RoboWaiter/BTExpansionCode/EXP/EXP/expanded_bt_xiaocai.dot

digraph pastafarianism {
ordering=out;
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "69e00aac-f7bc-4c09-9d13-ef897236102b";
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"69e00aac-f7bc-4c09-9d13-ef897236102b" -> "643bbb37-60a5-4abb-8347-2479abbab0c9";
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"69e00aac-f7bc-4c09-9d13-ef897236102b" -> "73fb90fb-e136-41c0-b96a-961d1f5618b8";
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"9270904a-6cec-4caf-ad65-574fa5de72ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
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"bfad1e0d-b43d-41a2-bae6-fe2de994b3bc" -> "c3075fdf-2eb6-4418-aa8b-3aa1959d9045";
"f796afb5-ed2d-4825-bb50-929711a0f552" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"bfad1e0d-b43d-41a2-bae6-fe2de994b3bc" -> "f796afb5-ed2d-4825-bb50-929711a0f552";
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "fcf1e90b-19f8-46f4-8bb3-7a75de295c7d";
"cb674bdb-7312-4677-a96c-9c6f191dd762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled];
"fcf1e90b-19f8-46f4-8bb3-7a75de295c7d" -> "cb674bdb-7312-4677-a96c-9c6f191dd762";
"76478388-380e-4236-8999-f5e7c6afccf6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"fcf1e90b-19f8-46f4-8bb3-7a75de295c7d" -> "76478388-380e-4236-8999-f5e7c6afccf6";
"ba8b5826-592f-456b-92a8-e060ab5b16ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"fcf1e90b-19f8-46f4-8bb3-7a75de295c7d" -> "ba8b5826-592f-456b-92a8-e060ab5b16ac";
"2fa942d5-e576-4f09-930c-d948bdae3e42" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,WaterTable)", shape=box, style=filled];
"fcf1e90b-19f8-46f4-8bb3-7a75de295c7d" -> "2fa942d5-e576-4f09-930c-d948bdae3e42";
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d5cb3020-4e02-4d0d-9148-ea648f2bb9cc";
"8237fd26-b823-4596-958e-9ebeda722a54" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"d5cb3020-4e02-4d0d-9148-ea648f2bb9cc" -> "8237fd26-b823-4596-958e-9ebeda722a54";
"c825a1d6-a5f7-452f-a848-24d15f63414b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"d5cb3020-4e02-4d0d-9148-ea648f2bb9cc" -> "c825a1d6-a5f7-452f-a848-24d15f63414b";
"e28ec206-b5b3-4fa6-9e68-48198f269c79" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e28ec206-b5b3-4fa6-9e68-48198f269c79";
"d25928c8-1f99-45fe-b7ee-74f10b4f693b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"e28ec206-b5b3-4fa6-9e68-48198f269c79" -> "d25928c8-1f99-45fe-b7ee-74f10b4f693b";
"c98a5d3c-9cca-4a65-9916-21883b730200" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"e28ec206-b5b3-4fa6-9e68-48198f269c79" -> "c98a5d3c-9cca-4a65-9916-21883b730200";
"27a991b1-f415-4f13-a39a-07e5d8795ea6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "27a991b1-f415-4f13-a39a-07e5d8795ea6";
"02577764-d663-4b32-ad51-80f7cb737c70" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "02577764-d663-4b32-ad51-80f7cb737c70";
"573e4c1a-9adf-4a2e-8334-7f4b9603017a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "573e4c1a-9adf-4a2e-8334-7f4b9603017a";
"ea552750-a109-466f-961c-0791bf5d30e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "ea552750-a109-466f-961c-0791bf5d30e3";
"8000c9d4-a026-4d6b-9ad9-100af03743d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"27a991b1-f415-4f13-a39a-07e5d8795ea6" -> "8000c9d4-a026-4d6b-9ad9-100af03743d6";
"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "2c89dc33-6fc6-4051-92a4-a635e8aa64ca";
"413c8a22-430f-400b-b511-f6117cd8d699" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" -> "413c8a22-430f-400b-b511-f6117cd8d699";
"687e0702-e6e1-436a-866c-f7299042afc3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" -> "687e0702-e6e1-436a-866c-f7299042afc3";
"7ab1269e-e35b-4027-b10d-93d6ca701a34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" -> "7ab1269e-e35b-4027-b10d-93d6ca701a34";
"fc2c41f0-271a-4371-b3bd-e23dd2d875f9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"2c89dc33-6fc6-4051-92a4-a635e8aa64ca" -> "fc2c41f0-271a-4371-b3bd-e23dd2d875f9";
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "63bbcb66-0e65-4d99-a27a-a3587fa49a3f";
"6d64bcf2-064b-4eec-8155-a6249d808a9d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"63bbcb66-0e65-4d99-a27a-a3587fa49a3f" -> "6d64bcf2-064b-4eec-8155-a6249d808a9d";
"e543a2a0-30cb-467f-b928-ea82daf32669" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"63bbcb66-0e65-4d99-a27a-a3587fa49a3f" -> "e543a2a0-30cb-467f-b928-ea82daf32669";
"3b5faddc-7688-4cf7-8282-d1ab88e56b1e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"63bbcb66-0e65-4d99-a27a-a3587fa49a3f" -> "3b5faddc-7688-4cf7-8282-d1ab88e56b1e";
"d1caa5bc-ddd7-488b-8f7d-712dcfd5a096" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"63bbcb66-0e65-4d99-a27a-a3587fa49a3f" -> "d1caa5bc-ddd7-488b-8f7d-712dcfd5a096";
"af05df4c-a247-45d7-8cb1-0802c22cb65a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "af05df4c-a247-45d7-8cb1-0802c22cb65a";
"6ec02829-3e8d-4b90-87f5-91e9d466d127" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "6ec02829-3e8d-4b90-87f5-91e9d466d127";
"5a6b9b87-c0ff-4237-be5b-29d7f3adc571" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "5a6b9b87-c0ff-4237-be5b-29d7f3adc571";
"fda32cb2-9479-440b-b0e3-d54e7b855d67" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "fda32cb2-9479-440b-b0e3-d54e7b855d67";
"96ed9db2-f11a-436b-ac00-65bcc7089658" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"af05df4c-a247-45d7-8cb1-0802c22cb65a" -> "96ed9db2-f11a-436b-ac00-65bcc7089658";
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "357efdd8-9523-409b-b111-9eba86ebb279";
"725da734-2dde-4338-898b-8eb99f31ffb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"357efdd8-9523-409b-b111-9eba86ebb279" -> "725da734-2dde-4338-898b-8eb99f31ffb5";
"41cd0dec-c20e-429a-9052-f1e5dc47c3b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"357efdd8-9523-409b-b111-9eba86ebb279" -> "41cd0dec-c20e-429a-9052-f1e5dc47c3b6";
"1cc26fcd-14f9-4534-ada7-608f39f271c9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"357efdd8-9523-409b-b111-9eba86ebb279" -> "1cc26fcd-14f9-4534-ada7-608f39f271c9";
"154c27c1-f26e-4a7c-8fca-821c67c6df4a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled];
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"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e7690e2b-f63d-448d-8ba4-aa6e073cec63";
"519ab3a9-d5b5-4866-b9c9-1f0cb46e08da" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"e7690e2b-f63d-448d-8ba4-aa6e073cec63" -> "519ab3a9-d5b5-4866-b9c9-1f0cb46e08da";
