planner_task(1,
[se(hub,hub0,[fastened(hub0),jacked_up(hub0,jack0)]),
se(wheel,wheel2,[wheel_on(wheel2,hub0)])],

[ss(wrench,wrench0,[wrench_in(wrench0,boot)]),
ss(wheel,wheel1,[wheel_in(wheel1,boot)]),
ss(wheel,wheel2,[have_wheel(wheel2)]),
ss(pump,pump0,[pump_in(pump0,boot)]),
ss(nuts,nuts_1,[tight(nuts_1,hub0)]),
ss(jack,jack0,[have_jack(jack0)]),
ss(hub,hub0,[on_ground(hub0),fastened(hub0)]),
ss(container,boot,[closed(boot)])]
).

planner_task(2,
[se(container,boot,[open(boot)]),
se(hub,hub0,[jacked_up(hub0,jack0)]),
se(nuts,nuts_1,[loose(nuts_1,hub0)]),
se(wheel,wheel2,[wheel_in(wheel2,boot)]),
se(wheel,wheel1,[wheel_on(wheel1,hub0)]),
se(wrench,wrench0,[wrench_in(wrench0,boot)])],

[ss(wrench,wrench0,[have_wrench(wrench0)]),
ss(wheel,wheel1,[have_wheel(wheel1)]),
ss(wheel,wheel2,[wheel_on(wheel2,hub0)]),
ss(pump,pump0,[pump_in(pump0,boot)]),
ss(nuts,nuts_1,[loose(nuts_1,hub0)]),
ss(jack,jack0,[jack_in_use(jack0,hub0)]),
ss(hub,hub0,[jacked_up(hub0,jack0),fastened(hub0)]),
ss(container,boot,[closed(boot)])]
).

planner_task(3,
[se(container,boot,[open(boot)]),
se(hub,hub0,[jacked_up(hub0,jack0)]),
se(jack,jack0,[jack_in_use(jack0,hub0)]),
se(nuts,nuts_1,[have_nuts(nuts_1)]),
se(pump,pump0,[have_pump(pump0)]),
se(wrench,wrench0,[wrench_in(wrench0,boot)])],

[ss(wrench,wrench0,[wrench_in(wrench0,boot)]),
ss(wheel,wheel1,[wheel_on(wheel1,hub0)]),
ss(wheel,wheel2,[have_wheel(wheel2)]),
ss(pump,pump0,[have_pump(pump0)]),
ss(nuts,nuts_1,[tight(nuts_1,hub0)]),
ss(jack,jack0,[jack_in(jack0,boot)]),
ss(hub,hub0,[on_ground(hub0),fastened(hub0)]),
ss(container,boot,[open(boot)])]
).

planner_task(4,
[se(container,boot,[closed(boot)]),
se(wheel,wheel1,[have_wheel(wheel1)])],

[ss(wrench,wrench0,[wrench_in(wrench0,boot)]),
ss(wheel,wheel1,[wheel_on(wheel1,hub0)]),
ss(wheel,wheel2,[have_wheel(wheel2)]),
ss(pump,pump0,[pump_in(pump0,boot)]),
ss(nuts,nuts_1,[have_nuts(nuts_1)]),
ss(jack,jack0,[jack_in_use(jack0,hub0)]),
ss(hub,hub0,[unfastened(hub0),jacked_up(hub0,jack0)]),
ss(container,boot,[closed(boot)])]
).