diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index 1feed88..173ae8f 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -19,12 +19,12 @@ class Bahavior(ptree.behaviour.Behaviour): 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', 'Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'} tables_for_guiding = {"QuietTable1","QuietTable2", - "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6" + "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} - # tables_for_placement = {'Bar', 'WaterTable', 'CoffeeTable'} - # all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'} + # tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'} + # all_object = {'Coffee'} num_of_obj_on_place={ diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index 6965505..fd4588e 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -21,7 +21,7 @@ class MoveTo(Act): info['pre'] |= {f'Exist({arg})'} info["add"] = {f'At(Robot,{arg})'} info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} - info['cost'] = 5 + info['cost'] = 10 # if arg!='Anything': # info['cost']=5 # else: diff --git a/robowaiter/behavior_lib/act/PickUp.py b/robowaiter/behavior_lib/act/PickUp.py index 10d2f6f..85b4680 100644 --- a/robowaiter/behavior_lib/act/PickUp.py +++ b/robowaiter/behavior_lib/act/PickUp.py @@ -18,7 +18,7 @@ class PickUp(Act): info = {} info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'} info["add"] = {f'Holding({arg})'} - info["del_set"] = {f'Holding(Nothing)'} + info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #, for place in cls.valid_args: info["del_set"] |= {f'On({arg},{place})'} info['cost'] = 2 diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index 149acac..1b52fe4 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -84,6 +84,7 @@ class OptBTExpAlgorithm: self.conditions_index=[] self.verbose=verbose self.goal=None + self.bt_merge = True def clear(self): self.bt = None @@ -169,7 +170,8 @@ 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() + if self.bt_merge: + self.merge_adjacent_conditions_stack() return True else: subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) @@ -215,12 +217,96 @@ 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.bt_merge: + self.merge_adjacent_conditions_stack() if self.verbose: print("算法结束！\n") return True def merge_adjacent_conditions_stack(self): + # 只针对第一层合并，之后要考虑层层递归合并 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(self.bt.children[0]) + + stack=[] + + for child in parnode.children: + + if isinstance(child, ControlBT) and child.type == '>': + + if stack==[]: + stack.append(child) + continue + + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + set1 = last_child.children[0].content + set2 = child.children[0].content + + # 如果后面的动作和前面的一样,删掉前面的 + # 应该是两棵子树完全相同的情况，先暂时只判断动作 + if set1>=set2 or set1<=set2: + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf): # 将来这些地方都写成递归的 + if last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + stack.pop() + stack.append(child) + continue + + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + + if c1!=set(): + seq1 = ControlBT(type='>') + c1 = Leaf(type='cond', content=c1) + a1 = copy.deepcopy(last_child.children[1]) + seq1.add_child( + [copy.deepcopy(c1), copy.deepcopy(a1)]) + else: + seq1 = copy.deepcopy(last_child.children[1]) + + if c2!=set(): + seq2 = ControlBT(type='>') + c2 = Leaf(type='cond', content=c2) + a2 = copy.deepcopy(child.children[1]) + seq2.add_child( + [copy.deepcopy(c2), copy.deepcopy(a2)]) + else: + seq2 = copy.deepcopy(child.children[1]) + + + sel = ControlBT(type='?') + + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and last_child.children[1].content.name == child.children[1].content.name: # a1=a2 + # 第三次优化合并 + # 将来这些地方都写成递归的 + sel.add_child([copy.deepcopy(c1), copy.deepcopy(c2),copy.deepcopy(last_child.children[1])]) + else: + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + + + tmp_tree = ControlBT(type='>') + c1 = Leaf(type='cond', content=inter) + tmp_tree.add_child( + [copy.deepcopy(c1), copy.deepcopy(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_adjacent_conditions_stack_old(self): # 递归合并 bt = ControlBT(type='cond') sbtree = ControlBT(type='?') @@ -274,7 +360,6 @@ class OptBTExpAlgorithm: sbtree.add_child([tree]) self.bt = copy.deepcopy(bt) - def merge_cond_node(self): # bt合并==================================================== bt = ControlBT(type='cond') diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index 077a7b1..e4f02db 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -254,6 +254,27 @@ create_sub_task create_sub_task {"goal":"On(Dessert,Bar)"} +把咖啡放到吧台上 +好的 +create_sub_task +{"goal":"On(Coffee,Bar)"} + +把咖啡放到水桌 +好的 +create_sub_task +{"goal":"On(Coffee,Bar)"} + +把咖啡放到6号桌 +好的 +create_sub_task +{"goal":"On(Coffee,BrightTable6)"} + +把咖啡放到吧台上，再拿一杯咖啡放到6号桌 +好的 +create_sub_task +{"goal":"On(Coffee,WaterTable),On(Coffee,BrightTable6)"} + + 打开空调并降低空调温度 好的，没问题 create_sub_task diff --git a/robowaiter/llm_client/single_round.py b/robowaiter/llm_client/single_round.py index 364ecce..49622c5 100644 --- a/robowaiter/llm_client/single_round.py +++ b/robowaiter/llm_client/single_round.py @@ -19,7 +19,8 @@ def single_round(question, prefix=""): "messages": [ { "role": "system", - "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" + # "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" + "content": "" # "content": # """ # 你是一个熟悉行为树的工程师，你的职责是根据用户需求，为一个人型的机器人设计完成用户需求的行为树序列。 @@ -46,10 +47,165 @@ def single_round(question, prefix=""): if __name__ == '__main__': question = ''' - 嘿！能做一杯咖啡吗？咖啡就行！ +from actions import MoveTo (/), PickUp (), PutDown (,), PutDown(Anything,Anywhere), Make (), Clean (), Turn (,) +from states import At (Robor,/), On (,), Holding (), Is (,), Exist () + +obj=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'] +place=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'] +obj2=['Coffee', 'Water', 'Dessert'] +obj3=['Table1','Floor','Chairs'] +obj4=['AC','TubeLight','HallLight','Curtain','ACTemperature'] +obj4state=['On','Off','Up','Down'] + +currents_state={'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)','Exist(VacuumCup)', + 'Holding(Coffee)', + 'On(VacuumCup,Table2)', 'On(Yogurt,Bar)', 'On(BottledDrink,Bar)', 'On(Softdrink,Table1)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} +def Put_SoftDrink_on_WaterTable(currents_state): + selector + cond On(Softdrink,WaterTable) + sequence + cond Holding(Softdrink) + selector + sequence + cond At(Robot,WaterTable) + act PutDown(Softdrink,WaterTable) + act MoveTo(WaterTable) + sequence + cond At(Robot,Softdrink) + selector + sequence + cond Holding(Nothing) + act PickUp(Softdrink) + act PutDown(Anything,Anywhere) + sequence + cond Exist(Softdrink) + act MoveTo(Softdrink) + + +currents_state={'At(Robot,Bar)', 'Is(AC,On)', + 'Exist(Yogurt)', 'Exist(BottledDrink)', + 'Exist(Chips)', 'Exist(VacuumCup)', 'Exist(ADMilk)', + 'Holding(Nothing)', + 'On(VacuumCup,Table2)', 'On(Chips,Bar)','On(ADMilk,Bar)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} +def Put_Dessert_on_Bar(currents_state): + selector + cond On(Dessert,Bar) + sequence + cond Holding(Nothing) + act Make(Dessert) + + +currents_state={'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(VacuumCup)','Exist(Coffee)', + 'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)', + 'Holding(Nothing)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} +def Put_Coffee_on_Bar(currents_state): + selector + cond On(Coffee,Bar) + sequence + cond Holding(Coffee) + selector + sequence + cond At(Robot,Bar) + act PutDown(Coffee,Bar) + act MoveTo(Bar) + sequence + cond At(Robot,Coffee) + selector + sequence + cond Holding(Nothing) + act PickUp(Coffee) + act PutDown(Anything,Anywhere) + sequence + cond Exist(Coffee) + cond Holding(Nothing) + act MoveTo(Coffee) + +currents_state={'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(VacuumCup)', 'Exist(Yogurt)', + 'On(VacuumCup,Table2)', + 'Holding(Yogurt)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} +def Put_Coffee_on_Bar(currents_state): + selector + cond On(Coffee,Bar) + sequence + cond Holding(Coffee) + selector + sequence + cond At(Robot,Bar) + act PutDown(Coffee,Bar) + act MoveTo(Bar) + sequence + cond At(Robot,Coffee) + selector + sequence + cond Holding(Nothing) + act PickUp(Coffee) + act PutDown(Anything,Anywhere) + sequence + cond Exist(Coffee) + act MoveTo(Coffee) + sequence + cond Holding(Nothing) + act Make(Coffee) + sequence + cond At(Robot,Bar) + cond Holding(Yogurt) + act PutDown(Yogurt,Bar) + + +currents_state={'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)', + 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', + 'Holding(Softdrink)', + 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Clean)', 'Is(Floor,Clean)', 'Is(Chairs,Clean)'} +def Turn_AC_Temperature_Down(currents_state): + selector + cond Is(ACTemperature,Down) + sequence + cond Is(AC,On) + selector + sequence + cond Holding(Nothing) + act Turn(ACTemperature,Down) + act PutDown(Anything,Anywhere) + sequence + cond Is(AC,Off) + selector + sequence + cond Holding(Nothing) + act Turn(AC,On) + act PutDown(Anything,Anywhere) + + +currents_state={'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(Yogurt)','Exist(VacuumCup)','Exist(Coffee)', + 'Holding(Nothing)', + 'On(Yogurt,Bar)','On(VacuumCup,Table2)','On(Coffee,CoffeeTable)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} +def Put_one_Coffee_on_WaterTable_and_Put_another_Coffee_on_BrightTable6 +(currents_state): + + +Please write the content of this function based on the content of currents_state + +Please write the content of this function based on the content of currents_state ''' import timeit cur_time = time.time() - 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(single_round(question, prefix='现在给出符合这句话要求的目标状态: ')) print(f"单次生成耗时：{time.time() - cur_time} s \n") diff --git a/robowaiter/scene/outputs/expanded_bt.dot b/robowaiter/scene/outputs/expanded_bt.dot index dff5f09..f6d8ea2 100644 --- a/robowaiter/scene/outputs/expanded_bt.dot +++ b/robowaiter/scene/outputs/expanded_bt.dot @@ -3,1393 +3,47 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"6c1aabae-9ca9-4a8f-9e65-43c625cc89af" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"e223f1e5-329e-4c5c-b9b2-fbc31240937b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="On(Softdrink,WaterTable)", shape=ellipse, style=filled]; -"6c1aabae-9ca9-4a8f-9e65-43c625cc89af" -> "e223f1e5-329e-4c5c-b9b2-fbc31240937b"; -"4042cbab-c154-432a-8f0d-5dbb478b294b" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"6c1aabae-9ca9-4a8f-9e65-43c625cc89af" -> "4042cbab-c154-432a-8f0d-5dbb478b294b"; -"ba0e0b4d-c3fa-4767-a2a0-03d9620ccf37" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"4042cbab-c154-432a-8f0d-5dbb478b294b" -> "ba0e0b4d-c3fa-4767-a2a0-03d9620ccf37"; -"1aeb9d7d-59a5-421d-8afc-d3807390303e" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"ba0e0b4d-c3fa-4767-a2a0-03d9620ccf37" -> "1aeb9d7d-59a5-421d-8afc-d3807390303e"; -"ade28a17-d649-4327-9753-80c2affbcb39" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; -"ba0e0b4d-c3fa-4767-a2a0-03d9620ccf37" -> "ade28a17-d649-4327-9753-80c2affbcb39"; -"ffd3d603-bd65-4007-b8e7-9d9563d9a1f0" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"ba0e0b4d-c3fa-4767-a2a0-03d9620ccf37" -> "ffd3d603-bd65-4007-b8e7-9d9563d9a1f0"; -"d7a0ed25-4177-48e8-a8cd-2a1c3b3b6308" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; -"ffd3d603-bd65-4007-b8e7-9d9563d9a1f0" -> "d7a0ed25-4177-48e8-a8cd-2a1c3b3b6308"; -"6e6f95ad-26dc-4574-b83a-d154a176c643" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; -"d7a0ed25-4177-48e8-a8cd-2a1c3b3b6308" -> "6e6f95ad-26dc-4574-b83a-d154a176c643"; -"28e090d8-6db7-4dbc-ba09-eba03c801a48" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, 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]; -"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "b829c35a-fa31-4139-a84a-abc9c1ef2b2b"; -"8ff7ea8d-12bb-49da-8041-ab3d11e969f0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "8ff7ea8d-12bb-49da-8041-ab3d11e969f0"; -"eabdfab2-570c-406a-8307-948cc4930fa4" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; -"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "eabdfab2-570c-406a-8307-948cc4930fa4"; -"e05b1e1f-5577-4a0d-9d35-05929ec54d09" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table2)", shape=box, style=filled]; -"c6b0da5f-132f-46cc-8e0e-7c462f767f01" -> "e05b1e1f-5577-4a0d-9d35-05929ec54d09"; -"040eee78-88c2-4e2b-8caf-7fcc268e4e58" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"69f7e712-71d5-4386-99da-4afbe9740c65" -> "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"; -"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"69f7e712-71d5-4386-99da-4afbe9740c65" -> "2885ff72-07b6-4911-b4d6-9fdc3d5ace22"; -"ebe54ba5-61a3-4580-9670-1efe50b33cb5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; -"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "ebe54ba5-61a3-4580-9670-1efe50b33cb5"; -"21a6f9d1-a2de-4e3f-9d87-a931701e65ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; -"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "21a6f9d1-a2de-4e3f-9d87-a931701e65ac"; -"f363edb6-9808-4d4f-8f3c-9b26fadf6b53" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; -"2885ff72-07b6-4911-b4d6-9fdc3d5ace22" -> "f363edb6-9808-4d4f-8f3c-9b26fadf6b53"; -"f9a19c8a-4fc6-4369-adba-57b1578cba20" [fillcolor=lawngreen, 