"67eec967-9e13-4829-98fc-5ab457415e5a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
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"94601f3b-0988-4521-b762-858f83a16962" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"af67d48b-581e-4f8c-9a34-8eb40374279b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled];
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"5b0a92b5-c6ea-4905-a031-b4cf236f554e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "5b0a92b5-c6ea-4905-a031-b4cf236f554e";
"e895c1c9-3eeb-43ad-ba9a-6725f830b745" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
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"ac039bb1-aa57-40a6-977b-a99ac819540b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "ac039bb1-aa57-40a6-977b-a99ac819540b";
"c72acc87-4595-4401-a157-a2be9de817e5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "c72acc87-4595-4401-a157-a2be9de817e5";
"34a536c6-7969-46e1-be66-d6095f08efd2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled];
"5b0a92b5-c6ea-4905-a031-b4cf236f554e" -> "34a536c6-7969-46e1-be66-d6095f08efd2";
"c20979c4-e5f5-4227-88a7-e46de769aaff" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "c20979c4-e5f5-4227-88a7-e46de769aaff";
"f9e4fb11-d429-4a92-94d6-0b767ac5cf7a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
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"42687c93-be97-4a2f-8a09-ce0d9e60a9b8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"93033635-ec70-4700-ae88-618d64d20102" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
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"7d87a66e-cf22-41e7-abda-d8985caf68dd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
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"e36801ef-69f3-4c4f-bd53-fbe7cc216d65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"7b42cf04-e68e-49d5-a325-9e95a2db5595" -> "3917768e-79ed-4d3c-81a4-8b6e0ca18d6d";
"33499698-22c6-4c5a-af48-af7d3ac0adf9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"7b42cf04-e68e-49d5-a325-9e95a2db5595" -> "33499698-22c6-4c5a-af48-af7d3ac0adf9";
"8cbc4950-0b05-48d3-92cc-35768ba88a71" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8cbc4950-0b05-48d3-92cc-35768ba88a71";
"27560c14-d07e-4657-bf4c-9d856fbb79cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "27560c14-d07e-4657-bf4c-9d856fbb79cf";
"737bbb45-61ff-44bc-ac7a-67923f62e8e8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "737bbb45-61ff-44bc-ac7a-67923f62e8e8";
"c1f39bf4-1db0-45e9-a5c8-7c0986e44d65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "c1f39bf4-1db0-45e9-a5c8-7c0986e44d65";
"be6bccec-3eda-4cfa-a2ac-a87a0be4aec6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
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"b71d87ed-f7e6-4c65-babc-e7b1140d5acb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"8cbc4950-0b05-48d3-92cc-35768ba88a71" -> "b71d87ed-f7e6-4c65-babc-e7b1140d5acb";
"4e796e19-ed8f-4173-8ab5-72fa8951b810" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4e796e19-ed8f-4173-8ab5-72fa8951b810";
"26f69ff3-f46c-44ce-b984-375bb60b771a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "26f69ff3-f46c-44ce-b984-375bb60b771a";
"ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "ef9fd641-9f95-4dad-b1e8-c34e7cd6b22b";
"27f4c058-065a-40e4-9577-f29905024ac3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
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"fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "fb8d82a5-cbb2-4132-82a4-d7db2eb0acbf";
"5fd421d0-9802-41c0-87b3-5b67fc17c140" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"4e796e19-ed8f-4173-8ab5-72fa8951b810" -> "5fd421d0-9802-41c0-87b3-5b67fc17c140";
"514081e4-2dc1-4ea9-9b64-d78b6d94d426" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "514081e4-2dc1-4ea9-9b64-d78b6d94d426";
"47937091-237a-4565-a2c0-791321417504" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "47937091-237a-4565-a2c0-791321417504";
"49104a79-50e8-476a-b34e-f1d5a32f8fd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "49104a79-50e8-476a-b34e-f1d5a32f8fd5";
"0d1f5b43-f77a-4f23-8600-4d895d40f60b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "0d1f5b43-f77a-4f23-8600-4d895d40f60b";
"26612a35-ff1b-4a7f-8fa3-0721e4ce3015" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"514081e4-2dc1-4ea9-9b64-d78b6d94d426" -> "26612a35-ff1b-4a7f-8fa3-0721e4ce3015";
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "eba47417-d84e-4634-9af4-90147c6ac658";
"5641449f-f04c-482b-9fe8-662b4ebc3861" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"eba47417-d84e-4634-9af4-90147c6ac658" -> "5641449f-f04c-482b-9fe8-662b4ebc3861";
"e5b460cd-4d6c-45e8-9c97-c0c5fbf53583" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"eba47417-d84e-4634-9af4-90147c6ac658" -> "e5b460cd-4d6c-45e8-9c97-c0c5fbf53583";
"7c90404d-c020-4a5d-b318-44886bacf8bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"eba47417-d84e-4634-9af4-90147c6ac658" -> "7c90404d-c020-4a5d-b318-44886bacf8bc";
"057d547c-f603-4abc-9c1f-8c0d33a970cb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"eba47417-d84e-4634-9af4-90147c6ac658" -> "057d547c-f603-4abc-9c1f-8c0d33a970cb";
"981f947a-75a1-4c4f-a746-36a19e060992" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "981f947a-75a1-4c4f-a746-36a19e060992";
"410b7c9f-888e-45a3-a1d8-96845f2837e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"981f947a-75a1-4c4f-a746-36a19e060992" -> "410b7c9f-888e-45a3-a1d8-96845f2837e6";
"1ad18f2b-ac1a-497f-ba44-08f2a0090d42" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"981f947a-75a1-4c4f-a746-36a19e060992" -> "1ad18f2b-ac1a-497f-ba44-08f2a0090d42";
"ef33cf23-f72b-4c91-a4b0-c5185a2f255f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"981f947a-75a1-4c4f-a746-36a19e060992" -> "ef33cf23-f72b-4c91-a4b0-c5185a2f255f";
"958aed18-edb3-4d2a-a407-0ac699c66a23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"981f947a-75a1-4c4f-a746-36a19e060992" -> "958aed18-edb3-4d2a-a407-0ac699c66a23";
"f6cfd02f-6474-48ba-8cac-7a948a7cb3a6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled];
"981f947a-75a1-4c4f-a746-36a19e060992" -> "f6cfd02f-6474-48ba-8cac-7a948a7cb3a6";
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "44d17e3e-f5c5-4b53-a312-c0d02971ae74";
"d905a183-7970-4cdc-898f-829fdddec398" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "d905a183-7970-4cdc-898f-829fdddec398";
"48145ce1-0261-4d20-9b61-63b7e0d3f780" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "48145ce1-0261-4d20-9b61-63b7e0d3f780";
