<PAR>
<!--TEMPLATE-->

	<parameterized_action>
		<name> </name>
		<participants> 
			<agent-and-objects>
<!--refers to another template-->
				<agent> agent_rep_ref </agent>
				<object> </object>  <!--multiples?-->
			</agent-and-objects>
		</participants>
		<!--refers to another template-->
		<applicability_conditions> bool_rep_ref </applicability_conditions>
		<preparatory_specification> 
			<condition> </condition>
			<action_list> 
				<action_name> </action_name>
			</action_list>
		</preparatory_specification>
		<termination_conditions> bool_rep_ref </termination_conditions>
		<post_assertions> 
			<statement> </statement>
		</post_assertions>
		<during_conditions> 
			<statement> </statement>
		</during_conditions>
		<purpose> 
			<purpose-specification>
				<achieve> bool_rep_ref </achieve>
				<generate> 
					<action_list> 
						<action_name> </action_name>
					</action_list>
				</generate>
				<enable> 
				<action_list> 
						<action_name> </action_name>
					</action_list>
				</enable>
			</purpose-specification>
		</purpose>
		<subactions> 
			<par-constraint-graph> </par-constraint-graph>
		</subactions>
		<parent_action> 
			<action_name> </action_name>
		</parent_action>
		<previous_action> 
			<action_name> </action_name>
		</previous_action>
		<concurrent_action> 
			<action_name> </action_name>
		</concurrent_action>
		<next_action> 
			<action_name> </action_name>
		</next_action>
		<start_time> 
			<time-specification> 
				<type> </type>  <!--abs, par-rel-->
				<units> </units>
				<value> </value>
			</time-specification>
		</start_time>
		<duration> 
			<time-specification>
				<type> </type>  <!--abs, par-rel-->
				<units> </units>
				<value> </value> 
			</time-specification>
		</duration>
		<priority> </priority>
		<data> </data>
		<kinematics> 
			<kinematics-specification>
				<time> 
					<time-specification>
						<type> </type>  <!--abs, par-rel-->
						<units> </units>
						<value> </value> 
					</time-specification>
				</time>
				<velocity> 
					<vector>
						<x> </x>  <!--real values-->
						<y> </y>
						<z> </z>
					</vector>
				</velocity>
				<acceleration>
					<vector>
						<x> </x>  <!--real values-->
						<y> </y>
						<z> </z>
					</vector>
				</acceleration>
				<KS_position>
					<site>
						<position>
							<vector>
								<x> </x>  <!--real values-->
								<y> </y>
								<z> </z>
							</vector>
						</position>
						<orientation>
							<vector>
								<x> </x>  <!--real values-->
								<y> </y>
								<z> </z>
							</vector>
						</orientation>
					</site>
				</KS_position>
				<path>
					<path-specification>
						<direction>
							<direction-specification>
							<!--prep. phrase-->
								<direction_spec></direction_spec>  
								<object> obj_rep_ref </object>
							</direction-specification>
						</direction>
						<start_location>
							<location-specification>
								<site>
									<position>
										<vector>
											<x> </x>  <!--real values-->
											<y> </y>
											<z> </z>
										</vector>
									</position>
									<orientation>
										<vector>
											<x> </x>  <!--real values-->
											<y> </y>
											<z> </z>
										</vector>
									</orientation>
								</site>
								<position-specification>
									<!--prepositions--> 
									<position_spec>	</position_spec>
									<object> object_rep_ref </object>
								</position-specification>
							</location-specification>
						</start_location>
						<end_location>	
							<location-specification>
								<site>
									<position>
										<vector>
											<x> </x>  <!--real values-->
											<y> </y>
											<z> </z>
										</vector>
									</position>
									<orientation>
										<vector>
											<x> </x>  <!--real values-->
											<y> </y>
											<z> </z>
										</vector>
									</orientation>
								</site>
								<position-specification>
									<!--prepositions--> 
									<position_spec>	</position_spec>
									<object> object_rep_ref </object>
								</position-specification>
							</location-specification>
						</end_location>
						<distance> </distance>
						<path_modifiers> 
							<single-path-modifiers> </single-path-modifiers>
							<aggregate-path-modifiers> </aggregate-path-modifiers>
						</path_modifiers>
					</path-specification>
				</path>
			</kinematics-specification>
		</kinematics>
		<dynamics> 
			<dynamics-specification>
				<force>
					<vector>
						<x> </x>  <!--real values-->
						<y> </y>
						<z> </z>
					</vector> 
				</force>
				<torque>
					<vector>
						<x> </x>  <!--real values-->
						<y> </y>
						<z> </z>
					</vector>
				</torque>
			</dynamics-specification>
		</dynamics>
		<manner>
			<manner-specification>
				<effort>
					<effort-specification>
						<space> </space>
						<weight> </weight>
						<time> </time>
						<flow> </flow>
					</effort-specification>
				</effort>
				<shape>
					<shape-specification>
						<vertical> </vertical>
						<lateral> </lateral>
						<sagittal> </sagittal>
						<shapeflow> </shapeflow>
					</shape-specification>
				</shape>
			</manner-specification> 
		</manner>
		<adverbs> 
			<adverb-specification>
				<adverb_name> </adverb_name>
				<adverb_modifiers> </adverb_modifiers>
			</adverb-specification>
		</adverbs>
	</parameterized_action>

</PAR>

