(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot2))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (fill_shot shot2 ingredient3 right left dispenser3))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shot2 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shaker1) (empty shot1) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient3))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shot2 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shaker1) (empty shot1) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot2 ingredient3))

(:action (pour_shot_to_clean_shaker shot2 ingredient3 shaker1 right l0 l1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (holding left shot1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot2 ingredient3))

(:action (leave right shot2))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot2 ingredient3))

(:action (fill_shot shot1 ingredient3 left right dispenser3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (grasp right shaker1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (leave left shot1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (grasp left shot3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (holding left shot3) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (leave right shaker1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (fill_shot shot3 ingredient4 left right dispenser4))

(:state (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shot1 ingredient3) (contains shot3 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3) (used shot3 ingredient4))

(:action (pour_shot_to_used_shaker shot3 ingredient4 shaker1 left l1 l2))

(:state (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3) (used shot3 ingredient4))

(:action (clean_shot shot3 ingredient4 left right))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (fill_shot shot3 ingredient1 left right dispenser1))

(:state (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (contains shot3 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3) (used shot3 ingredient1))

(:action (empty_shot left shot3 ingredient1))

(:state (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3) (used shot3 ingredient1))

(:action (clean_shot shot3 ingredient1 left right))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (leave left shot3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (grasp right shaker1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (grasp left shot3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (holding left shot3) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (leave left shot3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (grasp left shot1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (leave right shaker1))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (contains shot1 ingredient3) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot2) (empty shot3) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (empty_shot left shot1 ingredient3))

(:state (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot2 ingredient3))

(:action (clean_shot shot1 ingredient3 left right))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (leave left shot1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (grasp right shot1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (grasp left shaker1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (leave right shot1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (grasp right shot2))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (holding left shaker1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (leave left shaker1))

(:state (clean shot1) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot2 ingredient3))

(:action (clean_shot shot2 ingredient3 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (handempty left) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot3) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (grasp left shot3))

(:state (clean shot1) (clean shot2) (clean shot3) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient4) (cocktail_part1 cocktail3 ingredient4) (cocktail_part2 cocktail1 ingredient3) (cocktail_part2 cocktail2 ingredient3) (cocktail_part2 cocktail3 ingredient3) (contains shaker1 ingredient3) (contains shaker1 ingredient4) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (empty shot1) (empty shot2) (empty shot3) (holding left shot3) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

)