diff --git a/build/sim/CMakeLists.txt b/build/sim/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c4706fef00a36e09f9f712e84768a5cd0534817
--- /dev/null
+++ b/build/sim/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(sim)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES sim
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/sim.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/sim_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sim.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 0984222a503904d6b9212eb69cb3bce8df2de2cc..07bb3138a66f538ea0a699432c9312975b3b69c2 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-WafflePi
\ No newline at end of file
+waffle
\ No newline at end of file
diff --git a/build/sim/log/Platzhalter b/build/sim/log/Platzhalter
deleted file mode 100644
index d2b13e961b236c68684071e95d5bc34d27d4cbd0..0000000000000000000000000000000000000000
--- a/build/sim/log/Platzhalter
+++ /dev/null
@@ -1 +0,0 @@
-Platzhalter
diff --git a/build/sim/log/bl0.log b/build/sim/log/bl0.log
new file mode 100644
index 0000000000000000000000000000000000000000..061a66d9ecd29abc682c20d3d833bb1148298225
--- /dev/null
+++ b/build/sim/log/bl0.log
@@ -0,0 +1,148 @@
+EventLog - INFO - [T:0.589] Distance of the obstacle : inf
+EventLog - INFO - [T:0.783] Distance of the obstacle : inf
+EventLog - INFO - [T:0.987] Distance of the obstacle : inf
+EventLog - INFO - [T:1.183] Distance of the obstacle : inf
+EventLog - INFO - [T:1.388] Distance of the obstacle : inf
+EventLog - INFO - [T:1.582] Distance of the obstacle : inf
+EventLog - INFO - [T:1.787] Distance of the obstacle : inf
+EventLog - INFO - [T:1.982] Distance of the obstacle : inf
+EventLog - INFO - [T:2.186] Distance of the obstacle : inf
+EventLog - INFO - [T:2.381] Distance of the obstacle : inf
+EventLog - INFO - [T:2.586] Distance of the obstacle : inf
+EventLog - INFO - [T:2.781] Distance of the obstacle : inf
+EventLog - INFO - [T:2.985] Distance of the obstacle : inf
+EventLog - INFO - [T:3.181] Distance of the obstacle : inf
+EventLog - INFO - [T:3.385] Distance of the obstacle : inf
+EventLog - INFO - [T:3.58] Distance of the obstacle : inf
+EventLog - INFO - [T:3.786] Distance of the obstacle : inf
+EventLog - INFO - [T:3.981] Distance of the obstacle : inf
+EventLog - INFO - [T:4.185] Distance of the obstacle : inf
+EventLog - INFO - [T:4.379] Distance of the obstacle : inf
+EventLog - INFO - [T:4.585] Distance of the obstacle : inf
+EventLog - INFO - [T:4.779] Distance of the obstacle : inf
+EventLog - INFO - [T:4.984] Distance of the obstacle : inf
+EventLog - INFO - [T:5.179] Distance of the obstacle : inf
+EventLog - INFO - [T:5.384] Distance of the obstacle : inf
+EventLog - INFO - [T:5.579] Distance of the obstacle : inf
+EventLog - INFO - [T:5.784] Distance of the obstacle : inf
+EventLog - INFO - [T:5.978] Distance of the obstacle : inf
+EventLog - INFO - [T:6.183] Distance of the obstacle : inf
+EventLog - INFO - [T:6.387] Distance of the obstacle : inf
+EventLog - INFO - [T:6.582] Distance of the obstacle : inf
+EventLog - INFO - [T:6.787] Distance of the obstacle : inf
+EventLog - INFO - [T:6.982] Distance of the obstacle : inf
+EventLog - INFO - [T:7.187] Distance of the obstacle : inf
+EventLog - INFO - [T:7.382] Distance of the obstacle : inf
+EventLog - INFO - [T:7.587] Distance of the obstacle : inf
+EventLog - INFO - [T:7.782] Distance of the obstacle : inf
+EventLog - INFO - [T:7.987] Distance of the obstacle : inf
+EventLog - INFO - [T:8.181] Distance of the obstacle : inf
+EventLog - INFO - [T:8.386] Distance of the obstacle : inf
+EventLog - INFO - [T:8.58] Distance of the obstacle : inf
+EventLog - INFO - [T:8.786] Distance of the obstacle : inf
+EventLog - INFO - [T:8.98] Distance of the obstacle : inf
+EventLog - INFO - [T:9.186] Distance of the obstacle : inf
+EventLog - INFO - [T:9.38] Distance of the obstacle : inf
+EventLog - INFO - [T:9.585] Distance of the obstacle : inf
+EventLog - INFO - [T:9.78] Distance of the obstacle : inf
+EventLog - INFO - [T:9.984] Distance of the obstacle : inf
+EventLog - INFO - [T:10.179] Distance of the obstacle : inf
+EventLog - INFO - [T:10.384] Distance of the obstacle : inf
+EventLog - INFO - [T:10.579] Distance of the obstacle : inf
+EventLog - INFO - [T:10.784] Distance of the obstacle : inf
+EventLog - INFO - [T:10.979] Distance of the obstacle : inf
+EventLog - INFO - [T:11.184] Distance of the obstacle : inf
+EventLog - INFO - [T:11.379] Distance of the obstacle : inf
+EventLog - INFO - [T:11.584] Distance of the obstacle : inf
+EventLog - INFO - [T:11.778] Distance of the obstacle : inf
+EventLog - INFO - [T:11.983] Distance of the obstacle : inf
+EventLog - INFO - [T:12.188] Distance of the obstacle : inf
+EventLog - INFO - [T:12.382] Distance of the obstacle : inf
+EventLog - INFO - [T:12.587] Distance of the obstacle : inf
+EventLog - INFO - [T:12.782] Distance of the obstacle : inf
+EventLog - INFO - [T:12.987] Distance of the obstacle : inf
+EventLog - INFO - [T:13.182] Distance of the obstacle : inf
+EventLog - INFO - [T:13.387] Distance of the obstacle : inf
+EventLog - INFO - [T:13.582] Distance of the obstacle : inf
+EventLog - INFO - [T:13.786] Distance of the obstacle : inf
+EventLog - INFO - [T:13.981] Distance of the obstacle : inf
+EventLog - INFO - [T:14.186] Distance of the obstacle : inf
+EventLog - INFO - [T:14.38] Distance of the obstacle : inf
+EventLog - INFO - [T:14.585] Distance of the obstacle : inf
+EventLog - INFO - [T:14.779] Distance of the obstacle : inf
+EventLog - INFO - [T:14.983] Distance of the obstacle : inf
+EventLog - INFO - [T:15.178] Distance of the obstacle : inf
+EventLog - INFO - [T:15.382] Distance of the obstacle : inf
+EventLog - INFO - [T:15.587] Distance of the obstacle : inf
+EventLog - INFO - [T:15.782] Distance of the obstacle : inf
+EventLog - INFO - [T:15.987] Distance of the obstacle : inf
+EventLog - INFO - [T:16.181] Distance of the obstacle : inf
+EventLog - INFO - [T:16.386] Distance of the obstacle : inf
+EventLog - INFO - [T:16.581] Distance of the obstacle : inf
+EventLog - INFO - [T:16.785] Distance of the obstacle : inf
+EventLog - INFO - [T:16.98] Distance of the obstacle : inf
+EventLog - INFO - [T:17.184] Distance of the obstacle : inf
+EventLog - INFO - [T:17.379] Distance of the obstacle : inf
+EventLog - INFO - [T:17.583] Distance of the obstacle : inf
+EventLog - INFO - [T:17.788] Distance of the obstacle : inf
+EventLog - INFO - [T:17.983] Distance of the obstacle : inf
+EventLog - INFO - [T:18.187] Distance of the obstacle : inf
+EventLog - INFO - [T:18.382] Distance of the obstacle : inf
+EventLog - INFO - [T:18.588] Distance of the obstacle : inf
+EventLog - INFO - [T:18.783] Distance of the obstacle : inf
+EventLog - INFO - [T:18.988] Distance of the obstacle : inf
+EventLog - INFO - [T:19.191] Distance of the obstacle : inf
+EventLog - INFO - [T:19.385] Distance of the obstacle : inf
+EventLog - INFO - [T:19.579] Distance of the obstacle : inf
+EventLog - INFO - [T:19.784] Distance of the obstacle : inf
+EventLog - INFO - [T:19.979] Distance of the obstacle : inf
+EventLog - INFO - [T:20.184] Distance of the obstacle : inf
+EventLog - INFO - [T:20.378] Distance of the obstacle : inf
+EventLog - INFO - [T:20.583] Distance of the obstacle : inf
+EventLog - INFO - [T:20.788] Distance of the obstacle : inf
+EventLog - INFO - [T:20.982] Distance of the obstacle : inf
+EventLog - INFO - [T:21.187] Distance of the obstacle : inf
+EventLog - INFO - [T:21.382] Distance of the obstacle : inf
+EventLog - INFO - [T:21.587] Distance of the obstacle : inf
+EventLog - INFO - [T:21.782] Distance of the obstacle : inf
+EventLog - INFO - [T:21.986] Distance of the obstacle : inf
+EventLog - INFO - [T:22.181] Distance of the obstacle : inf
+EventLog - INFO - [T:22.386] Distance of the obstacle : inf
+EventLog - INFO - [T:22.581] Distance of the obstacle : inf
+EventLog - INFO - [T:22.786] Distance of the obstacle : inf
+EventLog - INFO - [T:22.98] Distance of the obstacle : inf
+EventLog - INFO - [T:23.184] Distance of the obstacle : inf
+EventLog - INFO - [T:23.38] Distance of the obstacle : inf
+EventLog - INFO - [T:23.585] Distance of the obstacle : inf
+EventLog - INFO - [T:23.779] Distance of the obstacle : inf
+EventLog - INFO - [T:23.984] Distance of the obstacle : inf
+EventLog - INFO - [T:24.179] Distance of the obstacle : inf
+EventLog - INFO - [T:24.384] Distance of the obstacle : inf
+EventLog - INFO - [T:24.578] Distance of the obstacle : inf
+EventLog - INFO - [T:24.783] Distance of the obstacle : inf
+EventLog - INFO - [T:24.988] Distance of the obstacle : inf
+EventLog - INFO - [T:25.183] Distance of the obstacle : inf
+EventLog - INFO - [T:25.388] Distance of the obstacle : inf
+EventLog - INFO - [T:25.583] Distance of the obstacle : inf
+EventLog - INFO - [T:25.788] Distance of the obstacle : inf
+EventLog - INFO - [T:25.983] Distance of the obstacle : inf
+EventLog - INFO - [T:26.188] Distance of the obstacle : inf
+EventLog - INFO - [T:26.383] Distance of the obstacle : inf
+EventLog - INFO - [T:26.588] Distance of the obstacle : inf
+EventLog - INFO - [T:26.782] Distance of the obstacle : inf
+EventLog - INFO - [T:26.986] Distance of the obstacle : inf
+EventLog - INFO - [T:27.181] Distance of the obstacle : inf
+EventLog - INFO - [T:27.386] Distance of the obstacle : inf
+EventLog - INFO - [T:27.581] Distance of the obstacle : inf
+EventLog - INFO - [T:27.785] Distance of the obstacle : inf
+EventLog - INFO - [T:27.979] Distance of the obstacle : inf
+EventLog - INFO - [T:28.184] Distance of the obstacle : inf
+EventLog - INFO - [T:28.379] Distance of the obstacle : inf
+EventLog - INFO - [T:28.584] Distance of the obstacle : inf
+EventLog - INFO - [T:28.779] Distance of the obstacle : inf
+EventLog - INFO - [T:28.983] Distance of the obstacle : inf
+EventLog - INFO - [T:29.187] Distance of the obstacle : inf
+EventLog - INFO - [T:29.383] Distance of the obstacle : inf
+EventLog - INFO - [T:29.587] Distance of the obstacle : inf
+EventLog - INFO - [T:29.782] Distance of the obstacle : inf
+EventLog - INFO - [T:29.987] Distance of the obstacle : inf
diff --git a/build/sim/log/bl1.log b/build/sim/log/bl1.log
new file mode 100644
index 0000000000000000000000000000000000000000..72d5c3ef15f7433e6fa6c0adc1847846a1514af6
--- /dev/null
+++ b/build/sim/log/bl1.log
@@ -0,0 +1,149 @@
+EventLog - INFO - [T:0.377] Distance of the obstacle : inf
+EventLog - INFO - [T:0.581] Distance of the obstacle : inf
+EventLog - INFO - [T:0.775] Distance of the obstacle : inf
+EventLog - INFO - [T:0.98] Distance of the obstacle : inf
+EventLog - INFO - [T:1.174] Distance of the obstacle : inf
+EventLog - INFO - [T:1.379] Distance of the obstacle : inf
+EventLog - INFO - [T:1.573] Distance of the obstacle : inf
+EventLog - INFO - [T:1.779] Distance of the obstacle : inf
+EventLog - INFO - [T:1.974] Distance of the obstacle : inf
+EventLog - INFO - [T:2.18] Distance of the obstacle : inf
+EventLog - INFO - [T:2.374] Distance of the obstacle : inf
+EventLog - INFO - [T:2.578] Distance of the obstacle : inf
+EventLog - INFO - [T:2.773] Distance of the obstacle : inf
+EventLog - INFO - [T:2.978] Distance of the obstacle : inf
+EventLog - INFO - [T:3.173] Distance of the obstacle : inf
+EventLog - INFO - [T:3.378] Distance of the obstacle : inf
+EventLog - INFO - [T:3.572] Distance of the obstacle : inf
+EventLog - INFO - [T:3.776] Distance of the obstacle : inf
+EventLog - INFO - [T:3.981] Distance of the obstacle : inf
+EventLog - INFO - [T:4.176] Distance of the obstacle : inf
+EventLog - INFO - [T:4.38] Distance of the obstacle : inf
+EventLog - INFO - [T:4.576] Distance of the obstacle : inf
+EventLog - INFO - [T:4.78] Distance of the obstacle : inf
+EventLog - INFO - [T:4.975] Distance of the obstacle : inf
+EventLog - INFO - [T:5.18] Distance of the obstacle : inf
+EventLog - INFO - [T:5.375] Distance of the obstacle : inf
+EventLog - INFO - [T:5.58] Distance of the obstacle : inf
+EventLog - INFO - [T:5.775] Distance of the obstacle : inf
+EventLog - INFO - [T:5.981] Distance of the obstacle : inf
+EventLog - INFO - [T:6.175] Distance of the obstacle : inf
+EventLog - INFO - [T:6.38] Distance of the obstacle : inf
+EventLog - INFO - [T:6.574] Distance of the obstacle : inf
+EventLog - INFO - [T:6.779] Distance of the obstacle : inf
+EventLog - INFO - [T:6.975] Distance of the obstacle : inf
+EventLog - INFO - [T:7.178] Distance of the obstacle : inf
+EventLog - INFO - [T:7.373] Distance of the obstacle : inf
+EventLog - INFO - [T:7.578] Distance of the obstacle : inf
+EventLog - INFO - [T:7.773] Distance of the obstacle : inf
+EventLog - INFO - [T:7.977] Distance of the obstacle : inf
+EventLog - INFO - [T:8.182] Distance of the obstacle : inf
+EventLog - INFO - [T:8.377] Distance of the obstacle : inf
+EventLog - INFO - [T:8.581] Distance of the obstacle : inf
+EventLog - INFO - [T:8.776] Distance of the obstacle : inf
+EventLog - INFO - [T:8.981] Distance of the obstacle : inf
+EventLog - INFO - [T:9.175] Distance of the obstacle : inf
+EventLog - INFO - [T:9.38] Distance of the obstacle : inf
+EventLog - INFO - [T:9.574] Distance of the obstacle : inf
+EventLog - INFO - [T:9.78] Distance of the obstacle : inf
+EventLog - INFO - [T:9.974] Distance of the obstacle : inf
+EventLog - INFO - [T:10.179] Distance of the obstacle : inf
+EventLog - INFO - [T:10.374] Distance of the obstacle : inf
+EventLog - INFO - [T:10.579] Distance of the obstacle : inf
+EventLog - INFO - [T:10.773] Distance of the obstacle : inf
+EventLog - INFO - [T:10.978] Distance of the obstacle : inf
+EventLog - INFO - [T:11.173] Distance of the obstacle : inf
+EventLog - INFO - [T:11.378] Distance of the obstacle : inf
+EventLog - INFO - [T:11.571] Distance of the obstacle : inf
+EventLog - INFO - [T:11.777] Distance of the obstacle : inf
+EventLog - INFO - [T:11.972] Distance of the obstacle : inf
+EventLog - INFO - [T:12.176] Distance of the obstacle : inf
+EventLog - INFO - [T:12.381] Distance of the obstacle : inf
+EventLog - INFO - [T:12.576] Distance of the obstacle : inf
+EventLog - INFO - [T:12.781] Distance of the obstacle : inf
+EventLog - INFO - [T:12.977] Distance of the obstacle : inf
+EventLog - INFO - [T:13.182] Distance of the obstacle : inf
+EventLog - INFO - [T:13.377] Distance of the obstacle : inf
+EventLog - INFO - [T:13.582] Distance of the obstacle : inf
+EventLog - INFO - [T:13.777] Distance of the obstacle : inf
+EventLog - INFO - [T:13.982] Distance of the obstacle : inf
+EventLog - INFO - [T:14.177] Distance of the obstacle : inf
+EventLog - INFO - [T:14.382] Distance of the obstacle : inf
+EventLog - INFO - [T:14.576] Distance of the obstacle : inf
+EventLog - INFO - [T:14.781] Distance of the obstacle : inf
+EventLog - INFO - [T:14.975] Distance of the obstacle : inf
+EventLog - INFO - [T:15.181] Distance of the obstacle : inf
+EventLog - INFO - [T:15.375] Distance of the obstacle : inf
+EventLog - INFO - [T:15.58] Distance of the obstacle : inf
+EventLog - INFO - [T:15.775] Distance of the obstacle : inf
+EventLog - INFO - [T:15.98] Distance of the obstacle : inf
+EventLog - INFO - [T:16.174] Distance of the obstacle : inf
+EventLog - INFO - [T:16.379] Distance of the obstacle : inf
+EventLog - INFO - [T:16.574] Distance of the obstacle : inf
+EventLog - INFO - [T:16.778] Distance of the obstacle : inf
+EventLog - INFO - [T:16.973] Distance of the obstacle : inf
+EventLog - INFO - [T:17.178] Distance of the obstacle : inf
+EventLog - INFO - [T:17.373] Distance of the obstacle : inf
+EventLog - INFO - [T:17.577] Distance of the obstacle : inf
+EventLog - INFO - [T:17.772] Distance of the obstacle : inf
+EventLog - INFO - [T:17.977] Distance of the obstacle : inf
+EventLog - INFO - [T:18.181] Distance of the obstacle : inf
+EventLog - INFO - [T:18.376] Distance of the obstacle : inf
+EventLog - INFO - [T:18.58] Distance of the obstacle : inf
+EventLog - INFO - [T:18.775] Distance of the obstacle : inf
+EventLog - INFO - [T:18.98] Distance of the obstacle : inf
+EventLog - INFO - [T:19.174] Distance of the obstacle : inf
+EventLog - INFO - [T:19.379] Distance of the obstacle : inf
+EventLog - INFO - [T:19.574] Distance of the obstacle : inf
+EventLog - INFO - [T:19.778] Distance of the obstacle : inf
+EventLog - INFO - [T:19.973] Distance of the obstacle : inf
+EventLog - INFO - [T:20.178] Distance of the obstacle : inf
+EventLog - INFO - [T:20.372] Distance of the obstacle : inf
+EventLog - INFO - [T:20.577] Distance of the obstacle : inf
+EventLog - INFO - [T:20.781] Distance of the obstacle : inf
+EventLog - INFO - [T:20.975] Distance of the obstacle : inf
+EventLog - INFO - [T:21.18] Distance of the obstacle : inf
+EventLog - INFO - [T:21.375] Distance of the obstacle : inf
+EventLog - INFO - [T:21.581] Distance of the obstacle : inf
+EventLog - INFO - [T:21.775] Distance of the obstacle : inf
+EventLog - INFO - [T:21.979] Distance of the obstacle : inf
+EventLog - INFO - [T:22.174] Distance of the obstacle : inf
+EventLog - INFO - [T:22.379] Distance of the obstacle : inf
+EventLog - INFO - [T:22.572] Distance of the obstacle : inf
+EventLog - INFO - [T:22.777] Distance of the obstacle : inf
+EventLog - INFO - [T:22.982] Distance of the obstacle : inf
+EventLog - INFO - [T:23.177] Distance of the obstacle : inf
+EventLog - INFO - [T:23.381] Distance of the obstacle : inf
+EventLog - INFO - [T:23.575] Distance of the obstacle : inf
+EventLog - INFO - [T:23.779] Distance of the obstacle : inf
+EventLog - INFO - [T:23.974] Distance of the obstacle : inf
+EventLog - INFO - [T:24.179] Distance of the obstacle : inf
+EventLog - INFO - [T:24.374] Distance of the obstacle : inf
+EventLog - INFO - [T:24.579] Distance of the obstacle : inf
+EventLog - INFO - [T:24.773] Distance of the obstacle : inf
+EventLog - INFO - [T:24.978] Distance of the obstacle : inf
+EventLog - INFO - [T:25.173] Distance of the obstacle : inf
+EventLog - INFO - [T:25.378] Distance of the obstacle : inf
+EventLog - INFO - [T:25.573] Distance of the obstacle : inf
+EventLog - INFO - [T:25.778] Distance of the obstacle : inf
+EventLog - INFO - [T:25.973] Distance of the obstacle : inf
+EventLog - INFO - [T:26.177] Distance of the obstacle : inf
+EventLog - INFO - [T:26.382] Distance of the obstacle : inf
+EventLog - INFO - [T:26.577] Distance of the obstacle : inf
+EventLog - INFO - [T:26.781] Distance of the obstacle : inf
+EventLog - INFO - [T:26.976] Distance of the obstacle : inf
+EventLog - INFO - [T:27.181] Distance of the obstacle : inf
+EventLog - INFO - [T:27.376] Distance of the obstacle : inf
+EventLog - INFO - [T:27.58] Distance of the obstacle : inf
+EventLog - INFO - [T:27.775] Distance of the obstacle : inf
+EventLog - INFO - [T:27.979] Distance of the obstacle : inf
+EventLog - INFO - [T:28.174] Distance of the obstacle : inf
+EventLog - INFO - [T:28.379] Distance of the obstacle : inf
+EventLog - INFO - [T:28.573] Distance of the obstacle : inf
+EventLog - INFO - [T:28.778] Distance of the obstacle : inf
+EventLog - INFO - [T:28.973] Distance of the obstacle : inf
+EventLog - INFO - [T:29.177] Distance of the obstacle : inf
+EventLog - INFO - [T:29.382] Distance of the obstacle : inf
+EventLog - INFO - [T:29.577] Distance of the obstacle : inf
+EventLog - INFO - [T:29.782] Distance of the obstacle : inf
+EventLog - INFO - [T:29.976] Distance of the obstacle : inf
diff --git a/build/sim/log/bl2.log b/build/sim/log/bl2.log
new file mode 100644
index 0000000000000000000000000000000000000000..59210f2fc931957fa277718d3e5d7a5d511fd81e
--- /dev/null
+++ b/build/sim/log/bl2.log
@@ -0,0 +1,148 @@
+EventLog - INFO - [T:0.573] Distance of the obstacle : inf
+EventLog - INFO - [T:0.768] Distance of the obstacle : inf
+EventLog - INFO - [T:0.973] Distance of the obstacle : inf
+EventLog - INFO - [T:1.169] Distance of the obstacle : inf