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]; -"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "2908e8ec-8af2-4f0b-a18c-c65c000e04bb"; -"4c2e6ff8-3ab0-4c48-aa94-632a407475a0" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "4c2e6ff8-3ab0-4c48-aa94-632a407475a0"; -"bcd2a534-278c-4ad3-9968-0e4c8e36daa4" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; -"37f56b5e-2868-4788-854a-1e57f66d7f73" -> "bcd2a534-278c-4ad3-9968-0e4c8e36daa4"; -"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"69f7e712-71d5-4386-99da-4afbe9740c65" -> "7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4"; -"dd11c028-4577-44d4-a106-fc51db14a110" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; -"7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4" -> "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"; -"57233856-9b22-46b3-b77c-ef31438ee9b1" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Softdrink)", shape=ellipse, style=filled]; -"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "57233856-9b22-46b3-b77c-ef31438ee9b1"; -"50dcfc1a-ba23-4c84-9bac-a4b7e6106828" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; -"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "50dcfc1a-ba23-4c84-9bac-a4b7e6106828"; -"686de2a9-1587-4153-a684-d707afb0bf34" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; -"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "686de2a9-1587-4153-a684-d707afb0bf34"; -"e41776ac-8d0a-48d3-88b3-e7a619f86249" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table3)", shape=box, style=filled]; -"f699b546-e05b-4c99-9edf-b5d153dbe9c9" -> "e41776ac-8d0a-48d3-88b3-e7a619f86249"; -"8f6810ba-b72b-4dd1-b862-5ace3795ca8d" [fillcolor=orange, fontcolor=black, 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" -> 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[fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"5e1c6861-7f7c-44c9-9a92-b07dcd280016" -> "c5bb0878-dc4d-4f92-bf01-c749896b50f5"; -"c7c439a8-cedd-4d27-b8aa-8c1e2618a452" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; -"c5bb0878-dc4d-4f92-bf01-c749896b50f5" -> "c7c439a8-cedd-4d27-b8aa-8c1e2618a452"; -"72fd7459-1a33-4f28-914b-ffce02847778" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"c5bb0878-dc4d-4f92-bf01-c749896b50f5" -> "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, 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fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; +"8ae6498a-bfe4-4fac-89c4-84b9ee882900" -> "8892efc8-2c86-4e73-80ae-4835b3bd15c4"; +"3d40ab19-2ae1-40f7-99d3-3b4635f4d3bb" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"8892efc8-2c86-4e73-80ae-4835b3bd15c4" -> "3d40ab19-2ae1-40f7-99d3-3b4635f4d3bb"; +"ab70101f-b447-4508-9cbc-6d08dff1b865" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"3d40ab19-2ae1-40f7-99d3-3b4635f4d3bb" -> "ab70101f-b447-4508-9cbc-6d08dff1b865"; +"35fd1c53-807e-442b-9167-f75ab12215e8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; +"3d40ab19-2ae1-40f7-99d3-3b4635f4d3bb" -> "35fd1c53-807e-442b-9167-f75ab12215e8"; +"359bf54c-5bca-4286-affe-29fdaf2d5d02" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"8892efc8-2c86-4e73-80ae-4835b3bd15c4" -> "359bf54c-5bca-4286-affe-29fdaf2d5d02"; +"7aeae3e6-ba38-4e43-866f-da481d666d68" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"49894dc9-ad34-40a6-be03-63748a930786" -> "7aeae3e6-ba38-4e43-866f-da481d666d68"; +"36b3fb04-d2cc-4ad7-ac4f-e07c99dda7ac" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Coffee)", shape=ellipse, style=filled]; +"7aeae3e6-ba38-4e43-866f-da481d666d68" -> "36b3fb04-d2cc-4ad7-ac4f-e07c99dda7ac"; +"6bfbfd2b-8adb-4739-860e-ad6484b97541" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled]; +"7aeae3e6-ba38-4e43-866f-da481d666d68" -> "6bfbfd2b-8adb-4739-860e-ad6484b97541"; +"1e806781-835a-44fb-9e4f-033193ecded4" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; 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-03de13ca-0f87-4f36-961a-b5e13c7a1324 - -Holding(Yogurt) - - - -e394a79f-8cf4-41a4-b30c-47c98dc49f00->03de13ca-0f87-4f36-961a-b5e13c7a1324 - - - - - -1c470966-fe0c-48c2-a5cb-10dd02e187b7 - -At(Robot,Table3) - - - -e394a79f-8cf4-41a4-b30c-47c98dc49f00->1c470966-fe0c-48c2-a5cb-10dd02e187b7 - - - - - -d728a513-bccf-4d10-886d-a7157f7100b4 - -PutDown(Yogurt,Table3) - - - -e394a79f-8cf4-41a4-b30c-47c98dc49f00->d728a513-bccf-4d10-886d-a7157f7100b4 - - - - - -2de00c43-f331-4458-8a59-9515836a9793 - -Exist(Softdrink) - - - -02431d21-b6e1-4679-87b2-ebba7875c8e8->2de00c43-f331-4458-8a59-9515836a9793 - - - - - -b9cd94d0-6c22-4388-b466-c50e43fb446f - -Holding(Yogurt) - - - -02431d21-b6e1-4679-87b2-ebba7875c8e8->b9cd94d0-6c22-4388-b466-c50e43fb446f - - - - - -bf1e9626-b6ea-4454-af41-35641f925694 - -At(Robot,WaterTable) - - - -02431d21-b6e1-4679-87b2-ebba7875c8e8->bf1e9626-b6ea-4454-af41-35641f925694 - - - - - -a370bc4d-515a-4754-92fd-14de4982fb2b - -PutDown(Yogurt,WaterTable) - - - -02431d21-b6e1-4679-87b2-ebba7875c8e8->a370bc4d-515a-4754-92fd-14de4982fb2b - - - - - -fdb0c85b-388a-4e38-8cc8-daa59be65825 - -Exist(Softdrink) - - - -822ed7d2-e3f5-43b6-8aa5-986622126f8e->fdb0c85b-388a-4e38-8cc8-daa59be65825 - - - - - -9591d188-fdad-40d3-834c-c43dbb9e8daf - -Holding(Yogurt) - - - -822ed7d2-e3f5-43b6-8aa5-986622126f8e->9591d188-fdad-40d3-834c-c43dbb9e8daf - - - - - -7482eb6f-0175-44e1-acab-a4aff1e69652 - -At(Robot,Table2) - - - -822ed7d2-e3f5-43b6-8aa5-986622126f8e->7482eb6f-0175-44e1-acab-a4aff1e69652 - - - - - -4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04 - -PutDown(Yogurt,Table2) - - - -822ed7d2-e3f5-43b6-8aa5-986622126f8e->4a3fd33e-56d0-4cde-8e3b-e4c7998a5b04 - - - - - -e4d02d97-670a-49e9-ac7c-f6159d4a3527 - -Exist(Softdrink) - - - -fd79ff57-8e1b-4e08-8489-4b2efe3258ec->e4d02d97-670a-49e9-ac7c-f6159d4a3527 - - - - - -9b2add52-acd2-4cba-892e-166286c9a32f - -Holding(Yogurt) - - - -fd79ff57-8e1b-4e08-8489-4b2efe3258ec->9b2add52-acd2-4cba-892e-166286c9a32f - - - - - -461362ea-78b4-4c9e-a2ce-d014da386ca4 - -At(Robot,BrightTable6) - - - -fd79ff57-8e1b-4e08-8489-4b2efe3258ec->461362ea-78b4-4c9e-a2ce-d014da386ca4 - - - - - -7a5c1154-47ef-4b1b-959d-5a095a9bc307 - -PutDown(Yogurt,BrightTable6) - - - -fd79ff57-8e1b-4e08-8489-4b2efe3258ec->7a5c1154-47ef-4b1b-959d-5a095a9bc307 - - - - - -80152474-725d-4c99-9325-0159fb29ec0b - -Exist(Softdrink) - - - -7edc9e30-b3b1-4574-a27d-8af4ea22d1a0->80152474-725d-4c99-9325-0159fb29ec0b - - - - - -a54c065f-1be3-4f83-8251-7977ef75735b - -Holding(Yogurt) - - - -7edc9e30-b3b1-4574-a27d-8af4ea22d1a0->a54c065f-1be3-4f83-8251-7977ef75735b - - - - - -0206cbb9-ab6d-4207-86c3-e1e2854bde69 - -At(Robot,Bar2) - - - -7edc9e30-b3b1-4574-a27d-8af4ea22d1a0->0206cbb9-ab6d-4207-86c3-e1e2854bde69 - - - - - -c7afcb27-a153-4da6-84af-172328dce8c4 - -PutDown(Yogurt,Bar2) - - - -7edc9e30-b3b1-4574-a27d-8af4ea22d1a0->c7afcb27-a153-4da6-84af-172328dce8c4 - - - - - -0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2 - -At(Robot,CoffeeTable) - - - -4729159d-306b-468a-b273-80c1d03f0d07->0b6ed76f-a0d4-4188-b6e8-6e69f7aac2b2 - - - - - -61a07203-2ac9-4fbf-8e4c-740959926bad - -Exist(Softdrink) - - - -4729159d-306b-468a-b273-80c1d03f0d07->61a07203-2ac9-4fbf-8e4c-740959926bad - - - - - -4dc09af3-45e9-4762-a576-615e5891f675 - -Holding(Yogurt) - - - -4729159d-306b-468a-b273-80c1d03f0d07->4dc09af3-45e9-4762-a576-615e5891f675 - - - - - -890fc967-7508-4d8d-88c8-62d5960735bf - -PutDown(Yogurt,CoffeeTable) - - - -4729159d-306b-468a-b273-80c1d03f0d07->890fc967-7508-4d8d-88c8-62d5960735bf - - - - - -9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed - -Exist(Softdrink) - - - -6bb6912f-8c51-4518-821b-5931b9f63714->9f0294cb-b19c-4cfa-afc8-2fa2ae41d2ed - - - - - -5269959b-f7c3-48e3-9c8a-a489bcccd402 - -At(Robot,Bar) - - - -6bb6912f-8c51-4518-821b-5931b9f63714->5269959b-f7c3-48e3-9c8a-a489bcccd402 - - - - - -71850508-ed28-4ab2-ab62-a6822b5ce7af - -Holding(Yogurt) - - - -6bb6912f-8c51-4518-821b-5931b9f63714->71850508-ed28-4ab2-ab62-a6822b5ce7af - - - - - -05509e2b-ac45-4ce2-bc6a-1f95a35dca95 - -PutDown(Yogurt,Bar) - - - -6bb6912f-8c51-4518-821b-5931b9f63714->05509e2b-ac45-4ce2-bc6a-1f95a35dca95 - - - - - -2f58c398-a3e0-41ca-a09c-b1cfa32f0d64 - -At(Robot,Table1) - - - -2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9->2f58c398-a3e0-41ca-a09c-b1cfa32f0d64 - - - - - -8a656281-4c73-43aa-833f-8247fc0b9fce - -Holding(Yogurt) - - - -2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9->8a656281-4c73-43aa-833f-8247fc0b9fce - - - - - -097d5b77-3de4-445c-8bae-9cfd5cae7265 - -Exist(Softdrink) - - - -2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9->097d5b77-3de4-445c-8bae-9cfd5cae7265 - - - - - -ccc2f6e1-7457-4285-b170-83eb691f7494 - -PutDown(Yogurt,Table1) - - - -2cff5c9a-4ce5-4cf0-a3a1-153f81a34fe9->ccc2f6e1-7457-4285-b170-83eb691f7494 - - - - - -5c801eff-4297-4ad9-bbe2-a8cafd6af303 - -Holding(NFCJuice) - - - -fc2733f3-cccf-488d-b2fd-902ab41c193c->5c801eff-4297-4ad9-bbe2-a8cafd6af303 - - - - - -12e76f03-ace6-4dc0-8a8f-db5b899f160d - -Exist(Softdrink) - - - -fc2733f3-cccf-488d-b2fd-902ab41c193c->12e76f03-ace6-4dc0-8a8f-db5b899f160d - - - - - -b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f - -At(Robot,Table3) - - - -fc2733f3-cccf-488d-b2fd-902ab41c193c->b339c0ea-7af9-4a3e-90db-1b43dbb3bf2f - - - - - -f6662acc-4f26-4211-a43e-8fe2dd75e4fa - -PutDown(NFCJuice,Table3) - - - -fc2733f3-cccf-488d-b2fd-902ab41c193c->f6662acc-4f26-4211-a43e-8fe2dd75e4fa - - - - - -d420b470-66f3-4e58-a295-09e347ee92e6 - -Holding(NFCJuice) - - - -ac235a2d-65ea-4101-af94-8de3d1bdec53->d420b470-66f3-4e58-a295-09e347ee92e6 - - - - - -b9eb6d52-8084-49f9-bef1-456b63c971a9 - -Exist(Softdrink) - - - -ac235a2d-65ea-4101-af94-8de3d1bdec53->b9eb6d52-8084-49f9-bef1-456b63c971a9 - - - - - -b39f0141-18af-4ba8-8532-48ce3a74ee25 - -At(Robot,WaterTable) - - - -ac235a2d-65ea-4101-af94-8de3d1bdec53->b39f0141-18af-4ba8-8532-48ce3a74ee25 - - - - - -d9ce7eda-4a01-48c6-94d2-32408828ceb3 - -PutDown(NFCJuice,WaterTable) - - - -ac235a2d-65ea-4101-af94-8de3d1bdec53->d9ce7eda-4a01-48c6-94d2-32408828ceb3 - - - - - -8a6d8606-d15d-4fe8-a750-0d720f8dee87 - -Holding(NFCJuice) - - - -38b10362-9e9c-450a-a67f-a681b7500958->8a6d8606-d15d-4fe8-a750-0d720f8dee87 - - - - - -13b3a9cd-18e0-4464-87c6-a8a4a10d4135 - -Exist(Softdrink) - - - -38b10362-9e9c-450a-a67f-a681b7500958->13b3a9cd-18e0-4464-87c6-a8a4a10d4135 - - - - - -93293582-849b-4059-87ac-40bce8711dee - -At(Robot,Table2) - - - -38b10362-9e9c-450a-a67f-a681b7500958->93293582-849b-4059-87ac-40bce8711dee - - - - - -43553661-c3cf-4c1a-bc0e-fec7639f2a08 - -PutDown(NFCJuice,Table2) - - - -38b10362-9e9c-450a-a67f-a681b7500958->43553661-c3cf-4c1a-bc0e-fec7639f2a08 - - - - - -5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0 - -Holding(NFCJuice) - - - -8ebfbb1b-30f1-430f-a19b-7ac4038b0c17->5d3f07d2-584d-4eb4-8d94-ba3cd0920ee0 - - - - - -4d21e3a0-5d34-4677-bbe2-2302ebaaa87c - -Exist(Softdrink) - - - -8ebfbb1b-30f1-430f-a19b-7ac4038b0c17->4d21e3a0-5d34-4677-bbe2-2302ebaaa87c - - - - - -18acd8b5-9891-4edc-8636-5a1d4b71d68a - -At(Robot,BrightTable6) - - - -8ebfbb1b-30f1-430f-a19b-7ac4038b0c17->18acd8b5-9891-4edc-8636-5a1d4b71d68a - - - - - -a57a29ef-f72c-479b-8db3-7352e01b9f44 - -PutDown(NFCJuice,BrightTable6) - - - -8ebfbb1b-30f1-430f-a19b-7ac4038b0c17->a57a29ef-f72c-479b-8db3-7352e01b9f44 - - - - - -41c14f7e-16c5-485d-9700-6ecd27bce1ee - -Holding(NFCJuice) - - - -d1719472-f98a-404b-ae8b-c6059d796652->41c14f7e-16c5-485d-9700-6ecd27bce1ee - - - - - -f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a - -Exist(Softdrink) - - - -d1719472-f98a-404b-ae8b-c6059d796652->f7a62ca8-5459-4a9f-957d-5c1be1d3ac8a - - - - - -3c5747cb-a209-4550-a0b6-a552d0808ef6 - -At(Robot,Bar2) - - - -d1719472-f98a-404b-ae8b-c6059d796652->3c5747cb-a209-4550-a0b6-a552d0808ef6 - - - - - -718588e3-309e-4a22-9505-11ea3c548019 - -PutDown(NFCJuice,Bar2) - - - -d1719472-f98a-404b-ae8b-c6059d796652->718588e3-309e-4a22-9505-11ea3c548019 - - - - - -4f0a8a20-58bb-4c2e-9837-bb856e14aa6d - -Holding(NFCJuice) - - - -e167ef35-15c2-42cc-b515-d3f67be4310a->4f0a8a20-58bb-4c2e-9837-bb856e14aa6d - - - - - -c1e515eb-14f6-460d-afe5-12b1470ac1b3 - -Exist(Softdrink) - - - -e167ef35-15c2-42cc-b515-d3f67be4310a->c1e515eb-14f6-460d-afe5-12b1470ac1b3 - - - - - -4c481816-c768-4c7d-b1b8-abc2cd738346 - -At(Robot,CoffeeTable) - - - -e167ef35-15c2-42cc-b515-d3f67be4310a->4c481816-c768-4c7d-b1b8-abc2cd738346 - - - - - -2a960aa1-c3e4-4d5a-83dd-461e287c3e36 - -PutDown(NFCJuice,CoffeeTable) - - - -e167ef35-15c2-42cc-b515-d3f67be4310a->2a960aa1-c3e4-4d5a-83dd-461e287c3e36 - - - - - -19c00158-88f3-4472-afe9-d9a2c9f8c6b8 - -Holding(NFCJuice) - - - -fb5e4af5-a131-4464-8671-0965d0eeebd6->19c00158-88f3-4472-afe9-d9a2c9f8c6b8 - - - - - -ae89f5bd-9945-4d8e-a35e-78a716bc62cc - -Exist(Softdrink) - - - -fb5e4af5-a131-4464-8671-0965d0eeebd6->ae89f5bd-9945-4d8e-a35e-78a716bc62cc - - - - - -ce038af2-0a22-4480-a576-8d0f606f9373 - -At(Robot,Bar) - - - -fb5e4af5-a131-4464-8671-0965d0eeebd6->ce038af2-0a22-4480-a576-8d0f606f9373 - - - - - -66bccfff-2a44-4c98-ae5c-2252e289e72c - -PutDown(NFCJuice,Bar) - - - -fb5e4af5-a131-4464-8671-0965d0eeebd6->66bccfff-2a44-4c98-ae5c-2252e289e72c - - - - - -101e2c5c-ea4c-42a4-88c8-24df425efa10 - -Holding(NFCJuice) - - - -3208387c-2a74-4935-92fa-996960083958->101e2c5c-ea4c-42a4-88c8-24df425efa10 - - - - - -2667d497-16e4-4356-80b3-203b12b702ce - -At(Robot,Table1) - - - -3208387c-2a74-4935-92fa-996960083958->2667d497-16e4-4356-80b3-203b12b702ce - - - - - -e6099785-83a1-42c3-be4c-693476cae56d - -Exist(Softdrink) - - - -3208387c-2a74-4935-92fa-996960083958->e6099785-83a1-42c3-be4c-693476cae56d - - - - - -7c7966cd-7875-454a-bdaf-2c47edf86ced - -PutDown(NFCJuice,Table1) - - - -3208387c-2a74-4935-92fa-996960083958->7c7966cd-7875-454a-bdaf-2c47edf86ced - - - - - -be925f19-760b-4fea-bac0-fd1a4da8335f - -Holding(Dessert) - - - -abe3e8da-aac2-4204-8f6d-5134fb8d66b2->be925f19-760b-4fea-bac0-fd1a4da8335f - - - - - -4d1559d7-9729-460e-abb6-b7ff1877af71 - -Exist(Softdrink) - - - -abe3e8da-aac2-4204-8f6d-5134fb8d66b2->4d1559d7-9729-460e-abb6-b7ff1877af71 - - - - - -d38225b5-c182-4886-b65a-bbafd463554b - -At(Robot,Table3) - - - -abe3e8da-aac2-4204-8f6d-5134fb8d66b2->d38225b5-c182-4886-b65a-bbafd463554b - - - - - -dfdfb13e-a72f-41be-9c95-08865a069b46 - -PutDown(Dessert,Table3) - - - -abe3e8da-aac2-4204-8f6d-5134fb8d66b2->dfdfb13e-a72f-41be-9c95-08865a069b46 - - - - - -1e92fcaa-83b8-48d8-bc0a-155efe82f5ad - -Holding(Dessert) - - - -c1ea600e-1507-43d7-91d0-a03f3ac3aa8c->1e92fcaa-83b8-48d8-bc0a-155efe82f5ad - - - - - -9a140fab-b00d-41d1-b2d6-914171ee56cd - -Exist(Softdrink) - - - -c1ea600e-1507-43d7-91d0-a03f3ac3aa8c->9a140fab-b00d-41d1-b2d6-914171ee56cd - - - - - -053f28a1-6732-4752-ae43-7e459936a7bf - -At(Robot,WaterTable) - - - -c1ea600e-1507-43d7-91d0-a03f3ac3aa8c->053f28a1-6732-4752-ae43-7e459936a7bf - - - - - -8d9e4746-4e3f-4b71-907b-d82c9594ab67 - -PutDown(Dessert,WaterTable) - - - -c1ea600e-1507-43d7-91d0-a03f3ac3aa8c->8d9e4746-4e3f-4b71-907b-d82c9594ab67 - - - - - -0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a - -Holding(Dessert) - - - -be59b4c8-d301-4723-aea1-45251aab1ee3->0013d00b-7d8c-4a8f-8ea3-58c0ab043d5a - - - - - -5d621cf3-fbe2-448d-8c83-81374e15351a - -Exist(Softdrink) - - - -be59b4c8-d301-4723-aea1-45251aab1ee3->5d621cf3-fbe2-448d-8c83-81374e15351a - - - - - -e3c3828d-2d31-4338-bf9b-a96b183283ae - -At(Robot,Table2) - - - -be59b4c8-d301-4723-aea1-45251aab1ee3->e3c3828d-2d31-4338-bf9b-a96b183283ae - - - - - -3e01f596-c93a-46e8-9dc7-a9ac6f700266 - -PutDown(Dessert,Table2) - - - -be59b4c8-d301-4723-aea1-45251aab1ee3->3e01f596-c93a-46e8-9dc7-a9ac6f700266 - - - - - -fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4 - -Holding(Dessert) - - - -fd290f7f-49da-40c0-a329-b293c03ed42c->fb0aa2de-4f2b-45d4-bcf5-2761b23eb9d4 - - - - - -80614947-2404-46cb-b72c-40f0bf05d66a - -Exist(Softdrink) - - - -fd290f7f-49da-40c0-a329-b293c03ed42c->80614947-2404-46cb-b72c-40f0bf05d66a - - - - - -3271a36b-012b-4d6f-8cf7-3648ab1c7cd4 - -At(Robot,BrightTable6) - - - -fd290f7f-49da-40c0-a329-b293c03ed42c->3271a36b-012b-4d6f-8cf7-3648ab1c7cd4 - - - - - -92aff0f0-f355-4526-b7bb-181bd6f6b2dc - -PutDown(Dessert,BrightTable6) - - - -fd290f7f-49da-40c0-a329-b293c03ed42c->92aff0f0-f355-4526-b7bb-181bd6f6b2dc - - - - - -53a63c88-5849-4b60-9438-baf448dafeea - -Holding(Dessert) - - - -03f6244b-ce96-4d57-b903-c42132f07011->53a63c88-5849-4b60-9438-baf448dafeea - - - - - -bc22dc59-7e4d-45f6-a21f-a1686bfd36ae - -Exist(Softdrink) - - - -03f6244b-ce96-4d57-b903-c42132f07011->bc22dc59-7e4d-45f6-a21f-a1686bfd36ae - - - - - -528f1b27-dd28-437e-b1fc-5b168b9d8679 - -At(Robot,Bar2) - - - -03f6244b-ce96-4d57-b903-c42132f07011->528f1b27-dd28-437e-b1fc-5b168b9d8679 - - - - - -bdc42e21-bd22-43a4-ac20-20773b76125f - -PutDown(Dessert,Bar2) - - - -03f6244b-ce96-4d57-b903-c42132f07011->bdc42e21-bd22-43a4-ac20-20773b76125f - - - - - -e971323b-0e95-434a-ad75-e6cfea982f6f - -Holding(Dessert) - - - -310f4a52-ec78-4ec4-a237-6f96a285df2b->e971323b-0e95-434a-ad75-e6cfea982f6f - - - - - -fb03ca0b-86ac-4bca-a2ef-16871500313d - -Exist(Softdrink) - - - -310f4a52-ec78-4ec4-a237-6f96a285df2b->fb03ca0b-86ac-4bca-a2ef-16871500313d - - - - - -37d62d19-36de-4c02-a0aa-f16cfa183824 - -At(Robot,CoffeeTable) - - - -310f4a52-ec78-4ec4-a237-6f96a285df2b->37d62d19-36de-4c02-a0aa-f16cfa183824 - - - - - -d40281e7-ba41-4d51-b68d-0deac0c178fc - -PutDown(Dessert,CoffeeTable) - - - -310f4a52-ec78-4ec4-a237-6f96a285df2b->d40281e7-ba41-4d51-b68d-0deac0c178fc - - - - - -e6881c4c-5e9b-43dd-a2c9-1cc65a371e81 - -Holding(Dessert) - - - -9b41ca54-e620-4d02-9fcc-b532138c5ca3->e6881c4c-5e9b-43dd-a2c9-1cc65a371e81 - - - - - -f28f2bd1-493c-48b7-8422-d361328be65a - -Exist(Softdrink) - - - -9b41ca54-e620-4d02-9fcc-b532138c5ca3->f28f2bd1-493c-48b7-8422-d361328be65a - - - - - -21a3a275-62b6-4f36-a2f3-80ea06e8ca37 - -At(Robot,Bar) - - - -9b41ca54-e620-4d02-9fcc-b532138c5ca3->21a3a275-62b6-4f36-a2f3-80ea06e8ca37 - - - - - -9c639b23-fd05-4975-a7e7-1447e960198b - -PutDown(Dessert,Bar) - - - -9b41ca54-e620-4d02-9fcc-b532138c5ca3->9c639b23-fd05-4975-a7e7-1447e960198b - - - - - -b79a5b83-28a5-4fa3-9dd8-167eb3d91e70 - -Holding(Dessert) - - - -5fb679fa-83a0-4e36-a130-bcacff9ab98f->b79a5b83-28a5-4fa3-9dd8-167eb3d91e70 - - - - - -2341b491-12f1-42ad-b9b3-c575d87871dd - -At(Robot,Table1) - - - -5fb679fa-83a0-4e36-a130-bcacff9ab98f->2341b491-12f1-42ad-b9b3-c575d87871dd - - - - - -975ebf1e-2181-4e2e-b049-2af976b747c5 - -Exist(Softdrink) - - - -5fb679fa-83a0-4e36-a130-bcacff9ab98f->975ebf1e-2181-4e2e-b049-2af976b747c5 - - - - - -a8eb153f-26ac-4352-8dac-2b55bd0cdb48 - -PutDown(Dessert,Table1) - - - -5fb679fa-83a0-4e36-a130-bcacff9ab98f->a8eb153f-26ac-4352-8dac-2b55bd0cdb48 - - - - - -fa5e020b-c74d-4656-9cbc-d1062a88ed65 - -Exist(Softdrink) - - - -76c1d737-da69-4436-bddc-2e6f35ceca10->fa5e020b-c74d-4656-9cbc-d1062a88ed65 - - - - - -23db7916-f965-486e-977e-e042a74d8444 - -Holding(Milk) - - - -76c1d737-da69-4436-bddc-2e6f35ceca10->23db7916-f965-486e-977e-e042a74d8444 - - - - - -984e2247-7ee0-470b-a3c2-edebb551d107 - -At(Robot,Table3) - - - -76c1d737-da69-4436-bddc-2e6f35ceca10->984e2247-7ee0-470b-a3c2-edebb551d107 - - - - - -89b06906-a54a-47f6-99d0-93c3866d0228 - -PutDown(Milk,Table3) - - - -76c1d737-da69-4436-bddc-2e6f35ceca10->89b06906-a54a-47f6-99d0-93c3866d0228 - - - - - -6809839f-f108-402b-acf5-5b1d88c4967c - -Exist(Softdrink) - - - -10567f6e-09af-4451-97a1-4b785752d7ba->6809839f-f108-402b-acf5-5b1d88c4967c - - - - - -e6cb89d2-3138-42a7-a0c3-829e782a4adb - -At(Robot,WaterTable) - - - -10567f6e-09af-4451-97a1-4b785752d7ba->e6cb89d2-3138-42a7-a0c3-829e782a4adb - - - - - -e0ee3d51-968a-454c-a50b-a663a88487a3 - -Holding(Milk) - - - -10567f6e-09af-4451-97a1-4b785752d7ba->e0ee3d51-968a-454c-a50b-a663a88487a3 - - - - - -59778b27-b9fa-4dca-a4dc-75e4d99f2bd9 - -PutDown(Milk,WaterTable) - - - -10567f6e-09af-4451-97a1-4b785752d7ba->59778b27-b9fa-4dca-a4dc-75e4d99f2bd9 - - - - - -540dcffa-5eff-4d15-977e-bbc5c6054f4b - -Exist(Softdrink) - - - -72a1dbc7-a8ae-45dd-96ca-b3569295529a->540dcffa-5eff-4d15-977e-bbc5c6054f4b - - - - - -5498b547-bbb6-450c-86d7-24e36d4e9c8d - -Holding(Milk) - - - -72a1dbc7-a8ae-45dd-96ca-b3569295529a->5498b547-bbb6-450c-86d7-24e36d4e9c8d - - - - - -811ce483-442c-43c8-97da-9eb509bb7d03 - -At(Robot,Table2) - - - -72a1dbc7-a8ae-45dd-96ca-b3569295529a->811ce483-442c-43c8-97da-9eb509bb7d03 - - - - - -3ee4b5c6-9a51-4efd-ba59-82671fcb815e - -PutDown(Milk,Table2) - - - -72a1dbc7-a8ae-45dd-96ca-b3569295529a->3ee4b5c6-9a51-4efd-ba59-82671fcb815e - - - - - -60e887ff-1ceb-4286-99db-a496ff9750e9 - -Exist(Softdrink) - - - -f1a999fd-c6f2-495f-8f65-988b50ed929a->60e887ff-1ceb-4286-99db-a496ff9750e9 - - - - - -5f972151-b8a7-4cf7-8ee9-751db1b79e98 - -At(Robot,BrightTable6) - - - -f1a999fd-c6f2-495f-8f65-988b50ed929a->5f972151-b8a7-4cf7-8ee9-751db1b79e98 - - - - - -f6f6198f-96ac-4950-9c27-b9a0be3626a2 - -Holding(Milk) - - - -f1a999fd-c6f2-495f-8f65-988b50ed929a->f6f6198f-96ac-4950-9c27-b9a0be3626a2 - - - - - -205c60c9-670c-49bb-8281-efd5d3dde4c3 - -PutDown(Milk,BrightTable6) - - - -f1a999fd-c6f2-495f-8f65-988b50ed929a->205c60c9-670c-49bb-8281-efd5d3dde4c3 - - - - - -5823245f-b3b5-4aff-bc2e-d2fbed4784ba - -Exist(Softdrink) - - - -37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92->5823245f-b3b5-4aff-bc2e-d2fbed4784ba - - - - - -5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd - -Holding(Milk) - - - -37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92->5c2a9ba3-ccb5-4d4e-b6c1-769376bd90fd - - - - - -93f678fe-915d-416b-a29e-3a1fdd00c9f1 - -At(Robot,Bar2) - - - -37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92->93f678fe-915d-416b-a29e-3a1fdd00c9f1 - - - - - -054eff55-2458-40aa-a950-74a4cd2eaaa7 - -PutDown(Milk,Bar2) - - - -37d2b4e4-55ec-4cc4-8d8e-043f4dbeaf92->054eff55-2458-40aa-a950-74a4cd2eaaa7 - - - - - -c3a16f7e-9891-4106-8e02-e576e0d59f7f - -At(Robot,CoffeeTable) - - - -f8170e9a-0b19-4397-b5ee-e0e6ececa746->c3a16f7e-9891-4106-8e02-e576e0d59f7f - - - - - -9b46af9e-8888-43e9-a1bb-0ea30ae0e379 - -Exist(Softdrink) - - - -f8170e9a-0b19-4397-b5ee-e0e6ececa746->9b46af9e-8888-43e9-a1bb-0ea30ae0e379 - - - - - -fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7 - -Holding(Milk) - - - -f8170e9a-0b19-4397-b5ee-e0e6ececa746->fbf1cfa5-2a7a-4d5a-a469-cc6bc346c6b7 - - - - - -8d47dcb0-91f1-42f9-82a9-ee626eae0d29 - -PutDown(Milk,CoffeeTable) - - - -f8170e9a-0b19-4397-b5ee-e0e6ececa746->8d47dcb0-91f1-42f9-82a9-ee626eae0d29 - - - - - -f1f2f033-af4c-428b-93ad-b1ab19015e1e - -Exist(Softdrink) - - - -78cb932f-a8fc-4494-8c92-5e7c5efb1d82->f1f2f033-af4c-428b-93ad-b1ab19015e1e - - - - - -540c30de-223f-4d5e-b0eb-e4844ed366e9 - -At(Robot,Bar) - - - -78cb932f-a8fc-4494-8c92-5e7c5efb1d82->540c30de-223f-4d5e-b0eb-e4844ed366e9 - - - - - -dd6961ba-7a86-4afa-94f1-0f4c5b24119e - -Holding(Milk) - - - -78cb932f-a8fc-4494-8c92-5e7c5efb1d82->dd6961ba-7a86-4afa-94f1-0f4c5b24119e - - - - - -1cb3d191-5ab6-4343-8358-9cd51f9a52e7 - -PutDown(Milk,Bar) - - - -78cb932f-a8fc-4494-8c92-5e7c5efb1d82->1cb3d191-5ab6-4343-8358-9cd51f9a52e7 - - - - - -242e07b9-d19b-402c-b255-426223536b05 - -At(Robot,Table1) - - - -239ecfcf-59f9-42da-9747-0bcad3f21f08->242e07b9-d19b-402c-b255-426223536b05 - - - - - -8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23 - -Exist(Softdrink) - - - -239ecfcf-59f9-42da-9747-0bcad3f21f08->8d353805-0c7b-4c4a-a2dd-9cd3e0d6bb23 - - - - - -099c844a-2ede-4fd7-9140-4869b49a5b3e - -Holding(Milk) - - - -239ecfcf-59f9-42da-9747-0bcad3f21f08->099c844a-2ede-4fd7-9140-4869b49a5b3e - - - - - -ae0bc725-b5b5-4a81-9f06-4da47802053d - -PutDown(Milk,Table1) - - - -239ecfcf-59f9-42da-9747-0bcad3f21f08->ae0bc725-b5b5-4a81-9f06-4da47802053d - - - - - -43f0e719-60d9-43b7-8008-d92a8f61db98 - -Exist(Softdrink) - - - -3d114ff1-b08d-4af2-acbb-3e008169c729->43f0e719-60d9-43b7-8008-d92a8f61db98 - - - - - -3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9 - -Holding(BottledDrink) - - - -3d114ff1-b08d-4af2-acbb-3e008169c729->3c04f4e1-5fc3-41ae-a1af-bcc5c055c0b9 - - - - - -829cbcec-ca1e-4a74-804c-28bb6c9d6ad3 - -At(Robot,Table3) - - - -3d114ff1-b08d-4af2-acbb-3e008169c729->829cbcec-ca1e-4a74-804c-28bb6c9d6ad3 - - - - - -513ae648-3ba6-47bd-82fb-905b522c4c93 - -PutDown(BottledDrink,Table3) - - - -3d114ff1-b08d-4af2-acbb-3e008169c729->513ae648-3ba6-47bd-82fb-905b522c4c93 - - - - - -5bd21fea-809d-47f5-8f87-17d9516df534 - -Exist(Softdrink) - - - -07bdb352-7144-4fb8-829b-d2d76614d7ff->5bd21fea-809d-47f5-8f87-17d9516df534 - - - - - -74407681-2c43-4c98-9809-d0463603d8ac - -At(Robot,WaterTable) - - - -07bdb352-7144-4fb8-829b-d2d76614d7ff->74407681-2c43-4c98-9809-d0463603d8ac - - - - - -1f09d3ed-9a15-433a-8046-8c764c91b0ef - -Holding(BottledDrink) - - - -07bdb352-7144-4fb8-829b-d2d76614d7ff->1f09d3ed-9a15-433a-8046-8c764c91b0ef - - - - - -ed445eb3-2b20-4c77-8052-72375d04c66e - -PutDown(BottledDrink,WaterTable) - - - -07bdb352-7144-4fb8-829b-d2d76614d7ff->ed445eb3-2b20-4c77-8052-72375d04c66e - - - - - -feb89d2e-cccb-41ef-8992-705fa10f7c5f - -Exist(Softdrink) - - - -5f6b176d-7818-4767-960d-4320db2f407c->feb89d2e-cccb-41ef-8992-705fa10f7c5f - - - - - -d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c - -At(Robot,Table2) - - - -5f6b176d-7818-4767-960d-4320db2f407c->d3dd978e-28b5-4fd7-b8b9-789d7cb75b7c - - - - - -9e15594c-45e0-41f4-a975-004454ab2c2d - -Holding(BottledDrink) - - - -5f6b176d-7818-4767-960d-4320db2f407c->9e15594c-45e0-41f4-a975-004454ab2c2d - - - - - -db86b9fd-6745-45ef-adf2-ff054dc77098 - -PutDown(BottledDrink,Table2) - - - -5f6b176d-7818-4767-960d-4320db2f407c->db86b9fd-6745-45ef-adf2-ff054dc77098 - - - - - -6c616572-a680-4d17-b618-b48037791df1 - -Exist(Softdrink) - - - -9821fd5c-13ee-40d7-8993-e6bae0ebc336->6c616572-a680-4d17-b618-b48037791df1 - - - - - -299f0320-356c-49c1-ab89-f82b14220979 - -At(Robot,BrightTable6) - - - -9821fd5c-13ee-40d7-8993-e6bae0ebc336->299f0320-356c-49c1-ab89-f82b14220979 - - - - - -dccae668-73b7-44fd-bafa-d72656cda5e7 - -Holding(BottledDrink) - - - -9821fd5c-13ee-40d7-8993-e6bae0ebc336->dccae668-73b7-44fd-bafa-d72656cda5e7 - - - - - -a409847c-6195-43c4-a662-1e6980033e5a - -PutDown(BottledDrink,BrightTable6) - - - -9821fd5c-13ee-40d7-8993-e6bae0ebc336->a409847c-6195-43c4-a662-1e6980033e5a - - - - - -4549f8cd-86e5-480b-98d1-88500ea8c34a - -Exist(Softdrink) - - - -26847aaf-bd3c-4379-aa55-32199ac6e93f->4549f8cd-86e5-480b-98d1-88500ea8c34a - - - - - -152e3cc6-b019-48c0-85bf-a82bdb6abf67 - -Holding(BottledDrink) - - - -26847aaf-bd3c-4379-aa55-32199ac6e93f->152e3cc6-b019-48c0-85bf-a82bdb6abf67 - - - - - -98538a68-adbe-4841-bfa2-e93976ccc6ff - -At(Robot,Bar2) - - - -26847aaf-bd3c-4379-aa55-32199ac6e93f->98538a68-adbe-4841-bfa2-e93976ccc6ff - - - - - -cc0129e8-72fb-4e05-9462-1fef0d0ce40c - -PutDown(BottledDrink,Bar2) - - - -26847aaf-bd3c-4379-aa55-32199ac6e93f->cc0129e8-72fb-4e05-9462-1fef0d0ce40c - - - - - -ba4e6862-3a46-41e8-80a9-a0692f79c41d - -At(Robot,CoffeeTable) - - - -248c2bd2-9c4d-4b33-8072-9e8cc9f39818->ba4e6862-3a46-41e8-80a9-a0692f79c41d - - - - - -b7796714-662f-474e-ba00-ca1fe7a3524c - -Exist(Softdrink) - - - -248c2bd2-9c4d-4b33-8072-9e8cc9f39818->b7796714-662f-474e-ba00-ca1fe7a3524c - - - - - -cad6141e-0eae-4ab1-a34b-e717f55f1f7a - -Holding(BottledDrink) - - - -248c2bd2-9c4d-4b33-8072-9e8cc9f39818->cad6141e-0eae-4ab1-a34b-e717f55f1f7a - - - - - -7bf1a6f4-9799-47d1-8b80-4d7aabf1d268 - -PutDown(BottledDrink,CoffeeTable) - - - -248c2bd2-9c4d-4b33-8072-9e8cc9f39818->7bf1a6f4-9799-47d1-8b80-4d7aabf1d268 - - - - - -076e6b31-9c1a-488e-8ff7-7a45a2106ab9 - -Exist(Softdrink) - - - -4fe871b9-e75c-408c-b40f-963c46fb1ff8->076e6b31-9c1a-488e-8ff7-7a45a2106ab9 - - - - - -37cc8aac-7031-4306-bfc1-f7eefc951bd1 - -At(Robot,Bar) - - - -4fe871b9-e75c-408c-b40f-963c46fb1ff8->37cc8aac-7031-4306-bfc1-f7eefc951bd1 - - - - - -c7999915-f15e-4063-bd1f-dcea0d0811bb - -Holding(BottledDrink) - - - -4fe871b9-e75c-408c-b40f-963c46fb1ff8->c7999915-f15e-4063-bd1f-dcea0d0811bb - - - - - -bce98f67-bb8e-4716-b767-38d1453a4a6a - -PutDown(BottledDrink,Bar) - - - -4fe871b9-e75c-408c-b40f-963c46fb1ff8->bce98f67-bb8e-4716-b767-38d1453a4a6a - - - - - -85842326-df13-42e9-bf2b-3e837f356510 - -At(Robot,Table1) - - - -1d2f075b-b358-4646-ad1b-d34ef3a51c6f->85842326-df13-42e9-bf2b-3e837f356510 - - - - - -ae2a9212-14e9-4796-8c3a-516ab5e547e0 - -Exist(Softdrink) - - - -1d2f075b-b358-4646-ad1b-d34ef3a51c6f->ae2a9212-14e9-4796-8c3a-516ab5e547e0 - - - - - -8e006370-5f97-4ee9-a4ac-712ac0689d15 - -Holding(BottledDrink) - - - -1d2f075b-b358-4646-ad1b-d34ef3a51c6f->8e006370-5f97-4ee9-a4ac-712ac0689d15 - - - - - -557ad42c-ce83-4c63-aebd-2024ab5b948b - -PutDown(BottledDrink,Table1) - - - -1d2f075b-b358-4646-ad1b-d34ef3a51c6f->557ad42c-ce83-4c63-aebd-2024ab5b948b - - - - - -4d6b6e93-7152-40b2-9d8d-8981c4829788 - -Holding(Bernachon) - - - -cca55543-4510-4255-bf6f-8897c54237dc->4d6b6e93-7152-40b2-9d8d-8981c4829788 - - - - - -7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97 - -Exist(Softdrink) - - - -cca55543-4510-4255-bf6f-8897c54237dc->7f5ed3e1-6f2b-43b6-8c0c-812cbf2a9a97 - - - - - -f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a - -At(Robot,Table3) - - - -cca55543-4510-4255-bf6f-8897c54237dc->f7f0c28e-a3c3-4f54-a915-8aa7bdacfd3a - - - - - -36ea8870-62cc-456e-81e9-90f12fcf3447 - -PutDown(Bernachon,Table3) - - - -cca55543-4510-4255-bf6f-8897c54237dc->36ea8870-62cc-456e-81e9-90f12fcf3447 - - - - - -72a0525f-dd12-483b-92ec-3dc9b47cdbbd - -Holding(Bernachon) - - - -3de8b463-3beb-45f7-b64d-5a50669a2d53->72a0525f-dd12-483b-92ec-3dc9b47cdbbd - - - - - -20693df9-3c05-430c-8e1c-d74d1d7b3dc9 - -Exist(Softdrink) - - - -3de8b463-3beb-45f7-b64d-5a50669a2d53->20693df9-3c05-430c-8e1c-d74d1d7b3dc9 - - - - - -6836fde4-c4c6-4b14-9c9f-32c988db5b7c - -At(Robot,WaterTable) - - - -3de8b463-3beb-45f7-b64d-5a50669a2d53->6836fde4-c4c6-4b14-9c9f-32c988db5b7c - - - - - -b05c71e2-c19e-43bd-a80e-973c5d1e4381 - -PutDown(Bernachon,WaterTable) - - - -3de8b463-3beb-45f7-b64d-5a50669a2d53->b05c71e2-c19e-43bd-a80e-973c5d1e4381 - - - - - -d0b44566-bf09-4b95-a6a1-3c9efd542f41 - -Holding(Bernachon) - - - -cd55fd8b-06f0-43aa-973a-04ce263db149->d0b44566-bf09-4b95-a6a1-3c9efd542f41 - - - - - -81c66262-2e9d-4796-99f7-72fe8339f8f0 - -Exist(Softdrink) - - - -cd55fd8b-06f0-43aa-973a-04ce263db149->81c66262-2e9d-4796-99f7-72fe8339f8f0 - - - - - -3dfba118-bc27-4c32-87b1-18bfcc3d877f - -At(Robot,Table2) - - - -cd55fd8b-06f0-43aa-973a-04ce263db149->3dfba118-bc27-4c32-87b1-18bfcc3d877f - - - - - -5c36c821-5bd0-455f-b051-382158f03960 - -PutDown(Bernachon,Table2) - - - -cd55fd8b-06f0-43aa-973a-04ce263db149->5c36c821-5bd0-455f-b051-382158f03960 - - - - - -6cbd82d2-051e-43cd-86eb-d8f54bec3c5b - -Holding(Bernachon) - - - -9c4e6038-8337-4154-b2f9-da41b9a268d0->6cbd82d2-051e-43cd-86eb-d8f54bec3c5b - - - - - -32b3bb1a-8d44-4fd3-9826-1426ff97f00f - -Exist(Softdrink) - - - -9c4e6038-8337-4154-b2f9-da41b9a268d0->32b3bb1a-8d44-4fd3-9826-1426ff97f00f - - - - - -754c18e3-d17c-43e1-aba0-672016280472 - -At(Robot,BrightTable6) - - - -9c4e6038-8337-4154-b2f9-da41b9a268d0->754c18e3-d17c-43e1-aba0-672016280472 - - - - - -ccfd6d89-070f-490e-8da1-9df8145e0cc4 - -PutDown(Bernachon,BrightTable6) - - - -9c4e6038-8337-4154-b2f9-da41b9a268d0->ccfd6d89-070f-490e-8da1-9df8145e0cc4 - - - - - -6e94ba5b-8380-438e-83d5-d3c8544e39f6 - -Holding(Bernachon) - - - -bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa->6e94ba5b-8380-438e-83d5-d3c8544e39f6 - - - - - -484b49f5-a84d-4b66-b8a2-44e268706c5d - -Exist(Softdrink) - - - -bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa->484b49f5-a84d-4b66-b8a2-44e268706c5d - - - - - -79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3 - -At(Robot,Bar2) - - - -bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa->79b8944c-2eaf-4122-b2cf-f6a5bfc9eba3 - - - - - -284b892c-5691-4ae4-8234-5604ad709d4d - -PutDown(Bernachon,Bar2) - - - -bc52cbe8-d638-41a1-ba8e-b0b90bd4a9aa->284b892c-5691-4ae4-8234-5604ad709d4d - - - - - -763e4693-57bd-4267-8e5c-da305eae256a - -Holding(Bernachon) - - - -79d538c1-0f43-4169-acc3-786d384dec16->763e4693-57bd-4267-8e5c-da305eae256a - - - - - -6b4fcd69-9154-45a0-b82f-85ea457e9699 - -Exist(Softdrink) - - - -79d538c1-0f43-4169-acc3-786d384dec16->6b4fcd69-9154-45a0-b82f-85ea457e9699 - - - - - -e1f835b3-eae2-4d8a-93dc-ccab2af9a839 - -At(Robot,CoffeeTable) - - - -79d538c1-0f43-4169-acc3-786d384dec16->e1f835b3-eae2-4d8a-93dc-ccab2af9a839 - - - - - -057ce095-3cda-4602-88fa-9493f83a1b7c - -PutDown(Bernachon,CoffeeTable) - - - -79d538c1-0f43-4169-acc3-786d384dec16->057ce095-3cda-4602-88fa-9493f83a1b7c - - - - - -c7451614-cc82-4021-9ec6-2144a993bc9f - -Holding(Bernachon) - - - -8a64b8a4-0951-4da1-b90a-c09e04d5dafc->c7451614-cc82-4021-9ec6-2144a993bc9f - - - - - -7a625c15-bbb5-4375-87c4-60e579749b4c - -Exist(Softdrink) - - - -8a64b8a4-0951-4da1-b90a-c09e04d5dafc->7a625c15-bbb5-4375-87c4-60e579749b4c - - - - - -7bc54243-388b-42ec-8789-02dde857966c - -At(Robot,Bar) - - - -8a64b8a4-0951-4da1-b90a-c09e04d5dafc->7bc54243-388b-42ec-8789-02dde857966c - - - - - -6c5e4f09-594e-4a3a-b53f-8d252fbf55d3 - -PutDown(Bernachon,Bar) - - - -8a64b8a4-0951-4da1-b90a-c09e04d5dafc->6c5e4f09-594e-4a3a-b53f-8d252fbf55d3 - - - - - -2dc338f0-e4da-4cdd-8d31-e825eb58d73a - -Holding(Bernachon) - - - -0f7846ce-1c0b-4c9a-9199-0e5d9fc84427->2dc338f0-e4da-4cdd-8d31-e825eb58d73a - - - - - -58397c86-0ab9-462c-bf3f-5a1d6f2a1410 - -At(Robot,Table1) - - - -0f7846ce-1c0b-4c9a-9199-0e5d9fc84427->58397c86-0ab9-462c-bf3f-5a1d6f2a1410 - - - - - -ac062aab-3716-46e2-bf26-bdfb9316ff97 - -Exist(Softdrink) - - - -0f7846ce-1c0b-4c9a-9199-0e5d9fc84427->ac062aab-3716-46e2-bf26-bdfb9316ff97 - - - - - -be93a72b-d8ac-4912-a793-ebd898e3b7a3 - -PutDown(Bernachon,Table1) - - - -0f7846ce-1c0b-4c9a-9199-0e5d9fc84427->be93a72b-d8ac-4912-a793-ebd898e3b7a3 - - - - - -9a21f981-f994-4596-b72d-cc6363bcc201 - -Exist(Softdrink) - - - -5c663a98-c0e7-4741-b85c-a2120e0d36de->9a21f981-f994-4596-b72d-cc6363bcc201 - - - - - -ac648d1f-b4e5-46aa-b138-57af6810df61 - -At(Robot,Table3) - - - -5c663a98-c0e7-4741-b85c-a2120e0d36de->ac648d1f-b4e5-46aa-b138-57af6810df61 - - - - - -72958aa5-8b06-4e40-87df-9e4ae46dfd9b - -Holding(VacuumCup) - - - -5c663a98-c0e7-4741-b85c-a2120e0d36de->72958aa5-8b06-4e40-87df-9e4ae46dfd9b - - - - - -df80116e-ae28-416e-810a-4a0d2df48750 - -PutDown(VacuumCup,Table3) - - - -5c663a98-c0e7-4741-b85c-a2120e0d36de->df80116e-ae28-416e-810a-4a0d2df48750 - - - - - -d56275f8-9e97-43a9-a30f-72aa7ba81ad4 - -Exist(Softdrink) - - - -fe9ffccb-67df-44d7-a345-8e86e172cc04->d56275f8-9e97-43a9-a30f-72aa7ba81ad4 - - - - - -68b66b16-86ca-41d1-995a-efdd1d9806c2 - -At(Robot,WaterTable) - - - -fe9ffccb-67df-44d7-a345-8e86e172cc04->68b66b16-86ca-41d1-995a-efdd1d9806c2 - - - - - -a042a93f-a939-4d8c-aa96-07d299e7eb1f - -Holding(VacuumCup) - - - -fe9ffccb-67df-44d7-a345-8e86e172cc04->a042a93f-a939-4d8c-aa96-07d299e7eb1f - - - - - -1f41a993-53e9-4172-b2b0-b431c3f7842a - -PutDown(VacuumCup,WaterTable) - - - -fe9ffccb-67df-44d7-a345-8e86e172cc04->1f41a993-53e9-4172-b2b0-b431c3f7842a - - - - - -767107ee-93e3-4518-b5ec-e98e93146038 - -Exist(Softdrink) - - - -2724a517-0605-4e0a-b28e-e30217cff1e5->767107ee-93e3-4518-b5ec-e98e93146038 - - - - - -2a35d990-58e0-4bf7-a4ac-6bb785c63e6d - -At(Robot,Table2) - - - -2724a517-0605-4e0a-b28e-e30217cff1e5->2a35d990-58e0-4bf7-a4ac-6bb785c63e6d - - - - - -4d6ca9ed-9835-4cb7-b4a1-d928827d13a0 - -Holding(VacuumCup) - - - -2724a517-0605-4e0a-b28e-e30217cff1e5->4d6ca9ed-9835-4cb7-b4a1-d928827d13a0 - - - - - -edda49d1-0dc6-49ad-86a2-064af109eb28 - -PutDown(VacuumCup,Table2) - - - -2724a517-0605-4e0a-b28e-e30217cff1e5->edda49d1-0dc6-49ad-86a2-064af109eb28 - - - - - -2a6bbfc4-191d-403f-9a07-cf34b9e2c60b - -Exist(Softdrink) - - - -9887536b-3036-4fe9-8e42-95a135bbf72e->2a6bbfc4-191d-403f-9a07-cf34b9e2c60b - - - - - -3db37505-386c-4e12-9fd3-31f0e70e6e4c - -At(Robot,BrightTable6) - - - -9887536b-3036-4fe9-8e42-95a135bbf72e->3db37505-386c-4e12-9fd3-31f0e70e6e4c - - - - - -5e587690-9672-4cb7-984c-3453035be844 - -Holding(VacuumCup) - - - -9887536b-3036-4fe9-8e42-95a135bbf72e->5e587690-9672-4cb7-984c-3453035be844 - - - - - -4969dba1-43fd-4eb8-a778-3f4d68a5888c - -PutDown(VacuumCup,BrightTable6) - - - -9887536b-3036-4fe9-8e42-95a135bbf72e->4969dba1-43fd-4eb8-a778-3f4d68a5888c - - - - - -6829bd74-e762-46dd-b148-4f035ed90c09 - -Exist(Softdrink) - - - -e0e07131-b2a0-4027-b5ea-fbecf06ffac2->6829bd74-e762-46dd-b148-4f035ed90c09 - - - - - -b40cbe97-a640-4ae8-bd35-602aec157d6e - -At(Robot,Bar2) - - - -e0e07131-b2a0-4027-b5ea-fbecf06ffac2->b40cbe97-a640-4ae8-bd35-602aec157d6e - - - - - -f2bc444e-b4fa-4923-90ea-98ab2d0a35c5 - -Holding(VacuumCup) - - - -e0e07131-b2a0-4027-b5ea-fbecf06ffac2->f2bc444e-b4fa-4923-90ea-98ab2d0a35c5 - - - - - -1aaecfad-2976-4980-a2bd-e416f13aa6a0 - -PutDown(VacuumCup,Bar2) - - - -e0e07131-b2a0-4027-b5ea-fbecf06ffac2->1aaecfad-2976-4980-a2bd-e416f13aa6a0 - - - - - -19faf346-82f9-4fe7-aabd-e5f246356e2f - -At(Robot,CoffeeTable) - - - -4532eda4-3d8a-4a7c-afb8-965d7b1e00c1->19faf346-82f9-4fe7-aabd-e5f246356e2f - - - - - -d3b2633d-4f0e-4935-968d-fbc76e0669fc - -Exist(Softdrink) - - - -4532eda4-3d8a-4a7c-afb8-965d7b1e00c1->d3b2633d-4f0e-4935-968d-fbc76e0669fc - - - - - -fcb88388-0122-4b52-81ce-4b0bce0c8738 - -Holding(VacuumCup) - - - -4532eda4-3d8a-4a7c-afb8-965d7b1e00c1->fcb88388-0122-4b52-81ce-4b0bce0c8738 - - - - - -cb1cecac-1a69-4afd-9ea9-b7b478aee9ec - -PutDown(VacuumCup,CoffeeTable) - - - -4532eda4-3d8a-4a7c-afb8-965d7b1e00c1->cb1cecac-1a69-4afd-9ea9-b7b478aee9ec - - - - - -231f11fa-76d7-4bf7-badc-a70971c10969 - -Exist(Softdrink) - - - -ed21b2d8-cbde-49aa-92cc-f7f2cdede502->231f11fa-76d7-4bf7-badc-a70971c10969 - - - - - -361fcf64-cd7e-49e7-a4d6-5c957e1260b3 - -At(Robot,Bar) - - - -ed21b2d8-cbde-49aa-92cc-f7f2cdede502->361fcf64-cd7e-49e7-a4d6-5c957e1260b3 - - - - - -e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6 - -Holding(VacuumCup) - - - -ed21b2d8-cbde-49aa-92cc-f7f2cdede502->e74b5bc2-6ba5-4dc4-8b8a-0f8b7536a2f6 - - - - - -8695e1e7-a8c6-42ee-9297-c0c5e07af7ee - -PutDown(VacuumCup,Bar) - - - -ed21b2d8-cbde-49aa-92cc-f7f2cdede502->8695e1e7-a8c6-42ee-9297-c0c5e07af7ee - - - - - -8f6c2db0-4100-416f-a32c-67da97f6eba5 - -At(Robot,Table1) - - - -78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3->8f6c2db0-4100-416f-a32c-67da97f6eba5 - - - - - -7cfbfd5e-714f-4618-a6a7-b494d06a784a - -Exist(Softdrink) - - - -78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3->7cfbfd5e-714f-4618-a6a7-b494d06a784a - - - - - -38838658-aa73-49e5-979f-f027c66f0d85 - -Holding(VacuumCup) - - - -78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3->38838658-aa73-49e5-979f-f027c66f0d85 - - - - - -e500e1ef-8af3-447d-bec6-2128412c6a0c - -PutDown(VacuumCup,Table1) - - - -78ebc28f-be4d-4f30-bb9f-15c4f0f8fec3->e500e1ef-8af3-447d-bec6-2128412c6a0c - - - - - -785d9b8b-f69d-400e-b915-9ade0eebff76 - -Exist(Softdrink) - - - -65cb22af-1229-42d5-a0c7-1c492c64fa68->785d9b8b-f69d-400e-b915-9ade0eebff76 - - - - - -75b3ff29-74ca-4d94-9e40-7516360c4d67 - -Holding(ADMilk) - - - -65cb22af-1229-42d5-a0c7-1c492c64fa68->75b3ff29-74ca-4d94-9e40-7516360c4d67 - - - - - -c7252f21-501e-4755-b5ea-46655c8cf26e - -At(Robot,Table3) - - - -65cb22af-1229-42d5-a0c7-1c492c64fa68->c7252f21-501e-4755-b5ea-46655c8cf26e - - - - - -7a1c305c-5fa6-4d7f-a40e-67e972addb5e - -PutDown(ADMilk,Table3) - - - -65cb22af-1229-42d5-a0c7-1c492c64fa68->7a1c305c-5fa6-4d7f-a40e-67e972addb5e - - - - - -770cfd0c-d73b-4376-9977-e4f21ae117f3 - -Exist(Softdrink) - - - -284a312a-3d72-45a3-a027-995e3c971d69->770cfd0c-d73b-4376-9977-e4f21ae117f3 - - - - - -95504520-20f3-4f1a-bde6-7a7e9b8f7578 - -At(Robot,WaterTable) - - - -284a312a-3d72-45a3-a027-995e3c971d69->95504520-20f3-4f1a-bde6-7a7e9b8f7578 - - - - - -0f28b058-bea9-4930-9ca8-8ea20fb73f34 - -Holding(ADMilk) - - - -284a312a-3d72-45a3-a027-995e3c971d69->0f28b058-bea9-4930-9ca8-8ea20fb73f34 - - - - - -edc24e57-f5af-4f52-9c2b-507fd5d8d9dd - -PutDown(ADMilk,WaterTable) - - - -284a312a-3d72-45a3-a027-995e3c971d69->edc24e57-f5af-4f52-9c2b-507fd5d8d9dd - - - - - -95d39108-12dc-4933-a631-26a48065a54d - -Exist(Softdrink) - - - -dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc->95d39108-12dc-4933-a631-26a48065a54d - - - - - -74a0452a-4e25-4c65-97dc-95202b838cf6 - -At(Robot,Table2) - - - -dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc->74a0452a-4e25-4c65-97dc-95202b838cf6 - - - - - -df328e57-132f-4121-bc4f-b01513025fc4 - -Holding(ADMilk) - - - -dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc->df328e57-132f-4121-bc4f-b01513025fc4 - - - - - -1beb843e-f403-406c-a0eb-73f65724ffaa - -PutDown(ADMilk,Table2) - - - -dfc2c107-1fcf-4aa4-8ebf-2a85ede032cc->1beb843e-f403-406c-a0eb-73f65724ffaa - - - - - -5f7e5384-4a91-401a-bb2c-3639ea01c74f - -Exist(Softdrink) - - - -eb598ac4-416d-4ad7-96b1-a069c34f080f->5f7e5384-4a91-401a-bb2c-3639ea01c74f - - - - - -3925dd0d-d6af-4b90-8c81-03971027962d - -At(Robot,BrightTable6) - - - -eb598ac4-416d-4ad7-96b1-a069c34f080f->3925dd0d-d6af-4b90-8c81-03971027962d - - - - - -31c8ba85-a73b-453a-b84a-b69abf1a6407 - -Holding(ADMilk) - - - -eb598ac4-416d-4ad7-96b1-a069c34f080f->31c8ba85-a73b-453a-b84a-b69abf1a6407 - - - - - -a098eb55-17cd-4a13-ba7b-d1ff643791b5 - -PutDown(ADMilk,BrightTable6) - - - -eb598ac4-416d-4ad7-96b1-a069c34f080f->a098eb55-17cd-4a13-ba7b-d1ff643791b5 - - - - - -b6f923dc-f64d-4075-b70e-c59653640019 - -Exist(Softdrink) - - - -63bc2131-0c88-4373-a53c-ead94fb82fa6->b6f923dc-f64d-4075-b70e-c59653640019 - - - - - -dc165b15-93fb-4012-8469-d00b74105ab4 - -Holding(ADMilk) - - - -63bc2131-0c88-4373-a53c-ead94fb82fa6->dc165b15-93fb-4012-8469-d00b74105ab4 - - - - - -98dc8e33-be99-4706-bcd6-853ef1f59404 - -At(Robot,Bar2) - - - -63bc2131-0c88-4373-a53c-ead94fb82fa6->98dc8e33-be99-4706-bcd6-853ef1f59404 - - - - - -bcbf2ae0-66e2-48d2-a33e-646e2b302eb9 - -PutDown(ADMilk,Bar2) - - - -63bc2131-0c88-4373-a53c-ead94fb82fa6->bcbf2ae0-66e2-48d2-a33e-646e2b302eb9 - - - - - -64dec7d4-c93f-4a4a-b66b-e906d003181a - -At(Robot,CoffeeTable) - - - -c73357e2-9507-4b95-bc2e-1486b65b5dc6->64dec7d4-c93f-4a4a-b66b-e906d003181a - - - - - -ee21bb6e-335f-4224-adfc-a8ad63cb81a7 - -Exist(Softdrink) - - - -c73357e2-9507-4b95-bc2e-1486b65b5dc6->ee21bb6e-335f-4224-adfc-a8ad63cb81a7 - - - - - -893a8547-460e-4d21-aa84-40f64bb2e9a8 - -Holding(ADMilk) - - - -c73357e2-9507-4b95-bc2e-1486b65b5dc6->893a8547-460e-4d21-aa84-40f64bb2e9a8 - - - - - -1d94680f-c629-4d6d-999e-0758d631b25c - -PutDown(ADMilk,CoffeeTable) - - - -c73357e2-9507-4b95-bc2e-1486b65b5dc6->1d94680f-c629-4d6d-999e-0758d631b25c - - - - - -5459849f-8fd9-443f-a05a-81e03bce8d76 - -Exist(Softdrink) - - - -d410dc89-cc3e-4a1f-b56f-ada8becfb7cf->5459849f-8fd9-443f-a05a-81e03bce8d76 - - - - - -85d84939-a598-4c49-b68e-d94b95b824ca - -At(Robot,Bar) - - - -d410dc89-cc3e-4a1f-b56f-ada8becfb7cf->85d84939-a598-4c49-b68e-d94b95b824ca - - - - - -e90502db-5eb0-4322-8837-05bdf6597b67 - -Holding(ADMilk) - - - -d410dc89-cc3e-4a1f-b56f-ada8becfb7cf->e90502db-5eb0-4322-8837-05bdf6597b67 - - - - - -1b87e119-b5fd-4cdf-9721-aacdad09cd8e - -PutDown(ADMilk,Bar) - - - -d410dc89-cc3e-4a1f-b56f-ada8becfb7cf->1b87e119-b5fd-4cdf-9721-aacdad09cd8e - - - - - -17649c21-8cb3-455e-961b-8f3a2e08b0d1 - -At(Robot,Table1) - - - -78bdfd28-939b-4c3a-94f9-b090dbf7a5d2->17649c21-8cb3-455e-961b-8f3a2e08b0d1 - - - - - -810ba04b-2e29-44e5-9fa7-bb09db26d6e4 - -Exist(Softdrink) - - - -78bdfd28-939b-4c3a-94f9-b090dbf7a5d2->810ba04b-2e29-44e5-9fa7-bb09db26d6e4 - - - - - -efbec7d6-b5c4-40e9-974b-3a93fe9d3f81 - -Holding(ADMilk) - - - -78bdfd28-939b-4c3a-94f9-b090dbf7a5d2->efbec7d6-b5c4-40e9-974b-3a93fe9d3f81 - - - - - -6e6970e0-5cdc-4630-8312-eb3fa088c9c6 - -PutDown(ADMilk,Table1) - - - -78bdfd28-939b-4c3a-94f9-b090dbf7a5d2->6e6970e0-5cdc-4630-8312-eb3fa088c9c6 - - - - - -8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af - -Exist(Softdrink) - - - -1ed8f099-82a7-4dce-aade-6c1a34ab851d->8fdfb1b1-9481-49b9-9ee4-1b7c9821c5af - - - - - -8fd2b91f-c13a-41a1-8694-8cb9197619bf - -Holding(Water) - - - -1ed8f099-82a7-4dce-aade-6c1a34ab851d->8fd2b91f-c13a-41a1-8694-8cb9197619bf - - - - - -d01a2e6c-efc7-45f5-a300-d234ae329d50 - -At(Robot,Table3) - - - -1ed8f099-82a7-4dce-aade-6c1a34ab851d->d01a2e6c-efc7-45f5-a300-d234ae329d50 - - - - - -d80d7998-97cb-415d-9a41-0478bfe1cad1 - -PutDown(Water,Table3) - - - -1ed8f099-82a7-4dce-aade-6c1a34ab851d->d80d7998-97cb-415d-9a41-0478bfe1cad1 - - - - - -b32e86aa-51d6-4717-81dd-2d454d53bf28 - -Exist(Softdrink) - - - -8b7f4740-53bb-44b0-811f-c4420e979178->b32e86aa-51d6-4717-81dd-2d454d53bf28 - - - - - -dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc - -At(Robot,WaterTable) - - - -8b7f4740-53bb-44b0-811f-c4420e979178->dc4b960d-e9cf-45e5-ae45-2b4fd888ebcc - - - - - -c7385cd5-e7de-4ae8-9411-ebf16e72c709 - -Holding(Water) - - - -8b7f4740-53bb-44b0-811f-c4420e979178->c7385cd5-e7de-4ae8-9411-ebf16e72c709 - - - - - -a52755f7-9807-4f91-bb2b-b9a07ba6d68b - -PutDown(Water,WaterTable) - - - -8b7f4740-53bb-44b0-811f-c4420e979178->a52755f7-9807-4f91-bb2b-b9a07ba6d68b - - - - - -9148246d-12dd-4280-b737-7893719e9f29 - -Exist(Softdrink) - - - -09ad191e-0b49-44e3-b66b-ea5805a0d063->9148246d-12dd-4280-b737-7893719e9f29 - - - - - -5ca7808d-bdcd-4a21-9497-1daa46cd30a2 - -Holding(Water) - - - -09ad191e-0b49-44e3-b66b-ea5805a0d063->5ca7808d-bdcd-4a21-9497-1daa46cd30a2 - - - - - -eba2baf1-3cb1-430d-8f6b-3aa6cf752191 - -At(Robot,Table2) - - - -09ad191e-0b49-44e3-b66b-ea5805a0d063->eba2baf1-3cb1-430d-8f6b-3aa6cf752191 - - - - - -de485576-b0e9-42f1-a393-4861c45ece7b - -PutDown(Water,Table2) - - - -09ad191e-0b49-44e3-b66b-ea5805a0d063->de485576-b0e9-42f1-a393-4861c45ece7b - - - - - -b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac - -Exist(Softdrink) - - - -df60fa57-fb7c-4315-829e-ae47d6507683->b1f9c2e4-c147-4b8f-b5f9-b4c67c3335ac - - - - - -0d4d8178-342e-46bc-8d35-727ce998834a - -At(Robot,BrightTable6) - - - -df60fa57-fb7c-4315-829e-ae47d6507683->0d4d8178-342e-46bc-8d35-727ce998834a - - - - - -c962ca71-ba64-4739-bb55-291905b9d044 - -Holding(Water) - - - -df60fa57-fb7c-4315-829e-ae47d6507683->c962ca71-ba64-4739-bb55-291905b9d044 - - - - - -359e7b79-0ab6-4412-89c6-9dd89858bf5c - -PutDown(Water,BrightTable6) - - - -df60fa57-fb7c-4315-829e-ae47d6507683->359e7b79-0ab6-4412-89c6-9dd89858bf5c - - - - - -62d0baea-9b48-44e6-8205-2cd2e993c059 - -Exist(Softdrink) - - - -61b2ff09-78eb-4c57-bd55-69a316cb9440->62d0baea-9b48-44e6-8205-2cd2e993c059 - - - - - -d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1 - -Holding(Water) - - - -61b2ff09-78eb-4c57-bd55-69a316cb9440->d36fdcbd-5d4a-4d6c-9699-0eacf79ba7e1 - - - - - -26d4ec74-56f9-405a-bf06-d764c124388b - -At(Robot,Bar2) - - - -61b2ff09-78eb-4c57-bd55-69a316cb9440->26d4ec74-56f9-405a-bf06-d764c124388b - - - - - -78db2bad-fd3c-4233-8577-9b0660280967 - -PutDown(Water,Bar2) - - - -61b2ff09-78eb-4c57-bd55-69a316cb9440->78db2bad-fd3c-4233-8577-9b0660280967 - - - - - -1d665acf-11da-4286-8bc3-86aafcea6acb - -At(Robot,CoffeeTable) - - - -1d380410-b9cb-4485-8b75-522184c8b79e->1d665acf-11da-4286-8bc3-86aafcea6acb - - - - - -c415c194-e186-4df7-89ad-4ae3a3bb4b09 - -Exist(Softdrink) - - - -1d380410-b9cb-4485-8b75-522184c8b79e->c415c194-e186-4df7-89ad-4ae3a3bb4b09 - - - - - -1559205a-5cea-419d-b812-1f1b7553fdb3 - -Holding(Water) - - - -1d380410-b9cb-4485-8b75-522184c8b79e->1559205a-5cea-419d-b812-1f1b7553fdb3 - - - - - -f66acea1-64f5-4a3a-aeee-997a01014b5a - -PutDown(Water,CoffeeTable) - - - -1d380410-b9cb-4485-8b75-522184c8b79e->f66acea1-64f5-4a3a-aeee-997a01014b5a - - - - - -004a459c-4331-4886-a579-93a03145a6d1 - -Exist(Softdrink) - - - -75e8a180-6634-4047-866e-c2253f8d52fa->004a459c-4331-4886-a579-93a03145a6d1 - - - - - -fd6c59e6-f428-4c56-88ef-46d49dee80ea - -At(Robot,Bar) - - - -75e8a180-6634-4047-866e-c2253f8d52fa->fd6c59e6-f428-4c56-88ef-46d49dee80ea - - - - - -93326d8d-a4d5-4478-b7e3-8fbc9d97d592 - -Holding(Water) - - - -75e8a180-6634-4047-866e-c2253f8d52fa->93326d8d-a4d5-4478-b7e3-8fbc9d97d592 - - - - - -9687f2a4-c21e-419a-8943-27055cb05cb9 - -PutDown(Water,Bar) - - - -75e8a180-6634-4047-866e-c2253f8d52fa->9687f2a4-c21e-419a-8943-27055cb05cb9 - - - - - -2621b2f4-5418-4608-8065-ab6d3aea2614 - -At(Robot,Table1) - - - -5b40ac65-c718-4868-b2df-9eb0e0ee8789->2621b2f4-5418-4608-8065-ab6d3aea2614 - - - - - -ac3a7ceb-bdd3-4138-937d-746379f8c540 - -Exist(Softdrink) - - - -5b40ac65-c718-4868-b2df-9eb0e0ee8789->ac3a7ceb-bdd3-4138-937d-746379f8c540 - - - - - -522215bb-a6ea-4d27-931c-9817d9245b89 - -Holding(Water) - - - -5b40ac65-c718-4868-b2df-9eb0e0ee8789->522215bb-a6ea-4d27-931c-9817d9245b89 - - - - - -90288017-982c-4eac-88fa-39ab7c1e1593 - -PutDown(Water,Table1) - - - -5b40ac65-c718-4868-b2df-9eb0e0ee8789->90288017-982c-4eac-88fa-39ab7c1e1593 - - - - - -3de1b84b-9fcb-4984-b9a7-d60589f0cc3c - -Exist(Softdrink) - - - -19d68e28-8671-4c3d-bb9e-97e9f6d0136f->3de1b84b-9fcb-4984-b9a7-d60589f0cc3c - - - - - -6da08102-3469-4673-9de1-dcea35c718e9 - -Holding(MilkDrink) - - - -19d68e28-8671-4c3d-bb9e-97e9f6d0136f->6da08102-3469-4673-9de1-dcea35c718e9 - - - - - -13724b32-e1d4-4432-b941-37db3ffa95ab - -At(Robot,Table3) - - - -19d68e28-8671-4c3d-bb9e-97e9f6d0136f->13724b32-e1d4-4432-b941-37db3ffa95ab - - - - - -e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879 - -PutDown(MilkDrink,Table3) - - - -19d68e28-8671-4c3d-bb9e-97e9f6d0136f->e10f6fb4-42cb-4cbb-be0d-00c4b2bb7879 - - - - - -a8d13c48-31cc-49d3-9910-0fadd43918ee - -Exist(Softdrink) - - - -6fff1ec3-ff11-4be5-aad1-800e30bb2287->a8d13c48-31cc-49d3-9910-0fadd43918ee - - - - - -226b3761-761c-427c-b379-a43381dc900c - -At(Robot,WaterTable) - - - -6fff1ec3-ff11-4be5-aad1-800e30bb2287->226b3761-761c-427c-b379-a43381dc900c - - - - - -4afaafec-8189-4581-8435-7a1ebee4d714 - -Holding(MilkDrink) - - - -6fff1ec3-ff11-4be5-aad1-800e30bb2287->4afaafec-8189-4581-8435-7a1ebee4d714 - - - - - -0e0e41cb-aec9-483f-8ca0-eb77eddec30c - -PutDown(MilkDrink,WaterTable) - - - -6fff1ec3-ff11-4be5-aad1-800e30bb2287->0e0e41cb-aec9-483f-8ca0-eb77eddec30c - - - - - -d6131a22-7806-4b2f-9470-2aef3e2ec3af - -At(Robot,Table2) - - - -a1e0de8a-d06f-43ad-83d4-2048520730c4->d6131a22-7806-4b2f-9470-2aef3e2ec3af - - - - - -5d8cc54a-40d1-414d-a031-1b78b537ed7b - -Exist(Softdrink) - - - -a1e0de8a-d06f-43ad-83d4-2048520730c4->5d8cc54a-40d1-414d-a031-1b78b537ed7b - - - - - -58ccec5d-0426-4410-94fd-8a2b6d5c6280 - -Holding(MilkDrink) - - - -a1e0de8a-d06f-43ad-83d4-2048520730c4->58ccec5d-0426-4410-94fd-8a2b6d5c6280 - - - - - -fb432a35-8995-4178-8e77-418f7e5bd831 - -PutDown(MilkDrink,Table2) - - - -a1e0de8a-d06f-43ad-83d4-2048520730c4->fb432a35-8995-4178-8e77-418f7e5bd831 - - - - - -24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07 - -Exist(Softdrink) - - - -98a8ca8e-1929-41ea-a900-bebfa01afb51->24f2c5f9-aec9-4845-a1d5-5d6cf2bb8b07 - - - - - -3558b7a8-169e-4021-8c69-80c65384457f - -At(Robot,BrightTable6) - - - -98a8ca8e-1929-41ea-a900-bebfa01afb51->3558b7a8-169e-4021-8c69-80c65384457f - - - - - -28c5ea88-8b51-4a0a-b1d6-50dac1b2e246 - -Holding(MilkDrink) - - - -98a8ca8e-1929-41ea-a900-bebfa01afb51->28c5ea88-8b51-4a0a-b1d6-50dac1b2e246 - - - - - -23b531fa-28bb-411c-a787-4bf30e67feb5 - -PutDown(MilkDrink,BrightTable6) - - - -98a8ca8e-1929-41ea-a900-bebfa01afb51->23b531fa-28bb-411c-a787-4bf30e67feb5 - - - - - -7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094 - -Exist(Softdrink) - - - -e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57->7d5dfd4b-3f4f-4d16-8be4-4f186a6a5094 - - - - - -09ba9f11-9eff-4cbd-93b1-77d070c7fb5e - -Holding(MilkDrink) - - - -e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57->09ba9f11-9eff-4cbd-93b1-77d070c7fb5e - - - - - -ff10e040-6325-4d34-a9c0-538537bd383f - -At(Robot,Bar2) - - - -e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57->ff10e040-6325-4d34-a9c0-538537bd383f - - - - - -7cb545a8-8b54-4b0c-8f5d-f826c9c0130b - -PutDown(MilkDrink,Bar2) - - - -e05faac6-0aeb-4fac-a7bc-f8bf43cd3a57->7cb545a8-8b54-4b0c-8f5d-f826c9c0130b - - - - - -573c1414-84da-4963-aafd-3b5b0741fb26 - -At(Robot,CoffeeTable) - - - -acd77041-d998-4b3d-8015-ff02adc5e9aa->573c1414-84da-4963-aafd-3b5b0741fb26 - - - - - -c3fb52b1-e056-4d70-aa92-c461fb8f60a0 - -Exist(Softdrink) - - - -acd77041-d998-4b3d-8015-ff02adc5e9aa->c3fb52b1-e056-4d70-aa92-c461fb8f60a0 - - - - - -1a8fb1aa-8995-4f47-9006-dad1ea152482 - -Holding(MilkDrink) - - - -acd77041-d998-4b3d-8015-ff02adc5e9aa->1a8fb1aa-8995-4f47-9006-dad1ea152482 - - - - - -4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3 - -PutDown(MilkDrink,CoffeeTable) - - - -acd77041-d998-4b3d-8015-ff02adc5e9aa->4e67fbe0-ac40-4a44-89e7-3d6d82c99ec3 - - - - - -5e80cf61-0551-46b2-9c1a-9cf5f62b7590 - -Exist(Softdrink) - - - -ddd8d7c3-e6f2-4f81-9017-881d6918b1d7->5e80cf61-0551-46b2-9c1a-9cf5f62b7590 - - - - - -bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6 - -At(Robot,Bar) - - - -ddd8d7c3-e6f2-4f81-9017-881d6918b1d7->bdafac2f-ceb8-4d8b-a44a-5ed84fba99b6 - - - - - -03ca2da0-9f7d-4295-a463-7fdfa03d843a - -Holding(MilkDrink) - - - -ddd8d7c3-e6f2-4f81-9017-881d6918b1d7->03ca2da0-9f7d-4295-a463-7fdfa03d843a - - - - - -9e2f566c-180e-47a3-be93-68d15adf9d2e - -PutDown(MilkDrink,Bar) - - - -ddd8d7c3-e6f2-4f81-9017-881d6918b1d7->9e2f566c-180e-47a3-be93-68d15adf9d2e - - - - - -02e0b587-5ee7-4404-a618-9ca4284229de - -At(Robot,Table1) - - - -1e84c50a-a784-4a87-942d-5641735b7261->02e0b587-5ee7-4404-a618-9ca4284229de - - - - - -8da00d8f-8b92-4fab-9cec-9bd340ab7ce6 - -Exist(Softdrink) - - - -1e84c50a-a784-4a87-942d-5641735b7261->8da00d8f-8b92-4fab-9cec-9bd340ab7ce6 - - - - - -b4e13124-75f6-42c0-946e-71720c7ce550 - -Holding(MilkDrink) - - - -1e84c50a-a784-4a87-942d-5641735b7261->b4e13124-75f6-42c0-946e-71720c7ce550 - - - - - -066122f7-b148-4d34-941e-0f42dac050e1 - -PutDown(MilkDrink,Table1) - - - -1e84c50a-a784-4a87-942d-5641735b7261->066122f7-b148-4d34-941e-0f42dac050e1 - - - - - -a7845e8c-1c7b-460d-8c77-0141c4caa8b9 - -Exist(Softdrink) - - - -5c234a7c-54c3-44c9-8bf0-cb7b151c5b49->a7845e8c-1c7b-460d-8c77-0141c4caa8b9 - - - - - -32cc9641-c3e9-49e1-bdeb-f1150327e00d - -Holding(SpringWater) - - - -5c234a7c-54c3-44c9-8bf0-cb7b151c5b49->32cc9641-c3e9-49e1-bdeb-f1150327e00d - - - - - -5cc57e95-ffd4-4e15-ac92-6ff5d16c281f - -At(Robot,Table3) - - - -5c234a7c-54c3-44c9-8bf0-cb7b151c5b49->5cc57e95-ffd4-4e15-ac92-6ff5d16c281f - - - - - -2cfaa496-e96c-4406-b1a1-228cc1c06fa1 - -PutDown(SpringWater,Table3) - - - -5c234a7c-54c3-44c9-8bf0-cb7b151c5b49->2cfaa496-e96c-4406-b1a1-228cc1c06fa1 - - - - - -214325db-3636-4fc0-9722-43b5f03e6b8b - -Exist(Softdrink) - - - -a94c8304-2941-4238-8972-c2455f8bc22e->214325db-3636-4fc0-9722-43b5f03e6b8b - - - - - -80a7f9f1-0704-4d55-b1ed-56c5783b9a87 - -Holding(SpringWater) - - - -a94c8304-2941-4238-8972-c2455f8bc22e->80a7f9f1-0704-4d55-b1ed-56c5783b9a87 - - - - - -f64a69db-71bc-4d57-b188-f66bf72548fb - -At(Robot,WaterTable) - - - -a94c8304-2941-4238-8972-c2455f8bc22e->f64a69db-71bc-4d57-b188-f66bf72548fb - - - - - -e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42 - -PutDown(SpringWater,WaterTable) - - - -a94c8304-2941-4238-8972-c2455f8bc22e->e4a3f8bd-79a0-4b87-86e0-5838ae9c5a42 - - - - - -b829c35a-fa31-4139-a84a-abc9c1ef2b2b - -Exist(Softdrink) - - - -c6b0da5f-132f-46cc-8e0e-7c462f767f01->b829c35a-fa31-4139-a84a-abc9c1ef2b2b - - - - - -8ff7ea8d-12bb-49da-8041-ab3d11e969f0 - -Holding(SpringWater) - - - -c6b0da5f-132f-46cc-8e0e-7c462f767f01->8ff7ea8d-12bb-49da-8041-ab3d11e969f0 - - - - - -eabdfab2-570c-406a-8307-948cc4930fa4 - -At(Robot,Table2) - - - -c6b0da5f-132f-46cc-8e0e-7c462f767f01->eabdfab2-570c-406a-8307-948cc4930fa4 - - - - - -e05b1e1f-5577-4a0d-9d35-05929ec54d09 - -PutDown(SpringWater,Table2) - - - -c6b0da5f-132f-46cc-8e0e-7c462f767f01->e05b1e1f-5577-4a0d-9d35-05929ec54d09 - - - - - -20d23750-f968-4948-8f22-ebb3fd379244 - -Exist(Softdrink) - - - -040eee78-88c2-4e2b-8caf-7fcc268e4e58->20d23750-f968-4948-8f22-ebb3fd379244 - - - - - -5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766 - -Holding(SpringWater) - - - -040eee78-88c2-4e2b-8caf-7fcc268e4e58->5ac2fdf6-3e9e-4c19-a2bf-1e607e0ff766 - - - - - -95770c92-f247-4e13-9e77-f0cca209ad6e - -At(Robot,BrightTable6) - - - -040eee78-88c2-4e2b-8caf-7fcc268e4e58->95770c92-f247-4e13-9e77-f0cca209ad6e - - - - - -4a83eab6-179d-4288-8045-9b307b54bf7f - -PutDown(SpringWater,BrightTable6) - - - -040eee78-88c2-4e2b-8caf-7fcc268e4e58->4a83eab6-179d-4288-8045-9b307b54bf7f - - - - - -ebe54ba5-61a3-4580-9670-1efe50b33cb5 - -Exist(Softdrink) - - - -2885ff72-07b6-4911-b4d6-9fdc3d5ace22->ebe54ba5-61a3-4580-9670-1efe50b33cb5 - - - - - -21a6f9d1-a2de-4e3f-9d87-a931701e65ac - -Holding(SpringWater) - - - -2885ff72-07b6-4911-b4d6-9fdc3d5ace22->21a6f9d1-a2de-4e3f-9d87-a931701e65ac - - - - - -f363edb6-9808-4d4f-8f3c-9b26fadf6b53 - -At(Robot,Bar2) - - - -2885ff72-07b6-4911-b4d6-9fdc3d5ace22->f363edb6-9808-4d4f-8f3c-9b26fadf6b53 - - - - - -f9a19c8a-4fc6-4369-adba-57b1578cba20 - -PutDown(SpringWater,Bar2) - - - -2885ff72-07b6-4911-b4d6-9fdc3d5ace22->f9a19c8a-4fc6-4369-adba-57b1578cba20 - - - - - -8fd5dd34-8bae-4ab5-baa5-09673b0f669e - -At(Robot,CoffeeTable) - - - -6bf2333d-e5c5-445f-b282-38cdacc4a954->8fd5dd34-8bae-4ab5-baa5-09673b0f669e - - - - - -4508fbcf-3473-4434-956b-4b65b86a34e2 - -Exist(Softdrink) - - - -6bf2333d-e5c5-445f-b282-38cdacc4a954->4508fbcf-3473-4434-956b-4b65b86a34e2 - - - - - -fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b - -Holding(SpringWater) - - - -6bf2333d-e5c5-445f-b282-38cdacc4a954->fbbc3bb5-5ac8-46d9-862a-5ab93b829c5b - - - - - -46a3cf04-6b14-4881-8e1c-1646c5ce972c - -PutDown(SpringWater,CoffeeTable) - - - -6bf2333d-e5c5-445f-b282-38cdacc4a954->46a3cf04-6b14-4881-8e1c-1646c5ce972c - - - - - -88c95099-5835-4b0b-81dd-3e0c4628480a - -Exist(Softdrink) - - - -37f56b5e-2868-4788-854a-1e57f66d7f73->88c95099-5835-4b0b-81dd-3e0c4628480a - - - - - -2908e8ec-8af2-4f0b-a18c-c65c000e04bb - -Holding(SpringWater) - - - -37f56b5e-2868-4788-854a-1e57f66d7f73->2908e8ec-8af2-4f0b-a18c-c65c000e04bb - - - - - -4c2e6ff8-3ab0-4c48-aa94-632a407475a0 - -At(Robot,Bar) - - - -37f56b5e-2868-4788-854a-1e57f66d7f73->4c2e6ff8-3ab0-4c48-aa94-632a407475a0 - - - - - -bcd2a534-278c-4ad3-9968-0e4c8e36daa4 - -PutDown(SpringWater,Bar) - - - -37f56b5e-2868-4788-854a-1e57f66d7f73->bcd2a534-278c-4ad3-9968-0e4c8e36daa4 - - - - - -dd11c028-4577-44d4-a106-fc51db14a110 - -At(Robot,Table1) - - - -7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4->dd11c028-4577-44d4-a106-fc51db14a110 - - - - - -a69543fa-c97b-4f30-aa20-dfe086cc8d40 - -Holding(SpringWater) - - - -7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4->a69543fa-c97b-4f30-aa20-dfe086cc8d40 - - - - - -aa92fb94-9d3c-4124-8f36-9d07912c9547 - -Exist(Softdrink) - - - -7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4->aa92fb94-9d3c-4124-8f36-9d07912c9547 - - - - - -cae3a015-890d-4e05-af0e-34400334b786 - -PutDown(SpringWater,Table1) - - - -7b837fa8-2b0d-4f8e-bf8e-8024c2cdc4f4->cae3a015-890d-4e05-af0e-34400334b786 - - - - - -57233856-9b22-46b3-b77c-ef31438ee9b1 - -Exist(Softdrink) - - - -f699b546-e05b-4c99-9edf-b5d153dbe9c9->57233856-9b22-46b3-b77c-ef31438ee9b1 - - - - - -50dcfc1a-ba23-4c84-9bac-a4b7e6106828 - -Holding(Chips) - - - -f699b546-e05b-4c99-9edf-b5d153dbe9c9->50dcfc1a-ba23-4c84-9bac-a4b7e6106828 - - - - - -686de2a9-1587-4153-a684-d707afb0bf34 - -At(Robot,Table3) - - - -f699b546-e05b-4c99-9edf-b5d153dbe9c9->686de2a9-1587-4153-a684-d707afb0bf34 - - - - - -e41776ac-8d0a-48d3-88b3-e7a619f86249 - -PutDown(Chips,Table3) - - - -f699b546-e05b-4c99-9edf-b5d153dbe9c9->e41776ac-8d0a-48d3-88b3-e7a619f86249 - - - - - -fd49b5b4-4d53-4ec4-b982-fdd19511786c - -Exist(Softdrink) - - - -8f6810ba-b72b-4dd1-b862-5ace3795ca8d->fd49b5b4-4d53-4ec4-b982-fdd19511786c - - - - - -7004dcf6-7f1b-47db-acd8-fc41b6cbe280 - -At(Robot,WaterTable) - - - -8f6810ba-b72b-4dd1-b862-5ace3795ca8d->7004dcf6-7f1b-47db-acd8-fc41b6cbe280 - - - - - -4818bba3-a0d7-4033-8eee-a25cbc54461d - -Holding(Chips) - - - -8f6810ba-b72b-4dd1-b862-5ace3795ca8d->4818bba3-a0d7-4033-8eee-a25cbc54461d - - - - - -05a3a6db-81ad-4e0d-be52-70de9e83187a - -PutDown(Chips,WaterTable) - - - -8f6810ba-b72b-4dd1-b862-5ace3795ca8d->05a3a6db-81ad-4e0d-be52-70de9e83187a - - - - - -df18a38f-65b7-4b64-8f17-79b7f1ea3bf3 - -At(Robot,Table2) - - - -2876effb-ca3d-4142-b508-efc836813b5e->df18a38f-65b7-4b64-8f17-79b7f1ea3bf3 - - - - - -17f3ab70-4026-40ec-b02a-51fde2ab8c8d - -Exist(Softdrink) - - - -2876effb-ca3d-4142-b508-efc836813b5e->17f3ab70-4026-40ec-b02a-51fde2ab8c8d - - - - - -b2442fb3-7b31-4e13-b044-92d5de79c57c - -Holding(Chips) - - - -2876effb-ca3d-4142-b508-efc836813b5e->b2442fb3-7b31-4e13-b044-92d5de79c57c - - - - - -2582ccb0-2b72-4f2f-9a53-ab063a694812 - -PutDown(Chips,Table2) - - - -2876effb-ca3d-4142-b508-efc836813b5e->2582ccb0-2b72-4f2f-9a53-ab063a694812 - - - - - -5d485ab1-de5c-43a4-ad59-ec7b07a226f1 - -Exist(Softdrink) - - - -3d60312c-00e9-4561-a16c-b48cfc84eefd->5d485ab1-de5c-43a4-ad59-ec7b07a226f1 - - - - - -1779c41e-3f87-4994-b6ca-3a1caed4b54c - -At(Robot,BrightTable6) - - - -3d60312c-00e9-4561-a16c-b48cfc84eefd->1779c41e-3f87-4994-b6ca-3a1caed4b54c - - - - - -ac7f3fdc-027e-497a-a49f-f140bb6abc59 - -Holding(Chips) - - - -3d60312c-00e9-4561-a16c-b48cfc84eefd->ac7f3fdc-027e-497a-a49f-f140bb6abc59 - - - - - -4f9ea29c-7d12-479c-83e4-24a645d68def - -PutDown(Chips,BrightTable6) - - - -3d60312c-00e9-4561-a16c-b48cfc84eefd->4f9ea29c-7d12-479c-83e4-24a645d68def - - - - - -faee8157-ece2-4fcd-bcab-4139e2eea7fd - -Exist(Softdrink) - - - -5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0->faee8157-ece2-4fcd-bcab-4139e2eea7fd - - - - - -72ca4076-9a8f-48ae-a691-80246f8de1da - -Holding(Chips) - - - -5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0->72ca4076-9a8f-48ae-a691-80246f8de1da - - - - - -02771446-4abd-4093-9d66-35512f617505 - -At(Robot,Bar2) - - - -5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0->02771446-4abd-4093-9d66-35512f617505 - - - - - -9253797b-d776-47f3-9b2f-a33a903652a5 - -PutDown(Chips,Bar2) - - - -5d4a83ce-750b-4f87-b9a3-1cc766c3a6b0->9253797b-d776-47f3-9b2f-a33a903652a5 - - - - - -55ebd3c6-1746-4625-9dec-a3799565b79e - -At(Robot,CoffeeTable) - - - -84a3f177-524d-46ee-a62b-7c3fe623caa2->55ebd3c6-1746-4625-9dec-a3799565b79e - - - - - -7895800a-d750-48fd-b850-a9f82a4f4095 - -Exist(Softdrink) - - - -84a3f177-524d-46ee-a62b-7c3fe623caa2->7895800a-d750-48fd-b850-a9f82a4f4095 - - - - - -a202c55c-0c8a-4981-bf53-70993766f36b - -Holding(Chips) - - - -84a3f177-524d-46ee-a62b-7c3fe623caa2->a202c55c-0c8a-4981-bf53-70993766f36b - - - - - -029afb26-1bae-4813-8e5b-7296b75a289f - -PutDown(Chips,CoffeeTable) - - - -84a3f177-524d-46ee-a62b-7c3fe623caa2->029afb26-1bae-4813-8e5b-7296b75a289f - - - - - -cd751e9d-35d3-4dd6-bc54-52307d763f99 - -Exist(Softdrink) - - - -efaad31a-ff61-41f3-bfff-9e384cc3fa65->cd751e9d-35d3-4dd6-bc54-52307d763f99 - - - - - -02397c00-692c-4836-b7e5-3f9bd9c22c31 - -At(Robot,Bar) - - - -efaad31a-ff61-41f3-bfff-9e384cc3fa65->02397c00-692c-4836-b7e5-3f9bd9c22c31 - - - - - -a264bd52-a4b2-46f3-ad43-b36bacd5c2ae - -Holding(Chips) - - - -efaad31a-ff61-41f3-bfff-9e384cc3fa65->a264bd52-a4b2-46f3-ad43-b36bacd5c2ae - - - - - -22474561-32bc-4b0b-84db-d3b6ad04f82b - -PutDown(Chips,Bar) - - - -efaad31a-ff61-41f3-bfff-9e384cc3fa65->22474561-32bc-4b0b-84db-d3b6ad04f82b - - - - - -b3158e70-5918-4364-895e-55efc2e869f5 - -At(Robot,Table1) - - - -97b8656b-ea76-443b-ae5c-4efd90b261c1->b3158e70-5918-4364-895e-55efc2e869f5 - - - - - -e1e3713a-4222-4c0c-a92a-572112a29376 - -Exist(Softdrink) - - - -97b8656b-ea76-443b-ae5c-4efd90b261c1->e1e3713a-4222-4c0c-a92a-572112a29376 - - - - - -86a5ecff-ca4d-49a8-a318-28490c064610 - -Holding(Chips) - - - -97b8656b-ea76-443b-ae5c-4efd90b261c1->86a5ecff-ca4d-49a8-a318-28490c064610 - - - - - -e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca - -PutDown(Chips,Table1) - - - -97b8656b-ea76-443b-ae5c-4efd90b261c1->e6fbeb0d-df9c-4f77-a2de-33eb5f9f96ca - - - - - -b6da636a-7600-4a9a-8d44-4ce9966b62da - -Exist(Softdrink) - - - -018a5b68-416b-4d0c-99cb-eb0eae0b9168->b6da636a-7600-4a9a-8d44-4ce9966b62da - - - - - -3e616032-2983-4e57-8cc1-bda4ab716af8 - -Holding(Coffee) - - - -018a5b68-416b-4d0c-99cb-eb0eae0b9168->3e616032-2983-4e57-8cc1-bda4ab716af8 - - - - - -f1738bc3-0250-4a7d-ac0a-5f44ffc9c651 - -At(Robot,Table3) - - - -018a5b68-416b-4d0c-99cb-eb0eae0b9168->f1738bc3-0250-4a7d-ac0a-5f44ffc9c651 - - - - - -fc6107a1-74fc-4aa1-86ad-023f11eadab8 - -PutDown(Coffee,Table3) - - - -018a5b68-416b-4d0c-99cb-eb0eae0b9168->fc6107a1-74fc-4aa1-86ad-023f11eadab8 - - - - - -60de17bb-5da1-467c-a7b6-762d4c7f0149 - -Exist(Softdrink) - - - -38c16f1a-f96c-4fe3-8311-a127d2776b2d->60de17bb-5da1-467c-a7b6-762d4c7f0149 - - - - - -1a114bc8-8e4e-4a5f-bb20-6cc324f48eff - -At(Robot,WaterTable) - - - -38c16f1a-f96c-4fe3-8311-a127d2776b2d->1a114bc8-8e4e-4a5f-bb20-6cc324f48eff - - - - - -5e704e53-af3c-448d-af95-26f169a787e8 - -Holding(Coffee) - - - -38c16f1a-f96c-4fe3-8311-a127d2776b2d->5e704e53-af3c-448d-af95-26f169a787e8 - - - - - -d1cfff06-f903-4d34-9a30-3ef8ea60aa2f - -PutDown(Coffee,WaterTable) - - - -38c16f1a-f96c-4fe3-8311-a127d2776b2d->d1cfff06-f903-4d34-9a30-3ef8ea60aa2f - - - - - -5544234a-4c2a-4f78-997d-f5decc14416b - -At(Robot,Table2) - - - -33683c65-44e2-44e7-9359-77c03040e37b->5544234a-4c2a-4f78-997d-f5decc14416b - - - - - -18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0 - -Exist(Softdrink) - - - -33683c65-44e2-44e7-9359-77c03040e37b->18e3e32e-d9aa-40bb-ab86-1bc3ab6b1cf0 - - - - - -94b48989-4317-46f8-9007-ef9c45fe8226 - -Holding(Coffee) - - - -33683c65-44e2-44e7-9359-77c03040e37b->94b48989-4317-46f8-9007-ef9c45fe8226 - - - - - -4673a463-f02b-4e3f-9ad3-2868f26af138 - -PutDown(Coffee,Table2) - - - -33683c65-44e2-44e7-9359-77c03040e37b->4673a463-f02b-4e3f-9ad3-2868f26af138 - - - - - -55e9307c-e1e3-4adb-abfc-1582a5a82bb9 - -Exist(Softdrink) - - - -a463677f-e8ae-4929-82db-0e6b689945c8->55e9307c-e1e3-4adb-abfc-1582a5a82bb9 - - - - - -e4939914-0675-4ab3-9612-383312642f58 - -At(Robot,BrightTable6) - - - -a463677f-e8ae-4929-82db-0e6b689945c8->e4939914-0675-4ab3-9612-383312642f58 - - - - - -604de4d6-0f65-4141-97fb-987fa8506620 - -Holding(Coffee) - - - -a463677f-e8ae-4929-82db-0e6b689945c8->604de4d6-0f65-4141-97fb-987fa8506620 - - - - - -573139c7-06c4-4545-ab96-18d4d205ecee - -PutDown(Coffee,BrightTable6) - - - -a463677f-e8ae-4929-82db-0e6b689945c8->573139c7-06c4-4545-ab96-18d4d205ecee - - - - - -7eebdc6f-41cf-452e-b868-1a4f69dd6bc7 - -Exist(Softdrink) - - - -7593f2d6-fe85-4e68-b19d-a7694724f841->7eebdc6f-41cf-452e-b868-1a4f69dd6bc7 - - - - - -776464c9-b203-492f-9bce-dda58742d8e7 - -Holding(Coffee) - - - -7593f2d6-fe85-4e68-b19d-a7694724f841->776464c9-b203-492f-9bce-dda58742d8e7 - - - - - -9b967dc8-ae0a-49d1-867e-400a617a0663 - -At(Robot,Bar2) - - - -7593f2d6-fe85-4e68-b19d-a7694724f841->9b967dc8-ae0a-49d1-867e-400a617a0663 - - - - - -73b78d0c-312d-49bf-8971-93860b261e30 - -PutDown(Coffee,Bar2) - - - -7593f2d6-fe85-4e68-b19d-a7694724f841->73b78d0c-312d-49bf-8971-93860b261e30 - - - - - -b7ba2eb4-4b7a-49da-b87f-b93cf637b6de - -At(Robot,CoffeeTable) - - - -82038484-692e-4cfe-b9b7-ac123820226d->b7ba2eb4-4b7a-49da-b87f-b93cf637b6de - - - - - -a1138811-41e9-4caa-959b-c5843c031f76 - -Exist(Softdrink) - - - -82038484-692e-4cfe-b9b7-ac123820226d->a1138811-41e9-4caa-959b-c5843c031f76 - - - - - -f8e3a85b-2885-4e8d-916b-f817884366ee - -Holding(Coffee) - - - -82038484-692e-4cfe-b9b7-ac123820226d->f8e3a85b-2885-4e8d-916b-f817884366ee - - - - - -e44bc230-c551-45a1-b4d9-61be9f9c0423 - -PutDown(Coffee,CoffeeTable) - - - -82038484-692e-4cfe-b9b7-ac123820226d->e44bc230-c551-45a1-b4d9-61be9f9c0423 - - - - - -9afea05a-c36b-4d6f-9272-6b9354a6a2be - -Exist(Softdrink) - - - -f87c9dbe-31a3-464f-9e67-8c70798f9a7d->9afea05a-c36b-4d6f-9272-6b9354a6a2be - - - - - -e7cd592c-8224-4632-9b3c-6ad06795d3d5 - -At(Robot,Bar) - - - -f87c9dbe-31a3-464f-9e67-8c70798f9a7d->e7cd592c-8224-4632-9b3c-6ad06795d3d5 - - - - - -1ae9079e-d43a-4b7d-adb7-36cdba33a8b1 - -Holding(Coffee) - - - -f87c9dbe-31a3-464f-9e67-8c70798f9a7d->1ae9079e-d43a-4b7d-adb7-36cdba33a8b1 - - - - - -ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2 - -PutDown(Coffee,Bar) - - - -f87c9dbe-31a3-464f-9e67-8c70798f9a7d->ac8a9e59-7c62-4ef9-9b60-ebcdc45103d2 - - - - - -1909c93c-ab64-4c00-8536-7109c94ea6df - -At(Robot,Table1) - - - -784fb422-8f36-4289-a2bf-223bbd31ee6e->1909c93c-ab64-4c00-8536-7109c94ea6df - - - - - -ccfb3ac9-5f3e-498d-b085-fd6cd9338902 - -Exist(Softdrink) - - - -784fb422-8f36-4289-a2bf-223bbd31ee6e->ccfb3ac9-5f3e-498d-b085-fd6cd9338902 - - - - - -016450b6-d8e5-4456-ab33-eba66b36ffac - -Holding(Coffee) - - - -784fb422-8f36-4289-a2bf-223bbd31ee6e->016450b6-d8e5-4456-ab33-eba66b36ffac - - - - - -49f1cba1-a414-4dc0-a7ea-1e0ed98e719c - -PutDown(Coffee,Table1) - - - -784fb422-8f36-4289-a2bf-223bbd31ee6e->49f1cba1-a414-4dc0-a7ea-1e0ed98e719c - - - - - -9af02d7d-39cf-4987-90f4-d4fea388cf37 - -Exist(Softdrink) - - - -109768db-12b0-41a4-8226-6f96d779e3d5->9af02d7d-39cf-4987-90f4-d4fea388cf37 - - - - - -450562f4-5a14-49db-be60-6b3cc0eae93f - -PutDown(Anything,Anywhere) - - - -109768db-12b0-41a4-8226-6f96d779e3d5->450562f4-5a14-49db-be60-6b3cc0eae93f - - - - - -1c5f6fc5-6e2c-4e5c-8fda-601e1aa828c5 - -Exist(Softdrink) - - - -41ceae0b-68fc-420a-8735-dbfec8e72d38->1c5f6fc5-6e2c-4e5c-8fda-601e1aa828c5 - - - - - -c44037e3-eb9c-4aa1-815d-be9c4b5e3837 - -Holding(Nothing) - - - -41ceae0b-68fc-420a-8735-dbfec8e72d38->c44037e3-eb9c-4aa1-815d-be9c4b5e3837 - - - - - -f6a3cdec-945f-4fb3-a8c4-4d7c7db23156 - -Is(AC,Off) - - - -41ceae0b-68fc-420a-8735-dbfec8e72d38->f6a3cdec-945f-4fb3-a8c4-4d7c7db23156 - - - - - -ada9434e-20ec-47ff-b2a0-4ba2fddab49d - -Turn(AC,On) - - - -41ceae0b-68fc-420a-8735-dbfec8e72d38->ada9434e-20ec-47ff-b2a0-4ba2fddab49d - - - - - -edf7b141-6b2c-423e-8271-839eef1737a0 - -Exist(Softdrink) - - - -23ba663b-e4ed-4bdb-9880-1ae659285da8->edf7b141-6b2c-423e-8271-839eef1737a0 - - - - - -55e7e618-e470-47c6-a6b2-32af1c00f3e0 - -Holding(Nothing) - - - -23ba663b-e4ed-4bdb-9880-1ae659285da8->55e7e618-e470-47c6-a6b2-32af1c00f3e0 - - - - - -032d5ec0-766b-4948-b89f-8aa4c2882ebd - -Is(AC,On) - - - -23ba663b-e4ed-4bdb-9880-1ae659285da8->032d5ec0-766b-4948-b89f-8aa4c2882ebd - - - - - -74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa - -Turn(AC,Off) - - - -23ba663b-e4ed-4bdb-9880-1ae659285da8->74f2e1e8-55ad-45cc-a2f0-4f05b114e6fa - - - - - -b3d9f9ed-1889-4bce-a19c-5d6030eeb58c - -Exist(Softdrink) - - - -04c01937-83ad-4168-8f33-e4cf144778f7->b3d9f9ed-1889-4bce-a19c-5d6030eeb58c - - - - - -3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf - -Holding(Nothing) - - - -04c01937-83ad-4168-8f33-e4cf144778f7->3cad98ee-61d0-4d2e-b40c-8efb35f5d8bf - - - - - -a8f048f4-57f3-4525-a480-b23e5ef45fb7 - -Is(TubeLight,Off) - - - -04c01937-83ad-4168-8f33-e4cf144778f7->a8f048f4-57f3-4525-a480-b23e5ef45fb7 - - - - - -f899bbec-c855-48c2-a023-4ccdabc9d7de - -Turn(TubeLight,On) - - - -04c01937-83ad-4168-8f33-e4cf144778f7->f899bbec-c855-48c2-a023-4ccdabc9d7de - - - - - -22bd71df-207f-4d8c-a20f-14b5c94ada53 - -Exist(Softdrink) - - - -59daba0d-476e-460d-b837-4e236b595718->22bd71df-207f-4d8c-a20f-14b5c94ada53 - - - - - -09e9bcbb-7a51-448c-aa9d-f5f7d12224a0 - -Is(TubeLight,On) - - - -59daba0d-476e-460d-b837-4e236b595718->09e9bcbb-7a51-448c-aa9d-f5f7d12224a0 - - - - - -052b4dde-9296-4712-b5d9-b1c22c7c94d4 - -Holding(Nothing) - - - -59daba0d-476e-460d-b837-4e236b595718->052b4dde-9296-4712-b5d9-b1c22c7c94d4 - - - - - -146d6b03-6647-453a-8a66-aebbdeb58446 - -Turn(TubeLight,Off) - - - -59daba0d-476e-460d-b837-4e236b595718->146d6b03-6647-453a-8a66-aebbdeb58446 - - - - - -fb136ee9-b47d-4d0f-aaa6-233f4cfb4c5b - -Is(HallLight,Off) - - - -b7bf64bd-5b5b-4db6-9920-0ec860467344->fb136ee9-b47d-4d0f-aaa6-233f4cfb4c5b - - - - - -7f0bb7a0-5bf8-4dac-9336-3b77b384d06f - -Exist(Softdrink) - - - -b7bf64bd-5b5b-4db6-9920-0ec860467344->7f0bb7a0-5bf8-4dac-9336-3b77b384d06f - - - - - -31817388-afd1-402d-8462-75dcf5f0d00d - -Holding(Nothing) - - - -b7bf64bd-5b5b-4db6-9920-0ec860467344->31817388-afd1-402d-8462-75dcf5f0d00d - - - - - -72ecdc8d-2f28-4650-be51-38662a905fc6 - -Turn(HallLight,On) - - - -b7bf64bd-5b5b-4db6-9920-0ec860467344->72ecdc8d-2f28-4650-be51-38662a905fc6 - - - - - -d5432c3d-e130-4143-8db9-034c907fa91a - -Exist(Softdrink) - - - -3540cffb-7f51-45c8-b0a4-17fb4941da00->d5432c3d-e130-4143-8db9-034c907fa91a - - - - - -785fc236-0326-44a1-bd4e-941d378a4b9f - -Is(HallLight,On) - - - -3540cffb-7f51-45c8-b0a4-17fb4941da00->785fc236-0326-44a1-bd4e-941d378a4b9f - - - - - -8e7695b5-d475-471d-bd65-032410b8bb1e - -Holding(Nothing) - - - -3540cffb-7f51-45c8-b0a4-17fb4941da00->8e7695b5-d475-471d-bd65-032410b8bb1e - - - - - -b2eaf8e6-f231-4150-970b-8ea4b25e22b8 - -Turn(HallLight,Off) - - - -3540cffb-7f51-45c8-b0a4-17fb4941da00->b2eaf8e6-f231-4150-970b-8ea4b25e22b8 - - - - - -3f641b65-4a20-45fd-a47a-615409e456db - -Exist(Softdrink) - - - -c3cde207-2c63-443f-875e-9afce498efe1->3f641b65-4a20-45fd-a47a-615409e456db - - - - - -6e2cbad4-8704-4797-bebe-26479f034d37 - -Holding(Nothing) - - - -c3cde207-2c63-443f-875e-9afce498efe1->6e2cbad4-8704-4797-bebe-26479f034d37 - - - - - -f1b757df-7bad-4e95-966f-858c07952d5f - -Is(AC,On) - - - -c3cde207-2c63-443f-875e-9afce498efe1->f1b757df-7bad-4e95-966f-858c07952d5f - - - - - -53ce4c26-8884-4347-bb99-48dd6c342798 - -Turn(ACTemperature,Up) - - - -c3cde207-2c63-443f-875e-9afce498efe1->53ce4c26-8884-4347-bb99-48dd6c342798 - - - - - -ac026599-2d65-4272-9aae-94a28f6c850e - -Exist(Softdrink) - - - -59e1721c-75f6-4c2c-9c82-ded13f40a986->ac026599-2d65-4272-9aae-94a28f6c850e - - - - - -9382fb12-7fe0-4c32-8ae9-f4edec2fa5c8 - -Holding(Nothing) - - - -59e1721c-75f6-4c2c-9c82-ded13f40a986->9382fb12-7fe0-4c32-8ae9-f4edec2fa5c8 - - - - - -64f4f707-ea9f-4f42-ab18-df4dcb829b27 - -Is(AC,On) - - - -59e1721c-75f6-4c2c-9c82-ded13f40a986->64f4f707-ea9f-4f42-ab18-df4dcb829b27 - - - - - -56518992-5572-4b74-b482-d45c36d4447b - -Turn(ACTemperature,Down) - - - -59e1721c-75f6-4c2c-9c82-ded13f40a986->56518992-5572-4b74-b482-d45c36d4447b - - - - - -ade0bce3-b584-448d-b71e-8a70f923336f - -At(Robot,Softdrink) - - - -9e92e395-25fc-4f11-a57b-e37b90fe1038->ade0bce3-b584-448d-b71e-8a70f923336f - - - - - -bec26c0a-8ec0-438a-9002-dc49faabf69f - -PutDown(Anything,Anywhere) - - - -9e92e395-25fc-4f11-a57b-e37b90fe1038->bec26c0a-8ec0-438a-9002-dc49faabf69f - - - - - -4f05c950-857f-44ce-a264-56e7cb821600 - -At(Robot,Softdrink) - - - -65356aeb-900c-4990-ae3d-f438db332244->4f05c950-857f-44ce-a264-56e7cb821600 - - - - - -4ade30cb-d086-4988-b120-d29dae76ccc3 - -Holding(Nothing) - - - -65356aeb-900c-4990-ae3d-f438db332244->4ade30cb-d086-4988-b120-d29dae76ccc3 - - - - - -f0eaf9f9-e6a1-4385-a373-304a42236b56 - -Is(AC,Off) - - - -65356aeb-900c-4990-ae3d-f438db332244->f0eaf9f9-e6a1-4385-a373-304a42236b56 - - - - - -fdab7e84-f49b-4992-85e6-53c08199e2b1 - -Turn(AC,On) - - - -65356aeb-900c-4990-ae3d-f438db332244->fdab7e84-f49b-4992-85e6-53c08199e2b1 - - - - - -b1b95615-1199-47ab-b126-00a2a96c0f70 - -At(Robot,Softdrink) - - - -ff2ac29d-7a3c-43ca-bffb-0378840cb41b->b1b95615-1199-47ab-b126-00a2a96c0f70 - - - - - -bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b - -Holding(Nothing) - - - -ff2ac29d-7a3c-43ca-bffb-0378840cb41b->bd80ccf6-b0a0-4ed4-8774-1bb21a564a8b - - - - - -32928fbc-6790-4c5c-abf8-7849d4e32bd1 - -Is(AC,On) - - - -ff2ac29d-7a3c-43ca-bffb-0378840cb41b->32928fbc-6790-4c5c-abf8-7849d4e32bd1 - - - - - -f411dc12-f44d-4008-9380-642ce8d2d98a - -Turn(AC,Off) - - - -ff2ac29d-7a3c-43ca-bffb-0378840cb41b->f411dc12-f44d-4008-9380-642ce8d2d98a - - - - - -91e1c51b-394b-4051-bff5-3b75c6cc8ed9 - -At(Robot,Softdrink) - - - -f06fd989-0bb7-44ec-992a-bfa700d95d91->91e1c51b-394b-4051-bff5-3b75c6cc8ed9 - - - - - -1e7edae5-fb3a-46ee-a533-8996cc2553c7 - -Holding(Nothing) - - - -f06fd989-0bb7-44ec-992a-bfa700d95d91->1e7edae5-fb3a-46ee-a533-8996cc2553c7 - - - - - -ba633687-f19a-472c-b479-9e2d90b60558 - -Is(TubeLight,Off) - - - -f06fd989-0bb7-44ec-992a-bfa700d95d91->ba633687-f19a-472c-b479-9e2d90b60558 - - - - - -fd5ba787-b8d0-41d1-846e-f50d13a8b999 - -Turn(TubeLight,On) - - - -f06fd989-0bb7-44ec-992a-bfa700d95d91->fd5ba787-b8d0-41d1-846e-f50d13a8b999 - - - - - -f2ba5a1d-cba5-4201-bc7e-db1a8b36ab0b - -At(Robot,Softdrink) - - - -5e50480d-79c3-4e4b-8b55-d15bb2723dc3->f2ba5a1d-cba5-4201-bc7e-db1a8b36ab0b - - - - - -ca68aeed-35e6-4885-8814-8865d590b72e - -Is(TubeLight,On) - - - -5e50480d-79c3-4e4b-8b55-d15bb2723dc3->ca68aeed-35e6-4885-8814-8865d590b72e - - - - - -36c33c01-b80f-4cf7-894e-5ecbf5756b7b - -Holding(Nothing) - - - -5e50480d-79c3-4e4b-8b55-d15bb2723dc3->36c33c01-b80f-4cf7-894e-5ecbf5756b7b - - - - - -13330e6c-25a4-4441-93ba-e9b9eaa9a323 - -Turn(TubeLight,Off) - - - -5e50480d-79c3-4e4b-8b55-d15bb2723dc3->13330e6c-25a4-4441-93ba-e9b9eaa9a323 - - - - - -c7c439a8-cedd-4d27-b8aa-8c1e2618a452 - -Is(HallLight,Off) - - - -c5bb0878-dc4d-4f92-bf01-c749896b50f5->c7c439a8-cedd-4d27-b8aa-8c1e2618a452 - - - - - -72fd7459-1a33-4f28-914b-ffce02847778 - -Holding(Nothing) - - - -c5bb0878-dc4d-4f92-bf01-c749896b50f5->72fd7459-1a33-4f28-914b-ffce02847778 - - - - - -1b84d24c-df41-482c-a53f-0fa640df55aa - -At(Robot,Softdrink) - - - -c5bb0878-dc4d-4f92-bf01-c749896b50f5->1b84d24c-df41-482c-a53f-0fa640df55aa - - - - - -f41a3999-f315-4530-8b2e-36a0d3fc2f2d - -Turn(HallLight,On) - - - -c5bb0878-dc4d-4f92-bf01-c749896b50f5->f41a3999-f315-4530-8b2e-36a0d3fc2f2d - - - - - -ed687ab0-d48c-4f03-9146-069413b13741 - -At(Robot,Softdrink) - - - -cb5d00b9-035b-4b69-804c-4048c3124e07->ed687ab0-d48c-4f03-9146-069413b13741 - - - - - -03550d06-8bbb-48be-b0e8-5fbc8e1f9641 - -Is(HallLight,On) - - - -cb5d00b9-035b-4b69-804c-4048c3124e07->03550d06-8bbb-48be-b0e8-5fbc8e1f9641 - - - - - -821c7646-4d66-4df9-9de4-41065153e961 - -Holding(Nothing) - - - -cb5d00b9-035b-4b69-804c-4048c3124e07->821c7646-4d66-4df9-9de4-41065153e961 - - - - - -20657be8-ce1a-4afe-8451-cd6b5ddb3ec7 - -Turn(HallLight,Off) - - - -cb5d00b9-035b-4b69-804c-4048c3124e07->20657be8-ce1a-4afe-8451-cd6b5ddb3ec7 - - - - - -70ee4937-448b-4243-b1ea-9a5d5db745a7 - -At(Robot,Softdrink) - - - -7b1faabb-56f8-4d09-8e58-69529c95c48c->70ee4937-448b-4243-b1ea-9a5d5db745a7 - - - - - -111e1207-ab3f-4044-a370-b508942e8ed7 - -Holding(Nothing) - - - -7b1faabb-56f8-4d09-8e58-69529c95c48c->111e1207-ab3f-4044-a370-b508942e8ed7 - - - - - -92304c45-f44d-4d99-8fe6-d157714ad02d - -Is(AC,On) - - - -7b1faabb-56f8-4d09-8e58-69529c95c48c->92304c45-f44d-4d99-8fe6-d157714ad02d - - - - - -51ca41fa-d63f-4994-a9e0-4c4f4b217105 - -Turn(ACTemperature,Up) - - - -7b1faabb-56f8-4d09-8e58-69529c95c48c->51ca41fa-d63f-4994-a9e0-4c4f4b217105 - - - - - -711b6202-e9de-41d8-b2c3-cbfc71d0e1b8 - -At(Robot,Softdrink) - - - -3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea->711b6202-e9de-41d8-b2c3-cbfc71d0e1b8 - - - - - -745b1432-5317-43f0-b756-1de2d1082a91 - -Holding(Nothing) - - - -3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea->745b1432-5317-43f0-b756-1de2d1082a91 - - - - - -cb556a32-6b13-4d5f-98e2-dae6ad91f9e4 - -Is(AC,On) - - - -3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea->cb556a32-6b13-4d5f-98e2-dae6ad91f9e4 - - - - - -786a4091-7a5e-4429-bc5d-9f9c801c48fb - -Turn(ACTemperature,Down) - - - -3f8e3a1b-9cbf-4ad1-bd1f-156622d64bea->786a4091-7a5e-4429-bc5d-9f9c801c48fb - - +1e806781-835a-44fb-9e4f-033193ecded4->9821637d-d072-4fcc-aefb-b5e7fa887755 + + diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 6002949..4c7359f 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -214,19 +214,39 @@ class Scene: "chat_list": [], # 未处理的顾客的对话, (顾客的位置,顾客对话的内容) "sub_goal_list": [], # 子目标列表 "status": None, # 仿真器中的观测信息，见下方详细解释 + # "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)', + # # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', + # # 'Exist(Softdrink)', 'On(Softdrink,Table1)', + # 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)' + # 'Holding(Nothing)', + # # 'Holding(Yogurt)', + # 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, + "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', - 'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)', - # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', - # 'Exist(Softdrink)', 'On(Softdrink,Table1)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', + 'Exist(Yogurt)','Exist(VacuumCup)', + 'Holding(Nothing)', + 'On(Yogurt,Bar)','On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, - # 'Holding(Nothing)', - 'Holding(Coffee)', + # "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Exist(VacuumCup)','Exist(Coffee)', + # 'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)', + # 'Holding(Nothing)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, - "obj_mem": {}, + # "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Exist(Yogurt)', 'Exist(VacuumCup)', 'Exist(Coffee)', + # 'Holding(Nothing)', + # 'On(Yogurt,Bar)', 'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', + # 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, + "obj_mem": {}, "customer_mem": {}, "served_mem": {}, "greeted_customers": set(), @@ -274,7 +294,7 @@ class Scene: self.is_nav_walk = False - self.bt_algo_opt = False + self.bt_algo_opt = True file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl') if os.path.exists(file_name): diff --git a/robowaiter/utils/draw_bt/Default.ptml b/robowaiter/utils/draw_bt/Default.ptml index e6363f5..9521eb4 100644 --- a/robowaiter/utils/draw_bt/Default.ptml +++ b/robowaiter/utils/draw_bt/Default.ptml @@ -1,23 +1,30 @@ -selector - sequence - cond Chatting() - act DealChat() - sequence - cond HasSubTask() + selector + sequence - act SubTaskPlaceHolder() - sequence - cond FocusingCustomer() - act ServeCustomer() - sequence - cond NewCustomer() - selector - cond At(Robot,Bar) - act MoveTo(Bar) - act GreetCustomer() - sequence - cond NeedExplore() - act ExploreEnv() - sequence - cond AnomalyDetected() - act ResolveAnomaly() + cond At(Robot, Coffee) + selector + sequence + cond Holding(Nothing) + act PickUp(Coffee) + act PutDown(Anything, Anywhere) + selector + sequence + cond Holding(Coffee) + cond At(Robot, WaterTable) + act PutDown(Coffee, WaterTable) + act MoveTo(WaterTable) + + + sequence + cond At(Robot, Coffee) + selector + sequence + cond Holding(Nothing) + act PickUp(Coffee) + act PutDown(Anything, Anywhere) + selector + sequence + cond Holding(Coffee) + cond At(Robot, BrightTable6) + act PutDown(Coffee, BrightTable6) + act MoveTo(BrightTable6) diff --git a/robowaiter/utils/draw_bt/Default_bracket.ptml b/robowaiter/utils/draw_bt/Default_bracket.ptml index dace919..69bec14 100644 --- a/robowaiter/utils/draw_bt/Default_bracket.ptml +++ b/robowaiter/utils/draw_bt/Default_bracket.ptml @@ -2,32 +2,38 @@ selector { sequence { - cond Chatting() - act DealChat() - } sequence -{ - cond HasSubTask() - sequence -{ - act SubTaskPlaceHolder() - } } sequence -{ - cond FocusingCustomer() - act ServeCustomer() - } sequence -{ - cond NewCustomer() + cond At(Robot, Coffee) selector { - cond At(Robot,Bar) - act MoveTo(Bar) - } act GreetCustomer() - } sequence + sequence { - cond NeedExplore() - act ExploreEnv() - } sequence + cond Holding(Nothing) + act PickUp(Coffee) + } act PutDown(Anything, Anywhere) + } selector { - cond AnomalyDetected() - act ResolveAnomaly() - }} \ No newline at end of file + sequence +{ + cond Holding(Coffee) + cond At(Robot, WaterTable) + act PutDown(Coffee, WaterTable) + } act MoveTo(WaterTable) + } } sequence +{ + cond At(Robot, Coffee) + selector +{ + sequence +{ + cond Holding(Nothing) + act PickUp(Coffee) + } act PutDown(Anything, Anywhere) + } selector +{ + sequence +{ + cond Holding(Coffee) + cond At(Robot, BrightTable6) + act PutDown(Coffee, BrightTable6) + } act MoveTo(BrightTable6) + } }} \ No newline at end of file diff --git a/robowaiter/utils/draw_bt/draw_bt.py b/robowaiter/utils/draw_bt/draw_bt.py index 43a7078..e4f8e91 100644 --- a/robowaiter/utils/draw_bt/draw_bt.py +++ b/robowaiter/utils/draw_bt/draw_bt.py @@ -16,5 +16,5 @@ if __name__ == '__main__': - render_dot_tree(bt.root,name="test") + render_dot_tree(bt.root,name="test",png_only = False) # build and tick diff --git a/robowaiter/utils/draw_bt/test.dot b/robowaiter/utils/draw_bt/test.dot index cf2b2d7..cb6404f 100644 --- a/robowaiter/utils/draw_bt/test.dot +++ b/robowaiter/utils/draw_bt/test.dot @@ -3,19 +3,57 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"c9a8671e-b0b8-4587-a4de-a094fd678334" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=octagon, style=filled, width=0.01]; -"bc597ff6-b3cb-4573-9dea-944fdb38d045" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "bc597ff6-b3cb-4573-9dea-944fdb38d045"; -"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "a8e26121-f5cc-4ba5-b98e-86bd84de06d6"; -"676d8bda-2c30-44a5-bca2-ade68761403a" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(Curtain,Off)", shape=ellipse, style=filled]; -"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" -> "676d8bda-2c30-44a5-bca2-ade68761403a"; -"c3d096cf-f848-46a3-9497-5398614798e8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(Curtain,On)", shape=box, style=filled]; -"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" -> "c3d096cf-f848-46a3-9497-5398614798e8"; -"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; -"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "400b4104-ff96-4d64-89b2-49dc6e4e3cbd"; -"3fc48afc-1cef-45f5-826d-2571d7979a2f" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; -"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" -> "3fc48afc-1cef-45f5-826d-2571d7979a2f"; -"47af4df0-8811-45a5-95e2-f0fc9458ddfd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; -"400b4104-ff96-4d64-89b2-49dc6e4e3cbd" -> "47af4df0-8811-45a5-95e2-f0fc9458ddfd"; +"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"; } diff --git a/robowaiter/utils/draw_bt/test.png b/robowaiter/utils/draw_bt/test.png index dce3fe0..07871dc 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 29211a1..5d9f517 100644 --- a/robowaiter/utils/draw_bt/test.svg +++ b/robowaiter/utils/draw_bt/test.svg @@ -4,100 +4,328 @@ - - + + pastafarianism - - + + -c9a8671e-b0b8-4587-a4de-a094fd678334 - -Selector +c681805a-96e1-4a3d-a38d-0bfca162692b + +Selector - + -bc597ff6-b3cb-4573-9dea-944fdb38d045 - -Holding(Nothing) +e878636e-ab91-45b3-8d25-1712a9b919ab + +Sequence - + -c9a8671e-b0b8-4587-a4de-a094fd678334->bc597ff6-b3cb-4573-9dea-944fdb38d045 - - +c681805a-96e1-4a3d-a38d-0bfca162692b->e878636e-ab91-45b3-8d25-1712a9b919ab + + - + + +5461e129-ef05-4848-9107-2617c82b3566 + +Sequence + + + +c681805a-96e1-4a3d-a38d-0bfca162692b->5461e129-ef05-4848-9107-2617c82b3566 + + + + -a8e26121-f5cc-4ba5-b98e-86bd84de06d6 - -Sequence +e88e510b-5495-4aa1-95cd-f95b3b4e50dc + +At(Robot,Coffee) - + -c9a8671e-b0b8-4587-a4de-a094fd678334->a8e26121-f5cc-4ba5-b98e-86bd84de06d6 - - +e878636e-ab91-45b3-8d25-1712a9b919ab->e88e510b-5495-4aa1-95cd-f95b3b4e50dc + + - - -400b4104-ff96-4d64-89b2-49dc6e4e3cbd - -Sequence - - - -c9a8671e-b0b8-4587-a4de-a094fd678334->400b4104-ff96-4d64-89b2-49dc6e4e3cbd - - - - + -676d8bda-2c30-44a5-bca2-ade68761403a - -Is(Curtain,Off) +292edbec-e8dc-44df-a80c-7dd5b6dd6692 + +Selector - + -a8e26121-f5cc-4ba5-b98e-86bd84de06d6->676d8bda-2c30-44a5-bca2-ade68761403a - - +e878636e-ab91-45b3-8d25-1712a9b919ab->292edbec-e8dc-44df-a80c-7dd5b6dd6692 + + - + + +94f578bf-0c4b-4614-aacc-d73ca0996d2c + +Selector + + + +e878636e-ab91-45b3-8d25-1712a9b919ab->94f578bf-0c4b-4614-aacc-d73ca0996d2c + + + + -c3d096cf-f848-46a3-9497-5398614798e8 - -Turn(Curtain,On) +8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b + +Sequence - + -a8e26121-f5cc-4ba5-b98e-86bd84de06d6->c3d096cf-f848-46a3-9497-5398614798e8 - - +292edbec-e8dc-44df-a80c-7dd5b6dd6692->8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b + + - - -3fc48afc-1cef-45f5-826d-2571d7979a2f - -Is(AC,Off) - - - -400b4104-ff96-4d64-89b2-49dc6e4e3cbd->3fc48afc-1cef-45f5-826d-2571d7979a2f - - - - + -47af4df0-8811-45a5-95e2-f0fc9458ddfd - -Turn(AC,On) +27760c0d-aa85-437c-ac87-564d573f6d3d + +PutDown(Anything,Anywhere) - + -400b4104-ff96-4d64-89b2-49dc6e4e3cbd->47af4df0-8811-45a5-95e2-f0fc9458ddfd - - +292edbec-e8dc-44df-a80c-7dd5b6dd6692->27760c0d-aa85-437c-ac87-564d573f6d3d + + + + + +65f29fbc-02c3-4015-98bf-e71d16a78cbb + +Holding(Nothing) + + + +8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b->65f29fbc-02c3-4015-98bf-e71d16a78cbb + + + + + +c503211c-ab75-4671-a6ca-2f66518be485 + +PickUp(Coffee) + + + +8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b->c503211c-ab75-4671-a6ca-2f66518be485 + + + + + +5a162890-11de-41d8-9954-ba17ccf166c4 + +Sequence + + + +94f578bf-0c4b-4614-aacc-d73ca0996d2c->5a162890-11de-41d8-9954-ba17ccf166c4 + + + + + +191ca7d5-a98c-429f-b040-66d210c30bdd + +MoveTo(WaterTable) + + + +94f578bf-0c4b-4614-aacc-d73ca0996d2c->191ca7d5-a98c-429f-b040-66d210c30bdd + + + + + +296bae80-a542-4fde-87b9-b030340caa1d + +Holding(Coffee) + + + +5a162890-11de-41d8-9954-ba17ccf166c4->296bae80-a542-4fde-87b9-b030340caa1d + + + + + +cba60b1e-308f-4f5a-939c-28bba802bca5 + +At(Robot,WaterTable) + + + +5a162890-11de-41d8-9954-ba17ccf166c4->cba60b1e-308f-4f5a-939c-28bba802bca5 + + + + + +93924025-e88f-47ec-90e4-c53bbc3df60e + +PutDown(Coffee,WaterTable) + + + +5a162890-11de-41d8-9954-ba17ccf166c4->93924025-e88f-47ec-90e4-c53bbc3df60e + + + + + +fd31940a-4e40-433d-8165-c9dd302fae62 + +At(Robot,Coffee) + + + +5461e129-ef05-4848-9107-2617c82b3566->fd31940a-4e40-433d-8165-c9dd302fae62 + + + + + +0a9876b0-1ff9-4f96-b7a8-8257a3928f62 + +Selector + + + +5461e129-ef05-4848-9107-2617c82b3566->0a9876b0-1ff9-4f96-b7a8-8257a3928f62 + + + + + +c719600f-4033-418f-8608-5c808481d1aa + +Selector + + + +5461e129-ef05-4848-9107-2617c82b3566->c719600f-4033-418f-8608-5c808481d1aa + + + + + +052d5a92-c6b4-483d-9cef-41745df61ff9 + +Sequence + + + +0a9876b0-1ff9-4f96-b7a8-8257a3928f62->052d5a92-c6b4-483d-9cef-41745df61ff9 + + + + + +bfea3ed6-08c4-4fd3-9aa7-994f4be28953 + +PutDown(Anything,Anywhere) + + + +0a9876b0-1ff9-4f96-b7a8-8257a3928f62->bfea3ed6-08c4-4fd3-9aa7-994f4be28953 + + + + + +c8462c00-d129-4eba-a0b4-ad6a819e34e8 + +Holding(Nothing) + + + +052d5a92-c6b4-483d-9cef-41745df61ff9->c8462c00-d129-4eba-a0b4-ad6a819e34e8 + + + + + +5a944a18-ea71-4cbe-a04e-675d955b1b1f + +PickUp(Coffee) + + + +052d5a92-c6b4-483d-9cef-41745df61ff9->5a944a18-ea71-4cbe-a04e-675d955b1b1f + + + + + +c9d1af42-f394-4c52-9e7b-32d46487c708 + +Sequence + + + +c719600f-4033-418f-8608-5c808481d1aa->c9d1af42-f394-4c52-9e7b-32d46487c708 + + + + + +5685125a-34f9-40cd-be0c-b7674970c01b + +MoveTo(BrightTable6) + + + +c719600f-4033-418f-8608-5c808481d1aa->5685125a-34f9-40cd-be0c-b7674970c01b + + + + + +84ecc165-efa0-4747-8ce9-64bf6ac557a2 + +Holding(Coffee) + + + +c9d1af42-f394-4c52-9e7b-32d46487c708->84ecc165-efa0-4747-8ce9-64bf6ac557a2 + + + + + +8d3d2c3f-1f52-4742-bb03-a02d578134de + +At(Robot,BrightTable6) + + + +c9d1af42-f394-4c52-9e7b-32d46487c708->8d3d2c3f-1f52-4742-bb03-a02d578134de + + + + + +b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12 + +PutDown(Coffee,BrightTable6) + + + +c9d1af42-f394-4c52-9e7b-32d46487c708->b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12 + + diff --git a/tasks_no_ui/BtTest/Open_tasks.py b/tasks_no_ui/BtTest/Open_tasks.py index 7e130e7..56e9d02 100644 --- a/tasks_no_ui/BtTest/Open_tasks.py +++ b/tasks_no_ui/BtTest/Open_tasks.py @@ -24,11 +24,17 @@ 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", "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", "点心")), + # (3, self.customer_say, ("System", "把咖啡放到水桌")), + # (3, self.customer_say, ("System", "把咖啡放到吧台上")), + # (3, self.customer_say, ("System", "把咖啡放到吧台上，再拿一杯咖啡放到6号桌")), + (3, self.customer_say, ("System", "把咖啡放到6号桌")), ] def _reset(self): + self.gen_obj() scene = self.add_walkers([[0, 0], [250, 1200], [-55, 750], [70, -200]]) pass