diff --git a/robowaiter/utils/draw_bt/Default.ptml b/robowaiter/utils/draw_bt/Default.ptml
index 9521eb4..ced9c81 100644
--- a/robowaiter/utils/draw_bt/Default.ptml
+++ b/robowaiter/utils/draw_bt/Default.ptml
@@ -4,7 +4,7 @@
             cond At(Robot, Coffee)
             selector
                 sequence
-                    cond Holding(Nothing)
+                    cond Not Holding(Nothing)
                     act PickUp(Coffee)
                 act PutDown(Anything, Anywhere)
             selector
diff --git a/robowaiter/utils/draw_bt/Default_bracket.ptml b/robowaiter/utils/draw_bt/Default_bracket.ptml
index 69bec14..712e995 100644
--- a/robowaiter/utils/draw_bt/Default_bracket.ptml
+++ b/robowaiter/utils/draw_bt/Default_bracket.ptml
@@ -7,7 +7,7 @@ selector
 {
             sequence
 {
-                cond Holding(Nothing)
+                cond Not Holding(Nothing)
                 act PickUp(Coffee)
             }            act PutDown(Anything, Anywhere)
         }        selector
diff --git a/robowaiter/utils/draw_bt/test.dot b/robowaiter/utils/draw_bt/test.dot
index a38b5e1..ef5ac59 100644
--- a/robowaiter/utils/draw_bt/test.dot
+++ b/robowaiter/utils/draw_bt/test.dot
@@ -3,59 +3,59 @@ ordering=out;
 graph [fontname="times-roman"];
 node [fontname="times-roman"];
 edge [fontname="times-roman"];
-"3966e37f-61fa-4266-b3a2-b5719d0eaa54" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"2670a901-5db5-4886-a69c-57f55807a77b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"3966e37f-61fa-4266-b3a2-b5719d0eaa54" -> "2670a901-5db5-4886-a69c-57f55807a77b";
-"b8e77d71-eee6-46b1-bf56-ba4bc655b1d3" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
-"2670a901-5db5-4886-a69c-57f55807a77b" -> "b8e77d71-eee6-46b1-bf56-ba4bc655b1d3";
-"c98609a2-cfb4-4456-9563-0153cdaf77f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
-"b8e77d71-eee6-46b1-bf56-ba4bc655b1d3" -> "c98609a2-cfb4-4456-9563-0153cdaf77f1";
-"ecfbef2b-c1e5-4ba4-a734-b1eaecb78128" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"2670a901-5db5-4886-a69c-57f55807a77b" -> "ecfbef2b-c1e5-4ba4-a734-b1eaecb78128";
-"5ea6af3b-4ed9-4c31-9893-6599911c89bc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"ecfbef2b-c1e5-4ba4-a734-b1eaecb78128" -> "5ea6af3b-4ed9-4c31-9893-6599911c89bc";
-"55c2a21d-6684-4273-8231-5fa834dd2c32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
-"5ea6af3b-4ed9-4c31-9893-6599911c89bc" -> "55c2a21d-6684-4273-8231-5fa834dd2c32";
-"f95979e2-7328-44e4-9eaa-a4d7e8351751" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
-"5ea6af3b-4ed9-4c31-9893-6599911c89bc" -> "f95979e2-7328-44e4-9eaa-a4d7e8351751";
-"b49cc444-b073-4f14-b709-70be469292d2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
-"ecfbef2b-c1e5-4ba4-a734-b1eaecb78128" -> "b49cc444-b073-4f14-b709-70be469292d2";
-"09f2f623-a9ed-4637-9a03-e3eba9e1368d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"2670a901-5db5-4886-a69c-57f55807a77b" -> "09f2f623-a9ed-4637-9a03-e3eba9e1368d";
-"b9ebf069-8434-403e-a6f7-4641fe9ef0c0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"09f2f623-a9ed-4637-9a03-e3eba9e1368d" -> "b9ebf069-8434-403e-a6f7-4641fe9ef0c0";
-"49275b8a-b220-4222-a76f-20c273db7137" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
-"b9ebf069-8434-403e-a6f7-4641fe9ef0c0" -> "49275b8a-b220-4222-a76f-20c273db7137";
-"0672b275-28ef-4275-9a0e-f1d35deb9de8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
-"b9ebf069-8434-403e-a6f7-4641fe9ef0c0" -> "0672b275-28ef-4275-9a0e-f1d35deb9de8";
-"ce0b68ed-9606-4d17-8ef9-0f2f60b778c8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
-"b9ebf069-8434-403e-a6f7-4641fe9ef0c0" -> "ce0b68ed-9606-4d17-8ef9-0f2f60b778c8";
-"05155dc9-7a6a-4129-b869-7ed4254a82e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
-"09f2f623-a9ed-4637-9a03-e3eba9e1368d" -> "05155dc9-7a6a-4129-b869-7ed4254a82e2";
