bdi4jade

diff --git a/bdi-jade/APDescription.txt b/bdi-jade/APDescription.txt
new file mode 100644
index 0000000..398983c
--- /dev/null
+++ b/bdi-jade/APDescription.txt
@@ -0,0 +1 @@
+( ap-description  :name "192.168.0.2:1099/JADE" :ap-services (set ( ap-service  :name fipa.mts.mtp.http.std :type fipa.mts.mtp.http.std :addresses (sequence http://ingrid-asus:7778/acc))))

diff --git a/bdi-jade/MTPs-Main-Container.txt b/bdi-jade/MTPs-Main-Container.txt
new file mode 100644
index 0000000..6b6c35d
--- /dev/null
+++ b/bdi-jade/MTPs-Main-Container.txt
@@ -0,0 +1 @@
+http://ingrid-asus:7778/acc

diff --git a/bdi-jade/src/bdi4jade/belief/AbstractBelief.java b/bdi-jade/src/bdi4jade/belief/AbstractBelief.java
index 8e79d77..b8a8202 100644
--- a/bdi-jade/src/bdi4jade/belief/AbstractBelief.java
+++ b/bdi-jade/src/bdi4jade/belief/AbstractBelief.java
@@ -27,7 +27,7 @@ import java.util.HashSet;
 import java.util.Set;
 
 import bdi4jade.core.BeliefBase;
-import bdi4jade.util.MetadataElementImpl;
+import bdi4jade.core.MetadataElementImpl;
 
 /**
  * @author ingrid

diff --git a/bdi-jade/src/bdi4jade/belief/Belief.java b/bdi-jade/src/bdi4jade/belief/Belief.java
index 0a71eff..422c7e4 100644
--- a/bdi-jade/src/bdi4jade/belief/Belief.java
+++ b/bdi-jade/src/bdi4jade/belief/Belief.java
@@ -28,7 +28,7 @@ import java.io.Serializable;
 import java.util.Set;
 
 import bdi4jade.core.BeliefBase;
-import bdi4jade.util.MetadataElement;
+import bdi4jade.core.MetadataElement;
 
 /**
  * Represents a belief of the belief base. It has a name and a value associate

diff --git a/bdi-jade/src/bdi4jade/core/BDIAgent.java b/bdi-jade/src/bdi4jade/core/BDIAgent.java
index 679e93c..300a7c9 100644
--- a/bdi-jade/src/bdi4jade/core/BDIAgent.java
+++ b/bdi-jade/src/bdi4jade/core/BDIAgent.java
@@ -43,13 +43,13 @@ import bdi4jade.belief.Belief;
 import bdi4jade.event.GoalListener;
 import bdi4jade.goal.Goal;
 import bdi4jade.goal.GoalStatus;
+import bdi4jade.goal.Softgoal;
 import bdi4jade.message.BDIAgentMsgReceiver;
 import bdi4jade.message.BDIAgentMsgReceiver.BDIAgentMatchExpression;
 import bdi4jade.reasoning.BeliefRevisionStrategy;
 import bdi4jade.reasoning.DeliberationFunction;
 import bdi4jade.reasoning.OptionGenerationFunction;
 import bdi4jade.reasoning.PlanSelectionStrategy;
-import bdi4jade.util.DefaultCapability;
 import bdi4jade.util.reasoning.DefaultBeliefRevisionStrategy;
 import bdi4jade.util.reasoning.DefaultDeliberationFunction;
 import bdi4jade.util.reasoning.DefaultOptionGenerationFunction;
@@ -194,6 +194,7 @@ public class BDIAgent extends Agent {
 	private OptionGenerationFunction optionGenerationFunction;
 	private PlanSelectionStrategy planSelectionStrategy;
 	private final Capability rootCapability;
+	private final Set<Softgoal> softgoals;
 
 	/**
 	 * Default constructor.
@@ -213,6 +214,7 @@ public class BDIAgent extends Agent {
 		this.optionGenerationFunction = new DefaultOptionGenerationFunction();
 		this.deliberationFunction = new DefaultDeliberationFunction();
 		this.planSelectionStrategy = new DefaultPlanSelectionStrategy();
+		this.softgoals = new HashSet<Softgoal>();
 	}
 
 	/**
@@ -293,6 +295,16 @@ public class BDIAgent extends Agent {
 	}
 
 	/**
+	 * Adds a new softgoal to this agent.
+	 * 
+	 * @param softgoal
+	 *            the softgoal to be pursued.
+	 */
+	public void addSoftgoal(Softgoal softgoal) {
+		this.softgoals.add(softgoal);
+	}
+
+	/**
 	 * Drops a given goal of this agent. If the goal is not part of the agent's
 	 * current goals, no action is performed.
 	 * 
@@ -311,6 +323,18 @@ public class BDIAgent extends Agent {
 	}
 
 	/**
+	 * Drops a given softgoal of this agent. If the softgoal is not part of the
+	 * agent's current softgoals, no action is performed.
+	 * 
+	 * @param softgoal
+	 *            the softgoal to be dropped.
+	 */
+
+	public void dropSoftoal(Softgoal softgoal) {
+		this.softgoals.remove(softgoal);
+	}
+
+	/**
 	 * Returns a collection of all beliefs from all capabilities of this agent.
 	 * It may have two equivalent beliefs, i.e. beliefs with the same name.
 	 * 
@@ -369,6 +393,15 @@ public class BDIAgent extends Agent {
 	}
 
 	/**
+	 * Gets all softgoals of this agent.
+	 * 
+	 * @return the set of softgoals.
+	 */
+	public Set<Softgoal> getAllSoftgoals() {
+		return this.softgoals;
+	}
+
+	/**
 	 * @return the beliefRevisionStrategy
 	 */
 	public BeliefRevisionStrategy getBeliefRevisionStrategy() {
@@ -526,7 +559,6 @@ public class BDIAgent extends Agent {
 		this.addBehaviour(new BDIAgentMsgReceiver(this,
 				new BDIAgentMatchExpression()));
 		this.addBehaviour(bdiInterpreter);
-		this.addCapability(new DefaultCapability());
 		init();
 	}
 
@@ -541,7 +573,6 @@ public class BDIAgent extends Agent {
 				rootCapability.removeChild(capability);
 			}
 		}
-
 	}
 
 }

diff --git a/bdi-jade/src/bdi4jade/core/BeliefBase.java b/bdi-jade/src/bdi4jade/core/BeliefBase.java
index bf00ef4..1bea1c0 100644
--- a/bdi-jade/src/bdi4jade/core/BeliefBase.java
+++ b/bdi-jade/src/bdi4jade/core/BeliefBase.java
@@ -34,8 +34,8 @@ import java.util.Set;
 
 import bdi4jade.belief.Belief;
 import bdi4jade.event.BeliefEvent;
-import bdi4jade.event.BeliefListener;
 import bdi4jade.event.BeliefEvent.Action;
+import bdi4jade.event.BeliefListener;
 import bdi4jade.exception.BeliefAlreadyExistsException;
 
 /**

diff --git a/bdi-jade/src/bdi4jade/core/Capability.java b/bdi-jade/src/bdi4jade/core/Capability.java
index 8cd179f..589f497 100644
--- a/bdi-jade/src/bdi4jade/core/Capability.java
+++ b/bdi-jade/src/bdi4jade/core/Capability.java
@@ -45,11 +45,11 @@ public class Capability implements Serializable {
 	protected final BeliefBase beliefBase;
 	protected final Set<Capability> children;
 	protected final String id;
+	private final Log log;
 	protected BDIAgent myAgent;
 	protected Capability parent;
 	protected final PlanLibrary planLibrary;
 	private boolean start;
-	private final Log log;
 
 	/**
 	 * Creates a new capability. It uses {@link BeliefBase} and

diff --git a/bdi-jade/src/bdi4jade/core/Intention.java b/bdi-jade/src/bdi4jade/core/Intention.java
index 2346610..88991c7 100644
--- a/bdi-jade/src/bdi4jade/core/Intention.java
+++ b/bdi-jade/src/bdi4jade/core/Intention.java
@@ -38,7 +38,7 @@ import bdi4jade.goal.Goal;
 import bdi4jade.goal.GoalStatus;
 import bdi4jade.plan.Plan;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBodyInterface;
+import bdi4jade.plan.PlanBody;
 
