Use :action or :durative-actions

[RodrigoFBernardo]

Hi

I have a question. When I am creating the domain, if I use :action, when the plan is being executed, it doesn't wait for the end of the action server and goes to the next task, which creates conflicts and doesn't work.

e.g.

;; Move to any waypoint, avoiding terrain
(:action goto_waypoint
	:parameters (?v - robot ?from ?to - waypoint)
	:precondition (and
		(robot_at ?v ?from)
		(localised ?v)
		(undocked ?v))
	:effect (and
		(visited ?to)
		(robot_at ?v ?to)
		(not (robot_at ?v ?from)))

However when I use :durative-action it works without any problem, it only starts a task after finishing the previous one.

;; Move to any waypoint, avoiding terrain
(:durative-action goto_waypoint
	:parameters (?v - robot ?from ?to - waypoint)
	:duration ( = ?duration 60)
	:condition (and
		(at start (robot_at ?v ?from))
		(at start (localised ?v))
		(over all (undocked ?v)))
	:effect (and
		(at end (visited ?to))
		(at end (robot_at ?v ?to))
		(at start (not (robot_at ?v ?from))))
)

Is this normal? The plan is well generated in both situations.