442c-ce91-4799-807f-7a5d8725b87f - - - - - -e2f44336-e68f-4dea-a369-7a0b0c3bff70 - -Holding(NFCJuice) - - - -d3f1fd05-85df-4b35-9571-78b735258719->e2f44336-e68f-4dea-a369-7a0b0c3bff70 - - - - - -26431d94-da5f-4db5-b646-99be969f7b9f - -At(Robot,MilkDrink) - - - -d3f1fd05-85df-4b35-9571-78b735258719->26431d94-da5f-4db5-b646-99be969f7b9f - - - - - -7ac1c62e-a45b-441c-a0d8-6f34f531601f - -At(Robot,Bar2) - - - -d3f1fd05-85df-4b35-9571-78b735258719->7ac1c62e-a45b-441c-a0d8-6f34f531601f - - - - - -bd13d76f-1213-4bcd-a5d7-0c7a2988828d - -At(Robot,Table1) - - - -d3f1fd05-85df-4b35-9571-78b735258719->bd13d76f-1213-4bcd-a5d7-0c7a2988828d - - - - - -93d7c3ad-c70b-4061-b06f-c6ac55ca6e65 - -PutDown(NFCJuice,Table) - - - -d3f1fd05-85df-4b35-9571-78b735258719->93d7c3ad-c70b-4061-b06f-c6ac55ca6e65 - - - - - -d1952e9d-1f01-416a-b93c-8fe200d18901 - -Holding(NFCJuice) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->d1952e9d-1f01-416a-b93c-8fe200d18901 - - - - - -7b9f4862-0e3a-411c-9bad-513117271765 - -At(Robot,MilkDrink) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->7b9f4862-0e3a-411c-9bad-513117271765 - - - - - -8a8f12f7-c897-4218-ac58-117d776070d9 - -At(Robot,Bar2) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->8a8f12f7-c897-4218-ac58-117d776070d9 - - - - - -9b4791fa-a544-449a-86fa-721ffe016b31 - -At(Robot,Table1) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->9b4791fa-a544-449a-86fa-721ffe016b31 - - - - - -21526a97-cab4-45d0-9c98-0c67a6918c4c - -PutDown(NFCJuice,Table) - - - -95080450-e4f1-48f1-a9d7-da3c9e3f0276->21526a97-cab4-45d0-9c98-0c67a6918c4c - - - - - -7b3d4cd4-d3d7-4e5a-b7cf-b81eff240206 - -Holding(NFCJuice) - - - -02e23067-c732-4321-9d02-00d8548bcecd->7b3d4cd4-d3d7-4e5a-b7cf-b81eff240206 - - - - - -2b087bbf-246a-4108-b466-77f1efda427b - -At(Robot,MilkDrink) - - - -02e23067-c732-4321-9d02-00d8548bcecd->2b087bbf-246a-4108-b466-77f1efda427b - - - - - -6e5dcb40-e1e9-431d-a16e-4e9141cb8643 - -At(Robot,Bar2) - - - -02e23067-c732-4321-9d02-00d8548bcecd->6e5dcb40-e1e9-431d-a16e-4e9141cb8643 - - - - - -4fd3802f-1276-42eb-bfa4-dc29720e9c25 - -At(Robot,Table2) - - - -02e23067-c732-4321-9d02-00d8548bcecd->4fd3802f-1276-42eb-bfa4-dc29720e9c25 - - - - - -8a98b8e6-2c87-4c4c-9928-3419ebeb6572 - -PutDown(NFCJuice,Table) - - - -02e23067-c732-4321-9d02-00d8548bcecd->8a98b8e6-2c87-4c4c-9928-3419ebeb6572 - - - - - -3e9e60f7-9ed8-4645-93d2-676bde63698f - -Holding(NFCJuice) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->3e9e60f7-9ed8-4645-93d2-676bde63698f - - - - - -db148f18-d038-4d52-b2b3-98a6107cdd9d - -At(Robot,MilkDrink) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->db148f18-d038-4d52-b2b3-98a6107cdd9d - - - - - -61b63172-45ce-48c6-8f7c-590117f71e88 - -At(Robot,Bar2) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->61b63172-45ce-48c6-8f7c-590117f71e88 - - - - - -0bc243be-3388-43d2-ac1d-cedb785b4d29 - -At(Robot,Table2) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->0bc243be-3388-43d2-ac1d-cedb785b4d29 - - - - - -3e116127-4f32-4643-92d1-babec7a6edd5 - -PutDown(NFCJuice,Table) - - - -ca5d30e5-bb2f-46fb-b37e-0f21a2ce734c->3e116127-4f32-4643-92d1-babec7a6edd5 - - - - - -fd4a48d4-a59d-472c-9246-faf27e04c955 - -Holding(NFCJuice) - - - -71f64768-4637-44e3-8472-4046d992895d->fd4a48d4-a59d-472c-9246-faf27e04c955 - - - - - -a9b66a1a-d7fc-4635-b91f-3a488cf97c5e - -At(Robot,MilkDrink) - - - -71f64768-4637-44e3-8472-4046d992895d->a9b66a1a-d7fc-4635-b91f-3a488cf97c5e - - - - - -ad41fb45-45ba-47af-b235-536383b8f0fa - -At(Robot,Bar2) - - - -71f64768-4637-44e3-8472-4046d992895d->ad41fb45-45ba-47af-b235-536383b8f0fa - - - - - -a4b069b3-0c51-42ca-a830-a4444d0186dd - -At(Robot,Table3) - - - -71f64768-4637-44e3-8472-4046d992895d->a4b069b3-0c51-42ca-a830-a4444d0186dd - - - - - -9bea3932-7c9d-4fb0-a218-fb5eef7f9600 - -PutDown(NFCJuice,Table) - - - -71f64768-4637-44e3-8472-4046d992895d->9bea3932-7c9d-4fb0-a218-fb5eef7f9600 - - - - - -336cd8c3-4b20-46d9-81ea-ba6cee8d2b12 - -Holding(NFCJuice) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->336cd8c3-4b20-46d9-81ea-ba6cee8d2b12 - - - - - -a83ec234-6fd5-48f9-8d2d-0485d785462a - -At(Robot,MilkDrink) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->a83ec234-6fd5-48f9-8d2d-0485d785462a - - - - - -9d21fe7d-3a5e-4111-a487-7e47b2a504e3 - -At(Robot,Bar2) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->9d21fe7d-3a5e-4111-a487-7e47b2a504e3 - - - - - -70252922-872a-4db5-bc70-5c4741c1cb43 - -At(Robot,Table3) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->70252922-872a-4db5-bc70-5c4741c1cb43 - - - - - -368ef0e5-81a7-430e-8720-5cc0ccea43dc - -PutDown(NFCJuice,Table) - - - -70139f12-41dd-43fa-8ac1-c2e2a69730fe->368ef0e5-81a7-430e-8720-5cc0ccea43dc - - - - - -a06cf9be-fd90-45f2-9e0b-b33c6399df97 - -Holding(NFCJuice) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->a06cf9be-fd90-45f2-9e0b-b33c6399df97 - - - - - -915c198a-8390-43a1-8ed0-51699f6f76b3 - -At(Robot,MilkDrink) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->915c198a-8390-43a1-8ed0-51699f6f76b3 - - - - - -f3b090f9-fc38-45de-a873-005a9111f480 - -At(Robot,WaterTable) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->f3b090f9-fc38-45de-a873-005a9111f480 - - - - - -6797493d-9a17-4b1a-ad25-1464d1245a87 - -At(Robot,Bar2) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->6797493d-9a17-4b1a-ad25-1464d1245a87 - - - - - -ba0baf4d-50fd-41e3-8a88-906d7a0287ba - -PutDown(NFCJuice,WaterTable) - - - -fc4d6ff8-6ac8-41d2-89fa-33957ee5bcb6->ba0baf4d-50fd-41e3-8a88-906d7a0287ba - - - - - -29c8c629-adff-4096-9484-f2807d170b55 - -Holding(NFCJuice) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->29c8c629-adff-4096-9484-f2807d170b55 - - - - - -9165722c-6bb1-44e7-8392-d614c3d004be - -At(Robot,MilkDrink) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->9165722c-6bb1-44e7-8392-d614c3d004be - - - - - -f654f65b-419c-4870-9d83-4e8811f55132 - -At(Robot,WaterTable) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->f654f65b-419c-4870-9d83-4e8811f55132 - - - - - -e64848ff-cfd1-4aa5-88a4-1dbbf00ac802 - -At(Robot,Bar2) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->e64848ff-cfd1-4aa5-88a4-1dbbf00ac802 - - - - - -a380c8bb-a7d7-4894-bf9a-cff53f6d48e8 - -PutDown(NFCJuice,WaterTable) - - - -7914fc15-2e5c-409b-b664-dbec4f483acd->a380c8bb-a7d7-4894-bf9a-cff53f6d48e8 - - - - - -7e41068f-c7eb-4e3a-b00b-17476d644a32 - -At(Robot,Bar) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->7e41068f-c7eb-4e3a-b00b-17476d644a32 - - - - - -95babd11-f549-4690-a591-3b65240158c1 - -Holding(Softdrink) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->95babd11-f549-4690-a591-3b65240158c1 - - - - - -af354285-bd87-443a-8c05-7da9881aa3d8 - -At(Robot,MilkDrink) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->af354285-bd87-443a-8c05-7da9881aa3d8 - - - - - -a8f4a494-2c73-49d0-9d6d-0ec173c73eb7 - -At(Robot,Bar2) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->a8f4a494-2c73-49d0-9d6d-0ec173c73eb7 - - - - - -2e42d89e-df6e-4607-afc6-0652c3065997 - -PutDown(Softdrink,Bar) - - - -38c8f54a-d663-4d8c-84d2-df6a24979f57->2e42d89e-df6e-4607-afc6-0652c3065997 - - - - - -104297e6-b5de-4229-92c3-a1c8f143a1fa - -At(Robot,Bar) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->104297e6-b5de-4229-92c3-a1c8f143a1fa - - - - - -6287d6a1-01b8-4ecc-83a7-b3c8112dddd3 - -Holding(Softdrink) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->6287d6a1-01b8-4ecc-83a7-b3c8112dddd3 - - - - - -064ab3e4-9d07-45cf-98a3-69f4c01405ef - -At(Robot,MilkDrink) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->064ab3e4-9d07-45cf-98a3-69f4c01405ef - - - - - -31b38865-2994-4816-a1f2-f51f6e574ae4 - -At(Robot,Bar2) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->31b38865-2994-4816-a1f2-f51f6e574ae4 - - - - - -10fc85c8-f508-45e7-98d7-f500bfeafe5a - -PutDown(Softdrink,Bar) - - - -6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e->10fc85c8-f508-45e7-98d7-f500bfeafe5a - - - - - -405c73cd-e2b9-4bcb-9468-2c6c4dfc2435 - -Holding(Softdrink) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->405c73cd-e2b9-4bcb-9468-2c6c4dfc2435 - - - - - -5350eed3-9bbf-47b3-b9e5-8a9249a231ef - -At(Robot,MilkDrink) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->5350eed3-9bbf-47b3-b9e5-8a9249a231ef - - - - - -1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99 - -At(Robot,Bar2) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99 - - - - - -5bb0d8b1-d585-4bb6-9b0b-e194332e0965 - -PutDown(Softdrink,Bar) - - - -fe195b70-5a72-4399-921c-94c47a0ede1e->5bb0d8b1-d585-4bb6-9b0b-e194332e0965 - - - - - -d37c9f2e-bed1-4fe2-b313-449793df81a4 - -Holding(Softdrink) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->d37c9f2e-bed1-4fe2-b313-449793df81a4 - - - - - -a2c5a04c-9478-4495-9c58-fff5b9439a52 - -At(Robot,MilkDrink) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->a2c5a04c-9478-4495-9c58-fff5b9439a52 - - - - - -e11fdf63-5f7d-45d6-a397-e6ba4bf4b512 - -At(Robot,Bar2) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->e11fdf63-5f7d-45d6-a397-e6ba4bf4b512 - - - - - -1aa7f02c-66ce-487d-adbb-d208f327516e - -PutDown(Softdrink,Bar) - - - -f82ceaa0-b6da-4eb8-af29-bccb4200e5ce->1aa7f02c-66ce-487d-adbb-d208f327516e - - - - - -f2794569-a401-4125-863b-ec733d5fff04 - -At(Robot,BrightTable6) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->f2794569-a401-4125-863b-ec733d5fff04 - - - - - -55849d0f-9891-472e-8a5c-521168acc32c - -Holding(Softdrink) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->55849d0f-9891-472e-8a5c-521168acc32c - - - - - -0ecc86f9-ca06-4e28-a960-94a635ef5341 - -At(Robot,MilkDrink) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->0ecc86f9-ca06-4e28-a960-94a635ef5341 - - - - - -4aafd0e6-1158-43c9-a988-3525e24bb883 - -At(Robot,Bar2) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->4aafd0e6-1158-43c9-a988-3525e24bb883 - - - - - -2c8cf63c-3336-43f6-b6ec-1044baf760c5 - -PutDown(Softdrink,BrightTable) - - - -2d258978-abb3-413b-8742-7aa77d4b08d6->2c8cf63c-3336-43f6-b6ec-1044baf760c5 - - - - - -63e4a060-5357-47ec-8121-2b8eb890b8ef - -At(Robot,BrightTable6) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->63e4a060-5357-47ec-8121-2b8eb890b8ef - - - - - -40eed86d-8d28-453f-a8c9-950848379795 - -Holding(Softdrink) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->40eed86d-8d28-453f-a8c9-950848379795 - - - - - -d0d4e14d-4aae-49d8-8194-e5dbff370fd4 - -At(Robot,MilkDrink) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->d0d4e14d-4aae-49d8-8194-e5dbff370fd4 - - - - - -608bae1a-2eb8-43ac-b6b2-06516663d15b - -At(Robot,Bar2) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->608bae1a-2eb8-43ac-b6b2-06516663d15b - - - - - -cf2dbf46-3444-46df-8fd4-dc64e11da32d - -PutDown(Softdrink,BrightTable) - - - -71c83425-4b72-4dcc-a133-20af4012d12a->cf2dbf46-3444-46df-8fd4-dc64e11da32d - - - - - -63490080-f3f7-49fc-85d0-e1277cb9edea - -Holding(Softdrink) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->63490080-f3f7-49fc-85d0-e1277cb9edea - - - - - -6361b873-a6b4-4167-b9ba-b1c72011533f - -At(Robot,MilkDrink) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->6361b873-a6b4-4167-b9ba-b1c72011533f - - - - - -a18e5bcd-6688-4dfb-addb-db5e1d47190d - -At(Robot,CoffeeTable) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->a18e5bcd-6688-4dfb-addb-db5e1d47190d - - - - - -b722450d-09bf-4e3f-8071-322c81265352 - -At(Robot,Bar2) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->b722450d-09bf-4e3f-8071-322c81265352 - - - - - -8514cfd1-df34-422c-9755-bd8b65ec33d5 - -PutDown(Softdrink,CoffeeTable) - - - -dcd58750-47b4-481e-9dca-0e9af8497d37->8514cfd1-df34-422c-9755-bd8b65ec33d5 - - - - - -6b20daf3-c7d1-4e47-a9b7-8dc978303b3e - -Holding(Softdrink) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->6b20daf3-c7d1-4e47-a9b7-8dc978303b3e - - - - - -a563f8a1-131c-4206-b746-d5e723f976ec - -At(Robot,MilkDrink) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->a563f8a1-131c-4206-b746-d5e723f976ec - - - - - -d5fab8c2-5bea-422e-8abe-e19bc3439b0e - -At(Robot,CoffeeTable) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->d5fab8c2-5bea-422e-8abe-e19bc3439b0e - - - - - -69e21ea0-7524-4c40-bdb7-fdf5402d51e9 - -At(Robot,Bar2) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->69e21ea0-7524-4c40-bdb7-fdf5402d51e9 - - - - - -6666b4a7-2143-46a5-af8c-60ea3e5e9fc1 - -PutDown(Softdrink,CoffeeTable) - - - -07586bf3-3261-4f90-8a20-818974dcaa22->6666b4a7-2143-46a5-af8c-60ea3e5e9fc1 - - - - - -e995d6ad-9eca-4fee-bd44-4c8580ea35db - -Holding(Softdrink) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->e995d6ad-9eca-4fee-bd44-4c8580ea35db - - - - - -76eec655-6e64-4a93-a11a-1159fd53514a - -At(Robot,MilkDrink) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->76eec655-6e64-4a93-a11a-1159fd53514a - - - - - -593541a4-a7b3-40dd-95d2-8563f5cd6142 - -At(Robot,Bar2) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->593541a4-a7b3-40dd-95d2-8563f5cd6142 - - - - - -ec235825-175a-4d2a-8780-7ecfe5cf8777 - -At(Robot,Table1) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->ec235825-175a-4d2a-8780-7ecfe5cf8777 - - - - - -4afd6b77-7d75-4a0f-861c-66d28fe07fa9 - -PutDown(Softdrink,Table) - - - -535b4bf2-c24a-4f06-b164-4750881613dd->4afd6b77-7d75-4a0f-861c-66d28fe07fa9 - - - - - -41535c4c-b1bb-4fd4-ad6d-3903146fcb52 - -Holding(Softdrink) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->41535c4c-b1bb-4fd4-ad6d-3903146fcb52 - - - - - -b7effd89-7469-462b-880c-28f0aaa13a04 - -At(Robot,MilkDrink) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->b7effd89-7469-462b-880c-28f0aaa13a04 - - - - - -7aea9ffe-1c21-4a1c-8193-b6272784c27c - -At(Robot,Bar2) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->7aea9ffe-1c21-4a1c-8193-b6272784c27c - - - - - -cdae2dcd-536f-4b10-b7a2-6fbf23734368 - -At(Robot,Table1) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->cdae2dcd-536f-4b10-b7a2-6fbf23734368 - - - - - -b83f8bff-17ec-405c-a5ff-2f68298f8699 - -PutDown(Softdrink,Table) - - - -dc9fc211-1223-426e-bf8d-75cc66d1b3b1->b83f8bff-17ec-405c-a5ff-2f68298f8699 - - - - - -99918538-9f5c-43bd-863b-11dca11f9d47 - -Holding(Softdrink) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->99918538-9f5c-43bd-863b-11dca11f9d47 - - - - - -9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae - -At(Robot,MilkDrink) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->9c9e6d1d-4ac4-4395-aaa9-f51ac1d13cae - - - - - -e69096a2-e09a-4abd-8485-7760760098d8 - -At(Robot,Bar2) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->e69096a2-e09a-4abd-8485-7760760098d8 - - - - - -3f44da18-2090-48ca-9438-fe1e5a039fc8 - -At(Robot,Table2) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->3f44da18-2090-48ca-9438-fe1e5a039fc8 - - - - - -e1f88597-d372-48bf-be27-226fb1d7a537 - -PutDown(Softdrink,Table) - - - -e0569027-3cdc-4b15-a7ad-49886b56be6b->e1f88597-d372-48bf-be27-226fb1d7a537 - - - - - -7128b9e3-37e5-4b92-a310-2db00b23030a - -Holding(Softdrink) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->7128b9e3-37e5-4b92-a310-2db00b23030a - - - - - -3ab05ca4-709c-49dd-86b3-6e85a983b5f4 - -At(Robot,MilkDrink) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->3ab05ca4-709c-49dd-86b3-6e85a983b5f4 - - - - - -d74d9d29-0daf-43fe-8eeb-92f59aae9dbb - -At(Robot,Bar2) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->d74d9d29-0daf-43fe-8eeb-92f59aae9dbb - - - - - -73ff4437-8796-43b4-8622-8d4c0a41c264 - -At(Robot,Table2) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->73ff4437-8796-43b4-8622-8d4c0a41c264 - - - - - -5e09d5aa-7f3c-4de4-8f60-b518cad38369 - -PutDown(Softdrink,Table) - - - -2a234b02-c0d4-453c-b058-ee6121393edc->5e09d5aa-7f3c-4de4-8f60-b518cad38369 - - - - - -e4b41ecd-9476-42dd-b564-df398d2a5659 - -Holding(Softdrink) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->e4b41ecd-9476-42dd-b564-df398d2a5659 - - - - - -e9f2502e-0d97-46ba-8c3f-2421e17128fb - -At(Robot,MilkDrink) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->e9f2502e-0d97-46ba-8c3f-2421e17128fb - - - - - -d510a5a9-7230-4390-8793-06c7079a9c2d - -At(Robot,Bar2) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->d510a5a9-7230-4390-8793-06c7079a9c2d - - - - - -444e0b09-ef34-45b9-b889-34ab9858fc52 - -At(Robot,Table3) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->444e0b09-ef34-45b9-b889-34ab9858fc52 - - - - - -a46e0ea4-74b8-436d-8080-50eadef30458 - -PutDown(Softdrink,Table) - - - -9246fc68-bd7a-44c8-8bfe-43b94af2733f->a46e0ea4-74b8-436d-8080-50eadef30458 - - - - - -b8e9f30c-cab2-4ef3-87d5-30703fd8ce4b - -Holding(Softdrink) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->b8e9f30c-cab2-4ef3-87d5-30703fd8ce4b - - - - - -f4d5878b-716e-42e4-a7df-ec2851369eaa - -At(Robot,MilkDrink) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->f4d5878b-716e-42e4-a7df-ec2851369eaa - - - - - -2e425296-595f-46c2-a867-ec82f9f6f662 - -At(Robot,Bar2) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->2e425296-595f-46c2-a867-ec82f9f6f662 - - - - - -cbe22c6c-74f5-46a8-8d49-ab743ca5af93 - -At(Robot,Table3) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->cbe22c6c-74f5-46a8-8d49-ab743ca5af93 - - - - - -1fe53814-3609-408a-8120-ab2f647b2902 - -PutDown(Softdrink,Table) - - - -876093a3-cef6-445b-bdfb-33864e5fc07f->1fe53814-3609-408a-8120-ab2f647b2902 - - - - - -c7e602d1-6581-4621-af1c-6cfc67e62a4c - -Holding(Softdrink) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->c7e602d1-6581-4621-af1c-6cfc67e62a4c - - - - - -fdf722b1-053a-4cf9-b97b-b894d7249270 - -At(Robot,MilkDrink) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->fdf722b1-053a-4cf9-b97b-b894d7249270 - - - - - -57cb32b0-c56b-4830-8aa3-72f3a6ba6029 - -At(Robot,WaterTable) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->57cb32b0-c56b-4830-8aa3-72f3a6ba6029 - - - - - -6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62 - -At(Robot,Bar2) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62 - - - - - -dc923371-bda2-4190-a201-86bc5d4bb6dd - -PutDown(Softdrink,WaterTable) - - - -419acfc1-aa9b-4572-9561-217e20dbf7da->dc923371-bda2-4190-a201-86bc5d4bb6dd - - - - - -056d63d1-fbfd-4d47-84ac-4c97a72f412e - -Holding(Softdrink) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->056d63d1-fbfd-4d47-84ac-4c97a72f412e - - - - - -5a604a9b-e06a-4a38-b6a1-c58438f96f7d - -At(Robot,MilkDrink) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->5a604a9b-e06a-4a38-b6a1-c58438f96f7d - - - - - -795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b - -At(Robot,WaterTable) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->795e9d5e-5f57-4cf8-84b2-b2d09ab4b36b - - - - - -65d4f9e4-b1f1-432a-84b6-786824c464a1 - -At(Robot,Bar2) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->65d4f9e4-b1f1-432a-84b6-786824c464a1 - - - - - -acd75dbe-6863-4c3e-afee-68c22d529fb5 - -PutDown(Softdrink,WaterTable) - - - -86e40d6f-a8f9-42a4-8e72-d9c30bd1230b->acd75dbe-6863-4c3e-afee-68c22d529fb5 - - - - - -ccbf6e12-f838-47e0-83ed-534fc9569cd7 - -At(Robot,Bar) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->ccbf6e12-f838-47e0-83ed-534fc9569cd7 - - - - - -cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221 - -At(Robot,MilkDrink) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->cb2f1fa3-494c-40fc-b2ea-c6c4a43c1221 - - - - - -e67923ef-45a9-4b6d-88fd-75cb8e87d6c8 - -At(Robot,Bar2) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->e67923ef-45a9-4b6d-88fd-75cb8e87d6c8 - - - - - -c06d4711-09ea-4648-9283-5296f79d7fd7 - -Holding(SpringWater) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->c06d4711-09ea-4648-9283-5296f79d7fd7 - - - - - -22fc2739-ffa4-4377-8745-3ef90e4bde80 - -PutDown(SpringWater,Bar) - - - -8c963084-5f74-4b33-a359-bc98ab067e5e->22fc2739-ffa4-4377-8745-3ef90e4bde80 - - - - - -d6f4b983-571a-4f96-9fd5-6c9dab97f013 - -At(Robot,Bar) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->d6f4b983-571a-4f96-9fd5-6c9dab97f013 - - - - - -25a0dc72-3aaf-4419-8340-35675963abce - -At(Robot,MilkDrink) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->25a0dc72-3aaf-4419-8340-35675963abce - - - - - -b4adf49a-74c2-46be-92d2-e300e07fc1b6 - -At(Robot,Bar2) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->b4adf49a-74c2-46be-92d2-e300e07fc1b6 - - - - - -3381c632-765c-465a-a8a2-0a6a716cfaa1 - -Holding(SpringWater) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->3381c632-765c-465a-a8a2-0a6a716cfaa1 - - - - - -92e20f04-b5ce-42b5-a106-60d6d53f4370 - -PutDown(SpringWater,Bar) - - - -53bd47b5-0a5b-486d-b0fe-f98b85079e57->92e20f04-b5ce-42b5-a106-60d6d53f4370 - - - - - -960e0182-e7ea-4a18-b7ff-ecdd7a804106 - -At(Robot,MilkDrink) - - - -ee858d86-4fac-4681-8f13-a50fec769602->960e0182-e7ea-4a18-b7ff-ecdd7a804106 - - - - - -c9e72ce4-b00c-4d69-bdae-06ddf2bc2866 - -At(Robot,Bar2) - - - -ee858d86-4fac-4681-8f13-a50fec769602->c9e72ce4-b00c-4d69-bdae-06ddf2bc2866 - - - - - -29dad91a-76fc-46c3-a145-a94f9f4c0291 - -Holding(SpringWater) - - - -ee858d86-4fac-4681-8f13-a50fec769602->29dad91a-76fc-46c3-a145-a94f9f4c0291 - - - - - -b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e - -PutDown(SpringWater,Bar) - - - -ee858d86-4fac-4681-8f13-a50fec769602->b6a1fa34-8eb7-4966-a017-dfb1aaf75e0e - - - - - -3d49ff67-9b5f-46a7-bf94-9bc93fdf0912 - -At(Robot,MilkDrink) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->3d49ff67-9b5f-46a7-bf94-9bc93fdf0912 - - - - - -7b02338a-05b9-43bf-b03f-1c187183271d - -At(Robot,Bar2) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->7b02338a-05b9-43bf-b03f-1c187183271d - - - - - -1c62a5b7-7f08-42a7-a7b4-f054a6260d54 - -Holding(SpringWater) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->1c62a5b7-7f08-42a7-a7b4-f054a6260d54 - - - - - -e6d8651c-0c4d-44dd-858e-4067b873f31a - -PutDown(SpringWater,Bar) - - - -3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b->e6d8651c-0c4d-44dd-858e-4067b873f31a - - - - - -b86de745-e8fd-4a69-a9f7-b24a55b46880 - -At(Robot,BrightTable6) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->b86de745-e8fd-4a69-a9f7-b24a55b46880 - - - - - -70a89f7f-d4e3-40da-9129-d8c1c2beaedf - -At(Robot,MilkDrink) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->70a89f7f-d4e3-40da-9129-d8c1c2beaedf - - - - - -99d238b9-5219-4e40-8a80-ad44064505fd - -At(Robot,Bar2) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->99d238b9-5219-4e40-8a80-ad44064505fd - - - - - -149bff68-eac1-4a37-97db-54120a941812 - -Holding(SpringWater) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->149bff68-eac1-4a37-97db-54120a941812 - - - - - -3a941fb5-3fbe-4f55-912f-d8c39d302dd9 - -PutDown(SpringWater,BrightTable) - - - -7b1242bd-b528-45d0-bbe0-9901f89d3048->3a941fb5-3fbe-4f55-912f-d8c39d302dd9 - - - - - -274d4d6e-b4f7-4588-bf40-575f0c836a07 - -At(Robot,BrightTable6) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->274d4d6e-b4f7-4588-bf40-575f0c836a07 - - - - - -d4e7fb66-74bd-43af-ac44-8efee75d0346 - -At(Robot,MilkDrink) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->d4e7fb66-74bd-43af-ac44-8efee75d0346 - - - - - -ce8588e4-cd34-4606-ba16-21718af4c14b - -At(Robot,Bar2) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->ce8588e4-cd34-4606-ba16-21718af4c14b - - - - - -a421e929-698f-44a3-a1e9-9cf29a95f173 - -Holding(SpringWater) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->a421e929-698f-44a3-a1e9-9cf29a95f173 - - - - - -c24a0a17-1114-4197-a422-502a10a4a386 - -PutDown(SpringWater,BrightTable) - - - -bcbdf785-4877-4e2e-af09-94e7fe764a9c->c24a0a17-1114-4197-a422-502a10a4a386 - - - - - -ce27e756-127d-4b48-bbb9-1723ccd0d360 - -At(Robot,MilkDrink) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->ce27e756-127d-4b48-bbb9-1723ccd0d360 - - - - - -962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e - -At(Robot,CoffeeTable) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->962bcfb8-bbf8-4e3c-868f-7e9e41b2c97e - - - - - -b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe - -At(Robot,Bar2) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->b68f4bf8-5ec9-4eb6-912d-b4b816cc8bbe - - - - - -2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d - -Holding(SpringWater) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->2a89ebbd-403e-4c73-b9e3-b7b4a0aba54d - - - - - -4dde59c3-139d-4f1a-83bd-f101df1e13f6 - -PutDown(SpringWater,CoffeeTable) - - - -d5a11f3d-4498-422c-9363-c25a18274e15->4dde59c3-139d-4f1a-83bd-f101df1e13f6 - - - - - -6f27d961-bf8b-498d-9483-049abafdf443 - -At(Robot,MilkDrink) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->6f27d961-bf8b-498d-9483-049abafdf443 - - - - - -e0e55da1-a57b-47f1-be86-286c76140a34 - -At(Robot,CoffeeTable) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->e0e55da1-a57b-47f1-be86-286c76140a34 - - - - - -f5e1ab44-1577-4786-bc95-be83be2bec1c - -At(Robot,Bar2) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->f5e1ab44-1577-4786-bc95-be83be2bec1c - - - - - -56fb626c-eec0-494b-9b0f-db5cbf7fa1d2 - -Holding(SpringWater) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->56fb626c-eec0-494b-9b0f-db5cbf7fa1d2 - - - - - -85e2b90d-c56b-4e7b-a562-7ad41804ff42 - -PutDown(SpringWater,CoffeeTable) - - - -8e52d219-0e0c-41ce-83d1-d01c85336169->85e2b90d-c56b-4e7b-a562-7ad41804ff42 - - - - - -03d4e138-3566-4e85-b87f-89c83bd1e010 - -At(Robot,MilkDrink) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->03d4e138-3566-4e85-b87f-89c83bd1e010 - - - - - -133bb189-04c6-4abf-b66c-61c5343f85a0 - -At(Robot,Bar2) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->133bb189-04c6-4abf-b66c-61c5343f85a0 - - - - - -319a20e1-410d-4a53-87c7-42937351e3b5 - -Holding(SpringWater) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->319a20e1-410d-4a53-87c7-42937351e3b5 - - - - - -fa5217d7-9057-4c81-8bd7-92851f610f9d - -At(Robot,Table1) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->fa5217d7-9057-4c81-8bd7-92851f610f9d - - - - - -753be064-5b56-43a1-a9c9-a6a08c7efabd - -PutDown(SpringWater,Table) - - - -21eef6cf-7bf1-4227-9bd7-dcf2c4f0fdaf->753be064-5b56-43a1-a9c9-a6a08c7efabd - - - - - -ae49647e-da74-4406-8676-472adbd51c73 - -At(Robot,MilkDrink) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->ae49647e-da74-4406-8676-472adbd51c73 - - - - - -e0f6f1e5-c264-4199-94e3-0baca9b96347 - -At(Robot,Bar2) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->e0f6f1e5-c264-4199-94e3-0baca9b96347 - - - - - -7bf275e4-a768-4929-b736-369b047890bd - -Holding(SpringWater) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->7bf275e4-a768-4929-b736-369b047890bd - - - - - -1157dd05-84fc-4aa0-b6b0-64456b0396c3 - -At(Robot,Table1) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->1157dd05-84fc-4aa0-b6b0-64456b0396c3 - - - - - -5967f861-96f7-4375-85ed-b20cf102bce8 - -PutDown(SpringWater,Table) - - - -e696add1-1e77-42c9-81f8-d85fb97b6e8c->5967f861-96f7-4375-85ed-b20cf102bce8 - - - - - -9bebca6d-78d9-45bc-8bfa-95eeac24b405 - -At(Robot,MilkDrink) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->9bebca6d-78d9-45bc-8bfa-95eeac24b405 - - - - - -a44c6a71-a767-4ecf-b824-7671fca25295 - -At(Robot,Bar2) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->a44c6a71-a767-4ecf-b824-7671fca25295 - - - - - -ba6f209d-bd4b-47fb-b3b0-56f350c22d61 - -Holding(SpringWater) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->ba6f209d-bd4b-47fb-b3b0-56f350c22d61 - - - - - -ecf43f79-f2af-4870-bcca-826f4c723505 - -At(Robot,Table2) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->ecf43f79-f2af-4870-bcca-826f4c723505 - - - - - -5f689d38-0baf-4dd4-8c2d-080f45e48005 - -PutDown(SpringWater,Table) - - - -a57200e5-add0-4fa8-90d9-8b34c6a75c0a->5f689d38-0baf-4dd4-8c2d-080f45e48005 - - - - - -607b042a-4777-4920-a051-332013efdb19 - -At(Robot,MilkDrink) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->607b042a-4777-4920-a051-332013efdb19 - - - - - -1c56b1b1-4e0b-494f-bd5c-50c376374277 - -At(Robot,Bar2) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->1c56b1b1-4e0b-494f-bd5c-50c376374277 - - - - - -18fb7a42-0d7f-48f9-b407-d47c9583c1d3 - -Holding(SpringWater) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->18fb7a42-0d7f-48f9-b407-d47c9583c1d3 - - - - - -c14e1486-bdc6-4d59-abf0-58319b690564 - -At(Robot,Table2) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->c14e1486-bdc6-4d59-abf0-58319b690564 - - - - - -3ccc07d8-bfe5-4fae-b8ae-7b4d70008900 - -PutDown(SpringWater,Table) - - - -fb5ab923-fcbb-47c5-be51-00b59f5717b0->3ccc07d8-bfe5-4fae-b8ae-7b4d70008900 - - - - - -5f8e746b-3708-4742-9129-677753bfb3d8 - -At(Robot,MilkDrink) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->5f8e746b-3708-4742-9129-677753bfb3d8 - - - - - -e73cae43-c50e-43a5-b0ab-96c1d3c05f7f - -At(Robot,Bar2) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->e73cae43-c50e-43a5-b0ab-96c1d3c05f7f - - - - - -031848ca-382f-49c8-b057-964066b9c76f - -At(Robot,Table3) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->031848ca-382f-49c8-b057-964066b9c76f - - - - - -7c93f875-2de1-4025-b66b-d02801dadb0b - -Holding(SpringWater) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->7c93f875-2de1-4025-b66b-d02801dadb0b - - - - - -840532f7-edf2-48ea-9938-5e3109e38c13 - -PutDown(SpringWater,Table) - - - -ee1891b1-c1ca-4937-9797-e1561f63ba99->840532f7-edf2-48ea-9938-5e3109e38c13 - - - - - -ab887bfb-9143-4ca8-89c7-a359225ab80a - -At(Robot,MilkDrink) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->ab887bfb-9143-4ca8-89c7-a359225ab80a - - - - - -356f8860-f249-4ec3-ba78-d5976554ec8b - -At(Robot,Bar2) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->356f8860-f249-4ec3-ba78-d5976554ec8b - - - - - -47474376-a398-4f1b-b321-1d6c1d5cef02 - -At(Robot,Table3) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->47474376-a398-4f1b-b321-1d6c1d5cef02 - - - - - -07aa76ec-9f74-42d4-aa8b-9024aff1fd7c - -Holding(SpringWater) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->07aa76ec-9f74-42d4-aa8b-9024aff1fd7c - - - - - -82a89e82-8f75-4126-b756-d419bc92cd47 - -PutDown(SpringWater,Table) - - - -07db873c-4419-4b4f-8205-6bbc486d423a->82a89e82-8f75-4126-b756-d419bc92cd47 - - - - - -04ddba9e-811b-4624-bdbf-86ac874b2850 - -At(Robot,MilkDrink) - - - -cf92a672-9466-4fad-a43b-43524387d782->04ddba9e-811b-4624-bdbf-86ac874b2850 - - - - - -a952521a-a0f6-4171-9c95-4108af61047f - -At(Robot,WaterTable) - - - -cf92a672-9466-4fad-a43b-43524387d782->a952521a-a0f6-4171-9c95-4108af61047f - - - - - -48be13c8-3663-4ed9-a534-8cb664615163 - -Holding(SpringWater) - - - -cf92a672-9466-4fad-a43b-43524387d782->48be13c8-3663-4ed9-a534-8cb664615163 - - - - - -44d0bb58-1731-40e2-bd0c-de6b5c59cd01 - -At(Robot,Bar2) - - - -cf92a672-9466-4fad-a43b-43524387d782->44d0bb58-1731-40e2-bd0c-de6b5c59cd01 - - - - - -2e9f1707-a8cb-41b1-8620-0171a98afc36 - -PutDown(SpringWater,WaterTable) - - - -cf92a672-9466-4fad-a43b-43524387d782->2e9f1707-a8cb-41b1-8620-0171a98afc36 - - - - - -45529897-b745-4969-896a-8c6dfcecd2c6 - -At(Robot,MilkDrink) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->45529897-b745-4969-896a-8c6dfcecd2c6 - - - - - -1ffbf500-dbb5-4f66-a9c0-203195fa5cc2 - -At(Robot,WaterTable) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->1ffbf500-dbb5-4f66-a9c0-203195fa5cc2 - - - - - -73b73f86-49af-4ebd-b8e6-5923fdb40e09 - -Holding(SpringWater) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->73b73f86-49af-4ebd-b8e6-5923fdb40e09 - - - - - -fb4a2de8-f189-4080-b655-d0d25a89863c - -At(Robot,Bar2) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->fb4a2de8-f189-4080-b655-d0d25a89863c - - - - - -b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8 - -PutDown(SpringWater,WaterTable) - - - -9c8a0c95-9a18-46da-b0cb-450eaa24a6ad->b75e8c0a-3c7e-47a6-b7b6-30635b4dbae8 - - - - - -cbfe020c-0e72-4de3-9159-eba816a54f8b - -Holding(VacuumCup) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->cbfe020c-0e72-4de3-9159-eba816a54f8b - - - - - -8cc7fef1-444b-4e83-ab82-2db7ad97004c - -At(Robot,MilkDrink) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->8cc7fef1-444b-4e83-ab82-2db7ad97004c - - - - - -f475751e-023e-4bd5-9828-cc98f710695d - -At(Robot,Bar2) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->f475751e-023e-4bd5-9828-cc98f710695d - - - - - -9b1cc745-955e-411a-bd89-6b11569208fb - -At(Robot,Bar) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->9b1cc745-955e-411a-bd89-6b11569208fb - - - - - -f6ee2ed4-418c-4b57-b824-50ce4525b8c1 - -PutDown(VacuumCup,Bar) - - - -940f5b43-f9b5-40bc-9057-a428fa1d2d22->f6ee2ed4-418c-4b57-b824-50ce4525b8c1 - - - - - -896c3410-c106-48ac-b6ff-9754860c9d61 - -Holding(VacuumCup) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->896c3410-c106-48ac-b6ff-9754860c9d61 - - - - - -d463ff14-d9ef-4b63-9c2f-772912bdcf74 - -At(Robot,MilkDrink) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->d463ff14-d9ef-4b63-9c2f-772912bdcf74 - - - - - -7a671f10-ff72-41fd-827c-6dd90ee640eb - -At(Robot,Bar2) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->7a671f10-ff72-41fd-827c-6dd90ee640eb - - - - - -18f9ff95-e47e-4be3-8f05-33ac86c2b8b3 - -At(Robot,Bar) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->18f9ff95-e47e-4be3-8f05-33ac86c2b8b3 - - - - - -b9d7ab4a-faa2-4011-ba2c-1c5c7802073f - -PutDown(VacuumCup,Bar) - - - -05a08f37-24ee-4ad4-a935-6f6e9a33dbfe->b9d7ab4a-faa2-4011-ba2c-1c5c7802073f - - - - - -113aa7f8-e133-4963-8df2-2940527f9b54 - -Holding(VacuumCup) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->113aa7f8-e133-4963-8df2-2940527f9b54 - - - - - -fc099702-da9c-426c-b5c8-ad1cb1055d18 - -At(Robot,MilkDrink) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->fc099702-da9c-426c-b5c8-ad1cb1055d18 - - - - - -01f74d85-37a1-4dcc-8308-9e83b66a5ab2 - -At(Robot,Bar2) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->01f74d85-37a1-4dcc-8308-9e83b66a5ab2 - - - - - -c33e9b17-bdd6-453c-b54c-e9043fde5311 - -PutDown(VacuumCup,Bar) - - - -19a2ae2f-82f0-437b-ae8d-61945126e1dc->c33e9b17-bdd6-453c-b54c-e9043fde5311 - - - - - -8c3675c0-10e9-49f8-9e33-7cb64747bf17 - -Holding(VacuumCup) - - - -c351fabc-d971-47b6-bd75-49117283f717->8c3675c0-10e9-49f8-9e33-7cb64747bf17 - - - - - -d9b162b5-1c20-4603-b65c-91fed5800245 - -At(Robot,MilkDrink) - - - -c351fabc-d971-47b6-bd75-49117283f717->d9b162b5-1c20-4603-b65c-91fed5800245 - - - - - -96dff594-c2d3-4674-88c9-c1aae3fc963d - -At(Robot,Bar2) - - - -c351fabc-d971-47b6-bd75-49117283f717->96dff594-c2d3-4674-88c9-c1aae3fc963d - - - - - -3d4e71a0-98d9-42b3-a7ec-6015607f343e - -PutDown(VacuumCup,Bar) - - - -c351fabc-d971-47b6-bd75-49117283f717->3d4e71a0-98d9-42b3-a7ec-6015607f343e - - - - - -84091fd5-8774-4a6d-9336-66c90e29113b - -Holding(VacuumCup) - - - -8f3183a1-332d-44e3-ae08-840619298e48->84091fd5-8774-4a6d-9336-66c90e29113b - - - - - -e4031364-ccfa-4895-9e0b-74089a93a9a9 - -At(Robot,BrightTable6) - - - -8f3183a1-332d-44e3-ae08-840619298e48->e4031364-ccfa-4895-9e0b-74089a93a9a9 - - - - - -23f261ac-bb50-4bba-9fef-74aba985127d - -At(Robot,MilkDrink) - - - -8f3183a1-332d-44e3-ae08-840619298e48->23f261ac-bb50-4bba-9fef-74aba985127d - - - - - -d8bd7f92-369a-4d7a-a3c3-bfd826437148 - -At(Robot,Bar2) - - - -8f3183a1-332d-44e3-ae08-840619298e48->d8bd7f92-369a-4d7a-a3c3-bfd826437148 - - - - - -6961ebd7-99d6-4725-b50f-ceaa976eaa51 - -PutDown(VacuumCup,BrightTable) - - - -8f3183a1-332d-44e3-ae08-840619298e48->6961ebd7-99d6-4725-b50f-ceaa976eaa51 - - - - - -e503845e-072a-4f8f-8378-abb07dcf2845 - -Holding(VacuumCup) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->e503845e-072a-4f8f-8378-abb07dcf2845 - - - - - -21659908-932a-4732-81e5-f16af50a86d0 - -At(Robot,BrightTable6) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->21659908-932a-4732-81e5-f16af50a86d0 - - - - - -2656f4e5-bd81-486b-a08d-4736bc21fb51 - -At(Robot,MilkDrink) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->2656f4e5-bd81-486b-a08d-4736bc21fb51 - - - - - -5aad7be5-6842-459a-ab65-f559c31849ab - -At(Robot,Bar2) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->5aad7be5-6842-459a-ab65-f559c31849ab - - - - - -6e381100-3943-4c68-aae0-52399267a811 - -PutDown(VacuumCup,BrightTable) - - - -93707b5e-7a0d-4318-84fe-d231cd0a46de->6e381100-3943-4c68-aae0-52399267a811 - - - - - -469b945d-69e8-4b86-bcc6-5bf562146e76 - -Holding(VacuumCup) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->469b945d-69e8-4b86-bcc6-5bf562146e76 - - - - - -7a6b4a24-0f35-4151-ad28-8eec78212d98 - -At(Robot,MilkDrink) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->7a6b4a24-0f35-4151-ad28-8eec78212d98 - - - - - -0d7435dc-d504-4a7e-a11c-b6aed15869c8 - -At(Robot,CoffeeTable) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->0d7435dc-d504-4a7e-a11c-b6aed15869c8 - - - - - -7bee6a38-2b42-4c8f-b838-0a409ff74ac1 - -At(Robot,Bar2) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->7bee6a38-2b42-4c8f-b838-0a409ff74ac1 - - - - - -5831a3a2-a94b-4ee0-adb4-53b25a1be11b - -PutDown(VacuumCup,CoffeeTable) - - - -e3d5896b-137c-43a5-be5e-dc67441d6302->5831a3a2-a94b-4ee0-adb4-53b25a1be11b - - - - - -4e783e98-4d44-43a7-af06-03178756bf3a - -Holding(VacuumCup) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->4e783e98-4d44-43a7-af06-03178756bf3a - - - - - -848b9025-d789-4494-be68-c393e26fd526 - -At(Robot,MilkDrink) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->848b9025-d789-4494-be68-c393e26fd526 - - - - - -3d647450-4aed-4ca7-a8e1-369cee1be676 - -At(Robot,CoffeeTable) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->3d647450-4aed-4ca7-a8e1-369cee1be676 - - - - - -35c1569d-1ad2-4b8f-ac71-f8e427038d1e - -At(Robot,Bar2) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->35c1569d-1ad2-4b8f-ac71-f8e427038d1e - - - - - -e10eed7a-50db-4fbe-b56c-153316c19176 - -PutDown(VacuumCup,CoffeeTable) - - - -03219396-157b-408a-8256-e0ca7ffa7ed2->e10eed7a-50db-4fbe-b56c-153316c19176 - - - - - -a4b3dec3-c098-4441-8aa8-43d53f61a345 - -Holding(VacuumCup) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->a4b3dec3-c098-4441-8aa8-43d53f61a345 - - - - - -807feefc-a535-4aa2-99a3-4d1f2be818a7 - -At(Robot,MilkDrink) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->807feefc-a535-4aa2-99a3-4d1f2be818a7 - - - - - -8ed56b6b-8033-44cf-89d4-c47c3f7ff399 - -At(Robot,Bar2) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->8ed56b6b-8033-44cf-89d4-c47c3f7ff399 - - - - - -45f60cc2-e4a0-4235-885d-c9dc4b02da2f - -At(Robot,Table1) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->45f60cc2-e4a0-4235-885d-c9dc4b02da2f - - - - - -8b6ecdfb-2395-40f8-9bdf-29abb7851316 - -PutDown(VacuumCup,Table) - - - -4c81069c-a26f-4150-ba9c-d29ce8d1231b->8b6ecdfb-2395-40f8-9bdf-29abb7851316 - - - - - -c7e75246-2510-4dd9-9035-737ee0fb5fe8 - -Holding(VacuumCup) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->c7e75246-2510-4dd9-9035-737ee0fb5fe8 - - - - - -579c5d5c-5433-4a5b-b679-73be714c17a1 - -At(Robot,MilkDrink) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->579c5d5c-5433-4a5b-b679-73be714c17a1 - - - - - -dd629349-a727-4adb-8eb5-7b852154e28e - -At(Robot,Bar2) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->dd629349-a727-4adb-8eb5-7b852154e28e - - - - - -c640e94c-abbc-4f15-b4a6-3e237d9dda96 - -At(Robot,Table1) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->c640e94c-abbc-4f15-b4a6-3e237d9dda96 - - - - - -f21915d1-e2cb-4341-ad64-cb696f561b88 - -PutDown(VacuumCup,Table) - - - -709e0257-9e1b-4213-b8d0-bcc865ec9207->f21915d1-e2cb-4341-ad64-cb696f561b88 - - - - - -ba9c8ae8-ad93-46f5-b90a-a6c77b4d87c9 - -Holding(VacuumCup) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->ba9c8ae8-ad93-46f5-b90a-a6c77b4d87c9 - - - - - -39564a71-ccf4-411a-9ee1-f9190cced51e - -At(Robot,MilkDrink) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->39564a71-ccf4-411a-9ee1-f9190cced51e - - - - - -c4bde2c3-9c42-4a76-8478-a34f2aa2937c - -At(Robot,Bar2) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->c4bde2c3-9c42-4a76-8478-a34f2aa2937c - - - - - -6e143c38-9f9d-408c-ba59-cd2ae2a727fa - -At(Robot,Table2) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->6e143c38-9f9d-408c-ba59-cd2ae2a727fa - - - - - -50002230-0d75-4d96-8375-280ab77bd7e6 - -PutDown(VacuumCup,Table) - - - -cb9a8ed6-fbc5-414e-a168-9761c6012c71->50002230-0d75-4d96-8375-280ab77bd7e6 - - - - - -44b8c0f1-5a20-4d32-a025-01df32367444 - -Holding(VacuumCup) - - - -d9824a78-a503-4435-a735-762f770d3813->44b8c0f1-5a20-4d32-a025-01df32367444 - - - - - -89211a8f-ef87-425c-8ce6-bafca509dc20 - -At(Robot,MilkDrink) - - - -d9824a78-a503-4435-a735-762f770d3813->89211a8f-ef87-425c-8ce6-bafca509dc20 - - - - - -baeff367-13e1-498a-b28e-bce2aff7491a - -At(Robot,Bar2) - - - -d9824a78-a503-4435-a735-762f770d3813->baeff367-13e1-498a-b28e-bce2aff7491a - - - - - -63f90689-f405-4727-b2d9-5e59633242d7 - -At(Robot,Table2) - - - -d9824a78-a503-4435-a735-762f770d3813->63f90689-f405-4727-b2d9-5e59633242d7 - - - - - -344402b7-89cc-422b-9afe-1e2be790495c - -PutDown(VacuumCup,Table) - - - -d9824a78-a503-4435-a735-762f770d3813->344402b7-89cc-422b-9afe-1e2be790495c - - - - - -fcda5a3f-de41-464a-828c-7556c20f6803 - -Holding(VacuumCup) - - - -17329e69-af80-4180-9904-8cec14e717ab->fcda5a3f-de41-464a-828c-7556c20f6803 - - - - - -734dddba-26b7-439e-b25c-b8980c349326 - -At(Robot,MilkDrink) - - - -17329e69-af80-4180-9904-8cec14e717ab->734dddba-26b7-439e-b25c-b8980c349326 - - - - - -8a4296bc-6dc8-4450-8a97-3142785da995 - -At(Robot,Bar2) - - - -17329e69-af80-4180-9904-8cec14e717ab->8a4296bc-6dc8-4450-8a97-3142785da995 - - - - - -83418e71-fac4-4c24-a7ea-df982ef48360 - -At(Robot,Table3) - - - -17329e69-af80-4180-9904-8cec14e717ab->83418e71-fac4-4c24-a7ea-df982ef48360 - - - - - -48f10d91-a710-4f19-9705-ddd02e0ac26b - -PutDown(VacuumCup,Table) - - - -17329e69-af80-4180-9904-8cec14e717ab->48f10d91-a710-4f19-9705-ddd02e0ac26b - - - - - -6260a159-47d6-494d-9712-f2028d68df2f - -Holding(VacuumCup) - - - -290d5562-d7bc-4920-b539-3e51f2377361->6260a159-47d6-494d-9712-f2028d68df2f - - - - - -69c3035b-e6e0-417f-94ad-3a2b51ab24a5 - -At(Robot,MilkDrink) - - - -290d5562-d7bc-4920-b539-3e51f2377361->69c3035b-e6e0-417f-94ad-3a2b51ab24a5 - - - - - -fcd2eb97-af08-43b9-b6a1-347076c24a44 - -At(Robot,Bar2) - - - -290d5562-d7bc-4920-b539-3e51f2377361->fcd2eb97-af08-43b9-b6a1-347076c24a44 - - - - - -c5abc375-7ac4-4445-8e24-d254f5b7065e - -At(Robot,Table3) - - - -290d5562-d7bc-4920-b539-3e51f2377361->c5abc375-7ac4-4445-8e24-d254f5b7065e - - - - - -b33809b1-5d7b-4a97-b78a-0aefe9e7073b - -PutDown(VacuumCup,Table) - - - -290d5562-d7bc-4920-b539-3e51f2377361->b33809b1-5d7b-4a97-b78a-0aefe9e7073b - - - - - -18786d2d-7b00-4262-abc0-16bf5ca538ae - -Holding(VacuumCup) - - - -2d2645c1-433b-4138-beac-caa410346f8e->18786d2d-7b00-4262-abc0-16bf5ca538ae - - - - - -1836cf05-9041-47cd-9514-c3d6787d5b6e - -At(Robot,MilkDrink) - - - -2d2645c1-433b-4138-beac-caa410346f8e->1836cf05-9041-47cd-9514-c3d6787d5b6e - - - - - -6bae1ff2-6aa1-43db-a7ca-834432e23627 - -At(Robot,WaterTable) - - - -2d2645c1-433b-4138-beac-caa410346f8e->6bae1ff2-6aa1-43db-a7ca-834432e23627 - - - - - -cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925 - -At(Robot,Bar2) - - - -2d2645c1-433b-4138-beac-caa410346f8e->cbba14b3-ae1a-4a5a-a47b-4b98bb2fe925 - - - - - -9f9f03a6-3460-46e0-9bb1-8513b1a448e0 - -PutDown(VacuumCup,WaterTable) - - - -2d2645c1-433b-4138-beac-caa410346f8e->9f9f03a6-3460-46e0-9bb1-8513b1a448e0 - - - - - -ff974da8-a580-4f70-b296-c824dafcc1d3 - -Holding(VacuumCup) - - - -6f14c627-0122-40be-8c57-541d752e60f6->ff974da8-a580-4f70-b296-c824dafcc1d3 - - - - - -94795be3-4cc7-4397-a95e-93be13059439 - -At(Robot,MilkDrink) - - - -6f14c627-0122-40be-8c57-541d752e60f6->94795be3-4cc7-4397-a95e-93be13059439 - - - - - -403f1a36-a06a-445a-89f3-547f081ce8fa - -At(Robot,WaterTable) - - - -6f14c627-0122-40be-8c57-541d752e60f6->403f1a36-a06a-445a-89f3-547f081ce8fa - - - - - -a1c3ac38-3116-4270-8775-36ede882f9b7 - -At(Robot,Bar2) - - - -6f14c627-0122-40be-8c57-541d752e60f6->a1c3ac38-3116-4270-8775-36ede882f9b7 - - - - - -7aa50814-aa97-4653-a8dd-1978b69f2e3b - -PutDown(VacuumCup,WaterTable) - - - -6f14c627-0122-40be-8c57-541d752e60f6->7aa50814-aa97-4653-a8dd-1978b69f2e3b - - - - - -1a04993a-d418-4956-90b4-14189ccf5cb5 - -At(Robot,Bar) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->1a04993a-d418-4956-90b4-14189ccf5cb5 - - - - - -dfdc946c-2e77-471d-8e48-045ebdfe5c4f - -At(Robot,MilkDrink) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->dfdc946c-2e77-471d-8e48-045ebdfe5c4f - - - - - -cbf799b8-1b49-404c-9380-af018958a916 - -At(Robot,Bar2) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->cbf799b8-1b49-404c-9380-af018958a916 - - - - - -9e0ebfbd-0f56-426b-ae0f-301f44ef154b - -Holding(Water) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->9e0ebfbd-0f56-426b-ae0f-301f44ef154b - - - - - -037b3c8c-0f69-4a29-bb5e-f7a345b4b06b - -PutDown(Water,Bar) - - - -2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3->037b3c8c-0f69-4a29-bb5e-f7a345b4b06b - - - - - -d8cfabad-4a31-4736-9d2b-fe71cf5d35f3 - -At(Robot,Bar) - - - -5f362f89-c782-474d-be59-53598c8aa969->d8cfabad-4a31-4736-9d2b-fe71cf5d35f3 - - - - - -4c840a0c-4bd2-4ed0-aed8-9886d2a850d6 - -At(Robot,MilkDrink) - - - -5f362f89-c782-474d-be59-53598c8aa969->4c840a0c-4bd2-4ed0-aed8-9886d2a850d6 - - - - - -e5707913-d39f-40cd-9e04-74134a4c0ca9 - -At(Robot,Bar2) - - - -5f362f89-c782-474d-be59-53598c8aa969->e5707913-d39f-40cd-9e04-74134a4c0ca9 - - - - - -d3d816e7-c870-405c-913d-cbf092c227af - -Holding(Water) - - - -5f362f89-c782-474d-be59-53598c8aa969->d3d816e7-c870-405c-913d-cbf092c227af - - - - - -424ef6e3-4622-4f09-8b17-1a46413f6992 - -PutDown(Water,Bar) - - - -5f362f89-c782-474d-be59-53598c8aa969->424ef6e3-4622-4f09-8b17-1a46413f6992 - - - - - -902b4913-b516-430b-95db-cb212e5943bc - -At(Robot,MilkDrink) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->902b4913-b516-430b-95db-cb212e5943bc - - - - - -f967093d-5e4c-40d7-879e-d2e8b69bb2c8 - -At(Robot,Bar2) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->f967093d-5e4c-40d7-879e-d2e8b69bb2c8 - - - - - -051b2383-2318-42fa-b4c8-a0b2e69e0640 - -Holding(Water) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->051b2383-2318-42fa-b4c8-a0b2e69e0640 - - - - - -2e6b6503-3251-4c75-b27e-5d8f6527246b - -PutDown(Water,Bar) - - - -8cb2f7a5-54b3-4f5c-bc21-7fc8df99cefb->2e6b6503-3251-4c75-b27e-5d8f6527246b - - - - - -a383abe1-2d5a-44b2-a0d2-2528751529d5 - -At(Robot,MilkDrink) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->a383abe1-2d5a-44b2-a0d2-2528751529d5 - - - - - -c5e474e3-8a89-4834-8cc8-477c803e81ce - -At(Robot,Bar2) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->c5e474e3-8a89-4834-8cc8-477c803e81ce - - - - - -bba16fe9-4805-4acb-a1f9-e86864f96d78 - -Holding(Water) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->bba16fe9-4805-4acb-a1f9-e86864f96d78 - - - - - -78b3fd77-4601-4812-96cc-6865e95f4031 - -PutDown(Water,Bar) - - - -fd9e2412-2a05-4377-9807-573a4de33e6e->78b3fd77-4601-4812-96cc-6865e95f4031 - - - - - -6a60bddc-f42c-42ce-80ea-1355ee068ad2 - -At(Robot,BrightTable6) - - - -369c501f-069a-41ea-889f-15482c82ed21->6a60bddc-f42c-42ce-80ea-1355ee068ad2 - - - - - -a081bb1b-ad83-447a-9511-f68ed21445be - -At(Robot,MilkDrink) - - - -369c501f-069a-41ea-889f-15482c82ed21->a081bb1b-ad83-447a-9511-f68ed21445be - - - - - -5907dade-629a-4dac-ba8c-edf9b16929c7 - -At(Robot,Bar2) - - - -369c501f-069a-41ea-889f-15482c82ed21->5907dade-629a-4dac-ba8c-edf9b16929c7 - - - - - -9c302604-9b15-451b-b999-adc0cdd56af4 - -Holding(Water) - - - -369c501f-069a-41ea-889f-15482c82ed21->9c302604-9b15-451b-b999-adc0cdd56af4 - - - - - -eb8e0c1d-2b1f-47b8-a72b-08277db6f713 - -PutDown(Water,BrightTable) - - - -369c501f-069a-41ea-889f-15482c82ed21->eb8e0c1d-2b1f-47b8-a72b-08277db6f713 - - - - - -e88d865d-26e3-4a5a-a529-fc99aaabb782 - -At(Robot,BrightTable6) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->e88d865d-26e3-4a5a-a529-fc99aaabb782 - - - - - -bac1a429-2eb4-43cf-97e8-a0da6f21c91f - -At(Robot,MilkDrink) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->bac1a429-2eb4-43cf-97e8-a0da6f21c91f - - - - - -073b0ae7-7c2f-45b6-90ec-7265a941f58f - -At(Robot,Bar2) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->073b0ae7-7c2f-45b6-90ec-7265a941f58f - - - - - -2b612be9-0490-4e63-ae0f-6a6008fd98b5 - -Holding(Water) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->2b612be9-0490-4e63-ae0f-6a6008fd98b5 - - - - - -bdfb6fbe-2261-4625-b92a-ac5af383e123 - -PutDown(Water,BrightTable) - - - -474a0991-dd82-4d38-bfbe-3c788b5d6652->bdfb6fbe-2261-4625-b92a-ac5af383e123 - - - - - -d997d491-d910-4327-a8ab-a877991f7af7 - -At(Robot,MilkDrink) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->d997d491-d910-4327-a8ab-a877991f7af7 - - - - - -876dd7fe-158a-438f-ad3d-d14c789c1c32 - -At(Robot,CoffeeTable) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->876dd7fe-158a-438f-ad3d-d14c789c1c32 - - - - - -4e4c5629-3b38-453a-ada5-ba8ad0b311b6 - -At(Robot,Bar2) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->4e4c5629-3b38-453a-ada5-ba8ad0b311b6 - - - - - -cb796170-e675-449a-973f-ba1f445b11ef - -Holding(Water) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->cb796170-e675-449a-973f-ba1f445b11ef - - - - - -99fd11b7-ffdb-487d-bfd6-d7e98fbb4f69 - -PutDown(Water,CoffeeTable) - - - -6eee65f0-61d5-4603-91c2-e3ac4acd7b3d->99fd11b7-ffdb-487d-bfd6-d7e98fbb4f69 - - - - - -7bf4e5b4-0b33-4efc-9c81-a65952c583f6 - -At(Robot,MilkDrink) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->7bf4e5b4-0b33-4efc-9c81-a65952c583f6 - - - - - -cd569634-d451-4e86-becf-d1333e2f51be - -At(Robot,CoffeeTable) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->cd569634-d451-4e86-becf-d1333e2f51be - - - - - -9485b1af-3891-4a16-a83e-f7b89e5278cc - -At(Robot,Bar2) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->9485b1af-3891-4a16-a83e-f7b89e5278cc - - - - - -a0b97e88-2907-43e2-b520-3b0e3f7a0bcd - -Holding(Water) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->a0b97e88-2907-43e2-b520-3b0e3f7a0bcd - - - - - -f28c4222-d5da-4f2f-931a-83fae62e1079 - -PutDown(Water,CoffeeTable) - - - -88e2b6e1-6f60-4639-924a-f0f6d56d9da4->f28c4222-d5da-4f2f-931a-83fae62e1079 - - - - - -180eee9e-63c1-4299-b7a3-351c5a446400 - -At(Robot,MilkDrink) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->180eee9e-63c1-4299-b7a3-351c5a446400 - - - - - -5863ea6a-5cc9-4eb0-970b-7ec2888ef6ff - -At(Robot,Bar2) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->5863ea6a-5cc9-4eb0-970b-7ec2888ef6ff - - - - - -32e91fc0-b9fc-42b2-9cac-22410ed448f9 - -Holding(Water) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->32e91fc0-b9fc-42b2-9cac-22410ed448f9 - - - - - -13b65db9-99d2-4e61-bd40-97ed360bc540 - -At(Robot,Table1) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->13b65db9-99d2-4e61-bd40-97ed360bc540 - - - - - -2a591bc5-3eba-4b5d-b77f-555ccdc9d03d - -PutDown(Water,Table) - - - -a1122361-6d15-4024-8efa-a585e4af9d3d->2a591bc5-3eba-4b5d-b77f-555ccdc9d03d - - - - - -56edd37e-1d61-4464-8e8f-b6c0046964ef - -At(Robot,MilkDrink) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->56edd37e-1d61-4464-8e8f-b6c0046964ef - - - - - -dd9aa61a-9c4b-4bef-b1be-4121c8e5cf9c - -At(Robot,Bar2) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->dd9aa61a-9c4b-4bef-b1be-4121c8e5cf9c - - - - - -2177439a-b6de-4568-a4f5-54ca912c077e - -Holding(Water) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->2177439a-b6de-4568-a4f5-54ca912c077e - - - - - -89bb5d72-4749-4ffd-b395-43cde8d76096 - -At(Robot,Table1) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->89bb5d72-4749-4ffd-b395-43cde8d76096 - - - - - -e9a2bc92-cdbf-41b4-a9e8-eff706e736f2 - -PutDown(Water,Table) - - - -035e1389-e4d6-48ad-8f34-d9ed97082b21->e9a2bc92-cdbf-41b4-a9e8-eff706e736f2 - - - - - -8bfc4c4a-0a62-4b50-a274-c62845b437ad - -At(Robot,MilkDrink) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->8bfc4c4a-0a62-4b50-a274-c62845b437ad - - - - - -d47a0a64-df3f-45d7-8310-1508b989d3af - -At(Robot,Bar2) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->d47a0a64-df3f-45d7-8310-1508b989d3af - - - - - -4a9b3e58-3ea6-4312-a8b4-491808a18e61 - -Holding(Water) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->4a9b3e58-3ea6-4312-a8b4-491808a18e61 - - - - - -c1c8b5d9-555b-4808-abbe-e408a1f7d4c1 - -At(Robot,Table2) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->c1c8b5d9-555b-4808-abbe-e408a1f7d4c1 - - - - - -6374d232-ff7f-418a-a2f6-02d1efd568f4 - -PutDown(Water,Table) - - - -8a66bebc-6dd3-4f8c-95e3-3a31391e2d98->6374d232-ff7f-418a-a2f6-02d1efd568f4 - - - - - -ba00313c-4862-4a42-9252-235a0a1248da - -At(Robot,MilkDrink) - - - -75723800-61bf-452a-a3ef-6a622f27832a->ba00313c-4862-4a42-9252-235a0a1248da - - - - - -a0b01e2e-9568-43ec-ab3a-46cc771e14fe - -At(Robot,Bar2) - - - -75723800-61bf-452a-a3ef-6a622f27832a->a0b01e2e-9568-43ec-ab3a-46cc771e14fe - - - - - -cfbc0408-d13c-4047-bc91-60661ee56cb8 - -Holding(Water) - - - -75723800-61bf-452a-a3ef-6a622f27832a->cfbc0408-d13c-4047-bc91-60661ee56cb8 - - - - - -ac17e736-6f57-48ba-b143-d8010eb2b69a - -At(Robot,Table2) - - - -75723800-61bf-452a-a3ef-6a622f27832a->ac17e736-6f57-48ba-b143-d8010eb2b69a - - - - - -d976d631-7e71-4e04-af9b-78946079c914 - -PutDown(Water,Table) - - - -75723800-61bf-452a-a3ef-6a622f27832a->d976d631-7e71-4e04-af9b-78946079c914 - - - - - -daf41919-8f0c-4384-8002-1ea7580b4578 - -At(Robot,MilkDrink) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->daf41919-8f0c-4384-8002-1ea7580b4578 - - - - - -adb9897f-2762-400d-b9b9-35f5ecdd58cd - -At(Robot,Bar2) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->adb9897f-2762-400d-b9b9-35f5ecdd58cd - - - - - -d25e57f2-4c7f-41c6-b2e2-736dba76bc54 - -Holding(Water) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->d25e57f2-4c7f-41c6-b2e2-736dba76bc54 - - - - - -e220decc-00df-4c39-a5d5-94249c68d68d - -At(Robot,Table3) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->e220decc-00df-4c39-a5d5-94249c68d68d - - - - - -9ad137ed-81c9-426f-8421-238e65e23f62 - -PutDown(Water,Table) - - - -6b9a7d82-a9fb-4f53-9476-c552acf87cdc->9ad137ed-81c9-426f-8421-238e65e23f62 - - - - - -3a9a6da6-26d3-4a5f-a90e-4b743e6da251 - -At(Robot,MilkDrink) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->3a9a6da6-26d3-4a5f-a90e-4b743e6da251 - - - - - -a87fc80f-67f4-4cdd-a910-c6954a24cc46 - -At(Robot,Bar2) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->a87fc80f-67f4-4cdd-a910-c6954a24cc46 - - - - - -e608e2c8-6170-480e-8f8f-7d021fd4bbf1 - -Holding(Water) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->e608e2c8-6170-480e-8f8f-7d021fd4bbf1 - - - - - -496aca22-0e19-4b5b-91a3-191eae9742b2 - -At(Robot,Table3) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->496aca22-0e19-4b5b-91a3-191eae9742b2 - - - - - -1ab167bf-13c9-439e-b249-c0087c7a12f8 - -PutDown(Water,Table) - - - -5861c6d6-8ca8-41b0-b110-f88ce6be0472->1ab167bf-13c9-439e-b249-c0087c7a12f8 - - - - - -8d10c3dc-3ed6-4107-b28d-86e0d14d247d - -At(Robot,MilkDrink) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->8d10c3dc-3ed6-4107-b28d-86e0d14d247d - - - - - -b59e8dff-27a0-4c5f-a8d6-ab049b8b2a7f - -At(Robot,WaterTable) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->b59e8dff-27a0-4c5f-a8d6-ab049b8b2a7f - - - - - -e85ee55c-6d10-4c0c-947f-99134e0cdb6d - -Holding(Water) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->e85ee55c-6d10-4c0c-947f-99134e0cdb6d - - - - - -955828bb-fb82-4bf0-816d-7b0b0e056d94 - -At(Robot,Bar2) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->955828bb-fb82-4bf0-816d-7b0b0e056d94 - - - - - -0ab9e49b-6dda-43b4-b3ce-ea43259770d8 - -PutDown(Water,WaterTable) - - - -ce93e11e-d779-4996-8aa2-5dcb7f9e19bf->0ab9e49b-6dda-43b4-b3ce-ea43259770d8 - - - - - -5bf4ca7a-a847-4bb9-b4d4-c8655a802bf9 - -At(Robot,MilkDrink) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->5bf4ca7a-a847-4bb9-b4d4-c8655a802bf9 - - - - - -ea460e2c-eea4-49f5-b26e-9fecb798e0a6 - -At(Robot,WaterTable) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->ea460e2c-eea4-49f5-b26e-9fecb798e0a6 - - - - - -49c95509-1827-4554-9d89-571c1e152754 - -Holding(Water) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->49c95509-1827-4554-9d89-571c1e152754 - - - - - -14d7c141-63d5-4d80-ae87-f2966ba23f18 - -At(Robot,Bar2) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->14d7c141-63d5-4d80-ae87-f2966ba23f18 - - - - - -da6d5045-a716-4690-bc58-f2d55913e908 - -PutDown(Water,WaterTable) - - - -d7c709dd-3f28-4539-8d1b-acbd3fefaff7->da6d5045-a716-4690-bc58-f2d55913e908 - - - - - -c185c052-b3ca-4fbb-8568-5ce3b20ef8b8 - -At(Robot,Bar) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->c185c052-b3ca-4fbb-8568-5ce3b20ef8b8 - - - - - -2819d1b1-3ad0-4d2e-a5dd-0eba8f608258 - -At(Robot,MilkDrink) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->2819d1b1-3ad0-4d2e-a5dd-0eba8f608258 - - - - - -51c5eba8-bccd-4239-a4ff-c815f7904a4b - -At(Robot,Bar2) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->51c5eba8-bccd-4239-a4ff-c815f7904a4b - - - - - -a963a33a-936e-49ed-b353-552e3c87d169 - -Holding(Yogurt) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->a963a33a-936e-49ed-b353-552e3c87d169 - - - - - -35a50a28-a6c6-432e-887e-ed771da51722 - -PutDown(Yogurt,Bar) - - - -22e3d743-cae3-4453-8a99-11f492e0b751->35a50a28-a6c6-432e-887e-ed771da51722 - - - - - -ebf8f994-e972-435a-9d8b-256f31aea702 - -At(Robot,Bar) - - - -48844703-348a-49db-b208-088b73fb68c0->ebf8f994-e972-435a-9d8b-256f31aea702 - - - - - -5ddedeb2-4138-4436-b65f-a3dfa349aa73 - -At(Robot,MilkDrink) - - - -48844703-348a-49db-b208-088b73fb68c0->5ddedeb2-4138-4436-b65f-a3dfa349aa73 - - - - - -be003da7-a92b-4f3c-a663-eafdb98e7885 - -At(Robot,Bar2) - - - -48844703-348a-49db-b208-088b73fb68c0->be003da7-a92b-4f3c-a663-eafdb98e7885 - - - - - -4da98aef-3a34-4380-8e77-eb20a9f8f73c - -Holding(Yogurt) - - - -48844703-348a-49db-b208-088b73fb68c0->4da98aef-3a34-4380-8e77-eb20a9f8f73c - - - - - -5171bae7-13f7-48d8-b268-d2f36f3708a4 - -PutDown(Yogurt,Bar) - - - -48844703-348a-49db-b208-088b73fb68c0->5171bae7-13f7-48d8-b268-d2f36f3708a4 - - - - - -c4f31573-1242-4368-94ef-19807b3b5c9d - -At(Robot,MilkDrink) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->c4f31573-1242-4368-94ef-19807b3b5c9d - - - - - -6016671d-13ed-4175-a508-8e07fff78638 - -Holding(Yogurt) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->6016671d-13ed-4175-a508-8e07fff78638 - - - - - -aa7cc4ac-b479-4b49-a9de-53016e448ee6 - -At(Robot,Bar2) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->aa7cc4ac-b479-4b49-a9de-53016e448ee6 - - - - - -221a02e2-eeb1-4add-95e7-b75cd634fc1b - -PutDown(Yogurt,Bar) - - - -5075deb2-1c6b-4f5b-8485-7f8a74f76d30->221a02e2-eeb1-4add-95e7-b75cd634fc1b - - - - - -ef4349fb-4817-4e6b-9dfc-43765181739c - -At(Robot,MilkDrink) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->ef4349fb-4817-4e6b-9dfc-43765181739c - - - - - -0e2c3353-2516-48fe-a1db-71de9bce0756 - -Holding(Yogurt) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->0e2c3353-2516-48fe-a1db-71de9bce0756 - - - - - -14412e1e-a2c1-457a-bad2-76c671c42716 - -At(Robot,Bar2) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->14412e1e-a2c1-457a-bad2-76c671c42716 - - - - - -0478b184-6010-49db-a790-0d1a8acb5feb - -PutDown(Yogurt,Bar) - - - -8ff42189-0cb6-4327-a773-ab7c74b21e93->0478b184-6010-49db-a790-0d1a8acb5feb - - - - - -b302171a-73a3-4f97-aace-f722a45e8e1d - -At(Robot,BrightTable6) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->b302171a-73a3-4f97-aace-f722a45e8e1d - - - - - -4af33854-6f0b-4546-91e9-322f610e3b39 - -At(Robot,MilkDrink) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->4af33854-6f0b-4546-91e9-322f610e3b39 - - - - - -e12c5f97-36af-4b7e-95dd-f6595d13d7de - -At(Robot,Bar2) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->e12c5f97-36af-4b7e-95dd-f6595d13d7de - - - - - -25672495-20df-4f34-8553-ce3a8b7934f0 - -Holding(Yogurt) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->25672495-20df-4f34-8553-ce3a8b7934f0 - - - - - -bbaf9889-2309-49fe-99bf-b21f5a8e047c - -PutDown(Yogurt,BrightTable) - - - -ac97f74c-6a58-442f-82d8-0a1c3b928272->bbaf9889-2309-49fe-99bf-b21f5a8e047c - - - - - -091355e2-d425-4162-9573-2cbd0ccc6006 - -At(Robot,BrightTable6) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->091355e2-d425-4162-9573-2cbd0ccc6006 - - - - - -4dd5150c-d867-4678-b91c-4b5e5e92e260 - -At(Robot,MilkDrink) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->4dd5150c-d867-4678-b91c-4b5e5e92e260 - - - - - -50084907-d446-4f31-9ecb-c075b7bd6954 - -At(Robot,Bar2) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->50084907-d446-4f31-9ecb-c075b7bd6954 - - - - - -17c27c85-c1f6-4405-9556-363c4f4c7f85 - -Holding(Yogurt) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->17c27c85-c1f6-4405-9556-363c4f4c7f85 - - - - - -30161710-c288-4c87-aa0c-d9c530490a6f - -PutDown(Yogurt,BrightTable) - - - -a2f55ba9-d913-4cdd-aee4-6fa0e5bf551a->30161710-c288-4c87-aa0c-d9c530490a6f - - - - - -f043620b-052b-4099-8762-6e66916dd9c9 - -At(Robot,MilkDrink) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->f043620b-052b-4099-8762-6e66916dd9c9 - - - - - -f02947e1-2274-4bca-b966-56abd014774e - -At(Robot,CoffeeTable) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->f02947e1-2274-4bca-b966-56abd014774e - - - - - -4659c694-17d5-4eb2-a3d6-f12d12e9dc28 - -At(Robot,Bar2) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->4659c694-17d5-4eb2-a3d6-f12d12e9dc28 - - - - - -cc840e60-87e7-4270-a4f5-06197cca4449 - -Holding(Yogurt) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->cc840e60-87e7-4270-a4f5-06197cca4449 - - - - - -e5f8f2a6-3c8f-491a-9d42-8ba36a300584 - -PutDown(Yogurt,CoffeeTable) - - - -cbaae385-6de7-456d-b611-50727c90dc7a->e5f8f2a6-3c8f-491a-9d42-8ba36a300584 - - - - - -34c469f1-3e0d-4c11-a76d-57373532e5c8 - -At(Robot,MilkDrink) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->34c469f1-3e0d-4c11-a76d-57373532e5c8 - - - - - -a648941f-cdaf-4a99-9d0b-fdc7db094fee - -At(Robot,CoffeeTable) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->a648941f-cdaf-4a99-9d0b-fdc7db094fee - - - - - -24a0d5c3-c71c-4e5b-b317-1471d0ec816c - -At(Robot,Bar2) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->24a0d5c3-c71c-4e5b-b317-1471d0ec816c - - - - - -ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec - -Holding(Yogurt) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->ce572bfb-6ec0-42bd-8be2-a8e9d0e44cec - - - - - -a370ebcb-d7cc-496d-a05a-1004bef384aa - -PutDown(Yogurt,CoffeeTable) - - - -ac67eee9-7511-442e-9f02-8c5a3a1975da->a370ebcb-d7cc-496d-a05a-1004bef384aa - - - - - -14b9586e-2807-40c0-83ca-589a952ae874 - -At(Robot,MilkDrink) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->14b9586e-2807-40c0-83ca-589a952ae874 - - - - - -cbd12888-81c1-4ca8-8fa2-2e5982b74ebd - -At(Robot,Bar2) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->cbd12888-81c1-4ca8-8fa2-2e5982b74ebd - - - - - -71f7d726-ebae-44e3-b9af-14abc5d5e412 - -At(Robot,Table1) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->71f7d726-ebae-44e3-b9af-14abc5d5e412 - - - - - -3d802a9d-21e4-48d2-bad4-5cec2fd322d4 - -Holding(Yogurt) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->3d802a9d-21e4-48d2-bad4-5cec2fd322d4 - - - - - -42542947-ce6b-4d47-b5a1-0310acb0b581 - -PutDown(Yogurt,Table) - - - -17c19023-200d-4bc1-b148-eb0bf7df2581->42542947-ce6b-4d47-b5a1-0310acb0b581 - - - - - -a80416ef-f64d-4ad2-8a7b-39232a57fa02 - -At(Robot,MilkDrink) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->a80416ef-f64d-4ad2-8a7b-39232a57fa02 - - - - - -d2d9faa7-9c44-4a84-9c18-7691fe6ece5b - -At(Robot,Bar2) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->d2d9faa7-9c44-4a84-9c18-7691fe6ece5b - - - - - -b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4 - -At(Robot,Table1) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->b95f217a-e2eb-4ac8-aa3b-dcb173e8ffb4 - - - - - -451e2f25-dec4-4911-a508-193793f3f122 - -Holding(Yogurt) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->451e2f25-dec4-4911-a508-193793f3f122 - - - - - -b5e89a42-3086-49a3-8661-8c6e41021c26 - -PutDown(Yogurt,Table) - - - -9ba8ee0d-4e66-4144-af2f-dc54545ba9c2->b5e89a42-3086-49a3-8661-8c6e41021c26 - - - - - -715d6785-4ac2-43b1-80fe-f5b3c7191f06 - -At(Robot,MilkDrink) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->715d6785-4ac2-43b1-80fe-f5b3c7191f06 - - - - - -5ca2792a-d0df-4321-94a4-c9634f4f9492 - -At(Robot,Bar2) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->5ca2792a-d0df-4321-94a4-c9634f4f9492 - - - - - -264dd3a1-1128-446a-a39e-db6e025d3634 - -At(Robot,Table2) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->264dd3a1-1128-446a-a39e-db6e025d3634 - - - - - -c1adc144-a121-4574-a546-e1ce2fbe90b5 - -Holding(Yogurt) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->c1adc144-a121-4574-a546-e1ce2fbe90b5 - - - - - -cb74c438-0f6f-47e5-b912-3687754dff7e - -PutDown(Yogurt,Table) - - - -ba342908-6810-4a7d-b068-da0a1210cb4c->cb74c438-0f6f-47e5-b912-3687754dff7e - - - - - -5ab10472-110c-499b-92e9-cf96404fa778 - -At(Robot,MilkDrink) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->5ab10472-110c-499b-92e9-cf96404fa778 - - - - - -84be10be-100f-4b24-a4c2-aced29fb7dba - -At(Robot,Bar2) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->84be10be-100f-4b24-a4c2-aced29fb7dba - - - - - -4e0c752a-735a-40bc-9aa1-bf38c634d1f5 - -At(Robot,Table2) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->4e0c752a-735a-40bc-9aa1-bf38c634d1f5 - - - - - -3668367c-c2f0-4fe0-bfac-a0dfa09477b2 - -Holding(Yogurt) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->3668367c-c2f0-4fe0-bfac-a0dfa09477b2 - - - - - -b9d1dc29-616b-410d-bcd9-345ad798d626 - -PutDown(Yogurt,Table) - - - -c6f79506-6d0e-4460-985b-d020cd9d2116->b9d1dc29-616b-410d-bcd9-345ad798d626 - - - - - -e196e741-4035-4184-97b6-f7532982f756 - -At(Robot,MilkDrink) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->e196e741-4035-4184-97b6-f7532982f756 - - - - - -63a9000b-af7e-4738-b38e-f9145a4601df - -At(Robot,Bar2) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->63a9000b-af7e-4738-b38e-f9145a4601df - - - - - -fcb69c84-ec9b-465d-bfae-19e6794e239e - -At(Robot,Table3) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->fcb69c84-ec9b-465d-bfae-19e6794e239e - - - - - -1d535657-b07a-4272-9341-234a85ee56ce - -Holding(Yogurt) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->1d535657-b07a-4272-9341-234a85ee56ce - - - - - -ad455a36-3d63-4c41-9159-e023b9d76e76 - -PutDown(Yogurt,Table) - - - -d6603fd2-9f81-4615-8e72-56a6212c6c1a->ad455a36-3d63-4c41-9159-e023b9d76e76 - - - - - -d986dff9-e9a4-4746-b53a-306640b322b6 - -At(Robot,MilkDrink) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->d986dff9-e9a4-4746-b53a-306640b322b6 - - - - - -4dd067bf-38b4-479a-9e4c-ebfa42cc102c - -At(Robot,Bar2) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->4dd067bf-38b4-479a-9e4c-ebfa42cc102c - - - - - -a5ab34e8-ba5d-45e8-988c-460dd5b1b0b2 - -At(Robot,Table3) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->a5ab34e8-ba5d-45e8-988c-460dd5b1b0b2 - - - - - -66a988e4-008e-4ed8-9e1d-af2c3106ad75 - -Holding(Yogurt) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->66a988e4-008e-4ed8-9e1d-af2c3106ad75 - - - - - -46cc2a14-7448-4a55-a142-71e89190bbd4 - -PutDown(Yogurt,Table) - - - -b2cc9de0-a14c-4200-8ccb-9df9aef9b62d->46cc2a14-7448-4a55-a142-71e89190bbd4 - - - - - -b1aef79f-e467-49a8-8327-15ec7aadf755 - -At(Robot,MilkDrink) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->b1aef79f-e467-49a8-8327-15ec7aadf755 - - - - - -b0ec2aff-0d17-44e9-976c-9cf900e62db3 - -At(Robot,Bar2) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->b0ec2aff-0d17-44e9-976c-9cf900e62db3 - - - - - -f50320de-92cd-43ca-8aff-cbf359e12e99 - -At(Robot,WaterTable) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->f50320de-92cd-43ca-8aff-cbf359e12e99 - - - - - -d0747ddd-e1c8-40e4-8cff-1fc65904f74b - -Holding(Yogurt) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->d0747ddd-e1c8-40e4-8cff-1fc65904f74b - - - - - -d5bf852d-05d5-4d50-bfbc-847b6a2574d9 - -PutDown(Yogurt,WaterTable) - - - -f461269e-34b5-4efe-8d08-d1e18d0d3163->d5bf852d-05d5-4d50-bfbc-847b6a2574d9 - - - - - -ad381213-7f9e-4071-8aa9-663208bef458 - -At(Robot,MilkDrink) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->ad381213-7f9e-4071-8aa9-663208bef458 - - - - - -24fb4e9a-2df2-407c-8d82-c09a454dfe37 - -At(Robot,Bar2) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->24fb4e9a-2df2-407c-8d82-c09a454dfe37 - - - - - -7837b4f9-a519-4e8e-b440-ea428f2226b5 - -At(Robot,WaterTable) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->7837b4f9-a519-4e8e-b440-ea428f2226b5 - - - - - -8aa3d730-cdfa-4a84-9c07-a7dfa07fa125 - -Holding(Yogurt) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->8aa3d730-cdfa-4a84-9c07-a7dfa07fa125 - - - - - -685d5c46-49ee-4abf-ba05-4db4418d0029 - -PutDown(Yogurt,WaterTable) - - - -eb4a7aca-aa7a-420c-b652-8bb38c9f9853->685d5c46-49ee-4abf-ba05-4db4418d0029 - - - - - -2cce9fba-4a89-4b03-9e7a-445bc29a6eee - -At(Robot,MilkDrink) - - - -38ab34db-4ad1-41db-ac20-527591461894->2cce9fba-4a89-4b03-9e7a-445bc29a6eee - - - - - -72187e0d-6f81-4422-94c7-2cceea6b68da - -Holding(Nothing) - - - -38ab34db-4ad1-41db-ac20-527591461894->72187e0d-6f81-4422-94c7-2cceea6b68da - - - - - -6238fc51-5f12-4bdb-96c2-3bd161593c1b - -At(Robot,Bar2) - - - -38ab34db-4ad1-41db-ac20-527591461894->6238fc51-5f12-4bdb-96c2-3bd161593c1b - - - - - -9ef953d8-1b45-401c-ac78-1ae5a7756327 - -Is(AC,On) - - - -38ab34db-4ad1-41db-ac20-527591461894->9ef953d8-1b45-401c-ac78-1ae5a7756327 - - - - - -4b1db9dd-a41c-4df7-bc87-cf396ebef77c - -Turn(AC,Off) - - - -38ab34db-4ad1-41db-ac20-527591461894->4b1db9dd-a41c-4df7-bc87-cf396ebef77c - - - - - -a3cf1215-7406-493c-b5c8-a88af873f487 - -At(Robot,MilkDrink) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->a3cf1215-7406-493c-b5c8-a88af873f487 - - - - - -5b7dacaa-020c-4fcd-8bcd-797019cc76ca - -Holding(Nothing) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->5b7dacaa-020c-4fcd-8bcd-797019cc76ca - - - - - -9693d73c-9921-41f1-9dee-6b41aa607e91 - -At(Robot,Bar2) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->9693d73c-9921-41f1-9dee-6b41aa607e91 - - - - - -9d03cfd1-91b8-4d71-bbeb-c1ea2e4a6f70 - -Is(AC,On) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->9d03cfd1-91b8-4d71-bbeb-c1ea2e4a6f70 - - - - - -0cd9e535-69c8-4f72-b3a8-9fb3d6b784b2 - -Turn(AC,Off) - - - -498644b9-9d12-433e-950d-fb6d30e2efb9->0cd9e535-69c8-4f72-b3a8-9fb3d6b784b2 - - - - - -de357392-9ff1-4da3-af1d-254a3dce239d - -Is(AC,Off) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->de357392-9ff1-4da3-af1d-254a3dce239d - - - - - -b6907a00-1480-4fa6-b3f7-65621d5aca68 - -At(Robot,MilkDrink) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->b6907a00-1480-4fa6-b3f7-65621d5aca68 - - - - - -5d772635-500c-4221-92da-b64a304c7fa0 - -Holding(Nothing) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->5d772635-500c-4221-92da-b64a304c7fa0 - - - - - -5f130832-1e60-4650-91ce-aa03a11df080 - -At(Robot,Bar2) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->5f130832-1e60-4650-91ce-aa03a11df080 - - - - - -84c6e80b-29e7-4bf6-bd2f-90d8985258cb - -Turn(AC,On) - - - -6ab3633b-ead9-492a-9c44-b800a470b1ab->84c6e80b-29e7-4bf6-bd2f-90d8985258cb - - - - - -55ecaf3c-9d51-41b8-8887-bb197319697b - -Is(AC,Off) - - - -586b2202-a47a-4486-ad21-dec513e1f928->55ecaf3c-9d51-41b8-8887-bb197319697b - - - - - -0bd223a3-04fd-4811-8c34-2a7cb3daf3db - -At(Robot,MilkDrink) - - - -586b2202-a47a-4486-ad21-dec513e1f928->0bd223a3-04fd-4811-8c34-2a7cb3daf3db - - - - - -060ba73a-4658-4f77-b34e-1d472b1c6416 - -Holding(Nothing) - - - -586b2202-a47a-4486-ad21-dec513e1f928->060ba73a-4658-4f77-b34e-1d472b1c6416 - - - - - -af27bae9-fe90-4a42-9c5c-5b6d1fc7e49e - -At(Robot,Bar2) - - - -586b2202-a47a-4486-ad21-dec513e1f928->af27bae9-fe90-4a42-9c5c-5b6d1fc7e49e - - - - - -e3e48fca-7389-4b4a-9331-dc7cb644eb9d - -Turn(AC,On) - - - -586b2202-a47a-4486-ad21-dec513e1f928->e3e48fca-7389-4b4a-9331-dc7cb644eb9d - - - - - -e40004ee-1c4e-4abb-9b59-faf12c0eca4f - -At(Robot,MilkDrink) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->e40004ee-1c4e-4abb-9b59-faf12c0eca4f - - - - - -bd259f63-57a7-433f-b79e-9d2ae869a24d - -Holding(Nothing) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->bd259f63-57a7-433f-b79e-9d2ae869a24d - - - - - -c4510c3e-374f-440d-ad32-e11877fefb09 - -At(Robot,Bar2) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->c4510c3e-374f-440d-ad32-e11877fefb09 - - - - - -a114a9b0-a660-4cd7-a3eb-3620b210a4fa - -Is(AC,On) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->a114a9b0-a660-4cd7-a3eb-3620b210a4fa - - - - - -96e45707-91e1-4dc6-8c2f-69e1448cba37 - -Turn(ACTemperature,Down) - - - -bd85c8a6-59c0-4420-960a-39ac2e0734a5->96e45707-91e1-4dc6-8c2f-69e1448cba37 - - - - - -b24a7976-85ef-4c20-ade1-31c50f2631a3 - -At(Robot,MilkDrink) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->b24a7976-85ef-4c20-ade1-31c50f2631a3 - - - - - -22a14e8f-ca8b-4c56-a83d-30bd9fa135bf - -Holding(Nothing) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->22a14e8f-ca8b-4c56-a83d-30bd9fa135bf - - - - - -8d375109-f798-4047-8dea-ecf9741f3f4c - -At(Robot,Bar2) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->8d375109-f798-4047-8dea-ecf9741f3f4c - - - - - -250685a0-9822-4cfd-bbf2-ac2caa83510e - -Is(AC,On) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->250685a0-9822-4cfd-bbf2-ac2caa83510e - - - - - -91f7f0c0-b7ce-422e-b493-953701f85a24 - -Turn(ACTemperature,Down) - - - -01ffd3bf-2a3d-4f4e-9807-eacc2dfc5ed8->91f7f0c0-b7ce-422e-b493-953701f85a24 - - - - - -5ab7bb37-af6d-4ca3-b946-989702ceff2d - -At(Robot,MilkDrink) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->5ab7bb37-af6d-4ca3-b946-989702ceff2d - - - - - -802834e8-8fc1-4518-a9f7-29e02721d55a - -Holding(Nothing) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->802834e8-8fc1-4518-a9f7-29e02721d55a - - - - - -ca368fff-6dfe-4335-92a5-8715d0fe7acf - -At(Robot,Bar2) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->ca368fff-6dfe-4335-92a5-8715d0fe7acf - - - - - -bcf3ef41-f280-49cb-86df-869363c66731 - -Is(AC,On) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->bcf3ef41-f280-49cb-86df-869363c66731 - - - - - -a0721a73-6baa-4415-aeac-5ac39df02075 - -Turn(ACTemperature,Up) - - - -a24396ec-c378-4099-8bec-aeafc6ae1f7b->a0721a73-6baa-4415-aeac-5ac39df02075 - - - - - -271bcaba-bed5-45be-8da7-71b3a2dec01a - -At(Robot,MilkDrink) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->271bcaba-bed5-45be-8da7-71b3a2dec01a - - - - - -3772fb1c-856e-4900-b797-88a3a5572505 - -Holding(Nothing) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->3772fb1c-856e-4900-b797-88a3a5572505 - - - - - -4e69cd11-f983-4328-a418-373ae6027296 - -At(Robot,Bar2) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->4e69cd11-f983-4328-a418-373ae6027296 - - - - - -771bd2ba-5012-4e06-bb54-c4dfefd9bdd7 - -Is(AC,On) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->771bd2ba-5012-4e06-bb54-c4dfefd9bdd7 - - - - - -bc0d96aa-ef6c-431d-bcda-a05ea1893da2 - -Turn(ACTemperature,Up) - - - -1abb0463-bf7b-4cd5-af70-2867852e2fd2->bc0d96aa-ef6c-431d-bcda-a05ea1893da2 - - - - - -66d1dbc9-b984-4812-a313-9762b55d0efa - -Is(HallLight,On) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->66d1dbc9-b984-4812-a313-9762b55d0efa - - - - - -86d92f19-5d37-435e-b209-8e719bc8af11 - -At(Robot,MilkDrink) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->86d92f19-5d37-435e-b209-8e719bc8af11 - - - - - -d24b22d1-f655-41ae-a13c-8a907da43201 - -Holding(Nothing) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->d24b22d1-f655-41ae-a13c-8a907da43201 - - - - - -2edc75ba-4c7e-45c7-b3ee-ca9f22adf222 - -At(Robot,Bar2) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->2edc75ba-4c7e-45c7-b3ee-ca9f22adf222 - - - - - -1cba1f80-fe9d-444a-80c2-496fa145f528 - -Turn(HallLight,Off) - - - -8af07d81-96cf-4ca2-9faa-6ff1e9a39b20->1cba1f80-fe9d-444a-80c2-496fa145f528 - - - - - -3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b - -Is(HallLight,On) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->3ac7abfe-cfe8-4835-86be-0ecdf5c9d32b - - - - - -783ccf13-0676-4f2b-963c-02f4d770878a - -At(Robot,MilkDrink) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->783ccf13-0676-4f2b-963c-02f4d770878a - - - - - -47cd0e94-a7a5-4392-8487-76855d3e61a4 - -Holding(Nothing) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->47cd0e94-a7a5-4392-8487-76855d3e61a4 - - - - - -dca72791-3951-45de-b896-e4d86a07f9d6 - -At(Robot,Bar2) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->dca72791-3951-45de-b896-e4d86a07f9d6 - - - - - -3d3eb50a-f6a2-45f5-8f32-2072e9784b4a - -Turn(HallLight,Off) - - - -761e7793-c16b-471b-ba87-82d5a4645a8a->3d3eb50a-f6a2-45f5-8f32-2072e9784b4a - - - - - -7065c818-ca23-4001-aede-fa50e6072be8 - -Is(HallLight,Off) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->7065c818-ca23-4001-aede-fa50e6072be8 - - - - - -842104c6-fa9e-4c71-ba42-c9ed01b6f464 - -At(Robot,MilkDrink) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->842104c6-fa9e-4c71-ba42-c9ed01b6f464 - - - - - -9c443d08-c0fa-41f6-a0af-014052c914f5 - -Holding(Nothing) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->9c443d08-c0fa-41f6-a0af-014052c914f5 - - - - - -a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a - -At(Robot,Bar2) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->a6e814c9-5bdb-400c-8608-cd5c7cfe3d7a - - - - - -f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee - -Turn(HallLight,On) - - - -9ad7631a-b9f7-4b3e-98d3-6730b507256c->f3e0b718-e183-4a8e-8a3f-a2ca5ab260ee - - - - - -7eb9f4a0-0ddc-49fe-8131-656e04ba927f - -Is(HallLight,Off) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->7eb9f4a0-0ddc-49fe-8131-656e04ba927f - - - - - -72fd5888-1566-4756-8f5f-bfd393a80c09 - -At(Robot,MilkDrink) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->72fd5888-1566-4756-8f5f-bfd393a80c09 - - - - - -6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07 - -Holding(Nothing) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->6d6a8d1c-ca48-428c-8bc5-3d38e07b9f07 - - - - - -f7ac8ce3-23d4-456f-a641-707cee5aa8ec - -At(Robot,Bar2) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->f7ac8ce3-23d4-456f-a641-707cee5aa8ec - - - - - -9295f6df-79e8-437c-b126-2750b2bcd7c0 - -Turn(HallLight,On) - - - -c6d616bd-b1fb-4fb7-ba09-cd79c4cffbf0->9295f6df-79e8-437c-b126-2750b2bcd7c0 - - - - - -f9a5e7cc-347e-4588-925f-b9363c85a8b6 - -Is(TubeLight,On) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->f9a5e7cc-347e-4588-925f-b9363c85a8b6 - - - - - -65754975-e322-4745-b7e5-438724fed1ac - -At(Robot,MilkDrink) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->65754975-e322-4745-b7e5-438724fed1ac - - - - - -de692fae-d1f4-4160-8626-ecf15343d37c - -Holding(Nothing) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->de692fae-d1f4-4160-8626-ecf15343d37c - - - - - -49803b4c-ba7d-47bf-aa7c-f33bef1f41e1 - -At(Robot,Bar2) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->49803b4c-ba7d-47bf-aa7c-f33bef1f41e1 - - - - - -6a330d89-e6f4-4570-9c20-9d43f75c2ae4 - -Turn(TubeLight,Off) - - - -a707dc95-0771-4752-89ef-5ae1121ced50->6a330d89-e6f4-4570-9c20-9d43f75c2ae4 - - - - - -1d84df2b-00ac-4ce4-acca-d072bc4d3253 - -Is(TubeLight,On) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->1d84df2b-00ac-4ce4-acca-d072bc4d3253 - - - - - -b04b8a4e-337d-42cd-8574-bf32e3d14da0 - -At(Robot,MilkDrink) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->b04b8a4e-337d-42cd-8574-bf32e3d14da0 - - - - - -b2d4495e-8819-4132-939b-790f05705c12 - -Holding(Nothing) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->b2d4495e-8819-4132-939b-790f05705c12 - - - - - -10fadc09-1f95-4c56-a036-7017e34b454f - -At(Robot,Bar2) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->10fadc09-1f95-4c56-a036-7017e34b454f - - - - - -62259e36-7192-41cc-b8af-c9dd55698def - -Turn(TubeLight,Off) - - - -b3361f93-c501-4bf5-bdd7-da4fca5f788d->62259e36-7192-41cc-b8af-c9dd55698def - - - - - -9d4dacd4-138f-454a-bf9e-ee912a80846b - -At(Robot,MilkDrink) - - - -d8112776-987a-40cc-aea5-a988d434820f->9d4dacd4-138f-454a-bf9e-ee912a80846b - - - - - -0d3898b7-800e-4e02-b5ae-f9fd2f8f712e - -Holding(Nothing) - - - -d8112776-987a-40cc-aea5-a988d434820f->0d3898b7-800e-4e02-b5ae-f9fd2f8f712e - - - - - -a9661ecd-7321-43e4-919a-e086a0e44c90 - -At(Robot,Bar2) - - - -d8112776-987a-40cc-aea5-a988d434820f->a9661ecd-7321-43e4-919a-e086a0e44c90 - - - - - -baab60eb-5942-447d-bf5b-92e929d47598 - -Is(TubeLight,Off) - - - -d8112776-987a-40cc-aea5-a988d434820f->baab60eb-5942-447d-bf5b-92e929d47598 - - - - - -832b4930-d3f0-43a5-a5f1-30a7f6fcf183 - -Turn(TubeLight,On) - - - -d8112776-987a-40cc-aea5-a988d434820f->832b4930-d3f0-43a5-a5f1-30a7f6fcf183 - - - - - -c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4 - -At(Robot,MilkDrink) - - - -dd539879-2232-4b19-9e46-b9e529164e39->c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4 - - - - - -721c2699-58a4-4f21-9b29-d59f5638de0f - -Holding(Nothing) - - - -dd539879-2232-4b19-9e46-b9e529164e39->721c2699-58a4-4f21-9b29-d59f5638de0f - - - - - -7528f112-c933-45c1-8a44-199aa4c947c8 - -At(Robot,Bar2) - - - -dd539879-2232-4b19-9e46-b9e529164e39->7528f112-c933-45c1-8a44-199aa4c947c8 - - - - - -392fa799-0e95-4b0b-9dc6-6fd4c756ddd1 - -Is(TubeLight,Off) - - - -dd539879-2232-4b19-9e46-b9e529164e39->392fa799-0e95-4b0b-9dc6-6fd4c756ddd1 - - - - - -25488972-8f9e-4133-8ef5-614d1f44fa21 - -Turn(TubeLight,On) - - - -dd539879-2232-4b19-9e46-b9e529164e39->25488972-8f9e-4133-8ef5-614d1f44fa21 - - - - - -43ec745e-4af5-4f95-9491-8a1f56c08517 - -At(Robot,MilkDrink) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->43ec745e-4af5-4f95-9491-8a1f56c08517 - - - - - -b9a89fba-a181-40ae-ab24-57f90fdc4841 - -Holding(Nothing) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->b9a89fba-a181-40ae-ab24-57f90fdc4841 - - - - - -a8e81fa6-7fef-4c5e-91d9-f6ae292cad90 - -At(Robot,Bar2) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->a8e81fa6-7fef-4c5e-91d9-f6ae292cad90 - - - - - -e097aa28-deb9-4a84-b19a-b9430d1f577c - -PickUp(MilkDrink) - - - -44779d09-30a2-45c9-a92f-f44080ab466d->e097aa28-deb9-4a84-b19a-b9430d1f577c - - - - - -54a62036-3639-43ea-91ce-0ce4d445507b - -? - - - -ee994789-611a-41f7-9e4a-882a85a8f84d->54a62036-3639-43ea-91ce-0ce4d445507b - - - - - -6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0 - -PutDown(ADMilk,Bar) - - - -ee994789-611a-41f7-9e4a-882a85a8f84d->6d3ef878-10b0-42b1-aa2a-dd6183ab9bc0 - - - - - -8bf7e018-e1de-493f-a03b-705bda72f99a - -Holding(ADMilk) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->8bf7e018-e1de-493f-a03b-705bda72f99a - - - - - -e55228f5-07a0-4baf-bbe8-6234c18cf124 - -At(Robot,Bar2) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->e55228f5-07a0-4baf-bbe8-6234c18cf124 - - - - - -350c0d4f-496a-4929-bdc5-928b73a370ff - -Holding(MilkDrink) - - - -54a62036-3639-43ea-91ce-0ce4d445507b->350c0d4f-496a-4929-bdc5-928b73a370ff - - - - - -7fe2cc4c-2825-43cb-b93d-f5e24456d291 - -Holding(ADMilk) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->7fe2cc4c-2825-43cb-b93d-f5e24456d291 - - - - - -92f0d697-ba3a-40c9-b43d-df7d97d13b0a - -At(Robot,Bar2) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->92f0d697-ba3a-40c9-b43d-df7d97d13b0a - - - - - -d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa - -Holding(MilkDrink) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa - - - - - -a4b01280-6d45-4f24-b206-7ed4d1baa0df - -PutDown(ADMilk,Bar) - - - -92737c2e-e4ef-4aba-a173-db324c8f545a->a4b01280-6d45-4f24-b206-7ed4d1baa0df - - - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6 - -? - - - -a7f6796d-5664-494a-9040-9c85fe75f1fd->3ee90b91-65ce-424d-bc4b-a734249dd7e6 - - - - - -7b1ddbba-b4d2-443c-b646-39eb933fd102 - -PutDown(Bernachon,Bar) - - - -a7f6796d-5664-494a-9040-9c85fe75f1fd->7b1ddbba-b4d2-443c-b646-39eb933fd102 - - - - - -ed698829-defc-4bd7-b5b5-a787873ab161 - -Holding(Bernachon) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->ed698829-defc-4bd7-b5b5-a787873ab161 - - - - - -d2970d23-0525-42c5-a6d5-d1801429c17b - -At(Robot,Bar2) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->d2970d23-0525-42c5-a6d5-d1801429c17b - - - - - -8614c8da-8a04-4907-a164-6d4e6e21ac2c - -Holding(MilkDrink) - - - -3ee90b91-65ce-424d-bc4b-a734249dd7e6->8614c8da-8a04-4907-a164-6d4e6e21ac2c - - - - - -1c09ff47-400c-466e-8714-d8c8429db7e6 - -Holding(Bernachon) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->1c09ff47-400c-466e-8714-d8c8429db7e6 - - - - - -327e2478-87b5-4eba-9dd1-6918366c7da1 - -At(Robot,Bar2) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->327e2478-87b5-4eba-9dd1-6918366c7da1 - - - - - -60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97 - -Holding(MilkDrink) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97 - - - - - -c5e01a62-e85f-4707-a45f-49eb624b5da4 - -PutDown(Bernachon,Bar) - - - -8b6ff78e-014c-44d7-ba78-2006b86db3fd->c5e01a62-e85f-4707-a45f-49eb624b5da4 - - - - - -02754f4b-66b5-46f8-b427-c9043b6c323d - -? - - - -eb9ec3da-8aec-484c-b0da-62884f057827->02754f4b-66b5-46f8-b427-c9043b6c323d - - - - - -4b866074-42e4-4eb6-bf22-e3f9e3efc8c4 - -PutDown(BottledDrink,Bar) - - - -eb9ec3da-8aec-484c-b0da-62884f057827->4b866074-42e4-4eb6-bf22-e3f9e3efc8c4 - - - - - -66773396-42d7-4b86-b195-289ee353bea1 - -Holding(BottledDrink) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->66773396-42d7-4b86-b195-289ee353bea1 - - - - - -10caf46d-5682-45ed-b60d-d30a074d9cab - -At(Robot,Bar2) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->10caf46d-5682-45ed-b60d-d30a074d9cab - - - - - -38a751c3-d97d-4e30-b2a1-92cc0bf1748c - -Holding(MilkDrink) - - - -02754f4b-66b5-46f8-b427-c9043b6c323d->38a751c3-d97d-4e30-b2a1-92cc0bf1748c - - - - - -f7b2afd5-172e-4f61-a7fd-7635fdf998c7 - -Holding(BottledDrink) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->f7b2afd5-172e-4f61-a7fd-7635fdf998c7 - - - - - -e16be6cb-8fec-486e-a03d-6dff87de936e - -At(Robot,Bar2) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->e16be6cb-8fec-486e-a03d-6dff87de936e - - - - - -d48b849a-4b45-4e2b-bfa2-006c7f88d051 - -Holding(MilkDrink) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->d48b849a-4b45-4e2b-bfa2-006c7f88d051 - - - - - -9e20a4f6-e58f-4110-a538-14881df9fba1 - -PutDown(BottledDrink,Bar) - - - -226631db-0755-4e1c-83c7-9c23e7fc31ec->9e20a4f6-e58f-4110-a538-14881df9fba1 - - - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0 - -? - - - -80bb0311-1f87-4af6-a786-20e869ddffbf->f6e6a3e1-0759-44e1-8e5b-d350636a36b0 - - - - - -e044fc55-062c-472c-9c8e-4f32bbead6d6 - -PutDown(Chips,Bar) - - - -80bb0311-1f87-4af6-a786-20e869ddffbf->e044fc55-062c-472c-9c8e-4f32bbead6d6 - - - - - -ec10b3b5-792b-47d7-bb00-0454a405e5e1 - -At(Robot,Bar2) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->ec10b3b5-792b-47d7-bb00-0454a405e5e1 - - - - - -8614a2e8-9005-4fca-8d71-60143de2b08d - -Holding(Chips) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->8614a2e8-9005-4fca-8d71-60143de2b08d - - - - - -557ba623-a633-432b-8779-eac1ead8c539 - -Holding(MilkDrink) - - - -f6e6a3e1-0759-44e1-8e5b-d350636a36b0->557ba623-a633-432b-8779-eac1ead8c539 - - - - - -a1732476-b4cc-481c-9d25-22295111d762 - -Holding(Chips) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->a1732476-b4cc-481c-9d25-22295111d762 - - - - - -49c6c9ec-3b95-43dc-88f5-06675d0e5bf1 - -At(Robot,Bar2) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->49c6c9ec-3b95-43dc-88f5-06675d0e5bf1 - - - - - -ed55981d-75e8-4ad0-bc1f-7332e123d260 - -Holding(MilkDrink) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->ed55981d-75e8-4ad0-bc1f-7332e123d260 - - - - - -04fb64d5-6c56-4f53-9a86-e498ed641ba3 - -PutDown(Chips,Bar) - - - -d05a6846-39b7-44e5-b12a-a98dabae6736->04fb64d5-6c56-4f53-9a86-e498ed641ba3 - - - - - -e477cd0c-327d-4be3-af19-45dc454ff83e - -? - - - -e6a68b9e-80e9-49aa-98f5-ac87f6288da7->e477cd0c-327d-4be3-af19-45dc454ff83e - - - - - -98150a13-3731-47c8-9a8e-d78a55e3645d - -PutDown(Coffee,Bar) - - - -e6a68b9e-80e9-49aa-98f5-ac87f6288da7->98150a13-3731-47c8-9a8e-d78a55e3645d - - - - - -8603671b-a28b-4c77-a70d-7693a479c895 - -At(Robot,Bar2) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->8603671b-a28b-4c77-a70d-7693a479c895 - - - - - -9e6e96b9-4e95-4f6c-8ed5-b69fe487087d - -Holding(Coffee) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->9e6e96b9-4e95-4f6c-8ed5-b69fe487087d - - - - - -c1afe35f-6e04-4ae8-bc21-5810d71efd7d - -Holding(MilkDrink) - - - -e477cd0c-327d-4be3-af19-45dc454ff83e->c1afe35f-6e04-4ae8-bc21-5810d71efd7d - - - - - -e60445d9-2ff8-46a5-bfe4-c28830bb672b - -At(Robot,Bar2) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->e60445d9-2ff8-46a5-bfe4-c28830bb672b - - - - - -a9da3177-f487-4698-a59f-bfa320d329f2 - -Holding(Coffee) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->a9da3177-f487-4698-a59f-bfa320d329f2 - - - - - -dc8676aa-bd2e-4961-8f2f-a337d17e05d0 - -Holding(MilkDrink) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->dc8676aa-bd2e-4961-8f2f-a337d17e05d0 - - - - - -14fdadac-4678-4f2a-a5db-89bb1300fb3a - -PutDown(Coffee,Bar) - - - -132bf3f9-ef25-4e05-9813-002cf8021409->14fdadac-4678-4f2a-a5db-89bb1300fb3a - - - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f - -? - - - -6b5035f6-4e7d-4914-881e-efc040a46e92->34aa96bb-cb46-4b9e-a46a-f07b7d5b435f - - - - - -be59844a-9caf-45e2-94a6-a19f660a279c - -PutDown(Dessert,Bar) - - - -6b5035f6-4e7d-4914-881e-efc040a46e92->be59844a-9caf-45e2-94a6-a19f660a279c - - - - - -c6647b89-208f-4669-9079-5b68c076ab9c - -At(Robot,Bar2) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->c6647b89-208f-4669-9079-5b68c076ab9c - - - - - -82cb330f-8288-4c34-ba33-3f0af489a8a8 - -Holding(Dessert) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->82cb330f-8288-4c34-ba33-3f0af489a8a8 - - - - - -e452ea52-2d8e-41d5-a217-f401cd032e2b - -Holding(MilkDrink) - - - -34aa96bb-cb46-4b9e-a46a-f07b7d5b435f->e452ea52-2d8e-41d5-a217-f401cd032e2b - - - - - -ef27f545-f3b5-46a1-aea1-3e77e4c7ef99 - -At(Robot,Bar2) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->ef27f545-f3b5-46a1-aea1-3e77e4c7ef99 - - - - - -f2892b78-6688-4c60-91d3-97750ceb48f3 - -Holding(Dessert) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->f2892b78-6688-4c60-91d3-97750ceb48f3 - - - - - -4980523b-34b7-4b53-ba9b-bf4c5212c479 - -Holding(MilkDrink) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->4980523b-34b7-4b53-ba9b-bf4c5212c479 - - - - - -5354575b-84af-40ed-8e01-c31e8b1d3b90 - -PutDown(Dessert,Bar) - - - -32096f54-f5d3-49cc-9702-3bddf080d2fe->5354575b-84af-40ed-8e01-c31e8b1d3b90 - - - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c - -? - - - -4939a51b-2fed-4df4-8db8-b3914cb99572->a822d82e-b6b0-4a56-8a3e-0241521d3d0c - - - - - -636ee734-15b7-4024-a99a-c4a1be49cb4b - -PutDown(Milk,Bar) - - - -4939a51b-2fed-4df4-8db8-b3914cb99572->636ee734-15b7-4024-a99a-c4a1be49cb4b - - - - - -55c3bd46-df99-4607-8f4a-43713ffd728b - -At(Robot,Bar2) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->55c3bd46-df99-4607-8f4a-43713ffd728b - - - - - -3ce080d0-3205-4929-9166-49c4ff633e79 - -Holding(Milk) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->3ce080d0-3205-4929-9166-49c4ff633e79 - - - - - -0cfd551b-c03c-42e1-b315-24b151ca76c2 - -Holding(MilkDrink) - - - -a822d82e-b6b0-4a56-8a3e-0241521d3d0c->0cfd551b-c03c-42e1-b315-24b151ca76c2 - - - - - -18fd2435-dc2d-4bb5-92cb-41bae1112cdc - -Holding(Milk) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->18fd2435-dc2d-4bb5-92cb-41bae1112cdc - - - - - -5f1c3314-2fd1-45e9-b521-ed2b72c21796 - -At(Robot,Bar2) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->5f1c3314-2fd1-45e9-b521-ed2b72c21796 - - - - - -a3783c9f-ae12-49ae-907a-f474593665a2 - -Holding(MilkDrink) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->a3783c9f-ae12-49ae-907a-f474593665a2 - - - - - -19c9848f-caa2-40af-8534-43e9c2f16cc8 - -PutDown(Milk,Bar) - - - -71eb1e55-077c-481e-a969-d95c0c50de23->19c9848f-caa2-40af-8534-43e9c2f16cc8 - - - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a - -? - - - -44c46a4a-e646-4274-a23b-ffd4686afa61->ed86cd17-3f27-4930-aed4-c55dda092d5a - - - - - -51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc - -PutDown(NFCJuice,Bar) - - - -44c46a4a-e646-4274-a23b-ffd4686afa61->51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc - - - - - -0977779f-a2d6-44af-b12b-9a00dc620cf2 - -Holding(NFCJuice) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->0977779f-a2d6-44af-b12b-9a00dc620cf2 - - - - - -69c7c338-8c7a-466d-bec4-006beff4df4c - -At(Robot,Bar2) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->69c7c338-8c7a-466d-bec4-006beff4df4c - - - - - -602e1341-9186-4478-ae53-0c0feed21e4e - -Holding(MilkDrink) - - - -ed86cd17-3f27-4930-aed4-c55dda092d5a->602e1341-9186-4478-ae53-0c0feed21e4e - - - - - -b1da90b9-0bca-40b0-be7c-52025d64cb95 - -Holding(NFCJuice) - - - -be610373-908a-4cdf-a276-eb63c0927891->b1da90b9-0bca-40b0-be7c-52025d64cb95 - - - - - -51176ed0-b011-4b3a-88e1-a2cbe51f50cf - -At(Robot,Bar2) - - - -be610373-908a-4cdf-a276-eb63c0927891->51176ed0-b011-4b3a-88e1-a2cbe51f50cf - - - - - -ac5a6273-34c5-4827-8f01-6cff2ce195b3 - -Holding(MilkDrink) - - - -be610373-908a-4cdf-a276-eb63c0927891->ac5a6273-34c5-4827-8f01-6cff2ce195b3 - - - - - -b3d397d6-35b3-4a04-9a6f-70201d0d06e2 - -PutDown(NFCJuice,Bar) - - - -be610373-908a-4cdf-a276-eb63c0927891->b3d397d6-35b3-4a04-9a6f-70201d0d06e2 - - - - - -1240ebfd-7e0f-403d-8b84-999c77431f55 - -? - - - -a1a9032d-687a-4505-ba96-a4951b52a1fb->1240ebfd-7e0f-403d-8b84-999c77431f55 - - - - - -c035e88c-1906-4a98-a716-1c5b1db8b975 - -PutDown(Softdrink,Bar) - - - -a1a9032d-687a-4505-ba96-a4951b52a1fb->c035e88c-1906-4a98-a716-1c5b1db8b975 - - - - - -55de91f8-8252-45d9-9940-cac57334d7a7 - -Holding(Softdrink) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->55de91f8-8252-45d9-9940-cac57334d7a7 - - - - - -81e7d562-7203-411f-ac99-b4993421209f - -At(Robot,Bar2) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->81e7d562-7203-411f-ac99-b4993421209f - - - - - -bafa5440-348f-4c14-af1a-ed97197b26cd - -Holding(MilkDrink) - - - -1240ebfd-7e0f-403d-8b84-999c77431f55->bafa5440-348f-4c14-af1a-ed97197b26cd - - - - - -9a41cb8f-65e6-4309-b451-48b7992a62f2 - -Holding(Softdrink) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->9a41cb8f-65e6-4309-b451-48b7992a62f2 - - - - - -37280f2a-9646-4b54-b532-22032d4dddb8 - -At(Robot,Bar2) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->37280f2a-9646-4b54-b532-22032d4dddb8 - - - - - -272cb815-fc07-4590-b2f8-d4b9fc454339 - -Holding(MilkDrink) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->272cb815-fc07-4590-b2f8-d4b9fc454339 - - - - - -8407cdcb-73ae-49c8-aaf2-bf3751ced541 - -PutDown(Softdrink,Bar) - - - -a23e4845-02b2-40a5-ae00-092f9516be12->8407cdcb-73ae-49c8-aaf2-bf3751ced541 - - - - - -185f596d-f400-4055-8d07-f579b50bc711 - -? - - - -a1481776-efcf-4951-9af8-3f060e3a2d85->185f596d-f400-4055-8d07-f579b50bc711 - - - - - -3dc6a373-605d-49e1-b7e0-157be73bd02d - -PutDown(SpringWater,Bar) - - - -a1481776-efcf-4951-9af8-3f060e3a2d85->3dc6a373-605d-49e1-b7e0-157be73bd02d - - - - - -6dfe7617-104b-449c-bc93-2480450ffede - -At(Robot,Bar2) - - - -185f596d-f400-4055-8d07-f579b50bc711->6dfe7617-104b-449c-bc93-2480450ffede - - - - - -d12a6c42-3089-4773-925e-9cb106948c96 - -Holding(SpringWater) - - - -185f596d-f400-4055-8d07-f579b50bc711->d12a6c42-3089-4773-925e-9cb106948c96 - - - - - -9419f1c4-688f-46e6-a3d2-e8287d596b48 - -Holding(MilkDrink) - - - -185f596d-f400-4055-8d07-f579b50bc711->9419f1c4-688f-46e6-a3d2-e8287d596b48 - - - - - -90c999b2-e118-47eb-ac33-58114ef78067 - -At(Robot,Bar2) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->90c999b2-e118-47eb-ac33-58114ef78067 - - - - - -ae03ea63-1515-4427-bffe-7de75cc3b7ea - -Holding(SpringWater) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->ae03ea63-1515-4427-bffe-7de75cc3b7ea - - - - - -822f40a3-5c5b-48cf-8628-9382e49b9290 - -Holding(MilkDrink) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->822f40a3-5c5b-48cf-8628-9382e49b9290 - - - - - -654e625e-c14a-4705-9053-e43cb9bdbdec - -PutDown(SpringWater,Bar) - - - -7c5a7025-8822-428b-b1f0-6ba69f3871b9->654e625e-c14a-4705-9053-e43cb9bdbdec - - - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a - -? - - - -79959fc1-102b-4dd0-bd26-0024bfab722a->7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a - - - - - -d187eff6-e61c-4a75-993c-e23f27d59a11 - -PutDown(VacuumCup,Bar) - - - -79959fc1-102b-4dd0-bd26-0024bfab722a->d187eff6-e61c-4a75-993c-e23f27d59a11 - - - - - -15edc351-573b-4906-ad03-297f4bd85d93 - -Holding(VacuumCup) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->15edc351-573b-4906-ad03-297f4bd85d93 - - - - - -d5b5cc68-7498-434b-9a16-a1c7e6afec4e - -At(Robot,Bar2) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->d5b5cc68-7498-434b-9a16-a1c7e6afec4e - - - - - -dc002244-de3d-4769-89e5-bfa498142b4c - -Holding(MilkDrink) - - - -7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->dc002244-de3d-4769-89e5-bfa498142b4c - - - - - -bd378d36-4f17-4a82-b7ce-cb9e187b3376 - -Holding(VacuumCup) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->bd378d36-4f17-4a82-b7ce-cb9e187b3376 - - - - - -bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298 - -At(Robot,Bar2) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298 - - - - - -dbc4c650-9570-4d64-b445-d032032f1447 - -Holding(MilkDrink) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->dbc4c650-9570-4d64-b445-d032032f1447 - - - - - -44efea8b-425c-41bb-88e8-77c9d8d91462 - -PutDown(VacuumCup,Bar) - - - -d02a9e30-e1a8-403e-be19-df39bc160e15->44efea8b-425c-41bb-88e8-77c9d8d91462 - - - - - -9da7cc2d-4610-4e56-834f-734a473cf45f - -? - - - -6ff1a552-442a-469e-85a7-005b0545de29->9da7cc2d-4610-4e56-834f-734a473cf45f - - - - - -6dfa4b2a-855a-4675-acf1-f27ffd3c4907 - -PutDown(Water,Bar) - - - -6ff1a552-442a-469e-85a7-005b0545de29->6dfa4b2a-855a-4675-acf1-f27ffd3c4907 - - - - - -5753e20b-77fb-46bc-bca7-e09f8b90a47d - -At(Robot,Bar2) - - - -9da7cc2d-4610-4e56-834f-734a473cf45f->5753e20b-77fb-46bc-bca7-e09f8b90a47d - - - - - -f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e - -Holding(Water) - - - 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+a6d43528-5ff3-431c-b712-92d56b7fcff6 + +Turn(ACTemperature,Up) + + + +e92d39d0-93e6-4058-85b6-c48cc53cb3ed->a6d43528-5ff3-431c-b712-92d56b7fcff6 + + + + + +1209d3fe-6f0f-418c-a304-382880969ee3 + +Holding(Nothing) + + + +3e949bea-3281-466f-9e68-feaf9de7615a->1209d3fe-6f0f-418c-a304-382880969ee3 + + + + + +44740e7f-7d61-4589-8a3d-5cce41ae5a7b + +RobotNear(Chips) + + + +3e949bea-3281-466f-9e68-feaf9de7615a->44740e7f-7d61-4589-8a3d-5cce41ae5a7b + + + + + +562720c8-eaba-46af-a36d-4984204c8034 + +Active(HallLight) + + + +3e949bea-3281-466f-9e68-feaf9de7615a->562720c8-eaba-46af-a36d-4984204c8034 + + + + + +d9136cec-a907-4b50-8768-e95555c82c63 + +Turn(HallLight,Off) + + + +3e949bea-3281-466f-9e68-feaf9de7615a->d9136cec-a907-4b50-8768-e95555c82c63 + + + + + +a01785af-9111-47c4-9921-db27263d59aa + +Holding(Nothing) + + + +8f8d7d93-e90e-47ec-b7eb-9a568d1b8510->a01785af-9111-47c4-9921-db27263d59aa + + + + + +50e9c6e7-4f28-4135-b4ad-9c81018579ae + +! + + + +8f8d7d93-e90e-47ec-b7eb-9a568d1b8510->50e9c6e7-4f28-4135-b4ad-9c81018579ae + + + + + +012a9fb9-8c69-42b8-9a66-d09f235115b8 + +RobotNear(Chips) + + + +8f8d7d93-e90e-47ec-b7eb-9a568d1b8510->012a9fb9-8c69-42b8-9a66-d09f235115b8 + + + + + +90ffd18a-ec0d-4538-8672-ec7715efb826 + +Turn(HallLight,On) + + + +8f8d7d93-e90e-47ec-b7eb-9a568d1b8510->90ffd18a-ec0d-4538-8672-ec7715efb826 + + + + + +451d9324-32a7-4270-b203-adc4266385b4 + +Active(HallLight) + + + +50e9c6e7-4f28-4135-b4ad-9c81018579ae->451d9324-32a7-4270-b203-adc4266385b4 + + + + + +404d7279-c113-4802-bd64-9a752d14785a + +Active(TubeLight) + + + +3f09e80f-18fd-417c-ba25-45f50a156ade->404d7279-c113-4802-bd64-9a752d14785a + + + + + +35e98f80-f8f2-4124-ae5b-5d42bc4d95c8 + +Holding(Nothing) + + + +3f09e80f-18fd-417c-ba25-45f50a156ade->35e98f80-f8f2-4124-ae5b-5d42bc4d95c8 + + + + + +ac1eb2ed-ec50-47e6-b2fd-830ae208d623 + +RobotNear(Chips) + + + +3f09e80f-18fd-417c-ba25-45f50a156ade->ac1eb2ed-ec50-47e6-b2fd-830ae208d623 + + + + + +18b68dab-19da-4bfe-9faf-648d0ee61fcd + +Turn(TubeLight,Off) + + + +3f09e80f-18fd-417c-ba25-45f50a156ade->18b68dab-19da-4bfe-9faf-648d0ee61fcd + + + + + +1086e8a0-709a-48c4-b653-5e255f9094f3 + +Holding(Nothing) + + + +5cfc6748-41f5-4653-a4cf-dfce7ae31c13->1086e8a0-709a-48c4-b653-5e255f9094f3 + + + + + +6d2a3f4a-e6d5-455e-aced-790d9c1ab85c + +! + + + +5cfc6748-41f5-4653-a4cf-dfce7ae31c13->6d2a3f4a-e6d5-455e-aced-790d9c1ab85c + + + + + +ec266c7b-9c7d-486b-b74b-e67e63dbaf81 + +RobotNear(Chips) + + + +5cfc6748-41f5-4653-a4cf-dfce7ae31c13->ec266c7b-9c7d-486b-b74b-e67e63dbaf81 + + + + + +856a98d8-f2ef-4bbf-996b-4c533a4be3ea + +Turn(TubeLight,On) + + + +5cfc6748-41f5-4653-a4cf-dfce7ae31c13->856a98d8-f2ef-4bbf-996b-4c533a4be3ea + + + + + +420d609a-71a7-47cb-9c44-e287c5287cbe + +Active(TubeLight) + + + +6d2a3f4a-e6d5-455e-aced-790d9c1ab85c->420d609a-71a7-47cb-9c44-e287c5287cbe + + diff --git a/BTExpansionCode/EXP/hard_instr_goal.txt b/BTExpansionCode/EXP/hard_instr_goal.txt new file mode 100644 index 0000000..59664e4 --- /dev/null +++ b/BTExpansionCode/EXP/hard_instr_goal.txt @@ -0,0 +1,119 @@ +Instruction: I'm craving some fries right now. For my drink, I can't decide between milk or yogurt. You can surprise me. Oh, and I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Could you let in some light by opening the curtains? Or maybe just turn on the air conditioner for some fresh air? +Goal: ~Closed_Curtain | Active_AC + +Instruction: It's a bit bright in here; could you dim the strip lights? Oh, and bring some chips to Table 1, please +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Is it possible to crank up the air conditioning a bit? It's quite warm. Also, could you swing by Bar No. 2 for a quick chat +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Someone at table number one ordered yogurt; could you take it over to them? And the hall light seems a bit too bright, could you turn it off? +Goal: On_Yogurt_Table1 & ~Active_HallLight + +Instruction: I'm not sure what I want yet, maybe coffee, bernachonto, or yogurt. Just bring one of them to table 2, please. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Could you refrain from putting water containers on the bar top? It tends to get crowded. +Goal: ~On_Water_Bar + +Instruction: I'd prefer if the coffee wasn't placed on Table 2; perhaps another table would be better. +Goal: ~On_Coffee_Table2 + +Instruction: Could you bring the bernachon to Table 1? Also, ensure it's not too bright or too cold in here, so either turn off the tube light or don't set the AC too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Please avoid placing the dessert on Table 6. +Goal: ~On_Dessert_WindowTable6 + +Instruction: "Ensure there's no coffee on Table 1 or dessert on Table 2, and avoid being near Bar2." +Goal: (~On_Coffee_Table1 | ~On_Dessert_Table2) & ~RobotNear_Bar2 + +Instruction: "Do not hold any bottled drinks and ensure either no yogurt on Table 3 or no chips on Table 1." +Goal: ~Holding_BottledDrink & (~On_Yogurt_Table3 | ~On_Chips_Table1) + +Instruction: "Make sure there's no water on tea table or coffee on coffee table, and don't be near Table 3." +Goal: (~On_Water_WaterStation | ~On_Coffee_CoffeeTable) & ~RobotNear_Table3 + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Try not to linger around the first and second tables all the time. +Goal: ~RobotNear_Table1 & ~RobotNear_Table2 + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Deliver some coffee to the Bar area and avoid hovering around the second or third tables. +Goal: On_Coffee_Bar & ~RobotNear_Table2 & ~RobotNear_Table3 + +Instruction: Either bring dessert to Table1 or water to Table2, but don't turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & ~Active_HallLight + +Instruction: Avoid delivering water to the Bar, and make sure either the drapes are not closed or the passage light is lit. +Goal: ~On_Water_Bar & (~Closed_Curtain | Active_HallLight) + +Instruction: Ensure you're not close to the second table and bring either crisps to the first table or NFCJuice to the Bar. +Goal: ~RobotNear_Table2 & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Place the bottled beverage you're carrying aside and either tidy up the floor or the seating. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a soft drink to Table 3 or a bottled drink to Bar? +Goal: On_Softdrink_Table3 | On_BottledDrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low. +Goal: ~Closed_Curtain | ~Low_ACTemperature + +Instruction: Please either clean the table or turn off the hall light. +Goal: IsClean_Table1 | ~Active_HallLight + +Instruction: Ensure either the AC is on or the tube light is off. +Goal: Active_AC | ~Active_TubeLight + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or turn off the hall light. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~Active_HallLight) + +Instruction: Bring ADMilk to Bar and either the floor should be clean or the chairs should be arranged. +Goal: On_ADMilk_Bar & (IsClean_Floor | IsClean_Chairs) + +Instruction: Can you make sure that there's no water on Table 1 and no chips on Table 2? Also, it would be best if you didn't hang around Table 3. +Goal: ~(On_Water_Table1 | On_Chips_Table2) & ~RobotNear_Table3 \ No newline at end of file diff --git a/BTExpansionCode/EXP/merged_result_Easy_stats_16_states=1318_acts=1269_20240118 001738.csv b/BTExpansionCode/EXP/merged_result_Easy_stats_16_states=1318_acts=1269_20240118 001738.csv new file mode 100644 index 0000000..5087ba1 --- /dev/null +++ b/BTExpansionCode/EXP/merged_result_Easy_stats_16_states=1318_acts=1269_20240118 001738.csv @@ -0,0 +1,17 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_ticks_avg,cond_ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Easy,0,9.6,5.829,31.733,25.28,16.2,14.77,115.767,101.802,0.00543,0.00419,0.16304 +1,Easy,1,11.3,7.47,36.1,29.431,11.6,9.412,115.767,101.802,0.00617,0.00441,0.18505 +2,Easy,2,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.0057,0.00425,0.17103 +3,Easy,3,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00575,0.00443,0.17258 +4,Easy,4,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00673,0.00574,0.20204 +5,Easy,5,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00457,0.0036,0.13708 +6,Easy,6,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.0045,0.00353,0.13503 +7,Easy,7,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00463,0.00352,0.13903 +8,Easy,8,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.0044,0.00356,0.13203 +9,Easy,9,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.0045,0.00356,0.13503 +10,Easy,10,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00445,0.00349,0.13359 +11,Easy,11,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.0045,0.00334,0.13503 +12,Easy,12,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00453,0.00341,0.13603 +13,Easy,13,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00463,0.00356,0.13897 +14,Easy,14,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00464,0.0036,0.1393 +15,Easy,15,11.367,7.563,36.5,30.162,11.533,9.295,115.767,101.802,0.00466,0.00352,0.13984 diff --git a/BTExpansionCode/EXP/merged_result_Hard_stats_16_states=1318_acts=1269_20240118 000116.csv b/BTExpansionCode/EXP/merged_result_Hard_stats_16_states=1318_acts=1269_20240118 000116.csv new file mode 100644 index 0000000..19cd39e --- /dev/null +++ b/BTExpansionCode/EXP/merged_result_Hard_stats_16_states=1318_acts=1269_20240118 000116.csv @@ -0,0 +1,17 @@ +Hard,Medium,Easy +452.875,66.133,16.2 +169.3,41.467,11.6 +146.85,39.6,11.533 +139.15,39.867,11.533 +136.125,38.8,11.533 +136.6,38.267,11.533 +134.05,38.467,11.533 +134.925,38.633,11.533 +133.575,38.8,11.533 +133.5,38.8,11.533 +134.575,38.8,11.533 +137.5,38.8,11.533 +136.8,38.8,11.533 +137.45,38.8,11.533 +134.275,38.8,11.533 +133.925,38.8,11.533 diff --git a/BTExpansionCode/EXP/merged_result_Medium_stats_16_states=1318_acts=1269_20240118 001805.csv b/BTExpansionCode/EXP/merged_result_Medium_stats_16_states=1318_acts=1269_20240118 001805.csv new file mode 100644 index 0000000..a6b472d --- /dev/null +++ b/BTExpansionCode/EXP/merged_result_Medium_stats_16_states=1318_acts=1269_20240118 001805.csv @@ -0,0 +1,17 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_ticks_avg,cond_ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Medium,0,32.367,36.655,87.733,152.151,66.133,145.49,162.3,138.076,0.01709,0.02572,0.51282 +1,Medium,1,32.9,29.538,84.6,123.431,41.467,65.141,162.3,138.076,0.01666,0.022,0.49995 +2,Medium,2,33.733,31.176,84.767,113.424,39.6,58.309,162.3,138.076,0.01706,0.02196,0.5117 +3,Medium,3,34.267,32.102,88.267,127.376,39.867,59.648,162.3,138.076,0.01696,0.02279,0.50871 +4,Medium,4,34.5,33.806,87.433,129.34,38.8,59.867,162.3,138.076,0.0164,0.02196,0.49211 +5,Medium,5,34.6,33.969,87.067,125.326,38.267,57.59,162.3,138.076,0.01679,0.02357,0.50369 +6,Medium,6,34.867,35.254,87.633,128.171,38.467,58.561,162.3,138.076,0.01626,0.0217,0.48767 +7,Medium,7,34.933,35.578,87.933,129.682,38.633,59.374,162.3,138.076,0.01686,0.02163,0.50566 +8,Medium,8,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01756,0.02258,0.52667 +9,Medium,9,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01646,0.02179,0.49369 +10,Medium,10,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01936,0.0255,0.58068 +11,Medium,11,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01649,0.02188,0.49467 +12,Medium,12,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01679,0.02233,0.50366 +13,Medium,13,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01612,0.02169,0.48368 +14,Medium,14,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01629,0.02184,0.48868 +15,Medium,15,34.767,34.771,88.4,132.039,38.8,60.19,162.3,138.076,0.01669,0.02161,0.50067 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_Easy_stats_21_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_Easy_stats_21_states=172_acts=990.csv new file mode 100644 index 0000000..dd76f8a --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_Easy_stats_21_states=172_acts=990.csv @@ -0,0 +1,22 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Easy,0,18.9,17.341,50.333,49.166,37.733,31.827,0.00522,0.00525,0.15654 +1,Easy,1,15.633,12.944,40.1,35.169,37.733,31.827,0.00525,0.00527,0.15755 +2,Easy,2,16.0,13.173,40.6,35.657,37.733,31.827,0.0051,0.005,0.15304 +3,Easy,3,16.233,13.469,40.833,35.879,37.733,31.827,0.00503,0.00517,0.15103 +4,Easy,4,16.233,13.531,40.967,36.237,37.733,31.827,0.00507,0.00503,0.15204 +5,Easy,5,16.167,13.424,40.633,35.631,37.733,31.827,0.00504,0.00506,0.15108 +6,Easy,6,16.167,13.424,40.633,35.631,37.733,31.827,0.00513,0.00521,0.15404 +7,Easy,7,16.167,13.424,40.633,35.631,37.733,31.827,0.00509,0.00505,0.15258 +8,Easy,8,16.167,13.424,40.633,35.631,37.733,31.827,0.00503,0.00506,0.15103 +9,Easy,9,16.167,13.424,40.633,35.631,37.733,31.827,0.0052,0.00521,0.15604 +10,Easy,10,16.167,13.424,40.633,35.631,37.733,31.827,0.0056,0.00635,0.16804 +11,Easy,11,16.167,13.424,40.633,35.631,37.733,31.827,0.00513,0.00518,0.15403 +12,Easy,12,16.167,13.424,40.633,35.631,37.733,31.827,0.00505,0.00503,0.15158 +13,Easy,13,16.167,13.424,40.633,35.631,37.733,31.827,0.00503,0.00514,0.15104 +14,Easy,14,16.167,13.424,40.633,35.631,37.733,31.827,0.00488,0.00507,0.14645 +15,Easy,15,16.167,13.424,40.633,35.631,37.733,31.827,0.00513,0.00513,0.15404 +16,Easy,16,16.167,13.424,40.633,35.631,37.733,31.827,0.00489,0.00513,0.14657 +17,Easy,17,16.167,13.424,40.633,35.631,37.733,31.827,0.00525,0.00519,0.15759 +18,Easy,18,16.167,13.424,40.633,35.631,37.733,31.827,0.005,0.00515,0.15004 +19,Easy,19,16.167,13.424,40.633,35.631,37.733,31.827,0.0049,0.00506,0.14704 +20,Easy,20,16.167,13.424,40.633,35.631,37.733,31.827,0.00507,0.00512,0.15203 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_Hard_stats_21_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_Hard_stats_21_states=172_acts=990.csv new file mode 100644 index 0000000..2b5e19f --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_Hard_stats_21_states=172_acts=990.csv @@ -0,0 +1,22 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Hard,0,309.325,436.706,806.675,1882.796,69.3,69.468,0.10195,0.16355,4.07787 +1,Hard,1,361.45,582.927,619.025,1414.553,69.3,69.468,0.10577,0.17274,4.2309 +2,Hard,2,366.85,593.901,591.825,1348.428,69.3,69.468,0.10607,0.16823,4.2429 +3,Hard,3,366.1,591.816,578.55,1322.716,69.3,69.468,0.10571,0.17196,4.22833 +4,Hard,4,368.75,592.411,573.85,1306.241,69.3,69.468,0.10692,0.17278,4.27689 +5,Hard,5,366.275,589.065,583.875,1355.826,69.3,69.468,0.106,0.16839,4.23994 +6,Hard,6,366.325,586.297,580.125,1340.11,69.3,69.468,0.10626,0.17297,4.25035 +7,Hard,7,366.525,587.678,574.1,1322.857,69.3,69.468,0.10734,0.17349,4.29352 +8,Hard,8,367.725,586.26,575.9,1327.694,69.3,69.468,0.10627,0.17053,4.25099 +9,Hard,9,367.85,586.438,577.125,1334.646,69.3,69.468,0.1058,0.17178,4.23199 +10,Hard,10,367.775,586.005,581.325,1353.053,69.3,69.468,0.10695,0.17175,4.278 +11,Hard,11,367.45,585.162,586.375,1371.014,69.3,69.468,0.106,0.16855,4.23999 +12,Hard,12,367.15,586.477,588.175,1379.775,69.3,69.468,0.10622,0.17186,4.24899 +13,Hard,13,367.625,586.052,587.775,1379.187,69.3,69.468,0.10587,0.17014,4.23499 +14,Hard,14,367.525,585.966,588.125,1379.784,69.3,69.468,0.10736,0.17552,4.2942 +15,Hard,15,367.25,585.94,586.625,1377.858,69.3,69.468,0.10714,0.1709,4.28574 +16,Hard,16,367.15,585.889,587.175,1378.846,69.3,69.468,0.10615,0.17021,4.24598 +17,Hard,17,367.15,585.889,587.225,1378.846,69.3,69.468,0.10722,0.17292,4.2889 +18,Hard,18,367.325,585.873,586.9,1378.846,69.3,69.468,0.10483,0.16713,4.19336 +19,Hard,19,367.275,585.91,586.9,1378.846,69.3,69.468,0.10475,0.17029,4.18992 +20,Hard,20,367.2,585.944,586.6,1378.849,69.3,69.468,0.10534,0.17189,4.21375 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_Medium_stats_21_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_Medium_stats_21_states=172_acts=990.csv new file mode 100644 index 0000000..7c305ce --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_Medium_stats_21_states=172_acts=990.csv @@ -0,0 +1,22 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Medium,0,64.6,97.697,159.4,355.155,50.2,43.297,0.0206,0.03444,0.61813 +1,Medium,1,75.133,127.05,139.6,295.364,50.2,43.297,0.02014,0.03245,0.60414 +2,Medium,2,76.967,129.163,137.5,275.761,50.2,43.297,0.0205,0.03573,0.61515 +3,Medium,3,76.967,129.831,133.367,268.919,50.2,43.297,0.02014,0.03283,0.60414 +4,Medium,4,77.467,130.702,134.667,269.663,50.2,43.297,0.0208,0.03249,0.62407 +5,Medium,5,77.433,130.583,133.567,266.089,50.2,43.297,0.02,0.03241,0.60014 +6,Medium,6,77.3,130.698,132.267,263.592,50.2,43.297,0.0201,0.03277,0.60314 +7,Medium,7,77.3,130.698,132.033,263.532,50.2,43.297,0.0199,0.03261,0.59714 +8,Medium,8,77.133,130.601,132.2,263.574,50.2,43.297,0.0199,0.03247,0.59714 +9,Medium,9,77.267,130.678,132.467,263.649,50.2,43.297,0.02077,0.03252,0.62314 +10,Medium,10,77.267,130.678,132.733,263.732,50.2,43.297,0.0202,0.03261,0.60614 +11,Medium,11,77.267,130.678,133.0,263.824,50.2,43.297,0.0208,0.03641,0.62415 +12,Medium,12,77.267,130.678,133.267,263.923,50.2,43.297,0.02017,0.03266,0.60514 +13,Medium,13,77.267,130.678,133.533,264.03,50.2,43.297,0.02087,0.03279,0.62615 +14,Medium,14,77.267,130.678,133.8,264.145,50.2,43.297,0.0201,0.0325,0.60314 +15,Medium,15,77.267,130.678,134.067,264.269,50.2,43.297,0.01984,0.03251,0.5951 +16,Medium,16,77.2,130.639,134.333,264.4,50.2,43.297,0.01997,0.03251,0.59914 +17,Medium,17,77.233,130.658,134.5,264.486,50.2,43.297,0.02014,0.03272,0.60414 +18,Medium,18,77.233,130.658,134.5,264.486,50.2,43.297,0.0208,0.03255,0.62415 +19,Medium,19,77.233,130.658,134.5,264.486,50.2,43.297,0.0201,0.0326,0.60314 +20,Medium,20,77.233,130.658,134.5,264.486,50.2,43.297,0.02087,0.03634,0.62614 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_1_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_1_states=172_acts=990.csv new file mode 100644 index 0000000..68be29a --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_1_states=172_acts=990.csv @@ -0,0 +1,2 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Hard,0,377.625,589.502,581.0,1379.352,69.3,69.468,0.1044,0.16997,4.1759 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_state=116_act=173.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_state=116_act=173.csv new file mode 100644 index 0000000..3487258 --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_state=116_act=173.csv @@ -0,0 +1,22 @@ +,tree_size_avg,tree_size_std,plan_time_avg,plan_time_std,ticks_avg,ticks_std,cost_avg,cost_std +0,234.2,203.74,0.035,0.03,302.86,389.603,119.18,99.296 +1,332.28,290.58,0.036,0.029,164.12,196.878,119.18,99.296 +2,332.66,291.66,0.036,0.028,123.1,140.976,119.18,99.296 +3,334.2,291.45,0.037,0.03,106.18,115.946,119.18,99.296 +4,331.18,289.7,0.036,0.031,93.08,98.722,119.18,99.296 +5,322.12,284.77,0.036,0.031,84.24,86.536,119.18,99.296 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b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_state=116_act=173.xlsx new file mode 100644 index 0000000..36726a1 Binary files /dev/null and b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_state=116_act=173.xlsx differ diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=519.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=519.csv new file mode 100644 index 0000000..96a305a --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=519.csv @@ -0,0 +1,22 @@ +,tree_size_avg,tree_size_std,plan_time_avg,plan_time_std,ticks_avg,ticks_std,cost_avg,cost_std +0,635.42,567.58,0.182,0.165,862.48,1110.449,67.84,67.874 +1,813.08,741.32,0.185,0.172,402.38,518.025,67.84,67.874 +2,799.76,754.73,0.186,0.171,292.52,363.833,67.84,67.874 +3,839.16,767.27,0.186,0.174,245.1,303.346,67.84,67.874 +4,782.54,759.3,0.186,0.174,208.04,254.985,67.84,67.874 +5,857.12,768.45,0.186,0.173,182.68,220.436,67.84,67.874 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b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=865.csv new file mode 100644 index 0000000..2d5d72e --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=865.csv @@ -0,0 +1,22 @@ +,tree_size_avg,tree_size_std,plan_time_avg,plan_time_std,ticks_avg,ticks_std,cost_avg,cost_std +0,617.18,672.68,0.283,0.302,658.54,1099.288,36.58,35.293 +1,561.2,669.89,0.289,0.312,290.04,441.476,36.58,35.293 +2,659.94,649.51,0.298,0.327,219.12,305.263,36.58,35.293 +3,735.8,843.13,0.296,0.316,183.54,266.726,36.58,35.293 +4,752.54,852.14,0.294,0.315,163.12,237.47,36.58,35.293 +5,734.6,794.32,0.293,0.313,143.6,192.57,36.58,35.293 +6,827.46,921.48,0.297,0.319,130.26,177.597,36.58,35.293 +7,812.64,885.28,0.296,0.314,118.28,150.285,36.58,35.293 +8,787.86,840.92,0.295,0.316,111.38,133.225,36.58,35.293 +9,834.9,915.31,0.292,0.31,112.38,138.606,36.58,35.293 +10,715.36,792.08,0.292,0.313,105.52,121.458,36.58,35.293 +11,772.62,871.74,0.297,0.319,104.88,121.875,36.58,35.293 +12,828.64,893.53,0.299,0.317,99.88,111.562,36.58,35.293 +13,765.62,830.89,0.289,0.309,98.3,107.001,36.58,35.293 +14,819.92,890.28,0.288,0.309,98.14,106.842,36.58,35.293 +15,815.16,904.35,0.29,0.31,97.04,104.6,36.58,35.293 +16,801.3,860.71,0.292,0.314,96.26,98.828,36.58,35.293 +17,823.76,892.17,0.292,0.313,95.0,95.999,36.58,35.293 +18,802.32,879.11,0.295,0.314,92.94,93.589,36.58,35.293 +19,831.08,910.93,0.292,0.309,92.96,93.016,36.58,35.293 +20,760.9,860.3,0.3,0.325,92.34,90.752,36.58,35.293 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=865.xlsx b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=865.xlsx new file mode 100644 index 0000000..822b2e1 Binary files /dev/null and b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=116_acts=865.xlsx differ diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=172_acts=990.csv new file mode 100644 index 0000000..b172b2d --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_21_states=172_acts=990.csv @@ -0,0 +1,22 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Hard,0,,,,,,,,,0.0 +1,Hard,1,,,,,,,,,0.0 +2,Hard,2,,,,,,,,,0.0 +3,Hard,3,,,,,,,,,0.0 +4,Hard,4,,,,,,,,,0.0 +5,Hard,5,,,,,,,,,0.0 +6,Hard,6,,,,,,,,,0.0 +7,Hard,7,,,,,,,,,0.0 +8,Hard,8,,,,,,,,,0.0 +9,Hard,9,,,,,,,,,0.0 +10,Hard,10,,,,,,,,,0.0 +11,Hard,11,,,,,,,,,0.0 +12,Hard,12,,,,,,,,,0.0 +13,Hard,13,,,,,,,,,0.0 +14,Hard,14,,,,,,,,,0.0 +15,Hard,15,,,,,,,,,0.0 +16,Hard,16,,,,,,,,,0.0 +17,Hard,17,,,,,,,,,0.0 +18,Hard,18,,,,,,,,,0.0 +19,Hard,19,,,,,,,,,0.0 +20,Hard,20,,,,,,,,,0.0 diff --git a/BTExpansionCode/EXP/merge数据存档/merged_result_stats_2_states=172_acts=990.csv b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_2_states=172_acts=990.csv new file mode 100644 index 0000000..03ae7e0 --- /dev/null +++ b/BTExpansionCode/EXP/merge数据存档/merged_result_stats_2_states=172_acts=990.csv @@ -0,0 +1,3 @@ +,difficult,merge_time,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,Hard,0,377.625,589.502,581.0,1379.352,69.3,69.468,0.10525,0.17329,4.20987 +1,Hard,1,377.625,589.502,581.0,1379.352,69.3,69.468,0.10765,0.17032,4.3059 diff --git a/BTExpansionCode/EXP/neg.txt b/BTExpansionCode/EXP/neg.txt deleted file mode 100644 index c387a59..0000000 --- a/BTExpansionCode/EXP/neg.txt +++ /dev/null @@ -1 +0,0 @@ -~On_Water_Table1 \ No newline at end of file diff --git a/BTExpansionCode/EXP/plot_fig(1).py b/BTExpansionCode/EXP/plot_fig(1).py new file mode 100644 index 0000000..011cc27 --- /dev/null +++ b/BTExpansionCode/EXP/plot_fig(1).py @@ -0,0 +1,45 @@ +import pandas as pd +import matplotlib.pyplot as plt +import numpy as np + +# file_name = 'result_merge' # result_merge, +file_name = 'merged_result_Hard_stats_16_states=1318_acts=1269_20240118 000116' + +df = pd.read_csv(file_name+'.csv') +epoch_num = 15 +y_fontsize = 18 #14 +fontsize = 28 #18 +fig, ax = plt.subplots(figsize=(15,10)) +x = range(epoch_num) +y = np.arange(0, 500, 100) +label = ['Hard','Medium','Easy'] +marker = ['o','s','^','+', 'x', ] +color = ['blue','orange','green'] # green,red orange +plot_y_index = [5,5,5] +for i in range(len(df.columns)): + plt.plot(x, df.iloc[:epoch_num,i], label=label[i], + marker=marker[i],markersize=10,color=color[i], linewidth=2.8) + for j,(m, n) in enumerate(zip(x[:plot_y_index[i]], df.iloc[:plot_y_index[i],i])): + if i==0 and j==0: + ax.annotate(f'{n:.1f}', xy=(m+0.7, n-10), textcoords="offset points", xytext=(0, 10), ha='center', + fontsize=y_fontsize) + elif i==0 and j==1: + ax.annotate(f'{n:.1f}', xy=(m+0.6, n), textcoords="offset points", xytext=(0, 10), ha='center', + fontsize=y_fontsize) + elif i==0 and j==2: + ax.annotate(f'{n:.1f}', xy=(m+0.05, n), textcoords="offset points", xytext=(0, 10), ha='center', + fontsize=y_fontsize) + elif i==0 and j==2: + ax.annotate(f'{n:.1f}', xy=(m+0.3, n), textcoords="offset points", xytext=(0, 10), ha='center', + fontsize=y_fontsize) + else: + ax.annotate(f'{n:.1f}', xy=(m, n), textcoords="offset points", xytext=(0,10), ha='center', + fontsize=y_fontsize) + +ax.tick_params(axis='both', which='major', labelsize=fontsize) +plt.xlabel('Maximum Recursion Depth during Compaction',fontsize=fontsize, labelpad=15) +plt.ylabel('Condition Node Ticks',fontsize=fontsize, labelpad=15) +plt.legend(loc=(0.7, 0.7),fontsize=fontsize) +plt.grid() +plt.savefig('Merge Result.png', bbox_inches='tight',dpi=300) + diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/__init__.py b/BTExpansionCode/EXP/test similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/__init__.py rename to BTExpansionCode/EXP/test diff --git a/BTExpansionCode/EXP/test.py b/BTExpansionCode/EXP/test.py new file mode 100644 index 0000000..6799209 --- /dev/null +++ b/BTExpansionCode/EXP/test.py @@ -0,0 +1,10 @@ + + +def xx(a,ls): + a+=1 + ls.append(8) + +b = 5 +ls=[4] +xx(b,ls) +print(b,ls) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/__init__.py b/BTExpansionCode/EXP/历史代码/Hard.txt similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/__init__.py rename to BTExpansionCode/EXP/历史代码/Hard.txt diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/__init__.py b/BTExpansionCode/EXP/历史代码/Hard30.txt similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/dataset/__init__.py rename to BTExpansionCode/EXP/历史代码/Hard30.txt diff --git a/BTExpansionCode/EXP/历史代码/Medium.txt b/BTExpansionCode/EXP/历史代码/Medium.txt new file mode 100644 index 0000000..406e287 --- /dev/null +++ b/BTExpansionCode/EXP/历史代码/Medium.txt @@ -0,0 +1,137 @@ +Instruction: Please bring coffee to Bar and turn on the tube light. +Goal: On_Coffee_Bar & Active_TubeLight + +Instruction: Deliver water to Table3 and ensure the floor is clean. +Goal: On_Water_Table3 & IsClean_Floor + +Instruction: Serve dessert at Table2 or bring a soft drink to Table1. +Goal: On_Dessert_Table2 | On_Softdrink_Table1 + +Instruction: Please place the bottled drink on CoffeeTable and check if the hall light is on. +Goal: On_BottledDrink_CoffeeTable & Active_HallLight + +Instruction: Ensure yogurt is on Table1 and the air conditioner is active. +Goal: On_Yogurt_Table1 & Active_AC + +Instruction: Deliver ADMilk to Bar2 and close the curtain. +Goal: On_ADMilk_Bar2 & Closed_Curtain + +Instruction: Place milk drink on WaterTable or turn on the tube light. +Goal: On_MilkDrink_WaterTable | Active_TubeLight + +Instruction: Bring milk to Table3 and ensure the chairs are clean. +Goal: On_Milk_Table3 & IsClean_Chairs + +Instruction: Serve a vacuum cup at Bar or check if AC is active. +Goal: On_VacuumCup_Bar | Active_AC + +Instruction: Deliver chips to Table1 and turn on the hall light. +Goal: On_Chips_Table1 & Active_HallLight + +Instruction: Bring NFCJuice to Table2 or ensure the floor is clean. +Goal: On_NFCJuice_Table2 | IsClean_Floor + +Instruction: Serve Bernachon at BrightTable6 and activate the air conditioner. +Goal: On_Bernachon_BrightTable6 & Active_AC + +Instruction: Place ADMilk on CoffeeTable and close the curtain. +Goal: On_ADMilk_CoffeeTable & Closed_Curtain + +Instruction: Ensure there is SpringWater at Table1 or Table2 has a soft drink. +Goal: On_SpringWater_Table1 | On_Softdrink_Table2 + +Instruction: Bring coffee to Bar and make sure the tube light is on. +Goal: On_Coffee_Bar & Active_TubeLight + +Instruction: Deliver water to Bar2 or check if the hall light is active. +Goal: On_Water_Bar2 | Active_HallLight + +Instruction: Serve dessert at WaterTable and turn on the air conditioner. +Goal: On_Dessert_WaterTable & Active_AC + +Instruction: Place the bottled drink on Table3 and tidy up the chairs. +Goal: On_BottledDrink_Table3 & IsClean_Chairs + +Instruction: Ensure yogurt is on BrightTable6 and the curtain is closed. +Goal: On_Yogurt_BrightTable6 & Closed_Curtain + +Instruction: Deliver ADMilk to Table1 and turn on the tube light. +Goal: On_ADMilk_Table1 & Active_TubeLight + +Instruction: Place milk drink on Table2 or ensure the floor is clean. +Goal: On_MilkDrink_Table2 | IsClean_Floor + +Instruction: Bring milk to CoffeeTable and check if AC is active. +Goal: On_Milk_CoffeeTable & Active_AC + +Instruction: Serve a vacuum cup at Table3 or close the curtain. +Goal: On_VacuumCup_Table3 | Closed_Curtain + +Instruction: Deliver chips to WaterTable and turn on the hall light. +Goal: On_Chips_WaterTable & Active_HallLight + +Instruction: Bring NFCJuice to BrightTable6 and ensure the chairs are clean. +Goal: On_NFCJuice_BrightTable6 & IsClean_Chairs + +Instruction: Serve Bernachon at Table1 or activate the air conditioner. +Goal: On_Bernachon_Table1 | Active_AC + +Instruction: Place ADMilk on Table2 and close the curtain. +Goal: On_ADMilk_Table2 & Closed_Curtain + +Instruction: Ensure there is SpringWater at Bar or Bar2 has a soft drink. +Goal: On_SpringWater_Bar | On_Softdrink_Bar2 + +Instruction: Bring coffee to WaterTable and make sure the tube light is on. +Goal: On_Coffee_WaterTable & Active_TubeLight + +Instruction: Deliver water to BrightTable6 or check if the hall light is active. +Goal: On_Water_BrightTable6 | Active_HallLight + +Instruction: Serve dessert at Table1 and turn on the air conditioner. +Goal: On_Dessert_Table1 & Active_AC + +Instruction: Place the bottled drink on Table2 and tidy up the chairs. +Goal: On_BottledDrink_Table2 & IsClean_Chairs + +Instruction: Ensure yogurt is on Table3 and the curtain is closed. +Goal: On_Yogurt_Table3 & Closed_Curtain + +Instruction: Deliver ADMilk to CoffeeTable and turn on the tube light. +Goal: On_ADMilk_CoffeeTable & Active_TubeLight + +Instruction: Place milk drink on BrightTable6 or ensure the floor is clean. +Goal: On_MilkDrink_BrightTable6 | IsClean_Floor + +Instruction: Bring milk to Table1 and check if AC is active. +Goal: On_Milk_Table1 & Active_AC + +Instruction: Serve a vacuum cup at Table2 or close the curtain. +Goal: On_VacuumCup_Table2 | Closed_Curtain + +Instruction: Deliver chips to WaterTable and turn on the hall light. +Goal: On_Chips_WaterTable & Active_HallLight + +Instruction: Bring NFCJuice to CoffeeTable and ensure the chairs are clean. +Goal: On_NFCJuice_CoffeeTable & IsClean_Chairs + +Instruction: Serve Bernachon at Table3 or activate the air conditioner. +Goal: On_Bernachon_Table3 | Active_AC + +Instruction: Place ADMilk on BrightTable6 and close the curtain. +Goal: On_ADMilk_BrightTable6 & Closed_Curtain + +Instruction: Ensure there is SpringWater at Table1 or Table2 has a soft drink. +Goal: On_SpringWater_Table1 | On_Softdrink_Table2 + +Instruction: Bring coffee to Table3 and make sure the tube light is on. +Goal: On_Coffee_Table3 & Active_TubeLight + +Instruction: Deliver water to CoffeeTable or check if the hall light is active. +Goal: On_Water_CoffeeTable | Active_HallLight + +Instruction: Serve dessert at Table2 and turn on the air conditioner. +Goal: On_Dessert_Table2 & Active_AC + +Instruction: Place the bottled drink on Bar and tidy up the chairs. +Goal: On_BottledDrink_Bar & IsClean_Chairs \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/__init__.py b/BTExpansionCode/EXP/历史代码/Medium30.txt similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/__init__.py rename to BTExpansionCode/EXP/历史代码/Medium30.txt diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/__init__.py b/BTExpansionCode/EXP/历史代码/behavior_lib/__init__.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/__init__.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/__init__.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Act.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/Act.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Behavior.py similarity index 67% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/Behavior.py index 425f547..d695a4e 100644 --- a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py +++ b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Behavior.py @@ -14,13 +14,69 @@ class Bahavior(ptree.behaviour.Behaviour): ''' scene = None print_name_prefix = "" - tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'} + tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6', + + "QuietTable1", "QuietTable2", + "BrightTable1", "BrightTable2", "BrightTable3", "BrightTable4", "BrightTable5" + + } + + # tables_for_placement = {'Bar', 'WaterTable', 'CoffeeTable', 'Table1'} + + # easy——easy + # all_object = { + # 'Coffee', 'Water', 'Dessert', 'Yogurt'} + + + all_object = { 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', - 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} + 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater', + + + 'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + 'PaperCupStarbucks', 'CoffeeMachine', 'GingerLHand', 'GingerRHand', + 'Straw', 'Cake', 'Tray', 'Bread', + 'Glass', 'Door', 'Mug', 'Machine', + 'PackagedCoffee', 'CubeSugar', 'Apple', 'Spoon', + # 'Drinks', 'Drink', 'Take-AwayCup', 'Saucer', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Roof', 'Wall' + + } + + # all_object = { + # 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', + # 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} + + # all_object.update({'CleansingFoam', 'CocountMilk', 'Tomato'}) + + # all_object.update({'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Roof', 'Wall'}) + + + + + # all_object.update({'Watermelon', 'Tomato', 'CleansingFoam', 'CocountMilk', + # 'SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup', + # 'Tissue', 'YogurtDrink', 'Newspaper', 'Box', + # 'PaperCupStarbucks', 'CoffeeMachine', 'GingerLHand', 'GingerRHand', + # 'Straw', 'Cake', 'Tray', 'Bread', + # 'Glass', 'Door', 'Mug', 'Machine', + # 'PackagedCoffee', 'CubeSugar', 'Apple', 'Spoon', + # 'Drinks', 'Drink', 'Take-AwayCup', 'Saucer', + # 'TrashBin', 'Knife', 'Ginger', 'Floor', + # 'Roof', 'Wall'}) + tables_for_guiding = {"QuietTable1","QuietTable2", "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} + # tables_for_guiding = set() # tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'} diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Cond.