 /**
  * This class represents the intention abstraction from the BDI model. It
@@ -54,7 +54,7 @@ import bdi4jade.plan.PlanBodyInterface;
  */
 public class Intention {
 
-	private PlanBodyInterface currentPlan;
+	private PlanBody currentPlan;
 	private final Set<Plan> executedPlans;
 	private final Goal goal;
 	private final List<GoalListener> goalListeners;

diff --git a/bdi-jade/src/bdi4jade/core/PlanLibrary.java b/bdi-jade/src/bdi4jade/core/PlanLibrary.java
index 87163c1..0c06b83 100644
--- a/bdi-jade/src/bdi4jade/core/PlanLibrary.java
+++ b/bdi-jade/src/bdi4jade/core/PlanLibrary.java
@@ -30,6 +30,11 @@ import java.util.Set;
 
 import bdi4jade.goal.Goal;
 import bdi4jade.plan.Plan;
+import bdi4jade.plan.SimplePlan;
+import bdi4jade.util.goal.ParallelGoal;
+import bdi4jade.util.goal.SequentialGoal;
+import bdi4jade.util.plan.ParallelGoalPlanBody;
+import bdi4jade.util.plan.SequentialGoalPlanBody;
 
 /**
  * This class represents the plan library of a capability. It aggregates the
@@ -67,10 +72,22 @@ public class PlanLibrary implements Serializable {
 				addPlan(plan);
 			}
 		}
+		addDefaultPlans();
 		init();
 	}
 
 	/**
+	 * Adds a set of default plans to this library. It adds plans to achieve the
+	 * sequential and parallel goals. This method may be overriden by children
+	 * capabilities.
+	 */
+	protected void addDefaultPlans() {
+		addPlan(new SimplePlan(SequentialGoal.class,
+				SequentialGoalPlanBody.class));
+		addPlan(new SimplePlan(ParallelGoal.class, ParallelGoalPlanBody.class));
+	}
+
+	/**
 	 * Adds a plan to the plan library.
 	 * 
 	 * @param plan

diff --git a/bdi-jade/src/bdi4jade/exception/BeliefAlreadyExistsException.java b/bdi-jade/src/bdi4jade/exception/BeliefAlreadyExistsException.java
index 0325242..af69221 100644
--- a/bdi-jade/src/bdi4jade/exception/BeliefAlreadyExistsException.java
+++ b/bdi-jade/src/bdi4jade/exception/BeliefAlreadyExistsException.java
@@ -60,4 +60,5 @@ public class BeliefAlreadyExistsException extends RuntimeException {
 	public String toString() {
 		return "Belief already exists exception: " + belief;
 	}
+	
 }

diff --git a/bdi-jade/src/bdi4jade/exception/PlanInstantiationException.java b/bdi-jade/src/bdi4jade/exception/PlanInstantiationException.java
index b798e24..51ef6fb 100644
--- a/bdi-jade/src/bdi4jade/exception/PlanInstantiationException.java
+++ b/bdi-jade/src/bdi4jade/exception/PlanInstantiationException.java
@@ -22,8 +22,6 @@
 
 package bdi4jade.exception;
 
-import bdi4jade.plan.PlanBodyInterface;
-
 /**
  * This method represents an exception that occurred during the instantiation
  * process of a {@link PlanBodyInterface}.

diff --git a/bdi-jade/src/bdi4jade/plan/AbstractPlan.java b/bdi-jade/src/bdi4jade/plan/AbstractPlan.java
index cdddf70..3bb155c 100644
--- a/bdi-jade/src/bdi4jade/plan/AbstractPlan.java
+++ b/bdi-jade/src/bdi4jade/plan/AbstractPlan.java
@@ -25,20 +25,14 @@ package bdi4jade.plan;
 import jade.lang.acl.ACLMessage;
 import jade.lang.acl.MessageTemplate;
 
-import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.HashSet;
-import java.util.List;
 import java.util.Set;
 
+import bdi4jade.core.MetadataElementImpl;
 import bdi4jade.core.PlanLibrary;
 import bdi4jade.exception.PlanInstantiationException;
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.plan.PlanContribution;
-import bdi4jade.extension.softgoal.plan.PlanGoalDependency;
 import bdi4jade.goal.Goal;
 import bdi4jade.message.MessageGoal;
-import bdi4jade.util.MetadataElementImpl;
 
 /**
  * This class represents the plan abstraction. It defines the goals that the
@@ -108,12 +102,6 @@ public abstract class AbstractPlan extends MetadataElementImpl implements Plan {
 			this.messageTemplates.add(messageTemplate);
 		}
 		initMessageTemplates();
-
-		// Metadata
-		putMetadata(DefaultMetadata.CONTRIBUTIONS,
-				new HashMap<Softgoal, List<PlanContribution>>());
-		putMetadata(DefaultMetadata.DEPENDENCIES,
-				new ArrayList<PlanGoalDependency>());
 	}
 
 	/**
@@ -190,23 +178,22 @@ public abstract class AbstractPlan extends MetadataElementImpl implements Plan {
 
 	/**
 	 * Instantiate the plan body of this plan. It must implement the
-	 * {@link PlanBodyInterface} interface.
+	 * {@link PlanBody} interface.
 	 * 
 	 * @return the instantiated plan body.
 	 * @throws PlanInstantiationException
 	 *             if an error occurred during the instantiation process.
 	 */
-	public abstract PlanBodyInterface createPlanBody()
-			throws PlanInstantiationException;
+	public abstract PlanBody createPlanBody() throws PlanInstantiationException;
 
 	/**
 	 * @see java.lang.Object#equals(java.lang.Object)
 	 */
 	@Override
 	public boolean equals(Object obj) {
-		if (!(obj instanceof AbstractPlan))
+		if (!(obj instanceof Plan))
 			return false;
-		return this.id.equals(((AbstractPlan) obj).id);
+		return this.id.equals(((Plan) obj).getId());
 	}
 
