Parent State ID: 110
State Depth: 22
Action Taken: grasp(left, shaker1)
Action Reasoning: The next action should be to grasp the shaker1 with the left hand to proceed with shaking the ingredients for cocktail2. This aligns with the plan and prepares for the next steps in creating cocktail2.
State Description: - Shot1: Contains cocktail1, on the table, not clean, not empty.- Shot2: Clean, empty, on the table.- Shot3: Empty, on the table, clean.- Shaker1: Contains ingredient1 and ingredient2, held by left hand, not clean, not empty, at fill level l2.- Dispenser1: Contains ingredient1 (red).- Dispenser2: Contains ingredient2 (blue).- Left hand: Holding shaker1.- Right hand: Empty.- Cocktail1: Defined by mixing ingredient2 and ingredient1, now in shot1.- Cocktail2: Defined by mixing ingredient1 and ingredient2, ingredients in shaker1.
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)', 'leave(left, shaker1)', 'grasp(left, shaker1)', '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)']

successfully verified the action of new state 118 with the path: The last action `grasp(left, shaker1)` is valid because all preconditions are satisfied in the parent state, and the effects are correctly updated in the current state. The natural language description, diagram encoding, and visualization accurately reflect the sequence of actions taken.

INACTIVE REASON: Pruned in beam search
