diff --git a/robowaiter/behavior_lib/act/FreeHands.py b/robowaiter/behavior_lib/act/FreeHands.py deleted file mode 100644 index f3e6ca7..0000000 --- a/robowaiter/behavior_lib/act/FreeHands.py +++ /dev/null @@ -1,35 +0,0 @@ -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 FreeHands(Act): - can_be_expanded = True - num_args = 0 - valid_args = set() - - def __init__(self, *args): - super().__init__(*args) - - - @classmethod - def get_info(cls): - info = {} - # info["pre"]= set() - info["pre"] ={f'Holding(Nothing)'} - 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: - - - 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 \ No newline at end of file diff --git a/robowaiter/behavior_lib/act/PickUp.py b/robowaiter/behavior_lib/act/PickUp.py index ace0035..10d2f6f 100644 --- a/robowaiter/behavior_lib/act/PickUp.py +++ b/robowaiter/behavior_lib/act/PickUp.py @@ -21,7 +21,7 @@ class PickUp(Act): info["del_set"] = {f'Holding(Nothing)'} for place in cls.valid_args: info["del_set"] |= {f'On({arg},{place})'} - info['cost'] = 1 + info['cost'] = 2 # if arg != 'Anything': # info['cost'] = 1 diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py index abe4650..cccea27 100644 --- a/robowaiter/behavior_lib/act/PutDown.py +++ b/robowaiter/behavior_lib/act/PutDown.py @@ -8,7 +8,9 @@ class PutDown(Act): can_be_expanded = True num_args = 2 - valid_args = tuple(itertools.product(Act.all_object, Act.tables_for_placement)) + 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) @@ -18,45 +20,45 @@ class PutDown(Act): @classmethod def get_info(cls,*arg): - 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]})'} + 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'] = 3 + 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 - info['cost'] = 1 - - # if arg[0]!='Anything': - # info['cost'] = 1 - # else: - # info['cost'] = 0 - # info["pre"] = {} - # info["add"] = {f'Holding(Nothing)'} - # info["del_set"] = {f'Holding({obj})' for obj in cls.valid_args if obj[0] != arg} return info def _update(self) -> ptree.common.Status: # self.scene.test_move() - 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 + 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 + Act.num_of_obj_on_place[self.target_place]+=1 - self.scene.move_task_area(op_type, release_pos=release_pos) + 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.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"] - # print("After PutDown condition_set:",self.scene.state["condition_set"]) return Status.RUNNING diff --git a/robowaiter/behavior_tree/obtea/BehaviorTree.py b/robowaiter/behavior_tree/obtea/BehaviorTree.py index 4513a20..c8f3878 100644 --- a/robowaiter/behavior_tree/obtea/BehaviorTree.py +++ b/robowaiter/behavior_tree/obtea/BehaviorTree.py @@ -1,7 +1,7 @@ #叶结点 class Leaf: - def __init__(self,type,content,mincost): + def __init__(self,type,content,mincost=0): self.type=type self.content=content #conditionset or action self.parent=None diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index b883fcd..149acac 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -57,12 +57,19 @@ def state_transition(state,action): def conflict(c): have_at = False + have_holding = False for str in c: - if 'At' in str: + 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 @@ -76,9 +83,11 @@ class OptBTExpAlgorithm: self.conditions=[] self.conditions_index=[] self.verbose=verbose + self.goal=None def clear(self): self.bt = None + self.goal = None self.nodes = [] self.traversed = [] #存cond self.expanded = [] #存整个 @@ -89,7 +98,7 @@ class OptBTExpAlgorithm: # def run_algorithm(self,goal,actions,scene): def run_algorithm(self, start, goal, actions): # self.scene = scene - + self.goal = goal if self.verbose: print("\n算法开始！") @@ -160,6 +169,7 @@ class OptBTExpAlgorithm: # 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: + self.merge_adjacent_conditions_stack() return True else: subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) @@ -177,10 +187,6 @@ class OptBTExpAlgorithm: for i in range(0, len(actions)): - - if actions[i].name == 'FreeHands()': - kk=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: @@ -209,11 +215,114 @@ class OptBTExpAlgorithm: # 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.merge_adjacent_conditions_stack() if self.verbose: print("算法结束！\n") return True + def merge_adjacent_conditions_stack(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] + 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) + + for tree in stack: + sbtree.add_child([tree]) + self.bt = copy.deepcopy(bt) + + + def merge_cond_node(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 current_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: + skip_next = False + self.bt = copy.deepcopy(bt) + # bt合并==================================================== + def print_solution(self): print("========= BT ==========") # 树的bfs遍历 nodes_ls = [] diff --git a/robowaiter/scene/outputs/expanded_bt.dot b/robowaiter/scene/outputs/expanded_bt.dot index dc21bbf..dff5f09 100644 --- a/robowaiter/scene/outputs/expanded_bt.dot +++ b/robowaiter/scene/outputs/expanded_bt.dot @@ -3,35 +3,1393 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"87355232-8ad6-484e-b363-38536e737846" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"3f017683-7aa3-40d3-b2be-cc32784313a1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(ACTemperature,Down)", shape=ellipse, style=filled]; -"87355232-8ad6-484e-b363-38536e737846" -> "3f017683-7aa3-40d3-b2be-cc32784313a1"; -"b900e9cb-c0a8-4e8d-8a9b-d871012abefb" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"87355232-8ad6-484e-b363-38536e737846" -> "b900e9cb-c0a8-4e8d-8a9b-d871012abefb"; -"10ef3ff4-7acb-4991-9e63-6e489c3ef22d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"b900e9cb-c0a8-4e8d-8a9b-d871012abefb" -> "10ef3ff4-7acb-4991-9e63-6e489c3ef22d"; 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style=filled, width=0.01]; +"d7a0ed25-4177-48e8-a8cd-2a1c3b3b6308" -> "28e090d8-6db7-4dbc-ba09-eba03c801a48"; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; +"28e090d8-6db7-4dbc-ba09-eba03c801a48" -> "5e1c6861-7f7c-44c9-9a92-b07dcd280016"; +"b33d8e53-1ee3-4aa8-9f5a-927d14d0a67a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "b33d8e53-1ee3-4aa8-9f5a-927d14d0a67a"; +"51fd6ce7-df8c-4a91-8886-f1eea0dad684" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "51fd6ce7-df8c-4a91-8886-f1eea0dad684"; +"80cfb52e-1972-45c9-9872-8c578c7c6e23" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "80cfb52e-1972-45c9-9872-8c578c7c6e23"; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; +"80cfb52e-1972-45c9-9872-8c578c7c6e23" -> "68d54bb2-0275-418b-9ff8-a8287f2a74cf"; +"e135a202-6de8-43e3-aefe-9013bae87662" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" -> "e135a202-6de8-43e3-aefe-9013bae87662"; +"2e507a50-f962-4a44-b839-e8b7b6c6ceed" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" -> "2e507a50-f962-4a44-b839-e8b7b6c6ceed"; +"db8cca3c-4b9e-43eb-8826-31672cb9cdc5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" -> "db8cca3c-4b9e-43eb-8826-31672cb9cdc5"; +"441b3704-de37-41bb-a5ff-bdaaaec78ecb" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" -> "441b3704-de37-41bb-a5ff-bdaaaec78ecb"; +"dab7f59e-e590-4e80-85bc-4e026144a2b9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"441b3704-de37-41bb-a5ff-bdaaaec78ecb" -> "dab7f59e-e590-4e80-85bc-4e026144a2b9"; +"5ce8c2e2-9dda-4499-83eb-6a7801e8689d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"441b3704-de37-41bb-a5ff-bdaaaec78ecb" -> "5ce8c2e2-9dda-4499-83eb-6a7801e8689d"; +"f1cb5cc9-41a0-40fd-8bfc-deb4ade19c5a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"441b3704-de37-41bb-a5ff-bdaaaec78ecb" -> "f1cb5cc9-41a0-40fd-8bfc-deb4ade19c5a"; +"168bcb00-1d45-43e6-9499-3529541cced7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Softdrink)", shape=box, style=filled]; +"441b3704-de37-41bb-a5ff-bdaaaec78ecb" -> "168bcb00-1d45-43e6-9499-3529541cced7"; +"96fd0327-4d10-43f6-91b1-91695e236c7a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"68d54bb2-0275-418b-9ff8-a8287f2a74cf" -> "96fd0327-4d10-43f6-91b1-91695e236c7a"; +"6e5c4de8-14bf-4a11-9a64-68ac6dbd3858" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"96fd0327-4d10-43f6-91b1-91695e236c7a" -> "6e5c4de8-14bf-4a11-9a64-68ac6dbd3858"; +"dfa327cb-623d-4a26-8037-17b3b43c10ed" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"96fd0327-4d10-43f6-91b1-91695e236c7a" -> "dfa327cb-623d-4a26-8037-17b3b43c10ed"; +"7712ee4a-de70-4fe7-bc20-3a65acc9f5cb" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"96fd0327-4d10-43f6-91b1-91695e236c7a" -> "7712ee4a-de70-4fe7-bc20-3a65acc9f5cb"; +"9017208b-d7e9-4c8d-b743-c5b16bc7caef" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Table1)", shape=box, style=filled]; +"80cfb52e-1972-45c9-9872-8c578c7c6e23" -> "9017208b-d7e9-4c8d-b743-c5b16bc7caef"; +"2ca293ec-1756-4b20-9210-39a059ed38a0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "2ca293ec-1756-4b20-9210-39a059ed38a0"; +"0f184a69-57d1-48d1-b6a9-b4e38f6ad211" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"2ca293ec-1756-4b20-9210-39a059ed38a0" -> "0f184a69-57d1-48d1-b6a9-b4e38f6ad211"; +"53747d08-251f-4df8-bdcc-e5288f795af4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"2ca293ec-1756-4b20-9210-39a059ed38a0" -> "53747d08-251f-4df8-bdcc-e5288f795af4"; +"78f758c8-06d9-42db-b8b1-6eaa633281e0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"2ca293ec-1756-4b20-9210-39a059ed38a0" -> "78f758c8-06d9-42db-b8b1-6eaa633281e0"; +"8ac763af-7e5d-4257-8164-0917705cd62a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; +"2ca293ec-1756-4b20-9210-39a059ed38a0" -> "8ac763af-7e5d-4257-8164-0917705cd62a"; +"733791b4-7ca2-47d1-8a2f-5b237df19688" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "733791b4-7ca2-47d1-8a2f-5b237df19688"; +"e3208cf9-fff5-4c84-b151-22a40dac2a83" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"733791b4-7ca2-47d1-8a2f-5b237df19688" -> "e3208cf9-fff5-4c84-b151-22a40dac2a83"; +"cc93c3af-e1ca-4a47-a397-e311efb751ad" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"733791b4-7ca2-47d1-8a2f-5b237df19688" -> "cc93c3af-e1ca-4a47-a397-e311efb751ad"; +"8d48de40-7691-479c-b4dd-67a4b42a9784" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"733791b4-7ca2-47d1-8a2f-5b237df19688" -> "8d48de40-7691-479c-b4dd-67a4b42a9784"; +"97dec78c-c71e-49ad-ac01-6815150070f4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; +"733791b4-7ca2-47d1-8a2f-5b237df19688" -> "97dec78c-c71e-49ad-ac01-6815150070f4"; +"05b7608b-6625-4b04-80f7-f290b1a8b607" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "05b7608b-6625-4b04-80f7-f290b1a8b607"; +"1b0e8448-fff6-4618-ac10-53710bc21700" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"05b7608b-6625-4b04-80f7-f290b1a8b607" -> "1b0e8448-fff6-4618-ac10-53710bc21700"; +"e3d8913f-68c4-4e8f-b771-876af2d58571" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"05b7608b-6625-4b04-80f7-f290b1a8b607" -> "e3d8913f-68c4-4e8f-b771-876af2d58571"; +"20247903-35c3-4204-9b56-4d62ecb68541" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; +"05b7608b-6625-4b04-80f7-f290b1a8b607" -> "20247903-35c3-4204-9b56-4d62ecb68541"; +"bd32f99c-33e5-4acf-a62a-342d731dda75" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "bd32f99c-33e5-4acf-a62a-342d731dda75"; +"07576589-95e3-453e-a623-d3ca2e8ba7df" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"bd32f99c-33e5-4acf-a62a-342d731dda75" -> "07576589-95e3-453e-a623-d3ca2e8ba7df"; +"c42c1c51-194c-428f-8167-891ec57fcc00" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"bd32f99c-33e5-4acf-a62a-342d731dda75" -> "c42c1c51-194c-428f-8167-891ec57fcc00"; +"a43530e0-aadc-4369-87f1-376f82c524ae" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Water)", shape=box, style=filled]; +"bd32f99c-33e5-4acf-a62a-342d731dda75" -> "a43530e0-aadc-4369-87f1-376f82c524ae"; +"120556f5-6a8a-4de8-8663-71962b0c6036" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "120556f5-6a8a-4de8-8663-71962b0c6036"; +"a942c960-eb2d-4fb2-94f8-52fe014f9d6f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"120556f5-6a8a-4de8-8663-71962b0c6036" -> "a942c960-eb2d-4fb2-94f8-52fe014f9d6f"; +"fa35ef24-5e6b-4b2f-a3f8-477325873475" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"120556f5-6a8a-4de8-8663-71962b0c6036" -> "fa35ef24-5e6b-4b2f-a3f8-477325873475"; +"fc7c4ef7-aa9f-4b0b-beca-d68d54452525" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, style=filled]; +"120556f5-6a8a-4de8-8663-71962b0c6036" -> "fc7c4ef7-aa9f-4b0b-beca-d68d54452525"; +"32aca593-a7a4-4b39-bda5-f18b18a96453" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "32aca593-a7a4-4b39-bda5-f18b18a96453"; +"69f7e712-71d5-4386-99da-4afbe9740c65" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; +"32aca593-a7a4-4b39-bda5-f18b18a96453" -> "69f7e712-71d5-4386-99da-4afbe9740c65"; +"301c2456-8be7-403e-99fb-84430791329a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "301c2456-8be7-403e-99fb-84430791329a"; +"308a0815-8478-489f-b55a-a86b8fe28dd2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "308a0815-8478-489f-b55a-a86b8fe28dd2"; +"8fa9a360-0b5e-4d89-a9e0-04a616926ad9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8fa9a360-0b5e-4d89-a9e0-04a616926ad9"; +"7fb20364-1245-4655-bcbc-bbd4537586dc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