#include "getupfrombelly.ih"rf<Behavior::Goal> GetUpFromBelly::generateGoal(unsigned step, unsigned slot){  //d_committed = true;    rf<Goal> goal = new Goal();  rf<OrNode> dis = goal->addDisjunct();  rf<AndNode> con = dis->addConjunct();    // con->addVar("Var", 0, 1);    return goal;}