```python
def gen_plan(initial:BridgeState, offset_x: float, offset_y: float):
    
    import numpy as np

    actions = []
    
    # Red #
    actions.append(Action("pick", ["block_red", None]))
    actions.append(Action("place_sr", [offset_x, offset_y, None, None, 0]))

    # Green #
    actions.append(Action("pick", ["block_green", None]))
    actions.append(Action("place_sr", [offset_x+.08, offset_y, None, None, 0]))

    # Blue #
    actions.append(Action("pick", ["block_blue", None]))
    actions.append(Action("place_sr", [offset_x+.16, offset_y, None, None, 0]))
    return actions

def gen_domain(initial: BridgeState):
    return {
        "offset_x": .0, # BBO initial value
        "offset_y": .2, 
    }
```
