Parent State ID: 108
State Depth: 13
Action Taken: leave(left_hand, shaker1)
Action Reasoning: To proceed towards the goal, shot1 needs to be cleaned before we can pour the cocktail into it. The left hand, which is currently holding the shaker, should first leave it on the table so it can be used to help clean the dirty shot1.
State Description: - Shot1: held by right hand, empty, used.- Shot2: on the table, empty, used.- Shot3: on the table, clean, empty.- Shaker1: on the table, contains cocktail1, used, shaken, at fill level l2.- Dispenser1: contains ingredient1.- Dispenser2: contains ingredient2.- Left hand: empty.- 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)', 'leave(left_hand, shaker1)']

successfully verified the action of new state 119 with the path: The last action `leave(left_hand, shaker1)` is valid because the precondition (left hand holding shaker1) is satisfied, and the effects (shaker1 on the table, left hand empty) are correctly updated in the current state. The natural language description and visualization of the current state are consistent with the sequence of actions taken, and all objects from the initial state are present.