8fa9a360-0b5e-4d89-a9e0-04a616926ad9" -> "7fb20364-1245-4655-bcbc-bbd4537586dc"; +"b7ef184b-f411-44b0-973c-5b19a7a90b37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"8fa9a360-0b5e-4d89-a9e0-04a616926ad9" -> "b7ef184b-f411-44b0-973c-5b19a7a90b37"; +"5d9d0f8d-af1b-43de-9023-6c6f0a9c7b40" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"8fa9a360-0b5e-4d89-a9e0-04a616926ad9" -> "5d9d0f8d-af1b-43de-9023-6c6f0a9c7b40"; +"b58861d1-64bc-4fe9-9771-0cfa636e6efd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Table1)", shape=box, style=filled]; +"8fa9a360-0b5e-4d89-a9e0-04a616926ad9" -> "b58861d1-64bc-4fe9-9771-0cfa636e6efd"; +"5e86d0b1-7778-4186-85e3-0f0c5efc3ba1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5e86d0b1-7778-4186-85e3-0f0c5efc3ba1"; +"d5312065-9574-4ad2-9eb9-f2d417419a09" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5e86d0b1-7778-4186-85e3-0f0c5efc3ba1" -> "d5312065-9574-4ad2-9eb9-f2d417419a09"; +"31ad8cbf-5910-4a42-b405-c0331095b321" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"5e86d0b1-7778-4186-85e3-0f0c5efc3ba1" -> "31ad8cbf-5910-4a42-b405-c0331095b321"; +"428ea846-dafe-4602-9857-878e524c25eb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"5e86d0b1-7778-4186-85e3-0f0c5efc3ba1" -> "428ea846-dafe-4602-9857-878e524c25eb"; +"3bc36b30-5e35-4c6a-843e-30d81d814e27" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; +"5e86d0b1-7778-4186-85e3-0f0c5efc3ba1" -> "3bc36b30-5e35-4c6a-843e-30d81d814e27"; +"a043223d-6000-4885-8fff-a678b30b0899" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a043223d-6000-4885-8fff-a678b30b0899"; +"328482dd-1f64-408d-b36d-414da88c7363" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"a043223d-6000-4885-8fff-a678b30b0899" -> "328482dd-1f64-408d-b36d-414da88c7363"; +"dc357696-c3e8-4444-b657-46513ab3505b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"a043223d-6000-4885-8fff-a678b30b0899" -> "dc357696-c3e8-4444-b657-46513ab3505b"; +"b0cbb840-1ba6-4600-8da3-54236088ba29" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"a043223d-6000-4885-8fff-a678b30b0899" -> "b0cbb840-1ba6-4600-8da3-54236088ba29"; +"63adc8d7-7ded-45e2-94e5-9dc429e4ad85" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; +"a043223d-6000-4885-8fff-a678b30b0899" -> "63adc8d7-7ded-45e2-94e5-9dc429e4ad85"; +"8be9a85e-de33-4702-9c45-18209a7d4a48" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8be9a85e-de33-4702-9c45-18209a7d4a48"; +"d639df52-02f7-4b72-b9dd-81f424f47b4a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "d639df52-02f7-4b72-b9dd-81f424f47b4a"; +"af490d60-0f8f-407a-b13b-509f453dcd88" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "af490d60-0f8f-407a-b13b-509f453dcd88"; +"ad6872de-924d-4175-951c-e8d084cb6c9d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; +"8be9a85e-de33-4702-9c45-18209a7d4a48" -> "ad6872de-924d-4175-951c-e8d084cb6c9d"; +"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "914d1d88-af4d-4cb5-8fc2-cf78b13ed59a"; +"2ee85f29-3da6-4805-abf2-e20780e9eba4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "2ee85f29-3da6-4805-abf2-e20780e9eba4"; +"4d21ac08-0992-4c60-ada1-0f38c547d5f5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "4d21ac08-0992-4c60-ada1-0f38c547d5f5"; +"f4958782-2aaa-43f8-b20b-f6137f2655b8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Water)", shape=box, style=filled]; +"914d1d88-af4d-4cb5-8fc2-cf78b13ed59a" -> "f4958782-2aaa-43f8-b20b-f6137f2655b8"; +"14771df2-b45d-41b4-95ce-971ea6a9da0e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "14771df2-b45d-41b4-95ce-971ea6a9da0e"; +"c597b5e0-fb61-4ab8-9ef7-1d31838301fb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "c597b5e0-fb61-4ab8-9ef7-1d31838301fb"; +"43421ad1-9d3f-4153-8693-90f7e8657587" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "43421ad1-9d3f-4153-8693-90f7e8657587"; +"1e972b48-7899-44d7-90d3-bbc1a699736c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Make(Dessert)", shape=box, style=filled]; +"14771df2-b45d-41b4-95ce-971ea6a9da0e" -> "1e972b48-7899-44d7-90d3-bbc1a699736c"; +"adc474ee-7b45-4a63-ad26-f9983d699bde" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "adc474ee-7b45-4a63-ad26-f9983d699bde"; +"fcb14812-7fb9-44c3-8fa0-8c1043c0271a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "fcb14812-7fb9-44c3-8fa0-8c1043c0271a"; +"cda1ec5d-8729-4b1d-ae15-ca588294e858" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "cda1ec5d-8729-4b1d-ae15-ca588294e858"; +"f025ba4c-a612-4ee5-a88a-094b6ba48eda" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Softdrink)", shape=box, style=filled]; +"adc474ee-7b45-4a63-ad26-f9983d699bde" -> "f025ba4c-a612-4ee5-a88a-094b6ba48eda"; +"e394a79f-8cf4-41a4-b30c-47c98dc49f00" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e394a79f-8cf4-41a4-b30c-47c98dc49f00"; +"97f2c316-e338-48c7-a8cd-3cc583356f34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "97f2c316-e338-48c7-a8cd-3cc583356f34"; +"03de13ca-0f87-4f36-961a-b5e13c7a1324" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "03de13ca-0f87-4f36-961a-b5e13c7a1324"; +"1c470966-fe0c-48c2-a5cb-10dd02e187b7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "1c470966-fe0c-48c2-a5cb-10dd02e187b7"; +"d728a513-bccf-4d10-886d-a7157f7100b4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table3)", shape=box, style=filled]; +"e394a79f-8cf4-41a4-b30c-47c98dc49f00" -> "d728a513-bccf-4d10-886d-a7157f7100b4"; +"02431d21-b6e1-4679-87b2-ebba7875c8e8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "02431d21-b6e1-4679-87b2-ebba7875c8e8"; +"2de00c43-f331-4458-8a59-9515836a9793" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "2de00c43-f331-4458-8a59-9515836a9793"; +"b9cd94d0-6c22-4388-b466-c50e43fb446f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "b9cd94d0-6c22-4388-b466-c50e43fb446f"; +"bf1e9626-b6ea-4454-af41-35641f925694" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "bf1e9626-b6ea-4454-af41-35641f925694"; +"a370bc4d-515a-4754-92fd-14de4982fb2b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,WaterTable)", shape=box, style=filled]; +"02431d21-b6e1-4679-87b2-ebba7875c8e8" -> "a370bc4d-515a-4754-92fd-14de4982fb2b"; +"822ed7d2-e3f5-43b6-8aa5-986622126f8e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "822ed7d2-e3f5-43b6-8aa5-986622126f8e"; +"fdb0c85b-388a-4e38-8cc8-daa59be65825" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "fdb0c85b-388a-4e38-8cc8-daa59be65825"; +"9591d188-fdad-40d3-834c-c43dbb9e8daf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "9591d188-fdad-40d3-834c-c43dbb9e8daf"; +"7482eb6f-0175-44e1-acab-a4aff1e69652" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "7482eb6f-0175-44e1-acab-a4aff1e69652"; +"4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table2)", shape=box, style=filled]; +"822ed7d2-e3f5-43b6-8aa5-986622126f8e" -> "4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04"; +"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fd79ff57-8e1b-4e08-8489-4b2efe3258ec"; +"e4d02d97-670a-49e9-ac7c-f6159d4a3527" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "e4d02d97-670a-49e9-ac7c-f6159d4a3527"; +"9b2add52-acd2-4cba-892e-166286c9a32f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "9b2add52-acd2-4cba-892e-166286c9a32f"; +"461362ea-78b4-4c9e-a2ce-d014da386ca4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "461362ea-78b4-4c9e-a2ce-d014da386ca4"; +"7a5c1154-47ef-4b1b-959d-5a095a9bc307" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,BrightTable6)", shape=box, style=filled]; +"fd79ff57-8e1b-4e08-8489-4b2efe3258ec" -> "7a5c1154-47ef-4b1b-959d-5a095a9bc307"; +"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7edc9e30-b3b1-4574-a27d-8af4ea22d1a0"; +"80152474-725d-4c99-9325-0159fb29ec0b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "80152474-725d-4c99-9325-0159fb29ec0b"; +"a54c065f-1be3-4f83-8251-7977ef75735b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "a54c065f-1be3-4f83-8251-7977ef75735b"; +"0206cbb9-ab6d-4207-86c3-e1e2854bde69" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "0206cbb9-ab6d-4207-86c3-e1e2854bde69"; +"c7afcb27-a153-4da6-84af-172328dce8c4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar2)", shape=box, style=filled]; +"7edc9e30-b3b1-4574-a27d-8af4ea22d1a0" -> "c7afcb27-a153-4da6-84af-172328dce8c4"; +"4729159d-306b-468a-b273-80c1d03f0d07" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4729159d-306b-468a-b273-80c1d03f0d07"; +"0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"4729159d-306b-468a-b273-80c1d03f0d07" -> "0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2"; +"61a07203-2ac9-4fbf-8e4c-740959926bad" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"4729159d-306b-468a-b273-80c1d03f0d07" -> "61a07203-2ac9-4fbf-8e4c-740959926bad"; +"4dc09af3-45e9-4762-a576-615e5891f675" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"4729159d-306b-468a-b273-80c1d03f0d07" -> "4dc09af3-45e9-4762-a576-615e5891f675"; +"890fc967-7508-4d8d-88c8-62d5960735bf" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; +"4729159d-306b-468a-b273-80c1d03f0d07" -> "890fc967-7508-4d8d-88c8-62d5960735bf"; +"6bb6912f-8c51-4518-821b-5931b9f63714" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6bb6912f-8c51-4518-821b-5931b9f63714"; +"9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"6bb6912f-8c51-4518-821b-5931b9f63714" -> "9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed"; +"5269959b-f7c3-48e3-9c8a-a489bcccd402" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"6bb6912f-8c51-4518-821b-5931b9f63714" -> "5269959b-f7c3-48e3-9c8a-a489bcccd402"; +"71850508-ed28-4ab2-ab62-a6822b5ce7af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"6bb6912f-8c51-4518-821b-5931b9f63714" -> "71850508-ed28-4ab2-ab62-a6822b5ce7af"; +"05509e2b-ac45-4ce2-bc6a-1f95a35dca95" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; +"6bb6912f-8c51-4518-821b-5931b9f63714" -> "05509e2b-ac45-4ce2-bc6a-1f95a35dca95"; +"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9"; +"2f58c398-a3e0-41ca-a09c-b1cfa32f0d64" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "2f58c398-a3e0-41ca-a09c-b1cfa32f0d64"; +"8a656281-4c73-43aa-833f-8247fc0b9fce" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "8a656281-4c73-43aa-833f-8247fc0b9fce"; +"097d5b77-3de4-445c-8bae-9cfd5cae7265" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "097d5b77-3de4-445c-8bae-9cfd5cae7265"; +"ccc2f6e1-7457-4285-b170-83eb691f7494" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table1)", shape=box, style=filled]; +"2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9" -> "ccc2f6e1-7457-4285-b170-83eb691f7494"; +"fc2733f3-cccf-488d-b2fd-902ab41c193c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fc2733f3-cccf-488d-b2fd-902ab41c193c"; +"5c801eff-4297-4ad9-bbe2-a8cafd6af303" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "5c801eff-4297-4ad9-bbe2-a8cafd6af303"; +"12e76f03-ace6-4dc0-8a8f-db5b899f160d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "12e76f03-ace6-4dc0-8a8f-db5b899f160d"; +"b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f"; +"f6662acc-4f26-4211-a43e-8fe2dd75e4fa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table3)", shape=box, style=filled]; +"fc2733f3-cccf-488d-b2fd-902ab41c193c" -> "f6662acc-4f26-4211-a43e-8fe2dd75e4fa"; +"ac235a2d-65ea-4101-af94-8de3d1bdec53" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ac235a2d-65ea-4101-af94-8de3d1bdec53"; +"d420b470-66f3-4e58-a295-09e347ee92e6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "d420b470-66f3-4e58-a295-09e347ee92e6"; +"b9eb6d52-8084-49f9-bef1-456b63c971a9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "b9eb6d52-8084-49f9-bef1-456b63c971a9"; +"b39f0141-18af-4ba8-8532-48ce3a74ee25" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "b39f0141-18af-4ba8-8532-48ce3a74ee25"; +"d9ce7eda-4a01-48c6-94d2-32408828ceb3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,WaterTable)", shape=box, style=filled]; +"ac235a2d-65ea-4101-af94-8de3d1bdec53" -> "d9ce7eda-4a01-48c6-94d2-32408828ceb3"; +"38b10362-9e9c-450a-a67f-a681b7500958" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "38b10362-9e9c-450a-a67f-a681b7500958"; +"8a6d8606-d15d-4fe8-a750-0d720f8dee87" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"38b10362-9e9c-450a-a67f-a681b7500958" -> "8a6d8606-d15d-4fe8-a750-0d720f8dee87"; +"13b3a9cd-18e0-4464-87c6-a8a4a10d4135" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"38b10362-9e9c-450a-a67f-a681b7500958" -> "13b3a9cd-18e0-4464-87c6-a8a4a10d4135"; +"93293582-849b-4059-87ac-40bce8711dee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"38b10362-9e9c-450a-a67f-a681b7500958" -> "93293582-849b-4059-87ac-40bce8711dee"; +"43553661-c3cf-4c1a-bc0e-fec7639f2a08" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table2)", shape=box, style=filled]; +"38b10362-9e9c-450a-a67f-a681b7500958" -> "43553661-c3cf-4c1a-bc0e-fec7639f2a08"; +"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8ebfbb1b-30f1-430f-a19b-7ac4038b0c17"; +"5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0"; +"4d21e3a0-5d34-4677-bbe2-2302ebaaa87c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "4d21e3a0-5d34-4677-bbe2-2302ebaaa87c"; +"18acd8b5-9891-4edc-8636-5a1d4b71d68a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "18acd8b5-9891-4edc-8636-5a1d4b71d68a"; +"a57a29ef-f72c-479b-8db3-7352e01b9f44" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable6)", shape=box, style=filled]; +"8ebfbb1b-30f1-430f-a19b-7ac4038b0c17" -> "a57a29ef-f72c-479b-8db3-7352e01b9f44"; +"d1719472-f98a-404b-ae8b-c6059d796652" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "d1719472-f98a-404b-ae8b-c6059d796652"; +"41c14f7e-16c5-485d-9700-6ecd27bce1ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"d1719472-f98a-404b-ae8b-c6059d796652" -> "41c14f7e-16c5-485d-9700-6ecd27bce1ee"; +"f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"d1719472-f98a-404b-ae8b-c6059d796652" -> "f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a"; +"3c5747cb-a209-4550-a0b6-a552d0808ef6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"d1719472-f98a-404b-ae8b-c6059d796652" -> "3c5747cb-a209-4550-a0b6-a552d0808ef6"; +"718588e3-309e-4a22-9505-11ea3c548019" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar2)", shape=box, style=filled]; +"d1719472-f98a-404b-ae8b-c6059d796652" -> "718588e3-309e-4a22-9505-11ea3c548019"; +"e167ef35-15c2-42cc-b515-d3f67be4310a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e167ef35-15c2-42cc-b515-d3f67be4310a"; +"4f0a8a20-58bb-4c2e-9837-bb856e14aa6d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "4f0a8a20-58bb-4c2e-9837-bb856e14aa6d"; +"c1e515eb-14f6-460d-afe5-12b1470ac1b3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "c1e515eb-14f6-460d-afe5-12b1470ac1b3"; +"4c481816-c768-4c7d-b1b8-abc2cd738346" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "4c481816-c768-4c7d-b1b8-abc2cd738346"; +"2a960aa1-c3e4-4d5a-83dd-461e287c3e36" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; +"e167ef35-15c2-42cc-b515-d3f67be4310a" -> "2a960aa1-c3e4-4d5a-83dd-461e287c3e36"; +"fb5e4af5-a131-4464-8671-0965d0eeebd6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fb5e4af5-a131-4464-8671-0965d0eeebd6"; +"19c00158-88f3-4472-afe9-d9a2c9f8c6b8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "19c00158-88f3-4472-afe9-d9a2c9f8c6b8"; +"ae89f5bd-9945-4d8e-a35e-78a716bc62cc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "ae89f5bd-9945-4d8e-a35e-78a716bc62cc"; +"ce038af2-0a22-4480-a576-8d0f606f9373" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "ce038af2-0a22-4480-a576-8d0f606f9373"; +"66bccfff-2a44-4c98-ae5c-2252e289e72c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; +"fb5e4af5-a131-4464-8671-0965d0eeebd6" -> "66bccfff-2a44-4c98-ae5c-2252e289e72c"; +"3208387c-2a74-4935-92fa-996960083958" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3208387c-2a74-4935-92fa-996960083958"; +"101e2c5c-ea4c-42a4-88c8-24df425efa10" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"3208387c-2a74-4935-92fa-996960083958" -> "101e2c5c-ea4c-42a4-88c8-24df425efa10"; +"2667d497-16e4-4356-80b3-203b12b702ce" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"3208387c-2a74-4935-92fa-996960083958" -> "2667d497-16e4-4356-80b3-203b12b702ce"; +"e6099785-83a1-42c3-be4c-693476cae56d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"3208387c-2a74-4935-92fa-996960083958" -> "e6099785-83a1-42c3-be4c-693476cae56d"; +"7c7966cd-7875-454a-bdaf-2c47edf86ced" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table1)", shape=box, style=filled]; +"3208387c-2a74-4935-92fa-996960083958" -> "7c7966cd-7875-454a-bdaf-2c47edf86ced"; +"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "abe3e8da-aac2-4204-8f6d-5134fb8d66b2"; +"be925f19-760b-4fea-bac0-fd1a4da8335f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "be925f19-760b-4fea-bac0-fd1a4da8335f"; +"4d1559d7-9729-460e-abb6-b7ff1877af71" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "4d1559d7-9729-460e-abb6-b7ff1877af71"; +"d38225b5-c182-4886-b65a-bbafd463554b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "d38225b5-c182-4886-b65a-bbafd463554b"; +"dfdfb13e-a72f-41be-9c95-08865a069b46" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table3)", shape=box, style=filled]; +"abe3e8da-aac2-4204-8f6d-5134fb8d66b2" -> "dfdfb13e-a72f-41be-9c95-08865a069b46"; +"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c1ea600e-1507-43d7-91d0-a03f3ac3aa8c"; +"1e92fcaa-83b8-48d8-bc0a-155efe82f5ad" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "1e92fcaa-83b8-48d8-bc0a-155efe82f5ad"; +"9a140fab-b00d-41d1-b2d6-914171ee56cd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "9a140fab-b00d-41d1-b2d6-914171ee56cd"; +"053f28a1-6732-4752-ae43-7e459936a7bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "053f28a1-6732-4752-ae43-7e459936a7bf"; +"8d9e4746-4e3f-4b71-907b-d82c9594ab67" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,WaterTable)", shape=box, style=filled]; +"c1ea600e-1507-43d7-91d0-a03f3ac3aa8c" -> "8d9e4746-4e3f-4b71-907b-d82c9594ab67"; +"be59b4c8-d301-4723-aea1-45251aab1ee3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "be59b4c8-d301-4723-aea1-45251aab1ee3"; +"0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a"; +"5d621cf3-fbe2-448d-8c83-81374e15351a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "5d621cf3-fbe2-448d-8c83-81374e15351a"; +"e3c3828d-2d31-4338-bf9b-a96b183283ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "e3c3828d-2d31-4338-bf9b-a96b183283ae"; +"3e01f596-c93a-46e8-9dc7-a9ac6f700266" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table2)", shape=box, style=filled]; +"be59b4c8-d301-4723-aea1-45251aab1ee3" -> "3e01f596-c93a-46e8-9dc7-a9ac6f700266"; +"fd290f7f-49da-40c0-a329-b293c03ed42c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fd290f7f-49da-40c0-a329-b293c03ed42c"; +"fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4"; +"80614947-2404-46cb-b72c-40f0bf05d66a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "80614947-2404-46cb-b72c-40f0bf05d66a"; +"3271a36b-012b-4d6f-8cf7-3648ab1c7cd4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "3271a36b-012b-4d6f-8cf7-3648ab1c7cd4"; +"92aff0f0-f355-4526-b7bb-181bd6f6b2dc" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable6)", shape=box, style=filled]; +"fd290f7f-49da-40c0-a329-b293c03ed42c" -> "92aff0f0-f355-4526-b7bb-181bd6f6b2dc"; +"03f6244b-ce96-4d57-b903-c42132f07011" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "03f6244b-ce96-4d57-b903-c42132f07011"; +"53a63c88-5849-4b60-9438-baf448dafeea" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"03f6244b-ce96-4d57-b903-c42132f07011" -> "53a63c88-5849-4b60-9438-baf448dafeea"; +"bc22dc59-7e4d-45f6-a21f-a1686bfd36ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"03f6244b-ce96-4d57-b903-c42132f07011" -> "bc22dc59-7e4d-45f6-a21f-a1686bfd36ae"; +"528f1b27-dd28-437e-b1fc-5b168b9d8679" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"03f6244b-ce96-4d57-b903-c42132f07011" -> "528f1b27-dd28-437e-b1fc-5b168b9d8679"; +"bdc42e21-bd22-43a4-ac20-20773b76125f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar2)", shape=box, style=filled]; +"03f6244b-ce96-4d57-b903-c42132f07011" -> "bdc42e21-bd22-43a4-ac20-20773b76125f"; +"310f4a52-ec78-4ec4-a237-6f96a285df2b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "310f4a52-ec78-4ec4-a237-6f96a285df2b"; +"e971323b-0e95-434a-ad75-e6cfea982f6f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "e971323b-0e95-434a-ad75-e6cfea982f6f"; +"fb03ca0b-86ac-4bca-a2ef-16871500313d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "fb03ca0b-86ac-4bca-a2ef-16871500313d"; +"37d62d19-36de-4c02-a0aa-f16cfa183824" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "37d62d19-36de-4c02-a0aa-f16cfa183824"; +"d40281e7-ba41-4d51-b68d-0deac0c178fc" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled]; +"310f4a52-ec78-4ec4-a237-6f96a285df2b" -> "d40281e7-ba41-4d51-b68d-0deac0c178fc"; +"9b41ca54-e620-4d02-9fcc-b532138c5ca3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9b41ca54-e620-4d02-9fcc-b532138c5ca3"; +"e6881c4c-5e9b-43dd-a2c9-1cc65a371e81" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "e6881c4c-5e9b-43dd-a2c9-1cc65a371e81"; +"f28f2bd1-493c-48b7-8422-d361328be65a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "f28f2bd1-493c-48b7-8422-d361328be65a"; +"21a3a275-62b6-4f36-a2f3-80ea06e8ca37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "21a3a275-62b6-4f36-a2f3-80ea06e8ca37"; +"9c639b23-fd05-4975-a7e7-1447e960198b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; +"9b41ca54-e620-4d02-9fcc-b532138c5ca3" -> "9c639b23-fd05-4975-a7e7-1447e960198b"; +"5fb679fa-83a0-4e36-a130-bcacff9ab98f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5fb679fa-83a0-4e36-a130-bcacff9ab98f"; +"b79a5b83-28a5-4fa3-9dd8-167eb3d91e70" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "b79a5b83-28a5-4fa3-9dd8-167eb3d91e70"; +"2341b491-12f1-42ad-b9b3-c575d87871dd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "2341b491-12f1-42ad-b9b3-c575d87871dd"; +"975ebf1e-2181-4e2e-b049-2af976b747c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "975ebf1e-2181-4e2e-b049-2af976b747c5"; +"a8eb153f-26ac-4352-8dac-2b55bd0cdb48" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table1)", shape=box, style=filled]; +"5fb679fa-83a0-4e36-a130-bcacff9ab98f" -> "a8eb153f-26ac-4352-8dac-2b55bd0cdb48"; +"76c1d737-da69-4436-bddc-2e6f35ceca10" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "76c1d737-da69-4436-bddc-2e6f35ceca10"; +"fa5e020b-c74d-4656-9cbc-d1062a88ed65" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "fa5e020b-c74d-4656-9cbc-d1062a88ed65"; +"23db7916-f965-486e-977e-e042a74d8444" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "23db7916-f965-486e-977e-e042a74d8444"; +"984e2247-7ee0-470b-a3c2-edebb551d107" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "984e2247-7ee0-470b-a3c2-edebb551d107"; +"89b06906-a54a-47f6-99d0-93c3866d0228" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table3)", shape=box, style=filled]; +"76c1d737-da69-4436-bddc-2e6f35ceca10" -> "89b06906-a54a-47f6-99d0-93c3866d0228"; +"10567f6e-09af-4451-97a1-4b785752d7ba" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "10567f6e-09af-4451-97a1-4b785752d7ba"; +"6809839f-f108-402b-acf5-5b1d88c4967c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"10567f6e-09af-4451-97a1-4b785752d7ba" -> "6809839f-f108-402b-acf5-5b1d88c4967c"; +"e6cb89d2-3138-42a7-a0c3-829e782a4adb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"10567f6e-09af-4451-97a1-4b785752d7ba" -> "e6cb89d2-3138-42a7-a0c3-829e782a4adb"; +"e0ee3d51-968a-454c-a50b-a663a88487a3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"10567f6e-09af-4451-97a1-4b785752d7ba" -> "e0ee3d51-968a-454c-a50b-a663a88487a3"; +"59778b27-b9fa-4dca-a4dc-75e4d99f2bd9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,WaterTable)", shape=box, style=filled]; +"10567f6e-09af-4451-97a1-4b785752d7ba" -> "59778b27-b9fa-4dca-a4dc-75e4d99f2bd9"; +"72a1dbc7-a8ae-45dd-96ca-b3569295529a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "72a1dbc7-a8ae-45dd-96ca-b3569295529a"; +"540dcffa-5eff-4d15-977e-bbc5c6054f4b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "540dcffa-5eff-4d15-977e-bbc5c6054f4b"; +"5498b547-bbb6-450c-86d7-24e36d4e9c8d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "5498b547-bbb6-450c-86d7-24e36d4e9c8d"; +"811ce483-442c-43c8-97da-9eb509bb7d03" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "811ce483-442c-43c8-97da-9eb509bb7d03"; +"3ee4b5c6-9a51-4efd-ba59-82671fcb815e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table2)", shape=box, style=filled]; +"72a1dbc7-a8ae-45dd-96ca-b3569295529a" -> "3ee4b5c6-9a51-4efd-ba59-82671fcb815e"; +"f1a999fd-c6f2-495f-8f65-988b50ed929a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f1a999fd-c6f2-495f-8f65-988b50ed929a"; +"60e887ff-1ceb-4286-99db-a496ff9750e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "60e887ff-1ceb-4286-99db-a496ff9750e9"; +"5f972151-b8a7-4cf7-8ee9-751db1b79e98" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "5f972151-b8a7-4cf7-8ee9-751db1b79e98"; +"f6f6198f-96ac-4950-9c27-b9a0be3626a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "f6f6198f-96ac-4950-9c27-b9a0be3626a2"; +"205c60c9-670c-49bb-8281-efd5d3dde4c3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,BrightTable6)", shape=box, style=filled]; +"f1a999fd-c6f2-495f-8f65-988b50ed929a" -> "205c60c9-670c-49bb-8281-efd5d3dde4c3"; +"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92"; +"5823245f-b3b5-4aff-bc2e-d2fbed4784ba" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "5823245f-b3b5-4aff-bc2e-d2fbed4784ba"; +"5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd"; +"93f678fe-915d-416b-a29e-3a1fdd00c9f1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "93f678fe-915d-416b-a29e-3a1fdd00c9f1"; +"054eff55-2458-40aa-a950-74a4cd2eaaa7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar2)", shape=box, style=filled]; +"37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92" -> "054eff55-2458-40aa-a950-74a4cd2eaaa7"; +"f8170e9a-0b19-4397-b5ee-e0e6ececa746" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f8170e9a-0b19-4397-b5ee-e0e6ececa746"; +"c3a16f7e-9891-4106-8e02-e576e0d59f7f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "c3a16f7e-9891-4106-8e02-e576e0d59f7f"; +"9b46af9e-8888-43e9-a1bb-0ea30ae0e379" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "9b46af9e-8888-43e9-a1bb-0ea30ae0e379"; +"fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7"; +"8d47dcb0-91f1-42f9-82a9-ee626eae0d29" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; +"f8170e9a-0b19-4397-b5ee-e0e6ececa746" -> "8d47dcb0-91f1-42f9-82a9-ee626eae0d29"; +"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