Current State ID: 9
Current State Description: Block A is on the table and clear. Block B is now on block C and clear. Block C is on the table but not clear as it supports block B. Block D is on the table and clear. The hand is empty.

Child State ID: 17
Action Taken: pick-up(block_d)
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 held by the hand and not clear. The hand is holding block D.

