Parent State ID: 28
State Depth: 6
Action Taken: pick-up(block_d)
Action Reasoning: To move closer to the goal state, we need to stack block D on block C, since block C is already on the table and clear. Block D is currently clear and on the table, so we should pick it up first.
State Description: Block A is in the hand and is not clear. Block B is clear and on block D, which is not clear. Block C is on the table and clear. Block D is now in the hand and not clear. The hand is holding block D.
Action Path: ['unstack(block_b, block_c)', 'stack(block_b, block_d)', 'pick-up(block_a)', 'stack(block_a, block_b)', 'unstack(block_a, block_b)', 'pick-up(block_d)']

INACTIVE REASON: deactivated because diagram generation failed or invalid action chosen: The action is invalid because `block_d` is not clear and the hand is not empty.
