A yellow robot and young girl touch each other's hands.
A robot and young girl hold hands.
Touching hands does not necessarily require either to hold the other's hand.
exists s1 s2 x1.(a_topic(s1) & all x2.(n_other(x2) -> exists s3 x3 x4 x5.(subset_of(x5,s1) & n_hand(x5) & of(x5,x3) & for(x3,x2) & n_touch(x3) & of(x3,x4) & n_girl(x4) & a_young(s3) & Theme(s3,x3))) & subset_of(x1,s1) & n_robot(x1) & a_yellow(s2) & Theme(s2,x1))
exists e1 s1 x1 x2 x3 x4.(Theme(e1,x4) & Actor(e1,x1) & v_hold(e1) & n_hand(x4) & n_girl(x3) & a_young(s1) & Theme(s1,x3) & n_robot(x2) & subset_of(x3,x1) & subset_of(x2,x1))