78cb932f-a8fc-4494-8c92-5e7c5efb1d82"; +"f1f2f033-af4c-428b-93ad-b1ab19015e1e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "f1f2f033-af4c-428b-93ad-b1ab19015e1e"; +"540c30de-223f-4d5e-b0eb-e4844ed366e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "540c30de-223f-4d5e-b0eb-e4844ed366e9"; +"dd6961ba-7a86-4afa-94f1-0f4c5b24119e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "dd6961ba-7a86-4afa-94f1-0f4c5b24119e"; +"1cb3d191-5ab6-4343-8358-9cd51f9a52e7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"78cb932f-a8fc-4494-8c92-5e7c5efb1d82" -> "1cb3d191-5ab6-4343-8358-9cd51f9a52e7"; +"239ecfcf-59f9-42da-9747-0bcad3f21f08" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "239ecfcf-59f9-42da-9747-0bcad3f21f08"; +"242e07b9-d19b-402c-b255-426223536b05" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "242e07b9-d19b-402c-b255-426223536b05"; +"8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23"; +"099c844a-2ede-4fd7-9140-4869b49a5b3e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "099c844a-2ede-4fd7-9140-4869b49a5b3e"; +"ae0bc725-b5b5-4a81-9f06-4da47802053d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table1)", shape=box, style=filled]; +"239ecfcf-59f9-42da-9747-0bcad3f21f08" -> "ae0bc725-b5b5-4a81-9f06-4da47802053d"; +"3d114ff1-b08d-4af2-acbb-3e008169c729" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3d114ff1-b08d-4af2-acbb-3e008169c729"; +"43f0e719-60d9-43b7-8008-d92a8f61db98" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "43f0e719-60d9-43b7-8008-d92a8f61db98"; +"3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9"; +"829cbcec-ca1e-4a74-804c-28bb6c9d6ad3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "829cbcec-ca1e-4a74-804c-28bb6c9d6ad3"; +"513ae648-3ba6-47bd-82fb-905b522c4c93" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table3)", shape=box, style=filled]; +"3d114ff1-b08d-4af2-acbb-3e008169c729" -> "513ae648-3ba6-47bd-82fb-905b522c4c93"; +"07bdb352-7144-4fb8-829b-d2d76614d7ff" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "07bdb352-7144-4fb8-829b-d2d76614d7ff"; +"5bd21fea-809d-47f5-8f87-17d9516df534" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "5bd21fea-809d-47f5-8f87-17d9516df534"; +"74407681-2c43-4c98-9809-d0463603d8ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "74407681-2c43-4c98-9809-d0463603d8ac"; +"1f09d3ed-9a15-433a-8046-8c764c91b0ef" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "1f09d3ed-9a15-433a-8046-8c764c91b0ef"; +"ed445eb3-2b20-4c77-8052-72375d04c66e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; +"07bdb352-7144-4fb8-829b-d2d76614d7ff" -> "ed445eb3-2b20-4c77-8052-72375d04c66e"; +"5f6b176d-7818-4767-960d-4320db2f407c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5f6b176d-7818-4767-960d-4320db2f407c"; +"feb89d2e-cccb-41ef-8992-705fa10f7c5f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5f6b176d-7818-4767-960d-4320db2f407c" -> "feb89d2e-cccb-41ef-8992-705fa10f7c5f"; +"d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"5f6b176d-7818-4767-960d-4320db2f407c" -> "d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c"; +"9e15594c-45e0-41f4-a975-004454ab2c2d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"5f6b176d-7818-4767-960d-4320db2f407c" -> "9e15594c-45e0-41f4-a975-004454ab2c2d"; +"db86b9fd-6745-45ef-adf2-ff054dc77098" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table2)", shape=box, style=filled]; +"5f6b176d-7818-4767-960d-4320db2f407c" -> "db86b9fd-6745-45ef-adf2-ff054dc77098"; +"9821fd5c-13ee-40d7-8993-e6bae0ebc336" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9821fd5c-13ee-40d7-8993-e6bae0ebc336"; +"6c616572-a680-4d17-b618-b48037791df1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "6c616572-a680-4d17-b618-b48037791df1"; +"299f0320-356c-49c1-ab89-f82b14220979" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "299f0320-356c-49c1-ab89-f82b14220979"; +"dccae668-73b7-44fd-bafa-d72656cda5e7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "dccae668-73b7-44fd-bafa-d72656cda5e7"; +"a409847c-6195-43c4-a662-1e6980033e5a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,BrightTable6)", shape=box, style=filled]; +"9821fd5c-13ee-40d7-8993-e6bae0ebc336" -> "a409847c-6195-43c4-a662-1e6980033e5a"; +"26847aaf-bd3c-4379-aa55-32199ac6e93f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "26847aaf-bd3c-4379-aa55-32199ac6e93f"; +"4549f8cd-86e5-480b-98d1-88500ea8c34a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "4549f8cd-86e5-480b-98d1-88500ea8c34a"; +"152e3cc6-b019-48c0-85bf-a82bdb6abf67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "152e3cc6-b019-48c0-85bf-a82bdb6abf67"; +"98538a68-adbe-4841-bfa2-e93976ccc6ff" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "98538a68-adbe-4841-bfa2-e93976ccc6ff"; +"cc0129e8-72fb-4e05-9462-1fef0d0ce40c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar2)", shape=box, style=filled]; +"26847aaf-bd3c-4379-aa55-32199ac6e93f" -> "cc0129e8-72fb-4e05-9462-1fef0d0ce40c"; +"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "248c2bd2-9c4d-4b33-8072-9e8cc9f39818"; +"ba4e6862-3a46-41e8-80a9-a0692f79c41d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "ba4e6862-3a46-41e8-80a9-a0692f79c41d"; +"b7796714-662f-474e-ba00-ca1fe7a3524c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "b7796714-662f-474e-ba00-ca1fe7a3524c"; +"cad6141e-0eae-4ab1-a34b-e717f55f1f7a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "cad6141e-0eae-4ab1-a34b-e717f55f1f7a"; +"7bf1a6f4-9799-47d1-8b80-4d7aabf1d268" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; +"248c2bd2-9c4d-4b33-8072-9e8cc9f39818" -> "7bf1a6f4-9799-47d1-8b80-4d7aabf1d268"; +"4fe871b9-e75c-408c-b40f-963c46fb1ff8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4fe871b9-e75c-408c-b40f-963c46fb1ff8"; +"076e6b31-9c1a-488e-8ff7-7a45a2106ab9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "076e6b31-9c1a-488e-8ff7-7a45a2106ab9"; +"37cc8aac-7031-4306-bfc1-f7eefc951bd1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "37cc8aac-7031-4306-bfc1-f7eefc951bd1"; +"c7999915-f15e-4063-bd1f-dcea0d0811bb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "c7999915-f15e-4063-bd1f-dcea0d0811bb"; +"bce98f67-bb8e-4716-b767-38d1453a4a6a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; +"4fe871b9-e75c-408c-b40f-963c46fb1ff8" -> "bce98f67-bb8e-4716-b767-38d1453a4a6a"; +"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1d2f075b-b358-4646-ad1b-d34ef3a51c6f"; +"85842326-df13-42e9-bf2b-3e837f356510" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "85842326-df13-42e9-bf2b-3e837f356510"; +"ae2a9212-14e9-4796-8c3a-516ab5e547e0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "ae2a9212-14e9-4796-8c3a-516ab5e547e0"; +"8e006370-5f97-4ee9-a4ac-712ac0689d15" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "8e006370-5f97-4ee9-a4ac-712ac0689d15"; +"557ad42c-ce83-4c63-aebd-2024ab5b948b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table1)", shape=box, style=filled]; +"1d2f075b-b358-4646-ad1b-d34ef3a51c6f" -> "557ad42c-ce83-4c63-aebd-2024ab5b948b"; +"cca55543-4510-4255-bf6f-8897c54237dc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "cca55543-4510-4255-bf6f-8897c54237dc"; +"4d6b6e93-7152-40b2-9d8d-8981c4829788" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"cca55543-4510-4255-bf6f-8897c54237dc" -> "4d6b6e93-7152-40b2-9d8d-8981c4829788"; +"7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"cca55543-4510-4255-bf6f-8897c54237dc" -> "7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97"; +"f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"cca55543-4510-4255-bf6f-8897c54237dc" -> "f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a"; +"36ea8870-62cc-456e-81e9-90f12fcf3447" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table3)", shape=box, style=filled]; +"cca55543-4510-4255-bf6f-8897c54237dc" -> "36ea8870-62cc-456e-81e9-90f12fcf3447"; +"3de8b463-3beb-45f7-b64d-5a50669a2d53" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3de8b463-3beb-45f7-b64d-5a50669a2d53"; +"72a0525f-dd12-483b-92ec-3dc9b47cdbbd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "72a0525f-dd12-483b-92ec-3dc9b47cdbbd"; +"20693df9-3c05-430c-8e1c-d74d1d7b3dc9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "20693df9-3c05-430c-8e1c-d74d1d7b3dc9"; +"6836fde4-c4c6-4b14-9c9f-32c988db5b7c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "6836fde4-c4c6-4b14-9c9f-32c988db5b7c"; +"b05c71e2-c19e-43bd-a80e-973c5d1e4381" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; +"3de8b463-3beb-45f7-b64d-5a50669a2d53" -> "b05c71e2-c19e-43bd-a80e-973c5d1e4381"; +"cd55fd8b-06f0-43aa-973a-04ce263db149" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "cd55fd8b-06f0-43aa-973a-04ce263db149"; +"d0b44566-bf09-4b95-a6a1-3c9efd542f41" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "d0b44566-bf09-4b95-a6a1-3c9efd542f41"; +"81c66262-2e9d-4796-99f7-72fe8339f8f0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "81c66262-2e9d-4796-99f7-72fe8339f8f0"; +"3dfba118-bc27-4c32-87b1-18bfcc3d877f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "3dfba118-bc27-4c32-87b1-18bfcc3d877f"; +"5c36c821-5bd0-455f-b051-382158f03960" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table2)", shape=box, style=filled]; +"cd55fd8b-06f0-43aa-973a-04ce263db149" -> "5c36c821-5bd0-455f-b051-382158f03960"; +"9c4e6038-8337-4154-b2f9-da41b9a268d0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9c4e6038-8337-4154-b2f9-da41b9a268d0"; +"6cbd82d2-051e-43cd-86eb-d8f54bec3c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "6cbd82d2-051e-43cd-86eb-d8f54bec3c5b"; +"32b3bb1a-8d44-4fd3-9826-1426ff97f00f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "32b3bb1a-8d44-4fd3-9826-1426ff97f00f"; +"754c18e3-d17c-43e1-aba0-672016280472" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "754c18e3-d17c-43e1-aba0-672016280472"; +"ccfd6d89-070f-490e-8da1-9df8145e0cc4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable6)", shape=box, style=filled]; +"9c4e6038-8337-4154-b2f9-da41b9a268d0" -> "ccfd6d89-070f-490e-8da1-9df8145e0cc4"; +"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa"; +"6e94ba5b-8380-438e-83d5-d3c8544e39f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "6e94ba5b-8380-438e-83d5-d3c8544e39f6"; +"484b49f5-a84d-4b66-b8a2-44e268706c5d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "484b49f5-a84d-4b66-b8a2-44e268706c5d"; +"79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3"; +"284b892c-5691-4ae4-8234-5604ad709d4d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar2)", shape=box, style=filled]; +"bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa" -> "284b892c-5691-4ae4-8234-5604ad709d4d"; +"79d538c1-0f43-4169-acc3-786d384dec16" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "79d538c1-0f43-4169-acc3-786d384dec16"; +"763e4693-57bd-4267-8e5c-da305eae256a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"79d538c1-0f43-4169-acc3-786d384dec16" -> "763e4693-57bd-4267-8e5c-da305eae256a"; +"6b4fcd69-9154-45a0-b82f-85ea457e9699" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"79d538c1-0f43-4169-acc3-786d384dec16" -> "6b4fcd69-9154-45a0-b82f-85ea457e9699"; +"e1f835b3-eae2-4d8a-93dc-ccab2af9a839" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"79d538c1-0f43-4169-acc3-786d384dec16" -> "e1f835b3-eae2-4d8a-93dc-ccab2af9a839"; +"057ce095-3cda-4602-88fa-9493f83a1b7c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled]; +"79d538c1-0f43-4169-acc3-786d384dec16" -> "057ce095-3cda-4602-88fa-9493f83a1b7c"; +"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8a64b8a4-0951-4da1-b90a-c09e04d5dafc"; +"c7451614-cc82-4021-9ec6-2144a993bc9f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "c7451614-cc82-4021-9ec6-2144a993bc9f"; +"7a625c15-bbb5-4375-87c4-60e579749b4c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "7a625c15-bbb5-4375-87c4-60e579749b4c"; +"7bc54243-388b-42ec-8789-02dde857966c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "7bc54243-388b-42ec-8789-02dde857966c"; +"6c5e4f09-594e-4a3a-b53f-8d252fbf55d3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; +"8a64b8a4-0951-4da1-b90a-c09e04d5dafc" -> "6c5e4f09-594e-4a3a-b53f-8d252fbf55d3"; +"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "0f7846ce-1c0b-4c9a-9199-0e5d9fc84427"; +"2dc338f0-e4da-4cdd-8d31-e825eb58d73a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "2dc338f0-e4da-4cdd-8d31-e825eb58d73a"; +"58397c86-0ab9-462c-bf3f-5a1d6f2a1410" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "58397c86-0ab9-462c-bf3f-5a1d6f2a1410"; +"ac062aab-3716-46e2-bf26-bdfb9316ff97" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "ac062aab-3716-46e2-bf26-bdfb9316ff97"; +"be93a72b-d8ac-4912-a793-ebd898e3b7a3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table1)", shape=box, style=filled]; +"0f7846ce-1c0b-4c9a-9199-0e5d9fc84427" -> "be93a72b-d8ac-4912-a793-ebd898e3b7a3"; +"5c663a98-c0e7-4741-b85c-a2120e0d36de" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5c663a98-c0e7-4741-b85c-a2120e0d36de"; +"9a21f981-f994-4596-b72d-cc6363bcc201" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "9a21f981-f994-4596-b72d-cc6363bcc201"; +"ac648d1f-b4e5-46aa-b138-57af6810df61" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "ac648d1f-b4e5-46aa-b138-57af6810df61"; +"72958aa5-8b06-4e40-87df-9e4ae46dfd9b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "72958aa5-8b06-4e40-87