action(put_on_table(X), S, [on(X, table) | S1]) :- 
   block(X), not(member(on(_, X), S)), not(member(on(X, table), S)), 
   pick_up(X, S, S1).

action(move(X, Y, Z), S, [on(X, Z) | S1]) :-
   member(on(X, Y), S), not(member(on(_, X), S)),
   block(Z), Z \== X, not(member(on(_, Z), S)), 
   pick_up(X, S, S1).

pick_up(X, [on(X, _) | Rest], S) :- pick_up(X, Rest, S).

pick_up(X, [on(Y, Z) | Rest], [on(Y, Z) | S]) :- 
   X \== Y, X \== Z, pick_up(X, Rest, S).

pick_up(_, [], []).

block(X) :- member(X, [a, b, c]).

initial([on(c, a), on(a, b), on(b, table)]).

goal([on(a, b), on(b, c), on(c, table)]).