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/Cond.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Selector.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/Selector.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Sequence.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/Sequence.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/Sequence.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/Sequence.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/__init__.py b/BTExpansionCode/EXP/历史代码/behavior_lib/_base/__init__.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/_base/__init__.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/_base/__init__.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Clean.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/Clean.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/Clean.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/Clean.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Make.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/Make.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/Make.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/Make.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/MoveTo.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/MoveTo.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/MoveTo.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/MoveTo.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/PickUp.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/PickUp.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/PickUp.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/PickUp.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/PutDown.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/PutDown.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/PutDown.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/PutDown.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Turn.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/Turn.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/act/Turn.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/Turn.py diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/__init__.py b/BTExpansionCode/EXP/历史代码/behavior_lib/act/__init__.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/obtea/__init__.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/act/__init__.py diff --git a/BTExpansionCode/EXP/behavior_lib/cond/At.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/At.py similarity index 98% rename from BTExpansionCode/EXP/behavior_lib/cond/At.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/At.py index f88f243..5d294be 100644 --- a/BTExpansionCode/EXP/behavior_lib/cond/At.py +++ b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/At.py @@ -3,7 +3,7 @@ from typing import Any from EXP.behavior_lib._base.Cond import Cond import itertools -class At(Cond): +class Near(Cond): can_be_expanded = True num_params = 2 diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/Exist.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/Exist.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/Exist.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/Exist.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/Holding.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/Holding.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/Holding.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/Holding.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/Is.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/Is.py similarity index 91% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/Is.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/Is.py index 3d58afc..ced7c1d 100644 --- a/BTExpansionCode/EXP/EXP/behavior_lib/cond/Is.py +++ b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/Is.py @@ -8,6 +8,12 @@ class Is(Cond): num_params = 2 valid_params1 = [('AC','TubeLight','HallLight','Curtain'), ('On','Off')] + + # Closed(Curtain) + # Off(TubeLight,HallLight,AC) + # Dirty(Table1,Floor,Chairs) + # Down(ACTemperature) + valid_params2 = [('Table1','Floor','Chairs'), ('Clean','Dirty')] valid_params3 = [('ACTemperature'), diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/On.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/On.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_lib/cond/On.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/On.py diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/__init__.py b/BTExpansionCode/EXP/历史代码/behavior_lib/cond/__init__.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/ptml/__init__.py rename to BTExpansionCode/EXP/历史代码/behavior_lib/cond/__init__.py diff --git a/BTExpansionCode/EXP/EXP/easy.txt b/BTExpansionCode/EXP/历史代码/easy.txt similarity index 100% rename from BTExpansionCode/EXP/EXP/easy.txt rename to BTExpansionCode/EXP/历史代码/easy.txt diff --git a/BTExpansionCode/EXP/历史代码/easy30.txt b/BTExpansionCode/EXP/历史代码/easy30.txt new file mode 100644 index 0000000..24fdd9e --- /dev/null +++ b/BTExpansionCode/EXP/历史代码/easy30.txt @@ -0,0 +1,30 @@ +On_VacuumCup_WaterTable +On_Water_Table1 +On_Yogurt_Table2 +Is_AC_On +On_BottledDrink_Table3 +On_Dessert_Bar +On_Chips_Table3 +Is_TubeLight_On +Is_Curtain_Off +Is_Table1_Clean +On_Bernachon_BrightTable6 +On_MilkDrink_Bar2 +Is_AC_Off +Is_HallLight_On +On_NFCJuice_Table2 +On_SpringWater_Table1 +Is_Floor_Clean +Is_Chairs_Clean +Is_ACTemperature_Down +On_ADMilk_CoffeeTable +On_Milk_Bar +Is_Curtain_On +Is_TubeLight_Off +On_Softdrink_Table3 +Is_Chairs_Clean +On_Dessert_Bar +Exist_Coffee +Is_ACTemperature_Up +On_Coffee_BrightTable6 +On_Water_Bar2 \ No newline at end of file diff --git a/BTExpansionCode/EXP/历史代码/easy_easy.txt b/BTExpansionCode/EXP/历史代码/easy_easy.txt new file mode 100644 index 0000000..1bb2e91 --- /dev/null +++ b/BTExpansionCode/EXP/历史代码/easy_easy.txt @@ -0,0 +1,50 @@ +On_Dessert_WaterTable +On_Water_Table1 +On_Yogurt_Table1 +Is_AC_On +On_Coffee_Table1 +On_Dessert_Bar +On_Dessert_Table1 +Is_TubeLight_On +Is_Curtain_Off +Is_Table1_Clean +On_Water_Bar +On_Dessert_Bar +Is_AC_Off +Is_HallLight_On +On_Coffee_Table1 +On_Dessert_Table1 +Is_Floor_Clean +Is_Chairs_Clean +Is_ACTemperature_Down +On_Water_CoffeeTable +On_Water_Bar +Is_Curtain_On +Is_TubeLight_Off +On_Coffee_Table1 +Is_Chairs_Clean +On_Dessert_Bar +Is_HallLight_Off +Is_ACTemperature_Up +On_Dessert_Bar +On_Water_Bar +On_Coffee_Table1 +Is_AC_On +Is_ACTemperature_Down +On_Yogurt_Table1 +On_Water_Bar +Is_TubeLight_Off +On_Coffee_WaterTable +On_Dessert_Table1 +Is_Floor_Clean +Is_Chairs_Clean +On_Coffee_Table1 +Is_ACTemperature_Up +Exist_Water +Is_ACTemperature_Down +Is_Floor_Clean +On_Water_Bar +On_Coffee_Table1 +Is_AC_Off +On_Coffee_CoffeeTable +Is_TubeLight_On \ No newline at end of file diff --git a/BTExpansionCode/EXP/合并的实验结果.xlsx b/BTExpansionCode/EXP/合并的实验结果.xlsx new file mode 100644 index 0000000..f4ba32b Binary files /dev/null and b/BTExpansionCode/EXP/合并的实验结果.xlsx differ diff --git a/BTExpansionCode/EXP/存档/BT_Test_Random最终结果.txt b/BTExpansionCode/EXP/存档/BT_Test_Random最终结果.txt new file mode 100644 index 0000000..62660c7 --- /dev/null +++ b/BTExpansionCode/EXP/存档/BT_Test_Random最终结果.txt @@ -0,0 +1,396 @@ +D:\Users\caiyi\anaconda3\python.exe C:\Users\caiyi\Desktop\BTExpansionCode\EXP\exp4_bt_random_final_obj.py + +------depth:10,obj: 100,cond_pred:10,act_pred:0,max_copy_times:0----------- +Total Time: 12.856283903121948 +Average Number of literals_obj 995.691 +Average Number of States 481.2 +Average Number of Actions 514.13 +Average Number of Act Pred 10.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 1.49 std= 0.9288502369934363 +*** Average Number of States: 6.04 3.33 +*** Average total_for_times: 4.51 2.92 +Planning Time Total: 3.8623175621032715 +*** Total Tree Size: mean= 13.91 std= 11.09 +*** Planning Time mean=: 0.0019 std= 0.0015 +*** Average Number of Ticks 23.452 std= 21.877 +*** Average Number of Cond Ticks 22.186 std= 17.09 +*** Average Cost of Execution: 60.366 std= 52.115 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 1.47 std= 0.947627562915937 +*** Average Number of States: 7.48 6.12 +*** Average total_for_times: 2.03 2.32 +Planning Time Total: 2.5372939109802246 +*** Total Tree Size: mean= 22.39 std= 20.57 +*** Planning Time mean=: 0.0013 std= 0.0018 +*** Average Number of Ticks 30.124 std= 39.519 +*** Average Number of Cond Ticks 34.063 std= 47.003 +*** Average Cost of Execution: 73.152 std= 58.726 + +------depth:10,obj: 500,cond_pred:50,act_pred:40,max_copy_times:0----------- +Total Time: 670.5148949623108 +Average Number of literals_obj 25000.0 +Average Number of States 22391.397 +Average Number of Actions 12471.024 +Average Number of Act Pred 50.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.197 std= 1.872885126936166 +*** Average Number of States: 29.1 25.14 +*** Average total_for_times: 20.36 21.59 +Planning Time Total: 1316.9097909927368 +*** Total Tree Size: mean= 87.49 std= 99.62 +*** Planning Time mean=: 0.6585 std= 0.7296 +*** Average Number of Ticks 123.439 std= 155.89 +*** Average Number of Cond Ticks 309.827 std= 344.568 +*** Average Cost of Execution: 132.391 std= 102.704 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.24 std= 1.9955907351915578 +*** Average Number of States: 39.8 54.85 +*** Average total_for_times: 13.52 25.47 +Planning Time Total: 976.968430519104 +*** Total Tree Size: mean= 130.92 std= 188.55 +*** Planning Time mean=: 0.4885 std= 0.9194 +*** Average Number of Ticks 191.874 std= 414.76 +*** Average Number of Cond Ticks 832.318 std= 1837.944 +*** Average Cost of Execution: 158.666 std= 112.74 + +------depth:10,obj: 100,cond_pred:10,act_pred:0,max_copy_times:5----------- +Total Time: 10.235475540161133 +Average Number of literals_obj 1005.192 +Average Number of States 479.194 +Average Number of Actions 535.844 +Average Number of Act Pred 10.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 1.419 std= 0.9635182236820264 +*** Average Number of States: 17.05 11.86 +*** Average total_for_times: 8.42 8.25 +Planning Time Total: 8.44165325164795 +*** Total Tree Size: mean= 22.2 std= 25.51 +*** Planning Time mean=: 0.0042 std= 0.0059 +*** Average Number of Ticks 23.958 std= 28.658 +*** Average Number of Cond Ticks 22.676 std= 21.457 +*** Average Cost of Execution: 26.817 std= 29.551 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 1.368 std= 0.9248953624229237 +*** Average Number of States: 21.06 19.45 +*** Average total_for_times: 1.77 1.96 +Planning Time Total: 3.499457359313965 +*** Total Tree Size: mean= 62.86 std= 60.17 +*** Planning Time mean=: 0.0017 std= 0.0032 +*** Average Number of Ticks 33.635 std= 61.367 +*** Average Number of Cond Ticks 40.763 std= 85.116 +*** Average Cost of Execution: 69.288 std= 60.609 + +------depth:10,obj: 100,cond_pred:50,act_pred:0,max_copy_times:5----------- +Total Time: 25.845664739608765 +Average Number of literals_obj 5027.002 +Average Number of States 508.429 +Average Number of Actions 534.615 +Average Number of Act Pred 10.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 4.692 std= 2.7456647054355843 +*** Average Number of States: 39.08 25.64 +*** Average total_for_times: 25.61 21.55 +Planning Time Total: 69.24056196212769 +*** Total Tree Size: mean= 99.54 std= 91.72 +*** Planning Time mean=: 0.0346 std= 0.0307 +*** Average Number of Ticks 183.604 std= 181.274 +*** Average Number of Cond Ticks 482.118 std= 449.124 +*** Average Cost of Execution: 118.817 std= 87.875 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 4.688 std= 2.7688124389929927 +*** Average Number of States: 50.21 47.35 +*** Average total_for_times: 8.59 8.02 +Planning Time Total: 35.59891653060913 +*** Total Tree Size: mean= 157.21 std= 149.23 +*** Planning Time mean=: 0.0178 std= 0.0185 +*** Average Number of Ticks 264.653 std= 488.67 +*** Average Number of Cond Ticks 1245.217 std= 2600.4 +*** Average Cost of Execution: 230.741 std= 147.392 + +------depth:10,obj: 100,cond_pred:50,act_pred:20,max_copy_times:5----------- +Total Time: 92.56156659126282 +Average Number of literals_obj 5050.499 +Average Number of States 2532.632 +Average Number of Actions 1547.721 +Average Number of Act Pred 30.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.842 std= 2.3703701514013913 +*** Average Number of States: 45.92 32.92 +*** Average total_for_times: 27.66 25.87 +Planning Time Total: 197.4340615272522 +*** Total Tree Size: mean= 111.75 std= 112.43 +*** Planning Time mean=: 0.0987 std= 0.0973 +*** Average Number of Ticks 170.219 std= 209.243 +*** Average Number of Cond Ticks 424.751 std= 459.897 +*** Average Cost of Execution: 99.418 std= 76.655 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.801 std= 2.4226572742070367 +*** Average Number of States: 63.25 68.89 +*** Average total_for_times: 11.29 14.56 +Planning Time Total: 105.72584390640259 +*** Total Tree Size: mean= 199.05 std= 219.5 +*** Planning Time mean=: 0.0529 std= 0.0697 +*** Average Number of Ticks 247.355 std= 455.426 +*** Average Number of Cond Ticks 1157.153 std= 2255.204 +*** Average Cost of Execution: 190.716 std= 135.267 + +------depth:10,obj: 100,cond_pred:50,act_pred:40,max_copy_times:5----------- +Total Time: 141.04880928993225 +Average Number of literals_obj 5050.55 +Average Number of States 4521.565 +Average Number of Actions 2543.009 +Average Number of Act Pred 50.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.387 std= 2.0266569365184472 +*** Average Number of States: 55.12 47.81 +*** Average total_for_times: 30.98 35.79 +Planning Time Total: 355.8022174835205 +*** Total Tree Size: mean= 128.05 std= 162.03 +*** Planning Time mean=: 0.1779 std= 0.2045 +*** Average Number of Ticks 155.563 std= 210.047 +*** Average Number of Cond Ticks 377.906 std= 468.375 +*** Average Cost of Execution: 84.248 std= 64.286 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.312 std= 2.0685586612264433 +*** Average Number of States: 79.31 110.52 +*** Average total_for_times: 14.3 27.3 +Planning Time Total: 208.01718091964722 +*** Total Tree Size: mean= 250.22 std= 356.56 +*** Planning Time mean=: 0.104 std= 0.2004 +*** Average Number of Ticks 298.533 std= 813.334 +*** Average Number of Cond Ticks 1407.388 std= 4000.89 +*** Average Cost of Execution: 166.008 std= 118.368 + +------depth:10,obj: 300,cond_pred:50,act_pred:40,max_copy_times:5----------- +Total Time: 411.79978489875793 +Average Number of literals_obj 15050.15 +Average Number of States 13530.193 +Average Number of Actions 7557.488 +Average Number of Act Pred 50.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.46 std= 2.102574807425605 +*** Average Number of States: 55.52 49.35 +*** Average total_for_times: 32.17 37.49 +Planning Time Total: 1274.3944149017334 +*** Total Tree Size: mean= 133.52 std= 165.39 +*** Planning Time mean=: 0.6372 std= 0.7677 +*** Average Number of Ticks 170.231 std= 247.74 +*** Average Number of Cond Ticks 416.495 std= 534.971 +*** Average Cost of Execution: 87.21 std= 68.368 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.403 std= 2.1696309129200517 +*** Average Number of States: 87.11 133.47 +*** Average total_for_times: 16.34 35.0 +Planning Time Total: 786.3585805892944 +*** Total Tree Size: mean= 275.66 std= 432.42 +*** Planning Time mean=: 0.3932 std= 1.149 +*** Average Number of Ticks 329.623 std= 832.882 +*** Average Number of Cond Ticks 1499.284 std= 3700.81 +*** Average Cost of Execution: 169.364 std= 122.114 + +------depth:10,obj: 500,cond_pred:50,act_pred:40,max_copy_times:5----------- +Total Time: 1320.9995789527893 +Average Number of literals_obj 25050.046 +Average Number of States 22447.018 +Average Number of Actions 12514.876 +Average Number of Act Pred 50.0 +============= OptBT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.409 std= 2.0697833227183478 +*** Average Number of States: 55.67 52.51 +*** Average total_for_times: 31.47 40.52 +Planning Time Total: 2124.244330406189 +*** Total Tree Size: mean= 130.29 std= 178.5 +*** Planning Time mean=: 1.0621 std= 1.3999 +*** Average Number of Ticks 166.945 std= 261.16 +*** Average Number of Cond Ticks 406.05 std= 563.442 +*** Average Cost of Execution: 84.226 std= 63.999 +============= XiaoCai BT Test ============== +0 +100 +200 +300 +400 +500 +600 +700 +800 +900 +success: 1000 failure: 0 +Total Steps Num: mean= 3.271 std= 2.082761843537781 +*** Average Number of States: 82.34 119.12 +*** Average total_for_times: 14.44 27.04 +Planning Time Total: 1110.9286274909973 +*** Total Tree Size: mean= 259.46 std= 381.1 +*** Planning Time mean=: 0.5555 std= 1.0462 +*** Average Number of Ticks 288.565 std= 723.487 +*** Average Number of Cond Ticks 1363.752 std= 3891.492 +*** Average Cost of Execution: 160.985 std= 112.137 +CSV文件已生成: bt_result_1logic=20240116 010035.csv + +Process finished with exit code 0 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240119 233656.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240119 233656.csv new file mode 100644 index 0000000..7d0dee5 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240119 233656.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,wm_cond_tick_avg,wm_cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,10.0,0,995.443,475.506,509.51,OBTEA,12.31,13.984,26.143,27.594,33.139,41.268,23.79,20.281,58.529,51.765,1.537,0.966,4.736,4.608,0.00173,0.0021,3.45078 +1,10,100,10,10.0,0,995.443,475.506,509.51,Baseline,20.696,17.992,27.41,35.819,0.0,0.0,31.709,43.635,71.257,57.406,1.416,0.927,6.972,5.332,0.00113,0.00154,2.26051 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240119 233820.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240119 233820.csv new file mode 100644 index 0000000..01b665f --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240119 233820.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,wm_cond_tick_avg,wm_cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,10.0,5,995.058,466.107,527.256,OBTEA,22.278,60.384,34.341,68.761,54.706,146.318,28.532,45.897,26.114,30.608,1.545,1.09,8.094,20.095,0.00354,0.00934,7.08359 +1,10,100,10,10.0,5,995.058,466.107,527.256,Baseline,67.184,69.378,43.039,122.137,0.0,0.0,54.019,183.587,71.657,62.511,1.425,1.026,22.449,22.362,0.00206,0.00388,4.11293 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=40_MAE=0_time=20240119 233957.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=40_MAE=0_time=20240119 233957.csv new file mode 100644 index 0000000..339de1d --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=10_ap=40_MAE=0_time=20240119 233957.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,wm_cond_tick_avg,wm_cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,50.0,0,1000.0,4046.512,2495.861,OBTEA,15.286,22.936,25.573,30.389,33.828,42.204,22.724,18.911,26.759,24.082,1.356,0.837,5.79,7.629,0.0095,0.0144,18.99628 +1,10,100,10,50.0,0,1000.0,4046.512,2495.861,Baseline,33.241,25.208,20.27,22.877,0.0,0.0,25.723,30.478,51.987,40.115,1.043,0.531,11.406,8.101,0.00285,0.00257,5.70529 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240119 234407.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240119 234407.csv new file mode 100644 index 0000000..2602332 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240119 234407.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,wm_cond_tick_avg,wm_cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,30,10.0,5,2984.408,501.032,530.427,OBTEA,119.272,260.689,255.085,644.196,1005.143,2675.198,358.189,729.263,81.124,69.029,3.376,2.191,40.222,86.819,0.03809,0.11606,76.17118 +1,10,100,30,10.0,5,2984.408,501.032,530.427,Baseline,136.216,150.261,194.605,487.731,0.0,0.0,597.145,1580.933,170.94,124.32,3.335,2.211,43.98,48.066,0.01181,0.01555,23.62331 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240119 235308.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240119 235308.csv new file mode 100644 index 0000000..7e3d5e9 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240119 235308.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,10.0,5,4974.567,497.667,524.377,OBTEA,215.582,491.814,524.244,1074.8,3578.785,11082.59,1210.47,2839.249,124.774,89.377,4.905,2.725,72.282,163.831,0.09836,0.27508,196.72037 +1,10,100,50,10.0,5,4974.567,497.667,524.377,Baseline,168.637,186.835,311.551,947.616,0.0,0.0,1581.167,7435.79,241.424,148.259,4.885,2.752,53.841,59.581,0.01889,0.02333,37.77051 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240120 000026.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240120 000026.csv new file mode 100644 index 0000000..04fdd78 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240120 000026.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,30.0,5,4999.999,2495.997,1527.44,OBTEA,212.306,450.676,471.399,1225.393,3111.278,8152.979,1147.938,3147.285,97.673,79.408,3.973,2.446,71.21,150.119,0.25081,0.57204,501.62113 +1,10,100,50,30.0,5,4999.999,2495.997,1527.44,Baseline,202.099,240.551,288.256,661.414,0.0,0.0,1391.884,3429.381,189.436,136.676,3.856,2.464,64.124,75.363,0.05447,0.07685,108.94856 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240120 001636.csv b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240120 001636.csv new file mode 100644 index 0000000..d9dcabd --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240120 001636.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,50.0,5,5000.0,4501.615,2531.486,OBTEA,253.274,572.731,409.349,916.217,2848.044,6624.733,971.793,2263.808,85.078,68.663,3.476,2.107,84.902,190.782,0.53075,1.29702,1061.49027 +1,10,100,50,50.0,5,5000.0,4501.615,2531.486,Baseline,254.321,442.356,318.881,994.072,0.0,0.0,1584.397,5523.477,169.383,124.202,3.311,2.154,80.446,137.838,0.11474,0.2622,229.48594 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240120 005413.csv b/BTExpansionCode/EXP/存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240120 005413.csv new file mode 100644 index 0000000..7563f30 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240120 005413.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,300,50,50.0,5,15000.0,13550.712,7560.888,OBTEA,220.091,466.459,382.831,847.677,2577.159,6096.284,892.785,2057.554,82.546,67.431,3.516,2.101,73.819,155.384,1.39165,2.91666,2783.29841 +1,10,300,50,50.0,5,15000.0,13550.712,7560.888,Baseline,242.892,346.826,276.286,627.216,0.0,0.0,1302.383,3431.004,164.248,115.986,3.342,2.122,77.08,108.217,0.29424,0.52104,588.47473 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240120 094631.csv b/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240120 094631.csv new file mode 100644 index 0000000..afba4a5 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240120 094631.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,500,50,50.0,0,25000.0,22468.606,12508.215,OBTEA,138.671,375.238,256.952,718.832,1779.607,6131.406,632.341,1979.175,137.008,105.888,3.375,2.009,46.725,124.978,1.49484,4.30037,2989.67735 +1,10,500,50,50.0,0,25000.0,22468.606,12508.215,Baseline,150.773,271.038,212.982,452.205,0.0,0.0,950.391,2086.918,164.186,116.935,3.376,2.147,45.514,78.291,0.57073,1.3914,1141.46558 diff --git a/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240120 020115.csv b/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240120 020115.csv new file mode 100644 index 0000000..94189a1 --- /dev/null +++ b/BTExpansionCode/EXP/存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240120 020115.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,500,50,50.0,5,25000.0,22427.877,12514.209,OBTEA,226.104,482.321,393.348,915.23,2581.188,5635.137,909.768,2121.53,82.705,64.161,3.527,2.076,75.822,160.656,2.43283,5.09943,4865.66153 +1,10,500,50,50.0,5,25000.0,22427.877,12514.209,Baseline,250.694,351.381,306.653,847.463,0.0,0.0,1436.642,4042.081,165.935,119.651,3.321,2.106,79.464,109.247,0.51949,0.9819,1038.98435 diff --git a/BTExpansionCode/EXP/存档/bt_result_1logic=20240116 184831.xlsx b/BTExpansionCode/EXP/存档/bt_result_1logic=20240116 184831.xlsx new file mode 100644 index 0000000..c959210 Binary files /dev/null and b/BTExpansionCode/EXP/存档/bt_result_1logic=20240116 184831.xlsx differ diff --git a/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=iters=100,500,1000.csv b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=iters=100,500,1000.csv new file mode 100644 index 0000000..0a9dabb --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=iters=100,500,1000.csv @@ -0,0 +1,7 @@ +,depth,obj_num,iters,act_pred_num,literals_num,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,100,110.0,100,506.46,OBTEA,52.91,33.464,199.9,134.183,337.43,170.297,6.65,3.02,13.33,8.193,12.19,7.397,0.02408,0.01429,4.81638 +1,10,100,100,110.0,100,506.46,Baseline,56.38,45.184,263.39,229.826,340.05,169.823,6.67,3.022,15.92,12.81,10.62,7.102,0.02366,0.015,4.73163 +2,10,100,500,510.0,100,510.1,OBTEA,54.98,25.026,200.22,111.842,334.09,154.095,6.73,2.788,13.42,5.369,12.57,5.284,0.02579,0.01238,5.15774 +3,10,100,500,510.0,100,510.1,Baseline,56.42,29.923,268.28,192.53,337.92,152.429,6.77,2.77,15.94,8.273,10.6,5.494,0.02436,0.01362,4.8715 +4,10,100,1000,1010.0,100,506.11,OBTEA,51.24,27.88,190.05,116.556,321.02,166.461,6.43,2.9,12.82,6.18,11.81,5.927,0.02279,0.01078,4.55754 +5,10,100,1000,1010.0,100,506.11,Baseline,52.93,37.801,248.04,222.79,322.55,164.672,6.44,2.893,14.98,10.707,9.99,5.959,0.02188,0.01152,4.37541 diff --git a/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000.csv b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000.csv new file mode 100644 index 0000000..209f217 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000.csv @@ -0,0 +1,7 @@ +,depth,obj_num,iters,act_pred_num,literals_num,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,20,100,484.55,OBTEA,56.5,28.543,217.37,133.339,349.44,169.583,7.06,2.984,13.86,6.253,12.75,6.044,0.02469,0.01349,4.93832 +1,10,100,10,20,100,484.55,Baseline,59.02,37.976,295.33,236.541,350.72,168.484,7.06,2.984,16.6,10.578,11.22,6.497,0.02411,0.01541,4.82172 +0,10,100,10,20,500,500.51,OBTEA,56.34,14.567,261.72,78.347,453.68,136.791,8.94,1.994,12.22,2.982,11.98,3.036,0.12129,0.04264,24.25857 +1,10,100,10,20,500,500.51,Baseline,47.3,16.109,309.63,115.297,453.86,136.424,8.94,1.994,12.89,4.467,10.63,2.962,0.11631,0.04086,23.26181 +2,10,100,10,20,1000,501.37,OBTEA,57.71,14.809,280.1,72.331,508.7,114.746,9.58,1.304,12.11,3.435,11.96,3.225,0.31225,0.1081,62.4491 +3,10,100,10,20,1000,501.37,Baseline,46.5,16.867,324.11,72.36,508.7,114.746,9.58,1.304,12.6,4.716,10.7,2.784,0.30349,0.10741,60.69781 diff --git a/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000_itera=100.csv b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000_itera=100.csv new file mode 100644 index 0000000..e9dfabf --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic=literals_num=100,500,1000_itera=100.csv @@ -0,0 +1,7 @@ +,depth,obj_num,iters,act_pred_num,literals_num,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,100,110.0,100,506.46,OBTEA,52.91,33.464,199.9,134.183,337.43,170.297,6.65,3.02,13.33,8.193,12.19,7.397,0.0247,0.01469,4.9395 +1,10,100,100,110.0,100,506.46,Baseline,56.38,45.184,263.39,229.826,340.05,169.823,6.67,3.022,15.92,12.81,10.62,7.102,0.02428,0.01536,4.85583 +2,10,100,100,110.0,500,515.36,OBTEA,56.51,13.286,269.96,80.836,472.62,124.798,9.12,1.805,12.23,2.905,12.0,2.877,0.13157,0.04856,26.31415 +3,10,100,100,110.0,500,515.36,Baseline,46.88,14.692,314.56,92.109,472.72,124.572,9.12,1.805,12.71,4.041,10.75,2.747,0.12989,0.04927,25.97848 +4,10,100,100,110.0,1000,493.25,OBTEA,56.59,13.971,282.74,64.007,503.09,96.567,9.72,1.026,12.0,2.983,11.83,3.023,0.29613,0.11419,59.2267 +5,10,100,100,110.0,1000,493.25,Baseline,46.24,17.806,346.12,154.101,503.09,96.567,9.72,1.026,12.5,4.971,10.74,2.938,0.28512,0.11034,57.02343 diff --git a/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic_obj=10,50,100,500,1000.csv b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic_obj=10,50,100,500,1000.csv new file mode 100644 index 0000000..fa38948 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/aaa_bt_result_1logic_obj=10,50,100,500,1000.csv @@ -0,0 +1,11 @@ +,depth,obj_num,iters,act_pred_num,literals_num,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,20,10,55.66,OBTEA,13.38,11.379,23.62,21.659,67.84,55.285,1.5,0.948,5.85,3.26,4.46,3.064,0.00056,0.00062,0.11203 +1,10,10,10,20,10,55.66,Baseline,23.14,23.253,30.81,36.628,77.72,63.862,1.51,0.98,7.7,6.865,2.13,2.579,0.00049,0.001,0.09802 +2,10,50,10,20,10,253.03,OBTEA,11.07,7.248,17.88,12.064,49.51,33.419,1.3,0.644,5.38,2.537,3.85,1.977,0.00093,0.00068,0.18604 +3,10,50,10,20,10,253.03,Baseline,17.03,10.699,18.93,13.021,61.32,41.964,1.27,0.633,5.9,3.273,1.39,0.926,0.00049,0.00057,0.09802 +4,10,100,10,20,10,519.63,OBTEA,12.14,9.251,21.74,19.592,56.69,50.04,1.41,0.954,5.71,2.858,4,2.55,0.00184,0.00135,0.36758 +5,10,100,10,20,10,519.63,Baseline,20.34,18.563,28.47,34.399,71.29,55.748,1.39,0.942,6.84,5.34,1.94,2.461,0.00127,0.002,0.25313 +6,10,500,10,20,10,2578.1,OBTEA,11.98,9.66,20.62,20.569,54.73,43.921,1.36,0.835,5.69,3.139,4.14,2.771,0.00775,0.00669,1.55055 +7,10,500,10,20,10,2578.1,Baseline,21.13,20.639,27.11,44.414,67.76,52.045,1.32,0.815,7.14,6.107,1.79,2.325,0.00504,0.00819,1.00823 +8,10,1000,10,20,10,4863.08,OBTEA,12.63,12.449,22.41,28.457,58.14,49.571,1.48,1.039,5.68,3.358,4.27,3.104,0.01456,0.01279,2.91263 +9,10,1000,10,20,10,4863.08,Baseline,21.13,19.137,30.16,44.592,75.04,57.582,1.48,1.096,7.09,5.606,1.93,2.342,0.009,0.01016,1.79965 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240116 010035 最终实验结果.csv b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240116 010035 最终实验结果.csv new file mode 100644 index 0000000..23ae807 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240116 010035 最终实验结果.csv @@ -0,0 +1,17 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,10.0,0,995.691,481.2,514.13,OBTEA,13.907,11.094,23.452,21.877,22.186,17.09,60.366,52.115,1.49,0.929,6.042,3.328,4.511,2.922,0.00193,0.00153,3.86232 +1,10,100,10,10.0,0,995.691,481.2,514.13,Baseline,22.386,20.572,30.124,39.519,34.063,47.003,73.152,58.726,1.47,0.948,7.477,6.125,2.03,2.324,0.00127,0.0018,2.53729 +2,10,500,50,50.0,0,25000.0,22391.397,12471.024,OBTEA,87.49,99.624,123.439,155.89,309.827,344.568,132.391,102.704,3.197,1.873,29.103,25.136,20.361,21.591,0.65845,0.72965,1316.90979 +3,10,500,50,50.0,0,25000.0,22391.397,12471.024,Baseline,130.919,188.551,191.874,414.76,832.318,1837.944,158.666,112.74,3.24,1.996,39.799,54.846,13.525,25.474,0.48848,0.9194,976.96843 +4,10,100,10,10.0,5,1005.192,479.194,535.844,OBTEA,22.196,25.511,23.958,28.658,22.676,21.457,26.817,29.551,1.419,0.964,17.054,11.864,8.417,8.254,0.00422,0.0059,8.44165 +5,10,100,10,10.0,5,1005.192,479.194,535.844,Baseline,62.856,60.165,33.635,61.367,40.763,85.116,69.288,60.609,1.368,0.925,21.065,19.451,1.769,1.965,0.00175,0.00317,3.49946 +6,10,100,50,10.0,5,5027.002,508.429,534.615,OBTEA,99.535,91.722,183.604,181.274,482.118,449.124,118.817,87.875,4.692,2.746,39.077,25.635,25.614,21.555,0.03462,0.03066,69.24056 +7,10,100,50,10.0,5,5027.002,508.429,534.615,Baseline,157.205,149.231,264.653,488.67,1245.217,2600.4,230.741,147.392,4.688,2.769,50.207,47.355,8.591,8.023,0.0178,0.01849,35.59892 +8,10,100,50,30.0,5,5050.499,2532.632,1547.721,OBTEA,111.75,112.426,170.219,209.243,424.751,459.897,99.418,76.655,3.842,2.37,45.918,32.924,27.661,25.868,0.09872,0.09728,197.43406 +9,10,100,50,30.0,5,5050.499,2532.632,1547.721,Baseline,199.047,219.501,247.355,455.426,1157.153,2255.204,190.716,135.267,3.801,2.423,63.254,68.887,11.29,14.564,0.05286,0.06974,105.72584 +10,10,100,50,50.0,5,5050.55,4521.565,2543.009,OBTEA,128.05,162.03,155.563,210.047,377.906,468.375,84.248,64.286,3.387,2.027,55.12,47.811,30.977,35.793,0.1779,0.20445,355.80222 +11,10,100,50,50.0,5,5050.55,4521.565,2543.009,Baseline,250.224,356.56,298.533,813.334,1407.388,4000.89,166.008,118.368,3.312,2.069,79.311,110.524,14.295,27.301,0.10401,0.2004,208.01718 +12,10,300,50,50.0,5,15050.15,13530.193,7557.488,OBTEA,133.516,165.387,170.231,247.74,416.495,534.971,87.21,68.368,3.46,2.103,55.519,49.353,32.172,37.492,0.6372,0.76771,1274.39441 +13,10,300,50,50.0,5,15050.15,13530.193,7557.488,Baseline,275.659,432.423,329.623,832.882,1499.284,3700.81,169.364,122.114,3.403,2.17,87.107,133.467,16.342,35.003,0.39318,1.14902,786.35858 +14,10,500,50,50.0,5,25050.046,22447.018,12514.876,OBTEA,130.293,178.5,166.945,261.16,406.05,563.442,84.226,63.999,3.409,2.07,55.674,52.515,31.47,40.524,1.06212,1.39991,2124.24433 +15,10,500,50,50.0,5,25050.046,22447.018,12514.876,Baseline,259.46,381.102,288.565,723.487,1363.752,3891.492,160.985,112.137,3.271,2.083,82.342,119.125,14.438,27.037,0.55546,1.04618,1110.92863 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 031246.csv b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 031246.csv new file mode 100644 index 0000000..daffca6 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 031246.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,ticks_avg,wm_cond_ticks,cond_tick_avg,cost_avg,step_avg,expand_num_avg,plan_time_avg,plan_time_total +0,10,100,30,10.0,5,2984.408,501.032,530.427,OBTEA,0.0,254.293,1005.143,358.191,81.124,3.376,40.222,0.03837,76.73045 +1,10,100,30,10.0,5,2984.408,501.032,530.427,Baseline,136.216,194.605,0.0,597.145,170.94,3.335,43.98,0.01037,20.73758 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 032404.csv b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 032404.csv new file mode 100644 index 0000000..419d99a --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 032404.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,ticks_avg,wm_cond_ticks,cond_tick_avg,cost_avg,step_avg,expand_num_avg,plan_time_avg,plan_time_total +0,10,100,50,30.0,5,4999.999,2495.997,1527.44,OBTEA,0.0,471.399,3111.278,1147.938,97.673,3.973,71.21,0.26241,524.81699 +1,10,100,50,30.0,5,4999.999,2495.997,1527.44,Baseline,202.099,288.256,0.0,1391.884,189.436,3.856,64.124,0.0561,112.1911 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 035258.csv b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 035258.csv new file mode 100644 index 0000000..052db83 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 035258.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,ticks_avg,wm_cond_ticks,cond_tick_avg,cost_avg,step_avg,expand_num_avg,plan_time_avg,plan_time_total +0,10,100,50,50.0,5,5000.0,4501.615,2531.486,OBTEA,0.0,409.349,2848.044,971.793,85.078,3.476,84.902,0.5122,1024.4055 +1,10,100,50,50.0,5,5000.0,4501.615,2531.486,Baseline,254.321,318.881,0.0,1584.397,169.383,3.311,80.446,0.11533,230.66654 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 054033.csv b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 054033.csv new file mode 100644 index 0000000..96d3543 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_1logic=20240117 054033.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,ticks_avg,wm_cond_ticks,cond_tick_avg,cost_avg,step_avg,expand_num_avg,plan_time_avg,plan_time_total +0,10,300,50,50.0,5,15000.0,13550.712,7560.888,OBTEA,0.0,382.831,2577.159,892.785,82.546,3.516,73.819,1.4929,2985.8033 +1,10,300,50,50.0,5,15000.0,13550.712,7560.888,Baseline,242.892,276.286,0.0,1302.383,164.248,3.342,77.08,0.31524,630.481 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 205903.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 205903.csv new file mode 100644 index 0000000..aeb5a3b --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 205903.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,5,14.781,60.119,OBTEA,25.78,30.894,18.811,16.876,9.425,14.473,30.48,12.81,9.317,10.209,0.0013,0.00167,2.60483 +1,5,10,10,5,14.781,60.119,Baseline,89.858,65.106,33.07,45.783,47.952,36.468,30.287,21.421,1.075,0.761,0.00058,0.00458,1.16435 +2,5,10,10,10,19.195,79.746,OBTEA,28.904,34.78,19.522,16.07,6.934,12.431,37.876,13.468,10.268,11.275,0.00165,0.00201,3.29303 +3,5,10,10,10,19.195,79.746,Baseline,112.457,65.239,33.882,47.821,47.579,37.972,37.831,21.506,1.045,0.617,0.00049,0.00166,0.9739 +4,5,10,10,100,89.619,440.283,OBTEA,33.963,74.456,16.951,15.316,1.018,2.415,165.437,35.144,11.954,23.128,0.00698,0.01422,13.95314 +5,5,10,10,100,89.619,440.283,Baseline,511.59,184.792,38.436,49.999,38.87,31.991,170.924,61.395,0.91,0.293,0.00202,0.02795,4.04911 +6,5,10,10,300,215.757,1239.484,OBTEA,33.12,97.075,16.858,13.042,0.896,0.305,456.406,100.331,11.917,29.666,0.01697,0.04293,33.94089 +7,5,10,10,300,215.757,1239.484,Baseline,1415.242,528.681,36.966,46.202,42.214,33.781,472.15,175.953,0.896,0.305,0.00476,0.06715,9.52267 +8,10,10,10,175,140.541,1202.739,OBTEA,37.43,119.233,16.955,12.277,0.908,0.289,467.967,90.026,13.139,35.371,0.02178,0.08039,43.56444 +9,10,10,10,175,140.541,1202.739,Baseline,1453.471,513.96,55.59,93.133,40.666,31.941,484.885,171.061,0.908,0.289,0.00471,0.06801,9.41596 +10,20,10,10,105,92.877,1319.982,OBTEA,56.198,219.836,17.857,14.787,0.931,0.398,531.813,106.506,18.79,65.109,0.04091,0.16146,81.82922 +11,20,10,10,105,92.877,1319.982,Baseline,1665.347,567.222,83.411,126.219,42.292,32.202,555.505,188.815,0.916,0.277,0.00514,0.0702,10.27219 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 210739.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 210739.csv new file mode 100644 index 0000000..ad802bb --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 210739.csv @@ -0,0 +1,5 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,150,123.995,1041.123,OBTEA,40.923,136.726,16.315,11.098,0.896,0.305,402.721,80.239,14.345,42.513,0.01923,0.0637,38.46483 +1,10,10,10,150,123.995,1041.123,Baseline,1242.403,464.158,53.562,80.128,40.276,32.899,414.537,154.456,0.896,0.305,0.00565,0.07639,11.30654 +2,20,10,10,100,89.297,1265.259,OBTEA,47.8,186.404,16.679,12.148,0.907,0.304,507.45,105.987,16.25,55.836,0.03256,0.13831,65.12608 +3,20,10,10,100,89.297,1265.259,Baseline,1577.671,572.464,83.062,138.667,41.907,32.073,526.288,190.547,0.904,0.298,0.0049,0.06794,9.79571 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 211702.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 211702.csv new file mode 100644 index 0000000..bb35bc8 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 211702.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,5,16.0,60.37,OBTEA,192.37,464.13,340.04,765.017,55.32,45.264,176.61,259.423,62.62,151.451,0.03581,0.11776,7.16143 +1,5,100,10,5,16.0,60.37,Baseline,1336.0,3986.159,1297.8,4679.956,139.03,84.927,424.92,1238.488,63.25,263.798,0.60292,4.51587,120.58452 +2,5,100,10,10,20.98,80.43,OBTEA,118.96,147.901,177.61,221.207,39.59,28.301,162.09,163.548,38.28,43.65,0.02025,0.02667,4.04922 +3,5,100,10,10,20.98,80.43,Baseline,641.19,990.364,497.71,896.546,121.75,67.926,209.23,319.635,15.5,27.371,0.05866,0.11637,11.73121 +4,5,100,10,100,110.9,441.92,OBTEA,212.75,404.268,127.54,135.13,9.1,15.028,295.15,197.925,62.63,99.758,0.15905,0.35408,31.81017 +5,5,100,10,100,110.9,441.92,Baseline,765.56,977.665,500.27,935.306,74.46,55.548,254.64,322.528,3.64,5.458,0.08211,0.40274,16.42153 +6,5,100,10,300,310.65,1240.19,OBTEA,239.26,376.54,126.24,153.742,5.76,11.64,466.69,277.37,68.67,91.922,0.47715,0.70506,95.4308 +7,5,100,10,300,310.65,1240.19,Baseline,999.94,780.239,386.3,559.575,57.0,52.333,333.38,258.345,1.8,1.4,0.03552,0.09447,7.10486 +8,10,100,10,175,185.7,1197.48,OBTEA,297.55,383.537,163.99,222.833,8.3,15.154,534.91,327.541,86.86,103.87,0.61265,0.83835,122.53019 +9,10,100,10,175,185.7,1197.48,Baseline,1384.65,1532.65,694.61,1392.038,69.22,56.113,461.38,507.365,2.52,2.961,0.09119,0.26431,18.23716 +10,20,100,10,100,110.92,1275.44,OBTEA,235.21,411.09,145.21,208.209,5.87,9.232,733.25,496.723,70.15,103.307,0.68617,1.32931,137.23381 +11,20,100,10,100,110.92,1275.44,Baseline,1703.22,2145.235,876.11,2092.965,74.93,52.035,567.48,710.116,2.78,4.244,0.1523,0.72862,30.45985 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213306.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213306.csv new file mode 100644 index 0000000..1e2a4c1 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213306.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,5,15.99,59.15,OBTEA,113.77,125.846,425.88,596.185,121.82,84.872,58.92,44.217,37.94,41.707,0.01345,0.01669,2.69051 +1,5,100,10,5,15.99,59.15,Baseline,238.84,272.075,355.96,447.702,290.56,184.734,76.21,86.102,12.21,13.036,0.01391,0.02135,2.78175 +2,5,100,10,10,20.99,80.02,OBTEA,100.07,111.853,316.02,385.532,80.44,84.212,72.47,59.371,33.61,37.015,0.01388,0.01663,2.7766 +3,5,100,10,10,20.99,80.02,Baseline,302.73,291.194,435.05,643.403,214.42,166.321,97.42,93.15,12.47,11.711,0.02045,0.02438,4.09025 +4,5,100,10,100,110.92,442.49,OBTEA,254.52,373.524,242.62,389.569,7.74,15.864,434.29,482.555,73.85,104.472,0.14472,0.24664,28.94305 +5,5,100,10,100,110.92,442.49,Baseline,1297.71,2129.852,898.66,2029.721,74.85,79.099,428.59,697.943,13.94,26.673,0.15962,0.42788,31.92336 +6,5,100,10,300,310.64,1237.25,OBTEA,166.39,211.268,130.7,141.1,2.25,4.457,507.85,462.918,51.13,55.323,0.26191,0.33252,52.38154 +7,5,100,10,300,310.64,1237.25,Baseline,1186.42,1454.871,678.91,999.143,33.77,46.487,394.63,480.53,4.53,6.488,0.11359,0.30556,22.71848 +8,10,100,10,175,185.82,1202.02,OBTEA,240.53,374.259,135.13,162.988,3.03,5.564,715.07,681.911,67.65,91.026,0.32674,0.47665,65.34892 +9,10,100,10,175,185.82,1202.02,Baseline,1406.85,1600.226,827.53,1351.746,46.75,52.348,467.98,528.962,4.91,5.726,0.10861,0.23792,21.7218 +10,20,100,10,100,110.88,1274.82,OBTEA,434.14,1554.239,196.44,219.106,3.65,5.616,1118.18,981.499,112.6,343.09,0.71546,2.81868,143.09115 +11,20,100,10,100,110.88,1274.82,Baseline,2530.27,3159.545,1494.34,2388.172,63.59,54.352,841.21,1043.561,8.64,14.341,0.23645,0.54111,47.28977 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213553.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213553.csv new file mode 100644 index 0000000..3c193c2 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 213553.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,5,14.65,59.93,OBTEA,28.89,31.178,24.61,27.037,10.46,14.058,26.56,12.46,10.7,10.736,0.0015,0.00165,0.29918 +1,5,10,10,5,14.65,59.93,Baseline,87.83,71.542,39.67,50.777,56.96,46.799,29.49,23.292,1.46,1.307,0.00092,0.00267,0.18404 +2,5,10,10,10,19.19,80.25,OBTEA,23.55,31.72,16.42,11.231,5.23,11.451,29.56,12.671,8.41,9.794,0.00128,0.00173,0.25606 +3,5,10,10,10,19.19,80.25,Baseline,85.23,49.555,29.91,31.374,43.42,38.856,28.75,16.214,1.08,0.643,0.00036,0.00073,0.07202 +4,5,10,10,100,89.7,439.72,OBTEA,44.05,80.907,15.93,10.589,0.94,0.278,107.36,34.499,14.87,25.7,0.00687,0.01154,1.37452 +5,5,10,10,100,89.7,439.72,Baseline,346.41,150.44,43.18,51.709,31.96,34.278,115.85,49.788,0.93,0.255,0.00085,0.00046,0.17004 +6,5,10,10,300,216.67,1236.97,OBTEA,33.2,99.028,16.4,10.348,0.91,0.288,282.56,95.147,11.86,31.036,0.01759,0.05494,3.51813 +7,5,10,10,300,216.67,1236.97,Baseline,868.82,385.782,45.68,54.55,25.99,29.801,290.0,127.814,0.91,0.286,0.00204,0.00078,0.40711 +8,10,10,10,180,143.11,1229.87,OBTEA,45.76,144.515,16.47,11.91,0.93,0.256,302.4,101.193,15.99,45.809,0.02193,0.07299,4.38653 +9,10,10,10,180,143.11,1229.87,Baseline,1001.73,436.839,69.97,79.528,27.67,34.459,334.29,144.776,0.93,0.255,0.00396,0.01912,0.79219 +10,20,10,10,100,89.97,1274.46,OBTEA,97.4,260.396,15.66,11.135,0.88,0.327,322.56,111.412,33.15,85.898,0.04665,0.12776,9.33028 +11,20,10,10,100,89.97,1274.46,Baseline,973.67,509.199,90.14,130.34,29.82,33.093,324.97,168.729,0.88,0.325,0.00195,0.00091,0.39009 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 215755.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 215755.csv new file mode 100644 index 0000000..420dd93 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 215755.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,44.68,85.937,17.32,18.083,0.89,0.373,112.21,35.746,15.12,26.643,0.00792,0.01478,1.5842 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00079,0.00053,0.15804 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220122.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220122.csv new file mode 100644 index 0000000..61ee4e2 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220122.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,83.0,446.0,OBTEA,5.0,,11.0,,1.0,,163.0,0.0,2.0,0.0,0.001,0.0,0.002 +1,5,10,10,100,83.0,446.0,Baseline,539.0,,11.0,,84.0,,180.0,0.0,1.0,0.0,0.001,0.0,0.002 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220644.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220644.csv new file mode 100644 index 0000000..61ee4e2 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220644.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,83.0,446.0,OBTEA,5.0,,11.0,,1.0,,163.0,0.0,2.0,0.0,0.001,0.0,0.002 +1,5,10,10,100,83.0,446.0,Baseline,539.0,,11.0,,84.0,,180.0,0.0,1.0,0.0,0.001,0.0,0.002 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220732.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220732.csv new file mode 100644 index 0000000..61ee4e2 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220732.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,83.0,446.0,OBTEA,5.0,,11.0,,1.0,,163.0,0.0,2.0,0.0,0.001,0.0,0.002 +1,5,10,10,100,83.0,446.0,Baseline,539.0,,11.0,,84.0,,180.0,0.0,1.0,0.0,0.001,0.0,0.002 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220801.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220801.csv new file mode 100644 index 0000000..2216970 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 220801.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,44.68,85.937,17.32,18.083,0.89,0.373,112.21,35.746,15.12,26.643,0.00757,0.01391,1.51324 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00076,0.00055,0.15203 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221148.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221148.csv new file mode 100644 index 0000000..2ce0e8a --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221148.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,46.68,86.782,15.79,13.673,0.89,0.373,96.29,46.909,14.7,26.71,0.00721,0.01367,1.44103 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00077,0.00051,0.15404 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221237.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221237.csv new file mode 100644 index 0000000..4e99934 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221237.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,46.68,86.782,15.79,13.673,0.89,0.373,96.29,46.909,14.57,26.779,0.00923,0.01791,1.84665 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00077,0.00051,0.15404 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221317.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221317.csv new file mode 100644 index 0000000..14b415c --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 221317.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,46.68,86.782,15.79,13.673,0.89,0.373,96.29,46.909,14.57,26.779,0.00723,0.01359,1.44541 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00075,0.00059,0.15004 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222212.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222212.csv new file mode 100644 index 0000000..2f3335e --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222212.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.67,439.38,OBTEA,46.68,86.782,15.79,13.673,0.89,0.373,96.29,46.909,14.57,26.779,0.00727,0.01379,1.45457 +1,5,10,10,100,89.67,439.38,Baseline,316.65,166.068,38.95,45.397,26.37,30.432,105.97,54.913,0.87,0.336,0.00078,0.00058,0.15603 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222659.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222659.csv new file mode 100644 index 0000000..b28a0f6 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222659.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.56,139.65,OBTEA,21.13,21.725,15.09,10.383,0.9,0.333,32.56,15.323,6.76,6.898,0.00142,0.0016,0.28407 +1,5,10,10,100,89.56,139.65,Baseline,106.0,55.233,29.67,23.883,29.7,34.641,35.74,18.178,0.89,0.313,0.00054,0.0024,0.10802 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222741.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222741.csv new file mode 100644 index 0000000..7c63616 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222741.csv @@ -0,0 +1,3 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,100,89.56,139.65,OBTEA,21.13,21.725,15.09,10.383,0.9,0.333,32.56,15.323,6.76,6.898,0.00142,0.00164,0.28407 +1,5,10,10,100,89.56,139.65,Baseline,106.0,55.233,29.67,23.883,29.7,34.641,35.74,18.178,0.89,0.313,0.00052,0.0026,0.10402 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222844.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222844.csv new file mode 100644 index 0000000..abd2f2e --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 222844.csv @@ -0,0 +1,22 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,expand_num_avg,plan_time_avg,plan_time_std +0,5,10,10,5,14.84,45.19,OBTEA,21.19,27.278,20.93,25.838,12.07,19.39,7.65,0.00091,0.00118 +1,5,10,10,5,14.84,45.19,Baseline,65.3,63.656,44.52,74.407,56.57,55.755,1.49,0.00075,0.00197 +2,5,10,10,10,19.25,49.35,OBTEA,20.64,23.778,17.68,15.646,6.69,14.668,7.5,0.00114,0.00217 +3,5,10,10,10,19.25,49.35,Baseline,65.56,55.64,42.46,61.197,46.02,44.352,1.36,0.00067,0.00234 +4,5,10,10,100,89.45,139.81,OBTEA,28.13,31.548,14.05,8.455,1.15,2.222,8.76,0.00187,0.00218 +5,5,10,10,100,89.45,139.81,Baseline,114.51,51.081,30.79,22.233,26.67,32.438,0.93,0.00029,0.00045 +6,5,10,10,300,216.09,339.4,OBTEA,30.03,37.615,15.63,9.482,0.95,0.219,9.66,0.00442,0.00742 +7,5,10,10,300,216.09,339.4,Baseline,280.03,103.29,31.77,22.278,31.89,34.425,0.95,0.00074,0.00058 +8,10,10,10,180,143.94,245.19,OBTEA,28.43,35.399,15.84,10.417,0.93,0.256,8.74,0.00315,0.00461 +9,10,10,10,180,143.94,245.19,Baseline,207.27,89.278,45.46,41.802,33.11,34.916,0.93,0.00054,0.00055 +10,20,10,10,100,89.64,213.97,OBTEA,31.3,42.891,14.7,8.368,0.95,0.33,10.9,0.00351,0.00561 +11,20,10,10,100,89.64,213.97,Baseline,191.34,86.494,66.58,60.914,34.4,34.1,0.93,0.00049,0.0005 +,,,,,,,,,,,,,,,, +,,,,,,,,,,,,,,,, +,,,,,,,,,,,,,,,, +,,,,,,,,,,10.891,0.0014,,7.65,0.00091,, +,,,,,,,,,,9.955,0.00126,,7.5,0.00114,, +,,,,,,,,,,25.804,0.00679,,8.76,0.00187,, +,,,,,,,,,,31.122,0.0157,,9.66,0.00442,, +,,,,,,,,,,45.862,0.02199,,8.74,0.00315,, +,,,,,,,,,,86.022,0.04832,,10.9,0.00351,, diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223258.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223258.csv new file mode 100644 index 0000000..23b060e --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223258.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,10,10,5,14.65,59.93,OBTEA,29.12,32.015,25.93,27.747,10.46,14.058,24.86,13.768,10.1,10.891,0.0014,0.00165,0.28007 +1,5,10,10,5,14.65,59.93,Baseline,87.83,71.542,39.67,50.777,56.96,46.799,29.49,23.292,1.46,1.307,0.00085,0.00229,0.17004 +2,5,10,10,10,19.19,80.25,OBTEA,24.4,31.917,17.48,13.129,5.23,11.451,27.58,14.813,8.18,9.955,0.00126,0.00175,0.25206 +3,5,10,10,10,19.19,80.25,Baseline,85.23,49.555,29.91,31.374,43.42,38.856,28.75,16.214,1.08,0.643,0.00039,0.0008,0.07715 +4,5,10,10,100,89.7,439.72,OBTEA,46.08,80.822,15.06,9.277,0.94,0.278,102.21,39.854,14.65,25.804,0.00679,0.01164,1.35743 +5,5,10,10,100,89.7,439.72,Baseline,346.41,150.44,43.18,51.709,31.96,34.278,115.85,49.788,0.93,0.255,0.00083,0.00046,0.16514 +6,5,10,10,300,216.67,1236.97,OBTEA,37.51,100.637,15.77,9.737,0.91,0.288,259.77,104.519,11.56,31.122,0.0157,0.05262,3.13993 +7,5,10,10,300,216.67,1236.97,Baseline,868.82,385.782,45.68,54.55,25.99,29.801,290,127.814,0.91,0.286,0.00204,0.00077,0.40726 +8,10,10,10,180,143.11,1229.87,OBTEA,48.55,144.748,15.43,10.633,0.93,0.256,288.98,110.209,15.78,45.862,0.02199,0.07333,4.39855 +9,10,10,10,180,143.11,1229.87,Baseline,1001.73,436.839,69.97,79.528,27.67,34.459,334.29,144.776,0.93,0.255,0.0021,0.00074,0.41921 +10,20,10,10,100,89.97,1274.46,OBTEA,102.01,266.223,14.49,9.416,0.88,0.327,285.6,137.209,32.8,86.022,0.04832,0.1334,9.665 +11,20,10,10,100,89.97,1274.46,Baseline,973.67,509.199,90.14,130.34,29.82,33.093,324.97,168.729,0.88,0.325,0.00193,0.00089,0.38608 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223948.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223948.csv new file mode 100644 index 0000000..1bf87bb --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 223948.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,expand_num_avg,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,5,15.99,59.15,OBTEA,159.85,186.044,396.34,504.44,121.82,84.872,58.92,37.94,0.01409,0.01626,2.81894 +1,5,100,10,5,15.99,59.15,Baseline,238.84,272.075,355.96,447.702,290.56,184.734,76.21,12.21,0.01366,0.02004,2.73204 +2,5,100,10,10,20.99,80.02,OBTEA,141.29,160.018,325.58,406.992,80.44,84.212,72.47,33.61,0.01411,0.01794,2.82204 +3,5,100,10,10,20.99,80.02,Baseline,302.73,291.194,435.05,643.403,214.42,166.321,97.42,12.47,0.02,0.02376,3.99947 +4,5,100,10,100,110.92,442.49,OBTEA,330.45,486.11,213.07,286.207,7.74,15.864,434.29,73.85,0.14385,0.26257,28.77005 +5,5,100,10,100,110.92,442.49,Baseline,1297.71,2129.852,898.66,2029.721,74.85,79.099,428.59,13.94,0.15431,0.4054,30.86253 +6,5,100,10,300,310.64,1237.25,OBTEA,229.64,251.359,109.3,115.385,2.25,4.457,507.85,51.13,0.25836,0.31018,51.67234 +7,5,100,10,300,310.64,1237.25,Baseline,1186.42,1454.871,678.91,999.143,33.77,46.487,394.63,4.53,0.11035,0.26132,22.07078 +8,10,100,10,180,190.74,1239.25,OBTEA,293.66,492.347,145.66,228.763,2.23,2.26,875.25,66.4,0.41359,0.98485,82.71818 +9,10,100,10,180,190.74,1239.25,Baseline,1680.71,2357.009,1044.59,1944.906,45.86,56.398,558.96,5.83,0.17364,0.48348,34.72762 +10,20,100,10,100,110.91,1267.13,OBTEA,396.51,613.099,199.95,327.579,4.12,9.391,1148.53,90.51,0.56488,1.05889,112.97651 +11,20,100,10,100,110.91,1267.13,Baseline,2726.46,3931.856,2027.15,3742.069,58.91,61.434,905.92,10.7,0.33326,0.75294,66.652 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225018.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225018.csv new file mode 100644 index 0000000..ec08c2f --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225018.csv @@ -0,0 +1,7 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,100,110.89,438.7,OBTEA,277.63,425.024,255.26,715.503,3.41,4.601,404.14,522.506,62.44,92.994,0.1281,0.24969,25.62025 +1,5,100,10,100,110.89,438.7,Baseline,1004.54,1580.159,684.57,1321.701,43.84,54.156,331.71,517.563,11.41,20.837,0.10694,0.2813,21.38754 +2,5,200,10,100,110.99,441.11,OBTEA,561.39,1555.756,751.84,3105.485,15.67,34.364,722.62,1676.586,122.68,335.835,0.57444,2.83469,114.88804 +3,5,200,10,100,110.99,441.11,Baseline,1712.43,3716.805,1490.59,3856.184,93.06,104.284,561.28,1205.791,30.59,82.185,0.34789,1.09122,69.57844 +4,5,300,10,100,111.0,438.59,OBTEA,680.47,951.558,929.77,1903.301,46.05,68.177,598.05,499.615,147.97,207.137,0.57913,0.83342,115.82698 +5,5,300,10,100,111.0,438.59,Baseline,1495.06,1949.234,1735.28,3201.282,159.5,168.025,488.2,632.637,32.46,48.046,0.41098,0.64683,82.19558 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225305.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225305.csv new file mode 100644 index 0000000..9f135d7 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225305.csv @@ -0,0 +1,7 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,10,21.0,79.95,OBTEA,156.42,251.236,356.47,514.464,86.63,73.819,86.63,73.819,4.92,2.813,37.24,57.91,0.01738,0.03144,3.47697 +1,5,100,10,10,21.0,79.95,Baseline,293.06,416.207,355.22,454.044,207.46,162.269,207.46,162.269,4.71,2.808,12.14,16.377,0.02044,0.04535,4.08716 +2,5,200,10,10,20.99,79.67,OBTEA,180.02,160.219,478.89,558.941,138.72,92.472,138.72,92.472,6.99,2.914,42.22,36.672,0.02997,0.02923,5.99365 +3,5,200,10,10,20.99,79.67,Baseline,273.93,259.333,447.86,797.428,328.2,175.449,328.2,175.449,7.04,3.0,14.06,14.086,0.02617,0.03141,5.23345 +4,5,300,10,10,21.0,80.23,OBTEA,189.01,153.403,521.88,418.218,163.42,91.247,163.42,91.247,8.0,2.638,44.22,34.974,0.042,0.03283,8.40025 +5,5,300,10,10,21.0,80.23,Baseline,244.74,237.905,419.35,538.606,370.92,175.939,370.92,175.939,7.88,2.776,13.29,10.323,0.02918,0.03276,5.83511 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225558.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225558.csv new file mode 100644 index 0000000..d21a334 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 225558.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,10,21.0,80.15,OBTEA,148.1,168.652,323.9,340.663,90.35,73.142,90.35,73.142,5.05,2.397,34.7,36.95,0.0142,0.01553,0.56815 +1,5,100,10,10,21.0,80.15,Baseline,285.2,271.608,395.9,465.504,225.95,156.985,225.95,156.985,4.95,2.539,12.4,14.613,0.01583,0.02082,0.63327 +2,5,200,10,10,21.0,79.2,OBTEA,166.4,83.223,459.3,277.403,160.25,84.614,160.25,84.614,8.3,2.472,39.2,18.761,0.02936,0.017,1.17433 +3,5,200,10,10,21.0,79.2,Baseline,218.25,163.057,412.95,305.441,382.25,155.619,382.25,155.619,8.2,2.676,13.85,12.507,0.02221,0.02463,0.88846 +4,5,300,10,10,21.0,77.8,OBTEA,149.15,139.917,363.05,285.634,147.75,110.239,147.75,110.239,7.15,3.539,35.35,31.288,0.03557,0.03516,1.42261 +5,5,300,10,10,21.0,77.8,Baseline,178.9,148.203,322.1,236.872,347.0,232.649,347.0,232.649,7.15,3.539,10.05,6.953,0.02321,0.03038,0.92826 +6,5,500,10,10,21.0,79.15,OBTEA,189.3,103.308,533.1,355.061,207.8,98.07,207.8,98.07,8.65,2.535,44.95,23.532,0.0683,0.04236,2.73203 +7,5,500,10,10,21.0,79.15,Baseline,210.4,131.706,444.4,503.844,470.55,189.013,470.55,189.013,8.6,2.653,12.45,5.861,0.03799,0.0268,1.51948 +8,5,900,10,10,21.0,82.4,OBTEA,173.6,67.57,507.15,332.098,189.4,65.628,189.4,65.628,9.85,0.357,40.4,16.036,0.11212,0.0416,4.48472 +9,5,900,10,10,21.0,82.4,Baseline,177.85,64.693,358.45,138.132,491.1,68.956,491.1,68.956,9.85,0.357,11.55,3.694,0.05347,0.02637,2.13877 +10,5,1000,10,10,21.0,77.75,OBTEA,184.2,92.006,612.45,338.346,228.9,46.405,228.9,46.405,9.9,0.3,43.05,20.851,0.14057,0.0737,5.62266 +11,5,1000,10,10,21.0,77.75,Baseline,177.9,109.609,438.25,419.425,474.55,102.497,474.55,102.497,9.9,0.3,11.9,3.632,0.06552,0.04027,2.62073 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230720.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230720.csv new file mode 100644 index 0000000..4eb53d6 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230720.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,10,21.0,80.15,OBTEA,148.1,168.652,323.9,340.663,90.35,73.142,5.05,2.46,75.5,52.493,34.7,36.95,0.01418,0.01573,0.56727 +1,5,100,10,10,21.0,80.15,Baseline,285.2,271.608,395.9,465.504,225.95,156.985,4.95,2.605,91.6,83.72,12.4,14.613,0.01603,0.02102,0.64128 +2,5,200,10,10,21.0,79.2,OBTEA,166.4,83.223,459.3,277.403,160.25,84.614,8.3,2.536,56.35,21.717,39.2,18.761,0.02813,0.01623,1.12537 +3,5,200,10,10,21.0,79.2,Baseline,218.25,163.057,412.95,305.441,382.25,155.619,8.2,2.745,68.8,49.089,13.85,12.507,0.02168,0.02359,0.86734 +4,5,300,10,10,21.0,77.8,OBTEA,149.15,139.917,363.05,285.634,147.75,110.239,7.15,3.631,61.5,61.21,35.35,31.288,0.03566,0.03485,1.4266 +5,5,300,10,10,21.0,77.8,Baseline,178.9,148.203,322.1,236.872,347.0,232.649,7.15,3.631,56.95,46.11,10.05,6.953,0.02258,0.03042,0.90334 +6,5,500,10,10,21.0,79.15,OBTEA,189.3,103.308,533.1,355.061,207.8,98.07,8.65,2.601,58.95,25.701,44.95,23.532,0.06832,0.04238,2.73294 +7,5,500,10,10,21.0,79.15,Baseline,210.4,131.706,444.4,503.844,470.55,189.013,8.6,2.722,66.65,41.072,12.45,5.861,0.03762,0.02642,1.5046 +8,5,900,10,10,21.0,82.4,OBTEA,173.6,67.57,507.15,332.098,189.4,65.628,9.85,0.366,55.35,17.476,40.4,16.036,0.11072,0.04061,4.42867 +9,5,900,10,10,21.0,82.4,Baseline,177.85,64.693,358.45,138.132,491.1,68.956,9.85,0.366,56.1,20.02,11.55,3.694,0.05257,0.02547,2.10278 +10,5,1000,10,10,21.0,77.75,OBTEA,184.2,92.006,612.45,338.346,228.9,46.405,9.9,0.308,51.3,22.392,43.05,20.851,0.13613,0.07189,5.44501 +11,5,1000,10,10,21.0,77.75,Baseline,177.9,109.609,438.25,419.425,474.55,102.497,9.9,0.308,56.0,34.482,11.9,3.632,0.06424,0.03996,2.5698 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230932.csv b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230932.csv new file mode 100644 index 0000000..c566c57 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_copyact=1-5_pre_del_time=20240112 230932.csv @@ -0,0 +1,13 @@ +,max_actcopy,literals_num,depth,iters,state,act,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,step_avg,step_std,state_num_avg,state_num_std,expand_num_avg,expand_num_std,plan_time_avg,plan_time_std,plan_time_total +0,5,100,10,10,21.0,80.15,OBTEA,103.1,113.73,356.45,440.009,90.35,73.142,5.05,2.46,75.5,52.493,34.7,36.95,0.01493,0.01676,0.59728 +1,5,100,10,10,21.0,80.15,Baseline,285.2,271.608,395.9,465.504,225.95,156.985,4.95,2.605,91.6,83.72,12.4,14.613,0.01685,0.02173,0.67417 +2,5,200,10,10,21.0,79.2,OBTEA,115.9,58.255,520.3,347.611,160.25,84.614,8.3,2.536,56.35,21.717,39.2,18.761,0.02866,0.01915,1.14649 +3,5,200,10,10,21.0,79.2,Baseline,218.25,163.057,412.95,305.441,382.25,155.619,8.2,2.745,68.8,49.089,13.85,12.507,0.02156,0.02357,0.86222 +4,5,300,10,10,21.0,77.8,OBTEA,104.85,96.433,418.55,349.568,147.75,110.239,7.15,3.631,61.5,61.21,35.35,31.288,0.03369,0.03331,1.34741 +5,5,300,10,10,21.0,77.8,Baseline,178.9,148.203,322.1,236.872,347.0,232.649,7.15,3.631,56.95,46.11,10.05,6.953,0.02388,0.03395,0.95538 +6,5,500,10,10,21.0,79.15,OBTEA,133.15,72.908,640.25,444.464,207.8,98.07,8.65,2.601,58.95,25.701,44.95,23.532,0.06442,0.03739,2.57687 +7,5,500,10,10,21.0,79.15,Baseline,210.4,131.706,444.4,503.844,470.55,189.013,8.6,2.722,66.65,41.072,12.45,5.861,0.03818,0.02878,1.52704 +8,5,900,10,10,21.0,82.4,OBTEA,120.2,49.356,588.2,296.776,189.4,65.628,9.85,0.366,55.35,17.476,40.4,16.036,0.10924,0.04127,4.36979 +9,5,900,10,10,21.0,82.4,Baseline,177.85,64.693,358.45,138.132,491.1,68.956,9.85,0.366,56.1,20.02,11.55,3.694,0.04867,0.02252,1.94668 +10,5,1000,10,10,21.0,77.75,OBTEA,128.15,64.177,616.05,259.393,228.9,46.405,9.9,0.308,51.3,22.392,43.05,20.851,0.13842,0.07462,5.53682 +11,5,1000,10,10,21.0,77.75,Baseline,177.9,109.609,438.25,419.425,474.55,102.497,9.9,0.308,56.0,34.482,11.9,3.632,0.0602,0.03828,2.40787 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 030853.csv b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 030853.csv new file mode 100644 index 0000000..eb0bd7a --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 030853.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,100,10,50.0,0,1000.0,4046.512,2495.861,25.723,33.828,22.724,51.987,26.759 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 031246.csv b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 031246.csv new file mode 100644 index 0000000..7db7652 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 031246.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,100,30,10.0,5,2984.408,501.032,530.427,597.145,1005.143,358.191,170.94,81.124 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 032404.csv b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 032404.csv new file mode 100644 index 0000000..61c4b09 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 032404.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,100,50,30.0,5,4999.999,2495.997,1527.44,1391.884,3111.278,1147.938,189.436,97.673 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 035258.csv b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 035258.csv new file mode 100644 index 0000000..868e816 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 035258.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,100,50,50.0,5,5000.0,4501.615,2531.486,1584.397,2848.044,971.793,169.383,85.078 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 054033.csv b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 054033.csv new file mode 100644 index 0000000..6b93a75 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_random_wm=20240117 054033.csv @@ -0,0 +1,2 @@ +,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,Cond_B,Cond_WM,Cond_OUR,Cost_B,Cost_OUR +0,300,50,50.0,5,15000.0,13550.712,7560.888,1302.383,2577.159,892.785,164.248,82.546 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 213042.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 213042.csv new file mode 100644 index 0000000..c41ed1a --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 213042.csv @@ -0,0 +1,21 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,26.5,31.0,27.0,8.485,19.0,0.0,18.5,23.335,0.0015,0.0005,0.006 +1,10,10,10,26.5,31.0,26.0,4.243,12.5,2.121,59.5,34.648,0.0,0.0,0.0 +2,10,10,100,97.0,120.0,90.0,21.213,19.5,12.021,1.0,0.0,0.00728,0.00128,0.02911 +3,10,10,100,97.0,120.0,147.5,65.761,18.5,10.607,43.0,19.799,0.0005,0.0005,0.002 +4,10,10,1000,504.5,1020.0,12.0,9.899,7.0,5.657,0.5,0.707,0.02051,0.0045,0.08202 +5,10,10,1000,504.5,1020.0,406.0,574.171,6.0,7.071,49.5,70.004,0.001,0.001,0.004 +6,100,10,10,31.0,32.0,246.5,23.335,395.0,263.044,269.0,39.598,0.02301,0.001,0.09203 +7,100,10,10,31.0,32.0,246.0,49.497,254.5,214.253,269.0,39.598,0.01851,0.0045,0.07402 +8,100,10,1000,972.5,1020.0,393.5,522.552,235.0,312.541,18.0,24.042,0.48268,0.43367,1.93073 +9,100,10,1000,972.5,1020.0,355.0,142.836,135.5,82.731,66.0,91.924,0.012,0.006,0.04801 +10,10,50,10,117.5,152.0,41.5,14.849,15.5,2.121,11.0,4.243,0.006,0.002,0.02401 +11,10,50,10,117.5,152.0,153.5,40.305,18.5,2.121,59.5,24.749,0.0005,0.0005,0.002 +12,10,50,100,150.0,200.0,26.0,11.314,13.5,7.778,1.0,0.0,0.0035,0.0005,0.014 +13,10,50,100,150.0,200.0,116.0,4.243,18.5,6.364,37.5,6.364,0.0005,0.0005,0.002 +14,10,50,1000,520.5,1100.0,43.0,4.243,11.0,0.0,1.0,0.0,0.02601,0.001,0.10403 +15,10,50,1000,520.5,1100.0,830.0,203.647,11.0,0.0,55.0,42.426,0.002,0.0,0.008 +16,100,50,10,151.0,152.0,242.5,263.751,330.0,353.553,77.5,33.234,0.05852,0.04451,0.23406 +17,100,50,10,151.0,152.0,347.5,396.687,272.0,289.914,127.5,84.146,0.03351,0.02951,0.13404 +18,100,50,1000,1097.0,1100.0,222.0,97.581,105.5,91.217,1.5,0.707,0.25236,0.06873,1.00942 +19,100,50,1000,1097.0,1100.0,327.0,332.34,163.5,181.726,36.0,49.497,0.017,0.011,0.06802 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 214953.