[TeamTalk 220]: [756] trunk/TeamTalk/Agents/TeamTalkDM: Migrated zap2DialogTask. cpp revisions into TeamTalkDialogTask.cpp.

tk@edam.speech.cs.cmu.edu tk at edam.speech.cs.cmu.edu
Fri Sep 21 00:35:27 EDT 2007 

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Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vcproj	2007-09-21 04:35:26 UTC (rev 756)
@@ -211,7 +211,7 @@
 				>
 			</File>
 			<File
-				RelativePath="zap2DialogTask.cpp"
+				RelativePath=".\TeamTalkDialogTask.cpp"
 				>
 			</File>
 		</Filter>
@@ -238,10 +238,6 @@
 				RelativePath="yesno.pol"
 				>
 			</File>
-			<File
-				RelativePath="zap2DM.cfg"
-				>
-			</File>
 		</Filter>
 		<Filter
 			Name="Documentation"

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDM.vsscc
===================================================================
(Binary files differ)

Modified: trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/TeamTalkDialogTask.cpp	2007-09-21 04:35:26 UTC (rev 756)
@@ -233,13 +233,15 @@
 		STRING_SYSTEM_CONCEPT(everyone)
 	)
 	DEFINE_SUBAGENTS(
+    //SUBAGENT(InformAddressChange, CInformAddresseeChange, "")
+		//SUBAGENT(InformReport, CInformReport, "")
 		SUBAGENT(GetCurrentAddressee, CGetCurrentAddressee, "")
 		SUBAGENT(PerformTask, CTask, "")
 	)
 	ON_INITIALIZATION(
 		C("robot_name") = lpszDMServerName;
 		C("everyone") = "EVERYONE";
-		C("current_addressee") = lpszDMServerName;
+		C("current_addressee") = "EVERYONE";
 	)
 )	
 
@@ -264,7 +266,7 @@
 	// To prevent that from triggering the agency, we also need to know that 
 	// current_addressee was UPDATED.
 
-	TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
+  TRIGGERED_BY(UPDATED_IN_LAST_TURN(current_addressee))
 	PRECONDITION(false)
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectAddressee, CExpectAddressee, "")
@@ -305,31 +307,39 @@
 		BOOL_USER_CONCEPT(report_command_issued, "")
 		BOOL_USER_CONCEPT(report_location_command_issued, "")
 		STRING_SYSTEM_CONCEPT(location_report)
+    STRING_SYSTEM_CONCEPT(move_report)
 		BOOL_USER_CONCEPT(move_cardinal_command_issued, "")
 		BOOL_USER_CONCEPT(move_relative_command_issued, "")
 		BOOL_USER_CONCEPT(move_to_goal_command_issued, "")
 		BOOL_USER_CONCEPT(search_command_issued, "")
+    BOOL_USER_CONCEPT(explore_command_issued, "")
 		BOOL_USER_CONCEPT(halt_command_issued, "")
 		BOOL_USER_CONCEPT(follow_command_issued, "")
 		BOOL_USER_CONCEPT(pause_command_issued, "")
 		BOOL_USER_CONCEPT(continue_command_issued, "")
 		BOOL_USER_CONCEPT(turn_command_issued, "")
+    BOOL_USER_CONCEPT(set_pose_command_issued, "")
+    BOOL_USER_CONCEPT(cancel_task_command_issued, "")
 		BOOL_USER_CONCEPT(cancel, "")
 	)
 	DEFINE_SUBAGENTS(
 		SUBAGENT(RequestWaitForCommands, CRequestWaitForCommands, "")
 		SUBAGENT(Report, CReport, "")
-	    SUBAGENT(QueryLocation, CQueryLocation, "")
+	  SUBAGENT(QueryLocation, CQueryLocation, "")
 		SUBAGENT(ReportLocation, CReportLocation, "")
 		SUBAGENT(MoveCardinal, CMoveCardinal, "")
 		SUBAGENT(MoveToGoal, CMoveToGoal, "")
 		SUBAGENT(Search, CSearch, "")
-		SUBAGENT(MoveRelative, CMoveRelative, "")
+    SUBAGENT(Explore, CExplore, "")
+		SUBAGENT(CommandMoveRelative, CCommandMoveRelative, "")
+    SUBAGENT(ReportMove, CReportMove, "")
 		SUBAGENT(Halt, CHalt, "")
 		SUBAGENT(Follow, CFollow, "")
 		SUBAGENT(Pause, CPause, "")
 		SUBAGENT(Continue, CContinue, "")
 		SUBAGENT(Turn, CTurn, "")
+    SUBAGENT(SetPose, CSetPose, "")
+    SUBAGENT(CancelTask, CCancelTask, "")
 		SUBAGENT(ExpectCancel, CExpectCancel, "")
 		SUBAGENT(AllDoneDummy, CAllDoneDummy, "")
 	)
@@ -380,7 +390,9 @@
 	DEFINE_CONCEPTS(
         STRING_SYSTEM_CONCEPT(location)
 	)
-	PRECONDITION(IS_TRUE(report_location_command_issued))
+	PRECONDITION(IS_TRUE(report_location_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectQueryLocationCommand, CExpectQueryLocationCommand, "")
 		SUBAGENT(ExecuteGetLocation, CExecuteGetLocation, "")
@@ -392,9 +404,9 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectQueryLocationCommand,
 	EXPECT_CONCEPT(report_location_command_issued)
-	EXPECT_WHEN(
- 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN(
+ 	//	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanLocationQuery]>true")
 )
 