df-9e4ae46dfd9b"; +"df80116e-ae28-416e-810a-4a0d2df48750" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table3)", shape=box, style=filled]; +"5c663a98-c0e7-4741-b85c-a2120e0d36de" -> "df80116e-ae28-416e-810a-4a0d2df48750"; +"fe9ffccb-67df-44d7-a345-8e86e172cc04" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "fe9ffccb-67df-44d7-a345-8e86e172cc04"; +"d56275f8-9e97-43a9-a30f-72aa7ba81ad4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "d56275f8-9e97-43a9-a30f-72aa7ba81ad4"; +"68b66b16-86ca-41d1-995a-efdd1d9806c2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "68b66b16-86ca-41d1-995a-efdd1d9806c2"; +"a042a93f-a939-4d8c-aa96-07d299e7eb1f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "a042a93f-a939-4d8c-aa96-07d299e7eb1f"; +"1f41a993-53e9-4172-b2b0-b431c3f7842a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; +"fe9ffccb-67df-44d7-a345-8e86e172cc04" -> "1f41a993-53e9-4172-b2b0-b431c3f7842a"; +"2724a517-0605-4e0a-b28e-e30217cff1e5" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2724a517-0605-4e0a-b28e-e30217cff1e5"; +"767107ee-93e3-4518-b5ec-e98e93146038" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "767107ee-93e3-4518-b5ec-e98e93146038"; +"2a35d990-58e0-4bf7-a4ac-6bb785c63e6d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "2a35d990-58e0-4bf7-a4ac-6bb785c63e6d"; +"4d6ca9ed-9835-4cb7-b4a1-d928827d13a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "4d6ca9ed-9835-4cb7-b4a1-d928827d13a0"; +"edda49d1-0dc6-49ad-86a2-064af109eb28" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table2)", shape=box, style=filled]; +"2724a517-0605-4e0a-b28e-e30217cff1e5" -> "edda49d1-0dc6-49ad-86a2-064af109eb28"; +"9887536b-3036-4fe9-8e42-95a135bbf72e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "9887536b-3036-4fe9-8e42-95a135bbf72e"; +"2a6bbfc4-191d-403f-9a07-cf34b9e2c60b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "2a6bbfc4-191d-403f-9a07-cf34b9e2c60b"; +"3db37505-386c-4e12-9fd3-31f0e70e6e4c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "3db37505-386c-4e12-9fd3-31f0e70e6e4c"; +"5e587690-9672-4cb7-984c-3453035be844" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "5e587690-9672-4cb7-984c-3453035be844"; +"4969dba1-43fd-4eb8-a778-3f4d68a5888c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,BrightTable6)", shape=box, style=filled]; +"9887536b-3036-4fe9-8e42-95a135bbf72e" -> "4969dba1-43fd-4eb8-a778-3f4d68a5888c"; +"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e0e07131-b2a0-4027-b5ea-fbecf06ffac2"; +"6829bd74-e762-46dd-b148-4f035ed90c09" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "6829bd74-e762-46dd-b148-4f035ed90c09"; +"b40cbe97-a640-4ae8-bd35-602aec157d6e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "b40cbe97-a640-4ae8-bd35-602aec157d6e"; +"f2bc444e-b4fa-4923-90ea-98ab2d0a35c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "f2bc444e-b4fa-4923-90ea-98ab2d0a35c5"; +"1aaecfad-2976-4980-a2bd-e416f13aa6a0" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar2)", shape=box, style=filled]; +"e0e07131-b2a0-4027-b5ea-fbecf06ffac2" -> "1aaecfad-2976-4980-a2bd-e416f13aa6a0"; +"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "4532eda4-3d8a-4a7c-afb8-965d7b1e00c1"; +"19faf346-82f9-4fe7-aabd-e5f246356e2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "19faf346-82f9-4fe7-aabd-e5f246356e2f"; +"d3b2633d-4f0e-4935-968d-fbc76e0669fc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "d3b2633d-4f0e-4935-968d-fbc76e0669fc"; +"fcb88388-0122-4b52-81ce-4b0bce0c8738" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "fcb88388-0122-4b52-81ce-4b0bce0c8738"; +"cb1cecac-1a69-4afd-9ea9-b7b478aee9ec" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,CoffeeTable)", shape=box, style=filled]; +"4532eda4-3d8a-4a7c-afb8-965d7b1e00c1" -> "cb1cecac-1a69-4afd-9ea9-b7b478aee9ec"; +"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ed21b2d8-cbde-49aa-92cc-f7f2cdede502"; +"231f11fa-76d7-4bf7-badc-a70971c10969" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "231f11fa-76d7-4bf7-badc-a70971c10969"; +"361fcf64-cd7e-49e7-a4d6-5c957e1260b3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "361fcf64-cd7e-49e7-a4d6-5c957e1260b3"; +"e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6"; +"8695e1e7-a8c6-42ee-9297-c0c5e07af7ee" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; +"ed21b2d8-cbde-49aa-92cc-f7f2cdede502" -> "8695e1e7-a8c6-42ee-9297-c0c5e07af7ee"; +"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3"; +"8f6c2db0-4100-416f-a32c-67da97f6eba5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "8f6c2db0-4100-416f-a32c-67da97f6eba5"; +"7cfbfd5e-714f-4618-a6a7-b494d06a784a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "7cfbfd5e-714f-4618-a6a7-b494d06a784a"; +"38838658-aa73-49e5-979f-f027c66f0d85" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "38838658-aa73-49e5-979f-f027c66f0d85"; +"e500e1ef-8af3-447d-bec6-2128412c6a0c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table1)", shape=box, style=filled]; +"78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3" -> "e500e1ef-8af3-447d-bec6-2128412c6a0c"; +"65cb22af-1229-42d5-a0c7-1c492c64fa68" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "65cb22af-1229-42d5-a0c7-1c492c64fa68"; +"785d9b8b-f69d-400e-b915-9ade0eebff76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "785d9b8b-f69d-400e-b915-9ade0eebff76"; +"75b3ff29-74ca-4d94-9e40-7516360c4d67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "75b3ff29-74ca-4d94-9e40-7516360c4d67"; +"c7252f21-501e-4755-b5ea-46655c8cf26e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "c7252f21-501e-4755-b5ea-46655c8cf26e"; +"7a1c305c-5fa6-4d7f-a40e-67e972addb5e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table3)", shape=box, style=filled]; +"65cb22af-1229-42d5-a0c7-1c492c64fa68" -> "7a1c305c-5fa6-4d7f-a40e-67e972addb5e"; +"284a312a-3d72-45a3-a027-995e3c971d69" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "284a312a-3d72-45a3-a027-995e3c971d69"; +"770cfd0c-d73b-4376-9977-e4f21ae117f3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"284a312a-3d72-45a3-a027-995e3c971d69" -> "770cfd0c-d73b-4376-9977-e4f21ae117f3"; +"95504520-20f3-4f1a-bde6-7a7e9b8f7578" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"284a312a-3d72-45a3-a027-995e3c971d69" -> "95504520-20f3-4f1a-bde6-7a7e9b8f7578"; +"0f28b058-bea9-4930-9ca8-8ea20fb73f34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"284a312a-3d72-45a3-a027-995e3c971d69" -> "0f28b058-bea9-4930-9ca8-8ea20fb73f34"; +"edc24e57-f5af-4f52-9c2b-507fd5d8d9dd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled]; +"284a312a-3d72-45a3-a027-995e3c971d69" -> "edc24e57-f5af-4f52-9c2b-507fd5d8d9dd"; +"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc"; +"95d39108-12dc-4933-a631-26a48065a54d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "95d39108-12dc-4933-a631-26a48065a54d"; +"74a0452a-4e25-4c65-97dc-95202b838cf6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "74a0452a-4e25-4c65-97dc-95202b838cf6"; +"df328e57-132f-4121-bc4f-b01513025fc4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "df328e57-132f-4121-bc4f-b01513025fc4"; +"1beb843e-f403-406c-a0eb-73f65724ffaa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table2)", shape=box, style=filled]; +"dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc" -> "1beb843e-f403-406c-a0eb-73f65724ffaa"; +"eb598ac4-416d-4ad7-96b1-a069c34f080f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "eb598ac4-416d-4ad7-96b1-a069c34f080f"; +"5f7e5384-4a91-401a-bb2c-3639ea01c74f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "5f7e5384-4a91-401a-bb2c-3639ea01c74f"; +"3925dd0d-d6af-4b90-8c81-03971027962d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "3925dd0d-d6af-4b90-8c81-03971027962d"; +"31c8ba85-a73b-453a-b84a-b69abf1a6407" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "31c8ba85-a73b-453a-b84a-b69abf1a6407"; +"a098eb55-17cd-4a13-ba7b-d1ff643791b5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,BrightTable6)", shape=box, style=filled]; +"eb598ac4-416d-4ad7-96b1-a069c34f080f" -> "a098eb55-17cd-4a13-ba7b-d1ff643791b5"; +"63bc2131-0c88-4373-a53c-ead94fb82fa6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "63bc2131-0c88-4373-a53c-ead94fb82fa6"; +"b6f923dc-f64d-4075-b70e-c59653640019" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "b6f923dc-f64d-4075-b70e-c59653640019"; +"dc165b15-93fb-4012-8469-d00b74105ab4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "dc165b15-93fb-4012-8469-d00b74105ab4"; +"98dc8e33-be99-4706-bcd6-853ef1f59404" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "98dc8e33-be99-4706-bcd6-853ef1f59404"; +"bcbf2ae0-66e2-48d2-a33e-646e2b302eb9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar2)", shape=box, style=filled]; +"63bc2131-0c88-4373-a53c-ead94fb82fa6" -> "bcbf2ae0-66e2-48d2-a33e-646e2b302eb9"; +"c73357e2-9507-4b95-bc2e-1486b65b5dc6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c73357e2-9507-4b95-bc2e-1486b65b5dc6"; +"64dec7d4-c93f-4a4a-b66b-e906d003181a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "64dec7d4-c93f-4a4a-b66b-e906d003181a"; +"ee21bb6e-335f-4224-adfc-a8ad63cb81a7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "ee21bb6e-335f-4224-adfc-a8ad63cb81a7"; +"893a8547-460e-4d21-aa84-40f64bb2e9a8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "893a8547-460e-4d21-aa84-40f64bb2e9a8"; +"1d94680f-c629-4d6d-999e-0758d631b25c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,CoffeeTable)", shape=box, style=filled]; +"c73357e2-9507-4b95-bc2e-1486b65b5dc6" -> "1d94680f-c629-4d6d-999e-0758d631b25c"; +"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "d410dc89-cc3e-4a1f-b56f-ada8becfb7cf"; +"5459849f-8fd9-443f-a05a-81e03bce8d76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "5459849f-8fd9-443f-a05a-81e03bce8d76"; +"85d84939-a598-4c49-b68e-d94b95b824ca" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "85d84939-a598-4c49-b68e-d94b95b824ca"; +"e90502db-5eb0-4322-8837-05bdf6597b67" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "e90502db-5eb0-4322-8837-05bdf6597b67"; +"1b87e119-b5fd-4cdf-9721-aacdad09cd8e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; +"d410dc89-cc3e-4a1f-b56f-ada8becfb7cf" -> "1b87e119-b5fd-4cdf-9721-aacdad09cd8e"; +"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "78bdfd28-939b-4c3a-94f9-b090dbf7a5d2"; +"17649c21-8cb3-455e-961b-8f3a2e08b0d1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "17649c21-8cb3-455e-961b-8f3a2e08b0d1"; +"810ba04b-2e29-44e5-9fa7-bb09db26d6e4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "810ba04b-2e29-44e5-9fa7-bb09db26d6e4"; +"efbec7d6-b5c4-40e9-974b-3a93fe9d3f81" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "efbec7d6-b5c4-40e9-974b-3a93fe9d3f81"; +"6e6970e0-5cdc-4630-8312-eb3fa088c9c6" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table1)", shape=box, style=filled]; +"78bdfd28-939b-4c3a-94f9-b090dbf7a5d2" -> "6e6970e0-5cdc-4630-8312-eb3fa088c9c6"; +"1ed8f099-82a7-4dce-aade-6c1a34ab851d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1ed8f099-82a7-4dce-aade-6c1a34ab851d"; +"8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af"; +"8fd2b91f-c13a-41a1-8694-8cb9197619bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "8fd2b91f-c13a-41a1-8694-8cb9197619bf"; +"d01a2e6c-efc7-45f5-a300-d234ae329d50" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "d01a2e6c-efc7-45f5-a300-d234ae329d50"; +"d80d7998-97cb-415d-9a41-0478bfe1cad1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table3)", shape=box, style=filled]; +"1ed8f099-82a7-4dce-aade-6c1a34ab851d" -> "d80d7998-97cb-415d-9a41-0478bfe1cad1"; +"8b7f4740-53bb-44b0-811f-c4420e979178" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8b7f4740-53bb-44b0-811f-c4420e979178"; +"b32e86aa-51d6-4717-81dd-2d454d53bf28" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8b7f4740-53bb-44b0-811f-c4420e979178" -> "b32e86aa-51d6-4717-81dd-2d454d53bf28"; +"dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"8b7f4740-53bb-44b0-811f-c4420e979178" -> "dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc"; +"c7385cd5-e7de-4ae8-9411-ebf16e72c709" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"8b7f4740-53bb-44b0-811f-c4420e979178" -> "c7385cd5-e7de-4ae8-9411-ebf16e72c709"; +"a52755f7-9807-4f91-bb2b-b9a07ba6d68b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; +"8b7f4740-53bb-44b0-811f-c4420e979178" -> "a52755f7-9807-4f91-bb2b-b9a07ba6d68b"; +"09ad191e-0b49-44e3-b66b-ea5805a0d063" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "09ad191e-0b49-44e3-b66b-ea5805a0d063"; +"9148246d-12dd-4280-b737-7893719e9f29" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "9148246d-12dd-4280-b737-7893719e9f29"; +"5ca7808d-bdcd-4a21-9497-1daa46cd30a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "5ca7808d-bdcd-4a21-9497-1daa46cd30a2"; +"eba2baf1-3cb1-430d-8f6b-3aa6cf752191" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "eba2baf1-3cb1-430d-8f6b-3aa6cf752191"; +"de485576-b0e9-42f1-a393-4861c45ece7b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table2)", shape=box, style=filled]; +"09ad191e-0b49-44e3-b66b-ea5805a0d063" -> "de485576-b0e9-42f1-a393-4861c45ece7b"; +"df60fa57-fb7c-4315-829e-ae47d6507683" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "df60fa57-fb7c-4315-829e-ae47d6507683"; +"b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"df60fa57-fb7c-4