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 214953.csv new file mode 100644 index 0000000..8349992 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240108 214953.csv @@ -0,0 +1,21 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,10,10,10,27.215,30.838,18.68,13.923,17.338,12.713,21.553,26.491,0.00114,0.00186,2.27719 +1,10,10,10,27.215,30.838,36.637,24.373,20.944,25.739,49.79,38.218,0.00023,0.00084,0.46213 +2,10,10,100,93.37,120.0,28.191,30.236,14.66,9.325,2.655,8.136,0.00321,0.00544,6.42478 +3,10,10,100,93.37,120.0,102.479,44.676,19.137,14.414,43.506,32.443,0.00025,0.00043,0.49614 +4,10,10,1000,497.608,1022.127,39.179,68.997,15.563,9.94,1.001,0.675,0.02511,0.0444,50.226 +5,10,10,1000,497.608,1022.127,868.446,363.685,19.339,16.85,44.466,30.725,0.00189,0.00076,3.77615 +6,100,10,10,30.497,31.007,157.252,171.69,270.204,377.304,169.281,127.778,0.0157,0.04328,31.39615 +7,100,10,10,30.497,31.007,212.72,304.404,341.992,723.913,211.338,140.726,0.02298,0.07488,45.95011 +8,100,10,1000,973.7,1022.999,295.731,267.912,91.99,86.999,12.701,22.157,0.32215,0.34148,644.30859 +9,100,10,1000,973.7,1022.999,473.985,373.199,184.153,261.266,54.416,48.672,0.02007,0.12434,40.14769 +10,10,50,10,101.264,129.551,28.848,29.423,14.687,8.7,8.568,12.072,0.00317,0.00202,6.34675 +11,10,50,10,101.264,129.551,107.696,51.135,17.836,12.802,44.353,31.507,0.00027,0.00045,0.54012 +12,10,50,100,148.748,200.0,31.182,36.325,14.819,9.153,1.114,2.91,0.00473,0.00311,9.46023 +13,10,50,100,148.748,200.0,161.332,69.991,18.78,14.39,46.512,31.106,0.00075,0.01075,1.50633 +14,10,50,1000,531.938,1100.0,34.991,61.564,14.851,9.38,0.907,0.294,0.02469,0.04493,49.38249 +15,10,50,1000,531.938,1100.0,874.014,377.164,19.051,14.029,45.782,31.132,0.00191,0.00076,3.82088 +16,100,50,10,130.355,130.948,237.416,411.145,200.077,346.426,66.861,43.326,0.05107,0.11313,102.13633 +17,100,50,10,130.355,130.948,365.637,836.735,292.376,720.139,123.207,76.048,0.05103,0.33107,102.05125 +18,100,50,1000,1089.225,1100.0,213.045,189.246,78.334,66.37,9.279,19.143,0.24323,0.24459,486.45268 +19,100,50,1000,1089.225,1100.0,391.759,363.754,140.432,194.207,51.916,47.713,0.01368,0.02132,27.35595 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222323.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222323.csv new file mode 100644 index 0000000..935a17a --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222323.csv @@ -0,0 +1,3 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,200,10,10,30.512,31.024,211.622,190.479,438.884,417.803,279.478,164.159,0.03056,0.03557,61.12966 +1,200,10,10,30.512,31.024,242.12,258.388,423.497,583.813,313.594,168.584,0.03591,0.04918,71.82136 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222534.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222534.csv new file mode 100644 index 0000000..58d1a83 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 222534.csv @@ -0,0 +1,3 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,500,10,10,30.519,31.038,200.581,138.825,496.44,300.026,420.294,152.3,0.05598,0.05539,111.96497 +1,500,10,10,30.519,31.038,190.526,183.525,400.351,451.777,435.024,150.97,0.05207,0.06268,104.14848 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223345.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223345.csv new file mode 100644 index 0000000..d165b37 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223345.csv @@ -0,0 +1,3 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,100,100,100,300.13,300.988,202.202,217.5,122.904,140.962,31.914,30.337,0.07761,0.10257,155.21461 +1,100,100,100,300.13,300.988,296.501,377.557,191.144,301.98,88.976,57.337,0.02392,0.09156,47.83416 diff --git a/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223828.csv b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223828.csv new file mode 100644 index 0000000..e23dd86 --- /dev/null +++ b/BTExpansionCode/EXP/存档/其它/bt_result_time=20240111 223828.csv @@ -0,0 +1,3 @@ +,literals_num,depth,iters,state,act,tree_size_avg,tree_size_std,ticks_avg,ticks_std,cost_avg,cost_std,plan_time_avg,plan_time_std,plan_time_total +0,100,10,100,116.298,120.0,223.768,382.051,209.247,407.703,21.472,29.758,0.04832,0.09835,96.64462 +1,100,10,100,116.298,120.0,365.255,596.224,289.579,548.141,92.563,69.492,0.04629,0.12737,92.58797 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240121 150110.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240121 150110.csv new file mode 100644 index 0000000..66b3230 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=0_time=20240121 150110.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,10.0,0,995.443,475.506,509.51,OBTEA,12.31,13.984,26.143,27.594,33.139,41.268,23.79,20.281,58.529,51.765,1.537,0.966,4.736,4.608,4.65,4.68,0.0017,0.00209,3.39225 +1,10,100,10,10.0,0,995.443,475.506,509.51,Baseline,20.696,17.992,27.41,35.819,0.0,0.0,31.709,43.635,71.257,57.406,1.416,0.927,6.972,5.332,1.86,2.11,0.00113,0.00153,2.25846 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240121 151008.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240121 151008.csv new file mode 100644 index 0000000..a496036 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=10_MAE=5_time=20240121 151008.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,10.0,5,995.058,466.107,527.256,OBTEA,22.278,60.384,34.341,68.761,54.706,146.318,28.532,45.897,26.114,30.608,1.545,1.09,8.094,20.095,8.0,20.13,0.00349,0.00928,6.98162 +1,10,100,10,10.0,5,995.058,466.107,527.256,Baseline,67.184,69.378,43.039,122.137,0.0,0.0,54.019,183.587,71.657,62.511,1.425,1.026,22.449,22.362,1.93,2.45,0.00208,0.00394,4.15215 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 150255.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 150255.csv new file mode 100644 index 0000000..b0c2b66 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 150255.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,50.0,0,1000.0,4046.512,2495.861,OBTEA,15.286,22.936,25.573,30.389,33.828,42.204,22.724,18.911,26.759,24.082,1.356,0.837,5.79,7.629,5.68,7.7,0.00921,0.01406,18.41347 +1,10,100,10,50.0,0,1000.0,4046.512,2495.861,Baseline,33.241,25.208,20.27,22.877,0.0,0.0,25.723,30.478,51.987,40.115,1.043,0.531,11.406,8.101,1.13,0.85,0.00275,0.00251,5.50462 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 220820.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 220820.csv new file mode 100644 index 0000000..097ad60 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=10_ap=50_MAE=0_time=20240121 220820.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,10,50.0,0,1000.0,4046.512,2495.861,OBTEA,15.286,22.936,25.573,30.389,33.828,42.204,22.724,18.911,26.759,24.082,1.356,0.837,5.79,7.629,5.68,7.7,0.00923,0.01405,18.46229 +1,10,100,10,50.0,0,1000.0,4046.512,2495.861,Baseline,33.241,25.208,20.27,22.877,0.0,0.0,25.723,30.478,51.987,40.115,1.043,0.531,11.406,8.101,1.13,0.85,0.00281,0.0025,5.61131 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240121 151154.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240121 151154.csv new file mode 100644 index 0000000..f0d1363 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=30_ap=10_MAE=5_time=20240121 151154.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,30,10.0,5,2984.408,501.032,530.427,OBTEA,119.272,260.689,254.293,639.648,1005.143,2675.198,358.191,729.264,81.124,69.029,3.376,2.191,40.222,86.819,40.22,86.82,0.03759,0.11508,75.18772 +1,10,100,30,10.0,5,2984.408,501.032,530.427,Baseline,136.216,150.261,194.605,487.731,0.0,0.0,597.145,1580.933,170.94,124.32,3.335,2.211,43.98,48.066,6.28,6.79,0.01026,0.01327,20.5287 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240121 151637.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240121 151637.csv new file mode 100644 index 0000000..c6fe545 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=10_MAE=5_time=20240121 151637.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,10.0,5,4974.567,497.667,524.377,OBTEA,215.582,491.814,524.244,1074.8,3578.785,11082.59,1210.47,2839.249,124.774,89.377,4.905,2.725,72.282,163.831,72.28,163.83,0.09919,0.27401,198.38421 +1,10,100,50,10.0,5,4974.567,497.667,524.377,Baseline,168.637,186.835,311.551,947.616,0.0,0.0,1581.167,7435.79,241.424,148.259,4.885,2.752,53.841,59.581,9.12,8.83,0.01951,0.02402,39.01919 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240121 152550.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240121 152550.csv new file mode 100644 index 0000000..b430452 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=30_MAE=5_time=20240121 152550.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,30.0,5,4999.999,2495.997,1527.44,OBTEA,212.306,450.676,471.399,1225.393,3111.278,8152.979,1147.938,3147.285,97.673,79.408,3.973,2.446,71.21,150.119,71.2,150.12,0.25135,0.57024,502.69923 +1,10,100,50,30.0,5,4999.999,2495.997,1527.44,Baseline,202.099,240.551,288.256,661.414,0.0,0.0,1391.884,3429.381,189.436,136.676,3.856,2.464,64.124,75.363,11.73,16.21,0.05362,0.07541,107.2406 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240121 154417.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240121 154417.csv new file mode 100644 index 0000000..9907c4c --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=100_cp=50_ap=50_MAE=5_time=20240121 154417.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,100,50,50.0,5,5000.0,4501.615,2531.486,OBTEA,253.274,572.731,409.349,916.217,2848.044,6624.733,971.793,2263.808,85.078,68.663,3.476,2.107,84.902,190.782,84.9,190.78,0.49414,1.19018,988.27545 +1,10,100,50,50.0,5,5000.0,4501.615,2531.486,Baseline,254.321,442.356,318.881,994.072,0.0,0.0,1584.397,5523.477,169.383,124.202,3.311,2.154,80.446,137.838,14.99,31.82,0.11263,0.25367,225.25455 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240121 162221.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240121 162221.csv new file mode 100644 index 0000000..027fafa --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=300_cp=50_ap=50_MAE=5_time=20240121 162221.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,300,50,50.0,5,15000.0,13550.712,7560.888,OBTEA,220.091,466.459,382.831,847.677,2577.159,6096.284,892.785,2057.554,82.546,67.431,3.516,2.101,73.819,155.384,73.81,155.39,1.44651,3.03999,2893.01958 +1,10,300,50,50.0,5,15000.0,13550.712,7560.888,Baseline,242.892,346.826,276.286,627.216,0.0,0.0,1302.383,3431.004,164.248,115.986,3.342,2.122,77.08,108.217,13.66,24.46,0.30476,0.54505,609.52151 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240121 182326.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240121 182326.csv new file mode 100644 index 0000000..7843db9 --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=0_time=20240121 182326.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,500,50,50.0,0,25000.0,22468.606,12508.215,OBTEA,138.671,375.238,256.952,718.832,1779.607,6131.406,632.341,1979.175,137.008,105.888,3.375,2.009,46.725,124.978,46.72,124.98,1.55589,4.46723,3111.78956 +1,10,500,50,50.0,0,25000.0,22468.606,12508.215,Baseline,150.773,271.038,212.982,452.205,0.0,0.0,950.391,2086.918,164.186,116.935,3.376,2.147,45.514,78.291,16.24,37.74,0.58647,1.43266,1172.93202 diff --git a/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240121 173120.csv b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240121 173120.csv new file mode 100644 index 0000000..a7b13ea --- /dev/null +++ b/BTExpansionCode/EXP/存档/更完整的数据存档/bt_randon_o=500_cp=50_ap=50_MAE=5_time=20240121 173120.csv @@ -0,0 +1,3 @@ +,depth,obj_num,cond_pred,act_pred,max_copy_times,literals_obj_count,state_avg,act_avg,btalgorithm,tree_size_avg,tree_size_std,ticks_avg,ticks_std,wm_cond_tick_avg,wm_cond_tick_std,cond_tick_avg,cond_tick_std,cost_avg,cost_std,step_avg,step_std,expand_num_avg,expand_num_std,for_num_avg,for_num_std,plan_time_avg,plan_time_std,plan_time_total +0,10,500,50,50.0,5,25000.0,22427.877,12514.209,OBTEA,226.104,482.321,393.348,915.23,2581.188,5635.137,909.768,2121.53,82.705,64.161,3.527,2.076,75.822,160.656,75.82,160.66,2.52458,5.31807,5049.16883 +1,10,500,50,50.0,5,25000.0,22427.877,12514.209,Baseline,250.694,351.381,306.653,847.463,0.0,0.0,1436.642,4042.081,165.935,119.651,3.321,2.106,79.464,109.247,14.31,26.82,0.54507,1.02068,1090.14535 diff --git a/BTExpansionCode/Examples.py b/BTExpansionCode/Examples.py index 90699ef..0de4d9e 100644 --- a/BTExpansionCode/Examples.py +++ b/BTExpansionCode/Examples.py @@ -1,5 +1,5 @@ -from OptimalBTExpansionAlgorithm_single_goal import Action +from OptimalBTExpansionAlgorithm import Action # 本例子中，将 VacuumCup 放到 FrontDesk，比 MoveTo(Table) 再 Put(Table,VacuumCup) 的 cost 要小 @@ -63,7 +63,7 @@ def MakeCoffeeCost(): -# llm_test +# test def Test(): actions=[ Action(name='a1', pre={6}, add={0,2,4}, del_set={1,5}, cost=1), diff --git a/BTExpansionCode/OptimalBTExpansionAlgorithm.py b/BTExpansionCode/OptimalBTExpansionAlgorithm.py index b8a9494..29ba02b 100644 --- a/BTExpansionCode/OptimalBTExpansionAlgorithm.py +++ b/BTExpansionCode/OptimalBTExpansionAlgorithm.py @@ -2,21 +2,27 @@ import copy import random from BehaviorTree import Leaf,ControlBT import re - - +import heapq +import time +import numpy as np class CondActPair: def __init__(self, cond_leaf,act_leaf): self.cond_leaf = cond_leaf self.act_leaf = act_leaf + def __lt__(self, other): + # 定义优先级比较：按照 cost 的值来比较 + return self.act_leaf.mincost < other.act_leaf.mincost #定义行动类，行动包括前提、增加和删除影响 class Action: - def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1,vaild_num=0,vild_args=set()): self.pre=copy.deepcopy(pre) self.add=copy.deepcopy(add) self.del_set=copy.deepcopy(del_set) self.name=name self.cost=cost + self.vaild_num=vaild_num + self.vild_args = vild_args def __str__(self): return self.name @@ -34,11 +40,76 @@ class Action: continue if random.random() >0.5: self.del_set.add(i) + + # def generate_from_state_local(self,literals_num_set): + # # pre_num = random.randint(0, min(pre_max, len(state))) + # # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # # + # # add_set = literals_num_set - self.pre + # # add_num = random.randint(0, len(add_set)) + # # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # # + # # del_set = literals_num_set - self.add + # # del_num = random.randint(0, len(del_set)) + # # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + # + # pre_num = random.randint(0, len(state)) + # self.pre = set(random.sample(state, pre_num)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(random.sample(add_set, add_num)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(random.sample(del_set, del_num)) + + + def generate_from_state_local(self,state,literals_num_set,all_obj_set=set(),obj_num=0,obj=None): + # pre_num = random.randint(0, min(pre_max, len(state))) + # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + + pre_num = random.randint(0, len(state)) + self.pre = set(random.sample(state, pre_num)) + + add_set = literals_num_set - self.pre + add_num = random.randint(0, len(add_set)) + self.add = set(random.sample(add_set, add_num)) + + del_set = literals_num_set - self.add + del_num = random.randint(0, len(del_set)) + self.del_set = set(random.sample(del_set, del_num)) + + if all_obj_set!=set(): + self.vaild_num = random.randint(1, obj_num-1) + self.vild_args = (set(random.sample(all_obj_set, self.vaild_num))) + if obj!=None: + self.vild_args.add(obj) + self.vaild_num = len(self.vild_args) + + def update(self,name,pre,del_set,add): + self.name = name + self.pre = pre + self.del_set = del_set + self.add = add + return self + + def print_action(self): print (self.pre) print(self.add) print(self.del_set) + + #生成随机状态 def generate_random_state(num): result = set() @@ -46,6 +117,7 @@ def generate_random_state(num): if random.random()>0.5: result.add(i) return result + #从状态和行动生成后继状态 def state_transition(state,action): if not action.pre <= state: @@ -55,20 +127,60 @@ def state_transition(state,action): return new_state + def conflict(c): have_at = False for str in c: - if 'At' in str: - if not have_at: - have_at = True - else: + if 'Not' not in str and 'RobotNear' in str: + if have_at: return True + have_at = True + + Holding = False + HoldingNothing = False + for str in c: + if 'Not ' not in str and 'Holding(Nothing)' in str: # 注意 'Not ' in 'Nothing' + HoldingNothing = True + if 'Not' not in str and 'Holding(Nothing)' not in str and 'Holding' in str: + if Holding: + return True + Holding = True + if HoldingNothing and Holding: + return True return False +import heapq + +class PriorityQueue: + def __init__(self): + self.elements = [] + self.entry_finder = {} # 用于跟踪元素及其对应的优先级 + self.REMOVED = '' # 标记被移除的元素 + self.counter = 0 + + def add_task(self, task, priority=0): + '添加一个新任务或更新一个现有任务的优先级' + if task in self.entry_finder: + self.remove_task(task) + count = next(self.counter) + entry = [priority, count, task] + self.entry_finder[task] = entry + heapq.heappush(self.elements, entry) + + def pop_task(self): + '移除并返回最低优先级的任务' + while self.elements: + priority, count, task = heapq.heappop(self.elements) + if task is not self.REMOVED: + del self.entry_finder[task] + return task + raise KeyError('pop from an empty priority queue') + + #本文所提出的完备规划算法 class OptBTExpAlgorithm: - def __init__(self,verbose=False): + def __init__(self,verbose=False,lit_act_dic=None): self.bt = None self.nodes=[] self.traversed=[] @@ -78,6 +190,7 @@ class OptBTExpAlgorithm: self.verbose=verbose self.goal=None self.bt_merge = True + self.lit_act_dic = lit_act_dic def clear(self): self.bt = None @@ -86,101 +199,87 @@ class OptBTExpAlgorithm: self.expanded = [] #存整个 self.conditions = [] self.conditions_index = [] + self.traversed_state_num=0 + self.fot_times = 0 + self.expand_conds=0 + self.tree_size=0 + self.bt_without_merge = None + self.subtree_count=1 #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt # def run_algorithm(self,goal,actions,scene): - def run_algorithm_selTree(self, start, goal, actions): - # self.scene = scene + def run_algorithm_selTree(self, start, goal, actions,merge_time=99999999): + + + self.traversed_state_num=0 self.goal = goal - - ########## neg ############### - self.neg_goal = {"At(Robot,Table)"} - ############################## - - if self.verbose: print("\n算法开始！") - - bt = ControlBT(type='cond') # 初始行为树只包含目标条件 gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 ga_node = Leaf(type='act', content=None, mincost=0) subtree = ControlBT(type='?') - subtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + self.expand_conds+=1 bt.add_child([subtree]) - - # self.conditions.append(goal) cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) - self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions + + heapq.heappush(self.nodes, cond_anc_pair) + self.expanded.append(goal) + self.traversed_state_num += 1 + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + # if goal <= start: + # self.bt_without_merge = bt + # return bt, 0 while len(self.nodes)!=0: + self.fot_times+=1 + # Find the condition for the shortest cost path - pair_node = None + # ======================== Next Goal ============================ # min_cost = float ('inf') - index= -1 - for i,cond_anc_pair in enumerate(self.nodes): - - ########### 剪枝操作 - # cond_tmp = cond_anc_pair.cond_leaf.content - # valid = True - # for pn in self.expanded: # 剪枝操作 - # if isinstance(pn.act_leaf.content,Action): - # if pn.act_leaf.content.name==cond_anc_pair.act_leaf.content.name and cond_tmp <= pn.cond_leaf.content: - # valid = False - # break - # if not valid: - # continue - ########### 剪枝操作 - - if cond_anc_pair.cond_leaf.mincost < min_cost: - min_cost = cond_anc_pair.cond_leaf.mincost - pair_node = copy.deepcopy(cond_anc_pair) - index = i + pair_node = heapq.heappop(self.nodes) if self.verbose: print("选择扩展条件结点：",pair_node.cond_leaf.content) # Update self.nodes and self.traversed - self.nodes.pop(index) # the set of explored but unexpanded conditions. self.nodes.remove(pair_node) c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） - # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + + + if c!=goal: if c!=set(): - - # 挂在上去的时候判断要不要挂载 - ########### 剪枝操作 发现行不通 - # valid = True - # for pn in self.expanded: # 剪枝操作 - # if isinstance(pn.act_leaf.content,Action): - # if pn.act_leaf.content.name==pair_node.act_leaf.content.name and c <= pn.cond_leaf.content: - # valid = False - # break - # if valid: - ########### 剪枝操作 sequence_structure = ControlBT(type='>') sequence_structure.add_child( - [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)]) + [pair_node.cond_leaf, pair_node.act_leaf]) subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt - self.expanded.append(copy.deepcopy(pair_node)) - # 增加实时条件判断，满足条件就不再扩展 - # if c <= self.scene.state["condition_set"]: + # self.expanded.append(copy.deepcopy(pair_node)) + # self.expanded.append(pair_node.cond_leaf.content) + # # if c <= start: - # # 要不要继续扩展完全 - # # self.merge_adjacent_conditions_stack() - # # self.merge_adjacent_conditions_stack_old() - # # self.merge_adjacent_conditions() - # return True - - if (c <= start) and (self.neg_goal & c <=set()): - if self.bt_merge: - bt = self.merge_adjacent_conditions_stack(bt) - return bt,min_cost + # if self.bt_merge: + # # bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + # return bt, min_cost else: subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + self.expand_conds += 1 + self.expanded.append(c) + if c <= start: + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt, min_cost + if self.verbose: @@ -192,85 +291,239 @@ class OptBTExpAlgorithm: print("遍历所有动作, 寻找符合条件的动作") # 遍历所有动作, 寻找符合条件的动作 current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + # ======================== End Next Goal ============================ # - traversed_current=[] + # ====================== Action Trasvers ============================ # + traversed_current = [] + # act_tmp_set = set() + # for lit in c: + # act_tmp_set |= self.lit_act_dic[lit] + + # for i in act_tmp_set: for i in range(0, len(actions)): - # if "MoveTo(WaterTable)" in actions[i].name: - # print(actions[i].name,"cost=",actions[i].cost) - - - # if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : - if (not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set()) or (not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set()) : + # if c=={'RobotNear(Chips)', 'Holding(Nothing)'} and actions[i].name=='Clean(Chairs)0': + # xx=1 + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : if (c - actions[i].del_set) == c: - - if self.verbose: print("———— 满足条件可以扩展") c_attr = (actions[i].pre | c) - actions[i].add - # 这样剪枝存在错误性 - # if conflict(c_attr): - # continue + if conflict(c_attr): + if self.verbose: + print("———— 冲突：动作 %s， 条件 %s"% (actions[i].name,c_attr)) + continue # 剪枝操作,现在的条件是以前扩展过的条件的超集 valid = True - for j in self.traversed: # 剪枝操作 + + for j in self.expanded: if j <= c_attr: valid = False - if self.verbose: - print("———— --被剪枝") break + # tmp_heap = list(self.nodes) + # # tmp_heap = copy.deepcopy(self.nodes) + # while tmp_heap: # 剪枝操作 self.expanded? + # cond_anc_pair = heapq.heappop(tmp_heap) + # j = cond_anc_pair.cond_leaf.content + # if j <= c_attr: + # if cond_anc_pair.cond_leaf.mincost < current_mincost + actions[i].cost: + # valid = False + # break + + if valid: + # c_attr_string = "".join(sorted(list(c_attr))) c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) - self.nodes.append(copy.deepcopy(cond_anc_pair)) # condition node list + # heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + heapq.heappush(self.nodes, cond_anc_pair) + + + self.traversed_state_num+=1 traversed_current.append(c_attr) - # self.traversed.append(c_attr) # 重点 the set of expanded conditions # 把符合条件的动作节点都放到列表里 if self.verbose: print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + + # print(len(traversed_current)) self.traversed.extend(traversed_current) - - - - + # ====================== End Action Trasvers ============================ # + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt if self.bt_merge: - bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) if self.verbose: print("算法结束！\n") return bt,min_cost - def run_algorithm(self, start, goal, actions): + def run_algorithm(self, start, goal, actions,merge_time=3): self.bt = ControlBT(type='cond') subtree = ControlBT(type='?') subtree_with_costs_ls=[] + self.subtree_count = len(goal) + if len(goal) > 1: for g in goal: bt_sel_tree,mincost = self.run_algorithm_selTree(start, g, actions) subtree_with_costs_ls.append((bt_sel_tree,mincost)) # 要排个序再一次add - # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) - # self.bt.add_child([subtree]) sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) for tree,cost in sorted_trees: - subtree.add_child([copy.deepcopy(tree.children[0])]) + subtree.add_child([tree.children[0]]) self.bt.add_child([subtree]) else: - self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions) + self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions,merge_time=merge_time) return True + + def merge_subtree(self,merge_time): + + self.bt_aftermerge = ControlBT(type='cond') + subtree = ControlBT(type='?') + + if self.subtree_count > 1: + for i in range(self.subtree_count): + bt_sel_tree = self.bt.children[0].children[i] + + bt_sel_tree_m = ControlBT(type='cond') + bt_sel_tree_m.add_child([bt_sel_tree]) + + bt_sel_tree_m = self.merge_adjacent_conditions_stack_time(copy.deepcopy(bt_sel_tree_m),merge_time=merge_time) + subtree.add_child([bt_sel_tree_m.children[0]]) + self.bt_aftermerge.add_child([subtree]) + else: + self.bt_aftermerge = self.merge_adjacent_conditions_stack_time(copy.deepcopy(self.bt),merge_time=merge_time) + return self.bt_aftermerge + def run_algorithm_test(self, start, goal, actions): self.bt,mincost = self.run_algorithm_selTree(start, goal, actions) return True + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=9999999): + + merge_time = min(merge_time,500) + + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + + # print("merge time:", last_time,set1,set2) + + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + def merge_adjacent_conditions_stack(self,bt_sel): # 只针对第一层合并，之后要考虑层层递归合并 bt = ControlBT(type='cond') @@ -594,10 +847,13 @@ class OptBTExpAlgorithm: # bt合并==================================================== - def print_solution(self): + def print_solution(self,without_merge=False): print("========= BT ==========") # 树的bfs遍历 nodes_ls = [] - nodes_ls.append(self.bt) + if without_merge==True: + nodes_ls.append(self.bt_without_merge) + else: + nodes_ls.append(self.bt) while len(nodes_ls) != 0: parnode = nodes_ls[0] print("Parrent:", parnode.type) @@ -674,6 +930,7 @@ class OptBTExpAlgorithm: if isinstance(child, Leaf): if child.type == 'cond': + # if is_root and len(child.content) > 1: if is_root and len(child.content) > 1: # 把多个 cond 串起来 self.ptml_string += "sequence{\n" @@ -681,15 +938,22 @@ class OptBTExpAlgorithm: c_set_str = '\n cond '.join(map(str, child.content)) + "\n" self.ptml_string += c_set_str self.ptml_string += '}\n' + # elif is_root: else: self.ptml_string += "cond " c_set_str = '\n cond '.join(map(str, child.content)) + "\n" self.ptml_string += c_set_str + # else: + # c_set_positive = {item for item in child.content if 'Not' not in item} + # self.ptml_string += "cond " + # c_set_str = '\n cond '.join(map(str, c_set_positive)) + "\n" + # self.ptml_string += c_set_str + elif child.type == 'act': - child.content.name = re.sub(r'\d+', '', child.content.name) - + # child.content.name = re.sub(r'\d+', '', child.content.name) + child.content.name = re.sub(r'\)\d+', ')', child.content.name) if '(' not in child.content.name: self.ptml_string += 'act ' + child.content.name + "()\n" else: @@ -697,7 +961,10 @@ class OptBTExpAlgorithm: elif isinstance(child, ControlBT): if child.type == '?': self.ptml_string += "selector{\n" - self.dfs_ptml_many_act(parnode=child) + if len(child.children)>2: + self.dfs_ptml_many_act(parnode=child, is_root=True) + else: + self.dfs_ptml_many_act(parnode=child) elif child.type == '>': self.ptml_string += "sequence{\n" self.dfs_ptml_many_act(parnode=child) @@ -716,3 +983,34 @@ class OptBTExpAlgorithm: with open(f'./{file_name}.ptml', 'w') as file: file.write(self.ptml_string) return self.ptml_string + + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count + + def bfs_cal_tree_size_subtree(self,bt): + from collections import deque + queue = deque([bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count \ No newline at end of file diff --git a/BTExpansionCode/OptimalBTExpansionAlgorithm_20240108.py b/BTExpansionCode/OptimalBTExpansionAlgorithm_20240108.py new file mode 100644 index 0000000..bafee9d --- /dev/null +++ b/BTExpansionCode/OptimalBTExpansionAlgorithm_20240108.py @@ -0,0 +1,848 @@ +import copy +import random +from BehaviorTree import Leaf,ControlBT +import re +import heapq +import time + +class CondActPair: + def __init__(self, cond_leaf,act_leaf): + self.cond_leaf = cond_leaf + self.act_leaf = act_leaf + def __lt__(self, other): + # 定义优先级比较：按照 cost 的值来比较 + return self.act_leaf.mincost < other.act_leaf.mincost + +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + + def __str__(self): + return self.name + # 从状态随机生成一个行动 + def generate_from_state(self,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + self.pre.add(i) + if random.random() >0.5: + self.del_set.add(i) + continue + if random.random() > 0.5: + self.add.add(i) + continue + if random.random() >0.5: + self.del_set.add(i) + def print_action(self): + print (self.pre) + print(self.add) + print(self.del_set) + +#生成随机状态 +def generate_random_state(num): + result = set() + for i in range(0,num): + if random.random()>0.5: + result.add(i) + return result +#从状态和行动生成后继状态 +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + +def conflict(c): + have_at = False + for str in c: + if 'At' in str: + if not have_at: + have_at = True + else: + return True + return False + + +#本文所提出的完备规划算法 +class OptBTExpAlgorithm: + def __init__(self,verbose=False): + self.bt = None + self.nodes=[] + self.traversed=[] + self.mounted=[] + self.conditions=[] + self.conditions_index=[] + self.verbose=verbose + self.goal=None + self.bt_merge = True + + def clear(self): + self.bt = None + self.nodes = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 + self.conditions = [] + self.conditions_index = [] + + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + def run_algorithm_selTree(self, start, goal, actions,merge_time=3): + # self.scene = scene + + time_dic={"act_traverse_time":0} + + self.goal = goal + + if self.verbose: + print("\n算法开始！") + + + bt = ControlBT(type='cond') + # 初始行为树只包含目标条件 + gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 + ga_node = Leaf(type='act', content=None, mincost=0) + subtree = ControlBT(type='?') + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + bt.add_child([subtree]) + + # self.conditions.append(goal) + cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) + heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + # self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions + + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + while len(self.nodes)!=0: + + # Find the condition for the shortest cost path + pair_node = None + min_cost = float ('inf') + # index= -1 + # for i,cond_anc_pair in enumerate(self.nodes): + # + # ########### 剪枝操作 + # # cond_tmp = cond_anc_pair.cond_leaf.content + # # valid = True + # # for pn in self.expanded: # 剪枝操作 + # # if isinstance(pn.act_leaf.content,Action): + # # if pn.act_leaf.content.name==cond_anc_pair.act_leaf.content.name and cond_tmp <= pn.cond_leaf.content: + # # valid = False + # # break + # # if not valid: + # # continue + # ########### 剪枝操作 + # + # if cond_anc_pair.cond_leaf.mincost < min_cost: + # min_cost = cond_anc_pair.cond_leaf.mincost + # pair_node = copy.deepcopy(cond_anc_pair) + # index = i + pair_node = heapq.heappop(self.nodes) + + if self.verbose: + print("选择扩展条件结点：",pair_node.cond_leaf.content) + # Update self.nodes and self.traversed + # self.nodes.pop(index) # the set of explored but unexpanded conditions. self.nodes.remove(pair_node) + c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） + + # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + if c!=goal: + if c!=set(): + + # 挂在上去的时候判断要不要挂载 + ########### 剪枝操作 发现行不通 + # valid = True + # for pn in self.expanded: # 剪枝操作 + # if isinstance(pn.act_leaf.content,Action): + # if pn.act_leaf.content.name==pair_node.act_leaf.content.name and c <= pn.cond_leaf.content: + # valid = False + # break + # if valid: + ########### 剪枝操作 + sequence_structure = ControlBT(type='>') + sequence_structure.add_child( + [pair_node.cond_leaf, pair_node.act_leaf]) + subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + self.expanded.append(copy.deepcopy(pair_node)) + # 增加实时条件判断，满足条件就不再扩展 + # if c <= self.scene.state["condition_set"]: + # if c <= start: + # # 要不要继续扩展完全 + # # self.merge_adjacent_conditions_stack() + # # self.merge_adjacent_conditions_stack_old() + # # self.merge_adjacent_conditions() + # return True + + if c <= start: + if self.bt_merge: + bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt,min_cost + else: + subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + + + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ + % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content, + cond_anc_pair.cond_leaf.mincost)) + + if self.verbose: + print("遍历所有动作, 寻找符合条件的动作") + # 遍历所有动作, 寻找符合条件的动作 + current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + + traversed_current=[] + + + start_time = time.time() + + for i in range(0, len(actions)): + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : + if (c - actions[i].del_set) == c: + if self.verbose: + print("———— 满足条件可以扩展") + c_attr = (actions[i].pre | c) - actions[i].add + + # 这样剪枝存在错误性 + # if conflict(c_attr): + # continue + + # 剪枝操作,现在的条件是以前扩展过的条件的超集 + valid = True + for j in self.traversed: # 剪枝操作 + if j <= c_attr: + valid = False + if self.verbose: + print("———— --被剪枝") + break + + if valid: + c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) + a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) + cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) + # self.nodes.append(copy.deepcopy(cond_anc_pair)) # condition node list + + heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + + traversed_current.append(c_attr) + # self.traversed.append(c_attr) # 重点 the set of expanded conditions + # 把符合条件的动作节点都放到列表里 + if self.verbose: + print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + self.traversed.extend(traversed_current) + + end_time = time.time() + time_dic["act_traverse_time"] = (end_time - start_time) + + + if self.bt_merge: + bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + if self.verbose: + print("算法结束！\n") + return bt,min_cost,time_dic + + + def run_algorithm(self, start, goal, actions,merge_time=3): + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + + subtree_with_costs_ls=[] + + if len(goal) > 1: + for g in goal: + bt_sel_tree,mincost,time_dic = self.run_algorithm_selTree(start, g, actions) + subtree_with_costs_ls.append((bt_sel_tree,mincost)) + # 要排个序再一次add + # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + # self.bt.add_child([subtree]) + sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) + for tree,cost in sorted_trees: + subtree.add_child([copy.deepcopy(tree.children[0])]) + self.bt.add_child([subtree]) + else: + self.bt,mincost,time_dic = self.run_algorithm_selTree(start, goal[0], actions,merge_time=merge_time) + return True + + def run_algorithm_test(self, start, goal, actions): + self.bt,mincost,time_dic = self.run_algorithm_selTree(start, goal, actions) + return time_dic,True + + + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=3): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack(self,bt_sel): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + stack.append(tmp_tree) + + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack_correct_2023(self): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + # 如果后面的动作和前面的一样,删掉前面的 + # 应该是两棵子树完全相同的情况，先暂时只判断动作 + if set1>=set2 or set1<=set2: + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): + if last_child.children[1].content.name == child.children[1].content.name: + stack.pop() + stack.append(child) + continue + + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + + if c1!=set(): + seq1 = ControlBT(type='>') + c1_node = Leaf(type='cond', content=c1) + a1 = copy.deepcopy(last_child.children[1]) + seq1.add_child( + [copy.deepcopy(c1_node), copy.deepcopy(a1)]) + else: + seq1 = copy.deepcopy(last_child.children[1]) + + if c2!=set(): + seq2 = ControlBT(type='>') + c2_node = Leaf(type='cond', content=c2) + a2 = copy.deepcopy(child.children[1]) + seq2.add_child( + [copy.deepcopy(c2_node), copy.deepcopy(a2)]) + else: + seq2 = copy.deepcopy(child.children[1]) + + + # 如果动作还是一样的 + # if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + # and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)\ + # and last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + # # 第三次优化合并 + # # 将来这些地方都写成递归的 + # + # if c1!=set() and c2!=set(): + # _sel = ControlBT(type='?') + # c1_node = Leaf(type='cond', content=c1) + # c2_node = Leaf(type='cond', content=c2) + # _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(_sel),copy.deepcopy(last_child.children[1])]) + # elif c1!=set() and c2==set(): + # tmp_tree = ControlBT(type='>') + # # inter_c = Leaf(type='cond', content=inter) + # # c1_node = Leaf(type='cond', content=c1) + # # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(last_child.children[0]), copy.deepcopy(last_child.children[1])]) + # else: + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(a1)]) + # # 下面这个是以前写错的 + # # sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])]) + # else: + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + inter_c = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(inter_c), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + def merge_adjacent_conditions_stack_old(self): + # 递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + + stack=[] + + for child in parnode.children: + + if isinstance(child, ControlBT) and child.type == '>': + + if stack==[]: + stack.append(child) + continue + + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = copy.deepcopy(last_child.children[1]) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = copy.deepcopy(child.children[1]) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + + def merge_adjacent_conditions(self): + # bt合并==================================================== + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + skip_next = False + for i in range(len(parnode.children) - 1): + current_child = parnode.children[i] + next_child = parnode.children[i + 1] + + if isinstance(current_child, ControlBT) and isinstance(next_child, ControlBT) and current_child.type == '>' and next_child.type == '>': + + if not skip_next: + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + set1 = current_child.children[0].content + set2 = next_child.children[0].content + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = Leaf(type='act', content=current_child.children[1].content) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = Leaf(type='act', content=next_child.children[1].content) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + sbtree.add_child([tmp_tree]) + skip_next = True + + elif skip_next: + sbtree.add_child([current_child]) + else: + # 否咋要放进去 + sbtree.add_child([current_child]) + + # 还有最后一个孩子还没放进去 + sbtree.add_child([next_child]) + + self.bt = copy.deepcopy(bt) + # bt合并==================================================== + + + def print_solution(self): + print("========= BT ==========") # 树的bfs遍历 + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= BT ==========\n") + + # 返回所有能到达目标状态的初始状态 + def get_all_state_leafs(self): + state_leafs=[] + + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == "cond": + state_leafs.append(child.content) + elif isinstance(child, ControlBT): + nodes_ls.append(child) + nodes_ls.pop(0) + + return state_leafs + + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def dfs_ptml_many_act(self, parnode, is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + + child.content.name = re.sub(r'\d+', '', child.content.name) + + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml_many_act(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml_many_act(parnode=child) + self.ptml_string += '}\n' + + def get_ptml_many_act(self): + self.ptml_string = "selector{\n" + self.dfs_ptml_many_act(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string + + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count \ No newline at end of file diff --git a/BTExpansionCode/OptimalBTExpansionAlgorithm_single_goal.py b/BTExpansionCode/OptimalBTExpansionAlgorithm_single_goal.py index ea300cc..1ba5b00 100644 --- a/BTExpansionCode/OptimalBTExpansionAlgorithm_single_goal.py +++ b/BTExpansionCode/OptimalBTExpansionAlgorithm_single_goal.py @@ -1,7 +1,7 @@ import copy import random from BehaviorTree import Leaf,ControlBT - +import numpy as np class CondActPair: @@ -21,23 +21,47 @@ class Action: def __str__(self): return self.name # 从状态随机生成一个行动 - def generate_from_state(self,state,num): - for i in range(0,num): - if i in state: - if random.random() >0.5: - self.pre.add(i) - if random.random() >0.5: - self.del_set.add(i) - continue - if random.random() > 0.5: - self.add.add(i) - continue - if random.random() >0.5: - self.del_set.add(i) - def print_action(self): - print (self.pre) - print(self.add) - print(self.del_set) + # def generate_from_state(self,state,num): + # for i in range(0,num): + # if i in state: + # if random.random() >0.5: + # self.pre.add(i) + # if random.random() >0.5: + # self.del_set.add(i) + # continue + # if random.random() > 0.5: + # self.add.add(i) + # continue + # if random.random() >0.5: + # self.del_set.add(i) + def generate_from_state_local(self,state,literals_num_set): + # pre_num = random.randint(0, min(pre_max, len(state))) + # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + + pre_num = random.randint(0, len(state)) + self.pre = set(random.sample(state, pre_num)) + + add_set = literals_num_set - self.pre + add_num = random.randint(0, len(add_set)) + self.add = set(random.sample(add_set, add_num)) + + del_set = literals_num_set - self.add + del_num = random.randint(0, len(del_set)) + self.del_set = set(random.sample(del_set, del_num)) + + + # def print_action(self): + # print(self.pre) + # print(self.add) + # print(self.del_set) #生成随机状态 def generate_random_state(num): diff --git a/BTExpansionCode/OptimalBTExpansionAlgorithm_time.py b/BTExpansionCode/OptimalBTExpansionAlgorithm_time.py new file mode 100644 index 0000000..ee2bd18 --- /dev/null +++ b/BTExpansionCode/OptimalBTExpansionAlgorithm_time.py @@ -0,0 +1,818 @@ +import copy +import random +from BehaviorTree import Leaf,ControlBT +import re +import heapq +import time +import numpy as np +class CondActPair: + def __init__(self, cond_leaf,act_leaf): + self.cond_leaf = cond_leaf + self.act_leaf = act_leaf + def __lt__(self, other): + # 定义优先级比较：按照 cost 的值来比较 + return self.act_leaf.mincost < other.act_leaf.mincost + +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + + def __str__(self): + return self.name + # 从状态随机生成一个行动 + def generate_from_state(self,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + self.pre.add(i) + if random.random() >0.5: + self.del_set.add(i) + continue + if random.random() > 0.5: + self.add.add(i) + continue + if random.random() >0.5: + self.del_set.add(i) + + def generate_from_state_local(self,state,literals_num_set): + # pre_num = random.randint(0, min(pre_max, len(state))) + # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + + pre_num = random.randint(0, len(state)) + self.pre = set(random.sample(state, pre_num)) + + add_set = literals_num_set - self.pre + add_num = random.randint(0, len(add_set)) + self.add = set(random.sample(add_set, add_num)) + + del_set = literals_num_set - self.add + del_num = random.randint(0, len(del_set)) + self.del_set = set(random.sample(del_set, del_num)) + + def print_action(self): + print (self.pre) + print(self.add) + print(self.del_set) + +#生成随机状态 +def generate_random_state(num): + result = set() + for i in range(0,num): + if random.random()>0.5: + result.add(i) + return result +#从状态和行动生成后继状态 +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + +def conflict(c): + have_at = False + for str in c: + if 'At' in str: + if not have_at: + have_at = True + else: + return True + return False + + +#本文所提出的完备规划算法 +class OptBTExpAlgorithm: + def __init__(self,verbose=False): + self.bt = None + self.nodes=[] + self.traversed=[] + self.mounted=[] + self.conditions=[] + self.conditions_index=[] + self.verbose=verbose + self.goal=None + self.bt_merge = True + + def clear(self): + self.bt = None + self.nodes = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 + self.conditions = [] + self.conditions_index = [] + + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + def run_algorithm_selTree(self, start, goal, actions,merge_time=3): + # self.scene = scene + + time_dic={"act_traverse_time":0, + "choose_min_c":0, + "While_Count":0} + + self.goal = goal + if self.verbose: + print("\n算法开始！") + bt = ControlBT(type='cond') + # 初始行为树只包含目标条件 + gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 + ga_node = Leaf(type='act', content=None, mincost=0) + subtree = ControlBT(type='?') + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + bt.add_child([subtree]) + cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) + heapq.heappush(self.nodes, cond_anc_pair) + + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + while len(self.nodes)!=0: + time_dic["While_Count"]+=1 + # Find the condition for the shortest cost path + # ======================== Next Goal ============================ # + start_time=time.time() + min_cost = float ('inf') + pair_node = heapq.heappop(self.nodes) + if self.verbose: + print("选择扩展条件结点：",pair_node.cond_leaf.content) + # Update self.nodes and self.traversed + c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） + # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + if c!=goal: + if c!=set(): + sequence_structure = ControlBT(type='>') + sequence_structure.add_child( + [pair_node.cond_leaf, pair_node.act_leaf]) + subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + self.expanded.append(copy.deepcopy(pair_node)) + + if c <= start: + if self.bt_merge: + bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt, min_cost, time_dic + else: + subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + + + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ + % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content, + cond_anc_pair.cond_leaf.mincost)) + + if self.verbose: + print("遍历所有动作, 寻找符合条件的动作") + # 遍历所有动作, 寻找符合条件的动作 + current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + end_time=time.time() + time_dic["choose_min_c"] +=end_time-start_time + # ======================== End Next Goal ============================ # + + # ====================== Action Trasvers ============================ # + start_time = time.time() + traversed_current = [] + for i in range(0, len(actions)): + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : + if (c - actions[i].del_set) == c: + if self.verbose: + print("———— 满足条件可以扩展") + c_attr = (actions[i].pre | c) - actions[i].add + + # 剪枝操作,现在的条件是以前扩展过的条件的超集 + valid = True + for j in self.traversed: # 剪枝操作 + if j <= c_attr: + valid = False + if self.verbose: + print("———— --被剪枝") + break + + if valid: + c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) + a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) + cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) + heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + traversed_current.append(c_attr) + # 把符合条件的动作节点都放到列表里 + if self.verbose: + print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + self.traversed.extend(traversed_current) + end_time = time.time() + time_dic["act_traverse_time"] = (end_time - start_time) + # ====================== End Action Trasvers ============================ # + + if self.bt_merge: + bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + if self.verbose: + print("算法结束！\n") + return bt,min_cost,time_dic + + + def run_algorithm(self, start, goal, actions,merge_time=3): + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + + subtree_with_costs_ls=[] + + if len(goal) > 1: + for g in goal: + bt_sel_tree,mincost,time_dic = self.run_algorithm_selTree(start, g, actions) + subtree_with_costs_ls.append((bt_sel_tree,mincost)) + # 要排个序再一次add + sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) + for tree,cost in sorted_trees: + subtree.add_child([copy.deepcopy(tree.children[0])]) + self.bt.add_child([subtree]) + else: + self.bt,mincost,time_dic = self.run_algorithm_selTree(start, goal[0], actions,merge_time=merge_time) + return True + + def run_algorithm_test(self, start, goal, actions): + self.bt,mincost,time_dic = self.run_algorithm_selTree(start, goal, actions) + return True,time_dic + + + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=3): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack(self,bt_sel): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + stack.append(tmp_tree) + + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack_correct_2023(self): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + # 如果后面的动作和前面的一样,删掉前面的 + # 应该是两棵子树完全相同的情况，先暂时只判断动作 + if set1>=set2 or set1<=set2: + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): + if last_child.children[1].content.name == child.children[1].content.name: + stack.pop() + stack.append(child) + continue + + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + + if c1!=set(): + seq1 = ControlBT(type='>') + c1_node = Leaf(type='cond', content=c1) + a1 = copy.deepcopy(last_child.children[1]) + seq1.add_child( + [copy.deepcopy(c1_node), copy.deepcopy(a1)]) + else: + seq1 = copy.deepcopy(last_child.children[1]) + + if c2!=set(): + seq2 = ControlBT(type='>') + c2_node = Leaf(type='cond', content=c2) + a2 = copy.deepcopy(child.children[1]) + seq2.add_child( + [copy.deepcopy(c2_node), copy.deepcopy(a2)]) + else: + seq2 = copy.deepcopy(child.children[1]) + + + # 如果动作还是一样的 + # if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + # and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)\ + # and last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + # # 第三次优化合并 + # # 将来这些地方都写成递归的 + # + # if c1!=set() and c2!=set(): + # _sel = ControlBT(type='?') + # c1_node = Leaf(type='cond', content=c1) + # c2_node = Leaf(type='cond', content=c2) + # _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(_sel),copy.deepcopy(last_child.children[1])]) + # elif c1!=set() and c2==set(): + # tmp_tree = ControlBT(type='>') + # # inter_c = Leaf(type='cond', content=inter) + # # c1_node = Leaf(type='cond', content=c1) + # # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(last_child.children[0]), copy.deepcopy(last_child.children[1])]) + # else: + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(a1)]) + # # 下面这个是以前写错的 + # # sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])]) + # else: + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + inter_c = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(inter_c), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + def merge_adjacent_conditions_stack_old(self): + # 递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + + stack=[] + + for child in parnode.children: + + if isinstance(child, ControlBT) and child.type == '>': + + if stack==[]: + stack.append(child) + continue + + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = copy.deepcopy(last_child.children[1]) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = copy.deepcopy(child.children[1]) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + + def merge_adjacent_conditions(self): + # bt合并==================================================== + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + skip_next = False + for i in range(len(parnode.children) - 1): + current_child = parnode.children[i] + next_child = parnode.children[i + 1] + + if isinstance(current_child, ControlBT) and isinstance(next_child, ControlBT) and current_child.type == '>' and next_child.type == '>': + + if not skip_next: + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + set1 = current_child.children[0].content + set2 = next_child.children[0].content + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = Leaf(type='act', content=current_child.children[1].content) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = Leaf(type='act', content=next_child.children[1].content) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + sbtree.add_child([tmp_tree]) + skip_next = True + + elif skip_next: + sbtree.add_child([current_child]) + else: + # 否咋要放进去 + sbtree.add_child([current_child]) + + # 还有最后一个孩子还没放进去 + sbtree.add_child([next_child]) + + self.bt = copy.deepcopy(bt) + # bt合并==================================================== + + + def print_solution(self): + print("========= BT ==========") # 树的bfs遍历 + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= BT ==========\n") + + # 返回所有能到达目标状态的初始状态 + def get_all_state_leafs(self): + state_leafs=[] + + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == "cond": + state_leafs.append(child.content) + elif isinstance(child, ControlBT): + nodes_ls.append(child) + nodes_ls.pop(0) + + return state_leafs + + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def dfs_ptml_many_act(self, parnode, is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + + child.content.name = re.sub(r'\d+', '', child.content.name) + + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml_many_act(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml_many_act(parnode=child) + self.ptml_string += '}\n' + + def get_ptml_many_act(self): + self.ptml_string = "selector{\n" + self.dfs_ptml_many_act(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string + + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count \ No newline at end of file diff --git a/BTExpansionCode/SoftdrinkCost.ptml b/BTExpansionCode/SoftdrinkCost.ptml index aed010a..cac9349 100644 --- a/BTExpansionCode/SoftdrinkCost.ptml +++ b/BTExpansionCode/SoftdrinkCost.ptml @@ -1,43 +1,23 @@ selector{ -cond On(Softdrink,WaterTable) +cond c_goal sequence{ -cond At(Robot,WaterTable) - cond Holding(Softdrink) -act PutDown(Softdrink,WaterTable) +cond 1 + cond 4 +act a1() } sequence{ -cond At(Robot,WaterTable) - cond At(Robot,Softdrink) -selector{ -sequence{ -cond Holding(Nothing) -act PickUp(Softdrink) -} -act PutDown(Anything,Anywhere) -} +cond 1 + cond 2 + cond 3 +act a2() } sequence{ -cond Holding(Softdrink) -act MoveTo(WaterTable) +cond 1 + cond 2 +act a3() } sequence{ -cond At(Robot,Softdrink) -selector{ -sequence{ -cond Holding(Nothing) -act PickUp(Softdrink) -} -act PutDown(Anything,Anywhere) -} -} -sequence{ -cond Exist(Softdrink) -selector{ -sequence{ -cond Holding(Nothing) -act MoveTo(Softdrink) -} -act MoveTo(Softdrink) -} +cond c_start +act a4() } } diff --git a/BTExpansionCode/__init__.py b/BTExpansionCode/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/BTExpansionCode/dataset/data100.txt b/BTExpansionCode/dataset/data100.txt new file mode 100644 index 0000000..48c877e --- /dev/null +++ b/BTExpansionCode/dataset/data100.txt @@ -0,0 +1,299 @@ +Instruction: "Please prepare some coffee." +Goal: Exists_Coffee + +Instruction: "Would you mind fetching my vacuum cup to the hydration area?" +Goal: On_VacuumCup_WaterStation + +Instruction: "Can I have some water served at the first table, please?" +Goal: On_Water_Table1 + +Instruction: "Would it be possible to send some yoghurt over to the second table?" +Goal: On_Yogurt_Table2 + +Instruction: "Could you activate the cooling system, please?" +Goal: Active_AC + +Instruction: "I'd appreciate it if you could deliver a pre-packaged beverage to the third table." +Goal: On_BottledDrink_Table3 + +Instruction: "I would like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Could you serve crisps at Table 3?" +Goal: On_Chips_Table3 + +Instruction: "Could you turn on the tube light, please?" +Goal: Active_TubeLight + +Instruction: "Could you close the curtains, please? " +Goal: Closed_Curtain + +Instruction: "Can you make sure that Table 1 is clean?" +Goal: IsClean_Table1 + +Instruction: "I'd like bernachon served at the table 6." +Goal: On_Bernachon_WindowTable6 + +Instruction: "Please bring a milk drink to Bar 2." +Goal: On_MilkDrink_Bar2 + +Instruction: "It's too hot in here, could you please turn on the air conditioning?" +Goal: Active_AC + +Instruction: "Could you please check if the hall light is on?" +Goal: Active_HallLight + +Instruction: "Could you bring NFCJuice to Table 2?" +Goal: On_NFCJuice_Table2 + +Instruction: "I'd like some spring water at Table 1." +Goal: On_SpringWater_Table1 + +Instruction: "Please make sure the floor is clean." +Goal: IsClean_Floor + +Instruction: "Can you check if the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "Could you lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "I need ADMilk at the coffee table." +Goal: On_ADMilk_CoffeeTable + +Instruction: "Can you bring milk to the bar?" +Goal: On_Milk_Bar + +Instruction: "The sun is quite strong, please close the curtains." +Goal: Closed_Curtain + +Instruction: "Could you turn on the tube light?" +Goal: Active_TubeLight + +Instruction: "Please serve a soft drink at Table 3." +Goal: On_Softdrink_Table3 + +Instruction: "Could you make sure the chairs at Bar are clean?" +Goal: IsClean_Chairs + +Instruction: "I'd like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "It's quite toasty inside, could you please lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "Could you convey some coffee to the table six?" +Goal: On_Coffee_WindowTable6 + +Instruction: "I'd like a glass of water at Bar 2." +Goal: On_Water_Bar2 + +Instruction: "I'd like either a Softdrink or an BottledDrink delivered to my table, Table 3." +Goal: On_Softdrink_Table3 | On_BottledDrink_Table3 + +Instruction: "It's too dark. Can you turn on the downlight or the hall light?" +Goal: Active_HallLight | Active_TubeLight + +Instruction: "Please clean the floor and deliver a bottled drink to Table 1." +Goal: IsClean_Floor & On_BottledDrink_Table1 + +Instruction: "Can you serve bernachon at the bright table 6 or bring chips to Table 2?" +Goal: On_Bernachon_WindowTable6 | On_Chips_Table2 + +Instruction: "I'm a bit hungry, please bring me some fries and ADMilk, I'm near the water station." +Goal: On_Chips_WaterStation & On_ADMilk_WaterStation + +Instruction: "It's so dirty, please wipe the table and mop the floor." +Goal: IsClean_Table1 & IsClean_Floor + +Instruction: "I dropped my vacuum cup; can you find and hold it and Bring milk drink to table six?" +Goal: Holding_VacuumCup & On_MilkDrink_WindowTable6 + +Instruction: "Please turn down the AC and bring me NFCJuice at Bar." +Goal: Low_ACTemperature & On_NFCJuice_Bar + +Instruction: "Can you lower the heating and check if there are any dessert available?" +Goal: Low_ACTemperature & Exists_Dessert + +Instruction: "It's so hot. I want to close the curtains and turn on the air conditioning." +Goal: Closed_Curtain & Active_AC + +Instruction: "Would you kindly proceed to either Bar 2 or the main bar?" +Goal: RobotNear_Bar2 | RobotNear_Bar + +Instruction: "Can you send a cup of coffee and dessert to table 3?" +Goal: On_Coffee_Table3 & On_Dessert_Table3 + +Instruction: "Please close the curtains or turn on the air conditioner." +Goal: Closed_Curtain | Active_AC + +Instruction: "Could you turn down the air conditioning and come to Bar No. 2?" +Goal: RobotNear_Bar2 & Low_ACTemperature + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please remember to deliver coffee or bernachon to table 2." +Goal: On_Coffee_Table2 | On_Bernachon_Table2 + +Instruction: "Please prepare some water or dessert." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Please prepare repa coffee and turn on the air conditioning." +Goal: Exists_Coffee & Active_AC + +Instruction: "Come to table 6 and grab my vacuum cup." +Goal: RobotNear_WindowTable6 & Holding_VacuumCup + +Instruction: "Please turn down the air conditioning temperature and tidy up the chairs." +Goal: Low_ACTemperature & IsClean_Chairs + +Instruction: "Turn on the hall light and clean the floor." +Goal: Active_HallLight & IsClean_Floor + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeTable + +Instruction: "Could you activate the air cooling system and also bring some yoghurt to the bar?" +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Please make sure the first table is spotless and illuminate the area with the fluorescent light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Please bring me coffee or water to Table 1." +Goal: On_Coffee_Table1 | On_Water_Table1 + +Instruction: "Would you mind either tidying up the flooring or delivering a sweet treat to the second table?" +Goal: IsClean_Floor | On_Dessert_Table2 + +Instruction: "I'd like NFCJuice served at the third table, or alternatively, could you switch on the air conditioner?" +Goal: On_NFCJuice_Table3 | Active_AC + +Instruction: "Could you ensure the chairs are pristine and also deliver some yoghurt to the coffee station?" +Goal: IsClean_Chairs & On_Yogurt_CoffeeTable + +Instruction: I'm craving some fries right now. For my drink, I can't decide between milk or yogurt. You can surprise me. Oh, and I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Could you let in some light by opening the curtains? Or maybe just turn on the air conditioner for some fresh air? +Goal: ~Closed_Curtain | Active_AC + +Instruction: It's a bit bright in here; could you dim the strip lights? Oh, and bring some chips to Table 1, please +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Is it possible to crank up the air conditioning a bit? It's quite warm. Also, could you swing by Bar No. 2 for a quick chat +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Someone at table number one ordered yogurt; could you take it over to them? And the hall light seems a bit too bright, could you turn it off? +Goal: On_Yogurt_Table1 & ~Active_HallLight + +Instruction: I'm not sure what I want yet, maybe coffee, bernachonto, or yogurt. Just bring one of them to table 2, please. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Could you refrain from putting water containers on the bar top? It tends to get crowded. +Goal: ~On_Water_Bar + +Instruction: I'd prefer if the coffee wasn't placed on Table 2; perhaps another table would be better. +Goal: ~On_Coffee_Table2 + +Instruction: Could you bring the bernachon to Table 1? Also, ensure it's not too bright or too cold in here, so either turn off the tube light or don't set the AC too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Please avoid placing the dessert on Table 6. +Goal: ~On_Dessert_WindowTable6 + +Instruction: "Ensure there's no coffee on Table 1 or dessert on Table 2, and avoid being near Bar2." +Goal: (~On_Coffee_Table1 | ~On_Dessert_Table2) & ~RobotNear_Bar2 + +Instruction: "Do not hold any bottled drinks and ensure either no yogurt on Table 3 or no chips on Table 1." +Goal: ~Holding_BottledDrink & (~On_Yogurt_Table3 | ~On_Chips_Table1) + +Instruction: "Make sure there's no water on tea table or coffee on coffee table, and don't be near Table 3." +Goal: (~On_Water_WaterStation | ~On_Coffee_CoffeeTable) & ~RobotNear_Table3 + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Try not to linger around the first and second tables all the time. +Goal: ~RobotNear_Table1 & ~RobotNear_Table2 + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Deliver some coffee to the Bar area and avoid hovering around the second or third tables. +Goal: On_Coffee_Bar & ~RobotNear_Table2 & ~RobotNear_Table3 + +Instruction: Either bring dessert to Table1 or water to Table2, but don't turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & ~Active_HallLight + +Instruction: Avoid delivering water to the Bar, and make sure either the drapes are not closed or the passage light is lit. +Goal: ~On_Water_Bar & (~Closed_Curtain | Active_HallLight) + +Instruction: Ensure you're not close to the second table and bring either crisps to the first table or NFCJuice to the Bar. +Goal: ~RobotNear_Table2 & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Place the bottled beverage you're carrying aside and either tidy up the floor or the seating. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a soft drink to Table 3 or a bottled drink to Bar? +Goal: On_Softdrink_Table3 | On_BottledDrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low. +Goal: ~Closed_Curtain | ~Low_ACTemperature + +Instruction: Please either clean the table or turn off the hall light. +Goal: IsClean_Table1 | ~Active_HallLight + +Instruction: Ensure either the AC is on or the tube light is off. +Goal: Active_AC | ~Active_TubeLight + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or turn off the hall light. