super(id, env, params);
this.addSensor(new DirtHereSensor());
this.addSensor(new DirtFrontSensor());
this.addSensor(new DirtRearSensor());
this.addSensor(new DirtLeftSensor());
this.addSensor(new DirtRightSensor());
this.addSensor(new TrueInterrupt());
this.addSensor(new TouchInterrupt());