 	/**

diff --git a/bdi-jade/src/bdi4jade/plan/AbstractPlanBody.java b/bdi-jade/src/bdi4jade/plan/AbstractPlanBody.java
new file mode 100644
index 0000000..acf778c
--- /dev/null
+++ b/bdi-jade/src/bdi4jade/plan/AbstractPlanBody.java
@@ -0,0 +1,352 @@
+//----------------------------------------------------------------------------
+// Copyright (C) 2011  Ingrid Nunes
+// 
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+// 
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+// 
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+// 
+// To contact the authors:
+// http://inf.ufrgs.br/~ingridnunes/bdi4jade/
+//
+//----------------------------------------------------------------------------
+
+package bdi4jade.plan;
+
+import jade.core.behaviours.Behaviour;
+
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.LinkedList;
+import java.util.List;
+
+import bdi4jade.core.BeliefBase;
+import bdi4jade.core.Intention;
+import bdi4jade.event.GoalEvent;
+import bdi4jade.event.GoalFinishedEvent;
+import bdi4jade.exception.PlanInstantiationException;
+import bdi4jade.goal.Goal;
+import bdi4jade.plan.Plan.EndState;
+
+/**
+ * This class represents a plan that has been instantiated to be executed.
+ * 
+ * @author ingrid
+ */
+public abstract class AbstractPlanBody extends Behaviour implements PlanBody {
+
+	private static final long serialVersionUID = -6488256636028800227L;
+
+	private EndState endState;
+	private final List<GoalFinishedEvent> goalEventQueue;
+	private Intention intention;
+	private Plan plan;
+	private final List<Goal> subgoals;
+
+	/**
+	 * Creates a new plan body instance.
+	 */
+	public AbstractPlanBody() {
+		this.plan = null;
+		this.intention = null;
+		this.endState = null;
+		this.subgoals = new ArrayList<Goal>();
+		this.goalEventQueue = new LinkedList<GoalFinishedEvent>();
+	}
+
+	/**
+	 * Dispatches a goal to be achieved.
+	 * 
+	 * @param goal
+	 *            the goal to be dispatched.
+	 */
+	public void dispatchGoal(Goal goal) {
+		this.intention.getMyAgent().addGoal(goal);
+	}
+
+	/**
+	 * Dispatches a goal to be achieved, using the capability (or its children
+	 * capabilities) associated with the plan.
+	 * 
+	 * @param goal
+	 *            the goal to be dispatched.
+	 */
+	public void dispatchProtectedGoal(Goal goal) {
+		this.intention.getMyAgent().addGoal(
+				this.plan.getPlanLibrary().getCapability(), goal);
+	}
+
+	/**
+	 * Dispatches a subgoal to be achieved, using the capability (or its
+	 * children capabilities) associated with the plan.
+	 * 
+	 * @param subgoal
+	 *            the subgoal to be dispatched.
+	 */
+	public void dispatchProtectedSubgoal(Goal subgoal) {
+		this.intention.getMyAgent().addGoal(
+				this.plan.getPlanLibrary().getCapability(), subgoal);
+		synchronized (subgoals) {
+			this.subgoals.add(subgoal);
+		}
+	}
+
+	/**
+	 * Dispatches a subgoal to be achieved, using the capability (or its
+	 * children capabilities) associated with the plan, and registers itself as
+	 * a listener to receive a notification of the end of execution of the goal.
+	 * 
+	 * @param subgoal
+	 *            the subgoal to be dispatched.
+	 */
+	public void dispatchProtectedSubgoalAndListen(Goal subgoal) {
+		this.intention.getMyAgent().addGoal(
+				this.plan.getPlanLibrary().getCapability(), subgoal, this);
+		synchronized (subgoals) {
+			this.subgoals.add(subgoal);
+		}
+	}
+
+	/**
+	 * Dispatches a subgoal to be achieved.
+	 * 
+	 * @param subgoal
+	 *            the subgoal to be dispatched.
+	 */
+	public void dispatchSubgoal(Goal subgoal) {
+		this.intention.getMyAgent().addGoal(subgoal);
+		synchronized (subgoals) {
+			this.subgoals.add(subgoal);
+		}
+	}
+
+	/**
+	 * Dispatches a subgoal to be achieved and registers itself as a listener to
+	 * receive a notification of the end of execution of the goal.
+	 * 
+	 * @param subgoal
+	 *            the subgoal to be dispatched.
+	 */
+	public void dispatchSubgoalAndListen(Goal subgoal) {
+		this.intention.getMyAgent().addGoal(subgoal, this);
+		synchronized (subgoals) {
+			this.subgoals.add(subgoal);
+		}
+	}
+
+	@Override
+	public final boolean done() {
+		synchronized (plan) {
+			return getEndState() != null;
+		}
+	}
+
+	/**
+	 * Drops all current subgoals dispatched by this plan.
+	 */
+	private void dropSubgoals() {
+		synchronized (subgoals) {
+			Iterator<Goal> it = subgoals.iterator();
+			while (it.hasNext()) {
+				Goal subgoal = it.next();
+				this.intention.getMyAgent().setNoLongerDesired(subgoal);
+				it.remove();
+			}
+		}
+	}
+
+	/**
+	 * Returns the belief base of the capability.
+	 * 
+	 * @return the belief base containing the beliefs.
+	 */
+	public BeliefBase getBeliefBase() {
+		return this.plan.getPlanLibrary().getCapability().getBeliefBase();
+	}
+
+	/**
+	 * Returns the end state of plan. A null value means that the plan is still
+	 * in execution. If the plan body has come to an end state, it invokes the
+	 * method to set the output parameters of the goal, in case the plan body
+	 * implements the {@link OutputPlanBody} interface (this is invoked only
+	 * once). If the plan body has come to an end state, it sets all of its
+	 * subgoals as no longer desired, in case they are still trying to be
+	 * achieved.
+	 * 
+	 * @return the end state of the plan.
+	 */
+	public EndState getEndState() {
+		synchronized (plan) {
+			return endState;
+		}
+	}
+
+	/**
+	 * Returns the goal to be achieved by this plan instance.
+	 * 
+	 * @return the goal.
+	 */
+	public final Goal getGoal() {
+		return this.intention.getGoal();
+	}
+
+	/**
+	 * Returns a goal event from the queue. If the queue is empty, the behavior
+	 * associated with this plan instance is blocked.
+	 * 
+	 * @return the goal event or null if the queue is empty.
+	 */
+	public GoalFinishedEvent getGoalEvent() {
+		return getGoalEvent(true, -1);
+	}
+
+	/**
+	 * Returns a goal event from the queue. If the queue is empty, the behavior
+	 * associated with this plan instance is going to be blocked if the
+	 * parameter passed to this method is true.
+	 * 
+	 * @param block
+	 *            true if the behavior must be blocked if the queue is empty.
+	 * @return the goal event or null if the queue is empty.
+	 */
+	public GoalFinishedEvent getGoalEvent(boolean block) {
+		return getGoalEvent(block, -1);
+	}
+
+	/**
+	 * Returns a goal event from the queue. If the block parameter is true, the
+	 * behavior associated with this plan instance is going to be blocked if the
+	 * queue is empty according to the specified milliseconds. specified
+	 * milliseconds. If the time is lower then zero, the behavior is going to be
+	 * blocked until an event happens ({@link Behaviour#block()}).
+	 * 
+	 * @param block
+	 *            true if the behavior must be blocked if the queue is empty.
+	 * @param ms
+	 *            the maximum amount of time that the behavior must be blocked.
+	 * @return the goal event or null if the queue is empty.
+	 */
+	private GoalFinishedEvent getGoalEvent(boolean block, long ms) {
+		synchronized (goalEventQueue) {
+			if (!this.goalEventQueue.isEmpty()) {
+				return this.goalEventQueue.remove(0);
+			} else {
+				if (block) {
+					if (ms < 0) {
+						block();
+					} else {
+						block(ms);
+					}
+				}
+				return null;
+			}
+		}
+	}
+
+	/**
+	 * Returns a goal event from the queue. If the queue is empty, the behavior
+	 * associated with this plan instance is going to be blocked for the
+	 * specified milliseconds.
+	 * 
+	 * @param ms
+	 *            the maximum amount of time that the behavior must be blocked.
+	 * @return the goal event or null if the queue is empty.
+	 */
+	public GoalFinishedEvent getGoalEvent(long ms) {
+		return getGoalEvent(true, ms);
+	}
+
+	/**
+	 * Returns the {@link Plan} that is associated with this plan instance.
+	 * 
+	 * @return the plan.
+	 */
+	public final Plan getPlan() {
+		return plan;
+	}
+
+	/**
+	 * @see bdi4jade.event.GoalListener#goalPerformed(bdi4jade.event.GoalEvent)
+	 */
+	@Override
+	public synchronized void goalPerformed(GoalEvent event) {
+		if (event instanceof GoalFinishedEvent) {
+			synchronized (goalEventQueue) {
+				this.goalEventQueue.add((GoalFinishedEvent) event);
+				restart();
+			}
+			synchronized (subgoals) {
+				this.subgoals.remove(event.getGoal());
+			}
+		}
+	}
+
+	/**
+	 * Initializes this plan body. It associates this plan body with a plan
+	 * definition ({@link Plan}) and an {@link Intention}. If this plan body has
+	 * already been initialized, this method throws a
+	 * {@link PlanInstantiationException}.
+	 * 
+	 * @param plan
+	 *            the plan associated this this plan body.
+	 * @param intention
+	 *            the intention that this plan instance have to achieve.
+	 * @throws PlanBodyInstantiationException
+	 *             if this plan body has already been initialized.
+	 */
+	public final void init(Plan plan, Intention intention)
+			throws PlanInstantiationException {
+		if (this.plan != null || this.intention != null) {
+			throw new PlanInstantiationException(
+					"This plan body has already been initialized.");
+		}
+		this.plan = plan;
+		this.intention = intention;
+	}
+
+	/**
+	 * @param endState
+	 *            the endState to set
+	 */
+	protected final void setEndState(EndState endState) {
+		synchronized (plan) {
+			this.endState = endState;
+			if (this.endState != null) {
+				if (this instanceof OutputPlanBody) {
+					((OutputPlanBody) this).setGoalOutput(getGoal());
+				}
+				dropSubgoals();
+			}
+		}
+	}
+
+	/**
+	 * Starts the plan body, a {@link Behaviour}, associated with this plan.
+	 */
+	public final void start() {
+		this.intention.getMyAgent().addBehaviour(this);
+	}
+
+	/**
+	 * Stops the plan body, a {@link Behaviour}, associated with this plan. If
+	 * the body implements the {@link DisposablePlanBody}, it invokes the method
+	 * to about the plan body, so it can perform finalizations.
+	 */
+	public final void stop() {
+		dropSubgoals();
+		this.intention.getMyAgent().removeBehaviour(this);
+		if (this instanceof DisposablePlanBody) {
+			((DisposablePlanBody) this).onAbort();
+		}
+	}
+
+}