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~Active_HallLight) + +Instruction: Bring ADMilk to Bar and either the floor should be clean or the chairs should be arranged. +Goal: On_ADMilk_Bar & (IsClean_Floor | IsClean_Chairs) + +Instruction: Can you make sure that there's no water on Table 1 and no chips on Table 2? Also, it would be best if you didn't hang around Table 3. +Goal: ~(On_Water_Table1 | On_Chips_Table2) & ~RobotNear_Table3 \ No newline at end of file diff --git a/BTExpansionCode/dataset/data_process_check.py b/BTExpansionCode/dataset/data_process_check.py new file mode 100644 index 0000000..b54a7ae --- /dev/null +++ b/BTExpansionCode/dataset/data_process_check.py @@ -0,0 +1,190 @@ + +from sympy import symbols, Not, Or, And, to_dnf +from sympy import symbols, simplify_logic + +import re + +split_characters = r'[()&|~ ]' # 用正则表达式定义多个字符，包括逗号、句号、分号和感叹号等 + +predicate_list = {"RobotNear","On","Holding","Exists","IsClean","Active","Closed","Low"} +object_list = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', +'Apple','Banana','Mangosteen','Orange','Glass','OrangeJuice','Tray','CoconutMilk','Kettle','PaperCup','Bread','Cake','LunchBox','Teacup','Tissue','Chocolate','Sandwiches','Mugs','Ice', +'Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3','WindowTable4','WindowTable5','WindowTable6','QuietTable1','QuietTable2','ReadingNook','Entrance','Exit','LoungeArea','HighSeats','VIPLounge','MerchZone', +'Table1','Floor','Chairs','AC','TubeLight','HallLight','Curtain','ACTemperature' + } + +dic_pred_obj={} +dic_pred_obj['RobotNear']=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube'] +dic_pred_obj['RobotNear']+=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable1', 'QuietTable2', 'QuietTable3', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone'] +dic_pred_obj['IsClean']=['Table1','Floor','Chairs'] +dic_pred_obj['Active']=['AC','TubeLight','HallLight'] +dic_pred_obj['Closed']=['Curtain'] +dic_pred_obj['Low']=['ACTemperature'] + +# object_list = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', +# 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', +# 'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6', +# 'Table1','Floor','Chairs', +# 'AC','TubeLight','HallLight', +# 'Curtain','ACTemperature' +# } +def format_check(result): + try: + goal_dnf = str(to_dnf(result, simplify=True)) + except Exception as e: + # print("Caught an error:", e) + return False, [str(e),None,None,None] + + split_sentences = re.split(split_characters, result) + split_sentences = [s.strip() for s in split_sentences if s.strip()] + + wrong_format_set = set() + wrong_predicate_set = set() + wrong_object_set = set() + + for sentence in split_sentences: + if sentence == "": continue + + try: + goal_dnf = str(to_dnf(sentence, simplify=True)) + # 格式正确 + word_list = re.split('_|~', sentence) + word_list = [word for word in word_list if word] + # word_list = sentence.split('_|~') + if len(word_list) <=1: + wrong_format_set.add(sentence) + continue + + predicate = word_list[0] + if predicate not in predicate_list: + wrong_predicate_set.add(predicate) + + for object in word_list[1:]: + if object not in object_list: + wrong_object_set.add(object) + if predicate in dic_pred_obj \ + and predicate not in wrong_predicate_set and object not in wrong_object_set \ + and object not in dic_pred_obj[predicate]: + wrong_format_set.add(sentence) + + + except: + wrong_format_set.add(sentence) + + # print(wrong_format_set) + # print(wrong_predicate_set) + # print(wrong_object_set) + if len(wrong_format_set) == 0 and \ + len(wrong_predicate_set) == 0 and\ + len(wrong_object_set) == 0: + return True, None + else: + return False, [None,wrong_format_set,wrong_predicate_set,wrong_object_set] + +def word_correct(sentence): + try: + goal_dnf = str(to_dnf(sentence, simplify=True)) + return True + except: + return False + + +# 检查 easy_instr_goal 的 goal 中的语法、谓词、obj + + +# data_set_file = "easy_instr_goal.txt" +# data_set_file = "medium_instr_goal.txt" +# data_set_file = "../dataset/hard_instr_goal.txt" + +# with open(data_set_file, 'r', encoding="utf-8") as f: +# for i,line in enumerate(f): +# clean_line = line.strip() +# if 'Goal' in clean_line: +# answer = line.replace("Goal:","") +# format_correct,error_list = format_check(answer) +# if not format_correct: +# print(i," ",clean_line," ",error_list) + + + +# # answer = '~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)' +# answer = 'On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3)' +# split_sentences = re.split(r'[()&|~ ]', answer) +# split_sentences = [s.strip() for s in split_sentences if s.strip()] +# print("split_sentences:",split_sentences) +# goal_dnf = str(to_dnf(answer, simplify=True)) +# # print(goal_dnf) +# format_correct,error_list = format_check(answer) +# print(format_correct) +# print(error_list) + +def goal_transfer_ls_set(goal): + goal_dnf = str(to_dnf(goal, simplify=True)) + # print(goal_dnf) + goal_set =[] + goal_ls = goal_dnf.split("|") + for g in goal_ls: + g_set = set() + g = g.replace(" ", "").replace("(", "").replace(")", "") + g = g.split("&") + for literal in g: + if '_' in literal: + first_part, rest = literal.split('_', 1) + literal = first_part + '(' + rest + # 添加 ')' 到末尾 + literal += ')' + # 替换剩余的 '_' 为 ',' + literal = literal.replace('_', ',') + literal=literal.replace('~', 'Not ') + g_set.add(literal) + goal_set.append(g_set) + goal_set = [sorted(set(item)) for item in goal_set] + return goal_set + + + + +def get_feedback_prompt(prompt,result,error_list): + # wrong_format_set,wrong_predicate_set,wrong_object_set = error_list + + error_message="" + + if error_list[0]!=None: + error_message += "Syntax or Format Error. "+ error_list[0] + ".The answer should consist only of ~, |, &, and the given [Condition] and [Object].. " + else: + if error_list[1]!=set(): + error_strings = ", ".join(error_list[1]) + error_message += f"\"{error_strings}\" have format errors. They should consist only of ~, |, &, and the given [Condition] and [Object].\n" + if error_list[2]!=set(): + error_strings = ", ".join(error_list[2]) + error_message += f"\"{error_strings}\" are not in [Condition]. Please select the appropriate predicates from the [Condition] table to form the answer.\n" + if error_list[3]!=set(): + error_strings = ", ".join(error_list[3]) + error_message += f"\"{error_strings}\" are not in [Object]. Please select the appropriate parameters from the [Object] table to form the answer.\n" + + # print("********** error_message: ",error_message,"\n********************") + + prompt += "\n"+"The last answer is "+result +".\n" + error_message + return prompt + + + +# answer = 'On_BottledDrink_Table3 | On_MilkDrink_Table3 |On_Softdrink_Bar' #'~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)' +# goal_dnf = str(to_dnf(answer, simplify=True)) +# print(goal_dnf) +# print(goal_transfer_str(goal_dnf)) + +# answer = '~Holding_Chips & Is_Chairs_Clean' +# answer = 'On_Fries_Table6 & On_Yogurt_Table6 | (Active_HallLight & ~Low_ACTemperature) | (~Active_Curtain & Low_ACTemperature) | (Exists_Coffee & ~Holding_ADMilk)' +# answer="On_Fries_Table6 & On_Yogurt_Table6 | On_Coffee_Table6 & ~Holding_ADMilk | ~Low_ACTemperature | ~Closed_Curtain" +# answer="On_Fries_Table6 & (On_Yogurt_Table6 | On_Coffee_Table6) & ( OpenCurtain | ~Active_ACTemperature)" + + +# answer="On_Fries_Table6 & (On_Juice_Table6 | ~Exist_Juice => On_Coffee_Table6) & (OpenCurtain | ~Low_AC)" +# answer="On_Fries_Table6 & (On_Juice_Table6 | On_Coffee_Table6) & (Open_Curtain | ~Low_ACTemperature)" +# +answer="(On_Juice_Table6 | ~Exist_Juice=>On_Coffee_Table6 ) & ( ~Low_AC | Open_Curtain )" +format_correct,error_list = format_check(answer) +print(format_correct) +print(error_list) +print(get_feedback_prompt("",answer,error_list)) \ No newline at end of file diff --git a/BTExpansionCode/dataset/easy_instr_goal.txt b/BTExpansionCode/dataset/easy_instr_goal.txt new file mode 100644 index 0000000..a511410 --- /dev/null +++ b/BTExpansionCode/dataset/easy_instr_goal.txt @@ -0,0 +1,89 @@ +Instruction: "Please prepare some coffee." +Goal: Exists_Coffee + +Instruction: "Would you mind fetching my vacuum cup to the hydration area?" +Goal: On_VacuumCup_WaterStation + +Instruction: "Can I have some water served at the first table, please?" +Goal: On_Water_Table1 + +Instruction: "Would it be possible to send some yoghurt over to the second table?" +Goal: On_Yogurt_Table2 + +Instruction: "Could you activate the cooling system, please?" +Goal: Active_AC + +Instruction: "I'd appreciate it if you could deliver a pre-packaged beverage to the third table." +Goal: On_BottledDrink_Table3 + +Instruction: "I would like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Could you serve crisps at Table 3?" +Goal: On_Chips_Table3 + +Instruction: "Could you turn on the tube light, please?" +Goal: Active_TubeLight + +Instruction: "Could you close the curtains, please? " +Goal: Closed_Curtain + +Instruction: "Can you make sure that table 1 is clean?" +Goal: IsClean_Table1 + +Instruction: "I'd like bernachon served at the table 6." +Goal: On_Bernachon_WindowTable6 + +Instruction: "Please bring a milk drink to bar 2." +Goal: On_MilkDrink_Bar2 + +Instruction: "Could you please turn on the air conditioning?" +Goal: Active_AC + +Instruction: "Could you please check if the hall light is on?" +Goal: Active_HallLight + +Instruction: "Could you bring juice to Table 2?" +Goal: On_NFCJuice_Table2 + +Instruction: "I'd like some spring water at Table 1." +Goal: On_SpringWater_Table1 + +Instruction: "Please make sure the floor is clean." +Goal: IsClean_Floor + +Instruction: "Can you check if the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "Could you lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "I need ADMilk at the coffee station." +Goal: On_ADMilk_CoffeeStation + +Instruction: "Can you bring milk to the bar?" +Goal: On_Milk_Bar + +Instruction: "Please open the curtains." +Goal: Closed_Curtain + +Instruction: "Could you turn on the tube light?" +Goal: Active_TubeLight + +Instruction: "Please serve a soft drink at Table 3." +Goal: On_Softdrink_Table3 + +Instruction: "Could you make sure the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "I'd like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "It's quite toasty inside, could you please lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "Could you convey some coffee to the table six?" +Goal: On_Coffee_WindowTable6 + +Instruction: "I'd like a glass of water at Bar 2." +Goal: On_Water_Bar2 \ No newline at end of file diff --git a/BTExpansionCode/dataset/hard_instr_goal.txt b/BTExpansionCode/dataset/hard_instr_goal.txt new file mode 100644 index 0000000..17016c3 --- /dev/null +++ b/BTExpansionCode/dataset/hard_instr_goal.txt @@ -0,0 +1,119 @@ +Instruction: Please, don't forget to turn on the hall light. And, can you either deliver some dessert to Table 1 or bring water to Table 2? +Goal: (On_Dessert_Table1 | On_Water_Table2) & Active_HallLight + +Instruction: Please make sure the air conditioner is running or the tube light is off. Also, avoid placing the Vacuum cup on Table 1. +Goal: (Active_AC | ~Active_TubeLight) & ~On_VacuumCup_Table1 + +Instruction: Please bring a serving of chips to Table 6 by the window, and along with it, either a glass of milk or some yogurt. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Would you mind letting in some light by drawing the curtains, or perhaps turn on the AC? Just a heads up, I prefer it not too chilly. +Goal: ~Closed_Curtain | Active_AC & ~Low_ACTemperature + +Instruction: Can you bring the yogurt to the first table, please? Afterwards, could you then go check the water station or coffee table. +Goal: On_Yogurt_Table1 & (RobotNear_WaterStation | RobotNear_CoffeeStation ) + +Instruction: Don't forget to bring either a cup of coffee, some bernachon, or yogurt to table number 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Please take the bernachon to Table 1. Also, check that the tube lights are off, or at least that the air conditioner isn't set on a very low setting. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Could you bring a glass of water and some chips to table 6, and also check if the AC is on? +Goal: On_Water_WindowTable6 & On_Chips_WindowTable6 & Active_AC + +Instruction: Come to Table 3. I'd appreciate it if you could deliver a coffee to Table 3, and also check that the curtains are open, will you? +Goal: RobotNear_Table3 & On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please deliver this coffee to the bar or bar2, but once you've done that, make sure you move away from the bar area. +Goal: (On_Coffee_Bar | On_Coffee_Bar2) & ~RobotNear_Bar + +Instruction: Please increase the air conditioning temperature, and then join me at bar No. 2 or bar. +Goal: ( RobotNear_Bar2 | RobotNear_Bar ) & ~Low_ACTemperature + +Instruction: Please put down the NFC Juice you're carrying. After that, could you either sweep the floor or tidy up the chairs? +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Try not to hang around Bar and Bar2 all the time, and oh, do remember to pick up and hold a bottle of spring water. +Goal: ~RobotNear_Bar & ~RobotNear_Bar2 & Holding_SpringWater + +Instruction: Don’t set the air conditioning too low, switch off the tube lights, and could you draw back the curtains, please? +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Please avoid putting the chips on the bar2 counter. Also, could you bring either a coffee or bernachon to table number 2? +Goal: ~On_Chips_Bar2 & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Do not open the curtain , and ensure either open the tube light or the hall light . +Goal: ~Closed_Curtain & ( Active_TubeLight | Active_HallLight) + +Instruction: Please activate the air conditioner, and could you bring chips to Table 1 or NFC Juice to Table 2? +Goal: Active_AC & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: If you're holding any chips, please put them down and focus on cleaning up the chairs or wiping the table. +Goal: ~Holding_Chips & (IsClean_Chairs | IsClean_Table1) + +Instruction: Can you put down the bottled drink for now? And, could you either sweep the floor or tidy up the chairs, please? +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Could you switch off the light in the hall and then either get the air conditioning going or turn on the tube light? +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Keep the AC at a moderate temperature, please. Also, could you make sure the tube light is on and the hall light is turned off? +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: I'd appreciate a coffee delivery to Table 2. Also, try to avoid lingering around Tables 1 and 3, if you could. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Ensure we have desserts ready for serving, please refrain from holding onto any yogurt, and keep the air conditioner on. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Make sure there's water available, avoid holding the chips for now, and could you turn off the tube light? +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: I'd like a bottled beverage or a milk-based drink at Table 3, or perhaps a soft drink delivered to the bar area, please. +Goal: On_BottledDrink_Table3 | On_MilkDrink_Table3 |On_Softdrink_Bar + +Instruction: Could you check that the curtains are open or the AC isn't too chilly? Also, I'm at Table 6 and would love some dessert. +Goal: (~Closed_Curtain | ~Low_ACTemperature) & On_Dessert_WindowTable6 + +Instruction: Could you dim the overhead fluorescent light or hall light and also deliver a bag of crisps to Bar? +Goal: On_Chips_Bar & ~(Active_TubeLight | Active_HallLight) + +Instruction: Can you take a moment to either tidy up the table or switch off the hall light? And, please pick up the water. +Goal: (IsClean_Table1 | ~Active_HallLight) & Holding_Water + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeStation and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeStation & (~Active_AC | Active_TubeLight) + +Instruction: Would you mind giving the floor a thorough sweep? It looks like it could use a good cleaning. Oh, and by the way, I won't be needing that insulated cup or the NFCJuice anymore, so no need to bring them over. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or do not stand near bat. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~RobotNear_Bar) + +Instruction: Can you make sure we have either some desserts or coffee available for serving? Also, I'd like some almond milk brought to the bar counter. +Goal: (Exists_Dessert | Exists_Coffee) & On_ADMilk_Bar + +Instruction: Please deliver coffee to Bar2 and ensure that dessert is available but not on the Bar. +Goal: On_Coffee_Bar2 & Exists_Dessert & ~On_Dessert_Bar + +Instruction: Make sure to deliver Milk to Table2 and Dessert to Bar2, and check that Juice is not at the table 2. +Goal: On_Milk_Table2 & On_Dessert_Bar2 & ~On_NFCJuice_Table2 + +Instruction: Ensure that chips are not on bar and bar2 and please deliver the ADMilk to bar. +Goal: ~On_Chips_Bar & ~On_Chips_Bar2 & On_ADMilk_Bar + +Instruction: Could you bring C either Milk or Softdrink to Bar2, but make sure not to stay near the bar? +Goal: (On_Milk_Bar2 | On_Softdrink_Bar2) & ~RobotNear_Bar + +Instruction: Deliver yogurt to Table3 and bernachon to Table2, and make sure the vacuum cup is on the coffee station. +Goal: On_Yogurt_Table3 & On_Bernachon_Table2 & On_VacuumCup_CoffeeStation + +Instruction: Make sure to deliver milk and dessert to bar, and check that Juice is not at the table 2. +Goal: On_Milk_Bar & On_Dessert_Bar & ~On_NFCJuice_Table2 \ No newline at end of file diff --git a/BTExpansionCode/dataset/hard_instr_goal_GR=0.975,SR=0.675.txt b/BTExpansionCode/dataset/hard_instr_goal_GR=0.975,SR=0.675.txt new file mode 100644 index 0000000..12f74fb --- /dev/null +++ b/BTExpansionCode/dataset/hard_instr_goal_GR=0.975,SR=0.675.txt @@ -0,0 +1,119 @@ +Instruction: Please bring a serving of chips to Table 6 by the window, and along with it, either a glass of milk or some yogurt. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Would you mind letting in some light by drawing the curtains, or perhaps turn on the AC? Just a heads up, I prefer it not too chilly. +Goal: ~Closed_Curtain | Active_AC & ~Low_ACTemperature + +Instruction: Please increase the air conditioning temperature, and then join me at Bar No. 2. +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Can you bring the yogurt to the first table, please? Afterwards, could you then go check the water station or coffee table. +Goal: On_Yogurt_Table1 & (RobotNear_WaterStation | RobotNear_CoffeeTable ) + +Instruction: Don't forget to bring either a cup of coffee, some bernachon, or yogurt to table number 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Please take the bernachon to Table 1. Also, check that the tube lights are off, or at least that the air conditioner isn't set on a very low setting. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Ensure that there is no yogurt on the bar, and please arrange some desserts on the bar counter. +Goal: ~On_Yogurt_Bar & On_Dessert_Bar + +Instruction: Please put down the NFC Juice you're carrying. After that, could you either sweep the floor or tidy up the chairs? +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Try not to hang around Bar and Bar2 all the time, and oh, do remember to pick up and hold a bottle of spring water. +Goal: ~RobotNear_Bar & ~RobotNear_Bar2 & Holding_SpringWater + +Instruction: Don’t set the air conditioning too low, switch off the tube lights, and could you draw back the curtains, please? +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Please avoid putting the chips on the bar counter. Also, could you bring either a coffee or bernachon to table number 2? +Goal: ~On_Chips_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: I'd appreciate it if you could deliver a coffee to Table 3, and also check that the curtains are open, will you? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please deliver this coffee to the bar, but once you've done that, make sure you move away from the bar area. +Goal: On_Coffee_Bar & ~RobotNear_Bar + +Instruction: Can you either deliver some dessert to Table 1 or bring water to Table 2? And, please, don't forget to turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & Active_HallLight + +Instruction: Do not open the curtain , and ensure either open the tube light or the hall light . +Goal: ~Closed_Curtain & ( Active_TubeLight | Active_HallLight) + +Instruction: Please activate the air conditioner, and could you bring chips to Table 1 or NFC Juice to Table 2? +Goal: Active_AC & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: If you're holding any chips, please put them down and focus on cleaning up the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Set that bottled drink aside, and would you mind either cleaning the floor or straightening up the chairs? +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Could you switch off the light in the hall and then either get the air conditioning going or turn on the tube light? +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Keep the AC at a moderate temperature, please. Also, could you make sure the tube light is on and the hall light is turned off? +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: I'd appreciate a coffee delivery to Table 2. Also, try to avoid lingering around Tables 1 and 3, if you could. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Ensure we have desserts ready for serving, please refrain from holding onto any yogurt, and keep the air conditioner on. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Make sure there's water available, avoid holding the chips for now, and could you turn off the tube light? +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: I'd like a bottled beverage or a milk-based drink at Table 3, or perhaps a soft drink delivered to the bar area, please. +Goal: On_BottledDrink_Table3 | On_MilkDrink_Table3 |On_Softdrink_Bar + +Instruction: Could you check that the curtains are open or the AC isn't too chilly? Also, I'm at Table 6 and would love some pastries. +Goal: (~Closed_Curtain | ~Low_ACTemperature) & On_Dessert_WindowTable6 + +Instruction: Would you mind turning off the tube light and bringing some chips to Table 1? +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Can you take a moment to either tidy up the table or switch off the hall light? And, please pick up the water. +Goal: (IsClean_Table1 | ~Active_HallLight) & Holding_Water + +Instruction: Please make sure the air conditioner is running or the tube light is off. Also, avoid placing the Vacuum cup on Table 2. +Goal: (Active_AC | ~Active_TubeLight) & ~On_VacuumCup_Table2 + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or do not stand near bat. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~RobotNear_Bar) + +Instruction: Ensure that either dessert or coffee is ready for service, and could you deliver almond milk to the bar counter? +Goal: (Exists_Dessert | Exists_Coffee) & On_ADMilk_Bar + +Instruction: Please deliver coffee to Bar2 and ensure that dessert is available but not on the Bar. +Goal: On_Coffee_Bar2 & Exists_Dessert & ~On_Dessert_Bar + +Instruction: Make sure to deliver Milk to Table2 and Dessert to Bar2, and check that NFCJuice is not at the Bar. +Goal: On_Milk_Table2 & On_Dessert_Bar2 & ~On_NFCJuice_Bar + +Instruction: Ensure that chips are not on any bar and deliver please the ADMilk to table3. +Goal: ~On_Chips_Bar & ~On_Chips_Bar2 & On_ADMilk_Table3 + +Instruction: Could you bring C either Milk or Softdrink to Bar2, but make sure not to stay near the bar? +Goal: (On_Milk_Bar2 | On_Softdrink_Bar2) & ~RobotNear_Bar + +Instruction: Deliver Yogurt to Table3 and Bernachon to Table2, and make sure the VacuumCup is on the CoffeeTable. +Goal: On_Yogurt_Table3 & On_Bernachon_Table2 & On_VacuumCup_CoffeeTable + +Instruction: Make sure to deliver Milk to Table2 and Dessert to Bar2, and check that NFCJuice is not at the Bar. +Goal: On_Milk_Table2 & On_Dessert_Bar2 & ~On_NFCJuice_Bar \ No newline at end of file diff --git a/BTExpansionCode/dataset/hard_instr_goal_表达直白未换同义词.txt b/BTExpansionCode/dataset/hard_instr_goal_表达直白未换同义词.txt new file mode 100644 index 0000000..e518bd9 --- /dev/null +++ b/BTExpansionCode/dataset/hard_instr_goal_表达直白未换同义词.txt @@ -0,0 +1,90 @@ +Instruction: "I'd like either a Softdrink or an BottledDrink delivered to my table, Table 3." +Goal: On_Softdrink_Table3 | On_BottledDrink_Table3 + +Instruction: "It's too dark. Can you turn on the downlight or the hall light?" +Goal: Active_HallLight | Active_TubeLight + +Instruction: "Please clean the floor and deliver a bottled drink to Table 1." +Goal: IsClean_Floor & On_BottledDrink_Table1 + +Instruction: "Can you serve bernachon at the bright table 6 or bring chips to Table 2?" +Goal: On_Bernachon_WindowTable6 | On_Chips_Table2 + +Instruction: "I'm a bit hungry, please bring me some fries and ADMilk, I'm near the water station." +Goal: On_Chips_WaterStation & On_ADMilk_WaterStation + +Instruction: "It's so dirty, please wipe the table and mop the floor." +Goal: IsClean_Table1 & IsClean_Floor + +Instruction: "I dropped my vacuum cup; can you find and hold it and Bring milk drink to table six?" +Goal: Holding_VacuumCup & On_MilkDrink_WindowTable6 + +Instruction: "Please turn down the AC and bring me NFCJuice at Bar." +Goal: Low_ACTemperature & On_NFCJuice_Bar + +Instruction: "Can you lower the heating and check if there are any dessert available?" +Goal: Low_ACTemperature & Exists_Dessert + +Instruction: "It's so hot. I want to close the curtains and turn on the air conditioning." +Goal: Closed_Curtain & Active_AC + +Instruction: "Would you kindly proceed to either Bar 2 or the main bar?" +Goal: RobotNear_Bar2 | RobotNear_Bar + +Instruction: "Can you send a cup of coffee and dessert to table 3?" +Goal: On_Coffee_Table3 & On_Dessert_Table3 + +Instruction: "Please close the curtains or turn on the air conditioner." +Goal: Closed_Curtain | Active_AC + +Instruction: "Could you turn down the air conditioning and come to Bar No. 2?" +Goal: RobotNear_Bar2 & Low_ACTemperature + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please remember to deliver coffee or bernachon to table 2." +Goal: On_Coffee_Table2 | On_Bernachon_Table2 + +Instruction: "Please prepare some water or dessert." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Please prepare repa coffee and turn on the air conditioning." +Goal: Exists_Coffee & Active_AC + +Instruction: "Come to table 6 and grab my vacuum cup." +Goal: RobotNear_WindowTable6 & Holding_VacuumCup + +Instruction: "Please turn down the air conditioning temperature and tidy up the chairs." +Goal: Low_ACTemperature & IsClean_Chairs + +Instruction: "Turn on the hall light and clean the floor." +Goal: Active_HallLight & IsClean_Floor + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeStation + +Instruction: "Could you activate the air cooling system and also bring some yoghurt to the bar?" +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Please make sure the first table is spotless and illuminate the area with the fluorescent light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Please bring me coffee or water to Table 1." +Goal: On_Coffee_Table1 | On_Water_Table1 + +Instruction: "Would you mind either tidying up the flooring or delivering a sweet treat to the second table?" +Goal: IsClean_Floor | On_Dessert_Table2 + +Instruction: "I'd like NFCJuice served at the third table, or alternatively, could you switch on the air conditioner?" +Goal: On_NFCJuice_Table3 | Active_AC + +Instruction: "Could you ensure the chairs are pristine and also deliver some yoghurt to the coffee station?" +Goal: IsClean_Chairs & On_Yogurt_CoffeeStation + diff --git a/BTExpansionCode/dataset/medium_instr_goal.txt b/BTExpansionCode/dataset/medium_instr_goal.txt new file mode 100644 index 0000000..d34232e --- /dev/null +++ b/BTExpansionCode/dataset/medium_instr_goal.txt @@ -0,0 +1,90 @@ +Instruction: "Please ensure that the chairs are clean, or deliver some sour milk to the coffee station." +Goal: IsClean_Chairs | On_Yogurt_CoffeeStation + +Instruction: "I'd like either a soft drink or a refreshing bottled beverage delivered to my table at Table 3." +Goal: On_Softdrink_Table3 | On_BottledDrink_Table3 + +Instruction: "It's too dark. Can you turn on the downlight or the hall light?" +Goal: Active_HallLight | Active_TubeLight + +Instruction: "The floor seems a bit dusty, could you give it a good sweep? Also, I'd love a refreshing bottled beverage at Table 1 when you have a moment" +Goal: IsClean_Floor & On_BottledDrink_Table1 + +Instruction: "Can you serve bernachon at the bright table 6 or bring chips to Table 2?" +Goal: On_Bernachon_WindowTable6 | On_Chips_Table2 + +Instruction: "I'm at table 3, please bring me either fries or dessert." +Goal: On_Chips_Table3 | On_Dessert_Table3 + +Instruction: "It's so dirty, please wipe the table and mop the floor." +Goal: IsClean_Table1 & IsClean_Floor + +Instruction: "I dropped my vacuum cup, can you hold it ? And, bring milk drink to table 2?" +Goal: Holding_VacuumCup & On_MilkDrink_Table2 + +Instruction: "Please turn off the AC and bring me Juice at Bar." +Goal: ~Active_AC & On_NFCJuice_Bar + +Instruction: "Can you lower the heating and check if there are any dessert available?" +Goal: Low_ACTemperature & Exists_Dessert + +Instruction: "It's so hot. I want to close the curtains and turn on the air conditioning." +Goal: Closed_Curtain & Active_AC + +Instruction: "Would you kindly proceed to either bar 2 or the main bar?" +Goal: RobotNear_Bar2 | RobotNear_Bar + +Instruction: "Can you send a cup of coffee and dessert to table 3?" +Goal: On_Coffee_Table3 & On_Dessert_Table3 + +Instruction: "Please place a bottle of spring water on table 2 and turn on the AC since it's warm." +Goal: On_SpringWater_Table2 & Active_AC + +Instruction: "Please bring yogurt to table 1 and check if the tube light is working." +Goal: On_Yogurt_Table1 & Active_TubeLight + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please make sure there's either a cup of coffee or a bottled beverage treat ready at Table 2." +Goal: On_Coffee_Table2 | On_BottledDrink_Table2 + +Instruction: "Please make sure the water or dessert are ready and available." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Could you bring some chips to Table 1 or a dessert to Window Table 6?" +Goal: On_Chips_Table1 | On_Dessert_WindowTable6 + +Instruction: "Come to table No. 6 by the window and grab my vacuum cup." +Goal: RobotNear_WindowTable6 & Holding_VacuumCup + +Instruction: "Please do not turn down the air conditioning temperature and tidy up the chairs." +Goal: ~Low_ACTemperature & IsClean_Chairs + +Instruction: "Turn on the hall light and clean the floor." +Goal: Active_HallLight & IsClean_Floor + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeStation + +Instruction: "Could you activate the air cooling system and also bring some yoghurt to the bar?" +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Please make sure the first table is spotless and illuminate the area with the tube light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Please bring me coffee or water to table 1." +Goal: On_Coffee_Table1 | On_Water_Table1 + +Instruction: "Would you mind either tidying up the flooring or delivering a sweet treat to the second table?" +Goal: IsClean_Floor | On_Dessert_Table2 + +Instruction: "I'd like natural fruit juice served at the third table, or alternatively, could you switch on the air conditioner?" +Goal: On_NFCJuice_Table3 | Active_AC + diff --git a/BTExpansionCode/dataset/test.txt b/BTExpansionCode/dataset/test.txt new file mode 100644 index 0000000..f79a47f --- /dev/null +++ b/BTExpansionCode/dataset/test.txt @@ -0,0 +1,2 @@ +Instruction: Juice to table six, please. If you're out of juice, coffee's fine. Also, it's a bit chilly here – any chance you could turn up the heat? +On_Chips_WindowTable6 & (On_NFCJuice_WindowTable6 | On_Coffee_WindowTable6) & (~Closed_Curtain | ~Low_ACTemperature) \ No newline at end of file diff --git a/BTExpansionCode/dataset/zhibai/data100.txt b/BTExpansionCode/dataset/zhibai/data100.txt new file mode 100644 index 0000000..0009526 --- /dev/null +++ b/BTExpansionCode/dataset/zhibai/data100.txt @@ -0,0 +1,328 @@ +Instruction: "Could you please bring my vacuum cup to the water station?" +Goal: On_VacuumCup_WaterStation + +Instruction: "I'd like a glass of water at Table 1, please." +Goal: On_Water_Table1 + +Instruction: "Can you deliver yogurt to Table 2?" +Goal: On_Yogurt_Table2 + +Instruction: "Please turn on the air conditioning." +Goal: Active_AC + +Instruction: "Please bring a bottled drink to Table 3." +Goal: On_BottledDrink_Table3 + +Instruction: "I would like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Could you serve chips at Table 3?" +Goal: On_Chips_Table3 + +Instruction: "Could you turn on the tube light, please?" +Goal: Active_TubeLight + +Instruction: "Could you close the curtains, please? " +Goal: Closed_Curtain + +Instruction: "Can you make sure that Table 1 is clean?" +Goal: IsClean_Table1 + +Instruction: "I'd like bernachon served at the window table 6." +Goal: On_Bernachon_WindowTable6 + +Instruction: "Please bring a milk drink to Bar 2." +Goal: On_MilkDrink_Bar2 + +Instruction: "It's too hot in here, could you please turn on the air conditioning?" +Goal: Active_AC + +Instruction: "Could you please check if the hall light is on?" +Goal: Active_HallLight + +Instruction: "Could you bring NFCJuice to Table 2?" +Goal: On_NFCJuice_Table2 + +Instruction: "I'd like some spring water at Table 1." +Goal: On_SpringWater_Table1 + +Instruction: "Please make sure the floor is clean." +Goal: IsClean_Floor + +Instruction: "Can you check if the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "Could you lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "I need ADMilk at the coffee table." +Goal: On_ADMilk_CoffeeTable +Instruction: I would like some fries, and for drinks, milk or yogurt is fine. I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Please open the curtains or turn on the air conditioner. +Goal: ~Closed_Curtain | Active_AC + +Instruction: Could you turn up the air conditioning and come to Bar No. 2? +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Please deliver the yogurt to table number one and turn off the hall light. +Goal: On_Yogurt_Table1 & ~Active_HallLight + +Instruction: Please remember to deliver coffee or bernachonto or Yogurt table 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Don't leave the water on the bar counter. +Goal: ~On_Water_Bar + +Instruction: Please do not place the coffee on Table 2. +Goal: ~On_Coffee_Table2 + +Instruction: Deliver bernachon to Table1 and make sure either the tube light is off or the AC is not too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Don't put the dessert on the window table 6. +Goal: ~On_Dessert_WindowTable6 + +Instruction: Ensure the yogurt is not on Table 1. +Goal: ~On_Yogurt_Table1 + +Instruction: Do not leave the milk drink at the water table. +Goal: ~On_MilkDrink_WaterStation + +Instruction: Make sure the bottled drink is not on Bar2. +Goal: ~On_BottledDrink_Bar2 + +Instruction: Don't place the chips on Coffee Table. +Goal: ~On_Chips_CoffeeTable + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Don't always be at Table 1 and Table 2. +Goal: ~RobotNear_Table1 & ~RobotNear_Table2 + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please bring coffee to Bar and don't stand near Table2 or Table3. +Goal: On_Coffee_Bar & ~RobotNear_Table2 & ~RobotNear_Table3 + +Instruction: Either bring dessert to Table1 or water to Table2, but don't turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & ~Active_HallLight + +Instruction: Do not bring water to Bar, and ensure either the curtains are open or the hall light is on. +Goal: ~On_Water_Bar & (~Closed_Curtain | Active_HallLight) + +Instruction: Make sure not to be near Table2 and either bring chips to Table1 or NFCJuice to Bar. +Goal: ~RobotNear_Table2 & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Put down the bottled drink you're holding and either clean the floor or the chairs. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a soft drink to Table 3 or a bottled drink to Bar? +Goal: On_Softdrink_Table3 | On_BottledDrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low. +Goal: ~Closed_Curtain | ~Low_ACTemperature + +Instruction: Can you turn off the tube light and deliver chips to Table 1? +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Please either clean the table or turn off the hall light. +Goal: IsClean_Table1 | ~Active_HallLight + +Instruction: Ensure either the AC is on or the tube light is off. +Goal: Active_AC | ~Active_TubeLight + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or turn off the hall light. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~Active_HallLight) + +Instruction: Bring ADMilk to Bar and either the floor should be clean or the chairs should be arranged. +Goal: On_ADMilk_Bar & (IsClean_Floor | IsClean_Chairs) + +Instruction: "Can you bring milk to the bar?" +Goal: On_Milk_Bar + +Instruction: "The sun is quite strong, please close the curtains." +Goal: Closed_Curtain + +Instruction: "Could you turn on the tube light?" +Goal: Active_TubeLight + +Instruction: "Please serve a soft drink at Table 3." +Goal: On_Softdrink_Table3 + +Instruction: "Could you make sure the chairs at Bar are clean?" +Goal: IsClean_Chairs + +Instruction: "I'd like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Please prepare some coffee." +Goal: Exists_Coffee + +Instruction: "It's really hot in here, could you please lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "Please bring coffee to the window table 6." +Goal: On_Coffee_WindowTable6 + +Instruction: "I'd like a glass of water at Bar 2." +Goal: On_Water_Bar2 + +Instruction: I would like some fries, and for drinks, milk or yogurt is fine. I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Please open the curtains or turn on the air conditioner. +Goal: ~Closed_Curtain | Active_AC + +Instruction: Could you turn up the air conditioning and come to Bar No. 2? +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Please deliver the yogurt to table number one and turn off the hall light. +Goal: On_Yogurt_Table1 & ~Active_HallLight + +Instruction: Please remember to deliver coffee or bernachonto or Yogurt table 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Don't leave the water on the bar counter. +Goal: ~On_Water_Bar + +Instruction: Please do not place the coffee on Table 2. +Goal: ~On_Coffee_Table2 + +Instruction: Deliver bernachon to Table1 and make sure either the tube light is off or the AC is not too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Don't put the dessert on the window table 6. +Goal: ~On_Dessert_WindowTable6 + +Instruction: Ensure the yogurt is not on Table 1. +Goal: ~On_Yogurt_Table1 + +Instruction: Do not leave the milk drink at the water table. +Goal: ~On_MilkDrink_WaterStation + +Instruction: Make sure the bottled drink is not on Bar2. +Goal: ~On_BottledDrink_Bar2 + +Instruction: Don't place the chips on Coffee Table. +Goal: ~On_Chips_CoffeeTable + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Don't always be at Table 1 and Table 2. +Goal: ~RobotNear_Table1 & ~RobotNear_Table2 + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please bring coffee to Bar and don't stand near Table2 or Table3. +Goal: On_Coffee_Bar & ~RobotNear_Table2 & ~RobotNear_Table3 + +Instruction: Either bring dessert to Table1 or water to Table2, but don't turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & ~Active_HallLight + +Instruction: Do not bring water to Bar, and ensure either the curtains are open or the hall light is on. +Goal: ~On_Water_Bar & (~Closed_Curtain | Active_HallLight) + +Instruction: Make sure not to be near Table2 and either bring chips to Table1 or NFCJuice to Bar. +Goal: ~RobotNear_Table2 & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Put down the bottled drink you're holding and either clean the floor or the chairs. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a soft drink to Table 3 or a bottled drink to Bar? +Goal: On_Softdrink_Table3 | On_BottledDrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low. +Goal: ~Closed_Curtain | ~Low_ACTemperature + +Instruction: Can you turn off the tube light and deliver chips to Table 1? +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Please either clean the table or turn off the hall light. +Goal: IsClean_Table1 | ~Active_HallLight + +Instruction: Ensure either the AC is on or the tube light is off. +Goal: Active_AC | ~Active_TubeLight + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or turn off the hall light. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~Active_HallLight) + +Instruction: Bring ADMilk to Bar and either the floor should be clean or the chairs should be arranged. +Goal: On_ADMilk_Bar & (IsClean_Floor | IsClean_Chairs) \ No newline at end of file diff --git a/BTExpansionCode/dataset/zhibai/easy_instr_goal.txt b/BTExpansionCode/dataset/zhibai/easy_instr_goal.txt new file mode 100644 index 0000000..c0cac48 --- /dev/null +++ b/BTExpansionCode/dataset/zhibai/easy_instr_goal.txt @@ -0,0 +1,89 @@ +Instruction: "Could you please bring my vacuum cup to the water station?" +Goal: On_VacuumCup_WaterStation + +Instruction: "I'd like a glass of water at Table 1, please." +Goal: On_Water_Table1 + +Instruction: "Can you deliver yogurt to Table 2?" +Goal: On_Yogurt_Table2 + +Instruction: "Please turn on the air conditioning." +Goal: Active_AC + +Instruction: "Please bring a bottled drink to Table 3." +Goal: On_BottledDrink_Table3 + +Instruction: "I would like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Could you serve chips at Table 3?" +Goal: On_Chips_Table3 + +Instruction: "Could you turn on the tube light, please?" +Goal: Active_TubeLight + +Instruction: "Could you close the curtains, please? " +Goal: Closed_Curtain + +Instruction: "Can you make sure that Table 1 is clean?" +Goal: IsClean_Table1 + +Instruction: "I'd like bernachon served at the window table 6." +Goal: On_Bernachon_WindowTable6 + +Instruction: "Please bring a milk drink to Bar 2." +Goal: On_MilkDrink_Bar2 + +Instruction: "It's too hot in here, could you please turn on the air conditioning?" +Goal: Active_AC + +Instruction: "Could you please check if the hall light is on?" +Goal: Active_HallLight + +Instruction: "Could you bring NFCJuice to Table 2?" +Goal: On_NFCJuice_Table2 + +Instruction: "I'd like some spring water at Table 1." +Goal: On_SpringWater_Table1 + +Instruction: "Please make sure the floor is clean." +Goal: IsClean_Floor + +Instruction: "Can you check if the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "Could you lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "I need ADMilk at the coffee table." +Goal: On_ADMilk_CoffeeTable + +Instruction: "Can you bring milk to the bar?" +Goal: On_Milk_Bar + +Instruction: "The sun is quite strong, please close the curtains." +Goal: Closed_Curtain + +Instruction: "Could you turn on the tube light?" +Goal: Active_TubeLight + +Instruction: "Please serve a soft drink at Table 3." +Goal: On_Softdrink_Table3 + +Instruction: "Could you make sure the chairs at Bar are clean?" +Goal: IsClean_Chairs + +Instruction: "I'd like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Please prepare some coffee." +Goal: Exists_Coffee + +Instruction: "It's really hot in here, could you please lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "Please bring coffee to the window table 6." +Goal: On_Coffee_WindowTable6 + +Instruction: "I'd like a glass of water at Bar 2." +Goal: On_Water_Bar2 \ No newline at end of file diff --git a/BTExpansionCode/dataset/zhibai/hard_instr_goal.txt b/BTExpansionCode/dataset/zhibai/hard_instr_goal.txt new file mode 100644 index 0000000..9f91996 --- /dev/null +++ b/BTExpansionCode/dataset/zhibai/hard_instr_goal.txt @@ -0,0 +1,119 @@ +Instruction: I would like some fries, and for drinks, milk or yogurt is fine. I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Please open the curtains or turn on the air conditioner. +Goal: ~Closed_Curtain | Active_AC + +Instruction: Could you turn up the air conditioning and come to Bar No. 2? +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Please deliver the yogurt to table number one and turn off the hall light. +Goal: On_Yogurt_Table1 & ~Active_HallLight + +Instruction: Please remember to deliver coffee or bernachonto or Yogurt table 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Don't leave the water on the bar counter. +Goal: ~On_Water_Bar + +Instruction: Please do not place the coffee on Table 2. +Goal: ~On_Coffee_Table2 + +Instruction: Deliver bernachon to Table1 and make sure either the tube light is off or the AC is not too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Don't put the dessert on the window table 6. +Goal: ~On_Dessert_WindowTable6 + +Instruction: Ensure the yogurt is not on Table 1. +Goal: ~On_Yogurt_Table1 + +Instruction: Do not leave the milk drink at the water table. +Goal: ~On_MilkDrink_WaterStation + +Instruction: Make sure the bottled drink is not on Bar2. +Goal: ~On_BottledDrink_Bar2 + +Instruction: Don't place the chips on Coffee Table. +Goal: ~On_Chips_CoffeeTable + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Don't always be at Table 1 and Table 2. +Goal: ~RobotNear_Table1 & ~RobotNear_Table2 + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please bring coffee to Bar and don't stand near Table2 or Table3. +Goal: On_Coffee_Bar & ~RobotNear_Table2 & ~RobotNear_Table3 + +Instruction: Either bring dessert to Table1 or water to Table2, but don't turn on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & ~Active_HallLight + +Instruction: Do not bring water to Bar, and ensure either the curtains are open or the hall light is on. +Goal: ~On_Water_Bar & (~Closed_Curtain | Active_HallLight) + +Instruction: Make sure not to be near Table2 and either bring chips to Table1 or NFCJuice to Bar. +Goal: ~RobotNear_Table2 & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Put down the bottled drink you're holding and either clean the floor or the chairs. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a soft drink to Table 3 or a bottled drink to Bar? +Goal: On_Softdrink_Table3 | On_BottledDrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low. +Goal: ~Closed_Curtain | ~Low_ACTemperature + +Instruction: Can you turn off the tube light and deliver chips to Table 1? +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Please either clean the table or turn off the hall light. +Goal: IsClean_Table1 | ~Active_HallLight + +Instruction: Ensure either the AC is on or the tube light is off. +Goal: Active_AC | ~Active_TubeLight + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or turn off the hall light. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~Active_HallLight) + +Instruction: Bring ADMilk to Bar and either the floor should be clean or the chairs should be arranged. +Goal: On_ADMilk_Bar & (IsClean_Floor | IsClean_Chairs) \ No newline at end of file diff --git a/BTExpansionCode/dataset/zhibai/medium_instr_goal.txt b/BTExpansionCode/dataset/zhibai/medium_instr_goal.txt new file mode 100644 index 0000000..8e9da75 --- /dev/null +++ b/BTExpansionCode/dataset/zhibai/medium_instr_goal.txt @@ -0,0 +1,90 @@ +Instruction: "I'd like either a Softdrink or an BottledDrink delivered to my table, Table 3." +Goal: On_Softdrink_Table3 | On_BottledDrink_Table3 + +Instruction: "It's too dark. Can you turn on the downlight or the hall light?" +Goal: Active_HallLight | Active_TubeLight + +Instruction: "Please clean the floor and deliver a bottled drink to Table 1." +Goal: IsClean_Floor & On_BottledDrink_Table1 + +Instruction: "Can you serve bernachon at the window table 6 or bring chips to Table 2?" +Goal: On_Bernachon_WindowTable6 | On_Chips_Table2 + +Instruction: "I'm a bit hungry, please bring me some fries and ADMilk, I'm near the water station." +Goal: On_Chips_WaterStation & On_ADMilk_WaterStation + +Instruction: "It's so dirty, please wipe the table and mop the floor." +Goal: IsClean_Table1 & IsClean_Floor + +Instruction: "I dropped my vacuum cup; can you find it and Bring milk drink to table six?" +Goal: Holding_VacuumCup & On_MilkDrink_WindowTable6 + +Instruction: "Please turn down the AC and bring me NFCJuice at Bar." +Goal: Low_ACTemperature & On_NFCJuice_Bar + +Instruction: "Can you turn down the heating and check if there are any dessert available?" +Goal: Low_ACTemperature & Exists_Dessert + +Instruction: "It's so hot. I want to close the curtains and turn on the air conditioning." +Goal: Closed_Curtain & Active_AC + +Instruction: "Would you kindly proceed to either Bar 2 or the main bar?" +Goal: RobotNear_Bar2 | RobotNear_Bar + +Instruction: "Can you send a cup of coffee and dessert to table 3?" +Goal: On_Coffee_Table3 & On_dessert_Table3 + +Instruction: "Please close the curtains or turn on the air conditioner." +Goal: Closed_Curtain | Active_AC + +Instruction: "Could you turn down the air conditioning and come to Bar No. 2?" +Goal: RobotNear_Bar2 & Low_ACTemperature + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please remember to deliver coffee or bernachon to table 2." +Goal: On_Coffee_Table2 | On_Bernachon_Table2 + +Instruction: "Please prepare some water or dessert." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Please prepare coffee and turn on the air conditioning." +Goal: Exists_Coffee & Active_AC + +Instruction: "Come to table 6 and grab my vacuum cup." +Goal: RobotNear_WindowTable6 & Holding_VacuumCup + +Instruction: "Please turn down the air conditioning temperature and tidy up the chairs." +Goal: Low_ACTemperature & IsClean_Chairs + +Instruction: "Turn on the hall light and clean the floor." +Goal: Active_HallLight & IsClean_Floor + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeTable + +Instruction: "Turn on the AC and serve yogurt at Bar." +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Clean Table1 and turn on the tube light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Please bring me coffee or water to Table 1." +Goal: On_Coffee_Table1 | On_Water_Table1 + +Instruction: "Either clean the floor or bring dessert to Table 2." +Goal: IsClean_Floor | On_Dessert_Table2 + +Instruction: "Serve NFCJuice at Table 3 or turn on the AC." +Goal: On_NFCJuice_Table3 | Active_AC + +Instruction: "Please clean the chairs and bring yogurt to the coffee table." +Goal: IsClean_Chairs & On_Yogurt_CoffeeTable + diff --git a/BTExpansionCode/dataset/其它/dataset - 快捷方式.lnk b/BTExpansionCode/dataset/其它/dataset - 快捷方式.lnk new file mode 100644 index 0000000..16c31c1 Binary files /dev/null and b/BTExpansionCode/dataset/其它/dataset - 快捷方式.lnk differ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/__init__.py b/BTExpansionCode/dataset/其它/easy.txt similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/__init__.py rename to BTExpansionCode/dataset/其它/easy.txt diff --git a/BTExpansionCode/dataset/其它/easy30.txt b/BTExpansionCode/dataset/其它/easy30.txt new file mode 100644 index 0000000..24fdd9e --- /dev/null +++ b/BTExpansionCode/dataset/其它/easy30.txt @@ -0,0 +1,30 @@ +On_VacuumCup_WaterTable +On_Water_Table1 +On_Yogurt_Table2 +Is_AC_On +On_BottledDrink_Table3 +On_Dessert_Bar +On_Chips_Table3 +Is_TubeLight_On +Is_Curtain_Off +Is_Table1_Clean +On_Bernachon_BrightTable6 +On_MilkDrink_Bar2 +Is_AC_Off +Is_HallLight_On +On_NFCJuice_Table2 +On_SpringWater_Table1 +Is_Floor_Clean +Is_Chairs_Clean +Is_ACTemperature_Down +On_ADMilk_CoffeeTable +On_Milk_Bar +Is_Curtain_On +Is_TubeLight_Off +On_Softdrink_Table3 +Is_Chairs_Clean +On_Dessert_Bar +Exist_Coffee +Is_ACTemperature_Up +On_Coffee_BrightTable6 +On_Water_Bar2 \ No newline at end of file diff --git a/BTExpansionCode/dataset/其它/easy_instr_goal.txt b/BTExpansionCode/dataset/其它/easy_instr_goal.txt new file mode 100644 index 0000000..49bc2b5 --- /dev/null +++ b/BTExpansionCode/dataset/其它/easy_instr_goal.txt @@ -0,0 +1,89 @@ +Instruction: "Could you please bring my vacuum cup to the water table?" +Goal: On_VacuumCup_WaterTable + +Instruction: "I'd like a glass of water at Table 1, please." +Goal: On_Water_Table1 + +Instruction: "Can you deliver yogurt to Table 2?" +Goal: On_Yogurt_Table2 + +Instruction: "Please turn on the air conditioning." +Goal: Active_AC + +Instruction: "Please bring a bottled drink to Table 3." +Goal: On_BottledDrink_Table3 + +Instruction: "I would like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Could you serve chips at Table 3?" +Goal: On_Chips_Table3 + +Instruction: "Could you turn on the tube light, please?" +Goal: Active_TubeLight + +Instruction: "Could you close the curtains, please? " +Goal: Closed_Curtain + +Instruction: "Can you make sure that Table 1 is clean?" +Goal: IsClean_Table1 + +Instruction: "I'd like bernachon served at the bright table 6." +Goal: On_Bernachon_BrightTable6 + +Instruction: "Please bring a milk drink to Bar 2." +Goal: On_MilkDrink_Bar2 + +Instruction: "It's too hot in here, could you please turn on the air conditioning?" +Goal: Active_AC + +Instruction: "Could you please check if the hall light is on?" +Goal: Active_HallLight + +Instruction: "Could you bring NFCJuice to Table 2?" +Goal: On_NFCJuice_Table2 + +Instruction: "I'd like some spring water at Table 1." +Goal: On_SpringWater_Table1 + +Instruction: "Please make sure the floor is clean." +Goal: IsClean_Floor + +Instruction: "Can you check if the chairs are clean?" +Goal: IsClean_Chairs + +Instruction: "Could you lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "I need ADMilk at the coffee table." +Goal: On_ADMilk_CoffeeTable + +Instruction: "Can you bring milk to the bar?" +Goal: On_Milk_Bar + +Instruction: "The sun is quite strong, please close the curtains." +Goal: Closed_Curtain + +Instruction: "Could you turn on the tube light?" +Goal: Active_TubeLight + +Instruction: "Please serve a soft drink at Table 3." +Goal: On_Softdrink_Table3 + +Instruction: "Could you make sure the chairs at Bar are clean?" +Goal: IsClean_Chairs + +Instruction: "I'd like a dessert at the bar, please." +Goal: On_Dessert_Bar + +Instruction: "Please prepare some coffee." +Goal: Exists_Coffee + +Instruction: "It's really hot in here, could you please lower the air conditioning temperature?" +Goal: Low_ACTemperature + +Instruction: "Please bring coffee to the bright table 6." +Goal: On_Coffee_BrightTable6 + +Instruction: "I'd like a glass of water at Bar 2." +Goal: On_Water_Bar2 \ No newline at end of file diff --git a/BTExpansionCode/dataset/其它/hard_instr_goal.txt b/BTExpansionCode/dataset/其它/hard_instr_goal.txt new file mode 100644 index 0000000..d0420d9 --- /dev/null +++ b/BTExpansionCode/dataset/其它/hard_instr_goal.txt @@ -0,0 +1,101 @@ +Instruction: I would like some fries, and for drinks, milk or yogurt is fine. I'm at Table 6. +Goal: On_Chips_WindowTable6 & (On_Milk_WindowTable6 | On_Yogurt_WindowTable6 ) + +Instruction: Could you either open the curtains or switch on the air conditioner, but please don't set the temperature too low? +Goal: ~Closed_Curtain | Active_AC & ~Low_ACTemperature + +Instruction: Could you turn up the air conditioning and come to Bar No. 2? +Goal: RobotNear_Bar2 & ~Low_ACTemperature + +Instruction: Please deliver the yogurt to table number one and then go check the water station or coffee table. +Goal: On_Yogurt_Table1 & (RobotNear_WaterStation | RobotNear_CoffeeTable ) + +Instruction: Please remember to deliver coffee or bernachonto or Yogurt table 2. +Goal: On_Coffee_Table2 | On_Bernachon_Table2 | On_Yogurt_Table2 + +Instruction: Please prepare some water, dessert and coffee. +Goal: Exists_Water & Exists_Dessert & Exists_Coffee + +Instruction: Deliver bernachon to Table1 and make sure either the tube light is off or the AC is not too low. +Goal: On_Bernachon_Table1 & (~Active_TubeLight | ~Low_ACTemperature) + +Instruction: Ensure the yogurt is not on Bar and dim sum is on the bar counter. +Goal: ~On_Yogurt_Bar & On_Dessert_Bar + +Instruction: Put down the NFCJuice you're holding and either sweep the floor or arrange the chairs. +Goal: ~Holding_NFCJuice & (IsClean_Floor | IsClean_Chairs) + +Instruction: Don't always be at bar and bar2 and don't forget to grab some spring water. +Goal: ~RobotNear_Bar & ~RobotNear_Bar2 & Holding_SpringWater + +Instruction: Don’t set the air conditioning too low, turn off all the tube light, and just open the curtains. +Goal: ~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +Instruction: Do not place the Chips on the bar counter, and please remember to deliver coffee or bernachonto table 2 +Goal: ~On_Chips_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Instruction: Could you please bring some coffee to Table 3 and make sure the curtains are open? +Goal: On_Coffee_Table3 & ~Closed_Curtain + +Instruction: Please bring coffee to Bar and don't stand near bar. +Goal: On_Coffee_Bar & ~RobotNear_Bar + +Instruction: Either bring dessert to Table1 or water to Table2, but don't forger turning on the hall light. +Goal: (On_Dessert_Table1 | On_Water_Table2) & Active_HallLight + +Instruction: Do not open the curtain , and ensure either open the tube light or the hall light . +Goal: ~Closed_Curtain & ( Active_TubeLight | Active_HallLight) + +Instruction: Make sure to turn on the air conditioner and either bring chips to Table1 or NFCJuice to Table2. +Goal: Active_AC & (On_Chips_Table1 | On_NFCJuice_Bar) + +Instruction: Please put down any chips you're holding and clean the chairs. +Goal: ~Holding_Chips & IsClean_Chairs + +Instruction: Put down the bottled drink you're holding and either clean the floor or the chairs. +Goal: ~Holding_BottledDrink & (IsClean_Floor | IsClean_Chairs) + +Instruction: Please turn off the hall light and either activate the AC or the tube light. +Goal: ~Active_HallLight & (Active_AC | Active_TubeLight) + +Instruction: Please don't set the AC temperature too low, and ensure the tube light is on but the hall light is off. +Goal: ~Low_ACTemperature & Active_TubeLight & ~Active_HallLight + +Instruction: Please deliver coffee to Table 2, and don't stay near either Table 1 or Table 3. +Goal: On_Coffee_Table2 & ~(RobotNear_Table1 | RobotNear_Table3) + +Instruction: Make sure dessert is available, do not hold any yogurt, and keep the AC running. +Goal: Exists_Dessert & ~Holding_Yogurt & Active_AC + +Instruction: Have water ready, don't hold onto the chips, and turn off the tube light. +Goal: Exists_Water & ~Holding_Chips & ~Active_TubeLight + +Instruction: Could you bring me a bottled drink or milk drink to Table 3 or a soft drink to Bar? +Goal: On_BottledDrink_Table3 | On_MilkDrink_Table3 |On_Softdrink_Bar + +Instruction: Please ensure the curtains are open or the AC is not too low, and I'm at table 6, can I get some pastries please? +Goal: (~Closed_Curtain | ~Low_ACTemperature) & On_Dessert_WindowTable6 + +Instruction: Can you turn off the tube light and deliver chips to Table 1? +Goal: On_Chips_Table1 & ~Active_TubeLight + +Instruction: Please either clean the table or turn off the hall light, and could you please get some hot water? +Goal: (IsClean_Table1 | ~Active_HallLight) & Holding_Water + +Instruction: Ensure either the AC is on or the tube light is off, and don't put the Vacuum cup on Table 2. +Goal: (Active_AC | ~Active_TubeLight) & ~On_VacuumCup_Table2 + +Instruction: Please bring chips to Table1 and either coffee to Table2 or yogurt to Table3. +Goal: On_Chips_Table1 & (On_Coffee_Table2 | On_Yogurt_Table3) + +Instruction: Deliver dessert to CoffeeTable and ensure either the AC is off or the tube light is on. +Goal: On_Dessert_CoffeeTable & (~Active_AC | Active_TubeLight) + +Instruction: Ensure the floor is clean and do not hold either a vacuum cup or NFCJuice. +Goal: IsClean_Floor & ~Holding_VacuumCup & ~Holding_NFCJuice + +Instruction: Deliver milk drink to Table3 and either keep the curtains open or do not stand near bat. +Goal: On_MilkDrink_Table3 & (~Closed_Curtain | ~RobotNear_Bar) + +Instruction: Either snacks or coffee are available, and please bring some milk to table number 6 by the window. +Goal: (Exists_Dessert | Exists_Coffee) & On_ADMilk_Bar \ No newline at end of file diff --git a/BTExpansionCode/dataset/其它/hard_original b/BTExpansionCode/dataset/其它/hard_original new file mode 100644 index 0000000..da6f238 --- /dev/null +++ b/BTExpansionCode/dataset/其它/hard_original @@ -0,0 +1,131 @@ +Instruction: "I need a coffee at Table 1, but please make sure the AC isn't too cold." +Goal: On_Coffee_Table1 & ~Low_ACTemperature + +Instruction: "Can you bring me a dessert and water to Table 2, but don't turn on the tube light." +Goal: On_Dessert_Table2 & On_Water_Table2 & ~Active_TubeLight + +Instruction: "Please clean the floor and turn off the hall light, but don't bring coffee." +Goal: IsClean_Floor & ~Active_HallLight & ~Exists_Coffee + +Instruction: "I'd like NFCJuice at Bar, but only if the curtains are open." +Goal: On_NFCJuice_Bar & ~Closed_Curtain + +Instruction: "Can you check if the chairs are clean and bring me a bottled drink to Table 3, but not milk." +Goal: IsClean_Chairs & On_BottledDrink_Table3 & ~On_Milk_Table3 + +Instruction: "Please bring yogurt to Table 1 and make sure the AC is active, but don't close the curtains." +Goal: On_Yogurt_Table1 & Active_AC & ~Closed_Curtain + +Instruction: "I want ADMilk at Bar2, but don't bring it if the hall light is on." +Goal: On_ADMilk_Bar2 & (~Active_HallLight | Active_HallLight) + +Instruction: "Bring chips to Table 3 only if the tube light is off." +Goal: On_Chips_Table3 & ~Active_TubeLight + +Instruction: "Serve coffee at BrightTable6 and make sure the floor is clean, but don't turn on the AC." +Goal: On_Coffee_BrightTable6 & IsClean_Floor & ~Active_AC + +Instruction: "I'd like spring water at Table 1, but don't bring it if the curtains are closed." +Goal: On_SpringWater_Table1 & ~Closed_Curtain + +Instruction: "Can you turn off the tube light and serve bernachon at Table 2, but don't bring water." +Goal: ~Active_TubeLight & On_Bernachon_Table2 & ~On_Water_Table2 + +Instruction: "I need a soft drink at Table 3, but only if the chairs are clean." +Goal: On_Softdrink_Table3 & IsClean_Chairs + +Instruction: "Please open the curtains and bring me yogurt to Table 2, but don't turn on the hall light." +Goal: ~Closed_Curtain & On_Yogurt_Table2 & ~Active_HallLight + +Instruction: "Can you deliver ADMilk to the coffee table and check if the AC is on, but no NFCJuice." +Goal: On_ADMilk_CoffeeTable & Active_AC & ~Exists_NFCJuice + +Instruction: "I want chips at BrightTable6, but only if the tube light is on." +Goal: On_Chips_BrightTable6 & Active_TubeLight + +Instruction: "Please clean the chairs and bring me milk to Bar, but don't close the curtains." +Goal: IsClean_Chairs & On_Milk_Bar & ~Closed_Curtain + +Instruction: "Turn down the air conditioning temperature, but only if the tube light is off and no dessert is available." +Goal: Low_ACTemperature & ~Active_TubeLight & ~Exists_Dessert + +Instruction: "Bring a vacuum cup to WaterTable, but make sure the hall light is off first." +Goal: Holding_VacuumCup & RobotNear_WaterTable & ~Active_HallLight + +Instruction: "I'd like spring water at Table 1, but don't bring it if it's not cold." +Goal: On_SpringWater_Table1 & ~Low_ACTemperature + +Instruction: "Please serve ADMilk at CoffeeTable, but only if the AC is not too low and the floor is clean." +Goal: On_ADMilk_CoffeeTable & ~Low_ACTemperature & IsClean_Floor + +Instruction: "I want a dessert at the bar, but don't bring it if the hall light is on." +Goal: On_Dessert_Bar & ~Active_HallLight + +Instruction: "Bring me a bottled drink to Table 3, but only if the curtains are open." +Goal: On_BottledDrink_Table3 & ~Closed_Curtain + +Instruction: "Can you clean the floor and bring yogurt to Table 1, but don't turn off the tube light." +Goal: IsClean_Floor & On_Yogurt_Table1 & Active_TubeLight + +Instruction: "I'd like NFCJuice at Bar2, but only if there's no coffee available." +Goal: On_NFCJuice_Bar2 & ~Exists_Coffee + +Instruction: "Please bring chips to Table 3, but only if the AC is not too cold." +Goal: On_Chips_Table3 & ~Low_ACTemperature + +Instruction: "Turn on the tube light and serve bernachon at Table 2, but don't bring any water." +Goal: Active_TubeLight & On_Bernachon_Table2 & ~On_Water_Table2 + +Instruction: "Bring a soft drink to Table 3, but don't if the curtains are closed." +Goal: On_Softdrink_Table3 & ~Closed_Curtain + +Instruction: "Please make sure the chairs at Bar are clean and bring me a dessert, but don't turn on the hall light." +Goal: IsClean_Chairs & On_Dessert_Bar & ~Active_HallLight + +Instruction: "I need a coffee at Table 1, but only if the floor is clean and the AC is not too low." +Goal: On_Coffee_Table1 & IsClean_Floor & ~Low_ACTemperature + +Instruction: "Can you deliver ADMilk to the coffee table and check if the chairs are clean, but don't turn off the tube light." +Goal: On_ADMilk_CoffeeTable & IsClean_Chairs & Active_TubeLight + +Instruction: "I'd like spring water at Table 1, but only if the tube light is on." +Goal: On_SpringWater_Table1 & Active_TubeLight + +Instruction: "Please serve bernachon at BrightTable6 and make sure the chairs are clean, but don't turn on the AC." +Goal: On_Bernachon_BrightTable6 & IsClean_Chairs & ~Active_AC + +Instruction: "Can you bring a vacuum cup to WaterTable, but only if there's no dessert available?" +Goal: Holding_VacuumCup & RobotNear_WaterTable & ~Exists_Dessert + +Instruction: "I want milk at Bar, but only if the floor is clean and the hall light is off." +Goal: On_Milk_Bar & IsClean_Floor & ~Active_HallLight + +Instruction: "Please turn off the tube light and bring me yogurt to Table 2, but don't bring it if the AC is too cold." +Goal: ~Active_TubeLight & On_Yogurt_Table2 & ~Low_ACTemperature + +Instruction: "Can you deliver ADMilk to the coffee table, but don't if the curtains are closed?" +Goal: On_ADMilk_CoffeeTable & ~Closed_Curtain + +Instruction: "I need chips at BrightTable6, but only if the tube light is off and the AC isn't too cold." +Goal: On_Chips_BrightTable6 & ~Active_TubeLight & ~Low_ACTemperature + +Instruction: "Please clean the chairs and bring me milk to Bar, but only if the hall light is on." +Goal: IsClean_Chairs & On_Milk_Bar & Active_HallLight + +Instruction: "Bring a bottled drink to Table 3, but only if the floor is clean and the tube light is on." +Goal: On_BottledDrink_Table3 & IsClean_Floor & Active_TubeLight + +Instruction: "I'd like NFCJuice at Bar2, but don't bring it if the AC is too low." +Goal: On_NFCJuice_Bar2 & ~Low_ACTemperature + +Instruction: "Can you turn off the tube light and serve bernachon at Table 2, but only if the chairs are clean?" +Goal: ~Active_TubeLight & On_Bernachon_Table2 & IsClean_Chairs + +Instruction: "Please bring chips to Table 3 and make sure the floor is clean, but don't turn on the hall light." +Goal: On_Chips_Table3 & IsClean_Floor & ~Active_HallLight + +Instruction: "I want a soft drink at Table 3, but don't bring it if the curtains are closed and the AC is too cold." +Goal: On_Softdrink_Table3 & (~Closed_Curtain | ~Low_ACTemperature) + +Instruction: "Can you clean the chairs at Bar and bring me a dessert, but only if the tube light is on?" +Goal: IsClean_Chairs & On_Dessert_Bar & Active_TubeLight \ No newline at end of file diff --git a/BTExpansionCode/dataset/其它/medium_instr_goal.txt b/BTExpansionCode/dataset/其它/medium_instr_goal.txt new file mode 100644 index 0000000..49d860a --- /dev/null +++ b/BTExpansionCode/dataset/其它/medium_instr_goal.txt @@ -0,0 +1,89 @@ +Instruction: "I'd like either a Softdrink or an BottledDrink delivered to my table, Table 3." +Goal: On_Softdrink_Table3 | On_BottledDrink_Table3 + +Instruction: "It's too dark. Can you turn on the downlight or the hall light?" +Goal: Active_HallLight | Active_TubeLight + +Instruction: "Please clean the floor and deliver a bottled drink to Table 1." +Goal: IsClean_Floor & On_BottledDrink_Table1 + +Instruction: "Can you serve bernachon at the bright table 6 or bring chips to Table 2?" +Goal: On_Bernachon_BrightTable6 | On_Chips_Table2 + +Instruction: "I'm a bit hungry, please bring me some fries and ADMilk, I'm near the water table." +Goal: On_Chips_WaterTable & On_ADMilk_WaterTable + +Instruction: "It's so dirty, please wipe the table and mop the floor." +Goal: IsClean_Table1 & IsClean_Floor + +Instruction: "I dropped my vacuum cup; can you find it and Bring milk drink to table six?" +Goal: Holding_VacuumCup & On_MilkDrink_BrightTable6 + +Instruction: "Please turn down the AC and bring me NFCJuice at Bar." +Goal: Low_ACTemperature & On_NFCJuice_Bar + +Instruction: "Can you turn down the heating and check if there are any dessert available?" +Goal: Low_ACTemperature & Exists_Dessert + +Instruction: "It's so hot. I want to close the curtains and turn on the air conditioning." +Goal: Closed_Curtain & Active_AC + +Instruction: "Would you kindly proceed to either Bar 2 or the main bar?" +Goal: RobotNear_Bar2 | RobotNear_Bar + +Instruction: "Can you send a cup of coffee and dessert to table 3?" +Goal: On_Coffee_Table3 & On_dessert_Table3 + +Instruction: "Please close the curtains or turn on the air conditioner." +Goal: Closed_Curtain | Active_AC + +Instruction: "Could you turn down the air conditioning and come to Bar No. 2?" +Goal: RobotNear_Bar2 & Low_ACTemperature + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please remember to deliver coffee or bernachon to table 2." +Goal: On_Coffee_Table2 | On_Bernachon_Table2 + +Instruction: "Please prepare some water or dessert." