State ID: 12
Action Path: ['unstack(block_a, block_d)', 'put-down(block_a)', 'unstack(block_d, block_b)', 'put-down(block_d)', 'unstack(block_b, block_c)', 'put-down(block_b)', 'pick-up(block_a)', 'stack(block_a, block_c)']
Action Taken: stack(block_a, block_c)
State Description: Block 'a' is on block 'c' and clear. Block 'b' is on the table and clear. Block 'c' is on the table and supporting block 'a'. Block 'd' is on the table and clear. The hand is empty.
Action Reasoning: To achieve the goal state, block 'a' needs to be placed on block 'c'. Currently, the hand is holding block 'a', and block 'c' is clear. The best action is to stack block 'a' on block 'c'.
Diagram Encoding: (text/identifier: block_a, shape: rectangle, size: medium, position: on block_c, status: 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 table, status: clear)(text/identifier: table, shape: large rectangle, size: covers all blocks, position: bottom-most, status: supports 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', 'not clear': '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 = {
    'b': (1, table_height, 'clear'),  # on table
    'c': (2, table_height, 'supporting'),  # on table, supporting block a
    'd': (3, table_height, 'clear')   # on table
}

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 block 'a' on block 'c'
block_a_x, block_a_y = 2, table_height + block_height
block_a = patches.Rectangle((block_a_x, block_a_y), block_width, block_height,
                            linewidth=1, edgecolor='black', facecolor=colors['clear'])
ax.add_patch(block_a)
ax.text(block_a_x + block_width / 2, block_a_y + block_height / 2, 'a\nclear',
        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='Supporting'),
    patches.Patch(color='blue', 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: 8

