Parent State ID: 247
State Depth: 21
Action Taken: clean-shot(shot2, cocktail1, right_hand, left_hand)
Action Reasoning: To achieve the goal state, we must first clean shot2 so it can be refilled with the correct ingredients. The best immediate action is to clean shot2, as it is empty and used.
State Description: - Shot1: contains cocktail1, used, not clean, on the table.- Shot2: on the table, clean, empty.- 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: empty.
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)', 'clean-shot(shot2, cocktail1, right_hand, left_hand)']

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