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Please prepare coffee and turn on the air conditioning." +Goal: Exists_Coffee & Active_AC + +Instruction: "Come to table 6 and grab my vacuum cup." +Goal: RobotNear_BrightTable6 & Holding_VacuumCup + +Instruction: "Please turn down the air conditioning temperature and tidy up the chairs." +Goal: Low_ACTemperature & IsClean_Chairs + +Instruction: "Turn on the hall light and clean the floor." +Goal: Active_HallLight & IsClean_Floor + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeTable + +Instruction: "Turn on the AC and serve yogurt at Bar." +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Clean Table1 and turn on the tube light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Please bring me coffee or water to Table 1." +Goal: On_Coffee_Table1 | On_Water_Table1 + +Instruction: "Either clean the floor or bring dessert to Table 2." +Goal: IsClean_Floor | On_Dessert_Table2 + +Instruction: "Serve NFCJuice at Table 3 or turn on the AC." +Goal: On_NFCJuice_Table3 | Active_AC + +Instruction: "Please clean the chairs and bring yogurt to the coffee table." +Goal: IsClean_Chairs & On_Yogurt_CoffeeTable \ No newline at end of file diff --git a/BTExpansionCode/dataset/其它/medium_original b/BTExpansionCode/dataset/其它/medium_original new file mode 100644 index 0000000..a7461cf --- /dev/null +++ b/BTExpansionCode/dataset/其它/medium_original @@ -0,0 +1,299 @@ +Instruction: "Please close the curtains or turn on the air conditioner." +Goal: Closed_Curtain | Active_AC + +Instruction: "Could you turn down the air conditioning and come to Bar No. 2?" +Goal: RobotNear_Bar2 & Low_ACTemperature + +Instruction: "Please deliver the yogurt to table number one and turn on the hall light." +Goal: On_Yogurt_Table1 & Active_HallLight + +Instruction: "Please remember to deliver coffee or bernachon to table 2." +Goal: On_Coffee_Table2 | On_Bernachon_Table2 + +Instruction: "Please prepare some water or dessert." +Goal: Exists_Water | Exists_Dessert + +Instruction: "Come to table 6 and grab my vacuum cup." +Goal: RobotNear_BrightTable6 & Holding_VacuumCup + +Instruction: "Please raise the air conditioning temperature and tidy up the chairs." +Goal: Low_ACTemperature & IsClean_Chairs + +Instruction: "Can you bring water to Bar2?" +Goal: On_Water_Bar2 + +Instruction: "Turn off the hall light and clean the floor." +Goal: !Active_HallLight & IsClean_Floor + +Instruction: "Serve dessert at Table 1." +Goal: On_Dessert_Table1 + +Instruction: "Fetch a bottled drink from the water table." +Goal: Holding_BottledDrink & RobotNear_WaterTable + +Instruction: "Turn on the tube light and bring chips to Table 3." +Goal: Active_TubeLight & On_Chips_Table3 + +Instruction: "Please close the curtains and bring milk to Table2." +Goal: Closed_Curtain & On_Milk_Table2 + +Instruction: "Clean the chairs and deliver coffee to the coffee table." +Goal: IsClean_Chairs & On_Coffee_CoffeeTable + +Instruction: "Turn on the AC and serve yogurt at Bar." +Goal: Active_AC & On_Yogurt_Bar + +Instruction: "Bring me a soft drink to Table1." +Goal: On_Softdrink_Table1 + +Instruction: "Turn off the AC and fetch ADMilk from Table2." +Goal: !Active_AC & Holding_ADMilk & RobotNear_Table2 + +Instruction: "Please serve NFCJuice at Table3." +Goal: On_NFCJuice_Table3 + +Instruction: "Clean Table1 and turn on the tube light." +Goal: IsClean_Table1 & Active_TubeLight + +Instruction: "Can you bring milk drink to Bar2?" +Goal: On_MilkDrink_Bar2 + +Instruction: "Turn down the AC and deliver spring water to the bright table 6." +Goal: Low_ACTemperature & On_SpringWater_BrightTable6 + +Instruction: "Please turn off the hall light and clean the floor." +Goal: !Active_HallLight & IsClean_Floor + +Instruction: "Deliver bernachon to Table1." +Goal: On_Bernachon_Table1 + +Instruction: "Bring coffee to Table 3 and turn on the AC." +Goal: On_Coffee_Table3 & Active_AC + +Instruction: "Please bring a vacuum cup to the water table." +Goal: Holding_VacuumCup & RobotNear_WaterTable + +Instruction: "Serve ADMilk at Bar." +Goal: On_ADMilk_Bar + +Instruction: "Please close the curtains and deliver a bottled drink to Table1." +Goal: Closed_Curtain & On_BottledDrink_Table1 + +Instruction: "Turn on the hall light and serve dessert at Table 2." +Goal: Active_HallLight & On_Dessert_Table2 + +Instruction: "Please clean the chairs and bring yogurt to the coffee table." +Goal: IsClean_Chairs & On_Yogurt_CoffeeTable + +Instruction: "Fetch a soft drink from Bar and turn off the tube light." +Goal: Holding_Softdrink & RobotNear_Bar & !Active_TubeLight + +Instruction: "Serve milk at Table3." +Goal: On_Milk_Table3 + +Instruction: "Please bring chips to the bright table 6." +Goal: On_Chips_BrightTable6 + +Instruction: "Turn down the air conditioning and deliver NFCJuice to Table1." +Goal: Low_ACTemperature & On_NFCJuice_Table1 + +Instruction: "Clean Table 2 and turn on the AC." +Goal: IsClean_Table2 & Active_AC + +Instruction: "Can you bring spring water to Bar?" +Goal: On_SpringWater_Bar + +Instruction: "Turn off the hall light and deliver milk drink to CoffeeTable." +Goal: !Active_HallLight & On_MilkDrink_CoffeeTable + +Instruction: "Please serve bernachon at Table3." +Goal: On_Bernachon_Table3 + +Instruction: "Bring a vacuum cup to Table 2 and turn on the tube light." +Goal: Holding_VacuumCup & RobotNear_Table2 & Active_TubeLight + +Instruction: "Serve ADMilk at Table1." +Goal: On_ADMilk_Table1 + +Instruction: "Please close the curtains and deliver a soft drink to Bar2." +Goal: Closed_Curtain & On_Softdrink_Bar2 + +Instruction: "Turn on the hall light and serve chips at the water table." +Goal: Active_HallLight & On_Chips_WaterTable + +Instruction: "Please clean the floor and bring yogurt to Bar2." +Goal: IsClean_Floor & On_Yogurt_Bar2 + +Instruction: "Fetch a bottled drink from Table 3." +Goal: Holding_BottledDrink & RobotNear_Table3 + +Instruction: "Turn down the AC and deliver coffee to the bright table 6." +Goal: Low_ACTemperature & On_Coffee_BrightTable6 + +Instruction: "Please serve NFCJuice at Bar." +Goal: On_NFCJuice_Bar + +Instruction: "Bring milk drink to Table1 and turn off the tube light." +Goal: On_MilkDrink_Table1 & !Active_TubeLight + +Instruction: "Please clean Table 3 and turn on the AC." +Goal: IsClean_Table3 & Active_AC + +Instruction: "Can you bring spring water to CoffeeTable?" +Goal: On_SpringWater_CoffeeTable + +Instruction: "Turn off the hall light and deliver bernachon to Table2." +Goal: !Active_HallLight & On_Bernachon_Table2 + +Instruction: "Please bring a vacuum cup to Bar and turn on the tube light." +Goal: Holding_VacuumCup & RobotNear_Bar & Active_TubeLight + +Instruction: "Bring water to Table 1 and turn off the air conditioner." +Goal: On_Water_Table1 & !Active_AC + +Instruction: "Please clean the chairs and serve dessert at Bar." +Goal: IsClean_Chairs & On_Dessert_Bar + +Instruction: "Turn on the tube light and fetch a vacuum cup from Table 2." +Goal: Active_TubeLight & Holding_VacuumCup & RobotNear_Table2 + +Instruction: "Deliver coffee to the bright table 6 and close the curtains." +Goal: On_Coffee_BrightTable6 & Closed_Curtain + +Instruction: "Serve NFCJuice at WaterTable and turn down the air conditioning." +Goal: On_NFCJuice_WaterTable & Low_ACTemperature + +Instruction: "Bring ADMilk to Table3 and turn on the hall light." +Goal: On_ADMilk_Table3 & Active_HallLight + +Instruction: "Please clean the floor and deliver a soft drink to Table 2." +Goal: IsClean_Floor & On_Softdrink_Table2 + +Instruction: "Fetch bernachon from Bar2 and turn off the tube light." +Goal: Holding_Bernachon & RobotNear_Bar2 & !Active_TubeLight + +Instruction: "Serve yogurt at CoffeeTable and close the curtains." +Goal: On_Yogurt_CoffeeTable & Closed_Curtain + +Instruction: "Bring a bottled drink to Table 1 and turn on the AC." +Goal: On_BottledDrink_Table1 & Active_AC + +Instruction: "Turn off the hall light and deliver chips to Bar." +Goal: !Active_HallLight & On_Chips_Bar + +Instruction: "Please clean Table 2 and serve milk at the water table." +Goal: IsClean_Table2 & On_Milk_WaterTable + +Instruction: "Fetch spring water from Table3 and turn down the AC." +Goal: Holding_SpringWater & RobotNear_Table3 & Low_ACTemperature + +Instruction: "Serve ADMilk at BrightTable6 and turn on the tube light." +Goal: On_ADMilk_BrightTable6 & Active_TubeLight + +Instruction: "Please bring coffee to Bar2 and clean the chairs." +Goal: On_Coffee_Bar2 & IsClean_Chairs + +Instruction: "Turn off the AC and deliver a vacuum cup to Table 3." +Goal: !Active_AC & On_VacuumCup_Table3 + +Instruction: "Fetch a soft drink from the coffee table and turn on the hall light." +Goal: Holding_Softdrink & RobotNear_CoffeeTable & Active_HallLight + +Instruction: "Serve dessert at Table1 and close the curtains." +Goal: On_Dessert_Table1 & Closed_Curtain + +Instruction: "Bring water to Bar and turn off the tube light." +Goal: On_Water_Bar & !Active_TubeLight + +Instruction: "Please clean the floor and deliver NFCJuice to Table 2." +Goal: IsClean_Floor & On_NFCJuice_Table2 + +Instruction: "Fetch yogurt from Table3 and turn down the air conditioning." +Goal: Holding_Yogurt & RobotNear_Table3 & Low_ACTemperature + +Instruction: "Serve bottled drink at CoffeeTable and turn on the AC." +Goal: On_BottledDrink_CoffeeTable & Active_AC + +Instruction: "Turn off the hall light and bring chips to BrightTable6." +Goal: !Active_HallLight & On_Chips_BrightTable6 + +Instruction: "Please clean Table 1 and serve bernachon at the water table." +Goal: IsClean_Table1 & On_Bernachon_WaterTable + +Instruction: "Bring milk drink to Table 3 and turn on the tube light." +Goal: On_MilkDrink_Table3 & Active_TubeLight + +Instruction: "Turn off the AC and fetch a vacuum cup from Bar." +Goal: !Active_AC & Holding_VacuumCup & RobotNear_Bar + +Instruction: "Serve soft drink at Table2 and close the curtains." +Goal: On_Softdrink_Table2 & Closed_Curtain + +Instruction: "Please clean the chairs and deliver spring water to CoffeeTable." +Goal: IsClean_Chairs & On_SpringWater_CoffeeTable + +Instruction: "Fetch ADMilk from Table1 and turn down the air conditioning." +Goal: Holding_ADMilk & RobotNear_Table1 & Low_ACTemperature + +Instruction: "Serve coffee at Bar and turn on the hall light." +Goal: On_Coffee_Bar & Active_HallLight + +Instruction: "Turn off the tube light and bring dessert to Table 3." +Goal: !Active_TubeLight & On_Dessert_Table3 + +Instruction: "Please clean the floor and deliver water to BrightTable6." +Goal: IsClean_Floor & On_Water_BrightTable6 + +Instruction: "Fetch yogurt from Bar2 and turn on the AC." +Goal: Holding_Yogurt & RobotNear_Bar2 & Active_AC + +Instruction: "Serve a bottled drink at Table1 and close the curtains." +Goal: On_BottledDrink_Table1 & Closed_Curtain + +Instruction: "Turn off the hall light and bring chips to the water table." +Goal: !Active_HallLight & On_Chips_WaterTable + +Instruction: "Please clean Table 3 and serve milk at CoffeeTable." +Goal: IsClean_Table3 & On_Milk_CoffeeTable + +Instruction: "Fetch NFCJuice from Table2 and turn down the AC." +Goal: Holding_NFCJuice & RobotNear_Table2 & Low_ACTemperature + +Instruction: "Serve ADMilk at Bar2 and turn on the tube light." +Goal: On_ADMilk_Bar2 & Active_TubeLight + +Instruction: "Please bring bernachon to Table 1 and clean the chairs." +Goal: On_Bernachon_Table1 & IsClean_Chairs + +Instruction: "Turn off the AC and deliver a vacuum cup to Table 3." +Goal: !Active_AC & On_VacuumCup_Table3 + +Instruction: "Fetch a soft drink from BrightTable6 and turn on the hall light." +Goal: Holding_Softdrink & RobotNear_BrightTable6 & Active_HallLight + +Instruction: "Serve dessert at Bar and close the curtains." +Goal: On_Dessert_Bar & Closed_Curtain + +Instruction: "Bring water to CoffeeTable and turn off the tube light." +Goal: On_Water_CoffeeTable & !Active_TubeLight + +Instruction: "Please clean the floor and deliver yogurt to Table 2." +Goal: IsClean_Floor & On_Yogurt_Table2 + +Instruction: "Fetch bottled drink from Table3 and turn down the air conditioning." +Goal: Holding_BottledDrink & RobotNear_Table3 & Low_ACTemperature + +Instruction: "Serve coffee at the water table and turn on the AC." +Goal: On_Coffee_WaterTable & Active_AC + +Instruction: "Turn off the hall light and bring chips to Bar2." +Goal: !Active_HallLight & On_Chips_Bar2 + +Instruction: "Please clean Table 1 and serve spring water at BrightTable6." +Goal: IsClean_Table1 & On_SpringWater_BrightTable6 + +Instruction: "Bring ADMilk to Table 3 and turn on the tube light." +Goal: On_ADMilk_Table3 & Active_TubeLight + +Instruction: "Turn off the AC and fetch bernachon from CoffeeTable." +Goal: !Active_AC & Holding_Bernachon & RobotNear_CoffeeTable \ No newline at end of file diff --git a/BTExpansionCode/exp5_cafe_test.py b/BTExpansionCode/exp5_cafe_test.py new file mode 100644 index 0000000..1cb86f4 --- /dev/null +++ b/BTExpansionCode/exp5_cafe_test.py @@ -0,0 +1,73 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes +import copy +import random +seed = 1 +random.seed(seed) + +multiple_num=1 +action_list = collect_action_nodes(random,multiple_num) +# for act in action_list: +# print(act.name,act.cost) + +start_robowaiter = get_start() + +# 计算state总数 +state_num = collect_cond_nodes() +print("states num: ",state_num) +print("act num: ",len(action_list)) + +# goal_states = [] +# with open('easy.txt', 'r') as file: +# # with open('easy_easy.txt', 'r') as file: +# for line in file: +# clean_line = line.strip() +# goal_states.append(clean_line) +# print(goal_states) + +# goal_set_ls=[] +# for count, goal_str in enumerate(goal_states): +# goal = copy.deepcopy(goal_transfer_str(goal_str)) +# goal_set_ls.append(goal) +# print(goal_set_ls) + +# goal_states={"On_Dessert_Bar"} +# goal_states={"On_MilkDrink_Bar2"} +# goal_states={"Is_TubeLight_On"} +# goal_states = goal_set_ls +# goal_states = {'On(VacuumCup,WaterTable)'} +# goal_states = {'At(Robot,WaterTable)'} +# goal_states = {'Is(Table1,Clean)'} + +# goal_states = {'On(Coffee,Bar)'} +# goal_states = {'IsClean_Table1'} +# goal_states = {'~On_Water_Bar'} +# goal_states = {'~On_Water_Table2'} +# goal_states = {'~Near_Robot_Bar'} +# goal_states = {'~Low_ACTemperature'} +# goal_states = {'~Closed_Curtain'} +# goal_states = {'~Active_TubeLight'} +# goal_states = {'~Active_HallLight'} + + +# goal_states = {'~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)'} +# goal_states = {'~On_Water_Bar & On_Coffee_Table2'} +# goal_states = {'On_Water_Bar'} +# goal_states = {'~On_Water_Bar'} +# goal_states = {'On_Softdrink_Bar'} +# goal_states = {'On_Coffee_Table2 | On_Bernachon_Table2'} + +# goal_states = {'Low_ACTemperature'} +# goal_states = {'~On_Softdrink_Table1 & Closed_Curtain'} +goal_states = {'On_Coffee_Bar & (IsClean_Floor | ~Active_TubeLight)'} + + +# goal_states = {'~Closed_Curtain & On_Coffee_Bar'} + +# todo: 行为树鲁棒性测试，随机生成规划问题 +# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 + +BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) +# print("\n") +# 对比 +# BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) \ No newline at end of file diff --git a/BTExpansionCode/llm_test/ERNIE_Bot_4.py b/BTExpansionCode/llm_test/ERNIE_Bot_4.py index 4845fea..cd04d64 100644 --- a/BTExpansionCode/llm_test/ERNIE_Bot_4.py +++ b/BTExpansionCode/llm_test/ERNIE_Bot_4.py @@ -13,6 +13,7 @@ import re API_KEY = [] SECRET_KEY = [] key_file = "ERNIE_KEYS.txt" +# key_file = "C:\Users\caiyi\Desktop\BTExpansionCode\llm_test\ERNIE_KEYS.txt" with open(key_file, 'r', encoding="utf-8") as f: keys = f.read().strip() sections = re.split(r'\n\s*\n', keys) diff --git a/BTExpansionCode/llm_test/ERNIE_KEYS - 副本.txt b/BTExpansionCode/llm_test/ERNIE_KEYS - 副本.txt new file mode 100644 index 0000000..a782dd5 --- /dev/null +++ b/BTExpansionCode/llm_test/ERNIE_KEYS - 副本.txt @@ -0,0 +1,5 @@ +wxACDRkIWRr0rG4g6GkxKl0f +dBdFoFSgbYGX0GGXY39LEXxTSCcS2Nb1 + +K3o8g2Zref6Cdd6rlrSthqTs +NVxhNg7u5fjIdwGdnsCOLEpmj96hmDuZ diff --git a/BTExpansionCode/llm_test/main.py b/BTExpansionCode/llm_test/main.py index 456bdde..35de469 100644 --- a/BTExpansionCode/llm_test/main.py +++ b/BTExpansionCode/llm_test/main.py @@ -1,159 +1,221 @@ import time +import numpy as np + from llm_test.ERNIE_Bot_4 import LLMERNIE from sympy.parsing.sympy_parser import parse_expr from sympy import symbols, Not, Or, And, to_dnf from sympy import symbols, simplify_logic - import re +from dataset.data_process_check import format_check,word_correct,goal_transfer_ls_set -# 定义要拆分的多个字符 -split_characters = r'[()&|]' # 用正则表达式定义多个字符，包括逗号、句号、分号和感叹号等 - - -predicate_list = ["Is","On"] -object_list = ["Chairs","Clean","Table1","Water"] - - -def format_check(result): - try: - goal_dnf = str(to_dnf(result, simplify=True)) - except: - return False, None - - split_sentences = re.split(split_characters, result) - split_sentences = [s.strip() for s in split_sentences if s.strip()] - - wrong_format_set = set() - wrong_predicate_set = set() - wrong_object_set = set() - - for sentence in split_sentences: - if sentence == "": continue - - try: - goal_dnf = str(to_dnf(sentence, simplify=True)) - # 格式正确 - word_list = sentence.split("_") - if len(word_list) <=1: - wrong_format_set.add(sentence) - continue - - predicate = word_list[0] - if predicate not in predicate_list: - wrong_predicate_set.add(predicate) - - for object in word_list[1:]: - if object not in object_list: - wrong_object_set.add(object) - - except: - wrong_format_set.add(sentence) - - # print(wrong_format_set) - # print(wrong_predicate_set) - # print(wrong_object_set) - if len(wrong_format_set) == 0 and \ - len(wrong_predicate_set) == 0 and\ - len(wrong_object_set) == 0: - return True, None - else: - return False, [wrong_format_set,wrong_predicate_set,wrong_object_set] - -def word_correct(sentence): - try: - goal_dnf = str(to_dnf(sentence, simplify=True)) - return True - except: - return False - - -def get_feedback_prompt(prompt,result,error_list): +def get_feedback_prompt_last(id,prompt,result,error_list,error_black_set): # wrong_format_set,wrong_predicate_set,wrong_object_set = error_list + + error_message="" + + + if error_list[0]!=None: + error_message += "It contains syntax errors or illegal characters." + # ("It Contains syntax errors or illegal characters that cannot be converted to disjunctive normal form (DNF) using sympy.to_dnf. ") + # "Please check the syntax in your input and ensure there are no prohibited characters. The answer should consist only of ~, |, &, and the given [Condition] and [Object].. ") + else: + if error_list[1]!=set(): + # error_strings = ", ".join(error_list[1]) + # error_message += f"\"{error_strings}\" have format errors. They should consist only of ~, |, &, and the given [Condition] and [Object].\n" + error_black_set[0] |= set(error_list[1]) + if error_list[2]!=set(): + # error_strings = ", ".join(error_list[2]) + # error_message += f"\"{error_strings}\" are not in [Condition]. Please select the closest predicates from the [Condition] table to form the answer.\n" + error_black_set[1] |= set(error_list[2]) + if error_list[3]!=set(): + # error_strings = ", ".join(error_list[3]) + # error_message += f"\"{error_strings}\" are not in [Object]. Please select the closest parameter from the [Object] table to form the answer.\n" + error_black_set[2] |= set(error_list[3]) + + # error_strings = "Do not include: "+", ".join(list(error_black_set))+"." +"Please select the closest parameter from the [Condition] and [Object] table to form the answer." + + er_word0 = ", ".join(list(error_black_set[0])) + er_word1 = ", ".join(list(error_black_set[1])) + er_word2 = ", ".join(list(error_black_set[2])) + + error_message += f"\"{er_word0}\" have format errors. The answer should consist only of ~, |, &, and the given [Condition] and [Object].\n" + error_message += f"\"{er_word1}\" are not in [Condition]. Please select the closest predicates from the [Condition] table to form the answer.\n" + error_message += f"\"{er_word2}\" are not in [Object]. Please select the closest parameter from the [Object] table to form the answer.\n" + + + print("** Error_message: ",error_message) + prompt += "\n"+ error_message + return prompt + +def get_feedback_prompt0123(id,prompt,result,error_list,error_black_set): + # wrong_format_set,wrong_predicate_set,wrong_object_set = error_list + + error_message="" + + if error_list[0]!=None: + error_message += "It contains syntax errors or illegal characters." + else: + if error_list[1]!=set(): + error_black_set[0] |= set(error_list[1]) + er_word0 = ", ".join(list(error_black_set[0])) + error_message += f"\"{er_word0}\" have format errors. The answer should consist only of ~, |, &, and the given [Condition] and [Object].\n" + + if error_list[2]!=set(): + error_black_set[1] |= set(error_list[2]) + er_word1 = ", ".join(list(error_black_set[1])) + error_message += f"\"{er_word1}\" are not in [Condition]. Please select the closest predicates from the [Condition] table to form the answer.\n" + + if error_list[3]!=set(): + error_black_set[2] |= set(error_list[3]) + er_word2 = ", ".join(list(error_black_set[2])) + error_message += f"\"{er_word2}\" are not in [Object]. Please select the closest parameter from the [Object] table to form the answer.\n" + + print("** Error_message: ",error_message) + prompt += "\n"+ error_message return prompt -# def get_feedback_prompt(prompt,result): -# # split_sentences = re.split(split_characters, result) -# # split_sentences = [s.strip() for s in split_sentences if s.strip()] -# # -# # wrong_format_set = set() -# # wrong_predicate_set = set() -# # wrong_object_set = set() -# # -# # for sentence in split_sentences: -# # if sentence == "": continue -# # -# # try: -# # goal_dnf = str(to_dnf(sentence, simplify=True)) -# # # 格式正确 -# # word_list = sentence.split("_") -# # if len(word_list) <=1: -# # wrong_format_set.add(sentence) -# # continue -# # -# # predicate = word_list[0] -# # if predicate not in predicate_list: -# # wrong_predicate_set.add(predicate) -# # -# # for object in word_list[1:]: -# # if object not in object_list: -# # wrong_object_set.add(object) -# # -# # except: -# # wrong_format_set.add(sentence) -# # -# # print(wrong_format_set) -# # print(wrong_predicate_set) -# # print(wrong_object_set) -# a = "(On_S dfd oftdrink_Table3 & At_Chairs_Desk | & At_Chairs_Desk)" -# print(feedback(a)) -# -# -# -# exit() +def get_feedback_prompt(id,prompt1,prompt2,question,result,error_list,error_black_set): + + error_message="" + er_word0="" + er_word1="" + er_word2="" + + if error_list[0]!=None: + error_message = "" + else: + if error_list[1]!=set(): + error_black_set[0] |= set(error_list[1]) + + if error_list[2]!=set(): + error_black_set[1] |= set(error_list[2]) + + if error_list[3]!=set(): + error_black_set[2] |= set(error_list[3]) + + er_word0 = ", ".join(list(error_black_set[0])) + er_word1 = ", ".join(list(error_black_set[1])) + er_word2 = ", ".join(list(error_black_set[2])) + + error_message += f"\n[Blacklist]\n=[{er_word1}]\n=[{er_word2}]\n=[{er_word0}]\n" + error_message += "\n[Blacklist] Contains restricted elements.\n"+\ + "If a word from is encountered, choose the nearest parameter with a similar meaning from the [Condition] table to formulate the answer.\n"+\ + "If a word from is encountered, choose the nearest parameter with a similar meaning from the [Object] table to formulate the answer." + + print("** Blacklist: ",f"[Blacklist]\n=[{er_word0}]\n=[{er_word1}]\n=[{er_word2}]") + + # prompt = prompt1+prompt2+error_message + # prompt = error_message + # print(prompt) + prompt = prompt1+prompt2 + # prompt+= question + result + prompt += error_message + print(error_message) + return prompt -data_set_file = "easy.txt" -prompt_file = "prompt.txt" -test_num = 2 + +# data_set_file = "easy.txt" + +easy_data_set_file = "../dataset/easy_instr_goal.txt" +medium_data_set_file = "../dataset/medium_instr_goal.txt" +hard_data_set_file = "../dataset/hard_instr_goal.txt" + +test_data_set_file = "../dataset/test.txt" + +data_set_file = "../dataset/data100.txt" +prompt_file1 = "prompt_test1.txt" +prompt_file2 = "prompt_test2.txt" +# prompt_file1 = "prompt1.txt" +# prompt_file2 = "prompt2.txt" +test_num = 1 -with open(data_set_file, 'r', encoding="utf-8") as f: - data_set = f.read().strip() +with open(easy_data_set_file, 'r', encoding="utf-8") as f: + easy_data_set = f.read().strip() +with open(medium_data_set_file, 'r', encoding="utf-8") as f: + medium_data_set = f.read().strip() +with open(hard_data_set_file, 'r', encoding="utf-8") as f: + hard_data_set = f.read().strip() +# with open(data_set_file, 'r', encoding="utf-8") as f: +# data_set = f.read().strip() -with open(prompt_file, 'r', encoding="utf-8") as f: - prompt = f.read().strip() +# easy_sections = re.split(r'\n\s*\n', easy_data_set) +# print("easy:",len(easy_sections)) +# medium_sections = re.split(r'\n\s*\n', medium_data_set) +# print("medium:",len(medium_sections)) +# hard_sections = re.split(r'\n\s*\n', hard_data_set) +# print("hard:",len(hard_sections)) +# data_set = easy_data_set & medium_data_set +# print(data_set) + +with open(test_data_set_file, 'r', encoding="utf-8") as f: + test_data_set = f.read().strip() +data_set = test_data_set +# data_set =hard_data_set + +# data_set = easy_data_set + medium_data_set + hard_data_set + +with open(prompt_file1, 'r', encoding="utf-8") as f: + prompt1 = f.read().strip() +with open(prompt_file2, 'r', encoding="utf-8") as f: + prompt2 = f.read().strip() + +prompt = prompt1+prompt2 sections = re.split(r'\n\s*\n', data_set) +# print("data_set:",len(sections)) count = 0 + + llm = LLMERNIE() question_list = [] -correct_answer_list= [] +correct_answer_list = [] +correct_answer_ls_set = [] outputs_list = [[] for _ in range(len(sections))] + # 批量提交问题 -for i,s in enumerate(sections[:test_num]) : - x,y = s.strip().splitlines() +# for i,s in enumerate(sections[:test_num]): +for i, s in enumerate(sections): + x, y = s.strip().splitlines() x = x.strip() - y = y.strip() + y = y.strip().replace("Goal: ", "") # print(f"x: {x.strip()}, y: {y.strip()}") question_list.append(x) correct_answer_list.append(y) - llm.ask(x,prompt=prompt,tag=i) - - + correct_answer_ls_set.append(goal_transfer_ls_set(y)) + llm.ask(x, prompt=prompt, tag=i) total_num = len(question_list) + +error_black_ls = [[set(),set(),set()] for _ in range(total_num)] + + + +try_times = 1 +# total_GR_ls = np.zeros(5) +total_GR_ls=[] +total_SR_ls = [] +total_GCR_ls = [] + +# for time in range(try_times): finish_num = 0 SR = 0 GR = 0 +GCR = 0 +# 统计语法正确的数量 +GR_ls=np.zeros(6) + while finish_num < total_num: result = llm.get_result() + if result: # print(result) id,question,answer = result @@ -161,31 +223,68 @@ while finish_num < total_num: outputs_list[id].append(answer) #如果不正确，且回答次数<5，则反馈 - + answer = "(On_Juice_Table6 | ~Exist_Juice=>On_Coffee_Table6 ) & ( ~Low_AC | Open_Curtain )" format_correct,error_list = format_check(answer) + print("error_list:",error_list) + + print(f"===== id:{id} Q: {question} =====") if not format_correct: - if len(outputs_list[id]) < 5: + if len(outputs_list[id]) < 6: + print("*** answer:",answer) + # new_prompt = get_feedback_prompt(id,prompt1,prompt2,answer,error_list,error_black_ls[id]) - new_prompt = get_feedback_prompt(prompt,answer,error_list) - llm.ask(question, prompt=prompt, tag=id) - - print(f"id: {id} Retry:{len(outputs_list[id])} A:{outputs_list[id]}, Q: {question}") + new_prompt = get_feedback_prompt(id, prompt1,prompt2, question_list[id],answer, error_list, error_black_ls[id]) + llm.ask(question, prompt=new_prompt, tag=id) + # llm.ask(question, prompt=prompt, tag=id) + print(f" Retry:{len(outputs_list[id])} A:{outputs_list[id]}") + # print(f"id: {id} Retry:{len(outputs_list[id])} A:{outputs_list[id]}, Q: {question}") else: finish_num += 1 + print(f"A: {outputs_list[id]}") + print(f"CA: {correct_answer_list[id]}") + GR_r = GR_ls / finish_num + gr_s = 0 + for i in range(len(GR_r)): + gr_s += GR_r[i] + GR_r[i] = gr_s + print(f"Correct:False GR:{GR_r[0],GR_r[1],GR_r[-1]} SR:{SR / finish_num} GCR:{GCR / finish_num}") else: - GR += 1 + GR_ls[len(outputs_list[id])-1] += 1 correct = False - if answer == correct_answer_list[id]: + answer_ls_set = goal_transfer_ls_set(answer) + + + if answer_ls_set == correct_answer_ls_set[id]: SR += 1 + GCR+=1 correct = True + else: + GCR += len([a_set for a_set in answer_ls_set if a_set in correct_answer_ls_set[id]])*1.0/len(correct_answer_ls_set[id]) + + + # GCR += len(answer_ls_set-correct_answer_ls_set)*1.0/len(correct_answer_ls_set) + # print(f"correct_num: {correct_num}") # print() finish_num += 1 - print(f"Correct:{correct} GR:{GR/finish_num} SR:{SR/finish_num} A:{outputs_list[id]}, Q: {question}") + # print(f"Correct:{correct} GR:{GR/finish_num} SR:{SR/finish_num} A:{outputs_list[id]}, Q: {question}") + # print("id=",id,"answer:", answer, " == correct_answer_list[id]:", correct_answer_list[id]) + print(f"A: {outputs_list[id]}") + print(f"CA: {correct_answer_list[id]}") + GR_r = GR_ls/finish_num + gr_s=0 + for i in range(len(GR_r)): + gr_s+=GR_r[i] + GR_r[i] = gr_s + print(f"Correct:{correct} GR:{GR_r[0],GR_r[1],GR_r[-1]} SR:{SR/finish_num} GCR:{GCR/finish_num}") + + total_GR_ls.append(GR_ls) + total_SR_ls.append(SR) + total_GCR_ls.append(GCR) else: time.sleep(0.01) @@ -199,4 +298,7 @@ llm.close() # if result == y: # count += 1 +# print("GR =:", round(np.mean(total_GR_ls), 4), "std=", round(np.std(total_GR_ls), 4)) +# print("SR = ", round(np.mean(total_SR_ls), 3), "std=", round(np.std(total_SR_ls, ddof=1), 3)) +# print("GCR = :", round(np.mean(total_GCR_ls), 3), "std=", round(np.std(total_GCR_ls, ddof=1), 3)) diff --git a/BTExpansionCode/llm_test/main_old.py b/BTExpansionCode/llm_test/main_old.py new file mode 100644 index 0000000..40b3780 --- /dev/null +++ b/BTExpansionCode/llm_test/main_old.py @@ -0,0 +1,208 @@ +import time + +from llm_test.ERNIE_Bot_4 import LLMERNIE +from sympy.parsing.sympy_parser import parse_expr +from sympy import symbols, Not, Or, And, to_dnf +from sympy import symbols, simplify_logic + +import re + +# 定义要拆分的多个字符 +split_characters = r'[()&|]' # 用正则表达式定义多个字符，包括逗号、句号、分号和感叹号等 + + +predicate_list = {"RobotNear","On","Holding","Exists","IsClean","Active","Closed","Low"} +object_list = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', + 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', + 'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6', + 'Table1','Floor','Chairs', + 'AC','TubeLight','HallLight', + 'Curtain','ACTemperature' + } + + +def format_check(result): + try: + goal_dnf = str(to_dnf(result, simplify=True)) + except: + return False, None + + split_sentences = re.split(split_characters, result) + split_sentences = [s.strip() for s in split_sentences if s.strip()] + + wrong_format_set = set() + wrong_predicate_set = set() + wrong_object_set = set() + + for sentence in split_sentences: + if sentence == "": continue + + try: + goal_dnf = str(to_dnf(sentence, simplify=True)) + # 格式正确 + word_list = sentence.split("_") + if len(word_list) <=1: + wrong_format_set.add(sentence) + continue + + predicate = word_list[0] + if predicate not in predicate_list: + wrong_predicate_set.add(predicate) + + for object in word_list[1:]: + if object not in object_list: + wrong_object_set.add(object) + + except: + wrong_format_set.add(sentence) + + # print(wrong_format_set) + # print(wrong_predicate_set) + # print(wrong_object_set) + if len(wrong_format_set) == 0 and \ + len(wrong_predicate_set) == 0 and\ + len(wrong_object_set) == 0: + return True, None + else: + return False, [wrong_format_set,wrong_predicate_set,wrong_object_set] + +def word_correct(sentence): + try: + goal_dnf = str(to_dnf(sentence, simplify=True)) + return True + except: + return False + + +def get_feedback_prompt(prompt,result,error_list): + # wrong_format_set,wrong_predicate_set,wrong_object_set = error_list + return prompt + + +# def get_feedback_prompt(prompt,result): +# # split_sentences = re.split(split_characters, result) +# # split_sentences = [s.strip() for s in split_sentences if s.strip()] +# # +# # wrong_format_set = set() +# # wrong_predicate_set = set() +# # wrong_object_set = set() +# # +# # for sentence in split_sentences: +# # if sentence == "": continue +# # +# # try: +# # goal_dnf = str(to_dnf(sentence, simplify=True)) +# # # 格式正确 +# # word_list = sentence.split("_") +# # if len(word_list) <=1: +# # wrong_format_set.add(sentence) +# # continue +# # +# # predicate = word_list[0] +# # if predicate not in predicate_list: +# # wrong_predicate_set.add(predicate) +# # +# # for object in word_list[1:]: +# # if object not in object_list: +# # wrong_object_set.add(object) +# # +# # except: +# # wrong_format_set.add(sentence) +# # +# # print(wrong_format_set) +# # print(wrong_predicate_set) +# # print(wrong_object_set) + + +# a = "(On_S dfd oftdrink_Table3 & At_Chairs_Desk | & At_Chairs_Desk)" +# print(feedback(a)) +# +# +# +# exit() + + + +data_set_file = "easy.txt" +prompt_file = "prompt.txt" +test_num = 2 + + +with open(data_set_file, 'r', encoding="utf-8") as f: + data_set = f.read().strip() + +with open(prompt_file, 'r', encoding="utf-8") as f: + prompt = f.read().strip() + +sections = re.split(r'\n\s*\n', data_set) +count = 0 + +llm = LLMERNIE() +question_list = [] +correct_answer_list= [] +outputs_list = [[] for _ in range(len(sections))] + +# 批量提交问题 +for i,s in enumerate(sections[:test_num]) : + x,y = s.strip().splitlines() + x = x.strip() + y = y.strip() + # print(f"x: {x.strip()}, y: {y.strip()}") + question_list.append(x) + correct_answer_list.append(y) + llm.ask(x,prompt=prompt,tag=i) + + + +total_num = len(question_list) +finish_num = 0 +SR = 0 +GR = 0 +while finish_num < total_num: + result = llm.get_result() + if result: + # print(result) + id,question,answer = result + # print(correct_answer_list[id]) + outputs_list[id].append(answer) + + #如果不正确，且回答次数<5，则反馈 + + format_correct,error_list = format_check(answer) + + if not format_correct: + if len(outputs_list[id]) < 5: + + new_prompt = get_feedback_prompt(prompt,answer,error_list) + llm.ask(question, prompt=prompt, tag=id) + + print(f"id: {id} Retry:{len(outputs_list[id])} A:{outputs_list[id]}, Q: {question}") + else: + finish_num += 1 + + else: + GR += 1 + + correct = False + if answer == correct_answer_list[id]: + SR += 1 + correct = True + # print(f"correct_num: {correct_num}") + # print() + finish_num += 1 + + print(f"Correct:{correct} GR:{GR/finish_num} SR:{SR/finish_num} A:{outputs_list[id]}, Q: {question}") + + else: + time.sleep(0.01) + +llm.close() +# print(f"result: {result}") +# print(f"y: {y}") +# print(f"count: {count}") +# print() +# +# if result == y: +# count += 1 + + diff --git a/BTExpansionCode/llm_test/prompt.txt b/BTExpansionCode/llm_test/prompt.txt index 9ecddb5..8897c97 100644 --- a/BTExpansionCode/llm_test/prompt.txt +++ b/BTExpansionCode/llm_test/prompt.txt @@ -1,29 +1,46 @@ -[Condition] -Near_Robot_, On__, Holding_, Exist_, Is__ +[Condition Predicates] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ -[Object] -=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'] -=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'] -=+ -=['AC','TubeLight','HallLight','Curtain','ACTemperature','Table1','Floor','Chairs'] -=['On','Off','Up','Down','Clean','Dirty'] -[Examples] -Instruction: Please put the soft drink on the watertable. -On_Softdrink_WaterTable +[Objects] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable7', 'QuietTable8', 'QuietTable9', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] -Instruction: Please deliver the coffee to table number one and turn on the hall light. -On_Coffee_Table & Is_HallLight_On -Instruction: Do not place the water on the bar counter, and please remember to deliver coffee or bernachonto table 2 -~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) +[Few-shot Demonstrations] -Instruction: Please raise the air conditioning temperature and tidy up the chairs. -Is_ACTemperature_On & Is_Chairs_Clean +Instruction: "Would you be able to provide some chips at the third table?" +Goal: On_Chips_Table3 -[Prompt] +Instruction: If the curtains are already closed or the AC is running, could you please grab me a hot milk? +( Closed_Curtain | Active_AC ) & Holding_Milk + +Instruction: Please turn up the air conditioning and come to the bar counter. +RobotNear_Bar & ~Low_ACTemperature + +Instruction: Please ensure the water is ready for service, and deliver the yogurt to table number one. +Exists_Water & On_Yogurt_Table1 + +Instruction: It's a bit messy here, could you rearrange the chairs? And, if possible, could you bring me an apple or a banana to the reading nook?? +IsClean_Chairs & ( On_Apple_ReadingNook | On_Banana_ReadingNook ) + + +[System] [Condition] Lists all predicates representing conditions and their optional parameter sets. [Object] Lists all parameter sets. [Examples] Provide several examples of Instruction to Goal mapping. -Please follow the predicate format requirements strictly and, based on the given Instructions, generate Goals that comply with the specifications in predicate formula format. Please generate directly interpretable predicate formulas without additional explanations. -For example, if the Instruction is: "Please raise the air conditioning temperature and tidy up the chairs," your output should only be: Is_ACTemperature_On & Is_Chairs_Clean, without any additional information. +Your task is to interpret the input instructions into a goal represented as well-formed formula in first-order logic. +Utilize [Conditions] and [Objects] to construct this goal, and apply logical operators (&, |, ~) appropriately to combine these elements. +& (AND Operator): Combines conditions such that the result is true only if both conditions are true. +| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true. +~ (NOT Operator): Negates or reverses the truth value of a single condition. +Please generate directly interpretable predicate formulas without additional explanations. +The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf. + + + diff --git a/BTExpansionCode/llm_test/prompt1.txt b/BTExpansionCode/llm_test/prompt1.txt new file mode 100644 index 0000000..036002b --- /dev/null +++ b/BTExpansionCode/llm_test/prompt1.txt @@ -0,0 +1,39 @@ +[Condition] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ + + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable1', 'QuietTable2', 'QuietTable3', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] + + +[Examples] + +Instruction: "Would you be able to provide some chips at the third table?" +Goal: On_Chips_Table3 + +Instruction: If you have time, could you please hold the milk for me, or pull the curtains, or perhaps switch on the AC? +Closed_Curtain | Active_AC | Holding_Milk + +Instruction: Please turn up the air conditioning and come to the bar counter. +RobotNear_Bar & ~Low_ACTemperature + +Instruction: Please ensure the water is ready for service, and deliver the yogurt to table number one. +Exists_Water & On_Yogurt_Table1 + +Instruction: Let's not have the AC too cold. Could you turn off these tube lights and open the curtains for some natural light? +~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. +[Examples] Provide several examples of Instruction to Goal mapping. + + + + diff --git a/BTExpansionCode/llm_test/prompt2.txt b/BTExpansionCode/llm_test/prompt2.txt new file mode 100644 index 0000000..1e0cf04 --- /dev/null +++ b/BTExpansionCode/llm_test/prompt2.txt @@ -0,0 +1,12 @@ + +Your task is to interpret customer instructions within a café setting and translate them into specific goals using logical expressions. Utilize the [Conditions] (e.g., RobotNear_, On_, Holding_) and [Objects] (like 'Coffee', 'Table1', etc.) to construct these expressions. +Apply logical operators (&, |, ~) to combine these elements appropriately. +& (AND Operator): Combines conditions such that the result is true only if both conditions are true. +| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true. +~ (NOT Operator): Negates or reverses the truth value of a single condition. +This process should accurately map each given instruction to a clear, actionable goal in the context of the café environment. +Please generate directly interpretable predicate formulas without additional explanations. +The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf. + + + diff --git a/BTExpansionCode/llm_test/prompt_no_example.txt b/BTExpansionCode/llm_test/prompt_no_example.txt new file mode 100644 index 0000000..d985383 --- /dev/null +++ b/BTExpansionCode/llm_test/prompt_no_example.txt @@ -0,0 +1,28 @@ +[Condition] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', +'Apple','Banana','Mangosteen','Orange','Glass','Tray','CoconutMilk','Kettle','PaperCup','Bread','Cake','LunchBox','Teacup','Tissue','Chocolate','Sandwiches','Mugs','Ice'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3','WindowTable4','WindowTable5','WindowTable6','QuietTable1','QuietTable2', 'QuietTable3','ReadingNook','Entrance','Exit','LoungeArea','HighSeats','VIPLounge','MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] + + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. +Your task is to interpret customer instructions within a café setting and translate them into specific goals using logical expressions. Utilize the 'Conditions' (e.g., RobotNear_, On_, Holding) and 'Objects' (like 'Coffee', 'Table1', etc.) to construct these expressions. +Apply logical operators (&, |, ~) to combine these elements appropriately. +& (AND Operator): Combines conditions such that the result is true only if both conditions are true. +| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true. +~ (NOT Operator): Negates or reverses the truth value of a single condition. +This process should accurately map each given instruction to a clear, actionable goal in the context of the café environment. +Please generate directly interpretable predicate formulas without additional explanations. +The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf. + + + diff --git a/BTExpansionCode/llm_test/prompt_one_shot.txt b/BTExpansionCode/llm_test/prompt_one_shot.txt new file mode 100644 index 0000000..9589e6d --- /dev/null +++ b/BTExpansionCode/llm_test/prompt_one_shot.txt @@ -0,0 +1,32 @@ +[Condition] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', +'Apple','Banana','Mangosteen','Orange','Glass','Tray','CoconutMilk','Kettle','PaperCup','Bread','Cake','LunchBox','Teacup','Tissue','Chocolate','Sandwiches','Mugs','Ice'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3','WindowTable4','WindowTable5','WindowTable6','QuietTable1','QuietTable2', 'QuietTable3','ReadingNook','Entrance','Exit','LoungeArea','HighSeats','VIPLounge','MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] + +[Examples] +Instruction: "Would you be able to provide some chips at the third table?" +Goal: On_Chips_Table3 + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. +[Examples] Provide several examples of Instruction to Goal mapping. +Your task is to interpret customer instructions within a café setting and translate them into specific goals using logical expressions. Utilize the 'Conditions' (e.g., RobotNear_, On_, Holding) and 'Objects' (like 'Coffee', 'Table1', etc.) to construct these expressions. +Apply logical operators (&, |, ~) to combine these elements appropriately. +& (AND Operator): Combines conditions such that the result is true only if both conditions are true. +| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true. +~ (NOT Operator): Negates or reverses the truth value of a single condition. +This process should accurately map each given instruction to a clear, actionable goal in the context of the café environment. +Please generate directly interpretable predicate formulas without additional explanations. +The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf. + + + diff --git a/BTExpansionCode/llm_test/prompt_test.txt b/BTExpansionCode/llm_test/prompt_test.txt new file mode 100644 index 0000000..115c3a4 --- /dev/null +++ b/BTExpansionCode/llm_test/prompt_test.txt @@ -0,0 +1,62 @@ +[Condition] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ + + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable1', 'QuietTable2', 'QuietTable3', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] + + +[Examples] + +Instruction: "Would you be able to provide some chips at the third table?" +Goal: On_Chips_Table3 + +Instruction: If you have time, could you please hold the milk for me, or pull the curtains, or perhaps switch on the AC? +Closed_Curtain | Active_AC | Holding_Milk + +Instruction: Please turn up the air conditioning and come to the bar counter. +RobotNear_Bar & ~Low_ACTemperature + +Instruction: Please ensure the water is ready for service, and deliver the yogurt to table number one. +Exists_Water & On_Yogurt_Table1 + +Instruction: Let's not have the AC too cold. Could you turn off these tube lights and open the curtains for some natural light? +~Low_ACTemperature & ~Active_TubeLight & ~Closed_Curtain + + + + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. +[Examples] Provide several examples of Instruction to Goal mapping. + +Your task is to interpret customer instructions within a café setting and translate them into specific goals using logical expressions. Utilize the [Conditions] (e.g., RobotNear_, On_, Holding_) and [Objects] (like 'Coffee', 'Table1', etc.) to construct these expressions. +Apply logical operators (&, |, ~) to combine these elements appropriately. +& (AND Operator): Combines conditions such that the result is true only if both conditions are true. +| (OR Operator): Combines conditions such that the result is true if at least one of the conditions is true. +~ (NOT Operator): Negates or reverses the truth value of a single condition. +This process should accurately map each given instruction to a clear, actionable goal in the context of the café environment. +Please generate directly interpretable predicate formulas without additional explanations. +The predicate formulas can be converted into disjunctive paradigms (DNFs) using the python package sympy.to_dnf. + +% 不要出现 [Blacklist] 中单词，若出现中的单词，Please select the closest predicates from the [Condition] table to form the answer。若出现中的单词，Please select the closest parameter from the [Object] table to form the answer. + + + +[Blacklist] +=[] +=[Fries, Table6] +=[] +[Blacklist] Contains restricted elements. +Do not include words from the [Blacklist] in the predicate formulas. +If a word from is encountered, select the most relevant predicates from the [Condition] table to construct the answer. +If a word from is encountered, choose the nearest parameter from the [Object] table to formulate the answer. + + diff --git a/BTExpansionCode/llm_test/prompt_test1.txt b/BTExpansionCode/llm_test/prompt_test1.txt new file mode 100644 index 0000000..09516eb --- /dev/null +++ b/BTExpansionCode/llm_test/prompt_test1.txt @@ -0,0 +1,21 @@ +[Condition] +RobotNear_, On__, Holding_, Exists_, IsClean_, Active_, Closed_, Low_ + + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater', 'Apple', 'Banana', 'Mangosteen', 'Orange','Kettle', 'PaperCup', 'Bread', 'LunchBox','Teacup', 'Chocolate', 'Sandwiches', 'Mugs','Watermelon', 'Tomato', 'CleansingFoam','CocountMilk','SugarlessGum', 'MedicalAdhensiveTape', 'SourMilkDrink', 'PaperCup','Tissue', 'YogurtDrink', 'Newspaper', 'Box','PaperCupStarbucks', 'CoffeeMachine', 'Straw', 'Cake','Tray', 'Bread','Glass', 'Door','Mug', 'Machine','PackagedCoffee', 'CubeSugar','Apple', 'Spoon','Drinks', 'Drink','Ice', 'Saucer','TrashBin', 'Knife','Cube'] +=['Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3', 'WindowTable6','WindowTable4', 'WindowTable5','QuietTable1', 'QuietTable2', 'QuietTable3', 'ReadingNook', 'Entrance', 'Exit', 'LoungeArea', 'HighSeats','VIPLounge', 'MerchZone'] +=+ +=['Table1','Floor','Chairs'] +=['AC','TubeLight','HallLight'] +=['Curtain'] +=['ACTemperature'] + + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. + + + + diff --git a/BTExpansionCode/llm_test/prompt_test2.txt b/BTExpansionCode/llm_test/prompt_test2.txt new file mode 100644 index 0000000..c05e009 --- /dev/null +++ b/BTExpansionCode/llm_test/prompt_test2.txt @@ -0,0 +1,6 @@ + +Your task is to interpret customer instructions within a café setting and translate them into specific goals using logical expressions. Utilize the [Conditions] (e.g., RobotNear_, On_, Holding_) and [Objects] (like 'Coffee', 'Table1', etc.) to construct these expressions. +Apply logical operators (&, |, ~) to combine these elements appropriately. +This process should accurately map each given instruction to a clear, actionable goal in the context of the café environment. + + diff --git a/BTExpansionCode/main.py b/BTExpansionCode/main.py index dd71d84..009d943 100644 --- a/BTExpansionCode/main.py +++ b/BTExpansionCode/main.py @@ -3,9 +3,9 @@ import numpy as np import copy import time from BehaviorTree import Leaf,ControlBT # 行为结点类：叶子结点和非叶子节点 -from OptimalBTExpansionAlgorithm_single_goal import Action,OptBTExpAlgorithm # 调用最优行为树扩展算法 +from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm # 调用最优行为树扩展算法 from BTExpansionAlgorithm import BTExpAlgorithm -from OptimalBTExpansionAlgorithm_single_goal import generate_random_state,state_transition +from OptimalBTExpansionAlgorithm import generate_random_state,state_transition from tools import print_action_data_table,BTTest,BTTest_act_start_goal,get_act_start_goal from Examples import MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3 # 导入三个例子 from Examples import * @@ -58,7 +58,7 @@ if __name__ == '__main__' : # goal, start, actions = MakeCoffeeCost() # print_action_data_table(goal,start,actions) # 打印所有变量 - ''' + # todo: 运行算法得到行为树为 algo.bt algo = OptBTExpAlgorithm(verbose=True) algo.clear() @@ -96,32 +96,32 @@ if __name__ == '__main__' : ''' # 新增测试 cost - algo = OptBTExpAlgorithm(verbose=False) - algo.clear() - algo.run_algorithm(start, goal, actions) - # algo.print_solution() # 打印行为树 - print("=========== Run OptBT ============") - state = start - steps = 0 - cost_tatol = 0 - val, obj,cost,ticks = algo.bt.cost_tick(state,0,0) - cost_tatol+=cost - while val != 'success' and val != 'failure': - state = state_transition(state, obj) - print (obj.name) - val, obj,cost,ticks = algo.bt.cost_tick(state,0,ticks) - cost_tatol += cost - if (val == 'failure'): - print("bt fails at step", steps) - steps += 1 - if not goal <= state: - print ("wrong solution steps",steps) - else: - print ("right solution steps",steps) - algo.clear() - print("OptBT cost:", cost_tatol) - print("OptBT ticks:", ticks) - print("============ End Run OptBT ===========\n") + # algo = OptBTExpAlgorithm(verbose=False) + # algo.clear() + # algo.run_algorithm(start, goal, actions) + # # algo.print_solution() # 打印行为树 + # print("=========== Run OptBT ============") + # state = start + # steps = 0 + # cost_tatol = 0 + # val, obj,cost,ticks = algo.bt.cost_tick(state,0,0) + # cost_tatol+=cost + # while val != 'success' and val != 'failure': + # state = state_transition(state, obj) + # print (obj.name) + # val, obj,cost,ticks = algo.bt.cost_tick(state,0,ticks) + # cost_tatol += cost + # if (val == 'failure'): + # print("bt fails at step", steps) + # steps += 1 + # if not goal <= state: + # print ("wrong solution steps",steps) + # else: + # print ("right solution steps",steps) + # algo.clear() + # print("OptBT cost:", cost_tatol) + # print("OptBT ticks:", ticks) + # print("============ End Run OptBT ===========\n") algo2 = BTExpAlgorithm(verbose=False) @@ -150,21 +150,21 @@ if __name__ == '__main__' : print("XiaoCaiBT cost:", cost_tatol2) print("XiaoCaiBT ticks:", ticks) print("============ End Run XiaoCaiBT ===========\n") - ''' + # todo: 行为树鲁棒性测试，随机生成规划问题 # # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 - seed=1 - literals_num= 10 - depth = 10 - iters= 10 + # seed=1 + # literals_num= 3 + # depth = 3 + # iters= 3 - act_list, start_list, goal_list = get_act_start_goal(seed=seed,literals_num=literals_num,depth=depth,iters=iters,total_count=1) - BTTest_act_start_goal(bt_algo_opt=True,act_list=act_list, start_list=start_list, goal_list=goal_list) - print("\n") - BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list) + # act_list, start_list, goal_list = get_act_start_goal(seed=seed,literals_num=literals_num,depth=depth,iters=iters,total_count=1) + # BTTest_act_start_goal(bt_algo_opt=True,act_list=act_list, start_list=start_list, goal_list=goal_list) + # print("\n") + # BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list) # BTTest(bt_algo_opt=True,seed=seed,literals_num=literals_num,depth=depth,iters=iters) # print("\n") diff --git a/BTExpansionCode/main_old.py b/BTExpansionCode/main_old.py new file mode 100644 index 0000000..3810836 --- /dev/null +++ b/BTExpansionCode/main_old.py @@ -0,0 +1,172 @@ +import random +import numpy as np +import copy +import time +from BehaviorTree import Leaf,ControlBT # 行为结点类：叶子结点和非叶子节点 +from OptimalBTExpansionAlgorithm_single_goal import Action,OptBTExpAlgorithm # 调用最优行为树扩展算法 +from OptimalBTExpansionAlgorithm_single_goal import OptBTExpAlgorithm +from OptimalBTExpansionAlgorithm_single_goal import generate_random_state,state_transition +from tools import print_action_data_table,BTTest,BTTest_act_start_goal,get_act_start_goal +from Examples import MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3 # 导入三个例子 +from Examples import * +# from utils.bt.draw import render_dot_tree +# from utils.bt.load import load_bt_from_ptml,find_node_by_name,print_tree_from_root +import os +output_path = os.path.join(os.path.dirname(__file__), "outputs") + +if __name__ == '__main__' : + + # todo: Example Cafe + # todo: Define goal, start, actions + # actions=[] + # a = Action(name="Move(b,ab)") + # a.pre={'Free(ab)','WayClear'} + # a.add={'At(b,ab)'} #{3} + # a.del_set= {'Free(ab)','At(b,pb)'} + # a.cost = 1 + # actions.append(a) + # …………………… + # start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} + # goal= {'At(b,ab)'} + + # Put(P,O) pre={'Holding(O)','At(Robot,P)'}, add={'At(P,O)','NotHolding'}, del_set={'Holding(O)'} + # Grasp(O) pre={'NotHolding','At(Robot,O)'}, add={'Holding(O)'}, del_set={'NotHolding'} + # MoveTo(P) pre={'Available(P)'}, add={'At(Robot,P)'}, del_set={'At(……)'} + + # actions=[ + # Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), + # Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), + # + # Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=2), + # + # Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=5), + # Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=6), + # Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=7), + # + # Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=10), + # ] + # + # start = {'At(Robot,Bar)','Holding(VacuumCup)','Available(Table)','Available(CoffeeMachine)','Available(FrontDesk)'} + # goal = {'At(Table,Coffee)'} + # + ptml_file_name = "SoftdrinkCost" #MakeCoffee + + + # 从已定义好的例子中直接导入 + goal, start, actions = Cond2BelongsToCond3() # Examples里的例子: MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3,SoftdrinkCost + # goal, start, actions = Test() + # goal, start, actions = MakeCoffeeCost() + # print_action_data_table(goal,start,actions) # 打印所有变量 + + + # todo: 运行算法得到行为树为 algo.bt + algo = OptBTExpAlgorithm(verbose=True) + algo.clear() + algo.run_algorithm(start, goal, actions) + # algo.print_solution() # 打印行为树 + # todo: 输出 MakeCoffee.ptml + print("=========== PTML ============") + ptml_string = algo.save_ptml_file(ptml_file_name) + print(ptml_string) + print("========= End PTML ==========\n") + + + + # todo: 执行行为树查看结果 + print("=========== Run BT ============") + state = start + steps = 0 + val, obj = algo.bt.tick(state) + while val != 'success' and val != 'failure': + state = state_transition(state, obj) + print (obj.name) + val, obj = algo.bt.tick(state) + if (val == 'failure'): + print("bt fails at step", steps) + steps += 1 + if not goal <= state: + print ("wrong solution",steps) + else: + print ("right solution",steps) + #algo.bt.print_nodes() + print ("The number of nodes in BT:",algo.bt.count_size()-1) + algo.clear() + print("============ End Run BT ===========\n") + ''' + + ''' + # 新增测试 cost + # algo = OptBTExpAlgorithm(verbose=False) + # algo.clear() + # algo.run_algorithm(start, goal, actions) + # # algo.print_solution() # 打印行为树 + # print("=========== Run OptBT ============") + # state = start + # steps = 0 + # cost_tatol = 0 + # val, obj,cost,ticks = algo.bt.cost_tick(state,0,0) + # cost_tatol+=cost + # while val != 'success' and val != 'failure': + # state = state_transition(state, obj) + # print (obj.name) + # val, obj,cost,ticks = algo.bt.cost_tick(state,0,ticks) + # cost_tatol += cost + # if (val == 'failure'): + # print("bt fails at step", steps) + # steps += 1 + # if not goal <= state: + # print ("wrong solution steps",steps) + # else: + # print ("right solution steps",steps) + # algo.clear() + # print("OptBT cost:", cost_tatol) + # print("OptBT ticks:", ticks) + # print("============ End Run OptBT ===========\n") + + + algo2 = OptBTExpAlgorithm(verbose=False) + algo2.clear() + algo2.run_algorithm(start, goal, actions) + # algo2.print_solution() # 打印行为树 + print("=========== Run XiaoCaiBT ============") + state = start + steps = 0 + cost_tatol2 = 0 + val, obj,cost,ticks = algo2.bt.cost_tick(state,0,0) + cost_tatol2+=cost + while val != 'success' and val != 'failure': + state = state_transition(state, obj) + print (obj.name) + val, obj,cost,ticks = algo2.bt.cost_tick(state,0,ticks) + cost_tatol2 += cost + if (val == 'failure'): + print("bt fails at step", steps) + steps += 1 + if not goal <= state: + print ("wrong solution steps",steps) + else: + print ("right solution steps",steps) + algo2.clear() + print("XiaoCaiBT cost:", cost_tatol2) + print("XiaoCaiBT ticks:", ticks) + print("============ End Run XiaoCaiBT ===========\n") + + + + # todo: 行为树鲁棒性测试，随机生成规划问题 + # # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 + # seed=1 + # literals_num= 3 + # depth = 3 + # iters= 3 + + + # act_list, start_list, goal_list = get_act_start_goal(seed=seed,literals_num=literals_num,depth=depth,iters=iters,total_count=1) + # BTTest_act_start_goal(bt_algo_opt=True,act_list=act_list, start_list=start_list, goal_list=goal_list) + # print("\n") + # BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list) + + # BTTest(bt_algo_opt=True,seed=seed,literals_num=literals_num,depth=depth,iters=iters) + # print("\n") + # 对比 + # BTTest(bt_algo_opt=False,seed=seed,literals_num=literals_num,depth=depth,iters=iters) diff --git a/BTExpansionCode/test3.py b/BTExpansionCode/test3.py index d1a68b7..e3be29e 100644 --- a/BTExpansionCode/test3.py +++ b/BTExpansionCode/test3.py @@ -4,8 +4,9 @@ from sympy.parsing.sympy_parser import parse_expr from sympy import symbols, Not, Or, And, to_dnf -goal = "(On_Coffee_Bar | On_Yogur_Bar) & At_Robot_Bar" +# goal = "(On_Coffee_Bar | On_Yogur_Bar) & At_Robot_Bar" # goal = "On(Coffee,WaterTable),On(Coffee,BrightTable6)" +goal = "Not (On_Coffee_Bar | On_Yogur_Bar) & At_Robot_Bar" goal_dnf = str(to_dnf(goal, simplify=True)) # print(goal_dnf) diff --git a/BTExpansionCode/tools.py b/BTExpansionCode/tools.py index 8ede6d4..139bb3c 100644 --- a/BTExpansionCode/tools.py +++ b/BTExpansionCode/tools.py @@ -198,7 +198,7 @@ def BTTest_old(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_c -def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count=1000): +def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count=1): if bt_algo_opt: print("============= OptBT Test ==============") @@ -235,21 +235,21 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count state = copy.deepcopy(start) states.append(state) #print (state) - for k in range(10): - for i in range (0,depth): - a = Action() - a.generate_from_state(state,literals_num) - a.cost = random.randint(1, 100) - if not a in actions: - a.name = "a"+str(action_num) - action_num+=1 - actions.append(a) - state = state_transition(state,a) - if state in states: - pass - else: - states.append(state) - #print(state) + # for k in range(10): + for i in range (0,depth): + a = Action() + a.generate_from_state(state,literals_num) + a.cost = random.randint(1, 100) + if not a in actions: + a.name = "a"+str(action_num) + action_num+=1 + actions.append(a) + state = state_transition(state,a) + if state in states: + pass + else: + states.append(state) + #print(state) goal = states[-1] state = copy.deepcopy(start) @@ -303,8 +303,10 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count current_tick_time+=tick_time current_cost += cost while val !='success' and val !