diff --git a/bdi-jade/src/bdi4jade/plan/Plan.java b/bdi-jade/src/bdi4jade/plan/Plan.java
index 155ed94..88db798 100644
--- a/bdi-jade/src/bdi4jade/plan/Plan.java
+++ b/bdi-jade/src/bdi4jade/plan/Plan.java
@@ -23,11 +23,11 @@
 package bdi4jade.plan;
 
 import jade.lang.acl.ACLMessage;
+import bdi4jade.core.MetadataElement;
 import bdi4jade.core.PlanLibrary;
 import bdi4jade.exception.PlanInstantiationException;
 import bdi4jade.goal.Goal;
 import bdi4jade.message.MessageGoal;
-import bdi4jade.util.MetadataElement;
 
 /**
  * This interfaces represents the plan abstraction. It defines the goals that
@@ -77,8 +77,7 @@ public interface Plan extends MetadataElement {
 	 * @throws PlanInstantiationException
 	 *             if an error occurred during the instantiation process.
 	 */
-	public abstract PlanBodyInterface createPlanBody()
-			throws PlanInstantiationException;
+	public abstract PlanBody createPlanBody() throws PlanInstantiationException;
 
 	/**
 	 * @return the id

diff --git a/bdi-jade/src/bdi4jade/plan/PlanBody.java b/bdi-jade/src/bdi4jade/plan/PlanBody.java
index ae4ba5a..6d36b8c 100644
--- a/bdi-jade/src/bdi4jade/plan/PlanBody.java
+++ b/bdi-jade/src/bdi4jade/plan/PlanBody.java
@@ -23,45 +23,22 @@
 package bdi4jade.plan;
 
 import jade.core.behaviours.Behaviour;
-
-import java.util.ArrayList;
-import java.util.Iterator;
-import java.util.LinkedList;
-import java.util.List;
-
 import bdi4jade.core.BeliefBase;
 import bdi4jade.core.Intention;
-import bdi4jade.event.GoalEvent;
 import bdi4jade.event.GoalFinishedEvent;
+import bdi4jade.event.GoalListener;
 import bdi4jade.exception.PlanInstantiationException;
 import bdi4jade.goal.Goal;
 import bdi4jade.plan.Plan.EndState;
 
 /**
- * This class represents a plan that has been instantiated to be executed.
+ * This interface defines a PlanBody. Plans are executed as behaviors (
+ * {@link Behaviour}), but executed in the BDI context, these behaviors should
+ * also implement this interface.
  * 
  * @author ingrid
  */
-public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
-
-	private static final long serialVersionUID = -6488256636028800227L;
-
-	private EndState endState;
-	private final List<GoalFinishedEvent> goalEventQueue;
-	private Intention intention;
-	private Plan plan;
-	private final List<Goal> subgoals;
-
-	/**
-	 * Creates a new plan body instance.
-	 */
-	public PlanBody() {
-		this.plan = null;
-		this.intention = null;
-		this.endState = null;
-		this.subgoals = new ArrayList<Goal>();
-		this.goalEventQueue = new LinkedList<GoalFinishedEvent>();
-	}
+public interface PlanBody extends GoalListener {
 
 	/**
 	 * Dispatches a goal to be achieved.
@@ -69,9 +46,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param goal
 	 *            the goal to be dispatched.
 	 */
-	public void dispatchGoal(Goal goal) {
-		this.intention.getMyAgent().addGoal(goal);
-	}
+	public void dispatchGoal(Goal goal);
 
 	/**
 	 * Dispatches a goal to be achieved, using the capability (or its children
@@ -80,10 +55,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param goal
 	 *            the goal to be dispatched.
 	 */
-	public void dispatchProtectedGoal(Goal goal) {
-		this.intention.getMyAgent().addGoal(
-				this.plan.getPlanLibrary().getCapability(), goal);
-	}
+	public void dispatchProtectedGoal(Goal goal);
 
 	/**
 	 * Dispatches a subgoal to be achieved, using the capability (or its
@@ -92,13 +64,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param subgoal
 	 *            the subgoal to be dispatched.
 	 */
-	public void dispatchProtectedSubgoal(Goal subgoal) {
-		this.intention.getMyAgent().addGoal(
-				this.plan.getPlanLibrary().getCapability(), subgoal);
-		synchronized (subgoals) {
-			this.subgoals.add(subgoal);
-		}
-	}
+	public void dispatchProtectedSubgoal(Goal subgoal);
 
 	/**
 	 * Dispatches a subgoal to be achieved, using the capability (or its
@@ -108,13 +74,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param subgoal
 	 *            the subgoal to be dispatched.
 	 */
-	public void dispatchProtectedSubgoalAndListen(Goal subgoal) {
-		this.intention.getMyAgent().addGoal(
-				this.plan.getPlanLibrary().getCapability(), subgoal, this);
-		synchronized (subgoals) {
-			this.subgoals.add(subgoal);
-		}
-	}
+	public void dispatchProtectedSubgoalAndListen(Goal subgoal);
 
 	/**
 	 * Dispatches a subgoal to be achieved.
@@ -122,12 +82,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param subgoal
 	 *            the subgoal to be dispatched.
 	 */
-	public void dispatchSubgoal(Goal subgoal) {
-		this.intention.getMyAgent().addGoal(subgoal);
-		synchronized (subgoals) {
-			this.subgoals.add(subgoal);
-		}
-	}
+	public void dispatchSubgoal(Goal subgoal);
 
 	/**
 	 * Dispatches a subgoal to be achieved and registers itself as a listener to
@@ -136,68 +91,28 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * @param subgoal
 	 *            the subgoal to be dispatched.
 	 */
-	public void dispatchSubgoalAndListen(Goal subgoal) {
-		this.intention.getMyAgent().addGoal(subgoal, this);
-		synchronized (subgoals) {
-			this.subgoals.add(subgoal);
-		}
-	}
-
-	@Override
-	public final boolean done() {
-		synchronized (plan) {
-			return getEndState() != null;
-		}
-	}
-
-	/**
-	 * Drops all current subgoals dispatched by this plan.
-	 */
-	private void dropSubgoals() {
-		synchronized (subgoals) {
-			Iterator<Goal> it = subgoals.iterator();
-			while (it.hasNext()) {
-				Goal subgoal = it.next();
-				this.intention.getMyAgent().setNoLongerDesired(subgoal);
-				it.remove();
-			}
-		}
-	}
+	public void dispatchSubgoalAndListen(Goal subgoal);
 
 	/**
 	 * Returns the belief base of the capability.
 	 * 
 	 * @return the belief base containing the beliefs.
 	 */
-	public BeliefBase getBeliefBase() {
-		return this.plan.getPlanLibrary().getCapability().getBeliefBase();
-	}
+	public BeliefBase getBeliefBase();
 
 	/**
-	 * Returns the end state of plan. A null value means that the plan is still
-	 * in execution. If the plan body has come to an end state, it invokes the
-	 * method to set the output parameters of the goal, in case the plan body
-	 * implements the {@link OutputPlanBody} interface (this is invoked only
-	 * once). If the plan body has come to an end state, it sets all of its
-	 * subgoals as no longer desired, in case they are still trying to be
-	 * achieved.
+	 * Returns the end state of the execution of this plan.
 	 * 
-	 * @return the end state of the plan.
+	 * @return the end state of this plan, or null if it has not finished yet.
 	 */
-	public EndState getEndState() {
-		synchronized (plan) {
-			return endState;
-		}
-	}
+	public EndState getEndState();
 
