State ID: 20
Action Path: ['unstack(d a)', 'put-down(d)', 'pick-up(a)', 'stack(a d)', 'unstack(c b)', 'put-down(c)', 'pick-up(b)', 'stack(b c)']
Action Taken: stack(b c)
State Description: Block `a` is on block `d` and clear. Block `b` is on block `c` and clear. Block `c` is on the table and supporting block `b`. Block `d` is on the table and supporting block `a`. The hand is empty.
Action Reasoning: To achieve the goal state, block `b` needs to be on top of block `c`. Since block `b` is currently in the hand and block `c` is clear on the table, the best action is to stack block `b` on block `c`.
Diagram Encoding: (text/identifier: block_a, shape: rectangle, size: medium, position: on block_d, status: clear)(text/identifier: block_b, shape: rectangle, size: medium, position: on block_c, status: clear)(text/identifier: block_c, shape: rectangle, size: medium, position: on table, status: supports block_b)(text/identifier: block_d, shape: rectangle, size: medium, position: on table, status: supports block_a)(text/identifier: table, shape: large rectangle, size: covers all blocks, position: bottom-most, status: supports blocks c, d)(text/identifier: hand, shape: oval, size: small, position: above all, status: empty)
Diagram Code: import matplotlib.pyplot as plt
import matplotlib.patches as patches

# Create a new figure and axis
fig, ax = plt.subplots(figsize=(10, 6))

# Define colors for statuses
colors = {'clear': 'green', 'supporting': 'red', 'not clear': 'orange'}

# Define block positions and sizes
block_width, block_height = 1, 0.5
table_height = 0.3
hand_radius = 0.25

# Draw the table
table = patches.Rectangle((0, 0), 6, table_height, linewidth=1, edgecolor='black', facecolor='lightgray')
ax.add_patch(table)

# Draw the blocks
blocks = {
    'c': (2, table_height, 'supporting'),  # on table
    'd': (5, table_height, 'supporting'),  # on table
    'a': (5, table_height + block_height, 'clear'),  # on block d
    'b': (2, table_height + block_height, 'clear')  # on block c
}

for block, (x, y, status) in blocks.items():
    rect = patches.Rectangle((x, y), block_width, block_height, linewidth=1,
                             edgecolor='black', facecolor=colors[status])
    ax.add_patch(rect)
    ax.text(x + block_width / 2, y + block_height / 2, f'{block}\n{status}',
            horizontalalignment='center', verticalalignment='center', fontsize=9, color='white')

# Draw the hand
hand_x, hand_y = 4, table_height + 2 * block_height + hand_radius * 2
hand = patches.Circle((hand_x, hand_y), hand_radius,
                      linewidth=1, edgecolor='black', facecolor='blue')
ax.add_patch(hand)
ax.text(hand_x, hand_y, 'hand\nempty',
        horizontalalignment='center', verticalalignment='center', fontsize=9, color='white')

# Create a legend
legend_patches = [
    patches.Patch(color='green', label='Clear'),
    patches.Patch(color='red', label='Supporting'),
    patches.Patch(color='orange', label='Not Clear')
]
plt.legend(handles=legend_patches, loc='upper right', bbox_to_anchor=(1.1, 1))

# Set limits and aspect
ax.set_xlim(-1, 7)
ax.set_ylim(-0.5, 3)
ax.set_aspect('equal')
ax.axis('off')

# Save the figure
plt.savefig('<PATH_REMOVED>', bbox_inches='tight')
plt.show()
Diagram Picture Path: <PATH_REMOVED>
Cost: 8

