Parent State ID: 66
State Depth: 19
Action Taken: grasp(right, shot1)
Action Reasoning: The right hand is empty and shot1 is on the table, so I will grasp shot1 to prepare it for the next steps.
State Description: - Shot1: Held by right hand, clean, empty.- Shot2: Contains cocktail1, used, on the table.- Shot3: Empty, used, held by left hand.- Shaker1: Clean, empty, unshaken, at fill level l0, on the table.- Dispenser1: Contains ingredient1 (red).- Dispenser2: Contains ingredient2 (blue).- Left hand: Holding shot3.- Right hand: Holding shot1.
Action Path: ['grasp(left, shot3)', 'fill-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(cocktail1, ingredient1, ingredient2, shaker1, left, right)', 'pour-shaker-to-shot(cocktail1, shot2, left, shaker1, l2, l1)', 'empty-shaker(left, shaker1, cocktail1, l1, l0)', 'clean-shaker(left, right, shaker1)', 'leave(left, shaker1)', 'grasp(left, shot3)', 'leave(left, shot3)', 'grasp(left, shot3)', 'grasp(right, shot1)', 'leave(right, shot1)', 'grasp(right, shot1)']

successfully verified the action of new state 74 with the path: The last action `grasp(right, shot1)` is valid as all preconditions are met: Shot1 is on the table, and the right hand is empty. The effects are correctly updated in the current state, where Shot1 is now held by the right hand. The current state's natural language description and visualization accurately reflect the sequence of actions taken, and all objects from the initial state are present. The action is a logical step towards achieving the goal state.

INACTIVE REASON: Pruned in beam search
