An action with no unbound object variables. Its precondition and effect sets consist of fixed ground facts. Action grounding an action schema over a finite object universe creates one candidate action for each type-correct parameter tuple, after any static filtering; a time-indexed encoding then creates copies or variables for individual action occurrences.
Substituting object names for all parameters in an action schema, retaining the type-correct tuples and any required static restrictions. The result is a collection of ground actions.
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