Current State ID: 53
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 held by the hand. The hand is not empty.

Child State ID: 59
Action Taken: stack(block_d, block_c)
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 supporting block D. Block D is on block C and clear. The hand is empty.

