State ID: 29
Action Path: ['unstack(b, c)', 'put-down(b)', 'unstack(c, d)', 'put-down(c)', 'unstack(d, a)', 'put-down(d)', 'pick-up(a)', 'stack(a, c)', 'pick-up(d)', 'stack(d, a)']
Action Taken: stack(d, a)
State Description: The hand is empty. Block 'd' is on top of block 'a' and is clear. Block 'a' is on top of block 'c' and is not clear. Block 'b' is clear and on the table. Block 'c' is not clear and on the table.
Action Reasoning: The goal is to have block 'd' on top of block 'a', which is on top of block 'c' on the table. Since block 'a' is already on block 'c', the next step is to stack block 'd' on block 'a'.
Diagram Encoding: (text/identifier: block_a, shape: rectangle, size: medium, position: on block_c, status: not clear)(text/identifier: block_b, shape: rectangle, size: medium, position: on table, status: clear)(text/identifier: block_c, shape: rectangle, size: medium, position: on table, status: supports block_a)(text/identifier: block_d, shape: rectangle, size: medium, position: on block_a, status: clear)(text/identifier: table, shape: large rectangle, size: covers all blocks, position: bottom-most, status: supports block_b and block_c)(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', 'in_hand': 'blue'}

# 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 = {
    'a': (2.5, table_height + block_height, 'supporting'),  # on block c
    'b': (1, table_height, 'clear'),  # on table
    'c': (2.5, table_height, 'supporting'),  # on table
    'd': (2.5, table_height + 2 * block_height, 'clear')  # on block a
}

for block, (x, y, status) in blocks.items():
    rect = patches.Rectangle((x, y), block_width, block_height, linewidth=1,
                             edgecolor='black', facecolor=colors.get(status, 'red'))
    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 = patches.Circle((3, table_height + 4 * block_height + hand_radius * 2), hand_radius,
                      linewidth=1, edgecolor='black', facecolor='blue')
ax.add_patch(hand)
ax.text(3, table_height + 4 * block_height + hand_radius * 2, '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='blue', label='In Hand')
]
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, 4)
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: 10

