(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (fill_shot shot1 ingredient2 left right dispenser2))

(:state (clean shaker1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot1 ingredient2))

(:action (pour_shot_to_clean_shaker shot1 ingredient2 shaker1 left l0 l1))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (refill_shot shot1 ingredient2 left right dispenser2))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shot1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (grasp right shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shot1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot2) (empty shot3) (empty shot4) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (empty_shot left shot1 ingredient2))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (leave right shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (clean_shot shot1 ingredient2 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (leave left shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (grasp right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (fill_shot shot1 ingredient5 right left dispenser5))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shot1 ingredient5) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot2) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient5))

(:action (pour_shot_to_used_shaker shot1 ingredient5 shaker1 right l1 l2))

(:state (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shaker1 ingredient5) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient5))

(:action (clean_shot shot1 ingredient5 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shaker1 ingredient5) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (grasp left shaker1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shaker1 ingredient5) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (leave right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient2) (contains shaker1 ingredient5) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (shake cocktail2 ingredient2 ingredient5 shaker1 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (grasp right shot2))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (holding left shaker1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot3) (ontable shot4) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (leave right shot2))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (pour_shaker_to_shot cocktail2 shot2 left shaker1 l2 l1))

(:state (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 cocktail2) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1))

(:action (empty_shaker left shaker1 cocktail2 l1 l0))

(:state (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (clean_shaker left right shaker1))

(:state (clean shaker1) (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (clean_shaker left right shaker1))

(:state (clean shaker1) (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot3) (empty shot4) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot1))

(:state (clean shaker1) (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot3) (empty shot4) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (leave left shaker1))

(:state (clean shaker1) (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot1) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (fill_shot shot1 ingredient6 right left dispenser6))

(:state (clean shaker1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot1 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot1 ingredient6))

(:action (grasp left shot3))

(:state (clean shaker1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shot1 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shaker1) (empty shot3) (empty shot4) (holding left shot3) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot1 ingredient6))

(:action (pour_shot_to_clean_shaker shot1 ingredient6 shaker1 right l0 l1))

(:state (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot3) (empty shot4) (holding left shot3) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient6))

(:action (leave left shot3))

(:state (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient6))

(:action (clean_shot shot1 ingredient6 right left))

(:state (clean shot1) (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient6) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot1) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (fill_shot shot1 ingredient4 right left dispenser4))

(:state (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient6) (contains shot1 ingredient4) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot3) (empty shot4) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient4))

(:action (grasp left shot3))

(:state (clean shot3) (clean shot4) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part2 cocktail1 ingredient6) (cocktail_part2 cocktail2 ingredient5) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (contains shaker1 ingredient6) (contains shot1 ingredient4) (contains shot2 cocktail2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (empty shot3) (empty shot4) (holding left shot3) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot4) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient4))

)