Parent State ID: 251
State Depth: 22
Action Taken: leave(right_hand, shot2)
Action Reasoning: The next best action is to leave shot2 on the table, freeing the right hand to clean shot2. This aligns with the goal of preparing shot2 for the next cocktail.
State Description: - Shot1: contains cocktail1, used, not clean, on the table.- Shot2: empty, used, on the table.- Shot3: clean, empty, on the table.- 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)', 'grasp(right_hand, shot2)', 'leave(right_hand, shot2)']

INACTIVE REASON: action path invalid: The last action `leave(right_hand, shot2)` is valid in terms of preconditions and effects, but it does not bring us closer to the goal state, as shot2 needs to contain cocktail2. The current state description and visualization are accurate, but the action does not help achieve the goal.