315-829e-ae47d6507683" -> "b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac"; +"0d4d8178-342e-46bc-8d35-727ce998834a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"df60fa57-fb7c-4315-829e-ae47d6507683" -> "0d4d8178-342e-46bc-8d35-727ce998834a"; +"c962ca71-ba64-4739-bb55-291905b9d044" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"df60fa57-fb7c-4315-829e-ae47d6507683" -> "c962ca71-ba64-4739-bb55-291905b9d044"; +"359e7b79-0ab6-4412-89c6-9dd89858bf5c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable6)", shape=box, style=filled]; +"df60fa57-fb7c-4315-829e-ae47d6507683" -> "359e7b79-0ab6-4412-89c6-9dd89858bf5c"; +"61b2ff09-78eb-4c57-bd55-69a316cb9440" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "61b2ff09-78eb-4c57-bd55-69a316cb9440"; +"62d0baea-9b48-44e6-8205-2cd2e993c059" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "62d0baea-9b48-44e6-8205-2cd2e993c059"; +"d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1"; +"26d4ec74-56f9-405a-bf06-d764c124388b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "26d4ec74-56f9-405a-bf06-d764c124388b"; +"78db2bad-fd3c-4233-8577-9b0660280967" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar2)", shape=box, style=filled]; +"61b2ff09-78eb-4c57-bd55-69a316cb9440" -> "78db2bad-fd3c-4233-8577-9b0660280967"; +"1d380410-b9cb-4485-8b75-522184c8b79e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1d380410-b9cb-4485-8b75-522184c8b79e"; +"1d665acf-11da-4286-8bc3-86aafcea6acb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"1d380410-b9cb-4485-8b75-522184c8b79e" -> "1d665acf-11da-4286-8bc3-86aafcea6acb"; +"c415c194-e186-4df7-89ad-4ae3a3bb4b09" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"1d380410-b9cb-4485-8b75-522184c8b79e" -> "c415c194-e186-4df7-89ad-4ae3a3bb4b09"; +"1559205a-5cea-419d-b812-1f1b7553fdb3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"1d380410-b9cb-4485-8b75-522184c8b79e" -> "1559205a-5cea-419d-b812-1f1b7553fdb3"; +"f66acea1-64f5-4a3a-aeee-997a01014b5a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,CoffeeTable)", shape=box, style=filled]; +"1d380410-b9cb-4485-8b75-522184c8b79e" -> "f66acea1-64f5-4a3a-aeee-997a01014b5a"; +"75e8a180-6634-4047-866e-c2253f8d52fa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "75e8a180-6634-4047-866e-c2253f8d52fa"; +"004a459c-4331-4886-a579-93a03145a6d1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"75e8a180-6634-4047-866e-c2253f8d52fa" -> "004a459c-4331-4886-a579-93a03145a6d1"; +"fd6c59e6-f428-4c56-88ef-46d49dee80ea" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"75e8a180-6634-4047-866e-c2253f8d52fa" -> "fd6c59e6-f428-4c56-88ef-46d49dee80ea"; +"93326d8d-a4d5-4478-b7e3-8fbc9d97d592" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"75e8a180-6634-4047-866e-c2253f8d52fa" -> "93326d8d-a4d5-4478-b7e3-8fbc9d97d592"; +"9687f2a4-c21e-419a-8943-27055cb05cb9" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"75e8a180-6634-4047-866e-c2253f8d52fa" -> "9687f2a4-c21e-419a-8943-27055cb05cb9"; +"5b40ac65-c718-4868-b2df-9eb0e0ee8789" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5b40ac65-c718-4868-b2df-9eb0e0ee8789"; +"2621b2f4-5418-4608-8065-ab6d3aea2614" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "2621b2f4-5418-4608-8065-ab6d3aea2614"; +"ac3a7ceb-bdd3-4138-937d-746379f8c540" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "ac3a7ceb-bdd3-4138-937d-746379f8c540"; +"522215bb-a6ea-4d27-931c-9817d9245b89" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "522215bb-a6ea-4d27-931c-9817d9245b89"; +"90288017-982c-4eac-88fa-39ab7c1e1593" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table1)", shape=box, style=filled]; +"5b40ac65-c718-4868-b2df-9eb0e0ee8789" -> "90288017-982c-4eac-88fa-39ab7c1e1593"; +"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "19d68e28-8671-4c3d-bb9e-97e9f6d0136f"; +"3de1b84b-9fcb-4984-b9a7-d60589f0cc3c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "3de1b84b-9fcb-4984-b9a7-d60589f0cc3c"; +"6da08102-3469-4673-9de1-dcea35c718e9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "6da08102-3469-4673-9de1-dcea35c718e9"; +"13724b32-e1d4-4432-b941-37db3ffa95ab" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "13724b32-e1d4-4432-b941-37db3ffa95ab"; +"e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table3)", shape=box, style=filled]; +"19d68e28-8671-4c3d-bb9e-97e9f6d0136f" -> "e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879"; +"6fff1ec3-ff11-4be5-aad1-800e30bb2287" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6fff1ec3-ff11-4be5-aad1-800e30bb2287"; +"a8d13c48-31cc-49d3-9910-0fadd43918ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "a8d13c48-31cc-49d3-9910-0fadd43918ee"; +"226b3761-761c-427c-b379-a43381dc900c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "226b3761-761c-427c-b379-a43381dc900c"; +"4afaafec-8189-4581-8435-7a1ebee4d714" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "4afaafec-8189-4581-8435-7a1ebee4d714"; +"0e0e41cb-aec9-483f-8ca0-eb77eddec30c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,WaterTable)", shape=box, style=filled]; +"6fff1ec3-ff11-4be5-aad1-800e30bb2287" -> "0e0e41cb-aec9-483f-8ca0-eb77eddec30c"; +"a1e0de8a-d06f-43ad-83d4-2048520730c4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a1e0de8a-d06f-43ad-83d4-2048520730c4"; +"d6131a22-7806-4b2f-9470-2aef3e2ec3af" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "d6131a22-7806-4b2f-9470-2aef3e2ec3af"; +"5d8cc54a-40d1-414d-a031-1b78b537ed7b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "5d8cc54a-40d1-414d-a031-1b78b537ed7b"; +"58ccec5d-0426-4410-94fd-8a2b6d5c6280" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "58ccec5d-0426-4410-94fd-8a2b6d5c6280"; +"fb432a35-8995-4178-8e77-418f7e5bd831" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table2)", shape=box, style=filled]; +"a1e0de8a-d06f-43ad-83d4-2048520730c4" -> "fb432a35-8995-4178-8e77-418f7e5bd831"; +"98a8ca8e-1929-41ea-a900-bebfa01afb51" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "98a8ca8e-1929-41ea-a900-bebfa01afb51"; +"24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07"; +"3558b7a8-169e-4021-8c69-80c65384457f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "3558b7a8-169e-4021-8c69-80c65384457f"; +"28c5ea88-8b51-4a0a-b1d6-50dac1b2e246" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "28c5ea88-8b51-4a0a-b1d6-50dac1b2e246"; +"23b531fa-28bb-411c-a787-4bf30e67feb5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,BrightTable6)", shape=box, style=filled]; +"98a8ca8e-1929-41ea-a900-bebfa01afb51" -> "23b531fa-28bb-411c-a787-4bf30e67feb5"; +"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57"; +"7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094"; +"09ba9f11-9eff-4cbd-93b1-77d070c7fb5e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "09ba9f11-9eff-4cbd-93b1-77d070c7fb5e"; +"ff10e040-6325-4d34-a9c0-538537bd383f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "ff10e040-6325-4d34-a9c0-538537bd383f"; +"7cb545a8-8b54-4b0c-8f5d-f826c9c0130b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar2)", shape=box, style=filled]; +"e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57" -> "7cb545a8-8b54-4b0c-8f5d-f826c9c0130b"; +"acd77041-d998-4b3d-8015-ff02adc5e9aa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "acd77041-d998-4b3d-8015-ff02adc5e9aa"; +"573c1414-84da-4963-aafd-3b5b0741fb26" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "573c1414-84da-4963-aafd-3b5b0741fb26"; +"c3fb52b1-e056-4d70-aa92-c461fb8f60a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "c3fb52b1-e056-4d70-aa92-c461fb8f60a0"; +"1a8fb1aa-8995-4f47-9006-dad1ea152482" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "1a8fb1aa-8995-4f47-9006-dad1ea152482"; +"4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,CoffeeTable)", shape=box, style=filled]; +"acd77041-d998-4b3d-8015-ff02adc5e9aa" -> "4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3"; +"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "ddd8d7c3-e6f2-4f81-9017-881d6918b1d7"; +"5e80cf61-0551-46b2-9c1a-9cf5f62b7590" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "5e80cf61-0551-46b2-9c1a-9cf5f62b7590"; +"bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6"; +"03ca2da0-9f7d-4295-a463-7fdfa03d843a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "03ca2da0-9f7d-4295-a463-7fdfa03d843a"; +"9e2f566c-180e-47a3-be93-68d15adf9d2e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled]; +"ddd8d7c3-e6f2-4f81-9017-881d6918b1d7" -> "9e2f566c-180e-47a3-be93-68d15adf9d2e"; +"1e84c50a-a784-4a87-942d-5641735b7261" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "1e84c50a-a784-4a87-942d-5641735b7261"; +"02e0b587-5ee7-4404-a618-9ca4284229de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"1e84c50a-a784-4a87-942d-5641735b7261" -> "02e0b587-5ee7-4404-a618-9ca4284229de"; +"8da00d8f-8b92-4fab-9cec-9bd340ab7ce6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"1e84c50a-a784-4a87-942d-5641735b7261" -> "8da00d8f-8b92-4fab-9cec-9bd340ab7ce6"; +"b4e13124-75f6-42c0-946e-71720c7ce550" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"1e84c50a-a784-4a87-942d-5641735b7261" -> "b4e13124-75f6-42c0-946e-71720c7ce550"; +"066122f7-b148-4d34-941e-0f42dac050e1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Table1)", shape=box, style=filled]; +"1e84c50a-a784-4a87-942d-5641735b7261" -> "066122f7-b148-4d34-941e-0f42dac050e1"; +"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5c234a7c-54c3-44c9-8bf0-cb7b151c5b49"; +"a7845e8c-1c7b-460d-8c77-0141c4caa8b9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "a7845e8c-1c7b-460d-8c77-0141c4caa8b9"; +"32cc9641-c3e9-49e1-bdeb-f1150327e00d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "32cc9641-c3e9-49e1-bdeb-f1150327e00d"; +"5cc57e95-ffd4-4e15-ac92-6ff5d16c281f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "5cc57e95-ffd4-4e15-ac92-6ff5d16c281f"; +"2cfaa496-e96c-4406-b1a1-228cc1c06fa1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table3)", shape=box, style=filled]; +"5c234a7c-54c3-44c9-8bf0-cb7b151c5b49" -> "2cfaa496-e96c-4406-b1a1-228cc1c06fa1"; +"a94c8304-2941-4238-8972-c2455f8bc22e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a94c8304-2941-4238-8972-c2455f8bc22e"; +"214325db-3636-4fc0-9722-43b5f03e6b8b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"a94c8304-2941-4238-8972-c2455f8bc22e" -> "214325db-3636-4fc0-9722-43b5f03e6b8b"; +"80a7f9f1-0704-4d55-b1ed-56c5783b9a87" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"a94c8304-2941-4238-8972-c2455f8bc22e" -> "80a7f9f1-0704-4d55-b1ed-56c5783b9a87"; +"f64a69db-71bc-4d57-b188-f66bf72548fb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"a94c8304-2941-4238-8972-c2455f8bc22e" -> "f64a69db-71bc-4d57-b188-f66bf72548fb"; +"e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; +"a94c8304-2941-4238-8972-c2455f8bc22e" -> "e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42"; +"c6b0da5f-132f-46cc-8e0e-7c462f767f01" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c6b0da5f-132f-46cc-8e0e-7c462f767f01"; +"b829c35a-fa31-4139-a84a-abc9c1ef2b2b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; 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"040eee78-88c2-4e2b-8caf-7fcc268e4e58"; +"20d23750-f968-4948-8f22-ebb3fd379244" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "20d23750-f968-4948-8f22-ebb3fd379244"; +"5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766"; +"95770c92-f247-4e13-9e77-f0cca209ad6e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "95770c92-f247-4e13-9e77-f0cca209ad6e"; +"4a83eab6-179d-4288-8045-9b307b54bf7f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable6)", shape=box, style=filled]; +"040eee78-88c2-4e2b-8caf-7fcc268e4e58" -> "4a83eab6-179d-4288-8045-9b307b54bf7f"; 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fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar2)", shape=box, style=filled]; +"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "f9a19c8a-4fc6-4369-adba-57b1578cba20"; +"6bf2333d-e5c5-445f-b282-38cdacc4a954" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "6bf2333d-e5c5-445f-b282-38cdacc4a954"; +"8fd5dd34-8bae-4ab5-baa5-09673b0f669e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "8fd5dd34-8bae-4ab5-baa5-09673b0f669e"; +"4508fbcf-3473-4434-956b-4b65b86a34e2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "4508fbcf-3473-4434-956b-4b65b86a34e2"; +"fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b"; +"46a3cf04-6b14-4881-8e1c-1646c5ce972c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; +"6bf2333d-e5c5-445f-b282-38cdacc4a954" -> "46a3cf04-6b14-4881-8e1c-1646c5ce972c"; +"37f56b5e-2868-4788-854a-1e57f66d7f73" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "37f56b5e-2868-4788-854a-1e57f66d7f73"; +"88c95099-5835-4b0b-81dd-3e0c4628480a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "88c95099-5835-4b0b-81dd-3e0c4628480a"; +"2908e8ec-8af2-4f0b-a18c-c65c000e04bb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; 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"dd11c028-4577-44d4-a106-fc51db14a110"; +"a69543fa-c97b-4f30-aa20-dfe086cc8d40" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "a69543fa-c97b-4f30-aa20-dfe086cc8d40"; +"aa92fb94-9d3c-4124-8f36-9d07912c9547" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "aa92fb94-9d3c-4124-8f36-9d07912c9547"; +"cae3a015-890d-4e05-af0e-34400334b786" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table1)", shape=box, style=filled]; +"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "cae3a015-890d-4e05-af0e-34400334b786"; +"f699b546-e05b-4c99-9edf-b5d153dbe9c9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f699b546-e05b-4c99-9edf-b5d153dbe9c9"; 