@@ -409,7 +421,9 @@
 // /zap2/ReportLocation
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CReportLocation,
-	PRECONDITION(UPDATED(location_report))
+	PRECONDITION(UPDATED(location_report) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectReportLocationCommand, CExpectReportLocationCommand, "")
 		SUBAGENT(InformLocation, CInformLocation, "")
@@ -440,10 +454,13 @@
 DEFINE_AGENCY(CMoveCardinal,
 	DEFINE_CONCEPTS(
 		STRING_USER_CONCEPT(distance, "expl")
-        STRING_USER_CONCEPT(direction, "expl")
+    STRING_USER_CONCEPT(direction, "expl")
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(move_cardinal_command_issued) && (UPDATED(distance) || UPDATED(direction)))
+	PRECONDITION(IS_TRUE(move_cardinal_command_issued) 
+     && (UPDATED(distance) || UPDATED(direction)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveCardinalCommand, CExpectMoveCardinalCommand, "")
 		SUBAGENT(RequestDistance, CRequestDistance, "")
@@ -455,24 +472,26 @@
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/MoveRelative
+// /zap2/Task/CommandMoveRelative
 //-----------------------------------------------------------------------------
-DEFINE_AGENCY(CMoveRelative,
+DEFINE_AGENCY(CCommandMoveRelative,
 	DEFINE_CONCEPTS(
-        STRING_USER_CONCEPT(direction, "expl")
+    STRING_USER_CONCEPT(direction, "expl")
 		STRING_USER_CONCEPT(distance, "expl")
 		STRING_USER_CONCEPT(units, "")
-		STRING_SYSTEM_CONCEPT(report)
+    STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(move_relative_command_issued) && (UPDATED(distance) || UPDATED(direction)))
+	PRECONDITION(IS_TRUE(move_relative_command_issued) 
+    && (UPDATED(distance) || UPDATED(direction)) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveRelativeCommand, CExpectMoveRelativeCommand, "")
-		SUBAGENT(RequestRelativeDirection, CRequestRelativeDirection, "")
+		SUBAGENT(RequestMoveDirection, CRequestMoveDirection, "")
 		SUBAGENT(RequestRelativeDistance, CRequestRelativeDistance, "")
 		SUBAGENT(ExecuteRelativeMove, CExecuteRelativeMove, "")
-		SUBAGENT(InformReaction2Move, CInformReaction2Move, "")
 	)
-	SUCCEEDS_WHEN(COMPLETED(InformReaction2Move) || UPDATED_IN_LAST_TURN(cancel))
+	SUCCEEDS_WHEN(COMPLETED(ExecuteRelativeMove) || UPDATED_IN_LAST_TURN(cancel))
 )
 
 //-----------------------------------------------------------------------------
@@ -480,8 +499,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveCardinalCommand,
 	EXPECT_CONCEPT(move_cardinal_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveVectorCardinal]>true")
 )
 
@@ -490,8 +509,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveRelativeCommand,
 	EXPECT_CONCEPT(move_relative_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveVectorRelative]>true")
 )
 
@@ -500,21 +519,21 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestCardinalDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request direction <distance")
 	GRAMMAR_MAPPING("[MoveVectorCardinal.CardinalDirection],![CardinalDirection]")
 )
 
