Attempt Number: 3
Error Message: Action not unique compared to other actions chosen from this state before. Choose a new action

Action Reasoning:
To achieve the goal state, we must stack blocks in the correct order. Block D is clear and already on block C, matching the goal. Next, we should stack block B on block D to advance towards the goal state, making block B not clear and the blocks properly aligned.

New State Description:
Block A is on the table and clear. Block B is in the hand and not on the table. Block C is on the table and not clear, with block D stacked on it. Block D is on block C and clear. The hand is holding block B.

Action Chosen:
pick-up(block_b)
