(:trajectory

(:state (at bob shed) (at nut1 gate) (at nut2 gate) (at spanner1 location1) (at spanner2 location4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (walk shed location1 bob))

(:state (at bob location1) (at nut1 gate) (at nut2 gate) (at spanner1 location1) (at spanner2 location4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (pickup_spanner location1 spanner1 bob))

(:state (at bob location1) (at nut1 gate) (at nut2 gate) (at spanner2 location4) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (walk location1 location2 bob))

(:state (at bob location2) (at nut1 gate) (at nut2 gate) (at spanner2 location4) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (walk location2 location3 bob))

(:state (at bob location3) (at nut1 gate) (at nut2 gate) (at spanner2 location4) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (walk location3 location4 bob))

(:state (at bob location4) (at nut1 gate) (at nut2 gate) (at spanner2 location4) (carrying bob spanner1) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (pickup_spanner location4 spanner2 bob))

(:state (at bob location4) (at nut1 gate) (at nut2 gate) (carrying bob spanner1) (carrying bob spanner2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (walk location4 gate bob))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (carrying bob spanner1) (carrying bob spanner2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut1) (loose nut2) (useable spanner1) (useable spanner2))

(:action (tighten_nut gate spanner1 bob nut1))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (carrying bob spanner1) (carrying bob spanner2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (loose nut2) (tightened nut1) (useable spanner2))

(:action (tighten_nut gate spanner2 bob nut2))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (carrying bob spanner1) (carrying bob spanner2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 gate) (link shed location1) (tightened nut1) (tightened nut2))

)