 //-----------------------------------------------------------------------------
-// /zap2/Task/Move/RequestRelativeDirection
+// /zap2/Task/Move/RequestMoveDirection
 //-----------------------------------------------------------------------------
-DEFINE_REQUEST_AGENT(CRequestRelativeDirection,
+DEFINE_REQUEST_AGENT(CRequestMoveDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request direction <distance")
-	GRAMMAR_MAPPING("[MoveVectorRelative.RelativeDirection],![RelativeDirection]")
+	GRAMMAR_MAPPING("[MoveVectorRelative.MoveDirection],![MoveDirection]")
 )
 
 //-----------------------------------------------------------------------------
@@ -522,8 +541,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestDistance,
 	REQUEST_CONCEPT(distance)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request distance <direction")
 	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorCardinal.AbsoluteDistance.Number-20]")
 )
@@ -533,8 +552,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestRelativeDistance,
 	REQUEST_CONCEPT(distance)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request distance <direction")
 	GRAMMAR_MAPPING("![AbsoluteDistance.Number-20],[MoveVectorRelative.AbsoluteDistance.Number-20]")
 )
@@ -556,6 +575,37 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CReportMove,
+	PRECONDITION(UPDATED(move_report) &&
+	  (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectReportMove, CExpectReportMove, "")
+		SUBAGENT(InformMove, CInformMove, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/ExpectReportMove
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectReportMove,
+	EXPECT_CONCEPT(move_report)
+	EXPECT_WHEN(
+ 		(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		 *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[RobotMessage.Move]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/ReportMove/InformMove
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformMove,
+	PROMPT("inform report_move_status <robot_name <move_report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/Task/Move/InformReaction2Move
 //-----------------------------------------------------------------------------
 DEFINE_INFORM_AGENT(CInformReaction2Move,
@@ -573,7 +623,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 	)
 	PRECONDITION(IS_TRUE(move_to_goal_command_issued) && 
-		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)))
+		(UPDATED(dir) || UPDATED(ordinal) || UPDATED(relDist)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectMoveToGoalCommand, CExpectMoveToGoalCommand, "")
 		SUBAGENT(ExpectRelDist, CExpectRelDist, "")
@@ -589,8 +641,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectMoveToGoalCommand,
 	EXPECT_CONCEPT(move_to_goal_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal]>true")
 )
 
@@ -599,8 +651,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectRelDist,
 	EXPECT_CONCEPT(relDist)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING(
 		"[MoveToGoal.RelativeDistance.ZapAll]>1,"\
 		"[MoveToGoal.RelativeDistance.ZapHalf]>2,"\
@@ -616,8 +668,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectDir,
 	EXPECT_CONCEPT(dir)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal.Side]")
 )
 
@@ -626,8 +678,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectOrdinal,
 	EXPECT_CONCEPT(ordinal)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[MoveToGoal.Goal],[MoveToGoal.Home]")
 )
 
@@ -651,8 +703,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CSearch,
 	DEFINE_CONCEPTS(
-        FLOAT_USER_CONCEPT(x1, "")
-        FLOAT_USER_CONCEPT(x2, "")
+    FLOAT_USER_CONCEPT(x1, "")
+    FLOAT_USER_CONCEPT(x2, "")
 		FLOAT_USER_CONCEPT(x3, "")
 		FLOAT_USER_CONCEPT(x4, "")
 		FLOAT_USER_CONCEPT(x5, "")
@@ -661,8 +713,8 @@
 		FLOAT_USER_CONCEPT(x8, "")
 		FLOAT_USER_CONCEPT(x9, "")
 		FLOAT_USER_CONCEPT(x10, "")
-        FLOAT_USER_CONCEPT(y1, "")
-        FLOAT_USER_CONCEPT(y2, "")
+    FLOAT_USER_CONCEPT(y1, "")
+    FLOAT_USER_CONCEPT(y2, "")
 		FLOAT_USER_CONCEPT(y3, "")
 		FLOAT_USER_CONCEPT(y4, "")
 		FLOAT_USER_CONCEPT(y5, "")
@@ -674,7 +726,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 	)
 	PRECONDITION(IS_TRUE(search_command_issued) && 
-		(UPDATED(x1) && UPDATED(y2)))
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		   *C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectSearchCommand, CExpectSearchCommand, "")
 		SUBAGENT(ExpectX1, CExpectX1, "")
@@ -707,8 +761,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectSearchCommand,
 	EXPECT_CONCEPT(search_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand]>true")
 )
 