 	/**
 	 * Returns the goal to be achieved by this plan instance.
 	 * 
 	 * @return the goal.
 	 */
-	public Goal getGoal() {
-		return this.intention.getGoal();
-	}
+	public Goal getGoal();
 
 	/**
 	 * Returns a goal event from the queue. If the queue is empty, the behavior
@@ -205,9 +120,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 * 
 	 * @return the goal event or null if the queue is empty.
 	 */
-	public GoalFinishedEvent getGoalEvent() {
-		return getGoalEvent(true, -1);
-	}
+	public GoalFinishedEvent getGoalEvent();
 
 	/**
 	 * Returns a goal event from the queue. If the queue is empty, the behavior
@@ -218,39 +131,7 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 *            true if the behavior must be blocked if the queue is empty.
 	 * @return the goal event or null if the queue is empty.
 	 */
-	public GoalFinishedEvent getGoalEvent(boolean block) {
-		return getGoalEvent(block, -1);
-	}
-
-	/**
-	 * Returns a goal event from the queue. If the block parameter is true, the
-	 * behavior associated with this plan instance is going to be blocked if the
-	 * queue is empty according to the specified milliseconds. specified
-	 * milliseconds. If the time is lower then zero, the behavior is going to be
-	 * blocked until an event happens ({@link Behaviour#block()}).
-	 * 
-	 * @param block
-	 *            true if the behavior must be blocked if the queue is empty.
-	 * @param ms
-	 *            the maximum amount of time that the behavior must be blocked.
-	 * @return the goal event or null if the queue is empty.
-	 */
-	private GoalFinishedEvent getGoalEvent(boolean block, long ms) {
-		synchronized (goalEventQueue) {
-			if (!this.goalEventQueue.isEmpty()) {
-				return this.goalEventQueue.remove(0);
-			} else {
-				if (block) {
-					if (ms < 0) {
-						block();
-					} else {
-						block(ms);
-					}
-				}
-				return null;
-			}
-		}
-	}
+	public GoalFinishedEvent getGoalEvent(boolean block);
 
 	/**
 	 * Returns a goal event from the queue. If the queue is empty, the behavior
@@ -261,34 +142,14 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 *            the maximum amount of time that the behavior must be blocked.
 	 * @return the goal event or null if the queue is empty.
 	 */
-	public GoalFinishedEvent getGoalEvent(long ms) {
-		return getGoalEvent(true, ms);
-	}
+	public GoalFinishedEvent getGoalEvent(long ms);
 
 	/**
 	 * Returns the {@link Plan} that is associated with this plan instance.
 	 * 
 	 * @return the plan.
 	 */
-	public Plan getPlan() {
-		return plan;
-	}
-
-	/**
-	 * @see bdi4jade.event.GoalListener#goalPerformed(bdi4jade.event.GoalEvent)
-	 */
-	@Override
-	public synchronized void goalPerformed(GoalEvent event) {
-		if (event instanceof GoalFinishedEvent) {
-			synchronized (goalEventQueue) {
-				this.goalEventQueue.add((GoalFinishedEvent) event);
-				restart();
-			}
-			synchronized (subgoals) {
-				this.subgoals.remove(event.getGoal());
-			}
-		}
-	}
+	public Plan getPlan();
 
 	/**
 	 * Initializes this plan body. It associates this plan body with a plan
@@ -304,49 +165,56 @@ public abstract class PlanBody extends Behaviour implements PlanBodyInterface {
 	 *             if this plan body has already been initialized.
 	 */
 	public void init(Plan plan, Intention intention)
-			throws PlanInstantiationException {
-		if (this.plan != null || this.intention != null) {
-			throw new PlanInstantiationException(
-					"This plan body has already been initialized.");
-		}
-		this.plan = plan;
-		this.intention = intention;
-	}
+			throws PlanInstantiationException;
+
+	/**
+	 * This method is invoked just once after this behaviour has ended.
+	 * Therefore, it acts as an epilog for the task represented by this plan
+	 * body. Note that onEnd is called after the plan body has already stopped
+	 * its execution.
+	 * 
+	 * @see Behaviour#onEnd()
+	 * 
+	 * @return an integer code representing the termination value of the
+	 *         behaviour.
+	 */
+	public int onEnd();
 
 	/**
-	 * @param endState
-	 *            the endState to set
+	 * This method is executed just once before starting this plan body
+	 * execution. Therefore, it acts as a prolog to the task represented by this
+	 * plan body.
+	 * 
+	 * @see Behaviour#onStart()
+	 */
+	public void onStart();
+
+	/**
+	 * Restores plan body initial state. This method must be implemented by
+	 * concrete subclasses in such a way that calling reset() on a plan body
+	 * object is equivalent to destroying it and recreating it back.
+	 * 
+	 * @see Behaviour#reset()
+	 */
+	public void reset();
+
+	/**
+	 * Restarts a blocked plan body.
+	 * 
+	 * @see Behaviour#restart()
 	 */
-	protected void setEndState(EndState endState) {
-		synchronized (plan) {
-			this.endState = endState;
-			if (this.endState != null) {
-				if (this instanceof OutputPlanBody) {
-					((OutputPlanBody) this).setGoalOutput(getGoal());
-				}
-				dropSubgoals();
-			}
-		}
-	}
+	public void restart();
 
 	/**
 	 * Starts the plan body, a {@link Behaviour}, associated with this plan.
 	 */
-	public void start() {
-		this.intention.getMyAgent().addBehaviour(this);
-	}
+	public void start();
 
 	/**
 	 * Stops the plan body, a {@link Behaviour}, associated with this plan. If
 	 * the body implements the {@link DisposablePlanBody}, it invokes the method
 	 * to about the plan body, so it can perform finalizations.
 	 */
-	public void stop() {
-		dropSubgoals();
-		this.intention.getMyAgent().removeBehaviour(this);
-		if (this instanceof DisposablePlanBody) {
-			((DisposablePlanBody) this).onAbort();
-		}
-	}
+	public void stop();
 
 }

diff --git a/bdi-jade/src/bdi4jade/plan/SimplePlan.java b/bdi-jade/src/bdi4jade/plan/SimplePlan.java
index f9da785..8ead9e8 100644
--- a/bdi-jade/src/bdi4jade/plan/SimplePlan.java
+++ b/bdi-jade/src/bdi4jade/plan/SimplePlan.java
@@ -37,24 +37,24 @@ import bdi4jade.goal.Goal;
  */
 public class SimplePlan extends AbstractPlan {
 
-	protected final Class<? extends PlanBodyInterface> planBodyClass;
+	protected final Class<? extends PlanBody> planBodyClass;
 