='failure':#运行直到行为树成功或失败 + print(state, obj) state = state_transition(state,obj) val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0) + current_cost += cost current_tick_time += tick_time if(val == 'failure'): @@ -327,7 +329,7 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count algo.print_solution() break - + print("step:",steps) algo.clear() total_action_num.append(len(actions)) total_state_num.append(len(states)) @@ -339,7 +341,7 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count print("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1)) print("Average Number of States:",np.mean(total_state_num))#1000次问题的平均状态数 print("Average Number of Actions",np.mean(total_action_num))#1000次问题的平均行动数 - print("Planning Time Total:",planning_time_total,planning_time_total/1000.0) + print("Planning Time Total:",planning_time_total,planning_time_total/total_count) print("Average Number of Ticks", np.mean(total_tick),"std=",np.std(total_tick,ddof=1)) print("Average Cost of Execution:", np.mean(total_cost),"std=",np.std(total_cost,ddof=1)) # print(total_steps_num) 第21个 @@ -427,7 +429,39 @@ def get_act_start_goal(seed=1,literals_num=10,depth=10,iters=10,total_count=1000 return act_list, start_list, goal_list -def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list): +def cal_tree_cond_tick(start,goal,bt): + # 开始从初始状态运行行为树，测试 + # print("start:",start) + # print("goal:", goal) + + + state = start + error=False + current_cost = 0 + current_cond_tick_time = 0 + # val, obj, cost, tick_time = algo.bt.cost_tick(state,0,0)#tick行为树，obj为所运行的行动 + val, obj, cost, tick_time, cond_times = bt.cost_tick_cond(state, 0, 0, 0) + # print(state, val, obj, cost) + current_cond_tick_time += cond_times + current_cost += cost + while val != 'success' and val != 'failure': # 运行直到行为树成功或失败 + state = state_transition(state, obj) + # val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0) + val, obj, cost, tick_time, cond_times = bt.cost_tick_cond(state, 0, 0, 0) + # print(val,obj) + current_cost += cost + current_cond_tick_time += cond_times + if (val == 'failure'): + error = True + break + if not goal <= state: # 错误解，目标条件不在执行后状态满足 + error = True + if error: + print("Merge Error") + return error,current_cost,current_cond_tick_time + + +def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list,literals_num=None): if bt_algo_opt: print("============= OptBT Test ==============") @@ -447,12 +481,40 @@ def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list): success_count =0 failure_count = 0 planning_time_total = 0.0 + planning_time_ls=[] + + total_fot_times=[] + total_expand_conds=[] + + total_cond_tick = [] + total_cond_tick_without_merge=[] + total_cost_without_merge=[] error = False + # total_time_dic = {"act_traverse_time": 0, + # "choose_min_c":0, + # "While_Count":0} + # 实验1000次 for count, (actions, start, goal) in enumerate(zip(act_list, start_list, goal_list)): + # if count<586: + # continue + # elif count>950: + # continue + + if count % 50 == 0: + print(count) + + # print("new\n") + + # lit_act_dic = {} + # for lit in range(literals_num): + # lit_act_dic[lit] = set() + # for id,act in enumerate(actions): + # if lit in act.add: + # lit_act_dic[lit].add(id) states=[] # 生成一个规划问题，包括随机的状态和行动，以及目标状态 @@ -462,43 +524,66 @@ def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list): # 选择测试本文算法btalgorithm，或对比算法weakalgorithm if bt_algo_opt: - # if count==874: - # algo = OptBTExpAlgorithm(verbose=False) - # else: + # algo = OptBTExpAlgorithm(verbose=False,lit_act_dic=lit_act_dic) algo = OptBTExpAlgorithm(verbose=False) else: algo = BTExpAlgorithm(verbose=False) algo.clear() - #algo = Weakalgorithm() - start_time = time.time() - if count == 0 : #874: - print_action_data_table(goal, start, list(actions)) + # if count == 0 : #874: # print_action_data_table(goal, start, list(actions)) - if algo.run_algorithm_test(start, goal, actions):#运行算法，规划后行为树为algo.bt - total_tree_size.append( algo.bt.count_size()-1) - if count==0: - algo.print_solution() - # algo.print_solution() # 打印行为树 - else: - print ("error") + + # start_time = time.time() + # algo_right,time_dic = algo.run_algorithm_test(start, goal, actions) + # end_time = time.time() + # planning_time_ls.append(end_time - start_time) + # planning_time_total += (end_time - start_time) + # + # total_time_dic["act_traverse_time"]+=time_dic["act_traverse_time"] + # total_time_dic["choose_min_c"] += time_dic["choose_min_c"] + # total_time_dic["While_Count"] += time_dic["While_Count"] + + start_time = time.time() + algo_right = algo.run_algorithm_test(start, goal, actions) end_time = time.time() - planning_time_total += (end_time-start_time) + planning_time_total += (end_time - start_time) + planning_time_ls.append(end_time - start_time) + planning_time_total += (end_time - start_time) + + if algo_right: # 运行算法，规划后行为树为algo.bt + # total_tree_size.append(algo.bt.count_size() - 1) + # total_tree_size.append(algo.bfs_cal_tree_size()) + total_tree_size.append(algo.tree_size) + total_state_num.append(algo.traversed_state_num) + total_fot_times.append(algo.fot_times) + total_expand_conds.append(algo.expand_conds) + else: + print("error") + # end_time = time.time() + # planning_time_total += (end_time-start_time) + # planning_time_ls.append(end_time-start_time) #开始从初始状态运行行为树，测试 state=start steps=0 current_cost = 0 current_tick_time=0 - val, obj, cost, tick_time = algo.bt.cost_tick(state,0,0)#tick行为树，obj为所运行的行动 + current_cond_tick_time = 0 + # val, obj, cost, tick_time = algo.bt.cost_tick(state,0,0)#tick行为树，obj为所运行的行动 + val, obj, cost, tick_time, cond_times = algo.bt.cost_tick_cond(state, 0, 0, 0) + # print(state, val, obj, cost) current_tick_time+=tick_time + current_cond_tick_time += cond_times current_cost += cost while val !='success' and val !='failure':#运行直到行为树成功或失败 state = state_transition(state,obj) - val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0) + # val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0) + val, obj, cost, tick_time, cond_times = algo.bt.cost_tick_cond(state, 0, 0, 0) + # print(val,obj) current_cost += cost current_tick_time += tick_time + current_cond_tick_time += cond_times if(val == 'failure'): print("bt fails at step",steps) error = True @@ -519,22 +604,77 @@ def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list): algo.print_solution() break + if bt_algo_opt: + # algo.print_solution() + # algo.print_solution(without_merge=True) + merge_error,merge_cost,merge_cond_tick_times = cal_tree_cond_tick(start,goal,algo.bt_without_merge) + total_cond_tick_without_merge.append(merge_cond_tick_times) + total_cost_without_merge.append(merge_cost) + algo.clear() - total_action_num.append(len(actions)) - total_state_num.append(len(states)) total_cost.append(current_cost) total_tick.append(current_tick_time) + total_cond_tick.append(current_cond_tick_time) - print("success:",success_count,"failure:",failure_count)#算法成功和失败次数 - print("Total Tree Size: mean=",np.mean(total_tree_size), "std=",np.std(total_tree_size, ddof=1))#1000次测试树大小 - print("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1)) - print("Average Number of States:",np.mean(total_state_num))#1000次问题的平均状态数 - print("Average Number of Actions",np.mean(total_action_num))#1000次问题的平均行动数 - print("Planning Time Total:",planning_time_total,planning_time_total/1000.0) - print("Average Number of Ticks", np.mean(total_tick),"std=",np.std(total_tick,ddof=1)) - print("Average Cost of Execution:", np.mean(total_cost),"std=",np.std(total_cost,ddof=1)) - # print(total_steps_num) 第21个 + print("success:", success_count, "failure:", failure_count) # 算法成功和失败次数 + print("Total Steps Num: mean=", np.mean(total_steps_num), "std=", np.std(total_steps_num, ddof=1)) + # print("*** Average Number of States:", round(np.mean(total_state_num),2), round(np.std(total_state_num),2)) # 1000次问题的平均状态数 + print("*** Average total_for_times:", round(np.mean(total_fot_times),2), round(np.std(total_fot_times),2)) + # print("Average Number of Actions", np.mean(total_action_num)) # 1000次问题的平均行动数 + print("Planning Time Total:", planning_time_total) + print("*** Expanded Conds: mean=", round(np.mean(total_expand_conds),2), "std=", round(np.std(total_expand_conds, ddof=1),2)) # 1000次测试树大小 + print("*** Tree Size: mean=", round(np.mean(total_tree_size),2), "std=", round(np.std(total_tree_size, ddof=1),2)) # 1000次测试树大小 + print("*** Planning Time mean=:", round(np.mean(planning_time_ls),4), "std=", round(np.std(planning_time_ls),4)) + print("*** Ticks:", round(np.mean(total_tick),3), "std=", round(np.std(total_tick, ddof=1),3)) + print("*** Cond Ticks:", round(np.mean(total_cond_tick), 3), "std=", round(np.std(total_cond_tick, ddof=1), 3)) + print("*** Average Cost of Execution:", round(np.mean(total_cost),3), "std=", round(np.std(total_cost, ddof=1),3)) + if bt_algo_opt: + print("---------------------------------------") + print("*** Withour Merge avg Cost:", round(np.mean(total_cost_without_merge), 3), "std=", round(np.std(total_cost_without_merge, ddof=1), 3)) + print("*** Withour Merge Cond Ticks :", round(np.mean(total_cond_tick_without_merge), 3), "std=", round(np.std(total_cond_tick_without_merge, ddof=1), 3)) + expand_state_num = [round(np.mean(total_expand_conds), 3), round(np.std(total_expand_conds), 3)] + tree_size = [round(np.mean(total_tree_size), 3), round(np.std(total_tree_size, ddof=1), 3)] + ticks = [round(np.mean(total_tick), 3), round(np.std(total_tick, ddof=1), 3)] + cond_ticks = [round(np.mean(total_cond_tick), 3), round(np.std(total_cond_tick, ddof=1), 3)] + cost = [round(np.mean(total_cost), 3), round(np.std(total_cost, ddof=1), 3)] + step = [round(np.mean(total_steps_num), 3), round(np.std(total_steps_num, ddof=1), 3)] + state_num = [round(np.mean(total_state_num),3), round(np.std(total_state_num),3)] + for_num = [round(np.mean(total_fot_times),2), round(np.std(total_fot_times),2)] + plan_time = [round(np.mean(planning_time_ls), 5), round(np.std(planning_time_ls), 5), round(planning_time_total, 5)] + + # expand_state_num = [round(np.mean(total_expand_conds), 3)] + # tree_size = [round(np.mean(total_tree_size), 3)] + # ticks = [round(np.mean(total_tick), 3)] + if bt_algo_opt: + wm_cond_ticks = [round(np.mean(total_cond_tick_without_merge), 3),round(np.std(total_cond_tick_without_merge), 3)] + else: + wm_cond_ticks=[0,0] + # cond_ticks = [round(np.mean(total_cond_tick), 3)] + # cost = [round(np.mean(total_cost), 3)] + # step = [round(np.mean(total_steps_num), 3)] + # plan_time = [round(np.mean(planning_time_ls), 5), round(planning_time_total, 5)] + + + tmp_ls=[] + tmp_ls.extend(tree_size) + tmp_ls.extend(ticks) + tmp_ls.extend(wm_cond_ticks) + tmp_ls.extend(cond_ticks) + tmp_ls.extend(cost) + tmp_ls.extend(step) + # tmp_ls.extend(state_num) + tmp_ls.extend(expand_state_num) + tmp_ls.extend(for_num) + tmp_ls.extend(plan_time) + return tmp_ls + + # if bt_algo_opt: + # print("$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$") + # print("$$$ Time: act_traverse", round(total_time_dic["act_traverse_time"],3), "Avg:", round(total_time_dic["act_traverse_time"]/1000,4),"$$$$") + # print("$$$ Time: choose_min_c", round(total_time_dic["choose_min_c"], 3), "Avg:",round(total_time_dic["choose_min_c"] / 1000, 4), "$$$$") + # print("$$$ While_Count:", total_time_dic["While_Count"],"$$$") + # print("$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$") if bt_algo_opt: print("============= End OptBT Test ==============") else: diff --git a/BTExpansionCode/utils/bt/draw.py b/BTExpansionCode/utils/bt/draw.py index cfce6c3..7c05e15 100644 --- a/BTExpansionCode/utils/bt/draw.py +++ b/BTExpansionCode/utils/bt/draw.py @@ -59,9 +59,12 @@ def dot_tree( elif isinstance(node, composites.Parallel): attributes = ('parallelogram', 'lightgold', 'black') elif isinstance(node, decorators.Decorator): - attributes = ('ellipse', 'ghostwhite', 'black') + attributes = ('diamond', 'orange', 'black') + # attributes = ('ellipse', 'ghostwhite', 'black') elif node.type =="Act": attributes = ('box', 'lightgreen', 'black') + # elif node.type =="Inverter": + # attributes = ('diamond', 'lightred', 'black') else: attributes = ('ellipse', '#FFFF80', 'black') @@ -115,6 +118,8 @@ def dot_tree( node_name = "→" if node_name == "Selector": node_name = "?" + if node_name == "Inverter": + node_name = "!" return node_name fontsize = 20 diff --git a/BTExpansionCode/utils/draw_bt/Default.ptml b/BTExpansionCode/utils/draw_bt/Default.ptml index 003b9d2..faa7387 100644 --- a/BTExpansionCode/utils/draw_bt/Default.ptml +++ b/BTExpansionCode/utils/draw_bt/Default.ptml @@ -7,3 +7,17 @@ selector cond At(Robot,Bar) act PutDown(Coffee,Bar) act MoveTo(Bar) + sequence + cond At(Robot,Coffee) + selector + sequence + cond Holding(Nothing) + act PickUp(Coffee) + act PutDown(Anything,Anywhere) + sequence + cond Exist(Coffee) + act MoveTo(Coffee) + sequence + cond Holding(Nothing) + act Make(Coffee) + act PutDown(Anything,Anywhere) \ No newline at end of file diff --git a/BTExpansionCode/utils/draw_bt/draw_bt.py b/BTExpansionCode/utils/draw_bt/draw_bt.py index a1e3dfe..e4f8e91 100644 --- a/BTExpansionCode/utils/draw_bt/draw_bt.py +++ b/BTExpansionCode/utils/draw_bt/draw_bt.py @@ -16,5 +16,5 @@ if __name__ == '__main__': - render_dot_tree(bt.root,name="llm_test",png_only = False) + render_dot_tree(bt.root,name="test",png_only = False) # build and tick diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index 425f547..be465e9 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -14,7 +14,7 @@ class Bahavior(ptree.behaviour.Behaviour): ''' scene = None print_name_prefix = "" - tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'} + tables_for_placement = {'Bar', 'Bar2', 'WaterStation', 'CoffeeStation', 'Table1', 'Table2', 'Table3','BrightTable6'} all_object = { 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} @@ -22,16 +22,20 @@ class Bahavior(ptree.behaviour.Behaviour): "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} + all_place = tables_for_guiding | tables_for_placement # tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'} # all_object = {'Coffee', 'Yogurt'} + + + num_of_obj_on_place={ 'Bar': 0, # (247.0, 520.0, 100.0) 'Bar2': 0, - 'WaterTable': 0, - 'CoffeeTable': 0, + 'WaterStation': 0, + 'CoffeeStation': 0, 'Table1': 0, 'Table2': 0, 'Table3': 0, @@ -41,8 +45,8 @@ class Bahavior(ptree.behaviour.Behaviour): place_xyz_dic={ 'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0) 'Bar2': (240.0, 40.0, 100.0), - 'WaterTable':(-70.0, 500.0, 107), - 'CoffeeTable':(250.0, 310.0, 100.0), + 'WaterStation':(-70.0, 500.0, 107), + 'CoffeeStation':(250.0, 310.0, 100.0), 'Table1': (340.0, 900.0, 99.0), 'Table2': (-55.0, 0.0, 107), 'Table3':(-55.0, 150.0, 107), @@ -63,8 +67,8 @@ class Bahavior(ptree.behaviour.Behaviour): place_en2zh_name={ 'Bar': "吧台", 'Bar2': "另一侧的吧台", - 'WaterTable': "大厅的茶水桌", - 'CoffeeTable': "咖啡桌", + 'WaterStation': "大厅的茶水桌", + 'CoffeeStation': "咖啡桌", 'Table1': "前门斜桌子", 'Table2': "大厅长桌子西侧", 'Table3': "大厅长桌子东侧", @@ -81,8 +85,8 @@ class Bahavior(ptree.behaviour.Behaviour): place_xy_yaw_dic={ 'Bar': (247.0, 520.0, 180), # (247.0, 520.0, 100.0) 'Bar2': (240.0, 40.0, 100.0), - 'WaterTable': (-70.0, 500.0, 107), - 'CoffeeTable': (250.0, 310.0, 100.0), + 'WaterStation': (-70.0, 500.0, 107), + 'CoffeeStation': (250.0, 310.0, 100.0), 'Table1': (340.0, 900.0, 99.0), 'Table2': (-55.0, 0.0, 107), 'Table3': (-55.0, 150.0, 107), diff --git a/robowaiter/behavior_lib/act/Clean.py b/robowaiter/behavior_lib/act/Clean.py index 7d707dd..824e8b1 100644 --- a/robowaiter/behavior_lib/act/Clean.py +++ b/robowaiter/behavior_lib/act/Clean.py @@ -25,17 +25,9 @@ class Clean(Act): @classmethod def get_info(cls,arg): info = {} - # info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} - info["pre"] = {f'Holding(Nothing)'} - if arg == "Table1": - info["add"]= {f'Is(Table1,Clean)'} - info["del_set"] = {f'Is(Table1,Dirty)'} - elif arg == "Floor": - info["add"] = {f'Is(Floor,Clean)'} - info["del_set"] = {f'Is(Floor,Dirty)'} - elif arg == "Chairs": - info["add"] = {f'Is(Chairs,Clean)'} - info["del_set"] = {f'Is(Chairs,Dirty)'} + info["pre"]= {f'Holding(Nothing)',f'Not IsClean({arg})'} + info["add"] = {f'IsClean({arg})'} + info["del_set"] = {f'Not IsClean({arg})'} return info def _update(self) -> ptree.common.Status: diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index aef5530..a39e03b 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -15,7 +15,7 @@ translator.from_lang = 'en' translator.to_lang = 'zh-cn' import spacy -# nlp = spacy.load('en_core_web_lg') +nlp = spacy.load('en_core_web_lg') nlp_zh = spacy.load('zh_core_web_lg') @@ -51,7 +51,7 @@ class DealChat(Act): self.create_sub_task(goal=sentence) self.scene.ui_func(("new_history", "System", { "role": "user", - "content": "set goal: " + sentence + "content": "set goal: " + sentence })) return ptree.common.Status.RUNNING @@ -168,12 +168,16 @@ class DealChat(Act): # 场景中现有物品 cur_things = set() for item in self.scene.status.objects: - cur_things.add(self.scene.objname_en2zh_dic[item.name]) + # cur_things.add(self.scene.objname_en2zh_dic[item.name]) + cur_things.add(item.name) # obj与现有物品进行相似度匹配 中文的匹配 # print("==========obj==========:",obj) - query_token = nlp_zh(obj) + # query_token = nlp_zh(obj) + query_token = nlp(obj) for w in cur_things: - word_token = nlp_zh(w) + # word_token = nlp_zh(w) + word_token = nlp(w) + print("w:",w) similarity = query_token.similarity(word_token) # print("similarity:", similarity, w) if similarity > max_similarity: diff --git a/robowaiter/behavior_lib/act/GreetCustomer.py b/robowaiter/behavior_lib/act/GreetCustomer.py index 9589f7d..72e96e7 100644 --- a/robowaiter/behavior_lib/act/GreetCustomer.py +++ b/robowaiter/behavior_lib/act/GreetCustomer.py @@ -28,10 +28,10 @@ class GreetCustomer(Act): else: self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) - if self.scene.show_bubble: - # self.scene.chat_bubble("欢迎光临！") - # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？") - self.scene.chat_bubble("Welcome! How can I help you?") + # if self.scene.show_bubble: + # # self.scene.chat_bubble("欢迎光临！") + # # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？") + # self.scene.chat_bubble("Welcome! How can I help you?") customer_name = self.scene.state['attention']['customer'] self.scene.state['greeted_customers'].add(customer_name) diff --git a/robowaiter/behavior_lib/act/Make.py b/robowaiter/behavior_lib/act/Make.py index 5362413..9c6c328 100644 --- a/robowaiter/behavior_lib/act/Make.py +++ b/robowaiter/behavior_lib/act/Make.py @@ -25,13 +25,13 @@ class Make(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"]= {f'Holding(Nothing)'} - info['del_set'] = set() - info['add'] = {f'Exist({arg})'} + info["pre"]= {f'Holding(Nothing)',f'Not Exists({arg})'} + info['del_set'] = {f'Not Exists({arg})'} + info['add'] = {f'Exists({arg})'} if arg == cls.valid_args[0]: - info["add"] |= {f'On({arg},CoffeeTable)'} + info["add"] |= {f'On({arg},CoffeeStation)'} elif arg == cls.valid_args[1]: - info["add"] |= {f'On({arg},WaterTable)'} + info["add"] |= {f'On({arg},WaterStation)'} elif arg == cls.valid_args[2]: info["add"] |= {f'On({arg},Bar)'} info['cost'] = 2 diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index e5194ce..d3c5d15 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -1,33 +1,32 @@ import py_trees as ptree from robowaiter.behavior_lib._base.Act import Act -from robowaiter.algos.navigator.navigate import Navigator class MoveTo(Act): can_be_expanded = True num_args = 1 valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding - valid_args.add('Customer') + # valid_args.add('Customer') def __init__(self, target_place): super().__init__(target_place) self.target_place = target_place - @classmethod def get_info(cls,arg): info = {} info['pre'] = set() if arg in Act.all_object: - info['pre'] |= {f'Exist({arg})'} - info["add"] = {f'At(Robot,{arg})'} - info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} - info['cost'] = 1 #10 - # if arg!='Anything': - # info['cost']=5 - # else: - # info['cost']=0 - return info + info['pre'] |= {f'Exists({arg})'} + # info['pre'] |= {f'Not RobotNear({arg})'} + info["add"] = {f'RobotNear({arg})'} + info["add"] |= {f'Not RobotNear({place})' for place in cls.valid_args if place != arg} + + info["del_set"] = {f'RobotNear({place})' for place in cls.valid_args if place != arg} + info["del_set"] |= {f'Not RobotNear({arg})'} + + info['cost'] = 10 + return info def _update(self) -> ptree.common.Status: # self.scene.test_move() diff --git a/robowaiter/behavior_lib/act/PickUp.py b/robowaiter/behavior_lib/act/PickUp.py index 85b4680..d3fdd57 100644 --- a/robowaiter/behavior_lib/act/PickUp.py +++ b/robowaiter/behavior_lib/act/PickUp.py @@ -16,13 +16,21 @@ class PickUp(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'} - info["add"] = {f'Holding({arg})'} - info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #, - for place in cls.valid_args: + info["pre"] = {f'RobotNear({arg})','Holding(Nothing)'} + + # info["pre"] = {f'RobotNear({arg})', 'Holding(Nothing)',f'Not Holding({arg})'} + # info["pre"] |= {f'Not Holding({obj})' for obj in cls.all_object} + + info["add"] = {f'Holding({arg})','Not Holding(Nothing)',f'Not Exists({arg})'} + info["del_set"] = {f'Not Holding({arg})',f'Holding(Nothing)',f'Exists({arg})'} + for place in cls.all_place: info["del_set"] |= {f'On({arg},{place})'} + info["add"] |= {f'Not On({arg},{place})'} info['cost'] = 2 + + return info + # if arg != 'Anything': # info['cost'] = 1 # else: diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py index ca52fd3..2ea2779 100644 --- a/robowaiter/behavior_lib/act/PutDown.py +++ b/robowaiter/behavior_lib/act/PutDown.py @@ -22,15 +22,18 @@ class PutDown(Act): def get_info(cls,*arg): if arg[0] != 'Anything': info = {} - info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'} - info["add"] = {f'Holding(Nothing)',f'On({arg[0]},{arg[1]})'} - info["del_set"] = {f'Holding({arg[0]})'} + info["pre"] = {f'Holding({arg[0]})',f'RobotNear({arg[1]})',f'Not Holding(Nothing)'} + info["add"] = {f'Not Holding({arg[0]})',f'On({arg[0]},{arg[1]})'} + info["add"] |= {f'Not On({arg[0]},{place})' for place in cls.tables_for_placement if place != arg[1]} + + info["del_set"] = {f'Holding({arg[0]})',f'Not Holding(Nothing)'} info['cost'] = 100 #1000 else: info = {} info["pre"] = set() info['add'] = {f'Holding(Nothing)'} info['del_set'] = {f'Holding({obj})' for obj in cls.all_object} + info['del_set'] |= {f'Not Holding(Nothing)'} info['cost'] = 0 return info diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py index 5a7166d..f6d9ca2 100644 --- a/robowaiter/behavior_lib/act/Turn.py +++ b/robowaiter/behavior_lib/act/Turn.py @@ -49,27 +49,47 @@ class Turn(Act): def get_info(cls,*arg): info = {} info["pre"] = set() - if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC': - if arg[0]!="Curtain": - info["pre"] |= {f'Holding(Nothing)'} - if arg[1]=="On": - info["pre"] |= {f'Is({arg[0]},Off)'} - info["add"] = {f'Is({arg[0]},On)'} - info["del_set"] = {f'Is({arg[0]},Off)'} + if arg[0] == "TubeLight" or arg[0] == "HallLight" or arg[0] == 'AC': + info["pre"] |= {f'Holding(Nothing)'} + if arg[1] == "On": + info["pre"] |= {f'Not Active({arg[0]})'} + info["add"] = {f'Active({arg[0]})'} + info["del_set"] = {f'Off({arg[0]})'} elif arg[1]=="Off": - info["pre"] |= {f'Is({arg[0]},On)'} - info["add"] = {f'Is({arg[0]},Off)'} - info["del_set"] = {f'Is({arg[0]},On)'} + info["pre"] |= {f'Active({arg[0]})'} + info["add"] = {f'Not Active({arg[0]})'} + info["del_set"] = {f'Active({arg[0]})'} + + # elif arg[0] == 'AC': + # if arg[1] == "On": + # info["pre"] |= {f'Not Active({arg[0]})'} + # info["add"] = {f'Active({arg[0]})',f'Not Low({arg[0]})'} + # info["del_set"] = {f'Off({arg[0]})',f'Low({arg[0]})'} + # elif arg[1]=="Off": + # info["pre"] |= {f'Active({arg[0]})'} + # info["add"] = {f'Not Active({arg[0]})'} + # info["del_set"] = {f'Active({arg[0]})',f'Not Low({arg[0]})',f'Low({arg[0]})'} + elif arg[0]=='ACTemperature': - info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'} + info["pre"] = {f'Holding(Nothing)',f'Active(AC)'} if arg[1]=="Up": - # info["pre"] |= {f'Is({arg[0]},Down)'} - info["add"] = {f'Is({arg[0]},Up)'} - info["del_set"] = {f'Is({arg[0]},Down)'} + # info["pre"] |= {f'Low({arg[0]})'} + info["add"] = {f'Not Low({arg[0]})'} + info["del_set"] = {f'Low({arg[0]})'} elif arg[1]=="Down": - # info["pre"] |= {f'Is({arg[0]},Up)'} - info["add"] = {f'Is({arg[0]},Down)'} - info["del_set"] = {f'Is({arg[0]},Up)'} + # info["pre"] |= {f'Not Low({arg[0]})'} + info["add"] = {f'Low({arg[0]})'} + info["del_set"] = {f'Not Low({arg[0]})'} + + elif arg[0]=='Curtain': + if arg[1]=="On": + info["pre"] |= {f'Closed({arg[0]})'} + info["add"] = {f'Not Closed({arg[0]})'} + info["del_set"] = {f'Closed({arg[0]})'} + elif arg[1]=="Off": + info["pre"] |= {f'Not Closed({arg[0]})'} + info["add"] = {f'Closed({arg[0]})'} + info["del_set"] = {f'Not Closed({arg[0]})'} return info def _update(self) -> ptree.common.Status: diff --git a/robowaiter/behavior_lib/cond/Active.py b/robowaiter/behavior_lib/cond/Active.py new file mode 100644 index 0000000..63bb6a8 --- /dev/null +++ b/robowaiter/behavior_lib/cond/Active.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class Active(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'AC','TubeLight','HallLight'} + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/Closed.py b/robowaiter/behavior_lib/cond/Closed.py new file mode 100644 index 0000000..ad3ecf3 --- /dev/null +++ b/robowaiter/behavior_lib/cond/Closed.py @@ -0,0 +1,27 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class Closed(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'Curtain'} + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/Exists.py b/robowaiter/behavior_lib/cond/Exists.py new file mode 100644 index 0000000..3f3dbcf --- /dev/null +++ b/robowaiter/behavior_lib/cond/Exists.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class Exists(Cond): + can_be_expanded = True + num_params = 1 + valid_args = tuple(Cond.all_object) + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/Holding.py b/robowaiter/behavior_lib/cond/Holding.py index b756d4f..bf49b8d 100644 --- a/robowaiter/behavior_lib/cond/Holding.py +++ b/robowaiter/behavior_lib/cond/Holding.py @@ -4,8 +4,8 @@ from robowaiter.behavior_lib._base.Cond import Cond class Holding(Cond): can_be_expanded = True - num_params = 2 - valid_args = [tuple(Cond.all_object|{'Nothing'})] + num_params = 1 + valid_args = tuple(Cond.all_object|{'Nothing'}) def __init__(self,*args): super().__init__(*args) diff --git a/robowaiter/behavior_lib/cond/IsClean.py b/robowaiter/behavior_lib/cond/IsClean.py new file mode 100644 index 0000000..76fdba7 --- /dev/null +++ b/robowaiter/behavior_lib/cond/IsClean.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class IsClean(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'Table1','Floor','Chairs'} + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/Low.py b/robowaiter/behavior_lib/cond/Low.py new file mode 100644 index 0000000..10e2cc2 --- /dev/null +++ b/robowaiter/behavior_lib/cond/Low.py @@ -0,0 +1,29 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class Low(Cond): + can_be_expanded = True + num_params = 1 + valid_args = {'ACTemperature'} + + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/On.py b/robowaiter/behavior_lib/cond/On.py index a299911..9ec3219 100644 --- a/robowaiter/behavior_lib/cond/On.py +++ b/robowaiter/behavior_lib/cond/On.py @@ -5,7 +5,7 @@ from robowaiter.behavior_lib._base.Cond import Cond class On(Cond): can_be_expanded = True num_params = 2 - valid_params = [tuple(Cond.all_object), + valid_args = [tuple(Cond.all_object), tuple(Cond.tables_for_placement)] diff --git a/robowaiter/behavior_lib/cond/RobotNear.py b/robowaiter/behavior_lib/cond/RobotNear.py new file mode 100644 index 0000000..d72f222 --- /dev/null +++ b/robowaiter/behavior_lib/cond/RobotNear.py @@ -0,0 +1,33 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond +import itertools + +class RobotNear(Cond): + can_be_expanded = True + num_params = 1 + + # valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'}))) + # valid_args.remove(('Customer','Customer')) + # valid_args = tuple(valid_args) + + valid_args = Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'} + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/At.py b/robowaiter/behavior_lib/other/At.py similarity index 100% rename from robowaiter/behavior_lib/cond/At.py rename to robowaiter/behavior_lib/other/At.py diff --git a/robowaiter/behavior_lib/other/Clean.py b/robowaiter/behavior_lib/other/Clean.py new file mode 100644 index 0000000..7d707dd --- /dev/null +++ b/robowaiter/behavior_lib/other/Clean.py @@ -0,0 +1,51 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status + +class Clean(Act): + can_be_expanded = True + num_args = 1 + valid_args = ( + 'Table1','Floor','Chairs' + ) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op_type = 5 + if self.target_obj=="Table1": + self.op_type = 5 + elif self.target_obj=="Floor": + self.op_type = 4 + elif self.target_obj=="Chairs": + self.op_type = 7 + + + @classmethod + def get_info(cls,arg): + info = {} + # info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} + info["pre"] = {f'Holding(Nothing)'} + if arg == "Table1": + info["add"]= {f'Is(Table1,Clean)'} + info["del_set"] = {f'Is(Table1,Dirty)'} + elif arg == "Floor": + info["add"] = {f'Is(Floor,Clean)'} + info["del_set"] = {f'Is(Floor,Dirty)'} + elif arg == "Chairs": + info["add"] = {f'Is(Chairs,Clean)'} + info["del_set"] = {f'Is(Chairs,Dirty)'} + return info + + def _update(self) -> ptree.common.Status: + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + # print("After Clean condition_set:",self.scene.state["condition_set"] ) + return Status.RUNNING \ No newline at end of file diff --git a/robowaiter/behavior_lib/cond/Exist.py b/robowaiter/behavior_lib/other/Exist.py similarity index 100% rename from robowaiter/behavior_lib/cond/Exist.py rename to robowaiter/behavior_lib/other/Exist.py diff --git a/robowaiter/behavior_lib/other/Holding.py b/robowaiter/behavior_lib/other/Holding.py new file mode 100644 index 0000000..b756d4f --- /dev/null +++ b/robowaiter/behavior_lib/other/Holding.py @@ -0,0 +1,27 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Cond import Cond + +class Holding(Cond): + can_be_expanded = True + num_params = 2 + valid_args = [tuple(Cond.all_object|{'Nothing'})] + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/cond/Is.py b/robowaiter/behavior_lib/other/Is.py similarity index 100% rename from robowaiter/behavior_lib/cond/Is.py rename to robowaiter/behavior_lib/other/Is.py diff --git a/robowaiter/behavior_lib/other/Make.py b/robowaiter/behavior_lib/other/Make.py new file mode 100644 index 0000000..5362413 --- /dev/null +++ b/robowaiter/behavior_lib/other/Make.py @@ -0,0 +1,68 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status + +class Make(Act): + can_be_expanded = True + num_args = 1 + valid_args = ( + "Coffee","Water","Dessert" + ) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op_type = 1 + if self.target_obj==self.valid_args[0]: + self.op_type = 1 + elif self.target_obj==self.valid_args[1]: + self.op_type = 2 + elif self.target_obj==self.valid_args[2]: + self.op_type = 3 + + + @classmethod + def get_info(cls,arg): + info = {} + info["pre"]= {f'Holding(Nothing)'} + info['del_set'] = set() + info['add'] = {f'Exist({arg})'} + if arg == cls.valid_args[0]: + info["add"] |= {f'On({arg},CoffeeTable)'} + elif arg == cls.valid_args[1]: + info["add"] |= {f'On({arg},WaterTable)'} + elif arg == cls.valid_args[2]: + info["add"] |= {f'On({arg},Bar)'} + info['cost'] = 2 + return info + + def _update(self) -> ptree.common.Status: + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + + # self.scene.gen_obj(type=40) + + # obj_dict = self.scene.status.objects + # if len(obj_dict) != 0: + # # 获取obj_id + # for id, obj in enumerate(obj_dict): + # print("id:",id,"obj",obj.name) + + # if obj.name == "Coffee": + # obj_info = obj_dict[id] + # obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z + # print(id,obj.name,obj_x,obj_y,obj_z) + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + # print("condition_set:",self.scene.state["condition_set"]) + + return Status.RUNNING \ No newline at end of file diff --git a/robowaiter/behavior_lib/other/MoveTo.py b/robowaiter/behavior_lib/other/MoveTo.py new file mode 100644 index 0000000..e5194ce --- /dev/null +++ b/robowaiter/behavior_lib/other/MoveTo.py @@ -0,0 +1,83 @@ +import py_trees as ptree +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.algos.navigator.navigate import Navigator + +class MoveTo(Act): + can_be_expanded = True + num_args = 1 + valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding + valid_args.add('Customer') + + def __init__(self, target_place): + super().__init__(target_place) + self.target_place = target_place + + + @classmethod + def get_info(cls,arg): + info = {} + info['pre'] = set() + if arg in Act.all_object: + info['pre'] |= {f'Exist({arg})'} + info["add"] = {f'At(Robot,{arg})'} + info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} + info['cost'] = 1 #10 + # if arg!='Anything': + # info['cost']=5 + # else: + # info['cost']=0 + return info + + + def _update(self) -> ptree.common.Status: + # self.scene.test_move() + + # navigator = Navigator(scene=self.scene, area_range=[-350, 600, -400, 1450], map=self.scene.state["map"]["2d"]) + # goal = self.scene.state['map']['obj_pos'][self.args[0]] + # navigator.navigate_old(goal, animation=False) + + # 拍照片 + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio, is_nav=True) + + # ##################################### + # 走到固定的地点 + if self.target_place in Act.place_xy_yaw_dic: + goal = Act.place_xy_yaw_dic[self.target_place] + if self.scene.is_nav_walk: + self.scene.navigator.navigate(goal=(goal[0] + 1, goal[1]), animation=False) + self.scene.walk_to(goal[0]+2, goal[1], goal[2]) + else: + self.scene.walk_to(goal[0]+1,goal[1],goal[2]) + # 走到物品边上 + else: + # 是否用容器装好 + if self.target_place in Act.container_dic: + target_name = Act.container_dic[self.target_place] + else: + target_name = self.target_place + # 根据物体名字找到最近的这类物体对应的位置 + obj_id = -1 + min_dis = float('inf') + obj_dict = self.scene.status.objects + if len(obj_dict)!=0: + # 获取obj_id + for id,obj in enumerate(obj_dict): + if obj.name == target_name: + obj_info = obj_dict[id] + dis = self.scene.cal_distance_to_robot(obj_info.location.X, obj_info.location.Y, obj_info.location.Z) + if dis ptree.common.Status: + # if self.scene.status? + + # print("self.name:",self.name) + # print("On: condition_set:",self.scene.state["condition_set"]) + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + if self.name in self.scene.state["condition_set"]: + return ptree.common.Status.SUCCESS + else: + return ptree.common.Status.FAILURE + + # if self.scene.state['chat_list'] == []: + # return ptree.common.Status.FAILURE + # else: + # return ptree.common.Status.SUCCESS diff --git a/robowaiter/behavior_lib/other/PickUp.py b/robowaiter/behavior_lib/other/PickUp.py new file mode 100644 index 0000000..85b4680 --- /dev/null +++ b/robowaiter/behavior_lib/other/PickUp.py @@ -0,0 +1,74 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status + +class PickUp(Act): + can_be_expanded = True + num_args = 1 + valid_args = Act.all_object + # valid_args.add("Anything") + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + + + @classmethod + def get_info(cls,arg): + info = {} + info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'} + info["add"] = {f'Holding({arg})'} + info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #, + for place in cls.valid_args: + info["del_set"] |= {f'On({arg},{place})'} + info['cost'] = 2 + + # if arg != 'Anything': + # info['cost'] = 1 + # else: + # info['cost'] = 0 + # + # info["pre"] = {} + + return info + + + def _update(self) -> ptree.common.Status: + # self.scene.test_move() + # op_type=16 + + # 遍历场景里的所有物品，根据名字匹配位置最近的 obj-id + # 是否用容器装好 + if self.target_obj in Act.container_dic: + target_name = Act.container_dic[self.target_obj] + else: + target_name = self.target_obj + # 根据物体名字找到最近的这类物体对应的位置 + obj_id = -1 + min_dis = float('inf') + obj_dict = self.scene.status.objects + if len(obj_dict) != 0: + # 获取obj_id + for id, obj in enumerate(obj_dict): + if obj.name == target_name: + obj_info = obj_dict[id] + dis = self.scene.cal_distance_to_robot(obj_info.location.X, obj_info.location.Y, + obj_info.location.Z) + if dis < min_dis: + min_dis = dis + obj_id = id + # if self.target_place == "CoffeeCup": + # # obj_id = 273 + # obj_id = 275 + if obj_id == -1: + return ptree.common.Status.FAILURE + + self.scene.move_task_area(op_type=16, obj_id=obj_id) + self.scene.op_task_execute(op_type=16, obj_id=obj_id) + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + return Status.RUNNING diff --git a/robowaiter/behavior_lib/other/PutDown.py b/robowaiter/behavior_lib/other/PutDown.py new file mode 100644 index 0000000..ca52fd3 --- /dev/null +++ b/robowaiter/behavior_lib/other/PutDown.py @@ -0,0 +1,64 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status +import itertools + +class PutDown(Act): + can_be_expanded = True + num_args = 2 + + valid_args = list(itertools.product(Act.all_object, Act.tables_for_placement)) + valid_args.append(('Anything','Anywhere')) + valid_args = tuple(valid_args) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.target_place = self.args[1] + + + @classmethod + def get_info(cls,*arg): + if arg[0] != 'Anything': + info = {} + info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'} + info["add"] = {f'Holding(Nothing)',f'On({arg[0]},{arg[1]})'} + info["del_set"] = {f'Holding({arg[0]})'} + info['cost'] = 100 #1000 + else: + info = {} + info["pre"] = set() + info['add'] = {f'Holding(Nothing)'} + info['del_set'] = {f'Holding({obj})' for obj in cls.all_object} + info['cost'] = 0 + + return info + + + def _update(self) -> ptree.common.Status: + # self.scene.test_move() + + if self.target_obj != 'Anything': + op_type=17 + release_pos = list(Act.place_xyz_dic[self.target_place]) + # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107] + # # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107] + if Act.num_of_obj_on_place[self.target_place]>=1: + release_pos[1] += 25 + + Act.num_of_obj_on_place[self.target_place]+=1 + + self.scene.move_task_area(op_type, release_pos=release_pos) + + if self.target_obj == "Chips": + release_pos[2] +=3 + self.scene.op_task_execute(op_type, release_pos=release_pos) + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + return Status.RUNNING diff --git a/robowaiter/behavior_lib/other/Turn.py b/robowaiter/behavior_lib/other/Turn.py new file mode 100644 index 0000000..5a7166d --- /dev/null +++ b/robowaiter/behavior_lib/other/Turn.py @@ -0,0 +1,87 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status +import itertools + +class Turn(Act): + can_be_expanded = True + num_args = 2 + valid_args = [('AC','TubeLight','HallLight','Curtain'), + ('On','Off')] + + valid_args = list(itertools.product(valid_args[0], valid_args[1])) + valid_args.extend([('ACTemperature','Up'),('ACTemperature','Down')]) + valid_args = tuple(valid_args) + + + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op = self.args[1] + self.op_type = 13 + + if self.target_obj=="AC": + self.op_type = 13 + elif self.target_obj=="ACTemperature": + if self.op == 'Up': + self.op_type = 14 + elif self.op == 'Down': + self.op_type = 15 + elif self.target_obj=="TubeLight": + if self.op == 'On': + self.op_type = 6 + elif self.op == 'Off': + self.op_type = 8 + elif self.target_obj=="HallLight": + if self.op == 'On': + self.op_type = 9 + elif self.op == 'Off': + self.op_type = 10 + elif self.target_obj=="Curtain": + if self.op == 'On': + self.op_type = 12 + elif self.op == 'Off': + self.op_type = 11 + + @classmethod + def get_info(cls,*arg): + info = {} + info["pre"] = set() + if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC': + if arg[0]!="Curtain": + info["pre"] |= {f'Holding(Nothing)'} + if arg[1]=="On": + info["pre"] |= {f'Is({arg[0]},Off)'} + info["add"] = {f'Is({arg[0]},On)'} + info["del_set"] = {f'Is({arg[0]},Off)'} + elif arg[1]=="Off": + info["pre"] |= {f'Is({arg[0]},On)'} + info["add"] = {f'Is({arg[0]},Off)'} + info["del_set"] = {f'Is({arg[0]},On)'} + elif arg[0]=='ACTemperature': + info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'} + if arg[1]=="Up": + # info["pre"] |= {f'Is({arg[0]},Down)'} + info["add"] = {f'Is({arg[0]},Up)'} + info["del_set"] = {f'Is({arg[0]},Down)'} + elif arg[1]=="Down": + # info["pre"] |= {f'Is({arg[0]},Up)'} + info["add"] = {f'Is({arg[0]},Down)'} + info["del_set"] = {f'Is({arg[0]},Up)'} + return info + + def _update(self) -> ptree.common.Status: + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + return Status.RUNNING \ No newline at end of file diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index 5fc148f..28e6665 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -3,20 +3,24 @@ import random from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT - class CondActPair: def __init__(self, cond_leaf,act_leaf): self.cond_leaf = cond_leaf self.act_leaf = act_leaf + def __lt__(self, other): + # 定义优先级比较：按照 cost 的值来比较 + return self.act_leaf.mincost < other.act_leaf.mincost #定义行动类，行动包括前提、增加和删除影响 class Action: - def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1,vaild_num=0,vild_args=set()): self.pre=copy.deepcopy(pre) self.add=copy.deepcopy(add) self.del_set=copy.deepcopy(del_set) self.name=name self.cost=cost + self.vaild_num=vaild_num + self.vild_args = vild_args def __str__(self): return self.name @@ -34,11 +38,76 @@ class Action: continue if random.random() >0.5: self.del_set.add(i) + + # def generate_from_state_local(self,literals_num_set): + # # pre_num = random.randint(0, min(pre_max, len(state))) + # # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # # + # # add_set = literals_num_set - self.pre + # # add_num = random.randint(0, len(add_set)) + # # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # # + # # del_set = literals_num_set - self.add + # # del_num = random.randint(0, len(del_set)) + # # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + # + # pre_num = random.randint(0, len(state)) + # self.pre = set(random.sample(state, pre_num)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(random.sample(add_set, add_num)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(random.sample(del_set, del_num)) + + + def generate_from_state_local(self,state,literals_num_set,all_obj_set=set(),obj_num=0,obj=None): + # pre_num = random.randint(0, min(pre_max, len(state))) + # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + + pre_num = random.randint(0, len(state)) + self.pre = set(random.sample(state, pre_num)) + + add_set = literals_num_set - self.pre + add_num = random.randint(0, len(add_set)) + self.add = set(random.sample(add_set, add_num)) + + del_set = literals_num_set - self.add + del_num = random.randint(0, len(del_set)) + self.del_set = set(random.sample(del_set, del_num)) + + if all_obj_set!=set(): + self.vaild_num = random.randint(1, obj_num-1) + self.vild_args = (set(random.sample(all_obj_set, self.vaild_num))) + if obj!=None: + self.vild_args.add(obj) + self.vaild_num = len(self.vild_args) + + def update(self,name,pre,del_set,add): + self.name = name + self.pre = pre + self.del_set = del_set + self.add = add + return self + + def print_action(self): print (self.pre) print(self.add) print(self.del_set) + + #生成随机状态 def generate_random_state(num): result = set() @@ -46,6 +115,7 @@ def generate_random_state(num): if random.random()>0.5: result.add(i) return result + #从状态和行动生成后继状态 def state_transition(state,action): if not action.pre <= state: @@ -55,27 +125,60 @@ def state_transition(state,action): return new_state + def conflict(c): have_at = False - have_holding = False for str in c: - if 'At' in str: - if not have_at: - have_at = True - else: + if 'Not' not in str and 'RobotNear' in str: + if have_at: return True + have_at = True - if 'Holding' in str: - if not have_holding: - have_holding = True - else: + Holding = False + HoldingNothing = False + for str in c: + if 'Not ' not in str and 'Holding(Nothing)' in str: # 注意 'Not ' in 'Nothing' + HoldingNothing = True + if 'Not' not in str and 'Holding(Nothing)' not in str and 'Holding' in str: + if Holding: return True + Holding = True + if HoldingNothing and Holding: + return True return False +import heapq + +class PriorityQueue: + def __init__(self): + self.elements = [] + self.entry_finder = {} # 用于跟踪元素及其对应的优先级 + self.REMOVED = '' # 标记被移除的元素 + self.counter = 0 + + def add_task(self, task, priority=0): + '添加一个新任务或更新一个现有任务的优先级' + if task in self.entry_finder: + self.remove_task(task) + count = next(self.counter) + entry = [priority, count, task] + self.entry_finder[task] = entry + heapq.heappush(self.elements, entry) + + def pop_task(self): + '移除并返回最低优先级的任务' + while self.elements: + priority, count, task = heapq.heappop(self.elements) + if task is not self.REMOVED: + del self.entry_finder[task] + return task + raise KeyError('pop from an empty priority queue') + + #本文所提出的完备规划算法 class OptBTExpAlgorithm: - def __init__(self,verbose=False): + def __init__(self,verbose=False,lit_act_dic=None): self.bt = None self.nodes=[] self.traversed=[] @@ -85,167 +188,340 @@ class OptBTExpAlgorithm: self.verbose=verbose self.goal=None self.bt_merge = True + self.lit_act_dic = lit_act_dic def clear(self): self.bt = None - self.goal = None self.nodes = [] self.traversed = [] #存cond self.expanded = [] #存整个 self.conditions = [] self.conditions_index = [] + self.traversed_state_num=0 + self.fot_times = 0 + self.expand_conds=0 + self.tree_size=0 + self.bt_without_merge = None + self.subtree_count=1 #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt # def run_algorithm(self,goal,actions,scene): - def run_algorithm_selTree(self, start, goal, actions): - # self.scene = scene + def run_algorithm_selTree(self, start, goal, actions,merge_time=99999999): + + + self.traversed_state_num=0 + self.goal = goal if self.verbose: print("\n算法开始！") - - bt = ControlBT(type='cond') # 初始行为树只包含目标条件 - gc_node = Leaf(type='cond', content=goal,mincost=0) # 为了统一，都成对出现 + gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 ga_node = Leaf(type='act', content=None, mincost=0) subtree = ControlBT(type='?') - subtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + self.expand_conds+=1 bt.add_child([subtree]) - - # self.conditions.append(goal) cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) - self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions + + heapq.heappush(self.nodes, cond_anc_pair) + self.expanded.append(goal) + self.traversed_state_num += 1 + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + # if goal <= start: + # self.bt_without_merge = bt + # return bt, 0 while len(self.nodes)!=0: + self.fot_times+=1 + # Find the condition for the shortest cost path - pair_node = None + # ======================== Next Goal ============================ # min_cost = float ('inf') - index= -1 - for i,cond_anc_pair in enumerate(self.nodes): - - ########### 剪枝操作 - # cond_tmp = cond_anc_pair.cond_leaf.content - # valid = True - # for pn in self.expanded: # 剪枝操作 - # if isinstance(pn.act_leaf.content,Action): - # if pn.act_leaf.content.name==cond_anc_pair.act_leaf.content.name and cond_tmp <= pn.cond_leaf.content: - # valid = False - # break - # if not valid: - # continue - ########### 剪枝操作 - - if cond_anc_pair.cond_leaf.mincost < min_cost: - min_cost = cond_anc_pair.cond_leaf.mincost - pair_node = copy.deepcopy(cond_anc_pair) - index = i + pair_node = heapq.heappop(self.nodes) if self.verbose: print("选择扩展条件结点：",pair_node.cond_leaf.content) # Update self.nodes and self.traversed - self.nodes.pop(index) # the set of explored but unexpanded conditions. self.nodes.remove(pair_node) c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） - # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + + + if c!=goal: if c!=set(): - - # 挂在上去的时候判断要不要挂载 - ########### 剪枝操作 发现行不通 - # valid = True - # for pn in self.expanded: # 剪枝操作 - # if isinstance(pn.act_leaf.content,Action): - # if pn.act_leaf.content.name==pair_node.act_leaf.content.name and c <= pn.cond_leaf.content: - # valid = False - # break - # if valid: - ########### 剪枝操作 sequence_structure = ControlBT(type='>') sequence_structure.add_child( - [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)]) + [pair_node.cond_leaf, pair_node.act_leaf]) subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt - self.expanded.append(copy.deepcopy(pair_node)) - # 增加实时条件判断，满足条件就不再扩展 - # if c <= self.scene.state["condition_set"]: - if c <= start: - if self.bt_merge: - bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt)) - return bt,min_cost - # return True + # self.expanded.append(copy.deepcopy(pair_node)) + # self.expanded.append(pair_node.cond_leaf.content) + # + # if c <= start: + # if self.bt_merge: + # # bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + # return bt, min_cost else: subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + self.expand_conds += 1 + self.expanded.append(c) + if c <= start: + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt, min_cost + if self.verbose: print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ - % (pair_node.act_leaf.content.name, pair_node.cond_leaf.content, - pair_node.cond_leaf.mincost)) + % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content, + cond_anc_pair.cond_leaf.mincost)) if self.verbose: print("遍历所有动作, 寻找符合条件的动作") # 遍历所有动作, 寻找符合条件的动作 current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + # ======================== End Next Goal ============================ # + # ====================== Action Trasvers ============================ # + traversed_current = [] + + # act_tmp_set = set() + # for lit in c: + # act_tmp_set |= self.lit_act_dic[lit] + + # for i in act_tmp_set: for i in range(0, len(actions)): - if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set(): + # if c=={'RobotNear(Chips)', 'Holding(Nothing)'} and actions[i].name=='Clean(Chairs)0': + # xx=1 + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : if (c - actions[i].del_set) == c: if self.verbose: - print("———— 满足条件可以扩展:",actions[i].name) + print("———— 满足条件可以扩展") c_attr = (actions[i].pre | c) - actions[i].add - # 这样剪枝存在错误性 if conflict(c_attr): + if self.verbose: + print("———— 冲突：动作 %s， 条件 %s"% (actions[i].name,c_attr)) continue # 剪枝操作,现在的条件是以前扩展过的条件的超集 valid = True - for j in self.traversed: # 剪枝操作 + + for j in self.expanded: if j <= c_attr: valid = False - if self.verbose: - print("———— --被剪枝:",actions[i].name,"c_attr=",c_attr) break + # tmp_heap = list(self.nodes) + # # tmp_heap = copy.deepcopy(self.nodes) + # while tmp_heap: # 剪枝操作 self.expanded? + # cond_anc_pair = heapq.heappop(tmp_heap) + # j = cond_anc_pair.cond_leaf.content + # if j <= c_attr: + # if cond_anc_pair.cond_leaf.mincost < current_mincost + actions[i].cost: + # valid = False + # break + + if valid: + # c_attr_string = "".join(sorted(list(c_attr))) c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) - self.nodes.append(copy.deepcopy(cond_anc_pair)) # condition node list - self.traversed.append(c_attr) # 重点 the set of expanded conditions + # heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + heapq.heappush(self.nodes, cond_anc_pair) + + + self.traversed_state_num+=1 + traversed_current.append(c_attr) # 把符合条件的动作节点都放到列表里 if self.verbose: - print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr),"cost=",current_mincost + actions[i].cost) + print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + + # print(len(traversed_current)) + self.traversed.extend(traversed_current) + # ====================== End Action Trasvers ============================ # + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt if self.bt_merge: - bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt)) + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) if self.verbose: print("算法结束！\n") return bt,min_cost - # return True - def run_algorithm(self, start, goal, actions): + + def run_algorithm(self, start, goal, actions,merge_time=3): self.bt = ControlBT(type='cond') subtree = ControlBT(type='?') subtree_with_costs_ls=[] + self.subtree_count = len(goal) + if len(goal) > 1: for g in goal: bt_sel_tree,mincost = self.run_algorithm_selTree(start, g, actions) subtree_with_costs_ls.append((bt_sel_tree,mincost)) # 要排个序再一次add - # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) - # self.bt.add_child([subtree]) sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) for tree,cost in sorted_trees: - subtree.add_child([copy.deepcopy(tree.children[0])]) + subtree.add_child([tree.children[0]]) self.bt.add_child([subtree]) else: - self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions) + self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions,merge_time=merge_time) return True + + def merge_subtree(self,merge_time): + + self.bt_aftermerge = ControlBT(type='cond') + subtree = ControlBT(type='?') + + if self.subtree_count > 1: + for i in range(self.subtree_count): + bt_sel_tree = self.bt.children[0].children[i] + + bt_sel_tree_m = ControlBT(type='cond') + bt_sel_tree_m.add_child([bt_sel_tree]) + + bt_sel_tree_m = self.merge_adjacent_conditions_stack_time(copy.deepcopy(bt_sel_tree_m),merge_time=merge_time) + subtree.add_child([bt_sel_tree_m.children[0]]) + self.bt_aftermerge.add_child([subtree]) + else: + self.bt_aftermerge = self.merge_adjacent_conditions_stack_time(copy.deepcopy(self.bt),merge_time=merge_time) + return self.bt_aftermerge + + def run_algorithm_test(self, start, goal, actions): + self.bt,mincost = self.run_algorithm_selTree(start, goal, actions) + return True + + + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=9999999): + + merge_time = min(merge_time,500) + + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + + # print("merge time:", last_time,set1,set2) + + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + def merge_adjacent_conditions_stack(self,bt_sel): # 只针对第一层合并，之后要考虑层层递归合并 bt = ControlBT(type='cond') @@ -254,7 +530,7 @@ class OptBTExpAlgorithm: # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 bt.add_child([sbtree]) - parnode = copy.deepcopy(bt_sel.children[0]) + parnode = bt_sel.children[0] stack=[] for child in parnode.children: if isinstance(child, ControlBT) and child.type == '>': @@ -273,8 +549,8 @@ class OptBTExpAlgorithm: inter_node = Leaf(type='cond', content=inter) c1_node = Leaf(type='cond', content=c1) c2_node = Leaf(type='cond', content=c2) - a1_node = copy.deepcopy(last_child.children[1]) - a2_node = copy.deepcopy(child.children[1]) + a1_node = last_child.children[1] + a2_node = child.children[1] # set1<=set2,此时set2对应的动作永远不会执行 @@ -288,7 +564,7 @@ class OptBTExpAlgorithm: and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ and last_child.children[2].content.name == child.children[1].content.name \ and c1==set() and c2!=set(): - last_child.children[1].add_child([copy.deepcopy(c2_node)]) + last_child.children[1].add_child([c2_node]) continue elif len(last_child.children)==3: stack.append(child) @@ -302,30 +578,30 @@ class OptBTExpAlgorithm: if c2==set(): tmp_tree = ControlBT(type='>') tmp_tree.add_child( - [copy.deepcopy(inter_node), copy.deepcopy(a1_node)]) + [inter_node, a1_node]) else: _sel = ControlBT(type='?') - _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + _sel.add_child([c1_node, c2_node]) tmp_tree = ControlBT(type='>') tmp_tree.add_child( - [copy.deepcopy(inter_node), copy.deepcopy(_sel),copy.deepcopy(a1_node)]) + [inter_node, _sel,a1_node]) else: if c1 == set(): - seq1 = copy.deepcopy(last_child.children[1]) + seq1 = last_child.children[1] else: seq1 = ControlBT(type='>') - seq1.add_child([copy.deepcopy(c1_node), copy.deepcopy(a1_node)]) + seq1.add_child([c1_node, a1_node]) if c2 == set(): - seq2 = copy.deepcopy(child.children[1]) + seq2 = child.children[1] else: seq2 = ControlBT(type='>') - seq2.add_child([copy.deepcopy(c2_node), copy.deepcopy(a2_node)]) + seq2.add_child([c2_node, a2_node]) sel = ControlBT(type='?') - sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + sel.add_child([seq1, seq2]) tmp_tree = ControlBT(type='>') tmp_tree.add_child( - [copy.deepcopy(inter_node), copy.deepcopy(sel)]) + [inter_node,sel]) stack.pop() stack.append(tmp_tree) @@ -339,15 +615,243 @@ class OptBTExpAlgorithm: for tree in stack: sbtree.add_child([tree]) - bt_sel = copy.deepcopy(bt) + bt_sel = bt return bt_sel + def merge_adjacent_conditions_stack_correct_2023(self): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) - def print_solution(self): + parnode = copy.deepcopy(self.bt.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + # 如果后面的动作和前面的一样,删掉前面的 + # 应该是两棵子树完全相同的情况，先暂时只判断动作 + if set1>=set2 or set1<=set2: + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): + if last_child.children[1].content.name == child.children[1].content.name: + stack.pop() + stack.append(child) + continue + + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + + if c1!=set(): + seq1 = ControlBT(type='>') + c1_node = Leaf(type='cond', content=c1) + a1 = copy.deepcopy(last_child.children[1]) + seq1.add_child( + [copy.deepcopy(c1_node), copy.deepcopy(a1)]) + else: + seq1 = copy.deepcopy(last_child.children[1]) + + if c2!=set(): + seq2 = ControlBT(type='>') + c2_node = Leaf(type='cond', content=c2) + a2 = copy.deepcopy(child.children[1]) + seq2.add_child( + [copy.deepcopy(c2_node), copy.deepcopy(a2)]) + else: + seq2 = copy.deepcopy(child.children[1]) + + + # 如果动作还是一样的 + # if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + # and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)\ + # and last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + # # 第三次优化合并 + # # 将来这些地方都写成递归的 + # + # if c1!=set() and c2!=set(): + # _sel = ControlBT(type='?') + # c1_node = Leaf(type='cond', content=c1) + # c2_node = Leaf(type='cond', content=c2) + # _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(_sel),copy.deepcopy(last_child.children[1])]) + # elif c1!=set() and c2==set(): + # tmp_tree = ControlBT(type='>') + # # inter_c = Leaf(type='cond', content=inter) + # # c1_node = Leaf(type='cond', content=c1) + # # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(last_child.children[0]), copy.deepcopy(last_child.children[1])]) + # else: + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(a1)]) + # # 下面这个是以前写错的 + # # sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])]) + # else: + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + inter_c = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(inter_c), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + def merge_adjacent_conditions_stack_old(self): + # 递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + + stack=[] + + for child in parnode.children: + + if isinstance(child, ControlBT) and child.type == '>': + + if stack==[]: + stack.append(child) + continue + + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = copy.deepcopy(last_child.children[1]) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = copy.deepcopy(child.children[1]) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + + def merge_adjacent_conditions(self): + # bt合并==================================================== + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + skip_next = False + for i in range(len(parnode.children) - 1): + current_child = parnode.children[i] + next_child = parnode.children[i + 1] + + if isinstance(current_child, ControlBT) and isinstance(next_child, ControlBT) and current_child.type == '>' and next_child.type == '>': + + if not skip_next: + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + set1 = current_child.children[0].content + set2 = next_child.children[0].content + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = Leaf(type='act', content=current_child.children[1].content) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = Leaf(type='act', content=next_child.children[1].content) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + sbtree.add_child([tmp_tree]) + skip_next = True + + elif skip_next: + sbtree.add_child([current_child]) + else: + # 否咋要放进去 + sbtree.add_child([current_child]) + + # 还有最后一个孩子还没放进去 + sbtree.add_child([next_child]) + + self.bt = copy.deepcopy(bt) + # bt合并==================================================== + + + def print_solution(self,without_merge=False): print("========= BT ==========") # 树的bfs遍历 nodes_ls = [] - nodes_ls.append(self.bt) + if without_merge==True: + nodes_ls.append(self.bt_without_merge) + else: + nodes_ls.append(self.bt) while len(nodes_ls) != 0: parnode = nodes_ls[0] print("Parrent:", parnode.type) @@ -419,6 +923,56 @@ class OptBTExpAlgorithm: self.ptml_string += '}\n' return self.ptml_string + def dfs_ptml_many_act(self, parnode, is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + # if is_root and len(child.content) > 1: + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + # elif is_root: + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + # else: + # c_set_positive = {item for item in child.content if 'Not' not in item} + # self.ptml_string += "cond " + # c_set_str = '\n cond '.join(map(str, c_set_positive)) + "\n" + # self.ptml_string += c_set_str + + + elif child.type == 'act': + + # child.content.name = re.sub(r'\d+', '', child.content.name) + child.content.name = re.sub(r'\)\d+', ')', child.content.name) + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + if len(child.children)>2: + self.dfs_ptml_many_act(parnode=child, is_root=True) + else: + self.dfs_ptml_many_act(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml_many_act(parnode=child) + self.ptml_string += '}\n' + + def get_ptml_many_act(self): + self.ptml_string = "selector{\n" + self.dfs_ptml_many_act(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string def save_ptml_file(self,file_name): self.ptml_string = "selector{\n" @@ -427,3 +981,34 @@ class OptBTExpAlgorithm: with open(f'./{file_name}.ptml', 'w') as file: file.write(self.ptml_string) return self.ptml_string + + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count + + def bfs_cal_tree_size_subtree(self,bt): + from collections import deque + queue = deque([bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count \ No newline at end of file diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_new.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_new.py new file mode 100644 index 0000000..28e6665 --- /dev/null +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_new.py @@ -0,0 +1,1014 @@ +import copy +import random +from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT + + +class CondActPair: + def __init__(self, cond_leaf,act_leaf): + self.cond_leaf = cond_leaf + self.act_leaf = act_leaf + def __lt__(self, other): + # 定义优先级比较：按照 cost 的值来比较 + return self.act_leaf.mincost < other.act_leaf.mincost + +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1,vaild_num=0,vild_args=set()): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + self.vaild_num=vaild_num + self.vild_args = vild_args + + def __str__(self): + return self.name + # 从状态随机生成一个行动 + def generate_from_state(self,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + self.pre.add(i) + if random.random() >0.5: + self.del_set.add(i) + continue + if random.random() > 0.5: + self.add.add(i) + continue + if random.random() >0.5: + self.del_set.add(i) + + # def generate_from_state_local(self,literals_num_set): + # # pre_num = random.randint(0, min(pre_max, len(state))) + # # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # # + # # add_set = literals_num_set - self.pre + # # add_num = random.randint(0, len(add_set)) + # # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # # + # # del_set = literals_num_set - self.add + # # del_num = random.randint(0, len(del_set)) + # # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + # + # pre_num = random.randint(0, len(state)) + # self.pre = set(random.sample(state, pre_num)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(random.sample(add_set, add_num)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(random.sample(del_set, del_num)) + + + def generate_from_state_local(self,state,literals_num_set,all_obj_set=set(),obj_num=0,obj=None): + # pre_num = random.randint(0, min(pre_max, len(state))) + # self.pre = set(np.random.choice(list(state), pre_num, replace=False)) + # + # add_set = literals_num_set - self.pre + # add_num = random.randint(0, len(add_set)) + # self.add = set(np.random.choice(list(add_set), add_num, replace=False)) + # + # del_set = literals_num_set - self.add + # del_num = random.randint(0, len(del_set)) + # self.del_set = set(np.random.choice(list(del_set), del_num, replace=False)) + + pre_num = random.randint(0, len(state)) + self.pre = set(random.sample(state, pre_num)) + + add_set = literals_num_set - self.pre + add_num = random.randint(0, len(add_set)) + self.add = set(random.sample(add_set, add_num)) + + del_set = literals_num_set - self.add + del_num = random.randint(0, len(del_set)) + self.del_set = set(random.sample(del_set, del_num)) + + if all_obj_set!=set(): + self.vaild_num = random.randint(1, obj_num-1) + self.vild_args = (set(random.sample(all_obj_set, self.vaild_num))) + if obj!