// World model + observe fusion hook: fusion.read() updates belief automatically.
//
//   spanda run examples/features/world_model_observe.sd

robot Explorer {
  bus sim;

  sensor lidar: Lidar on "/scan";

  observe {
    lidar;
  }

  world_model {
    enabled;
  }

  safety {
    max_speed = 1.0 m/s;
  }

  behavior run() {
    let fused = fusion.read();
    let belief = world_model.belief();
    if belief < 0.1 {
      return;
    }
    let _ = fused;
  }
}
