At this time, if the user is viewing the left side Figure 2 and the system has the goal Instruct-act S H remove-tierod end r MM, hOperator 2i in Figure 4 is applied because the target object, right tie rod end, is not visible from the user's viewpoint.
a goal of making the user view the right tie rod end is added as a subgoal and utterances 24 and 25 are generated.