diff --git a/cobot1.xml b/cobot1.xml
index 48ec2e85a6764ebb49ba200694764bb8492be63e..94002a9b30dcc0d9ba8edb44bd6672efad0a293a 100644
--- a/cobot1.xml
+++ b/cobot1.xml
@@ -193,6 +193,7 @@ int glass_in_target_pos = 0;</declaration>
 		</location>
 		<location id="id15" x="595" y="42">
 			<name x="578" y="25">move_to_glass</name>
+			<label kind="invariant" x="501" y="59">bottle_in_start_pos == false</label>
 		</location>
 		<location id="id16" x="1020" y="59">
 			<name x="926" y="68">start_pour</name>
diff --git a/cobot1_v1.xml b/cobot1_v1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ecf333e5e22e658248cb33d64cbf3f63d7e22fa
--- /dev/null
+++ b/cobot1_v1.xml
@@ -0,0 +1,379 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.1//EN' 'http://www.it.uu.se/research/group/darts/uppaal/flat-1_2.dtd'>
+<nta>
+	<declaration>// Place global declarations here.
+int init_retry, retry;
+int glass_retry;
+bool successful;
+bool orient_constraint_set;
+chan pressure_signal;
+chan move_to_bottle_pos;
+chan move_to_glass_start, move_to_glass_end;
+chan start_pour, stop_pour;
+chan bottle_pickup, bottle_place;
+chan glass_pickup, glass_place_start, glass_place_target;
+chan move_to_start_pos;</declaration>
+	<template>
+		<name x="5" y="5">Cobot</name>
+		<declaration>// Place local declarations here.</declaration>
+		<location id="id0" x="-510" y="-365">
+		</location>
+		<location id="id1" x="-340" y="-187">
+		</location>
+		<location id="id2" x="-119" y="-187">
+		</location>
+		<location id="id3" x="221" y="-187">
+		</location>
+		<location id="id4" x="221" y="-17">
+			<name x="238" y="-42">pouring</name>
+		</location>
+		<location id="id5" x="-8" y="-17">
+		</location>
+		<location id="id6" x="-331" y="-17">
+		</location>
+		<location id="id7" x="-510" y="-17">
+		</location>
+		<location id="id8" x="-161" y="-17">
+		</location>
+		<location id="id9" x="-510" y="-187">
+		</location>
+		<location id="id10" x="-510" y="119">
+		</location>
+		<location id="id11" x="-272" y="119">
+		</location>
+		<location id="id12" x="17" y="119">
+		</location>
+		<location id="id13" x="255" y="119">
+			<name x="272" y="127">finished_success</name>
+		</location>
+		<location id="id14" x="-340" y="-365">
+			<committed/>
+		</location>
+		<location id="id15" x="306" y="-365">
+			<name x="331" y="-365">shut_down</name>
+		</location>
+		<location id="id16" x="-161" y="-119">
+			<committed/>
+		</location>
+		<location id="id17" x="-731" y="-17">
+			<committed/>
+		</location>
+		<location id="id18" x="-272" y="212">
+			<committed/>
+		</location>
+		<location id="id19" x="-42" y="212">
+		</location>
+		<location id="id20" x="-42" y="297">
+			<committed/>
+		</location>
+		<location id="id21" x="272" y="212">
+			<committed/>
+		</location>
+		<init ref="id0"/>
+		<transition>
+			<source ref="id7"/>
+			<target ref="id15"/>
+			<label kind="guard" x="221" y="42">glass_retry == 0</label>
+			<label kind="synchronisation" x="229" y="8">glass_pickup?</label>
+			<label kind="assignment" x="221" y="25">successful = true</label>
+			<nail x="-272" y="59"/>
+			<nail x="357" y="59"/>
+			<nail x="357" y="-246"/>
+		</transition>
+		<transition>
+			<source ref="id21"/>
+			<target ref="id15"/>
+			<label kind="guard" x="306" y="195">retry == 1</label>
+			<nail x="416" y="212"/>
+			<nail x="416" y="-212"/>
+		</transition>
+		<transition>
+			<source ref="id21"/>
+			<target ref="id19"/>
+			<label kind="guard" x="153" y="255">retry &gt; 1</label>
+			<label kind="assignment" x="161" y="272">retry--</label>
+			<nail x="161" y="255"/>
+		</transition>
+		<transition>
+			<source ref="id19"/>
+			<target ref="id21"/>
+			<label kind="synchronisation" x="102" y="170">glass_place_start?</label>
+			<label kind="assignment" x="93" y="187">successful = false</label>
+		</transition>
+		<transition>
+			<source ref="id20"/>
+			<target ref="id7"/>
+			<label kind="assignment" x="-578" y="280">glass_retry--</label>
+			<nail x="-629" y="297"/>
+		</transition>
+		<transition>
+			<source ref="id19"/>
+			<target ref="id20"/>
+			<label kind="synchronisation" x="-34" y="255">glass_place_start?</label>
