State ID: 49
Action Path: ['unstack(d, a)', 'put-down(d)', 'unstack(a, c)', 'put-down(a)', 'unstack(c, b)', 'put-down(c)', 'pick-up(d)', 'stack(d, b)', 'pick-up(a)', 'stack(a, d)']
Action Taken: stack(a, d)
State Description: Block `a` is on block `d` and clear. Block `b` is on the table and not clear, as it supports block `d`. Block `c` is on the table and clear. Block `d` is on block `b` and not clear, as it supports block `a`. The hand is empty.
Action Reasoning: To achieve the goal state, block 'a' needs to be placed on top of block 'd'. Since the hand is currently holding block 'a' and block 'd' is clear, the best action is to stack 'a' on 'd'.
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 table, status: not clear)(text/identifier: block_c, shape: rectangle, size: medium, position: on table, status: clear)(text/identifier: block_d, shape: rectangle, size: medium, position: on block_b, status: not clear)(text/identifier: table, shape: large rectangle, size: covers all blocks, position: bottom-most, status: supports block_b, block_c, block_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', 'not clear': 'red'}

# 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 = {
    'b': (2, table_height, 'not clear'),  # on table, supporting d
    'c': (3, table_height, 'clear'),  # on table
    'd': (2, table_height + block_height, 'not clear'),  # on block b, supporting a
    'a': (2, table_height + 2 * block_height, 'clear')  # on block d
}

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 + 4 * 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='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, 5)
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

