Current State ID: 28
Current State Description: The hand is empty. Block 'a' is on top of block 'c'. Block 'b' is clear and remains on the table. Block 'c' is supporting block 'a' and is on the table. Block 'd' is clear and remains on the table.

Child State ID: 34
Action Taken: pick-up(d)
State Description: The hand is holding block 'd'. Block 'a' is on top of block 'c'. Block 'b' is on the table and clear. Block 'c' is supporting block 'a' and is on the table. Block 'd' is no longer on the table and is in the hand.