"6ca14c8d-6c5a-4ef4-9577-af55724e1a9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "6ca14c8d-6c5a-4ef4-9577-af55724e1a9b";
"b106d35f-a070-4d53-9f80-788c34d24dd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "b106d35f-a070-4d53-9f80-788c34d24dd9";
"9b359cea-13ba-4891-a728-2be9eb415bbe" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,BrightTable)", shape=box, style=filled];
"44d17e3e-f5c5-4b53-a312-c0d02971ae74" -> "9b359cea-13ba-4891-a728-2be9eb415bbe";
"d17b6efc-c28f-4939-b386-e30532b523dc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d17b6efc-c28f-4939-b386-e30532b523dc";
"3d069ed6-2539-4460-8113-0018fbda431d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"d17b6efc-c28f-4939-b386-e30532b523dc" -> "3d069ed6-2539-4460-8113-0018fbda431d";
"4eda5fbf-3034-494b-b231-3024aae0ae81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"d17b6efc-c28f-4939-b386-e30532b523dc" -> "4eda5fbf-3034-494b-b231-3024aae0ae81";
"a0196fe9-1aa0-41a9-871e-6be3e1b60d7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"d17b6efc-c28f-4939-b386-e30532b523dc" -> "a0196fe9-1aa0-41a9-871e-6be3e1b60d7d";
"e89f0df3-78c6-4b04-87e4-948a8ae19920" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"d17b6efc-c28f-4939-b386-e30532b523dc" -> "e89f0df3-78c6-4b04-87e4-948a8ae19920";
"76146617-91c4-42eb-ac43-1f2821586501" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled];
"d17b6efc-c28f-4939-b386-e30532b523dc" -> "76146617-91c4-42eb-ac43-1f2821586501";
"ac7b74b7-8ad1-4fcb-a121-1439c6564217" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ac7b74b7-8ad1-4fcb-a121-1439c6564217";
"16226b97-f18f-4ec2-9a58-d3e6e76c1131" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "16226b97-f18f-4ec2-9a58-d3e6e76c1131";
"92c2e3e0-af40-4c34-a884-d07cc8ddf932" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "92c2e3e0-af40-4c34-a884-d07cc8ddf932";
"0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "0e576d3e-6b71-4b5d-86fd-63ef6e8b4bbf";
"d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"ac7b74b7-8ad1-4fcb-a121-1439c6564217" -> "d83d0d5a-ac2d-4bb3-be4f-87eb6e2e2be9";
"7913644d-a844-4efb-a3b4-b8179b4c9cd7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,CoffeeTable)", shape=box, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f2f6ac7d-ea99-47e0-b06c-cef97d55f199";
"22655187-24da-486e-9736-9ee51b713e35" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"f2f6ac7d-ea99-47e0-b06c-cef97d55f199" -> "22655187-24da-486e-9736-9ee51b713e35";
"35a6e96b-64b4-4daf-af59-556dc252259a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"3d6859cf-e1ef-4d6e-9583-7bb967ee7714" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
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"c9df2bcf-5c2e-4ce6-a9b8-c8a3b0758155" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
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"59e67492-ea7b-4f78-87d5-0cf36c531eac" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7c2f8900-3f83-4279-b017-bab0b3694659";
"f955bdd4-6fb6-4c6e-a522-7e006e9c91da" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"7c2f8900-3f83-4279-b017-bab0b3694659" -> "f955bdd4-6fb6-4c6e-a522-7e006e9c91da";
"943db77e-bf1b-430d-99ab-07a19d5de26f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"7c2f8900-3f83-4279-b017-bab0b3694659" -> "943db77e-bf1b-430d-99ab-07a19d5de26f";
"b3075219-4db2-40bf-b26b-be3742af7d33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7c2f8900-3f83-4279-b017-bab0b3694659" -> "b3075219-4db2-40bf-b26b-be3742af7d33";
"c58c05e7-a68a-41a5-90e3-33e1fabeed43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"7c2f8900-3f83-4279-b017-bab0b3694659" -> "c58c05e7-a68a-41a5-90e3-33e1fabeed43";
"ef973e00-c4ee-4c13-8608-884df668cfb3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled];
"7c2f8900-3f83-4279-b017-bab0b3694659" -> "ef973e00-c4ee-4c13-8608-884df668cfb3";
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "39ac37ec-c93d-4800-b933-dd4aa6f2e6dd";
"95e5cfe3-ff24-48eb-b324-d06b516cbab7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "95e5cfe3-ff24-48eb-b324-d06b516cbab7";
"3b6e654a-3746-4a43-8587-cd86d886fc66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "3b6e654a-3746-4a43-8587-cd86d886fc66";
"2ee3f7f1-5224-4f5a-94ae-f5628c936be2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "2ee3f7f1-5224-4f5a-94ae-f5628c936be2";
"a4492932-07e6-4d98-af96-3b7ab527ffe2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"39ac37ec-c93d-4800-b933-dd4aa6f2e6dd" -> "a4492932-07e6-4d98-af96-3b7ab527ffe2";
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"ecc8292f-ac66-4033-bd1e-df7d36b04bb2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
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"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "d0b0aae4-4950-4001-b96d-beb265b7b3aa";
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"d38c2ea4-8357-4e99-953b-8331bf3a1771" -> "dcf8d4df-4ee7-4562-94d7-1ddb67da742d";
"026ef45d-ec4e-4fb2-8052-ffbc8fe653a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e7e4973b-8c5b-4a24-aa2a-f15b1643c175";
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"d341fa15-852e-46bf-9116-6ca6ebeabc6d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
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"180de080-0f4a-49a1-9121-c4a77839e2b9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
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"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "f2d89fc9-7c84-4cbd-8276-27d1877b4ccb";
"2f295618-70e2-4b51-a62e-835829991d68" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "2f295618-70e2-4b51-a62e-835829991d68";
"c89ab959-8856-42d7-959e-68775532c0dc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "c89ab959-8856-42d7-959e-68775532c0dc";
"a58fd281-712e-4240-bdc1-cb7860fb9ea8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled];
"f2f77bcb-ab0e-48c4-9ca2-ac9ce47f254e" -> "a58fd281-712e-4240-bdc1-cb7860fb9ea8";
"8b13d05e-0ec0-4234-ad47-e4a621812c90" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8b13d05e-0ec0-4234-ad47-e4a621812c90";
"a403f674-0e76-4133-88df-4927b4eafd46" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "a403f674-0e76-4133-88df-4927b4eafd46";
"986f591a-bdc1-43f3-b7e9-9b78835e1859" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "986f591a-bdc1-43f3-b7e9-9b78835e1859";
"fa25a519-c92c-4057-bb1c-f9540eae6bcc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "fa25a519-c92c-4057-bb1c-f9540eae6bcc";
"d939e0e5-846e-4a39-891c-0bb6692e0e3d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled];
