(:trajectory

(:state (clean shaker1) (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (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) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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 right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (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) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l0) (used shot1 ingredient2))

(:action (grasp right shot4))

(:state (clean shaker1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (holding left shot1) (holding right shot4) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot5) (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) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (holding left shot1) (holding right shot4) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot5) (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) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (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) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty right) (holding left shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (leave left shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty left) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

(:action (grasp right shot1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l1) (unshaked shaker1))

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

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

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

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

(:action (clean_shot shot1 ingredient1 right left))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty left) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (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 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (holding left shaker1) (holding right shot1) (next l0 l1) (next l1 l2) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (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 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (grasp right shot2))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (holding left shaker1) (holding right shot2) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (leave right shot2))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (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) (handempty right) (holding left shaker1) (next l0 l1) (next l1 l2) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2) (unshaked shaker1))

(:action (shake cocktail1 ingredient2 ingredient1 shaker1 left right))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (contains shaker1 cocktail1) (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) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (leave left shaker1))

(:state (clean shot1) (clean shot2) (clean shot3) (clean shot4) (clean shot5) (cocktail_part1 cocktail1 ingredient2) (cocktail_part1 cocktail2 ingredient6) (cocktail_part1 cocktail3 ingredient3) (cocktail_part1 cocktail4 ingredient2) (cocktail_part1 cocktail5 ingredient6) (cocktail_part2 cocktail1 ingredient1) (cocktail_part2 cocktail2 ingredient4) (cocktail_part2 cocktail3 ingredient2) (cocktail_part2 cocktail4 ingredient4) (cocktail_part2 cocktail5 ingredient4) (contains shaker1 cocktail1) (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) (handempty right) (next l0 l1) (next l1 l2) (ontable shaker1) (ontable shot1) (ontable shot2) (ontable shot3) (ontable shot4) (ontable shot5) (shaked shaker1) (shaker_empty_level shaker1 l0) (shaker_level shaker1 l2))

(:action (grasp left shot3))

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

)