On(x) ~Flat(x) START FINISH ~Flat(Spare) Intact(Spare) Off(Spare) On(Tire1) Flat(Tire1) Off(x) ClearHub Intact(x) Flat(x) On(x) Remove(x) Puton(x) Inflate(x) ~Flat(x) Off(x) ClearHub On(x) ~ClearHub
CheckTire(x) KnowsIf(Intact(x))
On(Tire1) On( x ) Flat(Tire1) Start Finish Inflated( x ) Inflated(Spare) (True)
On(Tire1) Tire1 On( x ) Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated(Spare) (True) Flat(Tire1) Inflate(Tire1) Intact(Tire1) (Intact(Tire1))
On(Tire1) Tire1 On( x ) Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated(Spare) (True) Flat(Tire1) (Intact(Tire1)) Inflate(Tire1) ) 1 e r i T Intact(Tire1) ( t c a t n I (Intact(Tire1)) Check(Tire1)
On(Tire1) Tire1 On( x ) Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated(Spare) (True) Flat(Tire1) (Intact(Tire1)) Inflate(Tire1) ) 1 e r i T Intact(Tire1) ( t c a t n I (Intact(Tire1)) Check(Tire1) On( x ) Finish Inflated( x ) ( Intact(Tire1)) L
On(Tire1) Tire1 On( x ) Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated(Spare) (True) Flat(Tire1) (Intact(Tire1)) Inflate(Tire1) ) 1 e r i T Intact(Tire1) ( t c a t n I (Intact(Tire1)) Check(Tire1) Spare On( x ) Spare Finish Inflated( x ) ( Intact(Tire1)) L
On(Tire1) Tire1 On( x ) Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated(Spare) (True) Flat(Tire1) (Intact(Tire1)) Inflate(Tire1) ) 1 e r i T Intact(Tire1) ( t c a t n I (Intact(Tire1)) Check(Tire1) Intact(Tire1) L Spare On( x ) Spare Finish Remove(Tire1) Puton(Spare) Inflated( x ) ( Intact(Tire1)) L ( Intact(Tire1)) ( Intact(Tire1)) L L
Start At(Home) Go(HWS) At(HWS) Sells(HWS,Drill) Buy(Drill) At(HWS) At(HWS) Have(Drill) Go(SM) Sells(SM,Ban.) Sells(SM,Milk) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) Buy(Milk) Buy(Ban.) At(SM) Go(Home) Have(Milk) At(Home) Have(Ban.) Have(Drill) Finish
Failure PRECONDITIONS FAILURE RESPONSE START Color(Chair,Blue) ~Have(Red) none N/A Get(Red) Have(Red) Fetch more red Have(Red) Paint(Red) Color(Chair,Red) Repaint Color(Chair,Red) FINISH
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