"8b13d05e-0ec0-4234-ad47-e4a621812c90" -> "d939e0e5-846e-4a39-891c-0bb6692e0e3d";
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7ca8baa0-24ad-47cf-8ca6-bba234ebf29a";
"d340b26d-6029-4eac-8e8f-190470db2343" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "d340b26d-6029-4eac-8e8f-190470db2343";
"902f5ff8-2f8c-4d16-935c-35f85684583e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "902f5ff8-2f8c-4d16-935c-35f85684583e";
"4efd940e-0c67-4881-9e11-1f2fa965f6a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "4efd940e-0c67-4881-9e11-1f2fa965f6a7";
"f6d0540f-34ca-40f6-9d05-71d3c135f4df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "f6d0540f-34ca-40f6-9d05-71d3c135f4df";
"1d5b19b6-7999-4ec0-8ca3-6377bc46fe18" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled];
"7ca8baa0-24ad-47cf-8ca6-bba234ebf29a" -> "1d5b19b6-7999-4ec0-8ca3-6377bc46fe18";
"81c208d7-eddd-4e11-8438-d228a2751e2b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "81c208d7-eddd-4e11-8438-d228a2751e2b";
"8dd55291-23a0-4695-a707-3baa891985a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "8dd55291-23a0-4695-a707-3baa891985a6";
"ed2ed4a0-c9d5-4554-b229-fd370e21c38c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "ed2ed4a0-c9d5-4554-b229-fd370e21c38c";
"a5561fa1-92e8-4855-b925-d509ed8b7a3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "a5561fa1-92e8-4855-b925-d509ed8b7a3d";
"e62341dc-7b2e-4f69-9bf5-62659bb832fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "e62341dc-7b2e-4f69-9bf5-62659bb832fc";
"0bf29e84-27be-4d09-949f-241f8b5d53f7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled];
"81c208d7-eddd-4e11-8438-d228a2751e2b" -> "0bf29e84-27be-4d09-949f-241f8b5d53f7";
"fc300949-767f-4324-a69c-736a6ee2f63d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fc300949-767f-4324-a69c-736a6ee2f63d";
"e5a11ee7-6340-4ef2-983b-3f22c2233702" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"fc300949-767f-4324-a69c-736a6ee2f63d" -> "e5a11ee7-6340-4ef2-983b-3f22c2233702";
"e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"fc300949-767f-4324-a69c-736a6ee2f63d" -> "e0295aa6-f60b-4605-b1ce-7f42ca3f5e8e";
"0a07ed17-e492-4a1c-80a9-61cfafae8d30" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"fc300949-767f-4324-a69c-736a6ee2f63d" -> "0a07ed17-e492-4a1c-80a9-61cfafae8d30";
"5ad6b0a2-ada0-4ba5-b067-4fa6a603d106" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"fc300949-767f-4324-a69c-736a6ee2f63d" -> "5ad6b0a2-ada0-4ba5-b067-4fa6a603d106";
"914edf0f-e89e-41d7-bfba-8b9f2ed88dcb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled];
"fc300949-767f-4324-a69c-736a6ee2f63d" -> "914edf0f-e89e-41d7-bfba-8b9f2ed88dcb";
"70cc462b-d3a5-49e6-be06-48d5b6f33269" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "70cc462b-d3a5-49e6-be06-48d5b6f33269";
"7232382c-8ae7-441b-812c-8c60d149a481" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "7232382c-8ae7-441b-812c-8c60d149a481";
"5cb5db0e-c8f1-4bf8-a867-58d61bc60df1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "5cb5db0e-c8f1-4bf8-a867-58d61bc60df1";
"eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "eaa1a8a2-60af-4de3-80dc-4a3ff4e4f0e6";
"cf79696b-cb1b-4a16-ab97-f0b39ca41638" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "cf79696b-cb1b-4a16-ab97-f0b39ca41638";
"fe0b087e-00d9-43b8-a3a4-9cd23bb4736d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,CoffeeTable)", shape=box, style=filled];
"70cc462b-d3a5-49e6-be06-48d5b6f33269" -> "fe0b087e-00d9-43b8-a3a4-9cd23bb4736d";
"95f2fa8b-2664-4e91-9677-0c3012f78c32" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "95f2fa8b-2664-4e91-9677-0c3012f78c32";
"eade3195-4ffc-4d11-a0c1-a962437c92c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "eade3195-4ffc-4d11-a0c1-a962437c92c7";
"96ab24fb-382c-457e-b5d0-7a222cb6e602" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "96ab24fb-382c-457e-b5d0-7a222cb6e602";
"b3b5bb07-a37d-43f2-bea3-262f808b5e72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "b3b5bb07-a37d-43f2-bea3-262f808b5e72";
"d2c442ed-1d4c-49d3-8a88-223eec6dc425" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "d2c442ed-1d4c-49d3-8a88-223eec6dc425";
"994dad7a-43ec-41d3-a160-f5635f872acd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled];
"95f2fa8b-2664-4e91-9677-0c3012f78c32" -> "994dad7a-43ec-41d3-a160-f5635f872acd";
"9b951d0d-080e-44f7-be07-4111258ec601" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "9b951d0d-080e-44f7-be07-4111258ec601";
"dd661277-2298-4e35-a4a7-c6f236a6ab82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"9b951d0d-080e-44f7-be07-4111258ec601" -> "dd661277-2298-4e35-a4a7-c6f236a6ab82";
"503442c1-32ca-4dad-b50c-8730f2e86148" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"9b951d0d-080e-44f7-be07-4111258ec601" -> "503442c1-32ca-4dad-b50c-8730f2e86148";
"f0573b81-37fb-4b19-8848-f20c6f6340a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"9b951d0d-080e-44f7-be07-4111258ec601" -> "f0573b81-37fb-4b19-8848-f20c6f6340a9";
"478a6c6f-c382-4757-9348-4d90707f36e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
"9b951d0d-080e-44f7-be07-4111258ec601" -> "478a6c6f-c382-4757-9348-4d90707f36e9";
"2b25992c-502b-4db8-83cd-785a5ce25a1f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled];
"9b951d0d-080e-44f7-be07-4111258ec601" -> "2b25992c-502b-4db8-83cd-785a5ce25a1f";
"4f384bd2-c40a-466d-85d6-9d608a811aaa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "4f384bd2-c40a-466d-85d6-9d608a811aaa";
"0be147d5-86c3-4f4b-bcfd-9eb7ab01295c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "0be147d5-86c3-4f4b-bcfd-9eb7ab01295c";
"dc0453ab-415b-4ccd-9fb3-09409b9e26fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "dc0453ab-415b-4ccd-9fb3-09409b9e26fa";
"59fe20f3-8cbe-4855-a21a-0548505d189b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "59fe20f3-8cbe-4855-a21a-0548505d189b";
"368846e6-6dfc-4b46-a429-b4d29bd0e0c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "368846e6-6dfc-4b46-a429-b4d29bd0e0c8";
"beaa13f0-58d0-4942-9706-86203bf82009" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled];
"4f384bd2-c40a-466d-85d6-9d608a811aaa" -> "beaa13f0-58d0-4942-9706-86203bf82009";
"66399520-c790-471d-9878-a1b499b3a0d3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "66399520-c790-471d-9878-a1b499b3a0d3";
"cf38aac7-aeeb-4b43-9000-7dc680a52932" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"66399520-c790-471d-9878-a1b499b3a0d3" -> "cf38aac7-aeeb-4b43-9000-7dc680a52932";
"38340b9b-b4aa-45aa-add2-814abfa8ef43" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"66399520-c790-471d-9878-a1b499b3a0d3" -> "38340b9b-b4aa-45aa-add2-814abfa8ef43";
