Parent State ID: 247
State Depth: 21
Action Taken: fill-shot(shot2, ingredient1, right_hand, left_hand, dispenser1)
Action Reasoning: To progress towards the goal state, we need to prepare cocktail2 in shot2. First, we should fill shot2 with ingredient1, as it is currently empty and used. This will allow us to later mix it with ingredient2 in the shaker.
State Description: - Shot1: contains cocktail1, used, not clean, on the table.- Shot2: contains ingredient1, used, not clean, on the table.- Shot3: on the table, clean, empty.- Shaker1: held by left hand, empty, used, unshaken, at fill level l1.- Dispenser1: contains ingredient1.- Dispenser2: contains ingredient2.- Left hand: holding shaker1.- Right hand: holding shot2.
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)', 'grasp(left_hand, shaker1)', 'leave(right_hand, shot1)', 'grasp(right_hand, shot1)', 'leave(left_hand, shaker1)', 'clean-shot(shot1, cocktail1, right_hand, left_hand)', 'grasp(left_hand, shaker1)', 'pour-shaker-to-shot(cocktail1, shot1, left_hand, shaker1, l2, l1)', 'fill-shot(shot2, ingredient1, right_hand, left_hand, dispenser1)']

INACTIVE REASON: deactivated because diagram generation failed or invalid action chosen: Preconditions for filling shot2 are not met: right hand is not holding shot2, left hand is not empty, and shot2 is not clean.