+EventLog - INFO - [T:1.374] Distance of the obstacle : inf
+EventLog - INFO - [T:1.568] Distance of the obstacle : inf
+EventLog - INFO - [T:1.772] Distance of the obstacle : inf
+EventLog - INFO - [T:1.967] Distance of the obstacle : inf
+EventLog - INFO - [T:2.172] Distance of the obstacle : inf
+EventLog - INFO - [T:2.376] Distance of the obstacle : inf
+EventLog - INFO - [T:2.571] Distance of the obstacle : inf
+EventLog - INFO - [T:2.775] Distance of the obstacle : inf
+EventLog - INFO - [T:2.971] Distance of the obstacle : inf
+EventLog - INFO - [T:3.175] Distance of the obstacle : inf
+EventLog - INFO - [T:3.369] Distance of the obstacle : inf
+EventLog - INFO - [T:3.575] Distance of the obstacle : inf
+EventLog - INFO - [T:3.769] Distance of the obstacle : inf
+EventLog - INFO - [T:3.974] Distance of the obstacle : inf
+EventLog - INFO - [T:4.168] Distance of the obstacle : inf
+EventLog - INFO - [T:4.373] Distance of the obstacle : inf
+EventLog - INFO - [T:4.567] Distance of the obstacle : inf
+EventLog - INFO - [T:4.772] Distance of the obstacle : inf
+EventLog - INFO - [T:4.977] Distance of the obstacle : inf
+EventLog - INFO - [T:5.171] Distance of the obstacle : inf
+EventLog - INFO - [T:5.375] Distance of the obstacle : inf
+EventLog - INFO - [T:5.57] Distance of the obstacle : inf
+EventLog - INFO - [T:5.775] Distance of the obstacle : inf
+EventLog - INFO - [T:5.971] Distance of the obstacle : inf
+EventLog - INFO - [T:6.176] Distance of the obstacle : inf
+EventLog - INFO - [T:6.37] Distance of the obstacle : inf
+EventLog - INFO - [T:6.575] Distance of the obstacle : inf
+EventLog - INFO - [T:6.77] Distance of the obstacle : inf
+EventLog - INFO - [T:6.975] Distance of the obstacle : inf
+EventLog - INFO - [T:7.169] Distance of the obstacle : inf
+EventLog - INFO - [T:7.374] Distance of the obstacle : inf
+EventLog - INFO - [T:7.569] Distance of the obstacle : inf
+EventLog - INFO - [T:7.774] Distance of the obstacle : inf
+EventLog - INFO - [T:7.969] Distance of the obstacle : inf
+EventLog - INFO - [T:8.173] Distance of the obstacle : inf
+EventLog - INFO - [T:8.368] Distance of the obstacle : inf
+EventLog - INFO - [T:8.573] Distance of the obstacle : inf
+EventLog - INFO - [T:8.768] Distance of the obstacle : inf
+EventLog - INFO - [T:8.973] Distance of the obstacle : inf
+EventLog - INFO - [T:9.167] Distance of the obstacle : inf
+EventLog - INFO - [T:9.372] Distance of the obstacle : inf
+EventLog - INFO - [T:9.577] Distance of the obstacle : inf
+EventLog - INFO - [T:9.772] Distance of the obstacle : inf
+EventLog - INFO - [T:9.976] Distance of the obstacle : inf
+EventLog - INFO - [T:10.171] Distance of the obstacle : inf
+EventLog - INFO - [T:10.377] Distance of the obstacle : inf
+EventLog - INFO - [T:10.571] Distance of the obstacle : inf
+EventLog - INFO - [T:10.776] Distance of the obstacle : inf
+EventLog - INFO - [T:10.972] Distance of the obstacle : inf
+EventLog - INFO - [T:11.177] Distance of the obstacle : inf
+EventLog - INFO - [T:11.371] Distance of the obstacle : inf
+EventLog - INFO - [T:11.576] Distance of the obstacle : inf
+EventLog - INFO - [T:11.77] Distance of the obstacle : inf
+EventLog - INFO - [T:11.975] Distance of the obstacle : inf
+EventLog - INFO - [T:12.169] Distance of the obstacle : inf
+EventLog - INFO - [T:12.375] Distance of the obstacle : inf
+EventLog - INFO - [T:12.572] Distance of the obstacle : inf
+EventLog - INFO - [T:12.777] Distance of the obstacle : inf
+EventLog - INFO - [T:12.979] Distance of the obstacle : inf
+EventLog - INFO - [T:13.172] Distance of the obstacle : inf
+EventLog - INFO - [T:13.368] Distance of the obstacle : inf
+EventLog - INFO - [T:13.573] Distance of the obstacle : inf
+EventLog - INFO - [T:13.777] Distance of the obstacle : inf
+EventLog - INFO - [T:13.972] Distance of the obstacle : inf
+EventLog - INFO - [T:14.176] Distance of the obstacle : inf
+EventLog - INFO - [T:14.371] Distance of the obstacle : inf
+EventLog - INFO - [T:14.577] Distance of the obstacle : inf
+EventLog - INFO - [T:14.773] Distance of the obstacle : inf
+EventLog - INFO - [T:14.976] Distance of the obstacle : inf
+EventLog - INFO - [T:15.171] Distance of the obstacle : inf
+EventLog - INFO - [T:15.376] Distance of the obstacle : inf
+EventLog - INFO - [T:15.571] Distance of the obstacle : inf
+EventLog - INFO - [T:15.776] Distance of the obstacle : inf
+EventLog - INFO - [T:15.97] Distance of the obstacle : inf
+EventLog - INFO - [T:16.175] Distance of the obstacle : inf
+EventLog - INFO - [T:16.37] Distance of the obstacle : inf
+EventLog - INFO - [T:16.574] Distance of the obstacle : inf
+EventLog - INFO - [T:16.769] Distance of the obstacle : inf
+EventLog - INFO - [T:16.973] Distance of the obstacle : inf
+EventLog - INFO - [T:17.169] Distance of the obstacle : inf
+EventLog - INFO - [T:17.373] Distance of the obstacle : inf
+EventLog - INFO - [T:17.568] Distance of the obstacle : inf
+EventLog - INFO - [T:17.772] Distance of the obstacle : inf
+EventLog - INFO - [T:17.976] Distance of the obstacle : inf
+EventLog - INFO - [T:18.17] Distance of the obstacle : inf
+EventLog - INFO - [T:18.375] Distance of the obstacle : inf
+EventLog - INFO - [T:18.569] Distance of the obstacle : inf
+EventLog - INFO - [T:18.774] Distance of the obstacle : inf
+EventLog - INFO - [T:18.968] Distance of the obstacle : inf
+EventLog - INFO - [T:19.174] Distance of the obstacle : inf
+EventLog - INFO - [T:19.367] Distance of the obstacle : inf
+EventLog - INFO - [T:19.573] Distance of the obstacle : inf
+EventLog - INFO - [T:19.767] Distance of the obstacle : inf
+EventLog - INFO - [T:19.972] Distance of the obstacle : inf
+EventLog - INFO - [T:20.176] Distance of the obstacle : inf
+EventLog - INFO - [T:20.37] Distance of the obstacle : inf
+EventLog - INFO - [T:20.575] Distance of the obstacle : inf
+EventLog - INFO - [T:20.789] Distance of the obstacle : inf
+EventLog - INFO - [T:20.976] Distance of the obstacle : inf
+EventLog - INFO - [T:21.171] Distance of the obstacle : inf
+EventLog - INFO - [T:21.376] Distance of the obstacle : inf
+EventLog - INFO - [T:21.571] Distance of the obstacle : inf
+EventLog - INFO - [T:21.776] Distance of the obstacle : inf
+EventLog - INFO - [T:21.97] Distance of the obstacle : inf
+EventLog - INFO - [T:22.175] Distance of the obstacle : inf
+EventLog - INFO - [T:22.369] Distance of the obstacle : inf
+EventLog - INFO - [T:22.574] Distance of the obstacle : inf
+EventLog - INFO - [T:22.769] Distance of the obstacle : inf
+EventLog - INFO - [T:22.975] Distance of the obstacle : inf
+EventLog - INFO - [T:23.169] Distance of the obstacle : inf
+EventLog - INFO - [T:23.374] Distance of the obstacle : inf
+EventLog - INFO - [T:23.568] Distance of the obstacle : inf
+EventLog - INFO - [T:23.773] Distance of the obstacle : inf
+EventLog - INFO - [T:23.967] Distance of the obstacle : inf
+EventLog - INFO - [T:24.172] Distance of the obstacle : inf
+EventLog - INFO - [T:24.367] Distance of the obstacle : inf
+EventLog - INFO - [T:24.572] Distance of the obstacle : inf
+EventLog - INFO - [T:24.777] Distance of the obstacle : inf
+EventLog - INFO - [T:24.972] Distance of the obstacle : inf
+EventLog - INFO - [T:25.168] Distance of the obstacle : inf
+EventLog - INFO - [T:25.374] Distance of the obstacle : inf
+EventLog - INFO - [T:25.569] Distance of the obstacle : inf
+EventLog - INFO - [T:25.773] Distance of the obstacle : inf
+EventLog - INFO - [T:25.967] Distance of the obstacle : inf
+EventLog - INFO - [T:26.175] Distance of the obstacle : inf
+EventLog - INFO - [T:26.37] Distance of the obstacle : inf
+EventLog - INFO - [T:26.575] Distance of the obstacle : inf
+EventLog - INFO - [T:26.77] Distance of the obstacle : inf
+EventLog - INFO - [T:26.975] Distance of the obstacle : inf
+EventLog - INFO - [T:27.169] Distance of the obstacle : inf
+EventLog - INFO - [T:27.374] Distance of the obstacle : inf
+EventLog - INFO - [T:27.57] Distance of the obstacle : inf
+EventLog - INFO - [T:27.774] Distance of the obstacle : inf
+EventLog - INFO - [T:27.969] Distance of the obstacle : inf
+EventLog - INFO - [T:28.173] Distance of the obstacle : inf
+EventLog - INFO - [T:28.367] Distance of the obstacle : inf
+EventLog - INFO - [T:28.571] Distance of the obstacle : inf
+EventLog - INFO - [T:28.777] Distance of the obstacle : inf
+EventLog - INFO - [T:28.971] Distance of the obstacle : inf
+EventLog - INFO - [T:29.175] Distance of the obstacle : inf
+EventLog - INFO - [T:29.37] Distance of the obstacle : inf
+EventLog - INFO - [T:29.574] Distance of the obstacle : inf
+EventLog - INFO - [T:29.769] Distance of the obstacle : inf
+EventLog - INFO - [T:29.974] Distance of the obstacle : inf
diff --git a/build/sim/log/lm0.log b/build/sim/log/lm0.log
new file mode 100644
index 0000000000000000000000000000000000000000..962b67ef8079544355081ba4bc36f6f9f89dd0db
--- /dev/null
+++ b/build/sim/log/lm0.log
@@ -0,0 +1,6196 @@
+EventLog - INFO - [T:0.477] Bot X: 0.140469470365
+EventLog - INFO - [T:0.477] Bot Y: 5.00001064158
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.477] cylinder_s_R_0.1 X: 0.999999889211
+EventLog - INFO - [T:0.477] cylinder_s_R_0.1 Y: 3.00000015561
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.477] Dist. To Collision Point: 2.17688641985
+EventLog - INFO - [T:0.513] Bot X: 0.140469772096
+EventLog - INFO - [T:0.513] Bot Y: 5.0000122904
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.513] cylinder_s_R_0.1 X: 1.00000009518
+EventLog - INFO - [T:0.513] cylinder_s_R_0.1 Y: 3.00000027761
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.513] Dist. To Collision Point: 2.17688778479
+EventLog - INFO - [T:0.545] Bot X: 0.140470069292
+EventLog - INFO - [T:0.545] Bot Y: 5.00001391579
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.545] cylinder_s_R_0.1 X: 1.00000009345
+EventLog - INFO - [T:0.545] cylinder_s_R_0.1 Y: 3.00000027386
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.545] Dist. To Collision Point: 2.17688916354
+EventLog - INFO - [T:0.576] Bot X: 0.140470367035
+EventLog - INFO - [T:0.576] Bot Y: 5.00001554435
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.576] cylinder_s_R_0.1 X: 0.999999834736
+EventLog - INFO - [T:0.576] cylinder_s_R_0.1 Y: 2.99999999335
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.576] Dist. To Collision Point: 2.17689069778
+EventLog - INFO - [T:0.61] Bot X: 0.140470673882
+EventLog - INFO - [T:0.61] Bot Y: 5.00001722275
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.61] cylinder_s_R_0.1 X: 1.00000007338
+EventLog - INFO - [T:0.61] cylinder_s_R_0.1 Y: 3.0000001546
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.61] Dist. To Collision Point: 2.17689206474
+EventLog - INFO - [T:0.643] Bot X: 0.140968091537
+EventLog - INFO - [T:0.643] Bot Y: 5.00002008591
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.643] cylinder_s_R_0.1 X: 0.999999949346
+EventLog - INFO - [T:0.643] cylinder_s_R_0.1 Y: 3.00000035641
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.643] Dist. To Collision Point: 2.17669810748
+EventLog - INFO - [T:0.676] Bot X: 0.142433702798
+EventLog - INFO - [T:0.676] Bot Y: 5.00002184981
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.676] cylinder_s_R_0.1 X: 1.00000021096
+EventLog - INFO - [T:0.676] cylinder_s_R_0.1 Y: 3.00000009578
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.676] Dist. To Collision Point: 2.17612208585
+EventLog - INFO - [T:0.71] Bot X: 0.144957671527
+EventLog - INFO - [T:0.71] Bot Y: 5.00002344637
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.71] cylinder_s_R_0.1 X: 1.00000009939
+EventLog - INFO - [T:0.71] cylinder_s_R_0.1 Y: 3.00000015938
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.71] Dist. To Collision Point: 2.17513004254
+EventLog - INFO - [T:0.744] Bot X: 0.148384317839
+EventLog - INFO - [T:0.744] Bot Y: 5.00002485443
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.744] cylinder_s_R_0.1 X: 1.0000001286
+EventLog - INFO - [T:0.744] cylinder_s_R_0.1 Y: 3.00000014309
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.744] Dist. To Collision Point: 2.17378663515
+EventLog - INFO - [T:0.785] Bot X: 0.15274708807
+EventLog - INFO - [T:0.785] Bot Y: 5.0000260834
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.785] cylinder_s_R_0.1 X: 1.00000010123
+EventLog - INFO - [T:0.785] cylinder_s_R_0.1 Y: 3.0000002477
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.785] Dist. To Collision Point: 2.17208218348
+EventLog - INFO - [T:0.829] Bot X: 0.158158066917
+EventLog - INFO - [T:0.829] Bot Y: 5.00002704607
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.829] cylinder_s_R_0.1 X: 1.00000005236
+EventLog - INFO - [T:0.829] cylinder_s_R_0.1 Y: 3.00000030734
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.829] Dist. To Collision Point: 2.16997808378
+EventLog - INFO - [T:0.872] Bot X: 0.164188338302
+EventLog - INFO - [T:0.872] Bot Y: 5.000027924
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.872] cylinder_s_R_0.1 X: 1.00000027432
+EventLog - INFO - [T:0.872] cylinder_s_R_0.1 Y: 3.0000001081
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.872] Dist. To Collision Point: 2.16764684779
+EventLog - INFO - [T:0.916] Bot X: 0.170823653402
+EventLog - INFO - [T:0.916] Bot Y: 5.00002952331
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.916] cylinder_s_R_0.1 X: 0.999999859202
+EventLog - INFO - [T:0.916] cylinder_s_R_0.1 Y: 3.00000021138
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.916] Dist. To Collision Point: 2.16509824924
+EventLog - INFO - [T:0.945] Bot X: 0.178079352285
+EventLog - INFO - [T:0.945] Bot Y: 5.00002621926
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.945] cylinder_s_R_0.1 X: 1.00000006593
+EventLog - INFO - [T:0.945] cylinder_s_R_0.1 Y: 3.00000026586
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.945] Dist. To Collision Point: 2.16232686562
+EventLog - INFO - [T:0.974] Bot X: 0.185292221996
+EventLog - INFO - [T:0.974] Bot Y: 5.00001565163
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:0.974] cylinder_s_R_0.1 X: 1.00000024284
+EventLog - INFO - [T:0.974] cylinder_s_R_0.1 Y: 3.0000001222
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:0.974] Dist. To Collision Point: 2.1595859041
+EventLog - INFO - [T:1.006] Bot X: 0.192469522076
+EventLog - INFO - [T:1.006] Bot Y: 5.00003000927
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.006] cylinder_s_R_0.1 X: 0.999999684072
+EventLog - INFO - [T:1.006] cylinder_s_R_0.1 Y: 3.00000028725
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.006] Dist. To Collision Point: 2.15690144687
+EventLog - INFO - [T:1.035] Bot X: 0.199920332146
+EventLog - INFO - [T:1.035] Bot Y: 5.00003363029
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.035] cylinder_s_R_0.1 X: 1.00000024535
+EventLog - INFO - [T:1.035] cylinder_s_R_0.1 Y: 2.99999998473
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.035] Dist. To Collision Point: 2.15412684187
+EventLog - INFO - [T:1.063] Bot X: 0.207145070876
+EventLog - INFO - [T:1.063] Bot Y: 5.00003491032
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.063] cylinder_s_R_0.1 X: 1.00000019265
+EventLog - INFO - [T:1.063] cylinder_s_R_0.1 Y: 3.000000161
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.063] Dist. To Collision Point: 2.15145491299
+EventLog - INFO - [T:1.104] Bot X: 0.214376330725
+EventLog - INFO - [T:1.104] Bot Y: 5.00003687586
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.104] cylinder_s_R_0.1 X: 1.00000000588
+EventLog - INFO - [T:1.104] cylinder_s_R_0.1 Y: 3.00000039735
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.104] Dist. To Collision Point: 2.14880210218
+EventLog - INFO - [T:1.152] Bot X: 0.221836117469
+EventLog - INFO - [T:1.152] Bot Y: 5.00003947785
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.152] cylinder_s_R_0.1 X: 0.999999931847
+EventLog - INFO - [T:1.152] cylinder_s_R_0.1 Y: 2.99999985951
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.152] Dist. To Collision Point: 2.14608886045
+EventLog - INFO - [T:1.193] Bot X: 0.22908551911
+EventLog - INFO - [T:1.193] Bot Y: 5.00004238262
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.193] cylinder_s_R_0.1 X: 1.00000011756
+EventLog - INFO - [T:1.193] cylinder_s_R_0.1 Y: 3.00000030907
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.193] Dist. To Collision Point: 2.14347325947
+EventLog - INFO - [T:1.222] Bot X: 0.236343212581
+EventLog - INFO - [T:1.222] Bot Y: 5.00004525569
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.222] cylinder_s_R_0.1 X: 0.999999702782
+EventLog - INFO - [T:1.222] cylinder_s_R_0.1 Y: 3.00000028295
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.222] Dist. To Collision Point: 2.14087625238
+EventLog - INFO - [T:1.251] Bot X: 0.243829676064
+EventLog - INFO - [T:1.251] Bot Y: 5.00004803282
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.251] cylinder_s_R_0.1 X: 0.999999840759
+EventLog - INFO - [T:1.251] cylinder_s_R_0.1 Y: 2.9999998783
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.251] Dist. To Collision Point: 2.13822027358
+EventLog - INFO - [T:1.28] Bot X: 0.251104923684
+EventLog - INFO - [T:1.28] Bot Y: 5.00005089416
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.28] cylinder_s_R_0.1 X: 0.999999828548
+EventLog - INFO - [T:1.28] cylinder_s_R_0.1 Y: 3.00000021955
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.28] Dist. To Collision Point: 2.135660619
+EventLog - INFO - [T:1.309] Bot X: 0.25838900841
+EventLog - INFO - [T:1.309] Bot Y: 5.00005387398
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.309] cylinder_s_R_0.1 X: 1.00000000464
+EventLog - INFO - [T:1.309] cylinder_s_R_0.1 Y: 3.00000030293
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.309] Dist. To Collision Point: 2.13312005213
+EventLog - INFO - [T:1.353] Bot X: 0.265901953864
+EventLog - INFO - [T:1.353] Bot Y: 5.00005570665
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.353] cylinder_s_R_0.1 X: 1.0000000383
+EventLog - INFO - [T:1.353] cylinder_s_R_0.1 Y: 3.00000043478
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.353] Dist. To Collision Point: 2.13052131839
+EventLog - INFO - [T:1.382] Bot X: 0.273197781772
+EventLog - INFO - [T:1.382] Bot Y: 5.00005664665
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.382] cylinder_s_R_0.1 X: 1.00000007286
+EventLog - INFO - [T:1.382] cylinder_s_R_0.1 Y: 3.00000035892
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.382] Dist. To Collision Point: 2.12801943704
+EventLog - INFO - [T:1.413] Bot X: 0.280485893681
+EventLog - INFO - [T:1.413] Bot Y: 5.0000545422
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.413] cylinder_s_R_0.1 X: 1.00000005992
+EventLog - INFO - [T:1.413] cylinder_s_R_0.1 Y: 3.00000002781
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.413] Dist. To Collision Point: 2.12553962465
+EventLog - INFO - [T:1.443] Bot X: 0.287979165587
+EventLog - INFO - [T:1.443] Bot Y: 5.00004468494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.443] cylinder_s_R_0.1 X: 1.00000004623
+EventLog - INFO - [T:1.443] cylinder_s_R_0.1 Y: 3.00000015528
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.443] Dist. To Collision Point: 2.12300538273
+EventLog - INFO - [T:1.472] Bot X: 0.295206315603
+EventLog - INFO - [T:1.472] Bot Y: 5.00005248421
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.472] cylinder_s_R_0.1 X: 1.00000012636
+EventLog - INFO - [T:1.472] cylinder_s_R_0.1 Y: 3.00000024442
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.472] Dist. To Collision Point: 2.12059974478
+EventLog - INFO - [T:1.5] Bot X: 0.30243038323
+EventLog - INFO - [T:1.5] Bot Y: 5.00005838625
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.5] cylinder_s_R_0.1 X: 1.00000004199
+EventLog - INFO - [T:1.5] cylinder_s_R_0.1 Y: 3.00000040886
