(:trajectory

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

(:action (grasp right shot1))

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

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

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

(:action (grasp left shaker1))

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

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

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

(:action (leave left shaker1))

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

(:action (grasp left shot2))

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

)