 	/**
 	 * Creates a new Simple Plan. It is a plan whose body is the specified class
 	 * and its id is the plan body class name. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. It sets that this plan can
-	 * achieve the specified goal class, but more goals can be specified by
-	 * overriding the initGoals() method.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. It sets that this plan can achieve the
+	 * specified goal class, but more goals can be specified by overriding the
+	 * initGoals() method.
 	 * 
 	 * @param goalClass
 	 *            the goal that this plan can achieve.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(Class<? extends Goal> goalClass,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(planBodyClass.getSimpleName(), goalClass);
 		this.planBodyClass = planBodyClass;
 	}
@@ -62,11 +62,11 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan whose body is the specified class
 	 * and its id is the plan body class name. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. It sets that this plan can
-	 * achieve the specified goal class, but more goals can be specified by
-	 * overriding the initGoals() method. The message templates is initialized
-	 * with the provided template.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. It sets that this plan can achieve the
+	 * specified goal class, but more goals can be specified by overriding the
+	 * initGoals() method. The message templates is initialized with the
+	 * provided template.
 	 * 
 	 * @param goalClass
 	 *            the goal that this plan can achieve.
@@ -74,11 +74,11 @@ public class SimplePlan extends AbstractPlan {
 	 *            the template of messages that this plan can process.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(Class<? extends Goal> goalClass,
 			MessageTemplate messageTemplate,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(planBodyClass.getSimpleName(), goalClass, messageTemplate);
 		this.planBodyClass = planBodyClass;
 	}
@@ -86,14 +86,14 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan whose body is the specified class
 	 * and its id is the plan body class name. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process.
 	 * 
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
-	public SimplePlan(Class<? extends PlanBodyInterface> planBodyClass) {
+	public SimplePlan(Class<? extends PlanBody> planBodyClass) {
 		super(planBodyClass.getSimpleName());
 		this.planBodyClass = planBodyClass;
 	}
@@ -101,18 +101,18 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan whose body is the specified class
 	 * and its id is the plan body class name. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. The message templates is
-	 * initialized with the provided template.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. The message templates is initialized
+	 * with the provided template.
 	 * 
 	 * @param messageTemplate
 	 *            the template of messages that this plan can process.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(MessageTemplate messageTemplate,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(planBodyClass.getSimpleName(), messageTemplate);
 		this.planBodyClass = planBodyClass;
 	}
@@ -120,10 +120,10 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan that has the provided id and
 	 * whose body is the specified class. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. It sets that this plan can
-	 * achieve the specified goal class, but more goals can be specified by
-	 * overriding the initGoals() method.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. It sets that this plan can achieve the
+	 * specified goal class, but more goals can be specified by overriding the
+	 * initGoals() method.
 	 * 
 	 * @param id
 	 *            the id of this plan.
@@ -131,10 +131,10 @@ public class SimplePlan extends AbstractPlan {
 	 *            the goal that this plan can achieve.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(String id, Class<? extends Goal> goalClass,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(id, goalClass);
 		this.planBodyClass = planBodyClass;
 	}
@@ -142,11 +142,11 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan that has the provided id and
 	 * whose body is the specified class. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. It sets that this plan can
-	 * achieve the specified goal class, but more goals can be specified by
-	 * overriding the initGoals() method. The message templates is initialized
-	 * with the provided template.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. It sets that this plan can achieve the
+	 * specified goal class, but more goals can be specified by overriding the
+	 * initGoals() method. The message templates is initialized with the
+	 * provided template.
 	 * 
 	 * @param id
 	 *            the id of this plan.
@@ -156,11 +156,11 @@ public class SimplePlan extends AbstractPlan {
 	 *            the goal that this plan can achieve.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(String id, Class<? extends Goal> goalClass,
 			MessageTemplate messageTemplate,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(id, goalClass, messageTemplate);
 		this.planBodyClass = planBodyClass;
 	}
@@ -168,17 +168,16 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan that has the provided id and
 	 * whose body is the specified class. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process.
 	 * 
 	 * @param id
 	 *            the id of this plan.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
-	public SimplePlan(String id,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+	public SimplePlan(String id, Class<? extends PlanBody> planBodyClass) {
 		super(id);
 		this.planBodyClass = planBodyClass;
 	}
@@ -186,9 +185,9 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * Creates a new Simple Plan. It is a plan that has the provided id and
 	 * whose body is the specified class. The class must also implement the
-	 * {@link PlanBodyInterface} interface, otherwise an exception is going to
-	 * be thrown during the instantiation process. The message templates is
-	 * initialized with the provided template.
+	 * {@link PlanBody} interface, otherwise an exception is going to be thrown
+	 * during the instantiation process. The message templates is initialized
+	 * with the provided template.
 	 * 
 	 * @param id
 	 *            the id of this plan.
@@ -196,10 +195,10 @@ public class SimplePlan extends AbstractPlan {
 	 *            the template of messages that this plan can process.
 	 * @param planBodyClass
 	 *            the class of the plan body. It must have the Behavior as super
-	 *            class and implement the {@link PlanBodyInterface} interface.
+	 *            class and implement the {@link PlanBody} interface.
 	 */
 	public SimplePlan(String id, MessageTemplate messageTemplate,
-			Class<? extends PlanBodyInterface> planBodyClass) {
+			Class<? extends PlanBody> planBodyClass) {
 		super(id, messageTemplate);
 		this.planBodyClass = planBodyClass;
 	}
@@ -211,7 +210,7 @@ public class SimplePlan extends AbstractPlan {
 	 * @see bdi4jade.plan.Plan#createPlanBody()
 	 */
 	@Override
-	public PlanBodyInterface createPlanBody() throws PlanInstantiationException {
+	public PlanBody createPlanBody() throws PlanInstantiationException {
 		try {
 			return this.planBodyClass.newInstance();
 		} catch (Exception e) {
@@ -222,7 +221,7 @@ public class SimplePlan extends AbstractPlan {
 	/**
 	 * @return the planBodyClass
 	 */
-	public Class<? extends PlanBodyInterface> getPlanBodyClass() {
+	public Class<? extends PlanBody> getPlanBodyClass() {
 		return planBodyClass;
 	}
 

diff --git a/bdi-jade/src/bdi4jade/util/plan/ParallelGoalPlanBody.java b/bdi-jade/src/bdi4jade/util/plan/ParallelGoalPlanBody.java
index 3120b1a..4a3329a 100644
--- a/bdi-jade/src/bdi4jade/util/plan/ParallelGoalPlanBody.java
+++ b/bdi-jade/src/bdi4jade/util/plan/ParallelGoalPlanBody.java
@@ -31,16 +31,17 @@ import org.apache.commons.logging.LogFactory;
 import bdi4jade.event.GoalFinishedEvent;
 import bdi4jade.goal.Goal;
 import bdi4jade.goal.GoalStatus;
+import bdi4jade.plan.AbstractPlanBody;
 import bdi4jade.plan.OutputPlanBody;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
 import bdi4jade.util.goal.ParallelGoal;
 
 /**
  * @author ingrid
  * 
  */
-public class ParallelGoalPlanBody extends PlanBody implements OutputPlanBody {
+public class ParallelGoalPlanBody extends AbstractPlanBody implements
+		OutputPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade/src/bdi4jade/util/plan/SequentialGoalPlanBody.java b/bdi-jade/src/bdi4jade/util/plan/SequentialGoalPlanBody.java
index e2f1bda..61fb1f6 100644
--- a/bdi-jade/src/bdi4jade/util/plan/SequentialGoalPlanBody.java
+++ b/bdi-jade/src/bdi4jade/util/plan/SequentialGoalPlanBody.java
@@ -32,9 +32,9 @@ import org.apache.commons.logging.LogFactory;
 import bdi4jade.event.GoalFinishedEvent;
 import bdi4jade.goal.Goal;
 import bdi4jade.goal.GoalStatus;
+import bdi4jade.plan.AbstractPlanBody;
 import bdi4jade.plan.OutputPlanBody;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
 import bdi4jade.util.goal.SequentialGoal;
 
 /**
@@ -42,7 +42,8 @@ import bdi4jade.util.goal.SequentialGoal;
  * 
  * @author ingrid
  */
-public class SequentialGoalPlanBody extends PlanBody implements OutputPlanBody {
+public class SequentialGoalPlanBody extends AbstractPlanBody implements
+		OutputPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/AchieveOnPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/AchieveOnPlanBody.java
index 874c309..ddbd4c6 100644
--- a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/AchieveOnPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/AchieveOnPlanBody.java
@@ -28,14 +28,14 @@ import bdi4jade.examples.blocksworld.domain.On;
 import bdi4jade.examples.blocksworld.domain.Thing;
 import bdi4jade.examples.blocksworld.goal.PerformMove;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 import bdi4jade.util.goal.BeliefSetValueGoal;
 
 /**
  * @author ingrid
  * 
  */
-public class AchieveOnPlanBody extends PlanBody {
+public class AchieveOnPlanBody extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/ClearPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/ClearPlanBody.java
index 032391f..333a9e1 100644
--- a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/ClearPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/ClearPlanBody.java
@@ -28,14 +28,14 @@ import bdi4jade.examples.blocksworld.domain.Clear;
 import bdi4jade.examples.blocksworld.domain.On;
 import bdi4jade.examples.blocksworld.domain.Thing;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 import bdi4jade.util.goal.BeliefSetValueGoal;
 
