State ID: 51
Action Path: ['unstack(d, a)', 'put-down(d)', 'unstack(a, c)', 'put-down(a)', 'pick-up(d)', 'put-down(d)', 'unstack(c, b)', 'put-down(c)', 'pick-up(a)', 'stack(a, b)', 'pick-up(d)', 'stack(d, c)']
Action Taken: stack(d, c)
State Description: Block 'a' is on top of block 'b'. Block 'b' is on the table and supporting block 'a'. Block 'c' is on the table and supporting block 'd'. Block 'd' is on top of block 'c' and clear. The hand is empty. The diagram would show block 'a' on block 'b', block 'c' on the table with block 'd' on top of it, and the hand empty.
Action Reasoning: To achieve the goal state, block 'd' needs to be placed on block 'c'. Since 'd' is currently held, the next logical step is to stack 'd' on 'c'.
Diagram Encoding: (text/identifier: block_a, shape: rectangle, size: medium, position: on block_b, status: clear)(text/identifier: block_b, shape: rectangle, size: medium, position: on table, status: supports block_a)(text/identifier: block_c, shape: rectangle, size: medium, position: on table, status: supports block_d)(text/identifier: block_d, shape: rectangle, size: medium, position: on block_c, status: clear)(text/identifier: table, shape: large rectangle, size: covers all blocks, position: bottom-most, status: supports block_b, 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', 'held': '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), 8, table_height, linewidth=1, edgecolor='black', facecolor='lightgray')
ax.add_patch(table)

# Draw the blocks
blocks = {
    'b': (1, table_height, 'supporting'),  # on table, supporting block a
    'a': (1, table_height + block_height, 'clear'),  # on block b
    'c': (3, table_height, 'supporting'),  # on table, supporting block d
    'd': (3, 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 (empty)
hand_x, hand_y = 5, 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='Supporting'),
    patches.Patch(color='blue', label='Held')
]
plt.legend(handles=legend_patches, loc='upper right', bbox_to_anchor=(1.1, 1))

# Set limits and aspect
ax.set_xlim(-1, 9)
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: 12