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fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "8f6810ba-b72b-4dd1-b862-5ace3795ca8d"; +"fd49b5b4-4d53-4ec4-b982-fdd19511786c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "fd49b5b4-4d53-4ec4-b982-fdd19511786c"; +"7004dcf6-7f1b-47db-acd8-fc41b6cbe280" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "7004dcf6-7f1b-47db-acd8-fc41b6cbe280"; +"4818bba3-a0d7-4033-8eee-a25cbc54461d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "4818bba3-a0d7-4033-8eee-a25cbc54461d"; +"05a3a6db-81ad-4e0d-be52-70de9e83187a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,WaterTable)", shape=box, style=filled]; +"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" -> "05a3a6db-81ad-4e0d-be52-70de9e83187a"; +"2876effb-ca3d-4142-b508-efc836813b5e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2876effb-ca3d-4142-b508-efc836813b5e"; +"df18a38f-65b7-4b64-8f17-79b7f1ea3bf3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"2876effb-ca3d-4142-b508-efc836813b5e" -> "df18a38f-65b7-4b64-8f17-79b7f1ea3bf3"; +"17f3ab70-4026-40ec-b02a-51fde2ab8c8d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"2876effb-ca3d-4142-b508-efc836813b5e" -> "17f3ab70-4026-40ec-b02a-51fde2ab8c8d"; +"b2442fb3-7b31-4e13-b044-92d5de79c57c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"2876effb-ca3d-4142-b508-efc836813b5e" -> "b2442fb3-7b31-4e13-b044-92d5de79c57c"; +"2582ccb0-2b72-4f2f-9a53-ab063a694812" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table2)", shape=box, style=filled]; +"2876effb-ca3d-4142-b508-efc836813b5e" -> "2582ccb0-2b72-4f2f-9a53-ab063a694812"; +"3d60312c-00e9-4561-a16c-b48cfc84eefd" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3d60312c-00e9-4561-a16c-b48cfc84eefd"; +"5d485ab1-de5c-43a4-ad59-ec7b07a226f1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "5d485ab1-de5c-43a4-ad59-ec7b07a226f1"; +"1779c41e-3f87-4994-b6ca-3a1caed4b54c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "1779c41e-3f87-4994-b6ca-3a1caed4b54c"; +"ac7f3fdc-027e-497a-a49f-f140bb6abc59" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "ac7f3fdc-027e-497a-a49f-f140bb6abc59"; +"4f9ea29c-7d12-479c-83e4-24a645d68def" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable6)", shape=box, style=filled]; +"3d60312c-00e9-4561-a16c-b48cfc84eefd" -> "4f9ea29c-7d12-479c-83e4-24a645d68def"; +"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0"; +"faee8157-ece2-4fcd-bcab-4139e2eea7fd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "faee8157-ece2-4fcd-bcab-4139e2eea7fd"; +"72ca4076-9a8f-48ae-a691-80246f8de1da" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "72ca4076-9a8f-48ae-a691-80246f8de1da"; +"02771446-4abd-4093-9d66-35512f617505" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "02771446-4abd-4093-9d66-35512f617505"; +"9253797b-d776-47f3-9b2f-a33a903652a5" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar2)", shape=box, style=filled]; +"5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0" -> "9253797b-d776-47f3-9b2f-a33a903652a5"; +"84a3f177-524d-46ee-a62b-7c3fe623caa2" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "84a3f177-524d-46ee-a62b-7c3fe623caa2"; +"55ebd3c6-1746-4625-9dec-a3799565b79e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "55ebd3c6-1746-4625-9dec-a3799565b79e"; +"7895800a-d750-48fd-b850-a9f82a4f4095" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "7895800a-d750-48fd-b850-a9f82a4f4095"; +"a202c55c-0c8a-4981-bf53-70993766f36b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "a202c55c-0c8a-4981-bf53-70993766f36b"; +"029afb26-1bae-4813-8e5b-7296b75a289f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; +"84a3f177-524d-46ee-a62b-7c3fe623caa2" -> "029afb26-1bae-4813-8e5b-7296b75a289f"; +"efaad31a-ff61-41f3-bfff-9e384cc3fa65" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "efaad31a-ff61-41f3-bfff-9e384cc3fa65"; +"cd751e9d-35d3-4dd6-bc54-52307d763f99" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "cd751e9d-35d3-4dd6-bc54-52307d763f99"; +"02397c00-692c-4836-b7e5-3f9bd9c22c31" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "02397c00-692c-4836-b7e5-3f9bd9c22c31"; +"a264bd52-a4b2-46f3-ad43-b36bacd5c2ae" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "a264bd52-a4b2-46f3-ad43-b36bacd5c2ae"; +"22474561-32bc-4b0b-84db-d3b6ad04f82b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; +"efaad31a-ff61-41f3-bfff-9e384cc3fa65" -> "22474561-32bc-4b0b-84db-d3b6ad04f82b"; +"97b8656b-ea76-443b-ae5c-4efd90b261c1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "97b8656b-ea76-443b-ae5c-4efd90b261c1"; +"b3158e70-5918-4364-895e-55efc2e869f5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "b3158e70-5918-4364-895e-55efc2e869f5"; +"e1e3713a-4222-4c0c-a92a-572112a29376" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "e1e3713a-4222-4c0c-a92a-572112a29376"; +"86a5ecff-ca4d-49a8-a318-28490c064610" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "86a5ecff-ca4d-49a8-a318-28490c064610"; +"e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table1)", shape=box, style=filled]; +"97b8656b-ea76-443b-ae5c-4efd90b261c1" -> "e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca"; +"018a5b68-416b-4d0c-99cb-eb0eae0b9168" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "018a5b68-416b-4d0c-99cb-eb0eae0b9168"; +"b6da636a-7600-4a9a-8d44-4ce9966b62da" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "b6da636a-7600-4a9a-8d44-4ce9966b62da"; +"3e616032-2983-4e57-8cc1-bda4ab716af8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "3e616032-2983-4e57-8cc1-bda4ab716af8"; +"f1738bc3-0250-4a7d-ac0a-5f44ffc9c651" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "f1738bc3-0250-4a7d-ac0a-5f44ffc9c651"; +"fc6107a1-74fc-4aa1-86ad-023f11eadab8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table3)", shape=box, style=filled]; +"018a5b68-416b-4d0c-99cb-eb0eae0b9168" -> "fc6107a1-74fc-4aa1-86ad-023f11eadab8"; +"38c16f1a-f96c-4fe3-8311-a127d2776b2d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "38c16f1a-f96c-4fe3-8311-a127d2776b2d"; +"60de17bb-5da1-467c-a7b6-762d4c7f0149" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "60de17bb-5da1-467c-a7b6-762d4c7f0149"; +"1a114bc8-8e4e-4a5f-bb20-6cc324f48eff" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "1a114bc8-8e4e-4a5f-bb20-6cc324f48eff"; +"5e704e53-af3c-448d-af95-26f169a787e8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "5e704e53-af3c-448d-af95-26f169a787e8"; +"d1cfff06-f903-4d34-9a30-3ef8ea60aa2f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; +"38c16f1a-f96c-4fe3-8311-a127d2776b2d" -> "d1cfff06-f903-4d34-9a30-3ef8ea60aa2f"; +"33683c65-44e2-44e7-9359-77c03040e37b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "33683c65-44e2-44e7-9359-77c03040e37b"; +"5544234a-4c2a-4f78-997d-f5decc14416b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"33683c65-44e2-44e7-9359-77c03040e37b" -> "5544234a-4c2a-4f78-997d-f5decc14416b"; +"18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"33683c65-44e2-44e7-9359-77c03040e37b" -> "18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0"; +"94b48989-4317-46f8-9007-ef9c45fe8226" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"33683c65-44e2-44e7-9359-77c03040e37b" -> "94b48989-4317-46f8-9007-ef9c45fe8226"; +"4673a463-f02b-4e3f-9ad3-2868f26af138" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table2)", shape=box, style=filled]; +"33683c65-44e2-44e7-9359-77c03040e37b" -> "4673a463-f02b-4e3f-9ad3-2868f26af138"; +"a463677f-e8ae-4929-82db-0e6b689945c8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "a463677f-e8ae-4929-82db-0e6b689945c8"; +"55e9307c-e1e3-4adb-abfc-1582a5a82bb9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"a463677f-e8ae-4929-82db-0e6b689945c8" -> "55e9307c-e1e3-4adb-abfc-1582a5a82bb9"; +"e4939914-0675-4ab3-9612-383312642f58" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"a463677f-e8ae-4929-82db-0e6b689945c8" -> "e4939914-0675-4ab3-9612-383312642f58"; +"604de4d6-0f65-4141-97fb-987fa8506620" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"a463677f-e8ae-4929-82db-0e6b689945c8" -> "604de4d6-0f65-4141-97fb-987fa8506620"; +"573139c7-06c4-4545-ab96-18d4d205ecee" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled]; +"a463677f-e8ae-4929-82db-0e6b689945c8" -> "573139c7-06c4-4545-ab96-18d4d205ecee"; +"7593f2d6-fe85-4e68-b19d-a7694724f841" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7593f2d6-fe85-4e68-b19d-a7694724f841"; +"7eebdc6f-41cf-452e-b868-1a4f69dd6bc7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "7eebdc6f-41cf-452e-b868-1a4f69dd6bc7"; +"776464c9-b203-492f-9bce-dda58742d8e7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "776464c9-b203-492f-9bce-dda58742d8e7"; +"9b967dc8-ae0a-49d1-867e-400a617a0663" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "9b967dc8-ae0a-49d1-867e-400a617a0663"; +"73b78d0c-312d-49bf-8971-93860b261e30" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar2)", shape=box, style=filled]; +"7593f2d6-fe85-4e68-b19d-a7694724f841" -> "73b78d0c-312d-49bf-8971-93860b261e30"; +"82038484-692e-4cfe-b9b7-ac123820226d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "82038484-692e-4cfe-b9b7-ac123820226d"; +"b7ba2eb4-4b7a-49da-b87f-b93cf637b6de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"82038484-692e-4cfe-b9b7-ac123820226d" -> "b7ba2eb4-4b7a-49da-b87f-b93cf637b6de"; +"a1138811-41e9-4caa-959b-c5843c031f76" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"82038484-692e-4cfe-b9b7-ac123820226d" -> "a1138811-41e9-4caa-959b-c5843c031f76"; +"f8e3a85b-2885-4e8d-916b-f817884366ee" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"82038484-692e-4cfe-b9b7-ac123820226d" -> "f8e3a85b-2885-4e8d-916b-f817884366ee"; +"e44bc230-c551-45a1-b4d9-61be9f9c0423" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,CoffeeTable)", shape=box, style=filled]; +"82038484-692e-4cfe-b9b7-ac123820226d" -> "e44bc230-c551-45a1-b4d9-61be9f9c0423"; +"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "f87c9dbe-31a3-464f-9e67-8c70798f9a7d"; +"9afea05a-c36b-4d6f-9272-6b9354a6a2be" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "9afea05a-c36b-4d6f-9272-6b9354a6a2be"; +"e7cd592c-8224-4632-9b3c-6ad06795d3d5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "e7cd592c-8224-4632-9b3c-6ad06795d3d5"; +"1ae9079e-d43a-4b7d-adb7-36cdba33a8b1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "1ae9079e-d43a-4b7d-adb7-36cdba33a8b1"; +"ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"f87c9dbe-31a3-464f-9e67-8c70798f9a7d" -> "ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2"; +"784fb422-8f36-4289-a2bf-223bbd31ee6e" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "784fb422-8f36-4289-a2bf-223bbd31ee6e"; +"1909c93c-ab64-4c00-8536-7109c94ea6df" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "1909c93c-ab64-4c00-8536-7109c94ea6df"; +"ccfb3ac9-5f3e-498d-b085-fd6cd9338902" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "ccfb3ac9-5f3e-498d-b085-fd6cd9338902"; +"016450b6-d8e5-4456-ab33-eba66b36ffac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "016450b6-d8e5-4456-ab33-eba66b36ffac"; +"49f1cba1-a414-4dc0-a7ea-1e0ed98e719c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table1)", shape=box, style=filled]; +"784fb422-8f36-4289-a2bf-223bbd31ee6e" -> "49f1cba1-a414-4dc0-a7ea-1e0ed98e719c"; +"109768db-12b0-41a4-8226-6f96d779e3d5" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "109768db-12b0-41a4-8226-6f96d779e3d5"; +"9af02d7d-39cf-4987-90f4-d4fea388cf37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"109768db-12b0-41a4-8226-6f96d779e3d5" -> "9af02d7d-39cf-4987-90f4-d4fea388cf37"; +"450562f4-5a14-49db-be60-6b3cc0eae93f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"109768db-12b0-41a4-8226-6f96d779e3d5" -> "450562f4-5a14-49db-be60-6b3cc0eae93f"; +"41ceae0b-68fc-420a-8735-dbfec8e72d38" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "41ceae0b-68fc-420a-8735-dbfec8e72d38"; +"1c5f6fc5-6e2c-4e5c-8fda-601e1aa828c5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"41ceae0b-68fc-420a-8735-dbfec8e72d38" -> "1c5f6fc5-6e2c-4e5c-8fda-601e1aa828c5"; +"c44037e3-eb9c-4aa1-815d-be9c4b5e3837" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"41ceae0b-68fc-420a-8735-dbfec8e72d38" -> "c44037e3-eb9c-4aa1-815d-be9c4b5e3837"; +"f6a3cdec-945f-4fb3-a8c4-4d7c7db23156" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; +"41ceae0b-68fc-420a-8735-dbfec8e72d38" -> "f6a3cdec-945f-4fb3-a8c4-4d7c7db23156"; +"ada9434e-20ec-47ff-b2a0-4ba2fddab49d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; +"41ceae0b-68fc-420a-8735-dbfec8e72d38" -> "ada9434e-20ec-47ff-b2a0-4ba2fddab49d"; +"23ba663b-e4ed-4bdb-9880-1ae659285da8" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "23ba663b-e4ed-4bdb-9880-1ae659285da8"; +"edf7b141-6b2c-423e-8271-839eef1737a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "edf7b141-6b2c-423e-8271-839eef1737a0"; +"55e7e618-e470-47c6-a6b2-32af1c00f3e0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "55e7e618-e470-47c6-a6b2-32af1c00f3e0"; +"032d5ec0-766b-4948