Current State ID: 18
Current State Description: The hand is empty. Block c is on the table and clear. Block a is on the table and clear. Block b is on the table with block d on top of it. Block d is on block b and is clear. The diagram now shows block c on the table, separate from the other blocks.

Child State ID: 31
Action Taken: pick-up(a)
State Description: The hand is holding block a. Block c is on the table and clear. Block b is on the table with block d on top of it. Block d is on block b and is clear. Block a is no longer clear or on the table. The diagram now shows block a being held by the hand.