-"ea7271b8-6f06-4b73-a495-bd19b149b6c2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"3966e37f-61fa-4266-b3a2-b5719d0eaa54" -> "ea7271b8-6f06-4b73-a495-bd19b149b6c2";
-"7301fc34-e40d-472c-bc73-7e5c6b7d39c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
-"ea7271b8-6f06-4b73-a495-bd19b149b6c2" -> "7301fc34-e40d-472c-bc73-7e5c6b7d39c6";
-"ad3774e1-4c5c-4120-901b-8208a465a2d4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"ea7271b8-6f06-4b73-a495-bd19b149b6c2" -> "ad3774e1-4c5c-4120-901b-8208a465a2d4";
-"98f9d98b-1647-4cfc-8715-65f7a6bf37de" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"ad3774e1-4c5c-4120-901b-8208a465a2d4" -> "98f9d98b-1647-4cfc-8715-65f7a6bf37de";
-"07528c29-c1a1-4e7e-97b4-beebafe55e6f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
-"98f9d98b-1647-4cfc-8715-65f7a6bf37de" -> "07528c29-c1a1-4e7e-97b4-beebafe55e6f";
-"af81f991-d3c8-4560-bf5b-ea7d0755c0d2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
-"98f9d98b-1647-4cfc-8715-65f7a6bf37de" -> "af81f991-d3c8-4560-bf5b-ea7d0755c0d2";
-"97577672-eeb2-4921-bb7b-e232a3dcd886" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
-"ad3774e1-4c5c-4120-901b-8208a465a2d4" -> "97577672-eeb2-4921-bb7b-e232a3dcd886";
-"6382c654-de14-45ca-a1b4-a5767d0120c3" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"ea7271b8-6f06-4b73-a495-bd19b149b6c2" -> "6382c654-de14-45ca-a1b4-a5767d0120c3";
-"7870a21a-2410-414c-b408-bc3b39c28f1e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"6382c654-de14-45ca-a1b4-a5767d0120c3" -> "7870a21a-2410-414c-b408-bc3b39c28f1e";
-"05e4706c-93e8-4361-8acb-87af236afeeb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
-"7870a21a-2410-414c-b408-bc3b39c28f1e" -> "05e4706c-93e8-4361-8acb-87af236afeeb";
-"938a274e-cf4d-45ed-a821-2497c3f72a64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
-"7870a21a-2410-414c-b408-bc3b39c28f1e" -> "938a274e-cf4d-45ed-a821-2497c3f72a64";
-"c0c19eae-dc22-4038-83d7-45304bba30ee" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
-"7870a21a-2410-414c-b408-bc3b39c28f1e" -> "c0c19eae-dc22-4038-83d7-45304bba30ee";
-"594058dd-ed6d-468e-b493-f1076d6f811e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled];
-"6382c654-de14-45ca-a1b4-a5767d0120c3" -> "594058dd-ed6d-468e-b493-f1076d6f811e";
+"abdeedb3-6a60-45a3-bf5c-4217e223451b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"c9ce156f-5d47-4da9-8596-9e8067de52bc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"abdeedb3-6a60-45a3-bf5c-4217e223451b" -> "c9ce156f-5d47-4da9-8596-9e8067de52bc";
+"c6db8fa2-bd8d-4dd7-b0f4-7e8729613a4b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
+"c9ce156f-5d47-4da9-8596-9e8067de52bc" -> "c6db8fa2-bd8d-4dd7-b0f4-7e8729613a4b";
+"fca0766e-ad16-465f-9b5a-1bddb0c8a0f0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"c9ce156f-5d47-4da9-8596-9e8067de52bc" -> "fca0766e-ad16-465f-9b5a-1bddb0c8a0f0";
+"7a297880-5745-4051-8ac5-253822cca740" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"fca0766e-ad16-465f-9b5a-1bddb0c8a0f0" -> "7a297880-5745-4051-8ac5-253822cca740";
+"45480b6d-a2a3-466a-98d6-c6205f235d44" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
+"7a297880-5745-4051-8ac5-253822cca740" -> "45480b6d-a2a3-466a-98d6-c6205f235d44";
+"25a03ca7-e5cc-4ce1-ba90-e6fa5188d3d5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
+"45480b6d-a2a3-466a-98d6-c6205f235d44" -> "25a03ca7-e5cc-4ce1-ba90-e6fa5188d3d5";
+"b9881fe7-d88e-4b34-b325-af0b72cf0ced" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
+"7a297880-5745-4051-8ac5-253822cca740" -> "b9881fe7-d88e-4b34-b325-af0b72cf0ced";
+"a1ab1c7c-8afe-49a3-be68-fcd64882f6d9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
+"fca0766e-ad16-465f-9b5a-1bddb0c8a0f0" -> "a1ab1c7c-8afe-49a3-be68-fcd64882f6d9";
+"eb74d1b0-3325-42a1-84f7-625a38a5eba3" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"c9ce156f-5d47-4da9-8596-9e8067de52bc" -> "eb74d1b0-3325-42a1-84f7-625a38a5eba3";