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.5] Dist. To Collision Point: 2.11821513113
+EventLog - INFO - [T:1.544] Bot X: 0.309873163722
+EventLog - INFO - [T:1.544] Bot Y: 5.00006096494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.544] cylinder_s_R_0.1 X: 1.00000011068
+EventLog - INFO - [T:1.544] cylinder_s_R_0.1 Y: 3.00000006108
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.544] Dist. To Collision Point: 2.11577853805
+EventLog - INFO - [T:1.573] Bot X: 0.317103178115
+EventLog - INFO - [T:1.573] Bot Y: 5.00006399289
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.573] cylinder_s_R_0.1 X: 1.00000011793
+EventLog - INFO - [T:1.573] cylinder_s_R_0.1 Y: 3.00000006614
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.573] Dist. To Collision Point: 2.1134341583
+EventLog - INFO - [T:1.604] Bot X: 0.324341924043
+EventLog - INFO - [T:1.604] Bot Y: 5.00006761923
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.604] cylinder_s_R_0.1 X: 1.00000024863
+EventLog - INFO - [T:1.604] cylinder_s_R_0.1 Y: 3.0000002322
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.604] Dist. To Collision Point: 2.11110959551
+EventLog - INFO - [T:1.633] Bot X: 0.331809749452
+EventLog - INFO - [T:1.633] Bot Y: 5.0000714053
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.633] cylinder_s_R_0.1 X: 0.999999889242
+EventLog - INFO - [T:1.633] cylinder_s_R_0.1 Y: 3.00000010063
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.633] Dist. To Collision Point: 2.10873499679
+EventLog - INFO - [T:1.661] Bot X: 0.339066323977
+EventLog - INFO - [T:1.661] Bot Y: 5.00007492024
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.661] cylinder_s_R_0.1 X: 1.00000003746
+EventLog - INFO - [T:1.661] cylinder_s_R_0.1 Y: 3.00000045563
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.661] Dist. To Collision Point: 2.10644991338
+EventLog - INFO - [T:1.695] Bot X: 0.346331350246
+EventLog - INFO - [T:1.695] Bot Y: 5.00007828395
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.695] cylinder_s_R_0.1 X: 0.999999921593
+EventLog - INFO - [T:1.695] cylinder_s_R_0.1 Y: 3.00000024107
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.695] Dist. To Collision Point: 2.10418506286
+EventLog - INFO - [T:1.739] Bot X: 0.353825713008
+EventLog - INFO - [T:1.739] Bot Y: 5.00008187774
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.739] cylinder_s_R_0.1 X: 0.999999956752
+EventLog - INFO - [T:1.739] cylinder_s_R_0.1 Y: 3.00000020523
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.739] Dist. To Collision Point: 2.10187246283
+EventLog - INFO - [T:1.783] Bot X: 0.361108818008
+EventLog - INFO - [T:1.783] Bot Y: 5.0000859129
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.783] cylinder_s_R_0.1 X: 1.00000020921
+EventLog - INFO - [T:1.783] cylinder_s_R_0.1 Y: 3.00000021712
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.783] Dist. To Collision Point: 2.0996487802
+EventLog - INFO - [T:1.813] Bot X: 0.368399879745
+EventLog - INFO - [T:1.813] Bot Y: 5.00008917159
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.813] cylinder_s_R_0.1 X: 1.00000006593
+EventLog - INFO - [T:1.813] cylinder_s_R_0.1 Y: 3.00000009365
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.813] Dist. To Collision Point: 2.09744490151
+EventLog - INFO - [T:1.842] Bot X: 0.375917014911
+EventLog - INFO - [T:1.842] Bot Y: 5.00009155701
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.842] cylinder_s_R_0.1 X: 1.00000015701
+EventLog - INFO - [T:1.842] cylinder_s_R_0.1 Y: 3.00000022459
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.842] Dist. To Collision Point: 2.09519572028
+EventLog - INFO - [T:1.87] Bot X: 0.383206741468
+EventLog - INFO - [T:1.87] Bot Y: 5.00009159834
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.87] cylinder_s_R_0.1 X: 1.00000010637
+EventLog - INFO - [T:1.87] cylinder_s_R_0.1 Y: 3.00000025927
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.87] Dist. To Collision Point: 2.09303593366
+EventLog - INFO - [T:1.898] Bot X: 0.390482795153
+EventLog - INFO - [T:1.898] Bot Y: 5.000084803
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.898] cylinder_s_R_0.1 X: 1.00000003483
+EventLog - INFO - [T:1.898] cylinder_s_R_0.1 Y: 3.00000001852
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.898] Dist. To Collision Point: 2.0908970349
+EventLog - INFO - [T:1.932] Bot X: 0.39793888198
+EventLog - INFO - [T:1.932] Bot Y: 5.00008953786
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.932] cylinder_s_R_0.1 X: 1.00000008055
+EventLog - INFO - [T:1.932] cylinder_s_R_0.1 Y: 3.00000016306
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.932] Dist. To Collision Point: 2.08874009729
+EventLog - INFO - [T:1.976] Bot X: 0.405159376902
+EventLog - INFO - [T:1.976] Bot Y: 5.00009860747
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:1.976] cylinder_s_R_0.1 X: 1.00000006428
+EventLog - INFO - [T:1.976] cylinder_s_R_0.1 Y: 3.00000003403
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:1.976] Dist. To Collision Point: 2.08667911928
+EventLog - INFO - [T:2.03] Bot X: 0.412382997158
+EventLog - INFO - [T:2.03] Bot Y: 5.00010308117
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.03] cylinder_s_R_0.1 X: 1.00000007493
+EventLog - INFO - [T:2.03] cylinder_s_R_0.1 Y: 3.00000026669
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.03] Dist. To Collision Point: 2.08463548338
+EventLog - INFO - [T:2.068] Bot X: 0.419830864006
+EventLog - INFO - [T:2.068] Bot Y: 5.0001078785
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.068] cylinder_s_R_0.1 X: 1.00000012825
+EventLog - INFO - [T:2.068] cylinder_s_R_0.1 Y: 3.0000003102
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.068] Dist. To Collision Point: 2.08255291888
+EventLog - INFO - [T:2.098] Bot X: 0.427068310221
+EventLog - INFO - [T:2.098] Bot Y: 5.00011287382
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.098] cylinder_s_R_0.1 X: 1.00000005537
+EventLog - INFO - [T:2.098] cylinder_s_R_0.1 Y: 3.00000043545
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.098] Dist. To Collision Point: 2.0805529435
+EventLog - INFO - [T:2.126] Bot X: 0.434315314247
+EventLog - INFO - [T:2.126] Bot Y: 5.00011751294
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.126] cylinder_s_R_0.1 X: 1.00000018101
+EventLog - INFO - [T:2.126] cylinder_s_R_0.1 Y: 3.00000026176
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.126] Dist. To Collision Point: 2.07857364242
+EventLog - INFO - [T:2.155] Bot X: 0.44179055929
+EventLog - INFO - [T:2.155] Bot Y: 5.00012215876
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.155] cylinder_s_R_0.1 X: 1.00000010515
+EventLog - INFO - [T:2.155] cylinder_s_R_0.1 Y: 3.00000039157
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.155] Dist. To Collision Point: 2.07655603842
+EventLog - INFO - [T:2.183] Bot X: 0.449054517795
+EventLog - INFO - [T:2.183] Bot Y: 5.00012651016
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.183] cylinder_s_R_0.1 X: 1.00000020963
+EventLog - INFO - [T:2.183] cylinder_s_R_0.1 Y: 3.00000027593
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.183] Dist. To Collision Point: 2.07461950926
+EventLog - INFO - [T:2.212] Bot X: 0.456327142131
+EventLog - INFO - [T:2.212] Bot Y: 5.00013087788
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.212] cylinder_s_R_0.1 X: 1.00000009447
+EventLog - INFO - [T:2.212] cylinder_s_R_0.1 Y: 3.00000027802
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.212] Dist. To Collision Point: 2.07270419877
+EventLog - INFO - [T:2.241] Bot X: 0.463829654448
+EventLog - INFO - [T:2.241] Bot Y: 5.00013597003
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.241] cylinder_s_R_0.1 X: 1.00000023161
+EventLog - INFO - [T:2.241] cylinder_s_R_0.1 Y: 3.00000021102
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.241] Dist. To Collision Point: 2.07075395504
+EventLog - INFO - [T:2.27] Bot X: 0.471119848799
+EventLog - INFO - [T:2.27] Bot Y: 5.00014076263
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.27] cylinder_s_R_0.1 X: 1.00000016176
+EventLog - INFO - [T:2.27] cylinder_s_R_0.1 Y: 3.00000027862
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.27] Dist. To Collision Point: 2.06888287277
+EventLog - INFO - [T:2.298] Bot X: 0.478415920331
+EventLog - INFO - [T:2.298] Bot Y: 5.00014473029
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.298] cylinder_s_R_0.1 X: 1.00000017072
+EventLog - INFO - [T:2.298] cylinder_s_R_0.1 Y: 3.00000025377
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.298] Dist. To Collision Point: 2.06703363718
+EventLog - INFO - [T:2.332] Bot X: 0.485928303632
+EventLog - INFO - [T:2.332] Bot Y: 5.00014747209
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.332] cylinder_s_R_0.1 X: 1.00000007606
+EventLog - INFO - [T:2.332] cylinder_s_R_0.1 Y: 3.00000032962
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.332] Dist. To Collision Point: 2.06515335478
+EventLog - INFO - [T:2.374] Bot X: 0.493206939439
+EventLog - INFO - [T:2.374] Bot Y: 5.00014379043
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.374] cylinder_s_R_0.1 X: 1.0000000897
+EventLog - INFO - [T:2.374] cylinder_s_R_0.1 Y: 3.00000009548
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.374] Dist. To Collision Point: 2.06335021206
+EventLog - INFO - [T:2.418] Bot X: 0.500453297168
+EventLog - INFO - [T:2.418] Bot Y: 5.00014605371
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.418] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.418] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.418] Dist. To Collision Point: 2.06158420369
+EventLog - INFO - [T:2.448] Bot X: 0.507888233743
+EventLog - INFO - [T:2.448] Bot Y: 5.00015962029
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.448] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.448] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.448] Dist. To Collision Point: 2.05980843281
+EventLog - INFO - [T:2.476] Bot X: 0.515112745345
+EventLog - INFO - [T:2.476] Bot Y: 5.00016753112
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.476] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.476] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.476] Dist. To Collision Point: 2.05810205857
+EventLog - INFO - [T:2.504] Bot X: 0.522340391068
+EventLog - INFO - [T:2.504] Bot Y: 5.00017437441
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.504] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.504] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.504] Dist. To Collision Point: 2.05641788303
+EventLog - INFO - [T:2.533] Bot X: 0.529795662739
+EventLog - INFO - [T:2.533] Bot Y: 5.00018138319
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.533] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.533] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.533] Dist. To Collision Point: 2.05470580921
+EventLog - INFO - [T:2.562] Bot X: 0.537041518424
+EventLog - INFO - [T:2.562] Bot Y: 5.00018753378
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.562] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.562] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.562] Dist. To Collision Point: 2.05306575693
+EventLog - INFO - [T:2.61] Bot X: 0.544295650094
+EventLog - INFO - [T:2.61] Bot Y: 5.00019345645
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.61] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.61] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.61] Dist. To Collision Point: 2.05144792585
+EventLog - INFO - [T:2.654] Bot X: 0.55177842387
+EventLog - INFO - [T:2.654] Bot Y: 5.00019938313
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.654] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.654] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.654] Dist. To Collision Point: 2.04980448499
+EventLog - INFO - [T:2.683] Bot X: 0.559049794803
+EventLog - INFO - [T:2.683] Bot Y: 5.00020504444
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.683] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.683] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.683] Dist. To Collision Point: 2.04823230488
+EventLog - INFO - [T:2.712] Bot X: 0.566330238349
+EventLog - INFO - [T:2.712] Bot Y: 5.00021119458
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.712] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.712] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.712] Dist. To Collision Point: 2.04668330598
+EventLog - INFO - [T:2.74] Bot X: 0.573840108296
+EventLog - INFO - [T:2.74] Bot Y: 5.00021748847
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.74] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.74] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.74] Dist. To Collision Point: 2.04511137171
+EventLog - INFO - [T:2.769] Bot X: 0.581135773487
+EventLog - INFO - [T:2.769] Bot Y: 5.00022271841
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.769] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.769] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.769] Dist. To Collision Point: 2.04360867833
+EventLog - INFO - [T:2.799] Bot X: 0.588428577153
+EventLog - INFO - [T:2.799] Bot Y: 5.0002274498
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.799] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.799] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.799] Dist. To Collision Point: 2.04213103205
+EventLog - INFO - [T:2.843] Bot X: 0.595930208507
+EventLog - INFO - [T:2.843] Bot Y: 5.00022700991
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.843] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.843] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.843] Dist. To Collision Point: 2.04063194892
+EventLog - INFO - [T:2.886] Bot X: 0.603184223594
+EventLog - INFO - [T:2.886] Bot Y: 5.00022802267
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.886] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.886] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.886] Dist. To Collision Point: 2.03920895566
+EventLog - INFO - [T:2.914] Bot X: 0.610396872886
+EventLog - INFO - [T:2.914] Bot Y: 5.00024570272
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.914] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.914] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.914] Dist. To Collision Point: 2.0378350591
+EventLog - INFO - [T:2.942] Bot X: 0.617842199355
+EventLog - INFO - [T:2.942] Bot Y: 5.00025690868
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.942] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.942] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.942] Dist. To Collision Point: 2.03643574508
+EventLog - INFO - [T:2.97] Bot X: 0.625068989475
+EventLog - INFO - [T:2.97] Bot Y: 5.00026547634
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:2.97] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:2.97] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:2.97] Dist. To Collision Point: 2.03510036496
+EventLog - INFO - [T:3.001] Bot X: 0.6323036826
+EventLog - INFO - [T:3.001] Bot Y: 5.00027370062
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.001] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.001] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.001] Dist. To Collision Point: 2.03378802105
+EventLog - INFO - [T:3.03] Bot X: 0.639767790173
+EventLog - INFO - [T:3.03] Bot Y: 5.00028162026
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.03] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.03] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.03] Dist. To Collision Point: 2.03245960822
+EventLog - INFO - [T:3.077] Bot X: 0.647020866725
+EventLog - INFO - [T:3.077] Bot Y: 5.00028911396
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.077] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.077] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.077] Dist. To Collision Point: 2.03119399863
+EventLog - INFO - [T:3.106] Bot X: 0.654282369284
+EventLog - INFO - [T:3.106] Bot Y: 5.00029644695
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.106] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.106] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.106] Dist. To Collision Point: 2.02995192218
+EventLog - INFO - [T:3.135] Bot X: 0.661772816368
+EventLog - INFO - [T:3.135] Bot Y: 5.00030387954
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.135] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.135] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.135] Dist. To Collision Point: 2.02869699244
+EventLog - INFO - [T:3.164] Bot X: 0.669052144888
+EventLog - INFO - [T:3.164] Bot Y: 5.00031153295
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.164] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.164] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.164] Dist. To Collision Point: 2.02750362735
+EventLog - INFO - [T:3.193] Bot X: 0.676340010242
+EventLog - INFO - [T:3.193] Bot Y: 5.00031934804
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.193] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.193] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.193] Dist. To Collision Point: 2.02633450564
+EventLog - INFO - [T:3.229] Bot X: 0.683856073422
+EventLog - INFO - [T:3.229] Bot Y: 5.00032645128
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.229] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.229] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.229] Dist. To Collision Point: 2.02515459607
+EventLog - INFO - [T:3.273] Bot X: 0.691149974766
+EventLog - INFO - [T:3.273] Bot Y: 5.0003330783
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.273] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.273] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.273] Dist. To Collision Point: 2.02403532692
+EventLog - INFO - [T:3.317] Bot X: 0.698433079953
+EventLog - INFO - [T:3.317] Bot Y: 5.00033583811
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.317] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.317] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.317] Dist. To Collision Point: 2.02293952289
+EventLog - INFO - [T:3.345] Bot X: 0.705913966185
+EventLog - INFO - [T:3.345] Bot Y: 5.00033757443
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.345] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.345] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.345] Dist. To Collision Point: 2.02183956982
+EventLog - INFO - [T:3.374] Bot X: 0.713125675102
+EventLog - INFO - [T:3.374] Bot Y: 5.00036016321
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.374] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.374] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.374] Dist. To Collision Point: 2.02082554872
+EventLog - INFO - [T:3.403] Bot X: 0.720353358927
+EventLog - INFO - [T:3.403] Bot Y: 5.00037276476
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.403] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.403] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.403] Dist. To Collision Point: 2.01982466511
+EventLog - INFO - [T:3.432] Bot X: 0.727798212462
+EventLog - INFO - [T:3.432] Bot Y: 5.00038429568
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.432] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.432] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.432] Dist. To Collision Point: 2.01881880757
+EventLog - INFO - [T:3.461] Bot X: 0.735031694782
+EventLog - INFO - [T:3.461] Bot Y: 5.00039438841
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.461] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.461] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.461] Dist. To Collision Point: 2.01786623556
+EventLog - INFO - [T:3.505] Bot X: 0.742274897164
+EventLog - INFO - [T:3.505] Bot Y: 5.0004039484
