In the picture below (from this document), connect each pair of like-colored dots with a continuous path such that
Here is another image to clarify the second rule about paths outside of dots
One thing I've realized is that each path will necessarily have to go outside of one or more of the dots. Because, e.g., if you connect the two green dots with a straight line, that leaves 5 pairs that will have to be connected by paths that each go outside of one of the green dots. So one of the green dots would have 3 (or more) paths outside it.
Beyond that, it has been trial and error (and more error). I am looking for hints about how to proceed. I think this is not the case, but maybe there is a good reason it is actually impossible?