+"e135a667-429c-471b-91d2-070b2234a38b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"eb74d1b0-3325-42a1-84f7-625a38a5eba3" -> "e135a667-429c-471b-91d2-070b2234a38b";
+"b7885ccf-1dc9-4b95-8d1f-7cc5ce59a298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
+"e135a667-429c-471b-91d2-070b2234a38b" -> "b7885ccf-1dc9-4b95-8d1f-7cc5ce59a298";
+"05b82aae-73dd-48a5-ad3d-0ebaa2152087" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
+"e135a667-429c-471b-91d2-070b2234a38b" -> "05b82aae-73dd-48a5-ad3d-0ebaa2152087";
+"2bebdc8c-8f6e-4515-bf9e-fe1f4046233d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
+"e135a667-429c-471b-91d2-070b2234a38b" -> "2bebdc8c-8f6e-4515-bf9e-fe1f4046233d";
+"d5fa89b7-bf10-4b6c-9cfd-37a8b657104f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
+"eb74d1b0-3325-42a1-84f7-625a38a5eba3" -> "d5fa89b7-bf10-4b6c-9cfd-37a8b657104f";
+"6e3a9acb-4e15-4563-a955-fc4bb1e7f050" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"abdeedb3-6a60-45a3-bf5c-4217e223451b" -> "6e3a9acb-4e15-4563-a955-fc4bb1e7f050";
+"30c67d65-5101-4ead-9035-9ca926b3da02" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
+"6e3a9acb-4e15-4563-a955-fc4bb1e7f050" -> "30c67d65-5101-4ead-9035-9ca926b3da02";
+"318fa99d-666a-4551-9977-05b1305a6705" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"6e3a9acb-4e15-4563-a955-fc4bb1e7f050" -> "318fa99d-666a-4551-9977-05b1305a6705";
+"d059767f-ed5c-46dc-bb1c-0e4773a448ef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"318fa99d-666a-4551-9977-05b1305a6705" -> "d059767f-ed5c-46dc-bb1c-0e4773a448ef";
+"7d718ac1-d947-461e-ba4f-350ae37ee6c1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
+"d059767f-ed5c-46dc-bb1c-0e4773a448ef" -> "7d718ac1-d947-461e-ba4f-350ae37ee6c1";
+"0b34eaf0-1a37-48c6-b689-73e62d71257c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
+"d059767f-ed5c-46dc-bb1c-0e4773a448ef" -> "0b34eaf0-1a37-48c6-b689-73e62d71257c";
+"e1d00e96-c30c-4879-82bd-2237a652bea2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
+"318fa99d-666a-4551-9977-05b1305a6705" -> "e1d00e96-c30c-4879-82bd-2237a652bea2";
+"3c11d76d-6940-47f2-968f-e01158dc89c1" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"6e3a9acb-4e15-4563-a955-fc4bb1e7f050" -> "3c11d76d-6940-47f2-968f-e01158dc89c1";
+"37fa5b66-dc77-4df2-a9bf-b62297dc7060" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"3c11d76d-6940-47f2-968f-e01158dc89c1" -> "37fa5b66-dc77-4df2-a9bf-b62297dc7060";
+"3797bd82-c99b-4e50-bf59-1550e34a4efa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
+"37fa5b66-dc77-4df2-a9bf-b62297dc7060" -> "3797bd82-c99b-4e50-bf59-1550e34a4efa";
+"5a7ff51a-ccf2-48a8-84e2-6e1b5ccec0dc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
+"37fa5b66-dc77-4df2-a9bf-b62297dc7060" -> "5a7ff51a-ccf2-48a8-84e2-6e1b5ccec0dc";
+"81bcce3c-6965-44e7-bbc2-eef5e0e1eafe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
+"37fa5b66-dc77-4df2-a9bf-b62297dc7060" -> "81bcce3c-6965-44e7-bbc2-eef5e0e1eafe";
+"9541bac2-ac45-47ab-afc1-71e541b7811d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled];
+"3c11d76d-6940-47f2-968f-e01158dc89c1" -> "9541bac2-ac45-47ab-afc1-71e541b7811d";
 }
diff --git a/robowaiter/utils/draw_bt/test.png b/robowaiter/utils/draw_bt/test.png
index 4b08b5c..a3ec34f 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 6fc157e..fa95f28 100644
--- a/robowaiter/utils/draw_bt/test.svg
+++ b/robowaiter/utils/draw_bt/test.svg
@@ -4,340 +4,340 @@
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+<polygon fill="white" stroke="none" points="-4,4 -4,-415.08 2398.2,-415.08 2398.2,4 -4,4"/>
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 <g id="node1" class="node">
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+<title>abdeedb3&#45;6a60&#45;45a3&#45;bf5c&#45;4217e223451b</title>
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