 Solution

Write $\tau$ for the table. The positive initial planning fluents read from the original figure areThe static type facts are $\mathrm{Block}(A)$, $\mathrm{Block}(B)$ and $\mathrm{Block}(C)$; the table is not a block. With an explicit table-availability predicate, take $\mathrm{Clear}(\tau )$ to be permanently true. Under the closed-world assumption, all other well-typed initial planning fluents are false; in particular, $A$ is not clear.

The goal is the partial-state conjunctionIt need not redundantly prescribe every final fact. With only these three blocks and a valid blocks world state, the completed stack also places $C$ on the table and leaves $A$ clear.