(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 (grasp right shot4))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 shot4) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient2))

(:action (leave right shot4))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 ingredient5 left right dispenser5))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (contains shaker1 ingredient2) (contains shot1 ingredient5) (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 ingredient5))

(:action (grasp right shot2))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (contains shaker1 ingredient2) (contains shot1 ingredient5) (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 shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient5))

(:action (empty_shot left shot1 ingredient5))

(:state (clean shot2) (clean shot3) (clean shot4) (clean shot5) (clean shot6) (cocktail_part1 cocktail1 ingredient1) (cocktail_part1 cocktail2 ingredient1) (cocktail_part1 cocktail3 ingredient2) (cocktail_part1 cocktail4 ingredient6) (cocktail_part1 cocktail5 ingredient2) (cocktail_part1 cocktail6 ingredient3) (cocktail_part2 cocktail1 ingredient4) (cocktail_part2 cocktail2 ingredient2) (cocktail_part2 cocktail3 ingredient4) (cocktail_part2 cocktail4 ingredient7) (cocktail_part2 cocktail5 ingredient6) (cocktail_part2 cocktail6 ingredient5) (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 shot2) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot3) (ontable shot4) (ontable shot5) (ontable shot6) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1) (used shot1 ingredient5))

)