(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp left shot1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (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) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (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) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (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) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (fill_shot shot1 ingredient1 left right dispenser1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shot1 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient1))

(:action (grasp right shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shot1 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient1))

(:action (pour_shot_to_used_shaker shot1 ingredient1 shaker1 left l1 l2))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient1))

(:action (leave right shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient1))

(:action (clean_shot shot1 ingredient1 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (grasp right shaker1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (holding left shot1) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (leave left shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient1) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (shake cocktail6 ingredient2 ingredient1 shaker1 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (pour_shaker_to_shot cocktail6 shot6 right shaker1 l2 l1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 cocktail6) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1))

(:action (empty_shaker right shaker1 cocktail6 l1 l0))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (clean_shaker right left shaker1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (leave right shaker1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

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

(:state (clean shaker1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shot1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shaker1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot1 ingredient4))

(:action (pour_shot_to_clean_shaker shot1 ingredient4 shaker1 right l0 l1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient4))

(:action (clean_shot shot1 ingredient4 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

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

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient4) (contains shot1 ingredient2) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (grasp left shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient4) (contains shot1 ingredient2) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (pour_shot_to_used_shaker shot1 ingredient2 shaker1 right l1 l2))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient2))

(:action (leave left shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient2))

(:action (clean_shot shot1 ingredient2 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (grasp left shaker1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (leave right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 ingredient2) (contains shaker1 ingredient4) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (shake cocktail1 ingredient4 ingredient2 shaker1 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 cocktail1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (pour_shaker_to_shot cocktail1 shot1 left shaker1 l2 l1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 cocktail1) (contains shot1 cocktail1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1))

(:action (leave left shaker1))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient2) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient2) (cocktail_part2 cocktail1 ingredient2) (cocktail_part2 cocktail2 ingredient7) (cocktail_part2 cocktail3 ingredient6) (cocktail_part2 cocktail4 ingredient6) (cocktail_part2 cocktail5 ingredient4) (cocktail_part2 cocktail6 ingredient1) (contains shaker1 cocktail1) (contains shot1 cocktail1) (contains shot6 cocktail6) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1))

)