use robot as knowledge.

module robotEvent {
	% Update the agent's state of movement.
	% duration
	forall percept(state(NewState)), bel(state(State), State \= NewState)
		do delete(state(State)) + insert(state(NewState)).
	
	% Record when we are entering or leaving a room.
	% act-goTo
	if bel(in(Place)), not(percept(in(Place))) then delete(in(Place)).
	if percept(in(Place)), not(bel(in(Place))) then insert(in(Place)).
	
	% Update if agent is holding a block
	% act-pickUp
	if percept(holding(BlockId)), not(bel(holding(BlockId)))
		then insert(holding(BlockId)).
	
	% Agent is no longer at a block
	% act-pickUp
	forall bel(atBlock(BlockId)), not(percept(atBlock(BlockId))) 
		do delete(atBlock(BlockId)).
	
	% Agent is at a block
	% act-goToBlock
	forall percept(atBlock(NewBlockId)), not(bel(atBlock(NewBlockId))) 
		do insert(atBlock(NewBlockId)).
		
	% Completed sequence
	% act-putDown
	if percept(sequenceIndex(1)), bel(holding(BlockId), color(BlockId, Color, Room)) 
		then delete(holding(BlockId)) + delete(color(BlockId, Color, Room)) + insert(collect(Color)).

}