@@ -717,8 +771,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX1,
 	EXPECT_CONCEPT(x1)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x1]")
 )
 
@@ -727,8 +781,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX2,
 	EXPECT_CONCEPT(x2)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x2]")
 )
 
@@ -737,8 +791,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX3,
 	EXPECT_CONCEPT(x3)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x3]")
 )
 
@@ -747,8 +801,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX4,
 	EXPECT_CONCEPT(x4)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x4]")
 )
 
@@ -757,8 +811,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX5,
 	EXPECT_CONCEPT(x5)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x5]")
 )
 
@@ -767,8 +821,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX6,
 	EXPECT_CONCEPT(x6)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x6]")
 )
 
@@ -777,8 +831,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX7,
 	EXPECT_CONCEPT(x7)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x7]")
 )
 
@@ -787,8 +841,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX8,
 	EXPECT_CONCEPT(x8)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x8]")
 )
 
@@ -797,8 +851,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX9,
 	EXPECT_CONCEPT(x9)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x9]")
 )
 
@@ -807,8 +861,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectX10,
 	EXPECT_CONCEPT(x10)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.x10]")
 )
 
@@ -817,8 +871,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY1,
 	EXPECT_CONCEPT(y1)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y1]")
 )
 
@@ -827,8 +881,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY2,
 	EXPECT_CONCEPT(y2)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y2]")
 )
 
@@ -837,8 +891,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY3,
 	EXPECT_CONCEPT(y3)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y3]")
 )
 
@@ -847,8 +901,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY4,
 	EXPECT_CONCEPT(y4)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y4]")
 )
 
@@ -857,8 +911,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY5,
 	EXPECT_CONCEPT(y5)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y5]")
 )
 
@@ -867,8 +921,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY6,
 	EXPECT_CONCEPT(y6)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y6]")
 )
 
@@ -877,8 +931,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY7,
 	EXPECT_CONCEPT(y7)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y7]")
 )
 
@@ -887,8 +941,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY8,
 	EXPECT_CONCEPT(y8)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y8]")
 )
 
@@ -897,8 +951,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY9,
 	EXPECT_CONCEPT(y9)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y9]")
 )
 
@@ -907,8 +961,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectY10,
 	EXPECT_CONCEPT(y10)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanSearchCommand.y10]")
 )
 
