The Socio-physical Model of Activities (SOMA) is a formal activity model for embodied agents that need to operate their body to generate motions that cause intentional effects in the physical and social world.
Introduced a more general version of causes: affects (and its inverse is affected by) to express that a variation in the course or outcome of the the subject (the affector) would have resulted in a variation in the object (the affectee), e.g., a planning task that sets parameters such as goal position affects the subsequently executed pick-and-place task that uses that parameter.
This was not captured by causes: In the above scenario, the pick-and-place action was not necessarily caused by the planning task, e.g., when otherwise a default value would have been used by the agent.
Introduced a more general version of
causes:affects(and its inverseis affected by) to express that a variation in the course or outcome of the the subject (the affector) would have resulted in a variation in the object (the affectee), e.g., a planning task that sets parameters such as goal position affects the subsequently executed pick-and-place task that uses that parameter.This was not captured by
causes: In the above scenario, the pick-and-place action was not necessarily caused by the planning task, e.g., when otherwise a default value would have been used by the agent.