diff --git a/robowaiter/llm_client/single_round.py b/robowaiter/llm_client/single_round.py index 21e9694..e043d2f 100644 --- a/robowaiter/llm_client/single_round.py +++ b/robowaiter/llm_client/single_round.py @@ -47,11 +47,43 @@ def single_round(question, prefix=""): if __name__ == '__main__': question = ''' - 给我来杯咖啡 + [Condition] +Near_Robot_, On__, Holding_, Exist_, Is__ + +[Object] +=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'] +=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'] +=+ +=['AC','TubeLight','HallLight','Curtain','ACTemperature','Table1','Floor','Chairs'] +=['On','Off','Up','Down','Clean','Dirty'] + +[Examples] +Please put the soft drink on the watertable. +On_Softdrink_WaterTable + +Please deliver the coffee to table number one and turn on the hall light. +On_Coffee_Table & Is_HallLight_On + +Do not place the water on the bar counter, and please remember to deliver coffee or bernachon to table 2 +~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2) + +Please raise the air conditioning temperature and tidy up the chairs. +Is_ACTemperature_On & Is_Chairs_Clean + +[Prompt] +[Condition] Lists all predicates representing conditions and their optional parameter sets. +[Object] Lists all parameter sets. +[Examples] Provide several examples of Instruction to Goal mapping. +Please follow the predicate format requirements strictly and, based on the given Instructions, generate Goals that comply with the specifications in predicate formula format. Please generate directly interpretable predicate formulas without additional explanations. +For example, if the Instruction is: "Please raise the air conditioning temperature and tidy up the chairs," your output should only be: +Is_ACTemperature_On & Is_Chairs_Clean +without any additional information. do not start with Goal:!! + +Please put the soft drink on the watertable. ''' import timeit cur_time = time.time() # print(single_round(question)) - print(single_round(question, prefix='现在给出符合这句话要求的目标状态: ')) + print(single_round(question)) print(f"单次生成耗时：{time.time() - cur_time} s \n") diff --git a/robowaiter/utils/bt/draw.py b/robowaiter/utils/bt/draw.py index cfce6c3..72a3125 100644 --- a/robowaiter/utils/bt/draw.py +++ b/robowaiter/utils/bt/draw.py @@ -114,7 +114,7 @@ def dot_tree( if node_name == "Sequence": node_name = "→" if node_name == "Selector": - node_name = "?" + node_name = " ? " return node_name fontsize = 20 diff --git a/robowaiter/utils/draw_bt/test.dot b/robowaiter/utils/draw_bt/test.dot index cb6404f..85fd50e 100644 --- a/robowaiter/utils/draw_bt/test.dot +++ b/robowaiter/utils/draw_bt/test.dot @@ -3,57 +3,57 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"c681805a-96e1-4a3d-a38d-0bfca162692b" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"e878636e-ab91-45b3-8d25-1712a9b919ab" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "e878636e-ab91-45b3-8d25-1712a9b919ab"; -"e88e510b-5495-4aa1-95cd-f95b3b4e50dc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; -"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "e88e510b-5495-4aa1-95cd-f95b3b4e50dc"; -"292edbec-e8dc-44df-a80c-7dd5b6dd6692" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "292edbec-e8dc-44df-a80c-7dd5b6dd6692"; -"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b"; -"65f29fbc-02c3-4015-98bf-e71d16a78cbb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "65f29fbc-02c3-4015-98bf-e71d16a78cbb"; -"c503211c-ab75-4671-a6ca-2f66518be485" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; -"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "c503211c-ab75-4671-a6ca-2f66518be485"; -"27760c0d-aa85-437c-ac87-564d573f6d3d" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "27760c0d-aa85-437c-ac87-564d573f6d3d"; -"94f578bf-0c4b-4614-aacc-d73ca0996d2c" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "94f578bf-0c4b-4614-aacc-d73ca0996d2c"; -"5a162890-11de-41d8-9954-ba17ccf166c4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "5a162890-11de-41d8-9954-ba17ccf166c4"; -"296bae80-a542-4fde-87b9-b030340caa1d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"5a162890-11de-41d8-9954-ba17ccf166c4" -> "296bae80-a542-4fde-87b9-b030340caa1d"; -"cba60b1e-308f-4f5a-939c-28bba802bca5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"5a162890-11de-41d8-9954-ba17ccf166c4" -> "cba60b1e-308f-4f5a-939c-28bba802bca5"; -"93924025-e88f-47ec-90e4-c53bbc3df60e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; -"5a162890-11de-41d8-9954-ba17ccf166c4" -> "93924025-e88f-47ec-90e4-c53bbc3df60e"; -"191ca7d5-a98c-429f-b040-66d210c30bdd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled]; -"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "191ca7d5-a98c-429f-b040-66d210c30bdd"; -"5461e129-ef05-4848-9107-2617c82b3566" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "5461e129-ef05-4848-9107-2617c82b3566"; -"fd31940a-4e40-433d-8165-c9dd302fae62" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; -"5461e129-ef05-4848-9107-2617c82b3566" -> "fd31940a-4e40-433d-8165-c9dd302fae62"; -"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"5461e129-ef05-4848-9107-2617c82b3566" -> "0a9876b0-1ff9-4f96-b7a8-8257a3928f62"; -"052d5a92-c6b4-483d-9cef-41745df61ff9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "052d5a92-c6b4-483d-9cef-41745df61ff9"; -"c8462c00-d129-4eba-a0b4-ad6a819e34e8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "c8462c00-d129-4eba-a0b4-ad6a819e34e8"; -"5a944a18-ea71-4cbe-a04e-675d955b1b1f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; -"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "5a944a18-ea71-4cbe-a04e-675d955b1b1f"; -"bfea3ed6-08c4-4fd3-9aa7-994f4be28953" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "bfea3ed6-08c4-4fd3-9aa7-994f4be28953"; -"c719600f-4033-418f-8608-5c808481d1aa" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"5461e129-ef05-4848-9107-2617c82b3566" -> "c719600f-4033-418f-8608-5c808481d1aa"; -"c9d1af42-f394-4c52-9e7b-32d46487c708" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"c719600f-4033-418f-8608-5c808481d1aa" -> "c9d1af42-f394-4c52-9e7b-32d46487c708"; -"84ecc165-efa0-4747-8ce9-64bf6ac557a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "84ecc165-efa0-4747-8ce9-64bf6ac557a2"; -"8d3d2c3f-1f52-4742-bb03-a02d578134de