(:trajectory

(:state (at bob shed) (at nut1 gate) (at spanner1 location2) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (walk shed location1 bob))

(:state (at bob location1) (at nut1 gate) (at spanner1 location2) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (walk location1 location2 bob))

(:state (at bob location2) (at nut1 gate) (at spanner1 location2) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (pickup_spanner location2 spanner1 bob))

(:state (at bob location2) (at nut1 gate) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (walk location2 location3 bob))

(:state (at bob location3) (at nut1 gate) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (walk location3 gate bob))

(:state (at bob gate) (at nut1 gate) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (loose nut1) (useable spanner1))

(:action (tighten_nut gate spanner1 bob nut1))

(:state (at bob gate) (at nut1 gate) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 gate) (link shed location1) (tightened nut1))

)