this.addSensor(new DirtFrontSensor());
this.addSensor(new DirtRearSensor());
this.addSensor(new DirtLeftSensor());
this.addSensor(new DirtRightSensor());
this.addSensor(new TrueInterrupt());
this.addSensor(new TouchInterrupt());
this.addActuator(new CleanActuator());
this.addActuator(new MoveActuator());
this.addActuator(new RotateActuator());