Parent State ID: 124
State Depth: 20
Action Taken: grasp(left, shaker1)
Action Reasoning: To proceed towards the goal of placing cocktail1 into shot2, we need to shake the ingredients in shaker1. The next logical step is to take the shaker, since it's on the table and left hand is empty.
State Description: - Shot1: Contains cocktail2, not clean, not empty, on the table.- Shot2: Clean, empty, on the table.- Shot3: Empty, not clean, in right hand.- Shaker1: Contains ingredient1 and ingredient2, not clean, not empty, unshaken, at fill level l2, held by left hand.- Dispenser1: Contains ingredient1 (red).- Dispenser2: Contains ingredient2 (blue).- Left hand: Holding shaker1.- Right hand: Holding shot3.- Cocktail1: Defined by mixing ingredient1 and ingredient2.- Cocktail2: Transferred to shot1.
Action Path: ['grasp(right, shot3)', 'fill-shot(shot3, ingredient1, right, left, dispenser1)', 'pour-shot-to-clean-shaker(shot3, ingredient1, shaker1, right, l0, l1)', 'clean-shot(shot3, ingredient1, right, left)', 'fill-shot(shot3, ingredient2, right, left, dispenser2)', 'pour-shot-to-used-shaker(shot3, ingredient2, shaker1, right, l1, l2)', 'leave(right, shot3)', 'grasp(left, shaker1)', 'shake(cocktail2, ingredient1, ingredient2, shaker1, left, right)', 'pour-shaker-to-shot(cocktail2, shot1, left, shaker1, l2, l1)', 'clean-shaker(left, right, shaker1)', 'grasp(right, shot3)', 'leave(left, shaker1)', 'clean-shot(shot3, ingredient2, right, left)', 'fill-shot(shot3, ingredient1, right, left, dispenser1)', 'pour-shot-to-clean-shaker(shot3, ingredient1, shaker1, right, l0, l1)', 'clean-shot(shot3, ingredient1, right, left)', 'fill-shot(shot3, ingredient2, right, left, dispenser2)', 'pour-shot-to-used-shaker(shot3, ingredient2, shaker1, right, l1, l2)', 'grasp(left, shaker1)']

successfully verified the action of new state 132 with the path: The last action `(grasp left shaker1)` is valid because the preconditions are satisfied: shaker1 is on the table, and the left hand is empty in the parent state. The effects of the action are correctly updated in the current state, where shaker1 is held by the left hand. The current state's description and visualization accurately reflect the sequence of actions taken, with all objects correctly represented.

INACTIVE REASON: Pruned in beam search
