• 1. Basic desires: basic_desire(+Name,+Formula). where Name is the name of the basic desire and Formula is the temporal formula for the basic desire. Formula can be either one of the following forms. + L + occ(A) + goal(F) + and(fs) + or(fs) + neg(F) + eventually(F) + next(F) + always(F) + until(F1,F2) where L is a literal, A is an action, F (possibly with indices) is a basic desire formula, and fs is a list of basic desire formulae.