```python
def gen_plan(state: BridgeState, px1: float, py1: float, px2: float, py2: float):
    
    import numpy as np
    
    # Build the bridge
    actions = []

    actions.append(Action("draw_line", [px1, py1, px2, py2]))

    
    return actions

def gen_initial_guess(initial: BridgeState):
    return {
        "px1": .3, # BBO initial value
        "py1": .4,
        "px2": .1, # BBO initial value
        "py2": .2,
    }
```