"4ed2c578-1c1d-400f-9c1e-cf801d53949d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"66399520-c790-471d-9878-a1b499b3a0d3" -> "4ed2c578-1c1d-400f-9c1e-cf801d53949d";
"2ec33088-2596-4615-ae3c-8d001d70fdbb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled];
"66399520-c790-471d-9878-a1b499b3a0d3" -> "2ec33088-2596-4615-ae3c-8d001d70fdbb";
"0546b30e-5165-4897-ac5b-94b792b5ef90" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled];
"66399520-c790-471d-9878-a1b499b3a0d3" -> "0546b30e-5165-4897-ac5b-94b792b5ef90";
"106eb298-5ef4-4c0c-b79d-8832633174b6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "106eb298-5ef4-4c0c-b79d-8832633174b6";
"0cde468e-cded-4e45-9a74-797f7ac72077" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"106eb298-5ef4-4c0c-b79d-8832633174b6" -> "0cde468e-cded-4e45-9a74-797f7ac72077";
"fb7a487a-1bb7-42d1-bd01-9c4225e0c503" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"106eb298-5ef4-4c0c-b79d-8832633174b6" -> "fb7a487a-1bb7-42d1-bd01-9c4225e0c503";
"330c5d83-4072-4fe7-bef3-0c8f9276243b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"106eb298-5ef4-4c0c-b79d-8832633174b6" -> "330c5d83-4072-4fe7-bef3-0c8f9276243b";
"d6a58535-7a76-4775-a360-b834ca86b192" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled];
"106eb298-5ef4-4c0c-b79d-8832633174b6" -> "d6a58535-7a76-4775-a360-b834ca86b192";
"4f483428-fc52-437a-b91d-1aff26e70321" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Table)", shape=box, style=filled];
"106eb298-5ef4-4c0c-b79d-8832633174b6" -> "4f483428-fc52-437a-b91d-1aff26e70321";
"e8d08f18-d269-4237-bfb9-e730e1bc325a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e8d08f18-d269-4237-bfb9-e730e1bc325a";
"18420e40-a8c9-409f-9b2a-e4221b6b1c4b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"e8d08f18-d269-4237-bfb9-e730e1bc325a" -> "18420e40-a8c9-409f-9b2a-e4221b6b1c4b";
"0455c747-0907-4513-aca5-93e90bd58522" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"e8d08f18-d269-4237-bfb9-e730e1bc325a" -> "0455c747-0907-4513-aca5-93e90bd58522";
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"e8d08f18-d269-4237-bfb9-e730e1bc325a" -> "bbb5c6af-a56d-42ca-99ce-27fad324e5ce";
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bafbbe07-4f9b-47b5-a948-69235df8d813";
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"a671bc5f-4059-4ba0-972e-07dfd50684f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
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"23a27ffc-edd0-4937-b2ad-65bb734fc599" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"5938a175-0bbb-4f41-97a6-6184110d23b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled];
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"0889d29b-85e5-4c2a-b606-1aaedca484d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
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"bde75cae-ea4e-4012-a0f4-de5161ce490a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
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"ccab9e0f-6109-429b-be6a-a8862f02c26a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7914fc15-2e5c-409b-b664-dbec4f483acd";
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"7914fc15-2e5c-409b-b664-dbec4f483acd" -> "9165722c-6bb1-44e7-8392-d614c3d004be";
"f654f65b-419c-4870-9d83-4e8811f55132" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "38c8f54a-d663-4d8c-84d2-df6a24979f57";
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"af354285-bd87-443a-8c05-7da9881aa3d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"a8f4a494-2c73-49d0-9d6d-0ec173c73eb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e";
"104297e6-b5de-4229-92c3-a1c8f143a1fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled];
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"6287d6a1-01b8-4ecc-83a7-b3c8112dddd3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
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"064ab3e4-9d07-45cf-98a3-69f4c01405ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e" -> "064ab3e4-9d07-45cf-98a3-69f4c01405ef";
"31b38865-2994-4816-a1f2-f51f6e574ae4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e" -> "31b38865-2994-4816-a1f2-f51f6e574ae4";
"10fc85c8-f508-45e7-98d7-f500bfeafe5a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled];
"6cd0b93b-f022-43a1-aeb2-4ba3f4d51b1e" -> "10fc85c8-f508-45e7-98d7-f500bfeafe5a";
"fe195b70-5a72-4399-921c-94c47a0ede1e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fe195b70-5a72-4399-921c-94c47a0ede1e";
"405c73cd-e2b9-4bcb-9468-2c6c4dfc2435" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
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"5350eed3-9bbf-47b3-b9e5-8a9249a231ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"fe195b70-5a72-4399-921c-94c47a0ede1e" -> "5350eed3-9bbf-47b3-b9e5-8a9249a231ef";
"1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"fe195b70-5a72-4399-921c-94c47a0ede1e" -> "1f13a5a4-fd0d-4532-bf4a-5dd58f08bf99";
"5bb0d8b1-d585-4bb6-9b0b-e194332e0965" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f82ceaa0-b6da-4eb8-af29-bccb4200e5ce";
"d37c9f2e-bed1-4fe2-b313-449793df81a4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
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"a2c5a04c-9478-4495-9c58-fff5b9439a52" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"f82ceaa0-b6da-4eb8-af29-bccb4200e5ce" -> "a2c5a04c-9478-4495-9c58-fff5b9439a52";
"e11fdf63-5f7d-45d6-a397-e6ba4bf4b512" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
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"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2d258978-abb3-413b-8742-7aa77d4b08d6";
"f2794569-a401-4125-863b-ec733d5fff04" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
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"55849d0f-9891-472e-8a5c-521168acc32c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
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"0ecc86f9-ca06-4e28-a960-94a635ef5341" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
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"63e4a060-5357-47ec-8121-2b8eb890b8ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"71c83425-4b72-4dcc-a133-20af4012d12a" -> "63e4a060-5357-47ec-8121-2b8eb890b8ef";
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"6361b873-a6b4-4167-b9ba-b1c72011533f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
"dcd58750-47b4-481e-9dca-0e9af8497d37" -> "6361b873-a6b4-4167-b9ba-b1c72011533f";