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.505] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.505] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.505] Dist. To Collision Point: 2.01693738537
+EventLog - INFO - [T:3.549] Bot X: 0.749746496304
+EventLog - INFO - [T:3.549] Bot Y: 5.00041356891
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.549] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.549] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.549] Dist. To Collision Point: 2.01600582643
+EventLog - INFO - [T:3.577] Bot X: 0.757006869213
+EventLog - INFO - [T:3.577] Bot Y: 5.00042274262
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.577] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.577] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.577] Dist. To Collision Point: 2.01512655648
+EventLog - INFO - [T:3.608] Bot X: 0.764275710314
+EventLog - INFO - [T:3.608] Bot Y: 5.00043177124
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.608] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.608] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.608] Dist. To Collision Point: 2.01427193754
+EventLog - INFO - [T:3.635] Bot X: 0.771774215996
+EventLog - INFO - [T:3.635] Bot Y: 5.00044142541
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.635] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.635] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.635] Dist. To Collision Point: 2.01341777322
+EventLog - INFO - [T:3.664] Bot X: 0.779060999348
+EventLog - INFO - [T:3.664] Bot Y: 5.00045107924
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.664] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.664] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.664] Dist. To Collision Point: 2.01261441548
+EventLog - INFO - [T:3.697] Bot X: 0.786355179882
+EventLog - INFO - [T:3.697] Bot Y: 5.00045988453
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.697] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.697] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.697] Dist. To Collision Point: 2.01183550026
+EventLog - INFO - [T:3.741] Bot X: 0.793871080902
+EventLog - INFO - [T:3.741] Bot Y: 5.00046868762
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.741] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.741] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.741] Dist. To Collision Point: 2.01105999939
+EventLog - INFO - [T:3.786] Bot X: 0.801155889452
+EventLog - INFO - [T:3.786] Bot Y: 5.00047443877
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.786] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.786] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.786] Dist. To Collision Point: 2.01033210654
+EventLog - INFO - [T:3.814] Bot X: 0.808422602172
+EventLog - INFO - [T:3.814] Bot Y: 5.00047801912
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.814] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.814] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.814] Dist. To Collision Point: 2.00962992136
+EventLog - INFO - [T:3.843] Bot X: 0.815855592452
+EventLog - INFO - [T:3.843] Bot Y: 5.00050587952
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.843] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.843] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.843] Dist. To Collision Point: 2.00896270539
+EventLog - INFO - [T:3.871] Bot X: 0.82308346618
+EventLog - INFO - [T:3.871] Bot Y: 5.00052004732
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.871] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.871] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.871] Dist. To Collision Point: 2.00832719766
+EventLog - INFO - [T:3.899] Bot X: 0.830308537925
+EventLog - INFO - [T:3.899] Bot Y: 5.00053354571
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.899] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.899] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.899] Dist. To Collision Point: 2.00771707953
+EventLog - INFO - [T:3.932] Bot X: 0.837759944955
+EventLog - INFO - [T:3.932] Bot Y: 5.00054615639
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.932] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.932] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.932] Dist. To Collision Point: 2.00711359152
+EventLog - INFO - [T:3.976] Bot X: 0.845001936846
+EventLog - INFO - [T:3.976] Bot Y: 5.00055786119
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:3.976] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:3.976] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:3.976] Dist. To Collision Point: 2.006552856
+EventLog - INFO - [T:4.006] Bot X: 0.852252624625
+EventLog - INFO - [T:4.006] Bot Y: 5.00056927688
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.006] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.006] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.006] Dist. To Collision Point: 2.00601717971
+EventLog - INFO - [T:4.033] Bot X: 0.85973177729
+EventLog - INFO - [T:4.033] Bot Y: 5.00058086633
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.033] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.033] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.033] Dist. To Collision Point: 2.00549175569
+EventLog - INFO - [T:4.062] Bot X: 0.866999533097
+EventLog - INFO - [T:4.062] Bot Y: 5.00059195622
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.062] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.062] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.062] Dist. To Collision Point: 2.00500760672
+EventLog - INFO - [T:4.09] Bot X: 0.874276166455
+EventLog - INFO - [T:4.09] Bot Y: 5.00060326679
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.09] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.09] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.09] Dist. To Collision Point: 2.00454935468
+EventLog - INFO - [T:4.128] Bot X: 0.881782526139
+EventLog - INFO - [T:4.128] Bot Y: 5.0006153121
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.128] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.128] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.128] Dist. To Collision Point: 2.00410458768
+EventLog - INFO - [T:4.172] Bot X: 0.889075894157
+EventLog - INFO - [T:4.172] Bot Y: 5.00062624996
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.172] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.172] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.172] Dist. To Collision Point: 2.00369851722
+EventLog - INFO - [T:4.216] Bot X: 0.896371476492
+EventLog - INFO - [T:4.216] Bot Y: 5.00063682142
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.216] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.216] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.216] Dist. To Collision Point: 2.00331843678
+EventLog - INFO - [T:4.244] Bot X: 0.903878815249
+EventLog - INFO - [T:4.244] Bot Y: 5.00064574129
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.244] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.244] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.244] Dist. To Collision Point: 2.00295303481
+EventLog - INFO - [T:4.272] Bot X: 0.91114959175
+EventLog - INFO - [T:4.272] Bot Y: 5.00065290958
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.272] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.272] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.272] Dist. To Collision Point: 2.00262444143
+EventLog - INFO - [T:4.301] Bot X: 0.91836925903
+EventLog - INFO - [T:4.301] Bot Y: 5.00068344443
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.301] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.301] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.301] Dist. To Collision Point: 2.00234762587
+EventLog - INFO - [T:4.33] Bot X: 0.925814266082
+EventLog - INFO - [T:4.33] Bot Y: 5.00070028571
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.33] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.33] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.33] Dist. To Collision Point: 2.00207476056
+EventLog - INFO - [T:4.364] Bot X: 0.933038525298
+EventLog - INFO - [T:4.364] Bot Y: 5.00071595409
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.364] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.364] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.364] Dist. To Collision Point: 2.00183574674
+EventLog - INFO - [T:4.408] Bot X: 0.940269517899
+EventLog - INFO - [T:4.408] Bot Y: 5.00073029537
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.408] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.408] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.408] Dist. To Collision Point: 2.00162125103
+EventLog - INFO - [T:4.453] Bot X: 0.947729433819
+EventLog - INFO - [T:4.453] Bot Y: 5.00074459469
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.453] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.453] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.453] Dist. To Collision Point: 2.00142682377
+EventLog - INFO - [T:4.482] Bot X: 0.954979055559
+EventLog - INFO - [T:4.482] Bot Y: 5.0007582588
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.482] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.482] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.482] Dist. To Collision Point: 2.00126427031
+EventLog - INFO - [T:4.512] Bot X: 0.962236978511
+EventLog - INFO - [T:4.512] Bot Y: 5.00077174345
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.512] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.512] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.512] Dist. To Collision Point: 2.00112763152
+EventLog - INFO - [T:4.542] Bot X: 0.969723672947
+EventLog - INFO - [T:4.542] Bot Y: 5.00078547718
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.542] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.542] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.542] Dist. To Collision Point: 2.00101408352
+EventLog - INFO - [T:4.57] Bot X: 0.976999099247
+EventLog - INFO - [T:4.57] Bot Y: 5.00079895121
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.57] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.57] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.57] Dist. To Collision Point: 2.00093069939
+EventLog - INFO - [T:4.601] Bot X: 0.984283452023
+EventLog - INFO - [T:4.601] Bot Y: 5.00081289837
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.601] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.601] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.601] Dist. To Collision Point: 2.00087416938
+EventLog - INFO - [T:4.644] Bot X: 0.991796785713
+EventLog - INFO - [T:4.644] Bot Y: 5.00082663033
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.644] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.644] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.644] Dist. To Collision Point: 2.00084299066
+EventLog - INFO - [T:4.672] Bot X: 0.99909274838
+EventLog - INFO - [T:4.672] Bot Y: 5.00083941001
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.672] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.672] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.672] Dist. To Collision Point: 2.00083915946
+EventLog - INFO - [T:4.701] Bot X: 1.0063809133
+EventLog - INFO - [T:4.701] Bot Y: 5.00085070744
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.701] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.701] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.701] Dist. To Collision Point: 2.00086042546
+EventLog - INFO - [T:4.729] Bot X: 1.01387568679
+EventLog - INFO - [T:4.729] Bot Y: 5.00086262464
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.729] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.729] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.729] Dist. To Collision Point: 2.00091027994
+EventLog - INFO - [T:4.757] Bot X: 1.02110291565
+EventLog - INFO - [T:4.757] Bot Y: 5.00089566521
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.757] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.757] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.757] Dist. To Collision Point: 2.00100648812
+EventLog - INFO - [T:4.804] Bot X: 1.02832634593
+EventLog - INFO - [T:4.804] Bot Y: 5.00091569651
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.804] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.804] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.804] Dist. To Collision Point: 2.00111573234
+EventLog - INFO - [T:4.843] Bot X: 1.03576870022
+EventLog - INFO - [T:4.843] Bot Y: 5.00093532831
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.843] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.843] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.843] Dist. To Collision Point: 2.00125454506
+EventLog - INFO - [T:4.884] Bot X: 1.04299861609
+EventLog - INFO - [T:4.884] Bot Y: 5.00095269579
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.884] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.884] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.884] Dist. To Collision Point: 2.00141418409
+EventLog - INFO - [T:4.912] Bot X: 1.05023768916
+EventLog - INFO - [T:4.912] Bot Y: 5.00096950977
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.912] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.912] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.912] Dist. To Collision Point: 2.00159960216
+EventLog - INFO - [T:4.94] Bot X: 1.05770582118
+EventLog - INFO - [T:4.94] Bot Y: 5.00098623096
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.94] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.94] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.94] Dist. To Collision Point: 2.0018176789
+EventLog - INFO - [T:4.968] Bot X: 1.06496267153
+EventLog - INFO - [T:4.968] Bot Y: 5.00100228937
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.968] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.968] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.968] Dist. To Collision Point: 2.00205606076
+EventLog - INFO - [T:4.997] Bot X: 1.07222796458
+EventLog - INFO - [T:4.997] Bot Y: 5.00101818731
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:4.997] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:4.997] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:4.997] Dist. To Collision Point: 2.00232085912
+EventLog - INFO - [T:5.031] Bot X: 1.07972245987
+EventLog - INFO - [T:5.031] Bot Y: 5.00103457412
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.031] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.031] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.031] Dist. To Collision Point: 2.00262158028
+EventLog - INFO - [T:5.075] Bot X: 1.08700564194
+EventLog - INFO - [T:5.075] Bot Y: 5.00105096241
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.075] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.075] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.075] Dist. To Collision Point: 2.00294111013
+EventLog - INFO - [T:5.123] Bot X: 1.09429695747
+EventLog - INFO - [T:5.123] Bot Y: 5.00106682829
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.123] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.123] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.123] Dist. To Collision Point: 2.00328692918
+EventLog - INFO - [T:5.151] Bot X: 1.10181413893
+EventLog - INFO - [T:5.151] Bot Y: 5.0010825059
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.151] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.151] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.151] Dist. To Collision Point: 2.00367049831
+EventLog - INFO - [T:5.181] Bot X: 1.10910365989
+EventLog - INFO - [T:5.181] Bot Y: 5.00109642991
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.181] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.181] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.181] Dist. To Collision Point: 2.00406803285
+EventLog - INFO - [T:5.21] Bot X: 1.11638094541
+EventLog - INFO - [T:5.21] Bot Y: 5.00111217552
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.21] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.21] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.21] Dist. To Collision Point: 2.00449310593
+EventLog - INFO - [T:5.237] Bot X: 1.12383724838
+EventLog - INFO - [T:5.237] Bot Y: 5.00114675633
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.237] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.237] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.237] Dist. To Collision Point: 2.00497435171
+EventLog - INFO - [T:5.267] Bot X: 1.13105685957
+EventLog - INFO - [T:5.267] Bot Y: 5.00117203149
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.267] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.267] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.267] Dist. To Collision Point: 2.00545843762
+EventLog - INFO - [T:5.311] Bot X: 1.13828022095
+EventLog - INFO - [T:5.311] Bot Y: 5.00119414568
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.311] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.311] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.311] Dist. To Collision Point: 2.00596549611
+EventLog - INFO - [T:5.339] Bot X: 1.14572803718
+EventLog - INFO - [T:5.339] Bot Y: 5.00121528349
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.339] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.339] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.339] Dist. To Collision Point: 2.00651374613
+EventLog - INFO - [T:5.367] Bot X: 1.15296577814
+EventLog - INFO - [T:5.367] Bot Y: 5.00123494603
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.367] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.367] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.367] Dist. To Collision Point: 2.00707199139
+EventLog - INFO - [T:5.396] Bot X: 1.1602130211
+EventLog - INFO - [T:5.396] Bot Y: 5.00125397015
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.396] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.396] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.396] Dist. To Collision Point: 2.0076562962
+EventLog - INFO - [T:5.424] Bot X: 1.16768848077
+EventLog - INFO - [T:5.424] Bot Y: 5.00127336634
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.424] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.424] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.424] Dist. To Collision Point: 2.00828599812
+EventLog - INFO - [T:5.466] Bot X: 1.17495263989
+EventLog - INFO - [T:5.466] Bot Y: 5.00129203089
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.466] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.466] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.466] Dist. To Collision Point: 2.00892417835
+EventLog - INFO - [T:5.51] Bot X: 1.18222536504
+EventLog - INFO - [T:5.51] Bot Y: 5.00131063337
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.51] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.51] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.51] Dist. To Collision Point: 2.00958912928
+EventLog - INFO - [T:5.539] Bot X: 1.18972789501
+EventLog - INFO - [T:5.539] Bot Y: 5.00133029852
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.539] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.539] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.539] Dist. To Collision Point: 2.010302905
+EventLog - INFO - [T:5.568] Bot X: 1.19701819384
+EventLog - INFO - [T:5.568] Bot Y: 5.00134900839
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.568] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.568] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.568] Dist. To Collision Point: 2.01102266333
+EventLog - INFO - [T:5.598] Bot X: 1.204314198
+EventLog - INFO - [T:5.598] Bot Y: 5.00136696266
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.598] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.598] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.598] Dist. To Collision Point: 2.01176841098