@@ -927,13 +981,297 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/Explore
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CExplore,
+	DEFINE_CONCEPTS(
+        FLOAT_USER_CONCEPT(x1, "")
+        FLOAT_USER_CONCEPT(x2, "")
+		FLOAT_USER_CONCEPT(x3, "")
+		FLOAT_USER_CONCEPT(x4, "")
+		FLOAT_USER_CONCEPT(x5, "")
+		FLOAT_USER_CONCEPT(x6, "")
+		FLOAT_USER_CONCEPT(x7, "")
+		FLOAT_USER_CONCEPT(x8, "")
+		FLOAT_USER_CONCEPT(x9, "")
+		FLOAT_USER_CONCEPT(x10, "")
+        FLOAT_USER_CONCEPT(y1, "")
+        FLOAT_USER_CONCEPT(y2, "")
+		FLOAT_USER_CONCEPT(y3, "")
+		FLOAT_USER_CONCEPT(y4, "")
+		FLOAT_USER_CONCEPT(y5, "")
+		FLOAT_USER_CONCEPT(y6, "")
+		FLOAT_USER_CONCEPT(y7, "")
+		FLOAT_USER_CONCEPT(y8, "")
+		FLOAT_USER_CONCEPT(y9, "")
+		FLOAT_USER_CONCEPT(y10, "")
+		STRING_SYSTEM_CONCEPT(report)
+	)
+	PRECONDITION(IS_TRUE(explore_command_issued) && 
+		(UPDATED(x1) && UPDATED(y1)) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectExploreCommand, CExpectExploreCommand, "")
+		SUBAGENT(ExpectExploreX1, CExpectExploreX1, "")
+		SUBAGENT(ExpectExploreX2, CExpectExploreX2, "")
+		SUBAGENT(ExpectExploreX3, CExpectExploreX3, "")
+		SUBAGENT(ExpectExploreX4, CExpectExploreX4, "")
+		SUBAGENT(ExpectExploreX5, CExpectExploreX5, "")
+		SUBAGENT(ExpectExploreX6, CExpectExploreX6, "")
+		SUBAGENT(ExpectExploreX7, CExpectExploreX7, "")
+		SUBAGENT(ExpectExploreX8, CExpectExploreX8, "")
+		SUBAGENT(ExpectExploreX9, CExpectExploreX9, "")
+		SUBAGENT(ExpectExploreX10, CExpectX10, "")
+		SUBAGENT(ExpectExploreY1, CExpectExploreY1, "")
+		SUBAGENT(ExpectExploreY2, CExpectExploreY2, "")
+		SUBAGENT(ExpectExploreY3, CExpectExploreY3, "")
+		SUBAGENT(ExpectExploreY4, CExpectExploreY4, "")
+		SUBAGENT(ExpectExploreY5, CExpectExploreY5, "")
+		SUBAGENT(ExpectExploreY6, CExpectExploreY6, "")
+		SUBAGENT(ExpectExploreY7, CExpectExploreY7, "")
+		SUBAGENT(ExpectExploreY8, CExpectExploreY8, "")
+		SUBAGENT(ExpectExploreY9, CExpectExploreY9, "")
+		SUBAGENT(ExpectExploreY10, CExpectExploreY10, "")
+		SUBAGENT(ExecuteExplore, CExecuteExplore, "")
+		SUBAGENT(InformExploreReport, CInformExploreReport, "")
+	)
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreCommand,
+	EXPECT_CONCEPT(explore_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX1,
+	EXPECT_CONCEPT(x1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX2,
+	EXPECT_CONCEPT(x2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX3,
+	EXPECT_CONCEPT(x3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX4,
+	EXPECT_CONCEPT(x4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX5,
+	EXPECT_CONCEPT(x5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX6,
+	EXPECT_CONCEPT(x6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX7,
+	EXPECT_CONCEPT(x7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX8,
+	EXPECT_CONCEPT(x8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX9,
+	EXPECT_CONCEPT(x9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreX10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreX10,
+	EXPECT_CONCEPT(x10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.x10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY1
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY1,
+	EXPECT_CONCEPT(y1)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y1]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY2
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY2,
+	EXPECT_CONCEPT(y2)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y2]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY3
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY3,
+	EXPECT_CONCEPT(y3)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y3]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY4
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY4,
+	EXPECT_CONCEPT(y4)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y4]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY5
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY5,
+	EXPECT_CONCEPT(y5)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y5]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY6
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY6,
+	EXPECT_CONCEPT(y6)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y6]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY7
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY7,
+	EXPECT_CONCEPT(y7)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y7]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY8
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY8,
+	EXPECT_CONCEPT(y8)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y8]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY9
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY9,
+	EXPECT_CONCEPT(y9)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y9]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExpectExploreY10
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectExploreY10,
+	EXPECT_CONCEPT(y10)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanExploreCommand.y10]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/ExecuteExplore
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteExplore,
+    CALL("gal_be.launch_query query=explore_command <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Explore/InformExploreReport
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformExploreReport,
+	PROMPT("inform report_explore <robot_name <x1 <x2 <x3 <x4 <x5 <x6 <x7 <x8 <x9 <x10 <y1 <y2 <y3 <y4 <y5 <y6 <y7 <y8 <y9 <y10 <report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/Task/Halt
 //-----------------------------------------------------------------------------
 DEFINE_AGENCY(CHalt,
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(halt_command_issued))
+	PRECONDITION(IS_TRUE(halt_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectHaltCommand, CExpectHaltCommand, "")
 		SUBAGENT(ExecuteHalt, CExecuteHalt, "")
@@ -946,8 +1284,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectHaltCommand,
 	EXPECT_CONCEPT(halt_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanHaltCommand]>true")
 )
 
@@ -973,7 +1311,9 @@
 		STRING_SYSTEM_CONCEPT(report)
 		STRING_USER_CONCEPT(followee, "")
 	)
-	PRECONDITION(IS_TRUE(follow_command_issued))
+	PRECONDITION(IS_TRUE(follow_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectFollowCommand, CExpectFollowCommand, "")
 		SUBAGENT(ExpectFollowee, CExpectFollowee, "")
@@ -987,8 +1327,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowCommand,
 	EXPECT_CONCEPT(follow_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanFollowCommand]>true")
 )
 
