Parent State ID: 130
State Depth: 21
Action Taken: shake(cocktail1, ingredient1, ingredient2, shaker1, left, right)
Action Reasoning: The next best action is to shake the shaker to create cocktail1, as shaker1 contains the necessary ingredients in the required state, and this will help us progress towards the goal state of transferring cocktail1 to shot2.
State Description: - Shot1: Contains cocktail2, not clean, not empty, on the table.- Shot2: Clean, empty, on the table.- Shot3: Empty, not clean, held by right hand.- Shaker1: Contains cocktail1, unshaken state now shaken, 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: Created within shaker1.- 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)', 'shake(cocktail1, ingredient1, ingredient2, shaker1, left, right)']

INACTIVE REASON: deactivated because diagram generation failed or invalid action chosen: Right hand must be empty to perform the shake action.
