Implements a Goal-Oriented Action Planning system using the A* algorithm. A* works by finding the optimal sequence of actions to transform an initial state into a goal state while minimizing total cost. See https://en.wikipedia.org/wiki/A*_search_algorithm

The algorithm works as follows:

• Start with the initial world state

• Maintain an open list (priority queue) of states to explore, prioritized by f-score

• For each state, explore all achievable actions, calculating:

• Always expand the state with the lowest f-score first

• Track visited states and their best known costs to avoid cycles and redundant exploration

• Continue until finding a state that satisfies the goal conditions

The implementation ensures finding the optimal (lowest cost) sequence of actions by properly tracking path costs and using an admissible heuristic function.