Parent State ID: 99
State Depth: 12
Action Taken: grasp(right_hand, shot1)
Action Reasoning: To pour the contents of the shaker into shot1, we must first clean shot1 as it is currently used. This avoids violating the precondition for pouring a cocktail into a shot.
State Description: - Shot1: held by right hand, empty, used.- Shot2: on the table, empty, used.- Shot3: on the table, clean, empty.- Shaker1: held by left hand, contains cocktail1, used, shaken, at fill level l2.- Dispenser1: contains ingredient1.- Dispenser2: contains ingredient2.- Left hand: holding shaker1.- Right hand: holding shot1.
Action Path: ['grasp(left_hand, shot1)', 'fill-shot(shot1, ingredient1, left_hand, right_hand, dispenser1)', 'grasp(right_hand, shot2)', 'leave(left_hand, shot1)', 'fill-shot(shot2, ingredient2, right_hand, left_hand, dispenser2)', 'pour-shot-to-clean-shaker(shot2, ingredient2, shaker1, right_hand, l0, l1)', 'grasp(left_hand, shot1)', 'pour-shot-to-used-shaker(shot1, ingredient1, shaker1, left_hand, l1, l2)', 'leave(left_hand, shot1)', 'grasp(left_hand, shaker1)', 'shake(cocktail1, ingredient1, ingredient2, shaker1, left_hand, right_hand)', 'grasp(right_hand, shot1)']

successfully verified the action of new state 108 with the path: The last action `grasp(right_hand, shot1)` is valid because all preconditions are satisfied: Shot1 was on the table, and the right hand was empty. The current state's description and visualization accurately reflect the effects of the actions taken, and all objects from the initial state are present. The state is consistent with the goal of preparing the cocktails, as Shaker1 contains cocktail1, moving towards the goal state.
