Current State ID: 10
Current State Description: Block a is on the table and clear, block b is on the table and clear, block c is on the table and clear, block d is on the table and clear. The hand is empty. The diagram now shows all blocks on the table with no block being held.

Child State ID: 14
Action Taken: pick-up(c)
State Description: Block a is on the table and clear, block b is on the table and clear, block c is held in the hand, and block d is on the table and clear. The hand is holding block c. The diagram now shows block c being held above the table.

Child State ID: 15
Action Taken: pick-up(a)
State Description: Block a is held by the hand and is no longer on the table. Blocks b, c, and d remain on the table and clear. The hand is not empty.

