(:trajectory

(:state (at bob shed) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (at spanner3 location1) (at spanner4 location2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk shed location1 bob))

(:state (at bob location1) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (at spanner3 location1) (at spanner4 location2) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (pickup_spanner location1 spanner3 bob))

(:state (at bob location1) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (at spanner4 location2) (carrying bob spanner3) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location1 location2 bob))

(:state (at bob location2) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (at spanner4 location2) (carrying bob spanner3) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (pickup_spanner location2 spanner4 bob))

(:state (at bob location2) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location2 location3 bob))

(:state (at bob location3) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location3 location4 bob))

(:state (at bob location4) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location4 location5 bob))

(:state (at bob location5) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location5 location6 bob))

(:state (at bob location6) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (at spanner2 location6) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (pickup_spanner location6 spanner2 bob))

(:state (at bob location6) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (at spanner1 location6) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (pickup_spanner location6 spanner1 bob))

(:state (at bob location6) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (walk location6 gate bob))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut1) (loose nut2) (loose nut3) (loose nut4) (useable spanner1) (useable spanner2) (useable spanner3) (useable spanner4))

(:action (tighten_nut gate spanner4 bob nut1))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut2) (loose nut3) (loose nut4) (tightened nut1) (useable spanner1) (useable spanner2) (useable spanner3))

(:action (tighten_nut gate spanner3 bob nut3))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut2) (loose nut4) (tightened nut1) (tightened nut3) (useable spanner1) (useable spanner2))

(:action (tighten_nut gate spanner1 bob nut2))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (loose nut4) (tightened nut1) (tightened nut2) (tightened nut3) (useable spanner2))

(:action (tighten_nut gate spanner2 bob nut4))

(:state (at bob gate) (at nut1 gate) (at nut2 gate) (at nut3 gate) (at nut4 gate) (carrying bob spanner1) (carrying bob spanner2) (carrying bob spanner3) (carrying bob spanner4) (link location1 location2) (link location2 location3) (link location3 location4) (link location4 location5) (link location5 location6) (link location6 gate) (link shed location1) (tightened nut1) (tightened nut2) (tightened nut3) (tightened nut4))

)