@@ -997,8 +1337,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectFollowee,
 	EXPECT_CONCEPT(followee)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[OBJ-Robot.RobotName]")
 )
 
@@ -1023,7 +1363,10 @@
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(pause_command_issued))
+	//PRECONDITION(IS_TRUE(pause_command_issued))
+  PRECONDITION(IS_TRUE(pause_command_issued) 
+    && (*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectPauseCommand, CExpectPauseCommand, "")
 		SUBAGENT(ExecutePause, CExecutePause, "")
@@ -1036,8 +1379,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectPauseCommand,
 	EXPECT_CONCEPT(pause_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanPauseCommand]>true")
 )
 
@@ -1062,7 +1405,9 @@
 	DEFINE_CONCEPTS(
 		STRING_SYSTEM_CONCEPT(report)
 	)
-	PRECONDITION(IS_TRUE(continue_command_issued))
+	PRECONDITION(IS_TRUE(continue_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectContinueCommand, CExpectContinueCommand, "")
 		SUBAGENT(ExecuteContinue, CExecuteContinue, "")
@@ -1075,8 +1420,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectContinueCommand,
 	EXPECT_CONCEPT(continue_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanContinueCommand]>true")
 )
 
@@ -1103,7 +1448,9 @@
 		STRING_USER_CONCEPT(direction, "")
 		STRING_USER_CONCEPT(increment, "")
 	)
-	PRECONDITION(IS_TRUE(turn_command_issued))
+	PRECONDITION(IS_TRUE(turn_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	DEFINE_SUBAGENTS(
 		SUBAGENT(ExpectTurnCommand, CExpectTurnCommand, "")
 		SUBAGENT(RequestTurnDirection, CRequestTurnDirection, "")
@@ -1119,8 +1466,8 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnCommand,
 	EXPECT_CONCEPT(turn_command_issued)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[HumanTurnCommand]>true")
 )
 
@@ -1129,10 +1476,10 @@
 //-----------------------------------------------------------------------------
 DEFINE_REQUEST_AGENT(CRequestTurnDirection,
 	REQUEST_CONCEPT(direction)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	PROMPT("request turn_direction")
-	GRAMMAR_MAPPING("[HumanTurnCommand.Direction.RelativeDirection],![Direction]")
+	GRAMMAR_MAPPING("[HumanTurnCommand.TurnDirection],![TurnDirection]")
 )
 
 //-----------------------------------------------------------------------------
@@ -1140,9 +1487,9 @@
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectTurnIncrement,
 	EXPECT_CONCEPT(increment)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
-	GRAMMAR_MAPPING("[HumanTurnCommand.Direction.RelativeDirection.AngularQualifier.Number-180-by5]")
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanTurnCommand.TurnDirection.AngularQualifier.Number-180-by5]")
 )
 
 //-----------------------------------------------------------------------------
@@ -1160,12 +1507,144 @@
 )
 
