Parent State ID: 285
State Depth: 30
Action Taken: clean-shaker(left_hand, right_hand, shaker1)
Action Reasoning: To progress toward the goal of getting cocktail2 into shot2, we need to mix both ingredients. Shaker1 is currently empty and used. We need to fill it again with ingredients for cocktail2. First, we need to clean it so it can mix a new cocktail.
State Description: - Shot1: contains cocktail1, used, not clean, on the table.- Shot2: clean, empty, on the table.- Shot3: clean, empty, on the table.- Shaker1: on the table, clean, empty, ready for use, unshaken, at fill level l1.- Dispenser1: contains ingredient1.- Dispenser2: contains ingredient2.- Left hand: empty.- 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)', 'leave(left_hand, shaker1)', 'grasp(left_hand, shot2)', 'clean-shot(shot2, cocktail1, left_hand, right_hand)', 'grasp(left_hand, shot2)', 'leave(left_hand, shot2)', 'grasp(left_hand, shot2)', 'leave(left_hand, shot2)', 'clean-shaker(left_hand, right_hand, shaker1)']

INACTIVE REASON: deactivated because diagram generation failed or invalid action chosen: Hand1 is not holding the shaker, violating the precondition.