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; -"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "8d3d2c3f-1f52-4742-bb03-a02d578134de"; -"b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled]; -"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12"; -"5685125a-34f9-40cd-be0c-b7674970c01b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled]; -"c719600f-4033-418f-8608-5c808481d1aa" -> "5685125a-34f9-40cd-be0c-b7674970c01b"; +"e5aa5d5b-9169-41fc-a26d-b16b24db8215" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"cc077d7a-c074-4249-9fa9-d559c6600fbc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e5aa5d5b-9169-41fc-a26d-b16b24db8215" -> "cc077d7a-c074-4249-9fa9-d559c6600fbc"; +"2f4be6cb-5d87-4119-a678-9245fb5e5b08" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; +"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "2f4be6cb-5d87-4119-a678-9245fb5e5b08"; +"8f8c4dda-1add-4b23-8b5f-104d518ac38e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "8f8c4dda-1add-4b23-8b5f-104d518ac38e"; +"0261c661-a520-434f-95a3-6d55d1fa8aff" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"8f8c4dda-1add-4b23-8b5f-104d518ac38e" -> "0261c661-a520-434f-95a3-6d55d1fa8aff"; +"97e8f95e-7ec3-479e-b312-67cdf1a6873a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"0261c661-a520-434f-95a3-6d55d1fa8aff" -> "97e8f95e-7ec3-479e-b312-67cdf1a6873a"; +"2d950b58-e85c-40c0-854a-9b697982b340" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; +"0261c661-a520-434f-95a3-6d55d1fa8aff" -> "2d950b58-e85c-40c0-854a-9b697982b340"; +"9b20a231-db9d-4a0c-b1c4-fa01bc7948d8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"8f8c4dda-1add-4b23-8b5f-104d518ac38e" -> "9b20a231-db9d-4a0c-b1c4-fa01bc7948d8"; +"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "05b2c4df-a48e-44f9-8776-80b4c9d5a4c7"; +"d76fc92b-8df3-4129-a49f-9973306d4720" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" -> "d76fc92b-8df3-4129-a49f-9973306d4720"; +"a0736935-6ac5-474c-a9fa-73dcbcc925af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"d76fc92b-8df3-4129-a49f-9973306d4720" -> "a0736935-6ac5-474c-a9fa-73dcbcc925af"; +"ec73963c-0438-4205-8cd1-985013e498aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"d76fc92b-8df3-4129-a49f-9973306d4720" -> "ec73963c-0438-4205-8cd1-985013e498aa"; +"72267a55-597b-45ea-81b1-3097e2da726a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; +"d76fc92b-8df3-4129-a49f-9973306d4720" -> "72267a55-597b-45ea-81b1-3097e2da726a"; +"af323181-3453-4e7f-833e-ec78a917511c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled]; +"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" -> "af323181-3453-4e7f-833e-ec78a917511c"; +"d332b9b3-fee1-45a4-b217-ca131574f061" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e5aa5d5b-9169-41fc-a26d-b16b24db8215" -> "d332b9b3-fee1-45a4-b217-ca131574f061"; +"cd8e4c90-2898-496a-9a59-b758d4c2b27c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; +"d332b9b3-fee1-45a4-b217-ca131574f061" -> "cd8e4c90-2898-496a-9a59-b758d4c2b27c"; +"699354b5-961f-41e0-ac17-2883820573a4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"d332b9b3-fee1-45a4-b217-ca131574f061