robot Explorer {
  sensor lidar: Lidar on "/scan";

  safety {
    max_speed = 1.0 m/s;
  }

  behavior run() {
    let scan = lidar.read();
    let belief = world_model.update(scan);
    if world_model.belief() < 0.5 {
      return;
    }
    let _ = belief;
  }
}
