use robot as knowledge.
use robotActions.
exit=nogoals.

module robotMain {
	% put block down if holding a block and in drop zone
	if bel(not(state(traveling)), holding(_), in('DropZone'))
		then putDown.
		
	% go to drop zone if holding a block
	% act-goTo (drop zone)
	if bel(not(state(traveling)), holding(_), not(in('DropZone')))
		then goTo('DropZone').
	
	% pick up block if we are within range and if it has the right color
	if goal(collect(Color)), bel(not(state(traveling)), not(holding(_)), color(BlockId, Color, _), atBlock(BlockId)) 
		then pickUp(BlockId).
	
	% go to block if it has the right color, but we are not next to it
	if goal(collect(Color)), bel(not(state(traveling)), not(holding(_)), in(RoomId), color(BlockId, Color, RoomId), not(atBlock(BlockId))), not(bel(color(BlockIdx, Color, RoomId), BlockIdx \= BlockId, atBlock(BlockIdx)))
		then goToBlock(BlockId).
		
	% go to the room with the block
	% act-goTo (room)
	if goal(collect(Color)), bel(not(state(traveling)), not(holding(_)), color(_, Color, Place)), not(bel(in(RoomId), color(_, Color, RoomId)))
		then goTo(Place).
}