" -> "699354b5-961f-41e0-ac17-2883820573a4"; +"2b4ae08b-e738-4c97-93f7-711039311c56" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"699354b5-961f-41e0-ac17-2883820573a4" -> "2b4ae08b-e738-4c97-93f7-711039311c56"; +"c2584464-9670-49f6-8230-a974e64c00a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"2b4ae08b-e738-4c97-93f7-711039311c56" -> "c2584464-9670-49f6-8230-a974e64c00a6"; +"95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; +"2b4ae08b-e738-4c97-93f7-711039311c56" -> "95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a"; +"9b2ce40c-3232-421c-9eb6-6dbc866e3ba2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"699354b5-961f-41e0-ac17-2883820573a4" -> "9b2ce40c-3232-421c-9eb6-6dbc866e3ba2"; +"5f275a1f-dbae-4696-b79f-d6c96d3bd546" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; +"d332b9b3-fee1-45a4-b217-ca131574f061" -> "5f275a1f-dbae-4696-b79f-d6c96d3bd546"; +"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"5f275a1f-dbae-4696-b79f-d6c96d3bd546" -> "a7bd72b9-0f63-457f-9e05-67ca8a26f89e"; +"e9accfe2-5d94-4223-803a-eb5d89e50bf0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "e9accfe2-5d94-4223-803a-eb5d89e50bf0"; +"317f4bb8-4bb7-447d-a289-a9a11b79c6ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "317f4bb8-4bb7-447d-a289-a9a11b79c6ec"; +"065858de-2a4c-47fd-84e2-a492dc338a9f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled]; +"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "065858de-2a4c-47fd-84e2-a492dc338a9f"; +"9e9b5ae5-5a89-4263-b523-06fe03a01009" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled]; +"5f275a1f-dbae-4696-b79f-d6c96d3bd546" -> "9e9b5ae5-5a89-4263-b523-06fe03a01009"; } diff --git a/robowaiter/utils/draw_bt/test.png b/robowaiter/utils/draw_bt/test.png index 21942b3..ae4285e 100644 Binary files a/robowaiter/utils/draw_bt/test.png and b/robowaiter/utils/draw_bt/test.png differ diff --git a/robowaiter/utils/draw_bt/test.svg b/robowaiter/utils/draw_bt/test.svg index 5d9f517..bd1cc21 100644 --- a/robowaiter/utils/draw_bt/test.svg +++ b/robowaiter/utils/draw_bt/test.svg @@ -4,328 +4,328 @@ - - + + pastafarianism - - + + -c681805a-96e1-4a3d-a38d-0bfca162692b - -Selector +e5aa5d5b-9169-41fc-a26d-b16b24db8215 + + ? - + -e878636e-ab91-45b3-8d25-1712a9b919ab - -Sequence +cc077d7a-c074-4249-9fa9-d559c6600fbc + +→ - + -c681805a-96e1-4a3d-a38d-0bfca162692b->e878636e-ab91-45b3-8d25-1712a9b919ab - - +e5aa5d5b-9169-41fc-a26d-b16b24db8215->cc077d7a-c074-4249-9fa9-d559c6600fbc + + - + -5461e129-ef05-4848-9107-2617c82b3566 - -Sequence +d332b9b3-fee1-45a4-b217-ca131574f061 + +→ - + -c681805a-96e1-4a3d-a38d-0bfca162692b->5461e129-ef05-4848-9107-2617c82b3566 - - +e5aa5d5b-9169-41fc-a26d-b16b24db8215->d332b9b3-fee1-45a4-b217-ca131574f061 + + - + -e88e510b-5495-4aa1-95cd-f95b3b4e50dc - -At(Robot,Coffee) +2f4be6cb-5d87-4119-a678-9245fb5e5b08 + +At(Robot,Coffee) - + -e878636e-ab91-45b3-8d25-1712a9b919ab->e88e510b-5495-4aa1-95cd-f95b3b4e50dc - - +cc077d7a-c074-4249-9fa9-d559c6600fbc->2f4be6cb-5d87-4119-a678-9245fb5e5b08 + + - + -292edbec-e8dc-44df-a80c-7dd5b6dd6692 - -Selector +8f8c4dda-1add-4b23-8b5f-104d518ac38e + + ? - + -e878636e-ab91-45b3-8d25-1712a9b919ab->292edbec-e8dc-44df-a80c-7dd5b6dd6692 - - +cc077d7a-c074-4249-9fa9-d559c6600fbc->8f8c4dda-1add-4b23-8b5f-104d518ac38e + + - + -94f578bf-0c4b-4614-aacc-d73ca0996d2c - -Selector +05b2c4df-a48e-44f9-8776-80b4c9d5a4c7 + + ? - + -e878636e-ab91-45b3-8d25-1712a9b919ab->94f578bf-0c4b-4614-aacc-d73ca0996d2c - - +cc077d7a-c074-4249-9fa9-d559c6600fbc->05b2c4df-a48e-44f9-8776-80b4c9d5a4c7 + + - + -8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b - -Sequence +0261c661-a520-434f-95a3-6d55d1fa8aff + +→ - + -292edbec-e8dc-44df-a80c-7dd5b6dd6692->8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b - - +8f8c4dda-1add-4b23-8b5f-104d518ac38e->0261c661-a520-434f-95a3-6d55d1fa8aff + + - + -27760c0d-aa85-437c-ac87-564d573f6d3d - -PutDown(Anything,Anywhere) +9b20a231-db9d-4a0c-b1c4-fa01bc7948d8 + +PutDown(Anything,Anywhere) - + -292edbec-e8dc-44df-a80c-7dd5b6dd6692->27760c0d-aa85-437c-ac87-564d573f6d3d - - +8f8c4dda-1add-4b23-8b5f-104d518ac38e->9b20a231-db9d-4a0c-b1c4-fa01bc7948d8 + + - + -65f29fbc-02c3-4015-98bf-e71d16a78cbb - +97e8f95e-7ec3-479e-b312-67cdf1a6873a + Holding(Nothing) - + -8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b->65f29fbc-02c3-4015-98bf-e71d16a78cbb - - +0261c661-a520-434f-95a3-6d55d1fa8aff->97e8f95e-7ec3-479e-b312-67cdf1a6873a + + - + -c503211c-ab75-4671-a6ca-2f66518be485 - +2d950b58-e85c-40c0-854a-9b697982b340 + PickUp(Coffee) - + -8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b->c503211c-ab75-4671-a6ca-2f66518be485 - - +0261c661-a520-434f-95a3-6d55d1fa8aff->2d950b58-e85c-40c0-854a-9b697982b340 + + - + -5a162890-11de-41d8-9954-ba17ccf166c4 - -Sequence +d76fc92b-8df3-4129-a49f-9973306d4720 + +→ - + -94f578bf-0c4b-4614-aacc-d73ca0996d2c->5a162890-11de-41d8-9954-ba17ccf166c4 - - +05b2c4df-a48e-44f9-8776-80b4c9d5a4c7->d76fc92b-8df3-4129-a49f-9973306d4720 + + - + -191ca7d5-a98c-429f-b040-66d210c30bdd - -MoveTo(WaterTable) +af323181-3453-4e7f-833e-ec78a917511c + +MoveTo(WaterTable) - + -94f578bf-0c4b-4614-aacc-d73ca0996d2c->191ca7d5-a98c-429f-b040-66d210c30bdd - - +05b2c4df-a48e-44f9-8776-80b4c9d5a4c7->af323181-3453-4e7f-833e-ec78a917511c + + - + -296bae80-a542-4fde-87b9-b030340caa1d - +a0736935-6ac5-474c-a9fa-73dcbcc925af + Holding(Coffee) - + -5a162890-11de-41d8-9954-ba17ccf166c4->296bae80-a542-4fde-87b9-b030340caa1d - - +d76fc92b-8df3-4129-a49f-9973306d4720->a0736935-6ac5-474c-a9fa-73dcbcc925af + + - + -cba60b1e-308f-4f5a-939c-28bba802bca5 - +ec73963c-0438-4205-8cd1-985013e498aa + At(Robot,WaterTable) - + -5a162890-11de-41d8-9954-ba17ccf166c4->cba60b1e-308f-4f5a-939c-28bba802bca5 - - +d76fc92b-8df3-4129-a49f-9973306d4720->ec73963c-0438-4205-8cd1-985013e498aa + + - + -93924025-e88f-47ec-90e4-c53bbc3df60e - +72267a55-597b-45ea-81b1-3097e2da726a + PutDown(Coffee,WaterTable) - + -5a162890-11de-41d8-9954-ba17ccf166c4->93924025-e88f-47ec-90e4-c53bbc3df60e - - +d76fc92b-8df3-4129-a49f-9973306d4720->72267a55-597b-45ea-81b1-3097e2da726a + + - + -fd31940a-4e40-433d-8165-c9dd302fae62 - -At(Robot,Coffee) +cd8e4c90-2898-496a-9a59-b758d4c2b27c + +At(Robot,Coffee) - + -5461e129-ef05-4848-9107-2617c82b3566->fd31940a-4e40-433d-8165-c9dd302fae62 - - +d332b9b3-fee1-45a4-b217-ca131574f061->cd8e4c90-2898-496a-9a59-b758d4c2b27c + + - + -0a9876b0-1ff9-4f96-b7a8-8257a3928f62 - -Selector +699354b5-961f-41e0-ac17-2883820573a4 + + ? - + -5461e129-ef05-4848-9107-2617c82b3566->0a9876b0-1ff9-4f96-b7a8-8257a3928f62 - - +d332b9b3-fee1-45a4-b217-ca131574f061->699354b5-961f-41e0-ac17-2883820573a4 + + - + -c719600f-4033-418f-8608-5c808481d1aa - -Selector +5f275a1f-dbae-4696-b79f-d6c96d3bd546 + + ? - + -5461e129-ef05-4848-9107-2617c82b3566->c719600f-4033-418f-8608-5c808481d1aa - - +d332b9b3-fee1-45a4-b217-ca131574f061->5f275a1f-dbae-4696-b79f-d6c96d3bd546 + + - + -052d5a92-c6b4-483d-9cef-41745df61ff9 - -Sequence +2b4ae08b-e738-4c97-93f7-711039311c56 + +→ - + -0a9876b0-1ff9-4f96-b7a8-8257a3928f62->052d5a92-c6b4-483d-9cef-41745df61ff9 - - +699354b5-961f-41e0-ac17-2883820573a4->2b4ae08b-e738-4c97-93f7-711039311c56 + + - + -bfea3ed6-08c4-4fd3-9aa7-994f4be28953 - -PutDown(Anything,Anywhere) +9b2ce40c-3232-421c-9eb6-6dbc866e3ba2 + +PutDown(Anything,Anywhere) - + -0a9876b0-1ff9-4f96-b7a8-8257a3928f62->bfea3ed6-08c4-4fd3-9aa7-994f4be28953 - - +699354b5-961f-41e0-ac17-2883820573a4->9b2ce40c-3232-421c-9eb6-6dbc866e3ba2 + + - + -c8462c00-d129-4eba-a0b4-ad6a819e34e8 - +c2584464-9670-49f6-8230-a974e64c00a6 + Holding(Nothing) - + -052d5a92-c6b4-483d-9cef-41745df61ff9->c8462c00-d129-4eba-a0b4-ad6a819e34e8 - - +2b4ae08b-e738-4c97-93f7-711039311c56->c2584464-9670-49f6-8230-a974e64c00a6 + + - + -5a944a18-ea71-4cbe-a04e-675d955b1b1f - +95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a + PickUp(Coffee) - + -052d5a92-c6b4-483d-9cef-41745df61ff9->5a944a18-ea71-4cbe-a04e-675d955b1b1f - - +2b4ae08b-e738-4c97-93f7-711039311c56->95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a + + - + -c9d1af42-f394-4c52-9e7b-32d46487c708 - -Sequence +a7bd72b9-0f63-457f-9e05-67ca8a26f89e + +→ - + -c719600f-4033-418f-8608-5c808481d1aa->c9d1af42-f394-4c52-9e7b-32d46487c708 - - +5f275a1f-dbae-4696-b79f-d6c96d3bd546->a7bd72b9-0f63-457f-9e05-67ca8a26f89e + + - + -5685125a-34f9-40cd-be0c-b7674970c01b - -MoveTo(BrightTable6) +9e9b5ae5-5a89-4263-b523-06fe03a01009 + +MoveTo(BrightTable6) - + -c719600f-4033-418f-8608-5c808481d1aa->5685125a-34f9-40cd-be0c-b7674970c01b - - +5f275a1f-dbae-4696-b79f-d6c96d3bd546->9e9b5ae5-5a89-4263-b523-06fe03a01009 + + - + -84ecc165-efa0-4747-8ce9-64bf6ac557a2 - +e9accfe2-5d94-4223-803a-eb5d89e50bf0 + Holding(Coffee) - + -c9d1af42-f394-4c52-9e7b-32d46487c708->84ecc165-efa0-4747-8ce9-64bf6ac557a2 - - +a7bd72b9-0f63-457f-9e05-67ca8a26f89e->e9accfe2-5d94-4223-803a-eb5d89e50bf0 + + - + -8d3d2c3f-1f52-4742-bb03-a02d578134de - +317f4bb8-4bb7-447d-a289-a9a11b79c6ec + At(Robot,BrightTable6) - + -c9d1af42-f394-4c52-9e7b-32d46487c708->8d3d2c3f-1f52-4742-bb03-a02d578134de - - +a7bd72b9-0f63-457f-9e05-67ca8a26f89e->317f4bb8-4bb7-447d-a289-a9a11b79c6ec + + - + -b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12 - +065858de-2a4c-47fd-84e2-a492dc338a9f + PutDown(Coffee,BrightTable6) - + -c9d1af42-f394-4c52-9e7b-32d46487c708->b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12 - - +a7bd72b9-0f63-457f-9e05-67ca8a26f89e->065858de-2a4c-47fd-84e2-a492dc338a9f + +