(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (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) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot3))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (holding left shot1) (holding right shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (leave left shot1))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (holding right shot3) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (leave right shot3))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0))

(:action (grasp right shot7))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (holding right shot7) (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 (fill_shot shot7 ingredient2 right left dispenser2))

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shot7 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shaker1) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot7) (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) (used shot7 ingredient2))

(:action (pour_shot_to_clean_shaker shot7 ingredient2 shaker1 right l0 l1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (holding right shot7) (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 l1) (unshaked shaker1) (used shot7 ingredient2))

(:action (clean_shot shot7 ingredient2 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (clean shot7) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (empty shot7) (handempty left) (holding right shot7) (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 l1) (unshaked shaker1))

(:action (fill_shot shot7 ingredient1 right left dispenser1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot7) (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 l1) (unshaked shaker1) (used shot7 ingredient1))

(:action (grasp left shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (holding left shot1) (holding right shot7) (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 shot7 ingredient1))

(:action (leave right shot7))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (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) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot7 ingredient1))

(:action (leave left shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (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) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot7 ingredient1))

(:action (grasp right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot7 ingredient1))

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

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shot1 ingredient3) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient3) (used shot7 ingredient1))

(:action (pour_shot_to_used_shaker shot1 ingredient3 shaker1 right l1 l2))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shaker1 ingredient3) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot1 ingredient3) (used shot7 ingredient1))

(:action (clean_shot shot1 ingredient3 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shaker1 ingredient3) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot7 ingredient1))

(:action (grasp left shaker1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shaker1 ingredient3) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot7 ingredient1))

(:action (leave right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 ingredient2) (contains shaker1 ingredient3) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1) (used shot7 ingredient1))

(:action (shake cocktail5 ingredient2 ingredient3 shaker1 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient4) (cocktail_part1 cocktail2 ingredient7) (cocktail_part1 cocktail3 ingredient5) (cocktail_part1 cocktail4 ingredient7) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient5) (cocktail_part2 cocktail1 ingredient5) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient5) (cocktail_part2 cocktail5 ingredient3) (cocktail_part2 cocktail6 ingredient8) (contains shaker1 cocktail5) (contains shot7 ingredient1) (dispenses dispenser1 ingredient1) (dispenses dispenser2 ingredient2) (dispenses dispenser3 ingredient3) (dispenses dispenser4 ingredient4) (dispenses dispenser5 ingredient5) (dispenses dispenser6 ingredient6) (dispenses dispenser7 ingredient7) (dispenses dispenser8 ingredient8) (empty shot1) (empty shot2) (empty shot3) (empty shot4) (empty shot5) (empty shot6) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (ontable shot7) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (used shot7 ingredient1))

(:action (pour_shaker_to_shot cocktail5 shot3 left shaker1 l2 l1))

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(:action (grasp right shot7))

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(:action (leave left shaker1))

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(:action (leave right shot7))

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(:action (grasp right shot1))

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

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(:action (leave right shot1))

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(:action (grasp right shaker1))

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(:action (empty_shaker right shaker1 cocktail5 l1 l0))

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(:action (clean_shaker right left shaker1))

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(:action (grasp left shot1))

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)