 //-----------------------------------------------------------------------------
+// /zap2/Task/SetPose
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CSetPose,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+		STRING_USER_CONCEPT(x, "")
+		STRING_USER_CONCEPT(y, "")
+    STRING_USER_CONCEPT(angle, "")
+	)
+	PRECONDITION(IS_TRUE(set_pose_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectSetPoseCommand, CExpectSetPoseCommand, "")
+		SUBAGENT(ExpectSetPoseX, CExpectSetPoseX, "")
+    SUBAGENT(ExpectSetPoseY, CExpectSetPoseY, "")
+    SUBAGENT(ExpectSetPoseAngle, CExpectSetPoseAngle, "")
+		SUBAGENT(ExecuteSetPose, CExecuteSetPose, "")
+		SUBAGENT(InformSetPose, CInformSetPose, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(InformSetPose) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseCommand,
+	EXPECT_CONCEPT(set_pose_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseX
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseX,
+	EXPECT_CONCEPT(x)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.x]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseY
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseY,
+	EXPECT_CONCEPT(y)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.y]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectSetPoseAngle
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectSetPoseAngle,
+	EXPECT_CONCEPT(angle)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanSetPoseCommand.angle]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExecuteSetPose
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteSetPose,
+    CALL("gal_be.launch_query query=setpos <robot_name <x <y <angle >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/InformSetPose
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformSetPose,
+	//PROMPT("inform report_turn <robot_name <x <report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/CancelTask
+//-----------------------------------------------------------------------------
+DEFINE_AGENCY(CCancelTask,
+	DEFINE_CONCEPTS(
+		STRING_SYSTEM_CONCEPT(report)
+		STRING_USER_CONCEPT(taskid, "")
+	)
+	PRECONDITION(IS_TRUE(cancel_task_command_issued) &&
+	  	(*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	DEFINE_SUBAGENTS(
+		SUBAGENT(ExpectCancelTaskCommand, CExpectCancelTaskCommand, "")
+		SUBAGENT(ExpectCancelTaskTaskid, CExpectCancelTaskTaskid, "")
+		SUBAGENT(ExecuteCancelTask, CExecuteCancelTask, "")
+		SUBAGENT(InformCancelTask, CInformCancelTask, "")
+	)
+	SUCCEEDS_WHEN(COMPLETED(InformCancelTask) || UPDATED_IN_LAST_TURN(cancel))
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectCancelTaskCommand
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectCancelTaskCommand,
+	EXPECT_CONCEPT(cancel_task_command_issued)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanCancelTaskCommand]>true")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExpectCancelTaskTaskid
+//-----------------------------------------------------------------------------
+DEFINE_EXPECT_AGENT(CExpectCancelTaskTaskid,
+	EXPECT_CONCEPT(taskid)
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	GRAMMAR_MAPPING("[HumanCancelTaskCommand.taskid]")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/ExecuteCancelTask
+//-----------------------------------------------------------------------------
+DEFINE_EXECUTE_AGENT(CExecuteCancelTask,
+    CALL("gal_be.launch_query query=cancel_task <robot_name <taskid >report")
+)
+
+//-----------------------------------------------------------------------------
+// /zap2/Task/Turn/InformCancelTask
+//-----------------------------------------------------------------------------
+DEFINE_INFORM_AGENT(CInformCancelTask,
+	//PROMPT("inform report_turn <robot_name <x <report")
+)
+
+//-----------------------------------------------------------------------------
 // /zap2/ExpectCancel
 //-----------------------------------------------------------------------------
 DEFINE_EXPECT_AGENT(CExpectCancel,
 	EXPECT_CONCEPT(cancel)
-	EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
-		*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
+	//EXPECT_WHEN((*C("current_addressee").CreateMergedHistoryConcept() == C("robot_name") ||
+	//	*C("current_addressee").CreateMergedHistoryConcept() == C("everyone")))
 	GRAMMAR_MAPPING("[Cancel]>true")
 )
 