"a18e5bcd-6688-4dfb-addb-db5e1d47190d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled];
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"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "d2970d23-0525-42c5-a6d5-d1801429c17b";
"8614c8da-8a04-4907-a164-6d4e6e21ac2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "8614c8da-8a04-4907-a164-6d4e6e21ac2c";
"7b1ddbba-b4d2-443c-b646-39eb933fd102" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "7b1ddbba-b4d2-443c-b646-39eb933fd102";
"8b6ff78e-014c-44d7-ba78-2006b86db3fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "8b6ff78e-014c-44d7-ba78-2006b86db3fd";
"1c09ff47-400c-466e-8714-d8c8429db7e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled];
"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "1c09ff47-400c-466e-8714-d8c8429db7e6";
"327e2478-87b5-4eba-9dd1-6918366c7da1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "327e2478-87b5-4eba-9dd1-6918366c7da1";
"60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97";
"c5e01a62-e85f-4707-a45f-49eb624b5da4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled];
"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "c5e01a62-e85f-4707-a45f-49eb624b5da4";
"eb9ec3da-8aec-484c-b0da-62884f057827" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "eb9ec3da-8aec-484c-b0da-62884f057827";
"02754f4b-66b5-46f8-b427-c9043b6c323d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"eb9ec3da-8aec-484c-b0da-62884f057827" -> "02754f4b-66b5-46f8-b427-c9043b6c323d";
"66773396-42d7-4b86-b195-289ee353bea1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "66773396-42d7-4b86-b195-289ee353bea1";
"10caf46d-5682-45ed-b60d-d30a074d9cab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "10caf46d-5682-45ed-b60d-d30a074d9cab";
"38a751c3-d97d-4e30-b2a1-92cc0bf1748c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "38a751c3-d97d-4e30-b2a1-92cc0bf1748c";
"4b866074-42e4-4eb6-bf22-e3f9e3efc8c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled];
"eb9ec3da-8aec-484c-b0da-62884f057827" -> "4b866074-42e4-4eb6-bf22-e3f9e3efc8c4";
"226631db-0755-4e1c-83c7-9c23e7fc31ec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "226631db-0755-4e1c-83c7-9c23e7fc31ec";
"f7b2afd5-172e-4f61-a7fd-7635fdf998c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled];
"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "f7b2afd5-172e-4f61-a7fd-7635fdf998c7";
"e16be6cb-8fec-486e-a03d-6dff87de936e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "e16be6cb-8fec-486e-a03d-6dff87de936e";
"d48b849a-4b45-4e2b-bfa2-006c7f88d051" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "d48b849a-4b45-4e2b-bfa2-006c7f88d051";
"9e20a4f6-e58f-4110-a538-14881df9fba1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled];
"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "9e20a4f6-e58f-4110-a538-14881df9fba1";
"80bb0311-1f87-4af6-a786-20e869ddffbf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "80bb0311-1f87-4af6-a786-20e869ddffbf";
"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "f6e6a3e1-0759-44e1-8e5b-d350636a36b0";
"ec10b3b5-792b-47d7-bb00-0454a405e5e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "ec10b3b5-792b-47d7-bb00-0454a405e5e1";
"8614a2e8-9005-4fca-8d71-60143de2b08d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "8614a2e8-9005-4fca-8d71-60143de2b08d";
"557ba623-a633-432b-8779-eac1ead8c539" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "557ba623-a633-432b-8779-eac1ead8c539";
"e044fc55-062c-472c-9c8e-4f32bbead6d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled];
"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "e044fc55-062c-472c-9c8e-4f32bbead6d6";
"d05a6846-39b7-44e5-b12a-a98dabae6736" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d05a6846-39b7-44e5-b12a-a98dabae6736";
"a1732476-b4cc-481c-9d25-22295111d762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled];
"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "a1732476-b4cc-481c-9d25-22295111d762";
"49c6c9ec-3b95-43dc-88f5-06675d0e5bf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "49c6c9ec-3b95-43dc-88f5-06675d0e5bf1";
"ed55981d-75e8-4ad0-bc1f-7332e123d260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "ed55981d-75e8-4ad0-bc1f-7332e123d260";
"04fb64d5-6c56-4f53-9a86-e498ed641ba3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled];
"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "04fb64d5-6c56-4f53-9a86-e498ed641ba3";
"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "e6a68b9e-80e9-49aa-98f5-ac87f6288da7";
"e477cd0c-327d-4be3-af19-45dc454ff83e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "e477cd0c-327d-4be3-af19-45dc454ff83e";
"8603671b-a28b-4c77-a70d-7693a479c895" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "8603671b-a28b-4c77-a70d-7693a479c895";
"9e6e96b9-4e95-4f6c-8ed5-b69fe487087d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "9e6e96b9-4e95-4f6c-8ed5-b69fe487087d";
"c1afe35f-6e04-4ae8-bc21-5810d71efd7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "c1afe35f-6e04-4ae8-bc21-5810d71efd7d";
"98150a13-3731-47c8-9a8e-d78a55e3645d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled];
"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "98150a13-3731-47c8-9a8e-d78a55e3645d";
"132bf3f9-ef25-4e05-9813-002cf8021409" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "132bf3f9-ef25-4e05-9813-002cf8021409";
"e60445d9-2ff8-46a5-bfe4-c28830bb672b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"132bf3f9-ef25-4e05-9813-002cf8021409" -> "e60445d9-2ff8-46a5-bfe4-c28830bb672b";
"a9da3177-f487-4698-a59f-bfa320d329f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"132bf3f9-ef25-4e05-9813-002cf8021409" -> "a9da3177-f487-4698-a59f-bfa320d329f2";
"dc8676aa-bd2e-4961-8f2f-a337d17e05d0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"132bf3f9-ef25-4e05-9813-002cf8021409" -> "dc8676aa-bd2e-4961-8f2f-a337d17e05d0";
"14fdadac-4678-4f2a-a5db-89bb1300fb3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled];
"132bf3f9-ef25-4e05-9813-002cf8021409" -> "14fdadac-4678-4f2a-a5db-89bb1300fb3a";
"6b5035f6-4e7d-4914-881e-efc040a46e92" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6b5035f6-4e7d-4914-881e-efc040a46e92";
"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "34aa96bb-cb46-4b9e-a46a-f07b7d5b435f";
"c6647b89-208f-4669-9079-5b68c076ab9c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "c6647b89-208f-4669-9079-5b68c076ab9c";
"82cb330f-8288-4c34-ba33-3f0af489a8a8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "82cb330f-8288-4c34-ba33-3f0af489a8a8";
