The Beta review went well. The main thing I want to get working next is parameters. This will allow the user to say "pick up the blue box", for example. Here, blue box is the parameter for the action "pick up". I've scanned in my current plan with a diagram. It took me a while to come up with the solution, so I haven't had time to implement it yet.
I tried looking into some of the books I have to see how others have dealt with it, but none of the implementations seemed to deal with specifying actions to be done on objects in the environment. They all seem to be focused on a disembodied theory of cognition.
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