@@ -2426,7 +2905,6 @@
 			DECLARE_AGENT(CQueryLocation)
 				DECLARE_AGENT(CExpectQueryLocationCommand)
 				DECLARE_AGENT(CExecuteGetLocation)
-				// DECLARE_AGENT(CInformLocation)
 			DECLARE_AGENT(CReportLocation)
 				DECLARE_AGENT(CExpectReportLocationCommand)
 				DECLARE_AGENT(CInformLocation)
@@ -2436,11 +2914,14 @@
 				DECLARE_AGENT(CRequestCardinalDirection)
 				DECLARE_AGENT(CExecuteMove)
 				DECLARE_AGENT(CInformReaction2Move)
-			DECLARE_AGENT(CMoveRelative)
+			DECLARE_AGENT(CCommandMoveRelative)
 				DECLARE_AGENT(CExpectMoveRelativeCommand)
-				DECLARE_AGENT(CRequestRelativeDirection)
+				DECLARE_AGENT(CRequestMoveDirection)
 				DECLARE_AGENT(CRequestRelativeDistance)
 				DECLARE_AGENT(CExecuteRelativeMove)
+      DECLARE_AGENT(CReportMove)
+        DECLARE_AGENT(CExpectReportMove)
+        DECLARE_AGENT(CInformMove)
 			DECLARE_AGENT(CMoveToGoal)
 				DECLARE_AGENT(CExpectMoveToGoalCommand)
 				DECLARE_AGENT(CExpectRelDist)
@@ -2472,6 +2953,30 @@
 				DECLARE_AGENT(CExpectY10)
 				DECLARE_AGENT(CExecuteSearch)
 				DECLARE_AGENT(CInformSearchReport)
+			DECLARE_AGENT(CExplore)
+				DECLARE_AGENT(CExpectExploreCommand)
+				DECLARE_AGENT(CExpectExploreX1)
+				DECLARE_AGENT(CExpectExploreX2)
+				DECLARE_AGENT(CExpectExploreX3)
+				DECLARE_AGENT(CExpectExploreX4)
+				DECLARE_AGENT(CExpectExploreX5)
+				DECLARE_AGENT(CExpectExploreX6)
+				DECLARE_AGENT(CExpectExploreX7)
+				DECLARE_AGENT(CExpectExploreX8)
+				DECLARE_AGENT(CExpectExploreX9)
+				DECLARE_AGENT(CExpectExploreX10)
+				DECLARE_AGENT(CExpectExploreY1)
+				DECLARE_AGENT(CExpectExploreY2)
+				DECLARE_AGENT(CExpectExploreY3)
+				DECLARE_AGENT(CExpectExploreY4)
+				DECLARE_AGENT(CExpectExploreY5)
+				DECLARE_AGENT(CExpectExploreY6)
+				DECLARE_AGENT(CExpectExploreY7)
+				DECLARE_AGENT(CExpectExploreY8)
+				DECLARE_AGENT(CExpectExploreY9)
+				DECLARE_AGENT(CExpectExploreY10)
+				DECLARE_AGENT(CExecuteExplore)
+				DECLARE_AGENT(CInformExploreReport)
 			DECLARE_AGENT(CHalt)
 				DECLARE_AGENT(CExpectHaltCommand)
 				DECLARE_AGENT(CExecuteHalt)
@@ -2486,7 +2991,7 @@
 				DECLARE_AGENT(CExecutePause)
 				DECLARE_AGENT(CInformPause)
 			DECLARE_AGENT(CContinue)
-			    DECLARE_AGENT(CExpectContinueCommand)
+			  DECLARE_AGENT(CExpectContinueCommand)
 				DECLARE_AGENT(CExecuteContinue)
 				DECLARE_AGENT(CInformContinue)
 			DECLARE_AGENT(CTurn)
@@ -2495,6 +3000,18 @@
 				DECLARE_AGENT(CExpectTurnIncrement)
 				DECLARE_AGENT(CExecuteTurn)
 				DECLARE_AGENT(CInformTurn)
+			DECLARE_AGENT(CSetPose)
+				DECLARE_AGENT(CExpectSetPoseCommand)
+				DECLARE_AGENT(CExpectSetPoseX)
+				DECLARE_AGENT(CExpectSetPoseY)
+				DECLARE_AGENT(CExpectSetPoseAngle)
+				DECLARE_AGENT(CExecuteSetPose)
+				DECLARE_AGENT(CInformSetPose)
+      DECLARE_AGENT(CCancelTask)
+        DECLARE_AGENT(CExpectCancelTaskCommand)
+        DECLARE_AGENT(CExpectCancelTaskTaskid)
+        DECLARE_AGENT(CExecuteCancelTask)
+        DECLARE_AGENT(CInformCancelTask)
 			DECLARE_AGENT(CExpectCancel)
 			DECLARE_AGENT(CAllDoneDummy)
 )

Deleted: trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp
===================================================================
--- trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-21 04:16:42 UTC (rev 755)
+++ trunk/TeamTalk/Agents/TeamTalkDM/zap2DialogTask.cpp	2007-09-21 04:35:26 UTC (rev 756)
@@ -1,3022 +0,0 @@
-//=============================================================================
-//
-//   Copyright (c) 2000-2004, Carnegie Mellon University.  
-//   All rights reserved.
-//
-//   Redistribution and use in source and binary forms, with or without
-//   modification, are permitted provided that the following conditions
-//   are met:
-//
-//   1. Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer. 
-//
-//   2. Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in
-//      the documentation and/or other materials provided with the
-//      distribution.
-//
-//   This work was supported in part by funding from the Defense Advanced 
-//   Research Projects Agency and the National Science Foundation of the 
-//   United States of America, and the CMU Sphinx Speech Consortium.
-//
-//   THIS SOFTWARE IS PROVIDED BY CARNEGIE MELLON UNIVERSITY ``AS IS'' AND 
-//   ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
-//   THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-//   PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CARNEGIE MELLON UNIVERSITY
-//   NOR ITS EMPLOYEES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-//   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
-//   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
-//   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
-//   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
-//   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 

@@ Diff output truncated at 60000 characters. @@

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