Parent State ID: 107
State Depth: 22
Action Taken: leave(left, shaker1)
Action Reasoning: The shaker1, held by the left hand, contains cocktail2 and needs to be poured into shot2. However, the error suggests we must avoid repeating actions. The next logical step is to leave the shaker on the table, freeing the left hand to interact with other objects.
State Description: - Shot1: Contains cocktail1, on the table, not clean or empty.- Shot2: Clean, empty, on the table.- Shot3: Empty, on the table, not clean.- Shaker1: Contains cocktail2, not clean, at fill level l2, shaken, placed on the table.- Dispenser1: Contains ingredient1 (red).- Dispenser2: Contains ingredient2 (blue).- Left hand: Empty.- Right hand: Empty.- Cocktail1: In shot1, defined as mixed from ingredient2 and ingredient1.- Cocktail2: Defined as mixed from ingredient1 and ingredient2, in shaker1 on the table.
Action Path: ['grasp(left, shot3)', 'fill-shot(shot3, ingredient2, left, right, dispenser2)', 'pour-shot-to-clean-shaker(shot3, ingredient2, shaker1, left, l0, l1)', 'clean-shot(shot3, ingredient2, left, right)', 'fill-shot(shot3, ingredient1, left, right, dispenser1)', 'pour-shot-to-used-shaker(shot3, ingredient1, shaker1, left, l1, l2)', 'leave(left, shot3)', 'grasp(left, shaker1)', 'shake(cocktail1, ingredient2, ingredient1, shaker1, left, right)', 'pour-shaker-to-shot(cocktail1, shot1, left, shaker1, l2, l1)', 'empty-shaker(left, shaker1, cocktail1, l1, l0)', 'clean-shaker(left, right, shaker1)', 'grasp(left, shot3)', 'refill-shot(shot3, ingredient1, left, right, dispenser1)', 'pour-shot-to-clean-shaker(shot3, ingredient1, shaker1, left, l0, l1)', 'clean-shot(shot3, ingredient1, left, right)', 'fill-shot(shot3, ingredient2, left, right, dispenser2)', 'pour-shot-to-used-shaker(shot3, ingredient2, shaker1, left, l1, l2)', 'leave(left, shot3)', 'grasp(left, shaker1)', 'shake(cocktail2, ingredient1, ingredient2, shaker1, left, right)', 'leave(left, shaker1)']

successfully verified the action of new state 115 with the path: The last action `leave(left, shaker1)` is valid because the precondition that the left hand is holding shaker1 is satisfied. The effects are correctly reflected in the current state, where shaker1 is on the table and the left hand is empty. The current state's description and visualization accurately represent the sequence of actions taken, and all objects from the initial state are present. The goal state is achievable from the current state.
