A bunch of people laying or sitting on the ground outside.
Some friends are hanging out in the grass in a park, waiting to play a game.
Not all people are friends. Laying or sitting isn't always hanging out. They can be doing something other than waiting to play a game.
exists x1 x2 x5 x6.(n_outside(x5) & of(x5,x6) & n_ground(x6) & a_topic(x1) & of(x1,x2) & (exists e1 x3.(Actor(e1,x3) & v_lay(e1) & (x2 = x3)) | exists e2 x4.(on(e2,x5) & Actor(e2,x4) & v_sit(e2) & (x2 = x4))) & n_people(x2) & n_bunch(x1))
exists e2 e1 p1 s1 x1 x2 x3.(n_grass(x2) & for(e1,e2) & Topic(e2,p1) & Actor(e2,x1) & v_wait(e2) & exists e3 x4.(Theme(e3,x4) & Actor(e3,x1) & v_play(e3) & n_game(x4)) & in(e1,x3) & n_park(x3) & in(e1,x2) & a_out(s1) & Manner(e1,s1) & Actor(e1,x1) & v_hang(e1) & n_friend(x1))