Current State ID: 2
Current State Description: Block c is clear and on the table. Block b is on the table and clear. Block a is on the table and is clear. Block d is on the table and is clear. The hand is empty.

Child State ID: 4
Action Taken: pick-up(c)
State Description: Block c is held in the hand and is no longer on the table or clear. Block b is on the table and clear. Block a is on the table and is clear. Block d is on the table and is clear. The hand is not empty.

