Current State ID: 81
Current 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 not clear, with block D stacked on it. Block D is on block C and not clear. The hand is empty.

Child State ID: 82
Action Taken: pick-up(block_a)
State Description: Block A is held by the hand and not on the table. Block B is on block D and clear. Block C is on the table and not clear, with block D stacked on it. Block D is on block C and not clear. The hand is holding block A and is not empty.

