PredicateSymbol ps2 = new PredicateSymbol("g"+name);
Predicate g = new Predicate(ps2);
g.addParameters(params);
dummyGoal = g;
startAction = new UngroundInstantAction();
startAction.name = new OperatorName(name.toString()+"_START");
startAction.params = params;
AND s = new AND();
s.add(startCondition);
s.add(invariant.minus(startEffect));
startAction.condition = s;
AND se = new AND();
startAction.effect = se;
se.add(startEffect);
se.add(j);
se.add(new NOT(g));
endAction = new UngroundInstantAction();
endAction.name = new OperatorName(name.toString()+"_END");
endAction.params = params;
AND e = new AND();
e.add(endCondition);
e.add(invariant);