=None: + self.vild_args.add(obj) + self.vaild_num = len(self.vild_args) + + def update(self,name,pre,del_set,add): + self.name = name + self.pre = pre + self.del_set = del_set + self.add = add + return self + + + def print_action(self): + print (self.pre) + print(self.add) + print(self.del_set) + + + +#生成随机状态 +def generate_random_state(num): + result = set() + for i in range(0,num): + if random.random()>0.5: + result.add(i) + return result + +#从状态和行动生成后继状态 +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + + +def conflict(c): + have_at = False + for str in c: + if 'Not' not in str and 'RobotNear' in str: + if have_at: + return True + have_at = True + + Holding = False + HoldingNothing = False + for str in c: + if 'Not ' not in str and 'Holding(Nothing)' in str: # 注意 'Not ' in 'Nothing' + HoldingNothing = True + if 'Not' not in str and 'Holding(Nothing)' not in str and 'Holding' in str: + if Holding: + return True + Holding = True + if HoldingNothing and Holding: + return True + return False + + +import heapq + +class PriorityQueue: + def __init__(self): + self.elements = [] + self.entry_finder = {} # 用于跟踪元素及其对应的优先级 + self.REMOVED = '' # 标记被移除的元素 + self.counter = 0 + + def add_task(self, task, priority=0): + '添加一个新任务或更新一个现有任务的优先级' + if task in self.entry_finder: + self.remove_task(task) + count = next(self.counter) + entry = [priority, count, task] + self.entry_finder[task] = entry + heapq.heappush(self.elements, entry) + + def pop_task(self): + '移除并返回最低优先级的任务' + while self.elements: + priority, count, task = heapq.heappop(self.elements) + if task is not self.REMOVED: + del self.entry_finder[task] + return task + raise KeyError('pop from an empty priority queue') + + +#本文所提出的完备规划算法 +class OptBTExpAlgorithm: + def __init__(self,verbose=False,lit_act_dic=None): + self.bt = None + self.nodes=[] + self.traversed=[] + self.mounted=[] + self.conditions=[] + self.conditions_index=[] + self.verbose=verbose + self.goal=None + self.bt_merge = True + self.lit_act_dic = lit_act_dic + + def clear(self): + self.bt = None + self.nodes = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 + self.conditions = [] + self.conditions_index = [] + self.traversed_state_num=0 + self.fot_times = 0 + self.expand_conds=0 + self.tree_size=0 + self.bt_without_merge = None + self.subtree_count=1 + + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + def run_algorithm_selTree(self, start, goal, actions,merge_time=99999999): + + + self.traversed_state_num=0 + + self.goal = goal + if self.verbose: + print("\n算法开始！") + bt = ControlBT(type='cond') + # 初始行为树只包含目标条件 + gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 + ga_node = Leaf(type='act', content=None, mincost=0) + subtree = ControlBT(type='?') + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + self.expand_conds+=1 + bt.add_child([subtree]) + cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) + + heapq.heappush(self.nodes, cond_anc_pair) + self.expanded.append(goal) + self.traversed_state_num += 1 + + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + # if goal <= start: + # self.bt_without_merge = bt + # return bt, 0 + + while len(self.nodes)!=0: + + self.fot_times+=1 + + # Find the condition for the shortest cost path + # ======================== Next Goal ============================ # + min_cost = float ('inf') + pair_node = heapq.heappop(self.nodes) + + if self.verbose: + print("选择扩展条件结点：",pair_node.cond_leaf.content) + # Update self.nodes and self.traversed + c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） + # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + + + + if c!=goal: + if c!=set(): + sequence_structure = ControlBT(type='>') + sequence_structure.add_child( + [pair_node.cond_leaf, pair_node.act_leaf]) + subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + # self.expanded.append(copy.deepcopy(pair_node)) + # self.expanded.append(pair_node.cond_leaf.content) + # + # if c <= start: + # if self.bt_merge: + # # bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + # return bt, min_cost + else: + subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + self.expand_conds += 1 + self.expanded.append(c) + if c <= start: + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt, min_cost + + + + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ + % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content, + cond_anc_pair.cond_leaf.mincost)) + + if self.verbose: + print("遍历所有动作, 寻找符合条件的动作") + # 遍历所有动作, 寻找符合条件的动作 + current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + # ======================== End Next Goal ============================ # + + # ====================== Action Trasvers ============================ # + traversed_current = [] + + # act_tmp_set = set() + # for lit in c: + # act_tmp_set |= self.lit_act_dic[lit] + + # for i in act_tmp_set: + for i in range(0, len(actions)): + + # if c=={'RobotNear(Chips)', 'Holding(Nothing)'} and actions[i].name=='Clean(Chairs)0': + # xx=1 + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : + if (c - actions[i].del_set) == c: + if self.verbose: + print("———— 满足条件可以扩展") + c_attr = (actions[i].pre | c) - actions[i].add + + if conflict(c_attr): + if self.verbose: + print("———— 冲突：动作 %s， 条件 %s"% (actions[i].name,c_attr)) + continue + + # 剪枝操作,现在的条件是以前扩展过的条件的超集 + valid = True + + for j in self.expanded: + if j <= c_attr: + valid = False + break + + # tmp_heap = list(self.nodes) + # # tmp_heap = copy.deepcopy(self.nodes) + # while tmp_heap: # 剪枝操作 self.expanded? + # cond_anc_pair = heapq.heappop(tmp_heap) + # j = cond_anc_pair.cond_leaf.content + # if j <= c_attr: + # if cond_anc_pair.cond_leaf.mincost < current_mincost + actions[i].cost: + # valid = False + # break + + + if valid: + # c_attr_string = "".join(sorted(list(c_attr))) + c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) + a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) + cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) + # heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + heapq.heappush(self.nodes, cond_anc_pair) + + + self.traversed_state_num+=1 + traversed_current.append(c_attr) + # 把符合条件的动作节点都放到列表里 + if self.verbose: + print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + + # print(len(traversed_current)) + self.traversed.extend(traversed_current) + # ====================== End Action Trasvers ============================ # + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + if self.verbose: + print("算法结束！\n") + return bt,min_cost + + + def run_algorithm(self, start, goal, actions,merge_time=3): + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + + subtree_with_costs_ls=[] + + self.subtree_count = len(goal) + + if len(goal) > 1: + for g in goal: + bt_sel_tree,mincost = self.run_algorithm_selTree(start, g, actions) + subtree_with_costs_ls.append((bt_sel_tree,mincost)) + # 要排个序再一次add + sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) + for tree,cost in sorted_trees: + subtree.add_child([tree.children[0]]) + self.bt.add_child([subtree]) + else: + self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions,merge_time=merge_time) + return True + + + def merge_subtree(self,merge_time): + + self.bt_aftermerge = ControlBT(type='cond') + subtree = ControlBT(type='?') + + if self.subtree_count > 1: + for i in range(self.subtree_count): + bt_sel_tree = self.bt.children[0].children[i] + + bt_sel_tree_m = ControlBT(type='cond') + bt_sel_tree_m.add_child([bt_sel_tree]) + + bt_sel_tree_m = self.merge_adjacent_conditions_stack_time(copy.deepcopy(bt_sel_tree_m),merge_time=merge_time) + subtree.add_child([bt_sel_tree_m.children[0]]) + self.bt_aftermerge.add_child([subtree]) + else: + self.bt_aftermerge = self.merge_adjacent_conditions_stack_time(copy.deepcopy(self.bt),merge_time=merge_time) + return self.bt_aftermerge + + def run_algorithm_test(self, start, goal, actions): + self.bt,mincost = self.run_algorithm_selTree(start, goal, actions) + return True + + + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=9999999): + + merge_time = min(merge_time,500) + + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + + # print("merge time:", last_time,set1,set2) + + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack(self,bt_sel): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + stack.append(tmp_tree) + + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + def merge_adjacent_conditions_stack_correct_2023(self): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + # 如果后面的动作和前面的一样,删掉前面的 + # 应该是两棵子树完全相同的情况，先暂时只判断动作 + if set1>=set2 or set1<=set2: + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): + if last_child.children[1].content.name == child.children[1].content.name: + stack.pop() + stack.append(child) + continue + + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + + if c1!=set(): + seq1 = ControlBT(type='>') + c1_node = Leaf(type='cond', content=c1) + a1 = copy.deepcopy(last_child.children[1]) + seq1.add_child( + [copy.deepcopy(c1_node), copy.deepcopy(a1)]) + else: + seq1 = copy.deepcopy(last_child.children[1]) + + if c2!=set(): + seq2 = ControlBT(type='>') + c2_node = Leaf(type='cond', content=c2) + a2 = copy.deepcopy(child.children[1]) + seq2.add_child( + [copy.deepcopy(c2_node), copy.deepcopy(a2)]) + else: + seq2 = copy.deepcopy(child.children[1]) + + + # 如果动作还是一样的 + # if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + # and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)\ + # and last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + # # 第三次优化合并 + # # 将来这些地方都写成递归的 + # + # if c1!=set() and c2!=set(): + # _sel = ControlBT(type='?') + # c1_node = Leaf(type='cond', content=c1) + # c2_node = Leaf(type='cond', content=c2) + # _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(_sel),copy.deepcopy(last_child.children[1])]) + # elif c1!=set() and c2==set(): + # tmp_tree = ControlBT(type='>') + # # inter_c = Leaf(type='cond', content=inter) + # # c1_node = Leaf(type='cond', content=c1) + # # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(last_child.children[0]), copy.deepcopy(last_child.children[1])]) + # else: + # tmp_tree = ControlBT(type='>') + # inter_c = Leaf(type='cond', content=inter) + # a1 = copy.deepcopy(last_child.children[1]) + # tmp_tree.add_child( + # [copy.deepcopy(inter_c), copy.deepcopy(a1)]) + # # 下面这个是以前写错的 + # # sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])]) + # else: + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + inter_c = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(inter_c), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + def merge_adjacent_conditions_stack_old(self): + # 递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + + stack=[] + + for child in parnode.children: + + if isinstance(child, ControlBT) and child.type == '>': + + if stack==[]: + stack.append(child) + continue + + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + + if isinstance(last_child, ControlBT) and last_child.type == '>': + + set1 = last_child.children[0].content + set2 = child.children[0].content + + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = copy.deepcopy(last_child.children[1]) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = copy.deepcopy(child.children[1]) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + stack.pop() + stack.append(tmp_tree) + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + + def merge_adjacent_conditions(self): + # bt合并==================================================== + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + skip_next = False + for i in range(len(parnode.children) - 1): + current_child = parnode.children[i] + next_child = parnode.children[i + 1] + + if isinstance(current_child, ControlBT) and isinstance(next_child, ControlBT) and current_child.type == '>' and next_child.type == '>': + + if not skip_next: + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + set1 = current_child.children[0].content + set2 = next_child.children[0].content + if set1>=set2: + inter = set1 & set2 + dif = set1 - set2 + + + tmp_sub_seq = ControlBT(type='>') + c2 = Leaf(type='cond', content=dif) + a1 = Leaf(type='act', content=current_child.children[1].content) + tmp_sub_seq.add_child( + [copy.deepcopy(c2), copy.deepcopy(a1)]) + + tmp_sub_tree_sel = ControlBT(type='?') + a2 = Leaf(type='act', content=next_child.children[1].content) + tmp_sub_tree_sel.add_child( + [copy.deepcopy(tmp_sub_seq), copy.deepcopy(a2)]) + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(tmp_sub_tree_sel)]) + + sbtree.add_child([tmp_tree]) + skip_next = True + + elif skip_next: + sbtree.add_child([current_child]) + else: + # 否咋要放进去 + sbtree.add_child([current_child]) + + # 还有最后一个孩子还没放进去 + sbtree.add_child([next_child]) + + self.bt = copy.deepcopy(bt) + # bt合并==================================================== + + + def print_solution(self,without_merge=False): + print("========= BT ==========") # 树的bfs遍历 + nodes_ls = [] + if without_merge==True: + nodes_ls.append(self.bt_without_merge) + else: + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= BT ==========\n") + + # 返回所有能到达目标状态的初始状态 + def get_all_state_leafs(self): + state_leafs=[] + + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == "cond": + state_leafs.append(child.content) + elif isinstance(child, ControlBT): + nodes_ls.append(child) + nodes_ls.pop(0) + + return state_leafs + + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def dfs_ptml_many_act(self, parnode, is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + # if is_root and len(child.content) > 1: + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + # elif is_root: + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + # else: + # c_set_positive = {item for item in child.content if 'Not' not in item} + # self.ptml_string += "cond " + # c_set_str = '\n cond '.join(map(str, c_set_positive)) + "\n" + # self.ptml_string += c_set_str + + + elif child.type == 'act': + + # child.content.name = re.sub(r'\d+', '', child.content.name) + child.content.name = re.sub(r'\)\d+', ')', child.content.name) + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + if len(child.children)>2: + self.dfs_ptml_many_act(parnode=child, is_root=True) + else: + self.dfs_ptml_many_act(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml_many_act(parnode=child) + self.ptml_string += '}\n' + + def get_ptml_many_act(self): + self.ptml_string = "selector{\n" + self.dfs_ptml_many_act(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string + + + def bfs_cal_tree_size(self): + from collections import deque + queue = deque([self.bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count + + def bfs_cal_tree_size_subtree(self,bt): + from collections import deque + queue = deque([bt.children[0]]) + + count = 0 + while queue: + current_node = queue.popleft() + count += 1 + for child in current_node.children: + if isinstance(child, Leaf): + count += 1 + else: + queue.append(child) + return count \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_old.py similarity index 100% rename from BTExpansionCode/EXP/EXP/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py rename to robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_old.py diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_other.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_other.py new file mode 100644 index 0000000..55d39b1 --- /dev/null +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm_other.py @@ -0,0 +1,581 @@ +import copy +import random +from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT + + + +class CondActPair: + def __init__(self, cond_leaf,act_leaf): + self.cond_leaf = cond_leaf + self.act_leaf = act_leaf + +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + + def __str__(self): + return self.name + # 从状态随机生成一个行动 + def generate_from_state(self,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + self.pre.add(i) + if random.random() >0.5: + self.del_set.add(i) + continue + if random.random() > 0.5: + self.add.add(i) + continue + if random.random() >0.5: + self.del_set.add(i) + def print_action(self): + print (self.pre) + print(self.add) + print(self.del_set) + +#生成随机状态 +def generate_random_state(num): + result = set() + for i in range(0,num): + if random.random()>0.5: + result.add(i) + return result +#从状态和行动生成后继状态 +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + +def conflict(c): + have_at = False + have_holding = False + for str in c: + if 'At' in str: + if not have_at: + have_at = True + else: + return True + + if 'Holding' in str: + if not have_holding: + have_holding = True + else: + return True + return False + +import heapq +#本文所提出的完备规划算法 +class OptBTExpAlgorithm: + def __init__(self,verbose=False,lit_act_dic=None): + self.bt = None + self.nodes=[] + self.traversed=[] + self.mounted=[] + self.conditions=[] + self.conditions_index=[] + self.verbose=verbose + self.goal=None + self.bt_merge = True + self.lit_act_dic = lit_act_dic + + def clear(self): + self.bt = None + self.nodes = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 + self.conditions = [] + self.conditions_index = [] + self.traversed_state_num=0 + self.fot_times = 0 + self.expand_conds=0 + self.tree_size=0 + self.bt_without_merge = None + self.subtree_count=1 + + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + def run_algorithm_selTree(self, start, goal, actions,merge_time=99999999): + + + self.traversed_state_num=0 + + self.goal = goal + if self.verbose: + print("\n算法开始！") + bt = ControlBT(type='cond') + # 初始行为树只包含目标条件 + gc_node = Leaf(type='cond', content=goal, mincost=0) # 为了统一，都成对出现 + ga_node = Leaf(type='act', content=None, mincost=0) + subtree = ControlBT(type='?') + subtree.add_child([gc_node]) # 子树首先保留所扩展结 + self.expand_conds+=1 + bt.add_child([subtree]) + cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) + + heapq.heappush(self.nodes, cond_anc_pair) + self.expanded.append(goal) + self.traversed_state_num += 1 + + self.traversed = [goal] # the set of expanded conditions + min_cost = float('inf') + + # if goal <= start: + # self.bt_without_merge = bt + # return bt, 0 + + while len(self.nodes)!=0: + + self.fot_times+=1 + + # Find the condition for the shortest cost path + # ======================== Next Goal ============================ # + min_cost = float ('inf') + pair_node = heapq.heappop(self.nodes) + + if self.verbose: + print("选择扩展条件结点：",pair_node.cond_leaf.content) + # Update self.nodes and self.traversed + c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） + # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + + + + if c!=goal: + if c!=set(): + sequence_structure = ControlBT(type='>') + sequence_structure.add_child( + [pair_node.cond_leaf, pair_node.act_leaf]) + subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + # self.expanded.append(copy.deepcopy(pair_node)) + # self.expanded.append(pair_node.cond_leaf.content) + # + # if c <= start: + # if self.bt_merge: + # # bt = self.merge_adjacent_conditions_stack(bt) + # bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + # return bt, min_cost + else: + subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + self.expand_conds += 1 + self.expanded.append(c) + if c <= start: + self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + return bt, min_cost + + + + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ + % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content, + cond_anc_pair.cond_leaf.mincost)) + + if self.verbose: + print("遍历所有动作, 寻找符合条件的动作") + # 遍历所有动作, 寻找符合条件的动作 + current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少 + # ======================== End Next Goal ============================ # + + # ====================== Action Trasvers ============================ # + traversed_current = [] + + # act_tmp_set = set() + # for lit in c: + # act_tmp_set |= self.lit_act_dic[lit] + + # for i in act_tmp_set: + for i in range(0, len(actions)): + + # if c=={'RobotNear(Chips)', 'Holding(Nothing)'} and actions[i].name=='Clean(Chairs)0': + # xx=1 + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() : + if (c - actions[i].del_set) == c: + if self.verbose: + print("———— 满足条件可以扩展") + c_attr = (actions[i].pre | c) - actions[i].add + + if conflict(c_attr): + if self.verbose: + print("———— 冲突：动作 %s， 条件 %s"% (actions[i].name,c_attr)) + continue + + # 剪枝操作,现在的条件是以前扩展过的条件的超集 + valid = True + + for j in self.expanded: + if j <= c_attr: + valid = False + break + + # tmp_heap = list(self.nodes) + # # tmp_heap = copy.deepcopy(self.nodes) + # while tmp_heap: # 剪枝操作 self.expanded? + # cond_anc_pair = heapq.heappop(tmp_heap) + # j = cond_anc_pair.cond_leaf.content + # if j <= c_attr: + # if cond_anc_pair.cond_leaf.mincost < current_mincost + actions[i].cost: + # valid = False + # break + + + if valid: + # c_attr_string = "".join(sorted(list(c_attr))) + c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) + a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost) + cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node) + # heapq.heappush(self.nodes, copy.deepcopy(cond_anc_pair)) + heapq.heappush(self.nodes, cond_anc_pair) + + + self.traversed_state_num+=1 + traversed_current.append(c_attr) + # 把符合条件的动作节点都放到列表里 + if self.verbose: + print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr)) + + # print(len(traversed_current)) + self.traversed.extend(traversed_current) + # ====================== End Action Trasvers ============================ # + # self.tree_size = self.bfs_cal_tree_size_subtree(bt) + self.bt_without_merge = bt + if self.bt_merge: + # bt = self.merge_adjacent_conditions_stack(bt) + bt = self.merge_adjacent_conditions_stack_time(bt,merge_time=merge_time) + if self.verbose: + print("算法结束！\n") + return bt,min_cost + + def run_algorithm(self, start, goal, actions): + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + + subtree_with_costs_ls=[] + + if len(goal) > 1: + for g in goal: + bt_sel_tree,mincost = self.run_algorithm_selTree(start, g, actions) + subtree_with_costs_ls.append((bt_sel_tree,mincost)) + # 要排个序再一次add + # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + # self.bt.add_child([subtree]) + sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) + for tree,cost in sorted_trees: + subtree.add_child([copy.deepcopy(tree.children[0])]) + self.bt.add_child([subtree]) + else: + self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions) + return True + + + + def merge_adjacent_conditions_stack_time(self,bt_sel,merge_time=9999999): + + merge_time = min(merge_time,500) + + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = bt_sel.children[0] + stack=[] + time_stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + time_stack.append(0) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + last_time = time_stack[-1] + + + + if last_time': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + + # print("merge time:", last_time,set1,set2) + + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = last_child.children[1] + a2_node = child.children[1] + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([c2_node]) + continue + elif len(last_child.children)==3: + stack.append(child) + time_stack.append(0) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, a1_node]) + else: + _sel = ControlBT(type='?') + _sel.add_child([c1_node, c2_node]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node, _sel,a1_node]) + else: + if c1 == set(): + seq1 = last_child.children[1] + else: + seq1 = ControlBT(type='>') + seq1.add_child([c1_node, a1_node]) + + if c2 == set(): + seq2 = child.children[1] + else: + seq2 = ControlBT(type='>') + seq2.add_child([c2_node, a2_node]) + sel = ControlBT(type='?') + sel.add_child([seq1, seq2]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [inter_node,sel]) + + stack.pop() + time_stack.pop() + stack.append(tmp_tree) + time_stack.append(last_time+1) + + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + else: + stack.append(child) + time_stack.append(0) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = bt + return bt_sel + + + + def merge_adjacent_conditions_stack(self,bt_sel): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(bt_sel.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = copy.deepcopy(last_child.children[1]) + a2_node = copy.deepcopy(child.children[1]) + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \ + and last_child.children[2].content.name == child.children[1].content.name \ + and c1==set() and c2!=set(): + last_child.children[1].add_child([copy.deepcopy(c2_node)]) + continue + elif len(last_child.children)==3: + stack.append(child) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(a1_node)]) + else: + _sel = ControlBT(type='?') + _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(_sel),copy.deepcopy(a1_node)]) + else: + if c1 == set(): + seq1 = copy.deepcopy(last_child.children[1]) + else: + seq1 = ControlBT(type='>') + seq1.add_child([copy.deepcopy(c1_node), copy.deepcopy(a1_node)]) + + if c2 == set(): + seq2 = copy.deepcopy(child.children[1]) + else: + seq2 = ControlBT(type='>') + seq2.add_child([copy.deepcopy(c2_node), copy.deepcopy(a2_node)]) + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = copy.deepcopy(bt) + return bt_sel + + + + def print_solution(self): + print("========= BT ==========") # 树的bfs遍历 + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= BT ==========\n") + + # 返回所有能到达目标状态的初始状态 + def get_all_state_leafs(self): + state_leafs=[] + + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == "cond": + state_leafs.append(child.content) + elif isinstance(child, ControlBT): + nodes_ls.append(child) + nodes_ls.pop(0) + + return state_leafs + + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string diff --git a/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py b/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py index 112d144..458f6f3 100644 --- a/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py +++ b/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py @@ -35,7 +35,7 @@ class BTOptExpInterface: """ self.goal = goal if self.bt_algo_opt: - self.algo = OptBTExpAlgorithm(verbose=False) + self.algo = OptBTExpAlgorithm(verbose=True) else: self.algo = BTalgorithm(verbose=False) diff --git a/robowaiter/llm_client/data/fix_questions_en.txt b/robowaiter/llm_client/data/fix_questions_en.txt index 75370b9..bc1b2cc 100644 --- a/robowaiter/llm_client/data/fix_questions_en.txt +++ b/robowaiter/llm_client/data/fix_questions_en.txt @@ -33,7 +33,7 @@ create_sub_task Hey, RoboWaiter, come here for a moment! I'm on my way, please wait a moment! create_sub_task -{"goal":"At(Robot,BrightTable6)"} +{"goal":"RobotNear(BrightTable6)"} What drinks do you have here? Our coffee shop offers a variety of flavored coffees, water, iced black tea, yogurt drinks, and also desserts like pastries and cakes. What would you like to order? @@ -53,12 +53,12 @@ Alright, I understand. We recommend the tables in the hall, where the space is m The tables in the hall look good, please take me there! Okay, great, please follow me. create_sub_task -{"goal":"At(Robot,WaterTable)"} +{"goal":"RobotNear(WaterTable)"} I'd like a glass of water, and please get a yogurt for my child. Ok, no problem, please wait a moment! create_sub_task -{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"} +{"goal":"On(Water,WaterTable)&On(Yogurt,WaterTable)"} I think I left my VacuumCup in your café yesterday, have you seen it? @@ -72,8 +72,17 @@ create_sub_task {"goal":"On(VacuumCup,Table1)"} +It's so hot! The sun is so intense! Can we turn on the air conditioning? +Yes, we can turn on the air conditioning. +create_sub_task +{"goal":"Low(ACTemperature)"} +It's time to get off work! Don't forget to clean, tidy up the tables and chairs, mop the floor, and manage the curtains, air conditioning, and lights. +Got it! Will do. +create_sub_task +{"goal":"IsClean(Table1)&IsClean(Floor)&IsClean(Chairs)&~Active(AC)&~Active(TubeLight)&~Active(HallLight)&Closed(Curtain)"} + 打开空调并降低空调温度 好的，没问题 @@ -110,4 +119,26 @@ create_sub_task I'll have a cappuccino, please. Ok, please wait a moment! create_sub_task -{"goal":"On(Coffee,BrightTable6)"} \ No newline at end of file +{"goal":"On(Coffee,BrightTable6)"} + +Coffee +好的，没问题 +create_sub_task +{"goal":"On_Coffee_WaterTable"} + + +It's quite toasty inside, could you please lower the air conditioning temperature? +Of course! I'll lower the air conditioning for you. +create_sub_task +{"goal":"Low_ACTemperature"} + +Could you please not put the carton drink on table one and close the curtain? +Sure, I'll do that now. +create_sub_task +{"goal":"On_Softdrink_Bar & Closed_Curtain"} + + +Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment. +Sure, I'll do that now. +create_sub_task +{"goal":"On_Coffee_Bar & IsClean_Floor"} \ No newline at end of file diff --git a/robowaiter/llm_client/multi_rounds.py b/robowaiter/llm_client/multi_rounds.py index a3574dc..a9bda00 100644 --- a/robowaiter/llm_client/multi_rounds.py +++ b/robowaiter/llm_client/multi_rounds.py @@ -152,8 +152,9 @@ def ask_llm(question,history, func_map=None, retry=3): reply = fix_questions_dict[question]["answer"] # result = single_round(reply, # "你是机器人服务员，请把以下句子换一种表述方式对顾客说，但是意思不变，尽量简短：\n") - result = single_round(reply, - "You are a robot waiter. Please change the following sentence to the customer in a different way, but the meaning remains the same and be as brief as possible:\n") + # result = single_round(reply, + # "You are a robot waiter. Please change the following sentence to the customer in a different way, but the meaning remains the same and be as brief as possible:\n") + result = reply else: reply = fix_questions_dict[question]["answer"] # result = single_round(f"你是机器人服务员，顾客想知道{question}, 你的具身场景查询返回的是{result},把返回的英文名词翻译成中文,请把按照以下句子对顾客说，{reply}, 尽量简短。\n") diff --git a/robowaiter/robot/Default.ptml b/robowaiter/robot/Default.ptml index e6363f5..ee6edd3 100644 --- a/robowaiter/robot/Default.ptml +++ b/robowaiter/robot/Default.ptml @@ -12,7 +12,7 @@ selector sequence cond NewCustomer() selector - cond At(Robot,Bar) + cond RobotNear(Bar) act MoveTo(Bar) act GreetCustomer() sequence diff --git a/robowaiter/robot/Default_bracket.ptml b/robowaiter/robot/Default_bracket.ptml index dace919..1b86452 100644 --- a/robowaiter/robot/Default_bracket.ptml +++ b/robowaiter/robot/Default_bracket.ptml @@ -19,7 +19,7 @@ selector cond NewCustomer() selector { - cond At(Robot,Bar) + cond RobotNear(Bar) act MoveTo(Bar) } act GreetCustomer() } sequence diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py index 1d0f09a..787c404 100644 --- a/robowaiter/robot/robot.py +++ b/robowaiter/robot/robot.py @@ -128,8 +128,8 @@ class Robot(object): else: print('Warning: have none sub task sequence') self.scene.sub_task_seq = seq - # print("当前行为树为：") - # print_tree_from_root(self.bt.root) + print("当前行为树为：") + print_tree_from_root(self.bt.root) print("行为树扩展完成！") self.scene.draw_current_bt() diff --git a/robowaiter/scene/outputs/current_bt.png b/robowaiter/scene/outputs/current_bt.png index d8cf895..aa00417 100644 Binary files a/robowaiter/scene/outputs/current_bt.png and b/robowaiter/scene/outputs/current_bt.png differ diff --git a/robowaiter/scene/outputs/expanded_bt.dot b/robowaiter/scene/outputs/expanded_bt.dot index 6d28237..878419d 100644 --- a/robowaiter/scene/outputs/expanded_bt.dot +++ b/robowaiter/scene/outputs/expanded_bt.dot @@ -3,55 +3,31 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"2db2976c-cdda-4837-b4d3-4dbbb4538910" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"b3ce54db-f0ff-4840-86e3-ef7d95c6ebab" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2db2976c-cdda-4837-b4d3-4dbbb4538910" -> "b3ce54db-f0ff-4840-86e3-ef7d95c6ebab"; -"eb22ee5d-c613-41da-a1a6-c44c2b7fc4d1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"b3ce54db-f0ff-4840-86e3-ef7d95c6ebab" -> "eb22ee5d-c613-41da-a1a6-c44c2b7fc4d1"; -"7f19976b-2e24-47b0-bb26-9c358cdfeb23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(Floor,Clean)", shape=ellipse, style=filled]; -"b3ce54db-f0ff-4840-86e3-ef7d95c6ebab" -> "7f19976b-2e24-47b0-bb26-9c358cdfeb23"; -"c2dd86b2-b9fe-4f6e-afae-57346859eafa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2db2976c-cdda-4837-b4d3-4dbbb4538910" -> "c2dd86b2-b9fe-4f6e-afae-57346859eafa"; -"2b2e8b9b-862f-43ac-bb82-57ba95d623e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"c2dd86b2-b9fe-4f6e-afae-57346859eafa" -> "2b2e8b9b-862f-43ac-bb82-57ba95d623e3"; -"f4f33a8f-ff13-493a-a78f-da05090f8336" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"c2dd86b2-b9fe-4f6e-afae-57346859eafa" -> "f4f33a8f-ff13-493a-a78f-da05090f8336"; -"a3256f70-bcb0-4ef0-a81b-741752b6d07e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f4f33a8f-ff13-493a-a78f-da05090f8336" -> "a3256f70-bcb0-4ef0-a81b-741752b6d07e"; -"813bbab4-bc04-427c-9040-a006399f5c45" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"a3256f70-bcb0-4ef0-a81b-741752b6d07e" -> "813bbab4-bc04-427c-9040-a006399f5c45"; -"94284302-d3f9-4a66-bf32-52eda963058e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; -"a3256f70-bcb0-4ef0-a81b-741752b6d07e" -> "94284302-d3f9-4a66-bf32-52eda963058e"; -"e74e83a6-bc77-4dc9-aa78-4f400bc9a730" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"f4f33a8f-ff13-493a-a78f-da05090f8336" -> "e74e83a6-bc77-4dc9-aa78-4f400bc9a730"; -"093a1c94-4aae-4cff-8fcb-06d18c6a9790" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; -"e74e83a6-bc77-4dc9-aa78-4f400bc9a730" -> "093a1c94-4aae-4cff-8fcb-06d18c6a9790"; -"0ec75c23-457b-4541-99d8-628102646eef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(Floor,Clean)", shape=ellipse, style=filled]; -"e74e83a6-bc77-4dc9-aa78-4f400bc9a730" -> "0ec75c23-457b-4541-99d8-628102646eef"; -"0a54b3fc-0cce-4cf4-be75-5f18647b52d4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"e74e83a6-bc77-4dc9-aa78-4f400bc9a730" -> "0a54b3fc-0cce-4cf4-be75-5f18647b52d4"; -"bb7a8a0f-cbd8-4595-be11-ad28a431cdd7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2db2976c-cdda-4837-b4d3-4dbbb4538910" -> "bb7a8a0f-cbd8-4595-be11-ad28a431cdd7"; -"856fa507-12df-4ab7-a7c0-2c327abfebb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; -"bb7a8a0f-cbd8-4595-be11-ad28a431cdd7" -> "856fa507-12df-4ab7-a7c0-2c327abfebb1"; -"15f01872-190c-44eb-8903-ca38a7a51aeb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"bb7a8a0f-cbd8-4595-be11-ad28a431cdd7" -> "15f01872-190c-44eb-8903-ca38a7a51aeb"; -"521017a2-5249-4dcf-a960-09032a615bf4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"2db2976c-cdda-4837-b4d3-4dbbb4538910" -> "521017a2-5249-4dcf-a960-09032a615bf4"; -"c480f850-8188-4c14-9289-9043f0c4f9cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; -"521017a2-5249-4dcf-a960-09032a615bf4" -> "c480f850-8188-4c14-9289-9043f0c4f9cc"; -"12dd8c3d-d161-4ae6-9592-b8782884939e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"521017a2-5249-4dcf-a960-09032a615bf4" -> "12dd8c3d-d161-4ae6-9592-b8782884939e"; -"6c30bf44-028c-4dab-8e38-ff859419cfcf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"12dd8c3d-d161-4ae6-9592-b8782884939e" -> "6c30bf44-028c-4dab-8e38-ff859419cfcf"; -"f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(Floor,Clean)", shape=ellipse, style=filled]; -"6c30bf44-028c-4dab-8e38-ff859419cfcf" -> "f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3"; -"891f47a3-c914-4b53-b30e-36a0fb51f15a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"6c30bf44-028c-4dab-8e38-ff859419cfcf" -> "891f47a3-c914-4b53-b30e-36a0fb51f15a"; -"69417d3a-d3da-4767-9eea-4b9c64bd24b4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"12dd8c3d-d161-4ae6-9592-b8782884939e" -> "69417d3a-d3da-4767-9eea-4b9c64bd24b4"; -"69afa45a-6e57-4c11-89bd-b437d400dee4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"69417d3a-d3da-4767-9eea-4b9c64bd24b4" -> "69afa45a-6e57-4c11-89bd-b437d400dee4"; -"bae4444e-5746-403d-be66-17b721dd5a3f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"69417d3a-d3da-4767-9eea-4b9c64bd24b4" -> "bae4444e-5746-403d-be66-17b721dd5a3f"; +"d1ca3ee2-e890-4fd7-b541-bd4c29808ddc" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"d7b23c19-aba3-46c5-bdf4-51502c76a99b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Low(ACTemperature)", shape=ellipse, style=filled]; +"d1ca3ee2-e890-4fd7-b541-bd4c29808ddc" -> "d7b23c19-aba3-46c5-bdf4-51502c76a99b"; +"44cbf8b5-4181-460c-a9c1-bfbdf4f27e23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"d1ca3ee2-e890-4fd7-b541-bd4c29808ddc" -> "44cbf8b5-4181-460c-a9c1-bfbdf4f27e23"; +"8bff0a94-d464-47c2-8562-dd723ed5382d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled]; +"44cbf8b5-4181-460c-a9c1-bfbdf4f27e23" -> "8bff0a94-d464-47c2-8562-dd723ed5382d"; +"ac205a8f-bac4-44a7-9980-a89596ea8d33" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"44cbf8b5-4181-460c-a9c1-bfbdf4f27e23" -> "ac205a8f-bac4-44a7-9980-a89596ea8d33"; +"429863cb-e044-4928-be68-7a6026d2e687" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"ac205a8f-bac4-44a7-9980-a89596ea8d33" -> "429863cb-e044-4928-be68-7a6026d2e687"; +"48a6ed71-8604-4206-bd3e-7a9911de44cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"429863cb-e044-4928-be68-7a6026d2e687" -> "48a6ed71-8604-4206-bd3e-7a9911de44cf"; +"95755904-2737-4550-a2cc-42b160664b1f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; +"429863cb-e044-4928-be68-7a6026d2e687" -> "95755904-2737-4550-a2cc-42b160664b1f"; +"e1993dae-8395-4387-bed0-b1ebe84563a3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"ac205a8f-bac4-44a7-9980-a89596ea8d33" -> "e1993dae-8395-4387-bed0-b1ebe84563a3"; +"7049f538-4c38-45f8-874c-870f89da2fe9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"d1ca3ee2-e890-4fd7-b541-bd4c29808ddc" -> "7049f538-4c38-45f8-874c-870f89da2fe9"; +"5b2149db-788f-4bd5-ae22-a97e7e2f7f35" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"7049f538-4c38-45f8-874c-870f89da2fe9" -> "5b2149db-788f-4bd5-ae22-a97e7e2f7f35"; +"403078e9-cb8e-45e3-b2a1-40b0ed1adf12" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; +"7049f538-4c38-45f8-874c-870f89da2fe9" -> "403078e9-cb8e-45e3-b2a1-40b0ed1adf12"; +"c682a403-59d5-45b5-85f7-fd9cc05dfcb1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Active(AC)", shape=ellipse, style=filled]; +"403078e9-cb8e-45e3-b2a1-40b0ed1adf12" -> "c682a403-59d5-45b5-85f7-fd9cc05dfcb1"; +"d99377e6-06a9-4147-8a51-d4680e2b4086" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; +"7049f538-4c38-45f8-874c-870f89da2fe9" -> "d99377e6-06a9-4147-8a51-d4680e2b4086"; } diff --git a/robowaiter/scene/outputs/expanded_bt.png b/robowaiter/scene/outputs/expanded_bt.png index 5ec7ae9..565b3aa 100644 Binary files a/robowaiter/scene/outputs/expanded_bt.png and b/robowaiter/scene/outputs/expanded_bt.png differ diff --git a/robowaiter/scene/outputs/expanded_bt.svg b/robowaiter/scene/outputs/expanded_bt.svg index 77fcf7f..dc5a57b 100644 --- a/robowaiter/scene/outputs/expanded_bt.svg +++ b/robowaiter/scene/outputs/expanded_bt.svg @@ -4,316 +4,172 @@ - - + + pastafarianism - - + + -2db2976c-cdda-4837-b4d3-4dbbb4538910 - -? +d1ca3ee2-e890-4fd7-b541-bd4c29808ddc + + ? - + -b3ce54db-f0ff-4840-86e3-ef7d95c6ebab - -→ +d7b23c19-aba3-46c5-bdf4-51502c76a99b + +Low(ACTemperature) - + -2db2976c-cdda-4837-b4d3-4dbbb4538910->b3ce54db-f0ff-4840-86e3-ef7d95c6ebab - - +d1ca3ee2-e890-4fd7-b541-bd4c29808ddc->d7b23c19-aba3-46c5-bdf4-51502c76a99b + + - - -c2dd86b2-b9fe-4f6e-afae-57346859eafa - -→ - - - -2db2976c-cdda-4837-b4d3-4dbbb4538910->c2dd86b2-b9fe-4f6e-afae-57346859eafa - - - - - -bb7a8a0f-cbd8-4595-be11-ad28a431cdd7 - -→ - - - -2db2976c-cdda-4837-b4d3-4dbbb4538910->bb7a8a0f-cbd8-4595-be11-ad28a431cdd7 - - - - - -521017a2-5249-4dcf-a960-09032a615bf4 - -→ - - - -2db2976c-cdda-4837-b4d3-4dbbb4538910->521017a2-5249-4dcf-a960-09032a615bf4 - - - - + -eb22ee5d-c613-41da-a1a6-c44c2b7fc4d1 - -Is(AC,On) +44cbf8b5-4181-460c-a9c1-bfbdf4f27e23 + +→ - + -b3ce54db-f0ff-4840-86e3-ef7d95c6ebab->eb22ee5d-c613-41da-a1a6-c44c2b7fc4d1 - - +d1ca3ee2-e890-4fd7-b541-bd4c29808ddc->44cbf8b5-4181-460c-a9c1-bfbdf4f27e23 + + - 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- +d1ca3ee2-e890-4fd7-b541-bd4c29808ddc->7049f538-4c38-45f8-874c-870f89da2fe9 + + - + + +8bff0a94-d464-47c2-8562-dd723ed5382d + +Active(AC) + + + +44cbf8b5-4181-460c-a9c1-bfbdf4f27e23->8bff0a94-d464-47c2-8562-dd723ed5382d + + + + + +ac205a8f-bac4-44a7-9980-a89596ea8d33 + + ? + + + +44cbf8b5-4181-460c-a9c1-bfbdf4f27e23->ac205a8f-bac4-44a7-9980-a89596ea8d33 + + + + + +429863cb-e044-4928-be68-7a6026d2e687 + +→ + + + +ac205a8f-bac4-44a7-9980-a89596ea8d33->429863cb-e044-4928-be68-7a6026d2e687 + + + + + +e1993dae-8395-4387-bed0-b1ebe84563a3 + +PutDown(Anything,Anywhere) + + + +ac205a8f-bac4-44a7-9980-a89596ea8d33->e1993dae-8395-4387-bed0-b1ebe84563a3 + + + + + +48a6ed71-8604-4206-bd3e-7a9911de44cf + +Holding(Nothing) + + + +429863cb-e044-4928-be68-7a6026d2e687->48a6ed71-8604-4206-bd3e-7a9911de44cf + + + + + +95755904-2737-4550-a2cc-42b160664b1f + +Turn(ACTemperature,Down) + + + +429863cb-e044-4928-be68-7a6026d2e687->95755904-2737-4550-a2cc-42b160664b1f + + + + + +5b2149db-788f-4bd5-ae22-a97e7e2f7f35 + +Holding(Nothing) + + + +7049f538-4c38-45f8-874c-870f89da2fe9->5b2149db-788f-4bd5-ae22-a97e7e2f7f35 + + + + -093a1c94-4aae-4cff-8fcb-06d18c6a9790 - -Is(AC,Off) +403078e9-cb8e-45e3-b2a1-40b0ed1adf12 + +Inverter - + -e74e83a6-bc77-4dc9-aa78-4f400bc9a730->093a1c94-4aae-4cff-8fcb-06d18c6a9790 - - +7049f538-4c38-45f8-874c-870f89da2fe9->403078e9-cb8e-45e3-b2a1-40b0ed1adf12 + + - - -0ec75c23-457b-4541-99d8-628102646eef - -Is(Floor,Clean) - - - -e74e83a6-bc77-4dc9-aa78-4f400bc9a730->0ec75c23-457b-4541-99d8-628102646eef - - - - + -0a54b3fc-0cce-4cf4-be75-5f18647b52d4 - -Turn(AC,On) +d99377e6-06a9-4147-8a51-d4680e2b4086 + +Turn(AC,On) - + -e74e83a6-bc77-4dc9-aa78-4f400bc9a730->0a54b3fc-0cce-4cf4-be75-5f18647b52d4 - - +7049f538-4c38-45f8-874c-870f89da2fe9->d99377e6-06a9-4147-8a51-d4680e2b4086 + + - - -856fa507-12df-4ab7-a7c0-2c327abfebb1 - -Is(AC,On) + + +c682a403-59d5-45b5-85f7-fd9cc05dfcb1 + +Active(AC) - - -bb7a8a0f-cbd8-4595-be11-ad28a431cdd7->856fa507-12df-4ab7-a7c0-2c327abfebb1 - - - - - -15f01872-190c-44eb-8903-ca38a7a51aeb - -PutDown(Anything,Anywhere) - - - -bb7a8a0f-cbd8-4595-be11-ad28a431cdd7->15f01872-190c-44eb-8903-ca38a7a51aeb - - - - - -c480f850-8188-4c14-9289-9043f0c4f9cc - -Is(AC,Off) - - - -521017a2-5249-4dcf-a960-09032a615bf4->c480f850-8188-4c14-9289-9043f0c4f9cc - - - - - -12dd8c3d-d161-4ae6-9592-b8782884939e - -? - - - -521017a2-5249-4dcf-a960-09032a615bf4->12dd8c3d-d161-4ae6-9592-b8782884939e - - - - - -6c30bf44-028c-4dab-8e38-ff859419cfcf - -→ - - - -12dd8c3d-d161-4ae6-9592-b8782884939e->6c30bf44-028c-4dab-8e38-ff859419cfcf - - - - - -69417d3a-d3da-4767-9eea-4b9c64bd24b4 - -→ - - - -12dd8c3d-d161-4ae6-9592-b8782884939e->69417d3a-d3da-4767-9eea-4b9c64bd24b4 - - - - - -f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3 - -Is(Floor,Clean) - - - -6c30bf44-028c-4dab-8e38-ff859419cfcf->f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3 - - - - - -891f47a3-c914-4b53-b30e-36a0fb51f15a - -PutDown(Anything,Anywhere) - - - -6c30bf44-028c-4dab-8e38-ff859419cfcf->891f47a3-c914-4b53-b30e-36a0fb51f15a - - - - - -69afa45a-6e57-4c11-89bd-b437d400dee4 - -Holding(Nothing) - - - -69417d3a-d3da-4767-9eea-4b9c64bd24b4->69afa45a-6e57-4c11-89bd-b437d400dee4 - - - - - -bae4444e-5746-403d-be66-17b721dd5a3f - -Turn(AC,On) - - - -69417d3a-d3da-4767-9eea-4b9c64bd24b4->bae4444e-5746-403d-be66-17b721dd5a3f - - + + +403078e9-cb8e-45e3-b2a1-40b0ed1adf12->c682a403-59d5-45b5-85f7-fd9cc05dfcb1 + + diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 10922a9..9121797 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -214,16 +214,30 @@ class Scene: "chat_list": [], # 未处理的顾客的对话, (顾客的位置,顾客对话的内容) "sub_goal_list": [], # 子目标列表 "status": None, # 仿真器中的观测信息，见下方详细解释 - "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', - 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)', - # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', - # 'Exist(Softdrink)', 'On(Softdrink,Table1)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', - 'Holding(Nothing)', - # 'Holding(Yogurt)', - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, + # "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)', + # # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', + # # 'Exist(Softdrink)', 'On(Softdrink,Table1)', + # 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', + # 'Holding(Nothing)', + # # 'Holding(Yogurt)', + # 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, + + "condition_set": {'RobotNear(Bar)', + 'Not Active(AC)','Not Active(HallLight)','Active(TubeLight)','Not Closed(Curtain)', + 'Not Exists(Coffee)','Not Exists(Water)','Not Exists(Dessert)', + 'Holding(Nothing)', + 'Not IsClean(Table1)', 'Not IsClean(Floor)', 'Not IsClean(Chairs)', + 'On(Softdrink,Table1)','On(VacuumCup,Table2)', + + # 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', + # 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', + # 'On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', + # 'On(VacuumCup,Table2)', + }, + # "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', # 'Exist(Yogurt)','Exist(VacuumCup)', @@ -272,7 +286,6 @@ class Scene: def __init__(self, robot=None, sceneID=0): self.stub = GrabSim_pb2_grpc.GrabSimStub(channel) - self.robot = robot self.sceneID = sceneID @@ -282,7 +295,7 @@ class Scene: self.sub_task_seq = None os.makedirs(self.output_path,exist_ok=True) - self.show_bubble = False + self.show_bubble = True # 是否展示UI self.show_ui = False # 图像分割 @@ -316,10 +329,31 @@ class Scene: } # 1-7 正常执行, 8-10 控灯操作移动到6, 11-12窗帘操作不需要移动, - self.op_dialog = ["", "制作咖啡", "倒水", "夹点心", "拖地", "擦桌子", "开筒灯", "搬椅子", # 1-7 - "关筒灯", "开大厅灯", "关大厅灯", "关闭窗帘", "打开窗帘", # 8-12 - "调整空调开关", "调高空调温度", "调低空调温度", # 13-15 - "抓握物体", "放置物体"] # 16-17 + # self.op_dialog = ["", "制作咖啡", "倒水", "夹点心", "拖地", "擦桌子", "开筒灯", "搬椅子", # 1-7 + # "关筒灯", "开大厅灯", "关大厅灯", "关闭窗帘", "打开窗帘", # 8-12 + # "调整空调开关", "调高空调温度", "调低空调温度", # 13-15 + # "抓握物体", "放置物体"] # 16-17 + self.op_dialog = [ + "", # 空字符串，可能用作默认值或占位符 + "Making Coffee", # 制作咖啡 + "Pouring Water", # 倒水 + "Grabbing Snacks", # 抓取零食 + "Mopping Floor", # 拖地 + "Wiping Table", # 擦桌子 + "Turning on Tube Light", # 打开灯管灯 + "Moving Chairs", # 移动椅子 + "Turning off Tube Light", # 关闭灯管灯 + "Turning on Hall Light", # 打开大厅灯 + "Turning off Hall Light", # 关闭大厅灯 + "Closing Curtains", # 关闭窗帘 + "Opening Curtains", # 打开窗帘 + "Toggling Air Conditioning", # 切换空调状态 + "Increasing AC Temperature", # 提高空调温度 + "Decreasing AC Temperature", # 降低空调温度 + "Grasping Object", # 抓取物体 + "Placing Object" # 放置物体 + ] + # 动画控制的执行步骤数 self.op_act_num = [0, 3, 4, 6, 3, 2, 0, 1, 0, 0, 0, 0, 0, @@ -800,7 +834,7 @@ class Scene: def chat_bubble(self, message): self.stub.ControlRobot( GrabSim_pb2.ControlInfo( - scene=self.sceneID, type=0, action=1, content=message.strip() + scene=self.sceneID, type=0, action=1, content=message #message.strip() ) ) @@ -1224,7 +1258,7 @@ class Scene: # 执行过程: Robot输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话 def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]): #id = 196 # Glass = 188+x, Plate = 150+x - self.control_robot_action(0, 1, "开始" + self.op_dialog[op_type]) # 输出正在执行的任务 + self.control_robot_action(0, 1, "Start " + self.op_dialog[op_type]) # 输出正在执行的任务 if op_type < 8: if self.show_ui: self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) diff --git a/robowaiter/scene/ui/pyqt5.py b/robowaiter/scene/ui/pyqt5.py index f50ebf9..f58867d 100644 --- a/robowaiter/scene/ui/pyqt5.py +++ b/robowaiter/scene/ui/pyqt5.py @@ -60,8 +60,8 @@ def run_scene(scene_cls,robot_cls,scene_queue,ui_queue): example_list = ("AEM","VLN","VLM",'GQA',"OT","AT","reset") more_example_list = ("VLM_AC","CafeDaily") dic_more2zh={ - "VLM_AC":"开空调并调节空调温度", - "CafeDaily":"咖啡厅的一天" + "VLM_AC":"AC Settings", + "CafeDaily":"A day at the café" } more_example_list_zh = [value for value in dic_more2zh.values()] @@ -115,7 +115,7 @@ class UI(QMainWindow, Ui_MainWindow): lineEdit = QLineEdit() lineEdit.setReadOnly(True) # 设置只读 lineEdit.setAlignment(Qt.AlignCenter) # 设置文字居中 - lineEdit.setPlaceholderText("请选择其他任务") + lineEdit.setPlaceholderText("Please choose more tasks.") self.cb_task.setLineEdit(lineEdit) @@ -129,7 +129,7 @@ class UI(QMainWindow, Ui_MainWindow): # self.drag_start_position = QPoint() # 记录鼠标按下时的位置 self.cb_task.setCurrentIndex(-1) - self.cb_task.setPlaceholderText("请选择更多任务") + self.cb_task.setPlaceholderText("Please choose more tasks.") # 多个添加条目 self.cb_task.addItems(more_example_list_zh) @@ -172,7 +172,7 @@ class UI(QMainWindow, Ui_MainWindow): if function_call: return if role == "function": - new_chat = f'Robot:\n 工具调用-{chat["name"]}\n' + new_chat = f'Robot:\n Function Call-{chat["name"]}\n' elif role == "user": new_chat = f'{customer_name}:\n {content}\n' else: diff --git a/robowaiter/scene/ui/scene_ui.py b/robowaiter/scene/ui/scene_ui.py index ba302a2..2d388ae 100644 --- a/robowaiter/scene/ui/scene_ui.py +++ b/robowaiter/scene/ui/scene_ui.py @@ -120,9 +120,12 @@ class SceneUI(Scene): semantic_info_str = "" # semantic_info_str += f'检测行人数量：{walker_detect_count}' + "\n\n" - semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n" - semantic_info_str += f'更新语义信息：{new_add_info}' + "\n\n" - semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n" + # semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n" + # semantic_info_str += f'更新语义信息：{new_add_info}' + "\n\n" + # semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n" + semantic_info_str += f'Object Count Detection：{obj_detect_count}' + "\n\n" + semantic_info_str += f'Updating Semantic Information：{new_add_info}' + "\n\n" + semantic_info_str += f'Stored Semantic Information：{self.infoCount}' + "\n" self.infoCount = added_info @@ -280,8 +283,8 @@ class SceneUI(Scene): # 场景1：带小女孩找阳光下的空位 (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3" (1, self.control_walker, (0, False, 200, 60, 520, 0)), - (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")), - (1, self.customer_say, (0, "你可以带我过去嘛？")),#可以带我过去嘛？ + (9, self.customer_say, (0, "Good morning! I'm looking for a place where I can enjoy the sunshine.")), + (1, self.customer_say, (0, "Could you take me there?")),#可以带我过去嘛？ (13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦 # # # # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子 @@ -289,11 +292,11 @@ class SceneUI(Scene): # # # 上述准备 (10, self.add_walker, (26, -28, -150, 90)), (0, self.add_walker, (10, -70, -200, -45)), - (9, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), - (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), #6 + (9, self.customer_say, (1, "Hey, RoboWaiter, come here for a moment!")), + (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "What drinks do you have here?"]]])), #6 # 20 胖胖男到了 BrightTable6 - (2, self.customer_say, (1, "咖啡有哪些呢？")), # 10 - (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15 + (2, self.customer_say, (1, "What kinds of coffee do you have?")), # 10 + (2, self.customer_say, (1, "I'll have a cappuccino, please.")), # 15 # # 场景3：有位女士要杯水和冰红茶 # (0, self.add_walker, (5, 230, 1200)), @@ -305,15 +308,15 @@ class SceneUI(Scene): (0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走 (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), - (50, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 50 - (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 - (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), + (50, self.customer_say, (7, "Wow, it's so crowded today, are there any seats available?")), # 女士问 50 + (10, self.customer_say, (7, "I'm with my child, I'd like a spacious and well-lit spot.")), # 女士问 + (8, self.customer_say, (7, "The tables in the hall look good, please take me there!")), (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 - (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")), + (3, self.customer_say, (7, "I'd like a glass of water, and please get a yogurt for my child.")), # # ### 9号灰色男 排队排着排着，不排了 (0, self.control_walker, (10, False, 100, 100, 760, 180)), (0, self.control_walker, (10, True, 100, 0, 0, 180)), - (110, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s 这次是110 + (110, self.customer_say, (7, "Thank you for the water and yogurt!")), # 倒水+取放酸奶 90s 这次是110 # # # 场景4：三人排队点单，女士要保温杯 # (0, self.add_walker, (5, 230, 1200)), @@ -328,27 +331,31 @@ class SceneUI(Scene): # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队 # (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5 # # # # # # 上述准备 10开始 - (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])), - (9, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")), + (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "I think I left my VacuumCup in your café yesterday, have you seen it?"]]])), + (9, self.customer_say, (8,"Can you bring it to me? I'm waiting at the table near the front door.")), (1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 (1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前 (1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 (2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 - (15, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 - (5, self.customer_say, (8, "不用了。")), # 红女士在Table1前 + (15, self.customer_say, (8,"That's the one! Found it, I'm so happy!")), # 红女士在Table1前 + (5, self.customer_say, (8, "No need anymore.")), # 红女士在Table1前 + # (8, self.remove_walkers, ([[0, 7, 8]])), + # (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 + # (8, self.customer_say, (6, "还有酸奶吗")), + # (8, self.customer_say, (6, "那好吧，那就先把窗帘给我关上，再开个空调")), + # (35, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), + (8, self.remove_walkers, ([[0, 7, 8]])), - (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 - (8, self.customer_say, (6, "还有酸奶吗")), - (8, self.customer_say, (6, "那好吧，那就先把窗帘给我关上，再开个空调")), - (35, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), - + (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 + (2, self.customer_say, (6, "It's so hot! The sun is so intense! Can we turn on the air conditioning?")), + (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "Thank you, it's much cooler now."]]])), # # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯 (28, self.clean_walkers,()), (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦 - (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])), + (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "It's time to get off work! Don't forget to clean, tidy up the tables and chairs, mop the floor, and manage the curtains, air conditioning, and lights."]]])), (10, self.control_walker, (0, False, 100, 60, 1000, 0)), (4, self.clean_walkers, ()) diff --git a/robowaiter/scene/ui/window.py b/robowaiter/scene/ui/window.py index 6a8ef1a..1c29862 100644 --- a/robowaiter/scene/ui/window.py +++ b/robowaiter/scene/ui/window.py @@ -2,15 +2,12 @@ # Form implementation generated from reading ui file 'window.ui' # -# Created by: PyQt5 UI code generator 5.15.7 +# Created by: PyQt5 UI code generator 5.9.2 # -# WARNING: Any manual changes made to this file will be lost when pyuic5 is -# run again. Do not edit this file unless you know what you are doing. - +# WARNING! All changes made in this file will be lost! from PyQt5 import QtCore, QtGui, QtWidgets - class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") @@ -317,8 +314,8 @@ class Ui_MainWindow(object): def retranslateUi(self, MainWindow): _translate = QtCore.QCoreApplication.translate MainWindow.setWindowTitle(_translate("MainWindow", "RoboWatier")) - self.label_10.setText(_translate("MainWindow", "顾客列表：")) - self.label_11.setText(_translate("MainWindow", "顾客历史对话：")) + self.label_10.setText(_translate("MainWindow", "Customer List")) + self.label_11.setText(_translate("MainWindow", "History of Conversations")) __sortingEnabled = self.list_customer.isSortingEnabled() self.list_customer.setSortingEnabled(False) item = self.list_customer.item(0) @@ -326,27 +323,27 @@ class Ui_MainWindow(object): item = self.list_customer.item(1) item.setText(_translate("MainWindow", "System")) self.list_customer.setSortingEnabled(__sortingEnabled) - self.label_5.setText(_translate("MainWindow", "当前行为树")) - self.label_6.setText(_translate("MainWindow", "可达性地图")) - self.label_7.setText(_translate("MainWindow", "实例分割")) - self.label_8.setText(_translate("MainWindow", "目标检测")) + self.label_5.setText(_translate("MainWindow", "Current Behavior Tree")) + self.label_6.setText(_translate("MainWindow", "Accessibility Map")) + self.label_7.setText(_translate("MainWindow", "Instance Segmentation")) + self.label_8.setText(_translate("MainWindow", "Object Detection")) self.textBrowser_5.setHtml(_translate("MainWindow", "\n" "\n" "


")) - self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）")) - self.btn_say.setText(_translate("MainWindow", "说话")) + self.label_9.setText(_translate("MainWindow", "Task Demo: (Wait for animation to finish before resetting scene.)")) + self.btn_say.setText(_translate("MainWindow", "Speak")) self.edit_say.setText(_translate("MainWindow", "Is(AC,On)")) - self.label.setText(_translate("MainWindow", "语义信息")) - self.btn_reset.setText(_translate("MainWindow", "重置场景")) - self.btn_AEM.setText(_translate("MainWindow", "环境主动探索")) - self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航")) - self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作")) - self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话")) - self.btn_OT.setText(_translate("MainWindow", "复杂具身任务")) - self.btn_AT.setText(_translate("MainWindow", "自主具身任务")) - self.cb_task.setPlaceholderText(_translate("MainWindow", "其他任务")) + self.label.setText(_translate("MainWindow", "Semantic Information")) + self.btn_reset.setText(_translate("MainWindow", "Reset Scene")) + self.btn_AEM.setText(_translate("MainWindow", "Environment Exploration")) + self.btn_VLN.setText(_translate("MainWindow", "Visual Language Navigation")) + self.btn_VLM.setText(_translate("MainWindow", "Visual Language Manipulation")) + self.btn_GQA.setText(_translate("MainWindow", "Embodied Multi-turn Dialogue")) + self.btn_OT.setText(_translate("MainWindow", "Complex Embodied Tasks")) + self.btn_AT.setText(_translate("MainWindow", "Autonomous Embodied Tasks")) + self.cb_task.setProperty("placeholderText", _translate("MainWindow", "其他任务")) if __name__ == "__main__": @@ -357,3 +354,4 @@ if __name__ == "__main__": ui.setupUi(MainWindow) MainWindow.show() sys.exit(app.exec_()) + diff --git a/robowaiter/scene/ui/window.ui b/robowaiter/scene/ui/window.ui index 71a2855..45972d3 100644 --- a/robowaiter/scene/ui/window.ui +++ b/robowaiter/scene/ui/window.ui @@ -40,7 +40,7 @@ - 顾客列表： + Customer List @@ -59,7 +59,7 @@ - 顾客历史对话： + History of Conversations @@ -142,7 +142,7 @@ - 当前行为树 + Current Behavior Tree @@ -195,7 +195,7 @@ - 可达性地图 + Accessibility Map @@ -220,7 +220,7 @@ - 实例分割 + Instance Segmentation @@ -245,7 +245,7 @@ - 目标检测 + Object Detection @@ -377,7 +377,7 @@ p, li { white-space: pre-wrap; } - 任务演示：（播放动画时需等待动画播放完毕才会重置场景） + Task Demo: (Wait for animation to finish before resetting scene.) @@ -390,7 +390,7 @@ p, li { white-space: pre-wrap; } - 说话 + Speak @@ -416,7 +416,7 @@ p, li { white-space: pre-wrap; } - 语义信息 + Semantic Information @@ -431,7 +431,7 @@ p, li { white-space: pre-wrap; } - 重置场景 + Reset Scene @@ -444,7 +444,7 @@ p, li { white-space: pre-wrap; } - 环境主动探索 + Environment Exploration @@ -457,7 +457,7 @@ p, li { white-space: pre-wrap; } - 视觉语言导航 + Visual Language Navigation @@ -470,7 +470,7 @@ p, li { white-space: pre-wrap; } - 视觉语言操作 + Visual Language Manipulation @@ -483,7 +483,7 @@ p, li { white-space: pre-wrap; } - 具身多轮对话 + Embodied Multi-turn Dialogue @@ -496,7 +496,7 @@ p, li { white-space: pre-wrap; } - 复杂具身任务 + Complex Embodied Tasks @@ -509,7 +509,7 @@ p, li { white-space: pre-wrap; } - 自主具身任务 + Autonomous Embodied Tasks @@ -545,7 +545,7 @@ p, li { white-space: pre-wrap; } QComboBox::InsertAtBottom - + 其他任务 diff --git a/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py b/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py index 8a13332..326670b 100644 --- a/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py +++ b/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py @@ -74,14 +74,14 @@ class SceneVLM(Scene): (8, self.remove_walkers, ([[0, 7, 8]])), (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 - (2, self.customer_say, (6, "好热呀！太阳也好大！可以")), - (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), + (2, self.customer_say, (6, "It's so hot! The sun is so intense! Can we turn on the air conditioning?")), + (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "Thank you, it's much cooler now."]]])), # # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯 (24, self.clean_walkers, ()), (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦 - (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])), + (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "It's time to get off work! Don't forget to clean, tidy up the tables and chairs, mop the floor, and manage the curtains, air conditioning, and lights."]]])), ] diff --git a/tasks_no_ui/Demo/Easy.py b/tasks_no_ui/Demo/Easy.py new file mode 100644 index 0000000..efc696b --- /dev/null +++ b/tasks_no_ui/Demo/Easy.py @@ -0,0 +1,52 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene +from robowaiter.behavior_lib._base.Behavior import Bahavior +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + (3, self.add_walker, (3, 0, 700)), + (1, self.control_walker, (0, False, 100, 60, 520, 0)), + (1, self.customer_say, (0, "It's quite toasty inside, could you please lower the air conditioning temperature?")), # 给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 + # (5, self.control_walker, (0, False, 100, -250, 480, 0)), + ] + + + def _reset(self): + # self.add_walkers([[0, 880], [250, 1200]]) + self.gen_obj_tmp() + + + + + + pass + + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/Demo/Hard.py b/tasks_no_ui/Demo/Hard.py new file mode 100644 index 0000000..304dec6 --- /dev/null +++ b/tasks_no_ui/Demo/Hard.py @@ -0,0 +1,78 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene +from robowaiter.behavior_lib._base.Behavior import Bahavior\ + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + # (3, self.customer_say, ("System", "It's quite toasty inside, could you please lower the air conditioning temperature?")), + (3, self.add_walker, (27, 0, 700)), + (1, self.control_walker, (0, False, 100, 60, 520, 0)), + (1, self.customer_say, (0, "Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment.")), # 给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 + # (5, self.control_walker, (0, False, 100, -250, 480, 0)), + ] + + + def _reset(self): + # self.add_walkers([[0, 880], [250, 1200]]) + # self.gen_obj_tmp() + self.gen_obj() + + start_robowaiter = self.default_state["condition_set"] + + all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding + start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'} + start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object} + start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if + obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + # 'Softdrink' 在Table1 + start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"} + start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"} + + # 默认物品都在 Bar 上 + start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if + obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \ + and obj != 'Softdrink' and obj != 'VacuumCup'} + for place in Bahavior.all_place: + if place != "Bar": + start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object} + # start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if + # obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + + # 这三样哪里都没有 + make_obj = {"Coffee", 'Water', 'Dessert'} + for place in Bahavior.all_place: + start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj} + + self.state["condition_set"] = start_robowaiter + pass + + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/Demo/Medium.py b/tasks_no_ui/Demo/Medium.py new file mode 100644 index 0000000..5f600df --- /dev/null +++ b/tasks_no_ui/Demo/Medium.py @@ -0,0 +1,78 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene +from robowaiter.behavior_lib._base.Behavior import Bahavior\ + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + # (3, self.customer_say, ("System", "It's quite toasty inside, could you please lower the air conditioning temperature?")), + (3, self.add_walker, (14, 0, 700)), + (1, self.control_walker, (0, False, 100, 60, 520, 0)), + (1, self.customer_say, (0, "Could you please not put the carton drink on table one and close the curtain?")), # 给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 + # (5, self.control_walker, (0, False, 100, -250, 480, 0)), + ] + + + def _reset(self): + # self.add_walkers([[0, 880], [250, 1200]]) + # self.gen_obj_tmp() + self.gen_obj() + + start_robowaiter = self.default_state["condition_set"] + + all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding + start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'} + start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object} + start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if + obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + # 'Softdrink' 在Table1 + start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"} + start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"} + + # 默认物品都在 Bar 上 + start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if + obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \ + and obj != 'Softdrink' and obj != 'VacuumCup'} + for place in Bahavior.all_place: + if place != "Bar": + start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object} + # start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if + # obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'} + + # 这三样哪里都没有 + make_obj = {"Coffee", 'Water', 'Dessert'} + for place in Bahavior.all_place: + start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj} + + self.state["condition_set"] = start_robowaiter + pass + + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/OT/Open_tasks_0106_3.py b/tasks_no_ui/OT/Open_tasks_0106_3.py index 6b44227..f104d7e 100644 --- a/tasks_no_ui/OT/Open_tasks_0106_3.py +++ b/tasks_no_ui/OT/Open_tasks_0106_3.py @@ -28,6 +28,7 @@ class SceneOT(Scene): # (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 # (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), (3, self.customer_say, ("System", "Please turn on the air conditioning and mop the floor.")), + # (3, self.customer_say, ("System", "Coffee ")), ] def _reset(self):