+EventLog - INFO - [T:5.627] Bot X: 1.21182612708
+EventLog - INFO - [T:5.627] Bot Y: 5.00138442814
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.627] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.627] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.627] Dist. To Collision Point: 2.0125625616
+EventLog - INFO - [T:5.666] Bot X: 1.21910548894
+EventLog - INFO - [T:5.666] Bot Y: 5.00140363997
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.666] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.666] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.666] Dist. To Collision Point: 2.01336083969
+EventLog - INFO - [T:5.71] Bot X: 1.22635242127
+EventLog - INFO - [T:5.71] Bot Y: 5.00143758484
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.71] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.71] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.71] Dist. To Collision Point: 2.01419610476
+EventLog - INFO - [T:5.738] Bot X: 1.23378612947
+EventLog - INFO - [T:5.738] Bot Y: 5.00147147327
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.738] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.738] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.738] Dist. To Collision Point: 2.01507869196
+EventLog - INFO - [T:5.766] Bot X: 1.24101053869
+EventLog - INFO - [T:5.766] Bot Y: 5.00149669506
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.766] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.766] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.766] Dist. To Collision Point: 2.01595466731
+EventLog - INFO - [T:5.795] Bot X: 1.24823826411
+EventLog - INFO - [T:5.795] Bot Y: 5.00152050669
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.795] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.795] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.795] Dist. To Collision Point: 2.01685514934
+EventLog - INFO - [T:5.823] Bot X: 1.25569392273
+EventLog - INFO - [T:5.823] Bot Y: 5.00154390211
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.823] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.823] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.823] Dist. To Collision Point: 2.0178095776
+EventLog - INFO - [T:5.862] Bot X: 1.26294007168
+EventLog - INFO - [T:5.862] Bot Y: 5.00156595021
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.862] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.862] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.862] Dist. To Collision Point: 2.01876245507
+EventLog - INFO - [T:5.906] Bot X: 1.27019446922
+EventLog - INFO - [T:5.906] Bot Y: 5.00158776747
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.906] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.906] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.906] Dist. To Collision Point: 2.01974175481
+EventLog - INFO - [T:5.95] Bot X: 1.27767751931
+EventLog - INFO - [T:5.95] Bot Y: 5.00161008574
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.95] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.95] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.95] Dist. To Collision Point: 2.02077852632
+EventLog - INFO - [T:5.979] Bot X: 1.28494911874
+EventLog - INFO - [T:5.979] Bot Y: 5.0016316413
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:5.979] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:5.979] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:5.979] Dist. To Collision Point: 2.02181189493
+EventLog - INFO - [T:6.007] Bot X: 1.29222972001
+EventLog - INFO - [T:6.007] Bot Y: 5.00165363151
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.007] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.007] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.007] Dist. To Collision Point: 2.02287260571
+EventLog - INFO - [T:6.035] Bot X: 1.29973975988
+EventLog - INFO - [T:6.035] Bot Y: 5.00167610261
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.035] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.035] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.035] Dist. To Collision Point: 2.023993392
+EventLog - INFO - [T:6.063] Bot X: 1.30703544557
+EventLog - INFO - [T:6.063] Bot Y: 5.00169704882
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.063] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.063] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.063] Dist. To Collision Point: 2.02510739121
+EventLog - INFO - [T:6.102] Bot X: 1.31432784653
+EventLog - INFO - [T:6.102] Bot Y: 5.0017173388
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.102] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.102] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.102] Dist. To Collision Point: 2.02624588927
+EventLog - INFO - [T:6.146] Bot X: 1.32182977541
+EventLog - INFO - [T:6.146] Bot Y: 5.00173976999
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.146] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.146] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.146] Dist. To Collision Point: 2.02744534172
+EventLog - INFO - [T:6.174] Bot X: 1.32908460195
+EventLog - INFO - [T:6.174] Bot Y: 5.00177503123
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.174] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.174] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.174] Dist. To Collision Point: 2.02864438772
+EventLog - INFO - [T:6.203] Bot X: 1.33629549421
+EventLog - INFO - [T:6.203] Bot Y: 5.00181644637
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.203] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.203] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.203] Dist. To Collision Point: 2.02986744486
+EventLog - INFO - [T:6.231] Bot X: 1.34374095572
+EventLog - INFO - [T:6.231] Bot Y: 5.00184525317
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.231] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.231] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.231] Dist. To Collision Point: 2.03114262422
+EventLog - INFO - [T:6.26] Bot X: 1.35096780461
+EventLog - INFO - [T:6.26] Bot Y: 5.00187241533
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.26] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.26] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.26] Dist. To Collision Point: 2.03240489647
+EventLog - INFO - [T:6.298] Bot X: 1.35820276113
+EventLog - INFO - [T:6.298] Bot Y: 5.00189832697
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.298] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.298] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.298] Dist. To Collision Point: 2.03369226385
+EventLog - INFO - [T:6.342] Bot X: 1.36566711163
+EventLog - INFO - [T:6.342] Bot Y: 5.0019243796
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.342] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.342] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.342] Dist. To Collision Point: 2.03504588423
+EventLog - INFO - [T:6.389] Bot X: 1.37292038397
+EventLog - INFO - [T:6.389] Bot Y: 5.00194938736
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.389] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.389] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.389] Dist. To Collision Point: 2.03638627315
+EventLog - INFO - [T:6.417] Bot X: 1.38018208085
+EventLog - INFO - [T:6.417] Bot Y: 5.00197424783
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.417] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.417] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.417] Dist. To Collision Point: 2.03775302555
+EventLog - INFO - [T:6.445] Bot X: 1.38767269529
+EventLog - INFO - [T:6.445] Bot Y: 5.00199973036
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.445] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.445] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.445] Dist. To Collision Point: 2.03918884042
+EventLog - INFO - [T:6.474] Bot X: 1.39495210803
+EventLog - INFO - [T:6.474] Bot Y: 5.00202483971
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.474] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.474] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.474] Dist. To Collision Point: 2.04060988743
+EventLog - INFO - [T:6.502] Bot X: 1.40224006074
+EventLog - INFO - [T:6.502] Bot Y: 5.00204997853
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.502] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.502] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.502] Dist. To Collision Point: 2.04205760634
+EventLog - INFO - [T:6.53] Bot X: 1.40975618531
+EventLog - INFO - [T:6.53] Bot Y: 5.00207490071
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.53] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.53] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.53] Dist. To Collision Point: 2.04357581763
+EventLog - INFO - [T:6.573] Bot X: 1.41704971592
+EventLog - INFO - [T:6.573] Bot Y: 5.00209865564
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.573] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.573] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.573] Dist. To Collision Point: 2.04507397758
+EventLog - INFO - [T:6.617] Bot X: 1.42433276645
+EventLog - INFO - [T:6.617] Bot Y: 5.00212246891
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.617] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.617] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.617] Dist. To Collision Point: 2.04659491764
+EventLog - INFO - [T:6.646] Bot X: 1.43181470782
+EventLog - INFO - [T:6.646] Bot Y: 5.00216070085
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.646] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.646] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.646] Dist. To Collision Point: 2.04819664387
+EventLog - INFO - [T:6.674] Bot X: 1.43902396777
+EventLog - INFO - [T:6.674] Bot Y: 5.00221105545
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.674] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.674] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.674] Dist. To Collision Point: 2.04977784924
+EventLog - INFO - [T:6.701] Bot X: 1.44625201588
+EventLog - INFO - [T:6.701] Bot Y: 5.00224139988
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.701] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.701] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.701] Dist. To Collision Point: 2.05136772906
+EventLog - INFO - [T:6.73] Bot X: 1.45369701666
+EventLog - INFO - [T:6.73] Bot Y: 5.0022729271
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.73] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.73] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.73] Dist. To Collision Point: 2.05303091322
+EventLog - INFO - [T:6.765] Bot X: 1.46093080991
+EventLog - INFO - [T:6.765] Bot Y: 5.00230217513
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.765] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.765] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.765] Dist. To Collision Point: 2.0546701155
+EventLog - INFO - [T:6.809] Bot X: 1.46817432549
+EventLog - INFO - [T:6.809] Bot Y: 5.00233085833
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.809] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.809] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.809] Dist. To Collision Point: 2.05633512229
+EventLog - INFO - [T:6.857] Bot X: 1.47564617221
+EventLog - INFO - [T:6.857] Bot Y: 5.00236009996
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.857] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.857] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.857] Dist. To Collision Point: 2.05807757853
+EventLog - INFO - [T:6.885] Bot X: 1.48290679571
+EventLog - INFO - [T:6.885] Bot Y: 5.00238834015
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.885] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.885] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.885] Dist. To Collision Point: 2.05979516086
+EventLog - INFO - [T:6.914] Bot X: 1.49017587397
+EventLog - INFO - [T:6.914] Bot Y: 5.00241644528
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.914] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.914] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.914] Dist. To Collision Point: 2.06153876333
+EventLog - INFO - [T:6.942] Bot X: 1.49767455581
+EventLog - INFO - [T:6.942] Bot Y: 5.00244571116
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.942] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.942] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.942] Dist. To Collision Point: 2.06336299592
+EventLog - INFO - [T:6.971] Bot X: 1.50496147503
+EventLog - INFO - [T:6.971] Bot Y: 5.00247432288
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:6.971] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:6.971] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:6.971] Dist. To Collision Point: 2.06516042154
+EventLog - INFO - [T:7.005] Bot X: 1.51225577912
+EventLog - INFO - [T:7.005] Bot Y: 5.00250200507
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.005] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.005] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.005] Dist. To Collision Point: 2.06698290356
+EventLog - INFO - [T:7.049] Bot X: 1.51977137472
+EventLog - INFO - [T:7.049] Bot Y: 5.00253014705
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.049] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.049] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.049] Dist. To Collision Point: 2.06888552854
+EventLog - INFO - [T:7.077] Bot X: 1.52705592876
+EventLog - INFO - [T:7.077] Bot Y: 5.00255641347
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.077] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.077] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.077] Dist. To Collision Point: 2.07075305092
+EventLog - INFO - [T:7.108] Bot X: 1.5343236125
+EventLog - INFO - [T:7.108] Bot Y: 5.00259550133
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.108] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.108] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.108] Dist. To Collision Point: 2.07265253237
+EventLog - INFO - [T:7.14] Bot X: 1.5417536616
+EventLog - INFO - [T:7.14] Bot Y: 5.00265639319
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.14] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.14] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.14] Dist. To Collision Point: 2.07463917645
+EventLog - INFO - [T:7.171] Bot X: 1.54898203771
+EventLog - INFO - [T:7.171] Bot Y: 5.00268902275
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.171] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.171] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.171] Dist. To Collision Point: 2.07656992451
+EventLog - INFO - [T:7.203] Bot X: 1.55620719524
+EventLog - INFO - [T:7.203] Bot Y: 5.00272306748
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.203] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.203] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.203] Dist. To Collision Point: 2.07852451976
+EventLog - INFO - [T:7.245] Bot X: 1.5636588271
+EventLog - INFO - [T:7.245] Bot Y: 5.00275671981
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.245] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.245] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.245] Dist. To Collision Point: 2.08056333733
+EventLog - INFO - [T:7.273] Bot X: 1.57090105483
+EventLog - INFO - [T:7.273] Bot Y: 5.00278890302
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.273] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.273] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.273] Dist. To Collision Point: 2.08256799441
+EventLog - INFO - [T:7.302] Bot X: 1.57815191348
+EventLog - INFO - [T:7.302] Bot Y: 5.0028208197
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.302] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.302] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.302] Dist. To Collision Point: 2.08459802268
+EventLog - INFO - [T:7.33] Bot X: 1.58563125209
+EventLog - INFO - [T:7.33] Bot Y: 5.00285356165
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.33] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.33] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.33] Dist. To Collision Point: 2.08671617534
+EventLog - INFO - [T:7.357] Bot X: 1.59289918639
+EventLog - INFO - [T:7.357] Bot Y: 5.00288520707
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.357] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.357] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.357] Dist. To Collision Point: 2.0887978935
+EventLog - INFO - [T:7.4] Bot X: 1.60017598803
+EventLog - INFO - [T:7.4] Bot Y: 5.00291708469
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.4] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.4] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.4] Dist. To Collision Point: 2.09090557058
+EventLog - INFO - [T:7.448] Bot X: 1.60768248887
+EventLog - INFO - [T:7.448] Bot Y: 5.00295028127
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.448] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.448] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.448] Dist. To Collision Point: 2.09310436319
+EventLog - INFO - [T:7.477] Bot X: 1.61497595565
+EventLog - INFO - [T:7.477] Bot Y: 5.00298167411
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.477] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.477] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.477] Dist. To Collision Point: 2.09526347982
+EventLog - INFO - [T:7.505] Bot X: 1.62227129783
+EventLog - INFO - [T:7.505] Bot Y: 5.00301260579
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.505] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.505] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.505] Dist. To Collision Point: 2.09744585209
+EventLog - INFO - [T:7.533] Bot X: 1.62977828569
+EventLog - INFO - [T:7.533] Bot Y: 5.0030428654
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.533] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.533] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.533] Dist. To Collision Point: 2.09971413375
+EventLog - INFO - [T:7.562] Bot X: 1.63704981135
+EventLog - INFO - [T:7.562] Bot Y: 5.00308448376
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.562] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.562] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.562] Dist. To Collision Point: 2.1019462275
+EventLog - INFO - [T:7.6] Bot X: 1.6442664045
+EventLog - INFO - [T:7.6] Bot Y: 5.00315203439
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.6] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.6] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.6] Dist. To Collision Point: 2.10420894954
+EventLog - INFO - [T:7.644] Bot X: 1.65171154418
+EventLog - INFO - [T:7.644] Bot Y: 5.00318900566
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.644] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.644] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.644] Dist. To Collision Point: 2.10653558195
+EventLog - INFO - [T:7.673] Bot X: 1.65893585192
+EventLog - INFO - [T:7.673] Bot Y: 5.00322671549
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.673] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.673] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.673] Dist. To Collision Point: 2.10881762079
+EventLog - INFO - [T:7.703] Bot X: 1.66616708167
+EventLog - INFO - [T:7.703] Bot Y: 5.00326300619
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.703] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.703] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.703] Dist. To Collision Point: 2.11112275299
+EventLog - INFO - [T:7.732] Bot X: 1.67362731791
