[ grasp(hand, container)  
  leave(hand, container)  
  fill-shot(shot, ingredient, hand1, hand2, dispenser)  
  refill-shot(shot, ingredient, hand1, hand2, dispenser)  
  empty-shot(hand, shot, beverage)  
  clean-shot(shot, beverage, hand1, hand2)  
  pour-shot-to-clean-shaker(shot, ingredient, shaker, hand, current_level, next_level)  
  pour-shot-to-used-shaker(shot, ingredient, shaker, hand, current_level, next_level)  
  empty-shaker(hand, shaker, cocktail, current_level, empty_level)  
  clean-shaker(hand1, hand2, shaker)  
  shake(cocktail, ingredient1, ingredient2, shaker, hand1, hand2)  
  pour-shaker-to-shot(beverage, shot, hand, shaker, current_level, lower_level) ]