Current State ID: 15
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.

Child State ID: 25
Action Taken: pick-up(d)
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 held by the hand and not clear. The hand is no longer empty.

