$[$clear$($a$),...,$ clear$($c$),$ clear$(1),...,$ clear$(3),$ on$($a$,?),...,$ on$($c$,?)]$

a$)$ Give the sequence of moves that a simple means$-$ends planner will generate to achieve the goal on$($a$,2)$ from the given initial state. Give the preconditions of each proposed action as well as the subgoal that each action in the plan achieves.