 /**
  * @author ingrid
  * 
  */
-public class ClearPlanBody extends PlanBody {
+public class ClearPlanBody extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/PerformMovePlanBody.java b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/PerformMovePlanBody.java
index 1bd5978..9bc2237 100644
--- a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/PerformMovePlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/PerformMovePlanBody.java
@@ -29,13 +29,13 @@ import bdi4jade.examples.blocksworld.domain.On;
 import bdi4jade.examples.blocksworld.domain.Thing;
 import bdi4jade.examples.blocksworld.goal.PerformMove;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class PerformMovePlanBody extends PlanBody {
+public class PerformMovePlanBody extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/TopLevelPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/TopLevelPlanBody.java
index d7bb4b9..15130f5 100644
--- a/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/TopLevelPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/blocksworld/plan/TopLevelPlanBody.java
@@ -29,14 +29,14 @@ import bdi4jade.examples.blocksworld.BlocksWorldCapability;
 import bdi4jade.examples.blocksworld.domain.On;
 import bdi4jade.examples.blocksworld.goal.AchieveBlocksStacked;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 import bdi4jade.util.goal.BeliefSetValueGoal;
 
 /**
  * @author ingrid
  * 
  */
-public class TopLevelPlanBody extends PlanBody {
+public class TopLevelPlanBody extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5919677537834351951L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/compositegoal/MyPlan.java b/bdi-jade-test/src/bdi4jade/examples/compositegoal/MyPlan.java
index 8b3d970..f66d277 100644
--- a/bdi-jade-test/src/bdi4jade/examples/compositegoal/MyPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/compositegoal/MyPlan.java
@@ -28,13 +28,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class MyPlan extends PlanBody {
+public class MyPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -220345270457161508L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/helloworld/HelloWorldPlan.java b/bdi-jade-test/src/bdi4jade/examples/helloworld/HelloWorldPlan.java
index f469084..db0033b 100644
--- a/bdi-jade-test/src/bdi4jade/examples/helloworld/HelloWorldPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/helloworld/HelloWorldPlan.java
@@ -23,13 +23,13 @@
 package bdi4jade.examples.helloworld;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingridn
  * 
  */
-public class HelloWorldPlan extends PlanBody {
+public class HelloWorldPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -9039447524062487795L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/NestedCapabilitiesAgent.java b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/NestedCapabilitiesAgent.java
index 8975558..d801d9d 100644
--- a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/NestedCapabilitiesAgent.java
+++ b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/NestedCapabilitiesAgent.java
@@ -26,7 +26,7 @@ import bdi4jade.belief.TransientBelief;
 import bdi4jade.core.BDIAgent;
 import bdi4jade.core.Capability;
 import bdi4jade.goal.Goal;
-import bdi4jade.plan.PlanBodyInterface;
+import bdi4jade.plan.PlanBody;
 import bdi4jade.plan.SimplePlan;
 
 class ChildGoal implements Goal {
@@ -53,7 +53,7 @@ public class NestedCapabilitiesAgent extends BDIAgent {
 	}
 
 	private void addPlan(Capability capability, Class<? extends Goal> goal,
-			Class<? extends PlanBodyInterface> planBody) {
+			Class<? extends PlanBody> planBody) {
 		capability.getPlanLibrary().addPlan(new SimplePlan(goal, planBody));
 	}
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/SuccessPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/SuccessPlanBody.java
index 421b7c3..513667e 100644
--- a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/SuccessPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/SuccessPlanBody.java
@@ -26,9 +26,9 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
-public class SuccessPlanBody extends PlanBody {
+public class SuccessPlanBody extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -9039447524062487795L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/TestPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/TestPlanBody.java
index 37d1103..3f690cf 100644
--- a/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/TestPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/nestedcapabilities/TestPlanBody.java
@@ -29,9 +29,9 @@ import bdi4jade.event.GoalFinishedEvent;
 import bdi4jade.examples.nestedcapabilities.NestedCapabilitiesAgent.Belief;
 import bdi4jade.goal.GoalStatus;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
-public class TestPlanBody extends PlanBody {
+public class TestPlanBody extends AbstractPlanBody {
 
 	enum TestStep {
 		BELIEF, CHILD_GOAL, COMPLETED, MY_GOAL, PARENT_GOAL, PARENT_PROTECTED_GOAL, SIBLING_GOAL, SIBLING_PROTECTED_GOAL;

diff --git a/bdi-jade-test/src/bdi4jade/examples/ping/PingPlan.java b/bdi-jade-test/src/bdi4jade/examples/ping/PingPlan.java
index 95173dd..c5c663a 100644
--- a/bdi-jade-test/src/bdi4jade/examples/ping/PingPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/ping/PingPlan.java
@@ -30,13 +30,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class PingPlan extends PlanBody {
+public class PingPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -6288758975856575305L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/ping/PongPlan.java b/bdi-jade-test/src/bdi4jade/examples/ping/PongPlan.java
index ecfc020..ed2b343 100644
--- a/bdi-jade-test/src/bdi4jade/examples/ping/PongPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/ping/PongPlan.java
@@ -29,13 +29,13 @@ import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.message.MessageGoal;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class PongPlan extends PlanBody {
+public class PongPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -3352874506241004611L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/planfailed/MyPlan.java b/bdi-jade-test/src/bdi4jade/examples/planfailed/MyPlan.java
index 91814e0..6faf431 100644
--- a/bdi-jade-test/src/bdi4jade/examples/planfailed/MyPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/planfailed/MyPlan.java
@@ -28,13 +28,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class MyPlan extends PlanBody {
+public class MyPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -220345270457161508L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/planselection/Softgoals.java b/bdi-jade-test/src/bdi4jade/examples/planselection/Softgoals.java
index 5843d67..0809000 100644
--- a/bdi-jade-test/src/bdi4jade/examples/planselection/Softgoals.java
+++ b/bdi-jade-test/src/bdi4jade/examples/planselection/Softgoals.java
@@ -22,8 +22,8 @@
 
 package bdi4jade.examples.planselection;
 
-import bdi4jade.extension.softgoal.core.NamedSoftgoal;
-import bdi4jade.extension.softgoal.core.Softgoal;
+import bdi4jade.goal.NamedSoftgoal;
+import bdi4jade.goal.Softgoal;
 
 /**
  * @author ingrid

diff --git a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationAgent.java b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationAgent.java
index 3015927..af47bff 100644
--- a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationAgent.java
+++ b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationAgent.java
@@ -28,16 +28,16 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.belief.TransientBelief;
-import bdi4jade.extension.softgoal.core.SoftGoalBDIAgent;
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.core.SoftgoalPreferences;
+import bdi4jade.extension.planselection.utilitybased.UtilityBasedBDIAgent;
+import bdi4jade.extension.planselection.utilitybased.SoftgoalPreferences;
+import bdi4jade.goal.Softgoal;
 import bdi4jade.plan.Plan;
 
 /**
  * @author ingrid
  * 
  */
-public class TransportationAgent extends SoftGoalBDIAgent {
+public class TransportationAgent extends UtilityBasedBDIAgent {
 	
 	static final long serialVersionUID = 2712019445290687786L;
 	

diff --git a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlan.java b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlan.java
index 0460527..231b6e4 100644
--- a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlan.java
@@ -23,12 +23,12 @@
 package bdi4jade.examples.planselection;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.plan.AnnotatedPlan.DefaultMetadata;
-import bdi4jade.extension.softgoal.plan.PlanContribution;
+import bdi4jade.extension.planselection.utilitybased.PlanContribution;
+import bdi4jade.goal.Softgoal;
 import bdi4jade.plan.SimplePlan;
 
 /**
@@ -60,7 +60,7 @@ public class TransportationPlan extends SimplePlan {
 		this.maxTime = maxTime;
 		this.minTime = minTime;
 
-		Map<Softgoal, List<PlanContribution>> contributions = (Map<Softgoal, List<PlanContribution>>) getMetadata(DefaultMetadata.CONTRIBUTIONS);
+		Map<Softgoal, List<PlanContribution>> contributions = new HashMap<Softgoal, List<PlanContribution>>();
 
 		List<PlanContribution> sgContributions = new ArrayList<PlanContribution>();
 		sgContributions.add(new PlanContribution(Softgoals.SAFETY,
@@ -101,6 +101,8 @@ public class TransportationPlan extends SimplePlan {
 		sgContributions.add(new PlanContribution(Softgoals.PERFORMANCE,
 				(1 - crashProbability) * 0.5, 1 - (maxTime / MAX_TIME_TAKEN)));
 		contributions.put(Softgoals.PERFORMANCE, sgContributions);
+
+		putMetadata(PlanContribution.METADATA_NAME, contributions);
 	}
 
