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planningGraph1.dot
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digraph planningTree {
r0 [label="GOAL
FluentD^\nFluentC", shape=box, color=red];
r1 [label="FluentD^\nFluentC", shape=box];
r1 -> r0 [label="Op2_1"];
r2 [label="FluentD^\nFluentC^\nFluentB", shape=box];
r2 -> r0 [label="Op3_1"];
r3 [label="FluentC^\nFluentA", shape=box];
r3 -> r0 [label="Op1_1"];
r4 [label="FluentD^\nFluentC", shape=box];
r4 -> r1 [label="Op2_1"];
r5 [label="FluentD^\nFluentC^\nFluentB", shape=box];
r5 -> r1 [label="Op3_1"];
r6 [label="FluentC^\nFluentA", shape=box];
r6 -> r1 [label="Op1_1"];
r7 [label="FluentD^\nFluentC^\nFluentB", shape=box];
r7 -> r2 [label="Op3_1"];
r8 [label="FluentD^\nFluentC^\nFluentB", shape=box];
r8 -> r2 [label="Op2_1"];
r9 [label="FluentC^\nFluentB^\nFluentA", shape=box];
r9 -> r2 [label="Op1_1"];
r10 [label="FluentC^\nFluentA", shape=box];
r10 -> r3 [label="Op1_1"];
r11 [label="FluentC^\nFluentA", shape=box];
r11 -> r3 [label="Op2_1"];
r12 [label="FluentC^\nFluentB", shape=box];
r12 -> r3 [label="Op3_1"];
r12[color = green];
r3[color = green];
bnow [shape=box, color=blue, label="b_{now} = {'C': True, 'B': True, 'D': False}"];
bnow -> r12 [label="in", style=dotted];
}