-b89f-8aa4c2882ebd" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "032d5ec0-766b-4948-b89f-8aa4c2882ebd"; +"74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled]; +"23ba663b-e4ed-4bdb-9880-1ae659285da8" -> "74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa"; +"04c01937-83ad-4168-8f33-e4cf144778f7" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "04c01937-83ad-4168-8f33-e4cf144778f7"; +"b3d9f9ed-1889-4bce-a19c-5d6030eeb58c" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"04c01937-83ad-4168-8f33-e4cf144778f7" -> "b3d9f9ed-1889-4bce-a19c-5d6030eeb58c"; +"3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"04c01937-83ad-4168-8f33-e4cf144778f7" -> "3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf"; +"a8f048f4-57f3-4525-a480-b23e5ef45fb7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; +"04c01937-83ad-4168-8f33-e4cf144778f7" -> "a8f048f4-57f3-4525-a480-b23e5ef45fb7"; +"f899bbec-c855-48c2-a023-4ccdabc9d7de" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; +"04c01937-83ad-4168-8f33-e4cf144778f7" -> "f899bbec-c855-48c2-a023-4ccdabc9d7de"; +"59daba0d-476e-460d-b837-4e236b595718" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "59daba0d-476e-460d-b837-4e236b595718"; +"22bd71df-207f-4d8c-a20f-14b5c94ada53" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"59daba0d-476e-460d-b837-4e236b595718" -> "22bd71df-207f-4d8c-a20f-14b5c94ada53"; +"09e9bcbb-7a51-448c-aa9d-f5f7d12224a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; +"59daba0d-476e-460d-b837-4e236b595718" -> "09e9bcbb-7a51-448c-aa9d-f5f7d12224a0"; +"052b4dde-9296-4712-b5d9-b1c22c7c94d4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"59daba0d-476e-460d-b837-4e236b595718" -> "052b4dde-9296-4712-b5d9-b1c22c7c94d4"; +"146d6b03-6647-453a-8a66-aebbdeb58446" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; +"59daba0d-476e-460d-b837-4e236b595718" -> "146d6b03-6647-453a-8a66-aebbdeb58446"; +"b7bf64bd-5b5b-4db6-9920-0ec860467344" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "b7bf64bd-5b5b-4db6-9920-0ec860467344"; +"fb136ee9-b47d-4d0f-aaa6-233f4cfb4c5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; +"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "fb136ee9-b47d-4d0f-aaa6-233f4cfb4c5b"; +"7f0bb7a0-5bf8-4dac-9336-3b77b384d06f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "7f0bb7a0-5bf8-4dac-9336-3b77b384d06f"; +"31817388-afd1-402d-8462-75dcf5f0d00d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "31817388-afd1-402d-8462-75dcf5f0d00d"; +"72ecdc8d-2f28-4650-be51-38662a905fc6" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; +"b7bf64bd-5b5b-4db6-9920-0ec860467344" -> "72ecdc8d-2f28-4650-be51-38662a905fc6"; +"3540cffb-7f51-45c8-b0a4-17fb4941da00" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "3540cffb-7f51-45c8-b0a4-17fb4941da00"; +"d5432c3d-e130-4143-8db9-034c907fa91a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "d5432c3d-e130-4143-8db9-034c907fa91a"; +"785fc236-0326-44a1-bd4e-941d378a4b9f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "785fc236-0326-44a1-bd4e-941d378a4b9f"; +"8e7695b5-d475-471d-bd65-032410b8bb1e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "8e7695b5-d475-471d-bd65-032410b8bb1e"; +"b2eaf8e6-f231-4150-970b-8ea4b25e22b8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; +"3540cffb-7f51-45c8-b0a4-17fb4941da00" -> "b2eaf8e6-f231-4150-970b-8ea4b25e22b8"; +"c3cde207-2c63-443f-875e-9afce498efe1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "c3cde207-2c63-443f-875e-9afce498efe1"; +"3f641b65-4a20-45fd-a47a-615409e456db" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"c3cde207-2c63-443f-875e-9afce498efe1" -> "3f641b65-4a20-45fd-a47a-615409e456db"; +"6e2cbad4-8704-4797-bebe-26479f034d37" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"c3cde207-2c63-443f-875e-9afce498efe1" -> "6e2cbad4-8704-4797-bebe-26479f034d37"; +"f1b757df-7bad-4e95-966f-858c07952d5f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"c3cde207-2c63-443f-875e-9afce498efe1" -> "f1b757df-7bad-4e95-966f-858c07952d5f"; +"53ce4c26-8884-4347-bb99-48dd6c342798" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; +"c3cde207-2c63-443f-875e-9afce498efe1" -> "53ce4c26-8884-4347-bb99-48dd6c342798"; +"59e1721c-75f6-4c2c-9c82-ded13f40a986" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"69f7e712-71d5-4386-99da-4afbe9740c65" -> "59e1721c-75f6-4c2c-9c82-ded13f40a986"; +"ac026599-2d65-4272-9aae-94a28f6c850e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; +"59e1721c-75f6-4c2c-9c82-ded13f40a986" -> "ac026599-2d65-4272-9aae-94a28f6c850e"; +"9382fb12-7fe0-4c32-8ae9-f4edec2fa5c8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"59e1721c-75f6-4c2c-9c82-ded13f40a986" -> "9382fb12-7fe0-4c32-8ae9-f4edec2fa5c8"; +"64f4f707-ea9f-4f42-ab18-df4dcb829b27" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"59e1721c-75f6-4c2c-9c82-ded13f40a986" -> "64f4f707-ea9f-4f42-ab18-df4dcb829b27"; +"56518992-5572-4b74-b482-d45c36d4447b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; +"59e1721c-75f6-4c2c-9c82-ded13f40a986" -> "56518992-5572-4b74-b482-d45c36d4447b"; +"1db2be02-576a-4958-b7dc-9357558dc990" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Softdrink)", shape=box, style=filled]; +"32aca593-a7a4-4b39-bda5-f18b18a96453" -> "1db2be02-576a-4958-b7dc-9357558dc990"; +"9e92e395-25fc-4f11-a57b-e37b90fe1038" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "9e92e395-25fc-4f11-a57b-e37b90fe1038"; +"ade0bce3-b584-448d-b71e-8a70f923336f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"9e92e395-25fc-4f11-a57b-e37b90fe1038" -> "ade0bce3-b584-448d-b71e-8a70f923336f"; +"bec26c0a-8ec0-438a-9002-dc49faabf69f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"9e92e395-25fc-4f11-a57b-e37b90fe1038" -> "bec26c0a-8ec0-438a-9002-dc49faabf69f"; +"65356aeb-900c-4990-ae3d-f438db332244" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "65356aeb-900c-4990-ae3d-f438db332244"; +"4f05c950-857f-44ce-a264-56e7cb821600" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"65356aeb-900c-4990-ae3d-f438db332244" -> "4f05c950-857f-44ce-a264-56e7cb821600"; +"4ade30cb-d086-4988-b120-d29dae76ccc3" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"65356aeb-900c-4990-ae3d-f438db332244" -> "4ade30cb-d086-4988-b120-d29dae76ccc3"; +"f0eaf9f9-e6a1-4385-a373-304a42236b56" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; +"65356aeb-900c-4990-ae3d-f438db332244" -> "f0eaf9f9-e6a1-4385-a373-304a42236b56"; +"fdab7e84-f49b-4992-85e6-53c08199e2b1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; +"65356aeb-900c-4990-ae3d-f438db332244" -> "fdab7e84-f49b-4992-85e6-53c08199e2b1"; +"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "ff2ac29d-7a3c-43ca-bffb-0378840cb41b"; +"b1b95615-1199-47ab-b126-00a2a96c0f70" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" -> "b1b95615-1199-47ab-b126-00a2a96c0f70"; +"bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" -> "bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b"; +"32928fbc-6790-4c5c-abf8-7849d4e32bd1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" -> "32928fbc-6790-4c5c-abf8-7849d4e32bd1"; +"f411dc12-f44d-4008-9380-642ce8d2d98a" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,Off)", shape=box, style=filled]; +"ff2ac29d-7a3c-43ca-bffb-0378840cb41b" -> "f411dc12-f44d-4008-9380-642ce8d2d98a"; +"f06fd989-0bb7-44ec-992a-bfa700d95d91" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "f06fd989-0bb7-44ec-992a-bfa700d95d91"; +"91e1c51b-394b-4051-bff5-3b75c6cc8ed9" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"f06fd989-0bb7-44ec-992a-bfa700d95d91" -> "91e1c51b-394b-4051-bff5-3b75c6cc8ed9"; +"1e7edae5-fb3a-46ee-a533-8996cc2553c7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"f06fd989-0bb7-44ec-992a-bfa700d95d91" -> "1e7edae5-fb3a-46ee-a533-8996cc2553c7"; +"ba633687-f19a-472c-b479-9e2d90b60558" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; +"f06fd989-0bb7-44ec-992a-bfa700d95d91" -> "ba633687-f19a-472c-b479-9e2d90b60558"; +"fd5ba787-b8d0-41d1-846e-f50d13a8b999" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; +"f06fd989-0bb7-44ec-992a-bfa700d95d91" -> "fd5ba787-b8d0-41d1-846e-f50d13a8b999"; +"5e50480d-79c3-4e4b-8b55-d15bb2723dc3" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "5e50480d-79c3-4e4b-8b55-d15bb2723dc3"; +"f2ba5a1d-cba5-4201-bc7e-db1a8b36ab0b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"5e50480d-79c3-4e4b-8b55-d15bb2723dc3" -> "f2ba5a1d-cba5-4201-bc7e-db1a8b36ab0b"; +"ca68aeed-35e6-4885-8814-8865d590b72e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; +"5e50480d-79c3-4e4b-8b55-d15bb2723dc3" -> "ca68aeed-35e6-4885-8814-8865d590b72e"; +"36c33c01-b80f-4cf7-894e-5ecbf5756b7b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; 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"72fd7459-1a33-4f28-914b-ffce02847778"; +"1b84d24c-df41-482c-a53f-0fa640df55aa" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"c5bb0878-dc4d-4f92-bf01-c749896b50f5" -> "1b84d24c-df41-482c-a53f-0fa640df55aa"; +"f41a3999-f315-4530-8b2e-36a0d3fc2f2d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; +"c5bb0878-dc4d-4f92-bf01-c749896b50f5" -> "f41a3999-f315-4530-8b2e-36a0d3fc2f2d"; +"cb5d00b9-035b-4b69-804c-4048c3124e07" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "cb5d00b9-035b-4b69-804c-4048c3124e07"; +"ed687ab0-d48c-4f03-9146-069413b13741" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"cb5d00b9-035b-4b69-804c-4048c3124e07" -> "ed687ab0-d48c-4f03-9146-069413b13741"; +"03550d06-8bbb-48be-b0e8-5fbc8e1f9641" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"cb5d00b9-035b-4b69-804c-4048c3124e07" -> "03550d06-8bbb-48be-b0e8-5fbc8e1f9641"; +"821c7646-4d66-4df9-9de4-41065153e961" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"cb5d00b9-035b-4b69-804c-4048c3124e07" -> "821c7646-4d66-4df9-9de4-41065153e961"; +"20657be8-ce1a-4afe-8451-cd6b5ddb3ec7" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; +"cb5d00b9-035b-4b69-804c-4048c3124e07" -> "20657be8-ce1a-4afe-8451-cd6b5ddb3ec7"; +"7b1faabb-56f8-4d09-8e58-69529c95c48c" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "7b1faabb-56f8-4d09-8e58-69529c95c48c"; +"70ee4937-448b-4243-b1ea-9a5d5db745a7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"7b1faabb-56f8-4d09-8e58-69529c95c48c" -> "70ee4937-448b-4243-b1ea-9a5d5db745a7"; +"111e1207-ab3f-4044-a370-b508942e8ed7" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"7b1faabb-56f8-4d09-8e58-69529c95c48c" -> "111e1207-ab3f-4044-a370-b508942e8ed7"; +"92304c45-f44d-4d99-8fe6-d157714ad02d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"7b1faabb-56f8-4d09-8e58-69529c95c48c" -> "92304c45-f44d-4d99-8fe6-d157714ad02d"; +"51ca41fa-d63f-4994-a9e0-4c4f4b217105" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; +"7b1faabb-56f8-4d09-8e58-69529c95c48c" -> "51ca41fa-d63f-4994-a9e0-4c4f4b217105"; +"3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea"; +"711b6202-e9de-41d8-b2c3-cbfc71d0e1b8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Softdrink)", shape=ellipse, style=filled]; +"3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea" -> "711b6202-e9de-41d8-b2c3-cbfc71d0e1b8"; +"745b1432-5317-43f0-b756-1de2d1082a91" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea" -> "745b1432-5317-43f0-b756-1de2d1082a91"; +"cb556a32-6b13-4d5f-98e2-dae6ad91f9e4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea" -> "cb556a32-6b13-4d5f-98e2-dae6ad91f9e4"; +"786a4091-7a5e-4429-bc5d-9f9c801c48fb" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; +"3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea" -> "786a4091-7a5e-4429-bc5d-9f9c801c48fb"; +"6500ef4d-fc3b-4f40-afb1-558574ff4f38" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Softdrink)", shape=box, style=filled]; +"28e090d8-6db7-4dbc-ba09-eba03c801a48" -> "6500ef4d-fc3b-4f40-afb1-558574ff4f38"; +"6e6b5dd6-57ab-4d18-a87f-667b0f08504f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled]; +"ffd3d603-bd65-4007-b8e7-9d9563d9a1f0" -> "6e6b5dd6-57ab-4d18-a87f-667b0f08504f"; +"284af98a-7b3f-4e1b-bb4a-65cc2693787b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; +"4042cbab-c154-432a-8f0d-5dbb478b294b" -> "284af98a-7b3f-4e1b-bb4a-65cc2693787b"; } diff --git a/robowaiter/scene/outputs/expanded_bt.png b/robowaiter/scene/outputs/expanded_bt.png index 256e26c..3f1cff8 100644 Binary files a/robowaiter/scene/outputs/expanded_bt.png and b/robowaiter/scene/outputs/expanded_bt.png differ diff --git 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a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index da6c5b2..6002949 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -274,7 +274,7 @@ class Scene: self.is_nav_walk = False - self.bt_algo_opt = True + self.bt_algo_opt = False file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl') if os.path.exists(file_name): diff --git a/tasks_no_ui/BtTest/Open_tasks.py b/tasks_no_ui/BtTest/Open_tasks.py index 4b5bdb2..7e130e7 100644 --- a/tasks_no_ui/BtTest/Open_tasks.py +++ b/tasks_no_ui/BtTest/Open_tasks.py @@ -24,8 +24,8 @@ class SceneOT(Scene): # ] self.signal_event_list =[ # (3, self.set_goal,("On(Yogurt,Bar)",)), - # (3, self.customer_say, ("System", "把盒装冰红茶放到水桌")), - (3, self.customer_say, ("System", "打开空调并降低空调温度")), + (3, self.customer_say, ("System", "把盒装冰红茶放到水桌")), + # (3, self.customer_say, ("System", "打开空调并降低空调温度")), ] def _reset(self):