+EventLog - INFO - [T:7.732] Bot Y: 5.00329997293
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.732] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.732] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.732] Dist. To Collision Point: 2.11352373274
+EventLog - INFO - [T:7.763] Bot X: 1.68087714787
+EventLog - INFO - [T:7.763] Bot Y: 5.00333560077
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.763] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.763] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.763] Dist. To Collision Point: 2.11587930706
+EventLog - INFO - [T:7.796] Bot X: 1.68813530071
+EventLog - INFO - [T:7.796] Bot Y: 5.0033710876
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.796] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.796] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.796] Dist. To Collision Point: 2.11825964587
+EventLog - INFO - [T:7.84] Bot X: 1.69562223224
+EventLog - INFO - [T:7.84] Bot Y: 5.00340751764
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.84] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.84] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.84] Dist. To Collision Point: 2.12073807687
+EventLog - INFO - [T:7.884] Bot X: 1.70289787742
+EventLog - INFO - [T:7.884] Bot Y: 5.00344303629
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.884] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.884] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.884] Dist. To Collision Point: 2.12316919794
+EventLog - INFO - [T:7.913] Bot X: 1.71018241592
+EventLog - INFO - [T:7.913] Bot Y: 5.00347900199
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.913] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.913] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.913] Dist. To Collision Point: 2.12562583513
+EventLog - INFO - [T:7.941] Bot X: 1.71769589046
+EventLog - INFO - [T:7.941] Bot Y: 5.00351534335
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.941] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.941] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.941] Dist. To Collision Point: 2.12818212007
+EventLog - INFO - [T:7.969] Bot X: 1.72499167829
+EventLog - INFO - [T:7.969] Bot Y: 5.00354997748
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.969] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.969] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.969] Dist. To Collision Point: 2.13068614728
+EventLog - INFO - [T:7.998] Bot X: 1.73227945303
+EventLog - INFO - [T:7.998] Bot Y: 5.00358287709
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:7.998] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:7.998] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:7.998] Dist. To Collision Point: 2.13320780831
+EventLog - INFO - [T:8.027] Bot X: 1.7397746257
+EventLog - INFO - [T:8.027] Bot Y: 5.00362790309
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.027] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.027] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.027] Dist. To Collision Point: 2.13583456286
+EventLog - INFO - [T:8.071] Bot X: 1.74699897942
+EventLog - INFO - [T:8.071] Bot Y: 5.00370136507
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.071] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.071] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.071] Dist. To Collision Point: 2.13841638673
+EventLog - INFO - [T:8.119] Bot X: 1.75422157404
+EventLog - INFO - [T:8.119] Bot Y: 5.00374220214
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.119] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.119] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.119] Dist. To Collision Point: 2.14098832345
+EventLog - INFO - [T:8.148] Bot X: 1.76166381563
+EventLog - INFO - [T:8.148] Bot Y: 5.00378510311
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.148] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.148] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.148] Dist. To Collision Point: 2.14366147318
+EventLog - INFO - [T:8.177] Bot X: 1.76889391827
+EventLog - INFO - [T:8.177] Bot Y: 5.00382516432
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.177] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.177] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.177] Dist. To Collision Point: 2.14627844168
+EventLog - INFO - [T:8.207] Bot X: 1.77613322135
+EventLog - INFO - [T:8.207] Bot Y: 5.00386485501
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.207] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.207] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.207] Dist. To Collision Point: 2.14891952741
+EventLog - INFO - [T:8.235] Bot X: 1.78360149809
+EventLog - INFO - [T:8.235] Bot Y: 5.0039055258
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.235] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.235] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.235] Dist. To Collision Point: 2.15166602038
+EventLog - INFO - [T:8.264] Bot X: 1.79085850964
+EventLog - INFO - [T:8.264] Bot Y: 5.00394486745
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.264] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.264] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.264] Dist. To Collision Point: 2.15435610139
+EventLog - INFO - [T:8.307] Bot X: 1.79812396674
+EventLog - INFO - [T:8.307] Bot Y: 5.00398409069
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.307] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.307] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.307] Dist. To Collision Point: 2.157070258
+EventLog - INFO - [T:8.351] Bot X: 1.80561870304
+EventLog - INFO - [T:8.351] Bot Y: 5.00402460478
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.351] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.351] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.351] Dist. To Collision Point: 2.15989215135
+EventLog - INFO - [T:8.379] Bot X: 1.81290211475
+EventLog - INFO - [T:8.379] Bot Y: 5.0040644509
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.379] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.379] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.379] Dist. To Collision Point: 2.16265627508
+EventLog - INFO - [T:8.409] Bot X: 1.82019354996
+EventLog - INFO - [T:8.409] Bot Y: 5.00410376952
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.409] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.409] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.409] Dist. To Collision Point: 2.16544391969
+EventLog - INFO - [T:8.437] Bot X: 1.82771060312
+EventLog - INFO - [T:8.437] Bot Y: 5.00414346443
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.437] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.437] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.437] Dist. To Collision Point: 2.16833896285
+EventLog - INFO - [T:8.465] Bot X: 1.83499975023
+EventLog - INFO - [T:8.465] Bot Y: 5.00418034979
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.465] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.465] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.465] Dist. To Collision Point: 2.17116591835
+EventLog - INFO - [T:8.499] Bot X: 1.84227710773
+EventLog - INFO - [T:8.499] Bot Y: 5.00422549591
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.499] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.499] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.499] Dist. To Collision Point: 2.17401668591
+EventLog - INFO - [T:8.543] Bot X: 1.8497308968
+EventLog - INFO - [T:8.543] Bot Y: 5.00430487804
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.543] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.543] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.543] Dist. To Collision Point: 2.17698843024
+EventLog - INFO - [T:8.587] Bot X: 1.85694908993
+EventLog - INFO - [T:8.587] Bot Y: 5.00435219301
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.587] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.587] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.587] Dist. To Collision Point: 2.17985949983
+EventLog - INFO - [T:8.615] Bot X: 1.86417217555
+EventLog - INFO - [T:8.615] Bot Y: 5.00439796956
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.615] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.615] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.615] Dist. To Collision Point: 2.18275118839
+EventLog - INFO - [T:8.646] Bot X: 1.87162022738
+EventLog - INFO - [T:8.646] Bot Y: 5.0044434363
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.646] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.646] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.646] Dist. To Collision Point: 2.18575233946
+EventLog - INFO - [T:8.675] Bot X: 1.87885826297
+EventLog - INFO - [T:8.675] Bot Y: 5.00448707105
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.675] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.675] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.675] Dist. To Collision Point: 2.18868870379
+EventLog - INFO - [T:8.703] Bot X: 1.88610569387
+EventLog - INFO - [T:8.703] Bot Y: 5.0045304914
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.703] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.703] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.703] Dist. To Collision Point: 2.19164864149
+EventLog - INFO - [T:8.731] Bot X: 1.89358136848
+EventLog - INFO - [T:8.731] Bot Y: 5.00457512127
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.731] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.731] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.731] Dist. To Collision Point: 2.19472254586
+EventLog - INFO - [T:8.775] Bot X: 1.90084574369
+EventLog - INFO - [T:8.775] Bot Y: 5.00461832683
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.775] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.775] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.775] Dist. To Collision Point: 2.19772966102
+EventLog - INFO - [T:8.822] Bot X: 1.90811876089
+EventLog - INFO - [T:8.822] Bot Y: 5.00466157181
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.822] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.822] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.822] Dist. To Collision Point: 2.20076024876
+EventLog - INFO - [T:8.851] Bot X: 1.91562161291
+EventLog - INFO - [T:8.851] Bot Y: 5.00470669704
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.851] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.851] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.851] Dist. To Collision Point: 2.20390785847
+EventLog - INFO - [T:8.88] Bot X: 1.92291208001
+EventLog - INFO - [T:8.88] Bot Y: 5.00475016546
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.88] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.88] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.88] Dist. To Collision Point: 2.20698615789
+EventLog - INFO - [T:8.907] Bot X: 1.9302080335
+EventLog - INFO - [T:8.907] Bot Y: 5.00479273183
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.907] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.907] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.907] Dist. To Collision Point: 2.21008571086
+EventLog - INFO - [T:8.937] Bot X: 1.93771956805
+EventLog - INFO - [T:8.937] Bot Y: 5.00483514354
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.937] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.937] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.937] Dist. To Collision Point: 2.21329616309
+EventLog - INFO - [T:8.967] Bot X: 1.94499880859
+EventLog - INFO - [T:8.967] Bot Y: 5.00488160883
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:8.967] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:8.967] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:8.967] Dist. To Collision Point: 2.21643203741
+EventLog - INFO - [T:9.01] Bot X: 1.95224395154
+EventLog - INFO - [T:9.01] Bot Y: 5.00496011297
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.01] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.01] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.01] Dist. To Collision Point: 2.21960166674
+EventLog - INFO - [T:9.039] Bot X: 1.95967374183
+EventLog - INFO - [T:9.039] Bot Y: 5.00502030667
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.039] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.039] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.039] Dist. To Collision Point: 2.22285358951
+EventLog - INFO - [T:9.066] Bot X: 1.96689816391
+EventLog - INFO - [T:9.066] Bot Y: 5.00507035454
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.066] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.066] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.066] Dist. To Collision Point: 2.22602721095
+EventLog - INFO - [T:9.094] Bot X: 1.97412605964
+EventLog - INFO - [T:9.094] Bot Y: 5.00511854807
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.094] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.094] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.094] Dist. To Collision Point: 2.22921957826
+EventLog - INFO - [T:9.123] Bot X: 1.98158192082
+EventLog - INFO - [T:9.123] Bot Y: 5.00516762127
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.123] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.123] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.123] Dist. To Collision Point: 2.23253179399
+EventLog - INFO - [T:9.166] Bot X: 1.98882817848
+EventLog - INFO - [T:9.166] Bot Y: 5.00521508765
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.166] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.166] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.166] Dist. To Collision Point: 2.23576981534
+EventLog - INFO - [T:9.21] Bot X: 1.99608270818
+EventLog - INFO - [T:9.21] Bot Y: 5.00526250952
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.21] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.21] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.21] Dist. To Collision Point: 2.23903024653
+EventLog - INFO - [T:9.254] Bot X: 2.003565902
+EventLog - INFO - [T:9.254] Bot Y: 5.00531126469
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.254] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.254] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.254] Dist. To Collision Point: 2.24241292752
+EventLog - INFO - [T:9.282] Bot X: 2.01083772864
+EventLog - INFO - [T:9.282] Bot Y: 5.00535859387
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.282] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.282] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.282] Dist. To Collision Point: 2.24571902774
+EventLog - INFO - [T:9.31] Bot X: 2.01811863218
+EventLog - INFO - [T:9.31] Bot Y: 5.00540646832
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.31] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.31] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.31] Dist. To Collision Point: 2.24904837624
+EventLog - INFO - [T:9.338] Bot X: 2.02562883442
+EventLog - INFO - [T:9.338] Bot Y: 5.00545571975
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.338] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.338] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.338] Dist. To Collision Point: 2.25250196325
+EventLog - INFO - [T:9.365] Bot X: 2.03292448527
+EventLog - INFO - [T:9.365] Bot Y: 5.00550249884
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.365] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.365] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.365] Dist. To Collision Point: 2.25587482101
+EventLog - INFO - [T:9.398] Bot X: 2.04021648735
+EventLog - INFO - [T:9.398] Bot Y: 5.0055481869
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.398] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.398] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.398] Dist. To Collision Point: 2.2592635552
+EventLog - INFO - [T:9.442] Bot X: 2.04771821089
+EventLog - INFO - [T:9.442] Bot Y: 5.00559787717
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.442] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.442] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.442] Dist. To Collision Point: 2.26277136139
+EventLog - INFO - [T:9.489] Bot X: 2.0549716876
+EventLog - INFO - [T:9.489] Bot Y: 5.00567616879
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.489] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.489] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.489] Dist. To Collision Point: 2.26620830765
+EventLog - INFO - [T:9.517] Bot X: 2.06217744284
+EventLog - INFO - [T:9.517] Bot Y: 5.00574596107
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.517] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.517] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.517] Dist. To Collision Point: 2.26963338818
+EventLog - INFO - [T:9.546] Bot X: 2.06962311755
+EventLog - INFO - [T:9.546] Bot Y: 5.00580196194
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.546] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.546] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.546] Dist. To Collision Point: 2.27317686481
+EventLog - INFO - [T:9.574] Bot X: 2.07685017995
+EventLog - INFO - [T:9.574] Bot Y: 5.00585414392
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.574] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.574] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.574] Dist. To Collision Point: 2.27663240109
+EventLog - INFO - [T:9.603] Bot X: 2.08408538994
+EventLog - INFO - [T:9.603] Bot Y: 5.00590581001
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.603] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.603] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.603] Dist. To Collision Point: 2.28010902868
+EventLog - INFO - [T:9.631] Bot X: 2.09154989132
+EventLog - INFO - [T:9.631] Bot Y: 5.00595893141
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.631] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.631] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.631] Dist. To Collision Point: 2.28371415229
+EventLog - INFO - [T:9.673] Bot X: 2.09880333815
+EventLog - INFO - [T:9.673] Bot Y: 5.00601053725
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.673] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.673] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.673] Dist. To Collision Point: 2.2872352261
+EventLog - INFO - [T:9.717] Bot X: 2.10606522367
+EventLog - INFO - [T:9.717] Bot Y: 5.00606205419
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.717] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.717] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.717] Dist. To Collision Point: 2.29077785275
+EventLog - INFO - [T:9.745] Bot X: 2.11355611521
+EventLog - INFO - [T:9.745] Bot Y: 5.00611511566
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.745] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.745] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.745] Dist. To Collision Point: 2.29445047968
+EventLog - INFO - [T:9.774] Bot X: 2.12083591243
+EventLog - INFO - [T:9.774] Bot Y: 5.00616715041
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.774] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.774] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.774] Dist. To Collision Point: 2.29803779364
+EventLog - INFO - [T:9.803] Bot X: 2.12812413351
+EventLog - INFO - [T:9.803] Bot Y: 5.00621933016
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.803] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.803] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.803] Dist. To Collision Point: 2.30164679798
+EventLog - INFO - [T:9.832] Bot X: 2.13564024593
+EventLog - INFO - [T:9.832] Bot Y: 5.00627202851