"e452ea52-2d8e-41d5-a217-f401cd032e2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "e452ea52-2d8e-41d5-a217-f401cd032e2b";
"be59844a-9caf-45e2-94a6-a19f660a279c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled];
"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "be59844a-9caf-45e2-94a6-a19f660a279c";
"32096f54-f5d3-49cc-9702-3bddf080d2fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "32096f54-f5d3-49cc-9702-3bddf080d2fe";
"ef27f545-f3b5-46a1-aea1-3e77e4c7ef99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "ef27f545-f3b5-46a1-aea1-3e77e4c7ef99";
"f2892b78-6688-4c60-91d3-97750ceb48f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled];
"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "f2892b78-6688-4c60-91d3-97750ceb48f3";
"4980523b-34b7-4b53-ba9b-bf4c5212c479" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "4980523b-34b7-4b53-ba9b-bf4c5212c479";
"5354575b-84af-40ed-8e01-c31e8b1d3b90" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled];
"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "5354575b-84af-40ed-8e01-c31e8b1d3b90";
"4939a51b-2fed-4df4-8db8-b3914cb99572" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "4939a51b-2fed-4df4-8db8-b3914cb99572";
"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "a822d82e-b6b0-4a56-8a3e-0241521d3d0c";
"55c3bd46-df99-4607-8f4a-43713ffd728b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "55c3bd46-df99-4607-8f4a-43713ffd728b";
"3ce080d0-3205-4929-9166-49c4ff633e79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "3ce080d0-3205-4929-9166-49c4ff633e79";
"0cfd551b-c03c-42e1-b315-24b151ca76c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "0cfd551b-c03c-42e1-b315-24b151ca76c2";
"636ee734-15b7-4024-a99a-c4a1be49cb4b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled];
"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "636ee734-15b7-4024-a99a-c4a1be49cb4b";
"71eb1e55-077c-481e-a969-d95c0c50de23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "71eb1e55-077c-481e-a969-d95c0c50de23";
"18fd2435-dc2d-4bb5-92cb-41bae1112cdc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
"71eb1e55-077c-481e-a969-d95c0c50de23" -> "18fd2435-dc2d-4bb5-92cb-41bae1112cdc";
"5f1c3314-2fd1-45e9-b521-ed2b72c21796" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"71eb1e55-077c-481e-a969-d95c0c50de23" -> "5f1c3314-2fd1-45e9-b521-ed2b72c21796";
"a3783c9f-ae12-49ae-907a-f474593665a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"71eb1e55-077c-481e-a969-d95c0c50de23" -> "a3783c9f-ae12-49ae-907a-f474593665a2";
"19c9848f-caa2-40af-8534-43e9c2f16cc8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled];
"71eb1e55-077c-481e-a969-d95c0c50de23" -> "19c9848f-caa2-40af-8534-43e9c2f16cc8";
"44c46a4a-e646-4274-a23b-ffd4686afa61" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "44c46a4a-e646-4274-a23b-ffd4686afa61";
"ed86cd17-3f27-4930-aed4-c55dda092d5a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "ed86cd17-3f27-4930-aed4-c55dda092d5a";
"0977779f-a2d6-44af-b12b-9a00dc620cf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "0977779f-a2d6-44af-b12b-9a00dc620cf2";
"69c7c338-8c7a-466d-bec4-006beff4df4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "69c7c338-8c7a-466d-bec4-006beff4df4c";
"602e1341-9186-4478-ae53-0c0feed21e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "602e1341-9186-4478-ae53-0c0feed21e4e";
"51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled];
"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc";
"be610373-908a-4cdf-a276-eb63c0927891" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "be610373-908a-4cdf-a276-eb63c0927891";
"b1da90b9-0bca-40b0-be7c-52025d64cb95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
"be610373-908a-4cdf-a276-eb63c0927891" -> "b1da90b9-0bca-40b0-be7c-52025d64cb95";
"51176ed0-b011-4b3a-88e1-a2cbe51f50cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"be610373-908a-4cdf-a276-eb63c0927891" -> "51176ed0-b011-4b3a-88e1-a2cbe51f50cf";
"ac5a6273-34c5-4827-8f01-6cff2ce195b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"be610373-908a-4cdf-a276-eb63c0927891" -> "ac5a6273-34c5-4827-8f01-6cff2ce195b3";
"b3d397d6-35b3-4a04-9a6f-70201d0d06e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled];
"be610373-908a-4cdf-a276-eb63c0927891" -> "b3d397d6-35b3-4a04-9a6f-70201d0d06e2";
"a1a9032d-687a-4505-ba96-a4951b52a1fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a1a9032d-687a-4505-ba96-a4951b52a1fb";
"1240ebfd-7e0f-403d-8b84-999c77431f55" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"a1a9032d-687a-4505-ba96-a4951b52a1fb" -> "1240ebfd-7e0f-403d-8b84-999c77431f55";
"55de91f8-8252-45d9-9940-cac57334d7a7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "55de91f8-8252-45d9-9940-cac57334d7a7";
"81e7d562-7203-411f-ac99-b4993421209f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "81e7d562-7203-411f-ac99-b4993421209f";
"bafa5440-348f-4c14-af1a-ed97197b26cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"1240ebfd-7e0f-403d-8b84-999c77431f55" -> "bafa5440-348f-4c14-af1a-ed97197b26cd";
"c035e88c-1906-4a98-a716-1c5b1db8b975" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled];
"a1a9032d-687a-4505-ba96-a4951b52a1fb" -> "c035e88c-1906-4a98-a716-1c5b1db8b975";
"a23e4845-02b2-40a5-ae00-092f9516be12" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a23e4845-02b2-40a5-ae00-092f9516be12";
"9a41cb8f-65e6-4309-b451-48b7992a62f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
"a23e4845-02b2-40a5-ae00-092f9516be12" -> "9a41cb8f-65e6-4309-b451-48b7992a62f2";
"37280f2a-9646-4b54-b532-22032d4dddb8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"a23e4845-02b2-40a5-ae00-092f9516be12" -> "37280f2a-9646-4b54-b532-22032d4dddb8";
"272cb815-fc07-4590-b2f8-d4b9fc454339" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"a23e4845-02b2-40a5-ae00-092f9516be12" -> "272cb815-fc07-4590-b2f8-d4b9fc454339";
"8407cdcb-73ae-49c8-aaf2-bf3751ced541" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled];
"a23e4845-02b2-40a5-ae00-092f9516be12" -> "8407cdcb-73ae-49c8-aaf2-bf3751ced541";
"a1481776-efcf-4951-9af8-3f060e3a2d85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a1481776-efcf-4951-9af8-3f060e3a2d85";
"185f596d-f400-4055-8d07-f579b50bc711" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "185f596d-f400-4055-8d07-f579b50bc711";
"6dfe7617-104b-449c-bc93-2480450ffede" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"185f596d-f400-4055-8d07-f579b50bc711" -> "6dfe7617-104b-449c-bc93-2480450ffede";