+			<label kind="assignment" x="-34" y="272">successful = true</label>
+		</transition>
+		<transition>
+			<source ref="id18"/>
+			<target ref="id19"/>
+			<label kind="guard" x="-195" y="195">retry == 1</label>
+			<label kind="assignment" x="-221" y="212">retry = init_retry</label>
+		</transition>
+		<transition>
+			<source ref="id18"/>
+			<target ref="id11"/>
+			<label kind="guard" x="-391" y="153">retry &gt; 1</label>
+			<label kind="assignment" x="-374" y="170">retry--</label>
+			<nail x="-331" y="170"/>
+		</transition>
+		<transition>
+			<source ref="id11"/>
+			<target ref="id18"/>
+			<label kind="synchronisation" x="-263" y="144">glass_place_target?</label>
+			<label kind="assignment" x="-263" y="161">successful = false</label>
+		</transition>
+		<transition>
+			<source ref="id17"/>
+			<target ref="id15"/>
+			<label kind="guard" x="-731" y="-518">retry == 1</label>
+			<nail x="-731" y="-501"/>
+			<nail x="297" y="-501"/>
+		</transition>
+		<transition>
+			<source ref="id17"/>
+			<target ref="id7"/>
+			<label kind="guard" x="-714" y="51">retry &gt; 1</label>
+			<label kind="assignment" x="-714" y="68">retry--</label>
+			<nail x="-620" y="59"/>
+		</transition>
+		<transition>
+			<source ref="id7"/>
+			<target ref="id17"/>
+			<label kind="synchronisation" x="-663" y="-59">glass_pickup?</label>
+			<label kind="assignment" x="-688" y="-34">successful = false</label>
+		</transition>
+		<transition>
+			<source ref="id16"/>
+			<target ref="id15"/>
+			<label kind="guard" x="-68" y="-136">retry == 1</label>
+			<nail x="306" y="-119"/>
+		</transition>
+		<transition>
+			<source ref="id16"/>
+			<target ref="id8"/>
+			<label kind="guard" x="-85" y="-93">retry &gt; 1</label>
+			<label kind="assignment" x="-85" y="-68">retry--</label>
+			<nail x="-85" y="-68"/>
+		</transition>
+		<transition>
+			<source ref="id8"/>
+			<target ref="id16"/>
+			<label kind="synchronisation" x="-297" y="-119">bottle_place?</label>
+			<label kind="assignment" x="-340" y="-102">successful = false</label>
+			<nail x="-229" y="-68"/>
+		</transition>
+		<transition>
+			<source ref="id14"/>
+			<target ref="id15"/>
+			<label kind="guard" x="-322" y="-399">retry == 1</label>
+		</transition>
+		<transition>
+			<source ref="id14"/>
+			<target ref="id1"/>
+			<label kind="guard" x="-280" y="-331">retry &gt; 1</label>
+			<label kind="assignment" x="-272" y="-314">retry--</label>
+			<nail x="-255" y="-280"/>
+		</transition>
+		<transition>
+			<source ref="id1"/>
+			<target ref="id14"/>
+			<label kind="synchronisation" x="-450" y="-314">bottle_pickup?</label>
+			<label kind="assignment" x="-459" y="-297">successful = false</label>
+		</transition>
+		<transition>
+			<source ref="id12"/>
+			<target ref="id13"/>
+			<label kind="synchronisation" x="51" y="93">move_to_start_pos?</label>
+		</transition>
+		<transition>
+			<source ref="id11"/>
+			<target ref="id12"/>
+			<label kind="synchronisation" x="-204" y="85">glass_place_target?</label>
+			<label kind="assignment" x="-204" y="102">successful = true</label>
+		</transition>
+		<transition>
+			<source ref="id10"/>
+			<target ref="id11"/>
+			<label kind="synchronisation" x="-467" y="102">move_to_glass_end?</label>
+			<label kind="assignment" x="-467" y="119">retry = init_retry</label>
+		</transition>
+		<transition>
+			<source ref="id7"/>
+			<target ref="id10"/>
+			<label kind="guard" x="-510" y="76">glass_retry &gt; 1</label>
+			<label kind="synchronisation" x="-510" y="42">glass_pickup?</label>
+			<label kind="assignment" x="-510" y="59">successful = true, orient_constraint_set = true</label>
+		</transition>
+		<transition>
+			<source ref="id8"/>
+			<target ref="id6"/>
+			<label kind="synchronisation" x="-280" y="-17">bottle_place?</label>
+			<label kind="assignment" x="-408" y="0">successful = true, retry = init_retry, orient_constraint_set = false</label>
+		</transition>
+		<transition>
+			<source ref="id9"/>
+			<target ref="id1"/>
+			<label kind="synchronisation" x="-501" y="-204">move_to_bottle_pos?</label>
+		</transition>
+		<transition>
+			<source ref="id6"/>
+			<target ref="id7"/>
