Current State ID: 12
Current State Description: Block A is on the table and clear. Block B is held by the hand and is not clear. Block C is on the table and clear. Block D is on the table and clear. The hand is holding block B.

Child State ID: 18
Action Taken: stack(block_b, block_c)
State Description: Block A is on the table and clear. Block B is on block C and clear. Block C is on the table and not clear. Block D is on the table and clear. The hand is empty.

Child State ID: 20
Action Taken: stack(block_b, block_d)
State Description: Block A is on the table and clear. Block B is on block D and clear. Block C is on the table and clear. Block D is on the table and not clear. The hand is empty.