 	/**

diff --git a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlanBody.java b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlanBody.java
index 069fc22..bf3e18a 100644
--- a/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlanBody.java
+++ b/bdi-jade-test/src/bdi4jade/examples/planselection/TransportationPlanBody.java
@@ -28,15 +28,15 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.belief.TransientBelief;
-import bdi4jade.extension.softgoal.core.SoftgoalPreferences;
+import bdi4jade.extension.planselection.utilitybased.SoftgoalPreferences;
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class TransportationPlanBody extends PlanBody {
+public class TransportationPlanBody extends AbstractPlanBody {
 
 	class Scenario {
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/subgoal/ChildPlan.java b/bdi-jade-test/src/bdi4jade/examples/subgoal/ChildPlan.java
index e159e97..e310fe3 100644
--- a/bdi-jade-test/src/bdi4jade/examples/subgoal/ChildPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/subgoal/ChildPlan.java
@@ -26,13 +26,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.DisposablePlanBody;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class ChildPlan extends PlanBody implements DisposablePlanBody {
+public class ChildPlan extends AbstractPlanBody implements DisposablePlanBody {
 
 	private static final long serialVersionUID = -5432560989511973914L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/subgoal/MyPlan.java b/bdi-jade-test/src/bdi4jade/examples/subgoal/MyPlan.java
index 7da6fd8..99d21e0 100644
--- a/bdi-jade-test/src/bdi4jade/examples/subgoal/MyPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/subgoal/MyPlan.java
@@ -26,13 +26,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class MyPlan extends PlanBody {
+public class MyPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5432560989511973914L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/subgoal/ParentPlan.java b/bdi-jade-test/src/bdi4jade/examples/subgoal/ParentPlan.java
index 63f792b..63e21f2 100644
--- a/bdi-jade-test/src/bdi4jade/examples/subgoal/ParentPlan.java
+++ b/bdi-jade-test/src/bdi4jade/examples/subgoal/ParentPlan.java
@@ -26,13 +26,13 @@ import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class ParentPlan extends PlanBody {
+public class ParentPlan extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -5432560989511973914L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/MyAgent.java b/bdi-jade-test/src/bdi4jade/examples/template/MyAgent.java
index caadeca..1f85724 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/MyAgent.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/MyAgent.java
@@ -25,15 +25,15 @@ package bdi4jade.examples.template;
 import bdi4jade.examples.template.goal.MyGoal;
 import bdi4jade.examples.template.plan.MyPlan1;
 import bdi4jade.examples.template.plan.MyPlan2;
-import bdi4jade.extension.softgoal.core.SoftGoalBDIAgent;
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.core.SoftgoalPreferences;
+import bdi4jade.extension.planselection.utilitybased.UtilityBasedBDIAgent;
+import bdi4jade.extension.planselection.utilitybased.SoftgoalPreferences;
+import bdi4jade.goal.Softgoal;
 
 /**
  * @author ingrid
  * 
  */
-public class MyAgent extends SoftGoalBDIAgent {
+public class MyAgent extends UtilityBasedBDIAgent {
 
 	static final long serialVersionUID = 2712019445290687786L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/MyAgentSoftgoals.java b/bdi-jade-test/src/bdi4jade/examples/template/MyAgentSoftgoals.java
index 481d64d..c434e33 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/MyAgentSoftgoals.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/MyAgentSoftgoals.java
@@ -22,8 +22,8 @@
 
 package bdi4jade.examples.template;
 
-import bdi4jade.extension.softgoal.core.NamedSoftgoal;
-import bdi4jade.extension.softgoal.core.Softgoal;
+import bdi4jade.goal.NamedSoftgoal;
+import bdi4jade.goal.Softgoal;
 
 /**
  * @author ingrid

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1.java b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1.java
index a7dc650..df77724 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1.java
@@ -23,14 +23,14 @@
 package bdi4jade.examples.template.plan;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
 import bdi4jade.examples.template.MyAgentSoftgoals;
 import bdi4jade.examples.template.goal.MyGoal;
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.plan.AnnotatedPlan.DefaultMetadata;
-import bdi4jade.extension.softgoal.plan.PlanContribution;
+import bdi4jade.extension.planselection.utilitybased.PlanContribution;
+import bdi4jade.goal.Softgoal;
 import bdi4jade.plan.SimplePlan;
 
 /**
@@ -42,7 +42,7 @@ public class MyPlan1 extends SimplePlan {
 	public MyPlan1() {
 		super(MyGoal.class, MyPlan1Body.class);
 
-		Map<Softgoal, List<PlanContribution>> contributions = (Map<Softgoal, List<PlanContribution>>) getMetadata(DefaultMetadata.CONTRIBUTIONS);
+		Map<Softgoal, List<PlanContribution>> contributions = new HashMap<Softgoal, List<PlanContribution>>();
 		List<PlanContribution> sgContributions = null;
 
 		sgContributions = new ArrayList<PlanContribution>();
@@ -58,6 +58,8 @@ public class MyPlan1 extends SimplePlan {
 		sgContributions.add(new PlanContribution(MyAgentSoftgoals.Softgoal2,
 				0.8, 1.0));
 		contributions.put(MyAgentSoftgoals.Softgoal2, sgContributions);
+
+		putMetadata(PlanContribution.METADATA_NAME, contributions);
 	}
 
 }
\ No newline at end of file

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1Body.java b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1Body.java
index ccb887c..a5721aa 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1Body.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan1Body.java
@@ -23,13 +23,13 @@
 package bdi4jade.examples.template.plan;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class MyPlan1Body extends PlanBody {
+public class MyPlan1Body extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -3947024373151941681L;
 

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2.java b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2.java
index 2583274..ae9f7d4 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2.java
@@ -23,14 +23,14 @@
 package bdi4jade.examples.template.plan;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
 import bdi4jade.examples.template.MyAgentSoftgoals;
 import bdi4jade.examples.template.goal.MyGoal;
-import bdi4jade.extension.softgoal.core.Softgoal;
-import bdi4jade.extension.softgoal.plan.AnnotatedPlan.DefaultMetadata;
-import bdi4jade.extension.softgoal.plan.PlanContribution;
+import bdi4jade.extension.planselection.utilitybased.PlanContribution;
+import bdi4jade.goal.Softgoal;
 import bdi4jade.plan.SimplePlan;
 
 /**
@@ -42,7 +42,7 @@ public class MyPlan2 extends SimplePlan {
 	public MyPlan2() {
 		super(MyGoal.class, MyPlan2Body.class);
 
-		Map<Softgoal, List<PlanContribution>> contributions = (Map<Softgoal, List<PlanContribution>>) getMetadata(DefaultMetadata.CONTRIBUTIONS);
+		Map<Softgoal, List<PlanContribution>> contributions = new HashMap<Softgoal, List<PlanContribution>>();
 		List<PlanContribution> sgContributions = null;
 
 		sgContributions = new ArrayList<PlanContribution>();
@@ -58,6 +58,8 @@ public class MyPlan2 extends SimplePlan {
 		sgContributions.add(new PlanContribution(MyAgentSoftgoals.Softgoal2,
 				0.5, 1.0));
 		contributions.put(MyAgentSoftgoals.Softgoal2, sgContributions);
+
+		putMetadata(PlanContribution.METADATA_NAME, contributions);
 	}
 
 }
\ No newline at end of file

diff --git a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2Body.java b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2Body.java
index 8041ea0..a0891df 100644
--- a/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2Body.java
+++ b/bdi-jade-test/src/bdi4jade/examples/template/plan/MyPlan2Body.java
@@ -23,13 +23,13 @@
 package bdi4jade.examples.template.plan;
 
 import bdi4jade.plan.Plan.EndState;
-import bdi4jade.plan.PlanBody;
+import bdi4jade.plan.AbstractPlanBody;
 
 /**
  * @author ingrid
  * 
  */
-public class MyPlan2Body extends PlanBody {
+public class MyPlan2Body extends AbstractPlanBody {
 
 	private static final long serialVersionUID = -3947024373151941681L;