+			<label kind="synchronisation" x="-501" y="-68">move_to_glass_start?</label>
+			<label kind="assignment" x="-510" y="-51">glass_retry = init_retry</label>
+		</transition>
+		<transition>
+			<source ref="id5"/>
+			<target ref="id8"/>
+			<label kind="synchronisation" x="-136" y="-34">move_to_bottle_pos?</label>
+		</transition>
+		<transition>
+			<source ref="id4"/>
+			<target ref="id5"/>
+			<label kind="synchronisation" x="51" y="-34">stop_pour?</label>
+			<label kind="assignment" x="17" y="-17">orient_constraint_set = true</label>
+		</transition>
+		<transition>
+			<source ref="id3"/>
+			<target ref="id4"/>
+			<label kind="synchronisation" x="153" y="-170">start_pour?</label>
+			<label kind="assignment" x="68" y="-153">orient_constraint_set = false</label>
+		</transition>
+		<transition>
+			<source ref="id2"/>
+			<target ref="id3"/>
+			<label kind="synchronisation" x="-68" y="-212">move_to_glass_start?</label>
+		</transition>
+		<transition>
+			<source ref="id1"/>
+			<target ref="id2"/>
+			<label kind="synchronisation" x="-280" y="-187">bottle_pickup?</label>
+			<label kind="assignment" x="-433" y="-170">successful = true, retry = init_retry, orient_constraint_set = true</label>
+		</transition>
+		<transition>
+			<source ref="id0"/>
+			<target ref="id9"/>
+			<label kind="select" x="-629" y="-340">i : int[5,10]</label>
+			<label kind="synchronisation" x="-637" y="-323">pressure_signal?</label>
+			<label kind="assignment" x="-731" y="-306">init_retry = i, retry = init_retry</label>
+		</transition>
+	</template>
+	<template>
+		<name>channels</name>
+		<location id="id22" x="-561" y="-144">
+			<committed/>
+		</location>
+		<init ref="id22"/>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-697" y="-408">move_to_start_pos!</label>
+			<nail x="-680" y="-391"/>
+			<nail x="-595" y="-391"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-892" y="-382">glass_place_target!</label>
+			<nail x="-561" y="-153"/>
+			<nail x="-807" y="-340"/>
+			<nail x="-748" y="-365"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-977" y="-297">glass_place_start!</label>
+			<nail x="-867" y="-255"/>
+			<nail x="-841" y="-297"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-960" y="-204">glass_pickup!</label>
+			<nail x="-867" y="-187"/>
+			<nail x="-858" y="-221"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-943" y="-102">bottle_place!</label>
+			<nail x="-850" y="-93"/>
+			<nail x="-850" y="-119"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-884" y="0">bottle_pickup!</label>
+			<nail x="-782" y="-8"/>
+			<nail x="-807" y="-34"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-739" y="85">stop_pour!</label>
+			<nail x="-671" y="59"/>
+			<nail x="-722" y="25"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-578" y="76">start_pour!</label>
+			<nail x="-535" y="59"/>
+			<nail x="-595" y="68"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-425" y="-17">move_to_glass_end!</label>
+			<nail x="-433" y="0"/>
+			<nail x="-493" y="42"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-340" y="-93">move_to_glass_start!</label>
+			<nail x="-340" y="-110"/>
+			<nail x="-340" y="-51"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-340" y="-221">move_to_bottle_pos!</label>
+			<nail x="-340" y="-246"/>
+			<nail x="-331" y="-187"/>
+		</transition>
+		<transition>
+			<source ref="id22"/>
+			<target ref="id22"/>
+			<label kind="synchronisation" x="-425" y="-374">pressure_signal!</label>
+			<nail x="-459" y="-382"/>
+			<nail x="-391" y="-306"/>
+		</transition>
+	</template>
+	<system>// Place template instantiations here.
+// List one or more processes to be composed into a system.
+system Cobot, channels;
+    </system>
+	<queries>
+		<query>
+			<formula>A[] (deadlock imply (Cobot.finished_success or Cobot.shut_down))</formula>
+			<comment></comment>
+		</query>
+		<query>
+			<formula>A[] ((Cobot.finished_success or Cobot.shut_down) imply deadlock)</formula>
+			<comment></comment>
+		</query>
+		<query>
+			<formula>A&lt;&gt; (Cobot.finished_success or Cobot.shut_down)</formula>
+			<comment></comment>
+		</query>
+	</queries>
+</nta>