List<String> parameterTypes = new ArrayList<String>();
OperatorImpl operatorImpl = new OperatorImpl(actionDef.getName());
List<Term> termsOp = new ArrayList<Term>();
for(pddl4j.exp.term.Term term: actionDef.getParameters()){
termsOp.add(new VarTerm(term.getImage().replace("?", "").toUpperCase()));
parameterTypes.add(term.getTypeSet().toString());
Set<String> setVar = this.types.get(term.getTypeSet().toString());
for(Constant c: this.pddlObject.getTypedDomain(term.getTypeSet())){