Table 2.

Result of step 2: The table lists the type signature and each possible instantiation for the set of actions identified in the previous step. Here “what: takable” denotes any entity from type “takable”, similarly “from: location” denotes any entity of type location.

$a_1$	take (what:takeable, from:location)
${\tilde{a}}_1^1$	take (knife, drawer)
${\tilde{a}}_1^2$	take (knife, board)
	...
${\tilde{a}}_2$	put (what:takeable, to:location)
${\tilde{a}}_2^1$	put (knife, drawer)
${\tilde{a}}_2^2$	put (knife, board)
	...