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.832] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.832] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.832] Dist. To Collision Point: 2.30538589833
+EventLog - INFO - [T:9.861] Bot X: 2.14293338435
+EventLog - INFO - [T:9.861] Bot Y: 5.00632227866
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.861] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.861] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.861] Dist. To Collision Point: 2.30903090602
+EventLog - INFO - [T:9.905] Bot X: 2.15021618486
+EventLog - INFO - [T:9.905] Bot Y: 5.00637291005
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.905] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.905] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.905] Dist. To Collision Point: 2.31268835827
+EventLog - INFO - [T:9.949] Bot X: 2.15769719376
+EventLog - INFO - [T:9.949] Bot Y: 5.00645193137
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.949] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.949] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.949] Dist. To Collision Point: 2.3164865767
+EventLog - INFO - [T:9.976] Bot X: 2.16490067881
+EventLog - INFO - [T:9.976] Bot Y: 5.00653382614
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:9.976] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:9.976] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:9.976] Dist. To Collision Point: 2.32016583458
+EventLog - INFO - [T:10.005] Bot X: 2.17212917135
+EventLog - INFO - [T:10.005] Bot Y: 5.00659162102
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.005] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.005] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.005] Dist. To Collision Point: 2.32385340314
+EventLog - INFO - [T:10.034] Bot X: 2.17957432732
+EventLog - INFO - [T:10.034] Bot Y: 5.00664960024
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.034] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.034] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.034] Dist. To Collision Point: 2.32766752812
+EventLog - INFO - [T:10.062] Bot X: 2.1868082803
+EventLog - INFO - [T:10.062] Bot Y: 5.00670536194
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.062] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.062] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.062] Dist. To Collision Point: 2.33138975975
+EventLog - INFO - [T:10.101] Bot X: 2.19405182938
+EventLog - INFO - [T:10.101] Bot Y: 5.00676103501
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.101] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.101] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.101] Dist. To Collision Point: 2.33513330011
+EventLog - INFO - [T:10.145] Bot X: 2.2015237848
+EventLog - INFO - [T:10.145] Bot Y: 5.00681859702
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.145] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.145] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.145] Dist. To Collision Point: 2.3390122256
+EventLog - INFO - [T:10.173] Bot X: 2.20878451631
+EventLog - INFO - [T:10.173] Bot Y: 5.00687437292
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.173] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.173] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.173] Dist. To Collision Point: 2.34279804051
+EventLog - INFO - [T:10.202] Bot X: 2.2160537677
+EventLog - INFO - [T:10.202] Bot Y: 5.00693011573
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.202] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.202] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.202] Dist. To Collision Point: 2.34660460171
+EventLog - INFO - [T:10.231] Bot X: 2.2235528031
+EventLog - INFO - [T:10.231] Bot Y: 5.00698806615
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.231] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.231] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.231] Dist. To Collision Point: 2.35054896978
+EventLog - INFO - [T:10.259] Bot X: 2.23083999572
+EventLog - INFO - [T:10.259] Bot Y: 5.0070446174
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.259] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.259] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.259] Dist. To Collision Point: 2.35439866831
+EventLog - INFO - [T:10.297] Bot X: 2.23813426401
+EventLog - INFO - [T:10.297] Bot Y: 5.0071002364
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.297] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.297] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.297] Dist. To Collision Point: 2.35826752322
+EventLog - INFO - [T:10.34] Bot X: 2.24564948625
+EventLog - INFO - [T:10.34] Bot Y: 5.00715670701
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.34] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.34] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.34] Dist. To Collision Point: 2.36226979488
+EventLog - INFO - [T:10.385] Bot X: 2.25293375018
+EventLog - INFO - [T:10.385] Bot Y: 5.00721060004
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.385] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.385] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.385] Dist. To Collision Point: 2.36616467481
+EventLog - INFO - [T:10.413] Bot X: 2.26020089914
+EventLog - INFO - [T:10.413] Bot Y: 5.00728549082
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.413] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.413] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.413] Dist. To Collision Point: 2.37008422619
+EventLog - INFO - [T:10.443] Bot X: 2.26762412084
+EventLog - INFO - [T:10.443] Bot Y: 5.00738367102
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.443] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.443] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.443] Dist. To Collision Point: 2.37412257563
+EventLog - INFO - [T:10.471] Bot X: 2.27485245123
+EventLog - INFO - [T:10.471] Bot Y: 5.00744444015
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.471] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.471] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.471] Dist. To Collision Point: 2.37804117726
+EventLog - INFO - [T:10.5] Bot X: 2.28207774141
+EventLog - INFO - [T:10.5] Bot Y: 5.00750504608
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.5] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.5] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.5] Dist. To Collision Point: 2.38197349512
+EventLog - INFO - [T:10.544] Bot X: 2.28952958612
+EventLog - INFO - [T:10.544] Bot Y: 5.00756687506
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.544] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.544] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.544] Dist. To Collision Point: 2.38604467603
+EventLog - INFO - [T:10.584] Bot X: 2.29677189762
+EventLog - INFO - [T:10.584] Bot Y: 5.0076267879
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.584] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.584] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.584] Dist. To Collision Point: 2.39001685287
+EventLog - INFO - [T:10.614] Bot X: 2.30402289618
+EventLog - INFO - [T:10.614] Bot Y: 5.00768705701
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.614] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.614] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.614] Dist. To Collision Point: 2.39400938052
+EventLog - INFO - [T:10.642] Bot X: 2.31150238952
+EventLog - INFO - [T:10.642] Bot Y: 5.00774903879
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.642] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.642] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.642] Dist. To Collision Point: 2.39814357372
+EventLog - INFO - [T:10.67] Bot X: 2.3187705197
+EventLog - INFO - [T:10.67] Bot Y: 5.00780915383
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.67] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.67] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.67] Dist. To Collision Point: 2.40217633821
+EventLog - INFO - [T:10.698] Bot X: 2.32604770066
+EventLog - INFO - [T:10.698] Bot Y: 5.00786971662
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.698] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.698] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.698] Dist. To Collision Point: 2.40622966064
+EventLog - INFO - [T:10.728] Bot X: 2.33355452894
+EventLog - INFO - [T:10.728] Bot Y: 5.00793256456
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.728] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.728] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.728] Dist. To Collision Point: 2.41042708668
+EventLog - INFO - [T:10.772] Bot X: 2.34084800967
+EventLog - INFO - [T:10.772] Bot Y: 5.00799276784
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.772] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.772] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.772] Dist. To Collision Point: 2.41451987231
+EventLog - INFO - [T:10.816] Bot X: 2.34814304062
+EventLog - INFO - [T:10.816] Bot Y: 5.0080521511
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.816] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.816] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.816] Dist. To Collision Point: 2.4186279108
+EventLog - INFO - [T:10.844] Bot X: 2.35564967065
+EventLog - INFO - [T:10.844] Bot Y: 5.00811163399
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.844] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.844] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.844] Dist. To Collision Point: 2.42286942153
+EventLog - INFO - [T:10.873] Bot X: 2.36292081451
+EventLog - INFO - [T:10.873] Bot Y: 5.00818649533
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.873] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.873] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.873] Dist. To Collision Point: 2.42700721356
+EventLog - INFO - [T:10.901] Bot X: 2.37013120483
+EventLog - INFO - [T:10.901] Bot Y: 5.00829327379
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.901] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.901] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.901] Dist. To Collision Point: 2.43115183778
+EventLog - INFO - [T:10.929] Bot X: 2.37757580433
+EventLog - INFO - [T:10.929] Bot Y: 5.00835921636
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.929] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.929] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.929] Dist. To Collision Point: 2.43540955555
+EventLog - INFO - [T:10.964] Bot X: 2.38480017025
+EventLog - INFO - [T:10.964] Bot Y: 5.00842416923
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:10.964] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:10.964] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:10.964] Dist. To Collision Point: 2.43955672573
+EventLog - INFO - [T:11.008] Bot X: 2.39203152768
+EventLog - INFO - [T:11.008] Bot Y: 5.00848848603
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.008] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.008] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.008] Dist. To Collision Point: 2.44372167685
+EventLog - INFO - [T:11.052] Bot X: 2.39949178896
+EventLog - INFO - [T:11.052] Bot Y: 5.00855463468
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.052] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.052] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.052] Dist. To Collision Point: 2.44803326111
+EventLog - INFO - [T:11.08] Bot X: 2.4067416446
+EventLog - INFO - [T:11.08] Bot Y: 5.00861932912
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.08] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.08] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.08] Dist. To Collision Point: 2.45223806388
+EventLog - INFO - [T:11.108] Bot X: 2.41399986296
+EventLog - INFO - [T:11.108] Bot Y: 5.00868391565
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.108] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.108] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.108] Dist. To Collision Point: 2.45646179327
+EventLog - INFO - [T:11.137] Bot X: 2.42148689139
+EventLog - INFO - [T:11.137] Bot Y: 5.00875041071
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.137] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.137] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.137] Dist. To Collision Point: 2.46083340548
+EventLog - INFO - [T:11.165] Bot X: 2.42876284027
+EventLog - INFO - [T:11.165] Bot Y: 5.0088153434
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.165] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.165] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.165] Dist. To Collision Point: 2.46509638566
+EventLog - INFO - [T:11.2] Bot X: 2.43604764506
+EventLog - INFO - [T:11.2] Bot Y: 5.00888081185
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.2] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.2] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.2] Dist. To Collision Point: 2.46937903256
+EventLog - INFO - [T:11.248] Bot X: 2.44356112794
+EventLog - INFO - [T:11.248] Bot Y: 5.00894761962
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.248] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.248] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.248] Dist. To Collision Point: 2.47381024295
+EventLog - INFO - [T:11.276] Bot X: 2.45085663093
+EventLog - INFO - [T:11.276] Bot Y: 5.00901152586
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.276] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.276] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.276] Dist. To Collision Point: 2.47812633304
+EventLog - INFO - [T:11.304] Bot X: 2.45814402198
+EventLog - INFO - [T:11.304] Bot Y: 5.0090734401
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.304] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.304] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.304] Dist. To Collision Point: 2.48244998395
+EventLog - INFO - [T:11.332] Bot X: 2.46563885804
+EventLog - INFO - [T:11.332] Bot Y: 5.00915077923
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.332] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.332] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.332] Dist. To Collision Point: 2.48692218625
+EventLog - INFO - [T:11.361] Bot X: 2.47285751614
+EventLog - INFO - [T:11.361] Bot Y: 5.00926605812
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.361] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.361] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.361] Dist. To Collision Point: 2.49127621874
+EventLog - INFO - [T:11.396] Bot X: 2.48007938307
+EventLog - INFO - [T:11.396] Bot Y: 5.00933453818
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.396] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.396] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.396] Dist. To Collision Point: 2.4956077632
+EventLog - INFO - [T:11.44] Bot X: 2.48752154968
+EventLog - INFO - [T:11.44] Bot Y: 5.00940609418
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.44] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.44] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.44] Dist. To Collision Point: 2.50008620883
+EventLog - INFO - [T:11.484] Bot X: 2.49475183922
+EventLog - INFO - [T:11.484] Bot Y: 5.00947472038
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.484] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.484] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.484] Dist. To Collision Point: 2.5044499497
+EventLog - INFO - [T:11.512] Bot X: 2.50199128968
+EventLog - INFO - [T:11.512] Bot Y: 5.00954325576
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.512] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.512] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.512] Dist. To Collision Point: 2.50883235137
+EventLog - INFO - [T:11.54] Bot X: 2.50945955722
+EventLog - INFO - [T:11.54] Bot Y: 5.00961448156
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.54] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.54] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.54] Dist. To Collision Point: 2.5133675326
+EventLog - INFO - [T:11.569] Bot X: 2.51671667361
+EventLog - INFO - [T:11.569] Bot Y: 5.00968354534
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.569] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.569] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.569] Dist. To Collision Point: 2.51778776971
+EventLog - INFO - [T:11.599] Bot X: 2.52398225661
+EventLog - INFO - [T:11.599] Bot Y: 5.00975256579
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.599] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.599] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.599] Dist. To Collision Point: 2.52222622407
+EventLog - INFO - [T:11.628] Bot X: 2.53147732894
+EventLog - INFO - [T:11.628] Bot Y: 5.0098240126
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.628] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.628] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.628] Dist. To Collision Point: 2.52681879053
+EventLog - INFO - [T:11.671] Bot X: 2.5387610546
+EventLog - INFO - [T:11.671] Bot Y: 5.0098939645
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.671] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.671] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.671] Dist. To Collision Point: 2.53129554962
+EventLog - INFO - [T:11.715] Bot X: 2.54605254762
+EventLog - INFO - [T:11.715] Bot Y: 5.00996352554
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.715] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.715] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.715] Dist. To Collision Point: 2.53578975473
+EventLog - INFO - [T:11.743] Bot X: 2.5535693665
+EventLog - INFO - [T:11.743] Bot Y: 5.01003409468
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.743] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.743] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.743] Dist. To Collision Point: 2.54043552619
+EventLog - INFO - [T:11.771] Bot X: 2.56085810065
+EventLog - INFO - [T:11.771] Bot Y: 5.01010058116
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.771] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.771] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.771] Dist. To Collision Point: 2.54495190123
+EventLog - INFO - [T:11.801] Bot X: 2.56813513657
+EventLog - INFO - [T:11.801] Bot Y: 5.01017630573
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.801] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.801] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.801] Dist. To Collision Point: 2.54948120366
+EventLog - INFO - [T:11.83] Bot X: 2.57558395536
+EventLog - INFO - [T:11.83] Bot Y: 5.01029961153
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.83] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.83] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.83] Dist. To Collision Point: 2.55416662493
+EventLog - INFO - [T:11.867] Bot X: 2.58280041513
+EventLog - INFO - [T:11.867] Bot Y: 5.01037489363
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.867] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.867] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.867] Dist. To Collision Point: 2.55868368205
+EventLog - INFO - [T:11.911] Bot X: 2.59002326475
+EventLog - INFO - [T:11.911] Bot Y: 5.0104492138
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.911] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.911] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.911] Dist. To Collision Point: 2.56321630764
+EventLog - INFO - [T:11.94] Bot X: 2.59747142022
+EventLog - INFO - [T:11.94] Bot Y: 5.01052446954