"d12a6c42-3089-4773-925e-9cb106948c96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"185f596d-f400-4055-8d07-f579b50bc711" -> "d12a6c42-3089-4773-925e-9cb106948c96";
"9419f1c4-688f-46e6-a3d2-e8287d596b48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"185f596d-f400-4055-8d07-f579b50bc711" -> "9419f1c4-688f-46e6-a3d2-e8287d596b48";
"3dc6a373-605d-49e1-b7e0-157be73bd02d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled];
"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "3dc6a373-605d-49e1-b7e0-157be73bd02d";
"7c5a7025-8822-428b-b1f0-6ba69f3871b9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7c5a7025-8822-428b-b1f0-6ba69f3871b9";
"90c999b2-e118-47eb-ac33-58114ef78067" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "90c999b2-e118-47eb-ac33-58114ef78067";
"ae03ea63-1515-4427-bffe-7de75cc3b7ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "ae03ea63-1515-4427-bffe-7de75cc3b7ea";
"822f40a3-5c5b-48cf-8628-9382e49b9290" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "822f40a3-5c5b-48cf-8628-9382e49b9290";
"654e625e-c14a-4705-9053-e43cb9bdbdec" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled];
"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "654e625e-c14a-4705-9053-e43cb9bdbdec";
"79959fc1-102b-4dd0-bd26-0024bfab722a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "79959fc1-102b-4dd0-bd26-0024bfab722a";
"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"79959fc1-102b-4dd0-bd26-0024bfab722a" -> "7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a";
"15edc351-573b-4906-ad03-297f4bd85d93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "15edc351-573b-4906-ad03-297f4bd85d93";
"d5b5cc68-7498-434b-9a16-a1c7e6afec4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "d5b5cc68-7498-434b-9a16-a1c7e6afec4e";
"dc002244-de3d-4769-89e5-bfa498142b4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "dc002244-de3d-4769-89e5-bfa498142b4c";
"d187eff6-e61c-4a75-993c-e23f27d59a11" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled];
"79959fc1-102b-4dd0-bd26-0024bfab722a" -> "d187eff6-e61c-4a75-993c-e23f27d59a11";
"d02a9e30-e1a8-403e-be19-df39bc160e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d02a9e30-e1a8-403e-be19-df39bc160e15";
"bd378d36-4f17-4a82-b7ce-cb9e187b3376" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd378d36-4f17-4a82-b7ce-cb9e187b3376";
"bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298";
"dbc4c650-9570-4d64-b445-d032032f1447" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "dbc4c650-9570-4d64-b445-d032032f1447";
"44efea8b-425c-41bb-88e8-77c9d8d91462" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled];
"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "44efea8b-425c-41bb-88e8-77c9d8d91462";
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"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6ff1a552-442a-469e-85a7-005b0545de29";
"9da7cc2d-4610-4e56-834f-734a473cf45f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"6ff1a552-442a-469e-85a7-005b0545de29" -> "9da7cc2d-4610-4e56-834f-734a473cf45f";
"5753e20b-77fb-46bc-bca7-e09f8b90a47d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "5753e20b-77fb-46bc-bca7-e09f8b90a47d";
"f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e";
"579d5579-5bec-4bcc-9902-9098af0e84b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "579d5579-5bec-4bcc-9902-9098af0e84b3";
"6dfa4b2a-855a-4675-acf1-f27ffd3c4907" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled];
"6ff1a552-442a-469e-85a7-005b0545de29" -> "6dfa4b2a-855a-4675-acf1-f27ffd3c4907";
"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b905bc4e-5fa0-41d1-ab6a-468bf85d2b85";
"03c0a5b0-59b6-4840-a65b-186db7e4be39" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "03c0a5b0-59b6-4840-a65b-186db7e4be39";
"e6035e64-c2b0-452b-a47a-39dc1309d3ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "e6035e64-c2b0-452b-a47a-39dc1309d3ea";
"7d7bbbb0-d84c-47da-8595-2fe0920193aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "7d7bbbb0-d84c-47da-8595-2fe0920193aa";
"1a4f10a2-f887-44f3-9ff5-d8459cc4e15f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled];
"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "1a4f10a2-f887-44f3-9ff5-d8459cc4e15f";
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"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7f39a0b3-a29d-47ef-9293-045cf65eb9c6";
"c5587f32-fc90-4f69-ba6a-7b75074ba50a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "c5587f32-fc90-4f69-ba6a-7b75074ba50a";
"691a7203-e4a5-452e-b22d-bd4af678aa01" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "691a7203-e4a5-452e-b22d-bd4af678aa01";
"63517f53-aacd-45d7-a8f9-0f3fcd62efdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "63517f53-aacd-45d7-a8f9-0f3fcd62efdd";
"78a69b57-aa86-44ab-9687-2bcf3e06648b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "78a69b57-aa86-44ab-9687-2bcf3e06648b";
"250c1cc7-54e9-471f-ac1e-a9e3989d500a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled];
"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "250c1cc7-54e9-471f-ac1e-a9e3989d500a";
"b2638e75-d5a6-4b29-9228-dc6b42948ec0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b2638e75-d5a6-4b29-9228-dc6b42948ec0";
"3c6de616-03f1-4aa9-a467-26e9bb08ad40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "3c6de616-03f1-4aa9-a467-26e9bb08ad40";
"0eaaf3d0-de63-44e1-a166-f0cb6d262a8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "0eaaf3d0-de63-44e1-a166-f0cb6d262a8c";
"14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3";
"37267417-bf55-440e-860e-c48b3b8b1fd3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled];
"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "37267417-bf55-440e-860e-c48b3b8b1fd3";
"c491468c-2123-4406-bb5c-67e268c947c8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled];
"4465f4c9-b8fa-4f4b-b14b-1fea92565591" -> "c491468c-2123-4406-bb5c-67e268c947c8";
"95ea79df-397e-4ace-932c-370e2db017ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"6198a9aa-bfec-497d-bd83-a9efac95446f" -> "95ea79df-397e-4ace-932c-370e2db017ae";
"db9f748d-5b42-4c8a-98f7-62a22a435362" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
"95ea79df-397e-4ace-932c-370e2db017ae" -> "db9f748d-5b42-4c8a-98f7-62a22a435362";
"a30f3c74-e181-46e5-82fe-aa9b75eb2a28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
"95ea79df-397e-4ace-932c-370e2db017ae" -> "a30f3c74-e181-46e5-82fe-aa9b75eb2a28";
"a84a7024-3472-4350-bb95-d794977232bb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled];
"95ea79df-397e-4ace-932c-370e2db017ae" -> "a84a7024-3472-4350-bb95-d794977232bb";
}