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.94] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.94] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.94] Dist. To Collision Point: 2.56790213899
+EventLog - INFO - [T:11.968] Bot X: 2.6047095454
+EventLog - INFO - [T:11.968] Bot Y: 5.01059746179
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.968] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.968] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.968] Dist. To Collision Point: 2.57246820994
+EventLog - INFO - [T:11.998] Bot X: 2.61195684426
+EventLog - INFO - [T:11.998] Bot Y: 5.01067105955
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:11.998] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:11.998] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:11.998] Dist. To Collision Point: 2.57705273297
+EventLog - INFO - [T:12.025] Bot X: 2.61943253876
+EventLog - INFO - [T:12.025] Bot Y: 5.01074688771
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.025] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.025] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.025] Dist. To Collision Point: 2.58179445413
+EventLog - INFO - [T:12.063] Bot X: 2.62669695013
+EventLog - INFO - [T:12.063] Bot Y: 5.0108204475
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.063] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.063] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.063] Dist. To Collision Point: 2.58641443843
+EventLog - INFO - [T:12.107] Bot X: 2.63397018286
+EventLog - INFO - [T:12.107] Bot Y: 5.0108942537
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.107] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.107] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.107] Dist. To Collision Point: 2.59105230825
+EventLog - INFO - [T:12.156] Bot X: 2.64147329294
+EventLog - INFO - [T:12.156] Bot Y: 5.0109709531
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.156] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.156] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.156] Dist. To Collision Point: 2.59584987045
+EventLog - INFO - [T:12.183] Bot X: 2.6487637989
+EventLog - INFO - [T:12.183] Bot Y: 5.01104524403
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.183] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.183] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.183] Dist. To Collision Point: 2.6005235705
+EventLog - INFO - [T:12.213] Bot X: 2.65605953942
+EventLog - INFO - [T:12.213] Bot Y: 5.01111837644
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.213] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.213] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.213] Dist. To Collision Point: 2.60521172328
+EventLog - INFO - [T:12.241] Bot X: 2.66357060282
+EventLog - INFO - [T:12.241] Bot Y: 5.01119184907
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.241] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.241] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.241] Dist. To Collision Point: 2.61004934888
+EventLog - INFO - [T:12.269] Bot X: 2.67084951248
+EventLog - INFO - [T:12.269] Bot Y: 5.01126916781
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.269] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.269] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.269] Dist. To Collision Point: 2.61475420571
+EventLog - INFO - [T:12.299] Bot X: 2.6780910735
+EventLog - INFO - [T:12.299] Bot Y: 5.01138968901
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.299] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.299] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.299] Dist. To Collision Point: 2.61948008732
+EventLog - INFO - [T:12.342] Bot X: 2.68551965706
+EventLog - INFO - [T:12.342] Bot Y: 5.01147873366
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.342] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.342] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.342] Dist. To Collision Point: 2.62431343487
+EventLog - INFO - [T:12.386] Bot X: 2.69274336763
+EventLog - INFO - [T:12.386] Bot Y: 5.01155852411
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.386] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.386] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.386] Dist. To Collision Point: 2.62901989286
+EventLog - INFO - [T:12.415] Bot X: 2.69997134852
+EventLog - INFO - [T:12.415] Bot Y: 5.01163611667
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.415] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.415] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.415] Dist. To Collision Point: 2.63373883339
+EventLog - INFO - [T:12.443] Bot X: 2.70742736642
+EventLog - INFO - [T:12.443] Bot Y: 5.01171607041
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.443] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.443] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.443] Dist. To Collision Point: 2.63861849244
+EventLog - INFO - [T:12.478] Bot X: 2.71467354349
+EventLog - INFO - [T:12.478] Bot Y: 5.01179417882
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.478] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.478] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.478] Dist. To Collision Point: 2.64337264988
+EventLog - INFO - [T:12.508] Bot X: 2.72192812892
+EventLog - INFO - [T:12.508] Bot Y: 5.01187236695
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.508] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.508] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.508] Dist. To Collision Point: 2.64814363052
+EventLog - INFO - [T:12.536] Bot X: 2.72941139574
+EventLog - INFO - [T:12.536] Bot Y: 5.01195288894
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.536] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.536] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.536] Dist. To Collision Point: 2.65307670207
+EventLog - INFO - [T:12.574] Bot X: 2.73668342161
+EventLog - INFO - [T:12.574] Bot Y: 5.012031213
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.574] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.574] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.574] Dist. To Collision Point: 2.6578819935
+EventLog - INFO - [T:12.618] Bot X: 2.74396456972
+EventLog - INFO - [T:12.618] Bot Y: 5.01211017648
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.618] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.618] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.618] Dist. To Collision Point: 2.66270493361
+EventLog - INFO - [T:12.646] Bot X: 2.75147488283
+EventLog - INFO - [T:12.646] Bot Y: 5.01219157352
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.646] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.646] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.646] Dist. To Collision Point: 2.66769131886
+EventLog - INFO - [T:12.674] Bot X: 2.75877034413
+EventLog - INFO - [T:12.674] Bot Y: 5.01226941084
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.674] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.674] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.674] Dist. To Collision Point: 2.67254543133
+EventLog - INFO - [T:12.703] Bot X: 2.76606183291
+EventLog - INFO - [T:12.703] Bot Y: 5.01234569587
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.703] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.703] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.703] Dist. To Collision Point: 2.67740683741
+EventLog - INFO - [T:12.73] Bot X: 2.77356316571
+EventLog - INFO - [T:12.73] Bot Y: 5.01242748559
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.73] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.73] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.73] Dist. To Collision Point: 2.68242212589
+EventLog - INFO - [T:12.766] Bot X: 2.78081424901
+EventLog - INFO - [T:12.766] Bot Y: 5.01254492251
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.766] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.766] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.766] Dist. To Collision Point: 2.68730984943
+EventLog - INFO - [T:12.814] Bot X: 2.78801617051
+EventLog - INFO - [T:12.814] Bot Y: 5.01264552389
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.814] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.814] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.814] Dist. To Collision Point: 2.69216299682
+EventLog - INFO - [T:12.842] Bot X: 2.79546170006
+EventLog - INFO - [T:12.842] Bot Y: 5.01273287109
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.842] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.842] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.842] Dist. To Collision Point: 2.69717891428
+EventLog - INFO - [T:12.87] Bot X: 2.80268873477
+EventLog - INFO - [T:12.87] Bot Y: 5.01281515615
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.87] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.87] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.87] Dist. To Collision Point: 2.70205649358
+EventLog - INFO - [T:12.898] Bot X: 2.80992398145
+EventLog - INFO - [T:12.898] Bot Y: 5.01289739822
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.898] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.898] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.898] Dist. To Collision Point: 2.70695004016
+EventLog - INFO - [T:12.926] Bot X: 2.81738834289
+EventLog - INFO - [T:12.926] Bot Y: 5.01298249949
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.926] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.926] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.926] Dist. To Collision Point: 2.71200971531
+EventLog - INFO - [T:12.962] Bot X: 2.82464176402
+EventLog - INFO - [T:12.962] Bot Y: 5.01306532618
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:12.962] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:12.962] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:12.962] Dist. To Collision Point: 2.71693712416
+EventLog - INFO - [T:13.006] Bot X: 2.83190362788
+EventLog - INFO - [T:13.006] Bot Y: 5.01314811983
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.006] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.006] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.006] Dist. To Collision Point: 2.72188060258
+EventLog - INFO - [T:13.05] Bot X: 2.83939459177
+EventLog - INFO - [T:13.05] Bot Y: 5.01323353787
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.05] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.05] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.05] Dist. To Collision Point: 2.72699092426
+EventLog - INFO - [T:13.077] Bot X: 2.84667452253
+EventLog - INFO - [T:13.077] Bot Y: 5.01331708351
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.077] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.077] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.077] Dist. To Collision Point: 2.73196819674
+EventLog - INFO - [T:13.106] Bot X: 2.85396280871
+EventLog - INFO - [T:13.106] Bot Y: 5.01340082786
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.106] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.106] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.106] Dist. To Collision Point: 2.73696159
+EventLog - INFO - [T:13.134] Bot X: 2.86147872235
+EventLog - INFO - [T:13.134] Bot Y: 5.01348599064
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.134] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.134] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.134] Dist. To Collision Point: 2.74212082555
+EventLog - INFO - [T:13.163] Bot X: 2.86877130737
+EventLog - INFO - [T:13.163] Bot Y: 5.01356729011
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.163] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.163] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.163] Dist. To Collision Point: 2.74713617846
+EventLog - INFO - [T:13.201] Bot X: 2.87605368206
+EventLog - INFO - [T:13.201] Bot Y: 5.01364934932
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.201] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.201] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.201] Dist. To Collision Point: 2.75215531362
+EventLog - INFO - [T:13.245] Bot X: 2.88353308432
+EventLog - INFO - [T:13.245] Bot Y: 5.01376563534
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.245] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.245] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.245] Dist. To Collision Point: 2.75734413202
+EventLog - INFO - [T:13.274] Bot X: 2.8907326493
+EventLog - INFO - [T:13.274] Bot Y: 5.01387936258
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.274] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.274] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.274] Dist. To Collision Point: 2.76235004753
+EventLog - INFO - [T:13.302] Bot X: 2.89796092478
+EventLog - INFO - [T:13.302] Bot Y: 5.01396844729
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.302] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.302] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.302] Dist. To Collision Point: 2.76736739951
+EventLog - INFO - [T:13.331] Bot X: 2.90540604285
+EventLog - INFO - [T:13.331] Bot Y: 5.01405815382
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.331] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.331] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.331] Dist. To Collision Point: 2.77254399038
+EventLog - INFO - [T:13.359] Bot X: 2.91264006149
+EventLog - INFO - [T:13.359] Bot Y: 5.0141450075
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.359] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.359] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.359] Dist. To Collision Point: 2.77758345651
+EventLog - INFO - [T:13.401] Bot X: 2.91988356241
+EventLog - INFO - [T:13.401] Bot Y: 5.01423208356
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.401] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.401] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.401] Dist. To Collision Point: 2.78263930825
+EventLog - INFO - [T:13.445] Bot X: 2.92735552531
+EventLog - INFO - [T:13.445] Bot Y: 5.01432217408
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.445] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.445] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.445] Dist. To Collision Point: 2.78786493223
+EventLog - INFO - [T:13.473] Bot X: 2.93461627183
+EventLog - INFO - [T:13.473] Bot Y: 5.01440957143
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.473] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.473] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.473] Dist. To Collision Point: 2.79295251973
+EventLog - INFO - [T:13.502] Bot X: 2.94188559295
+EventLog - INFO - [T:13.502] Bot Y: 5.01449702724
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.502] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.502] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.502] Dist. To Collision Point: 2.7980556935
+EventLog - INFO - [T:13.532] Bot X: 2.94938476207
+EventLog - INFO - [T:13.532] Bot Y: 5.01458776102
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.532] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.532] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.532] Dist. To Collision Point: 2.8033306139
+EventLog - INFO - [T:13.563] Bot X: 2.95667202034
+EventLog - INFO - [T:13.563] Bot Y: 5.01467616305
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.563] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.563] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.563] Dist. To Collision Point: 2.8084663375
+EventLog - INFO - [T:13.597] Bot X: 2.96396615233
+EventLog - INFO - [T:13.597] Bot Y: 5.01476359209
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.597] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.597] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.597] Dist. To Collision Point: 2.81361566485
+EventLog - INFO - [T:13.649] Bot X: 2.97148081827
+EventLog - INFO - [T:13.649] Bot Y: 5.01485245143
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.649] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.649] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.649] Dist. To Collision Point: 2.81892971642
+EventLog - INFO - [T:13.687] Bot X: 2.97876458191
+EventLog - INFO - [T:13.687] Bot Y: 5.01493794907
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.687] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.687] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.687] Dist. To Collision Point: 2.82408957645
+EventLog - INFO - [T:13.716] Bot X: 2.98603076754
+EventLog - INFO - [T:13.716] Bot Y: 5.01504695356
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.716] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.716] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.716] Dist. To Collision Point: 2.82926318316
+EventLog - INFO - [T:13.743] Bot X: 2.99344985114
+EventLog - INFO - [T:13.743] Bot Y: 5.01517836494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.743] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.743] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.743] Dist. To Collision Point: 2.83456943374
+EventLog - INFO - [T:13.771] Bot X: 3.00067851615
+EventLog - INFO - [T:13.771] Bot Y: 5.01527079513
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.771] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.771] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.771] Dist. To Collision Point: 2.83972333584
+EventLog - INFO - [T:13.801] Bot X: 3.00790371717
+EventLog - INFO - [T:13.801] Bot Y: 5.01536247939
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.801] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.801] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.801] Dist. To Collision Point: 2.84488329823
+EventLog - INFO - [T:13.829] Bot X: 3.01535551501
+EventLog - INFO - [T:13.829] Bot Y: 5.01545664668
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.829] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.829] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.829] Dist. To Collision Point: 2.85021421381
+EventLog - INFO - [T:13.872] Bot X: 3.02259771447
+EventLog - INFO - [T:13.872] Bot Y: 5.01554816757
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.872] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.872] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.872] Dist. To Collision Point: 2.8554042878
+EventLog - INFO - [T:13.916] Bot X: 3.02984863405
+EventLog - INFO - [T:13.916] Bot Y: 5.01564021886
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.916] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.916] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.916] Dist. To Collision Point: 2.86060984473
+EventLog - INFO - [T:13.944] Bot X: 3.03732805252
+EventLog - INFO - [T:13.944] Bot Y: 5.01573499618
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.944] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.944] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.944] Dist. To Collision Point: 2.86598863944
+EventLog - INFO - [T:13.972] Bot X: 3.0445961464
+EventLog - INFO - [T:13.972] Bot Y: 5.01582701808
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:13.972] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:13.972] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:13.972] Dist. To Collision Point: 2.87122442175
+EventLog - INFO - [T:14.002] Bot X: 3.05187336474
+EventLog - INFO - [T:14.002] Bot Y: 5.01591959977
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.002] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.002] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.002] Dist. To Collision Point: 2.87647594241
+EventLog - INFO - [T:14.03] Bot X: 3.05938018393
+EventLog - INFO - [T:14.03] Bot Y: 5.01601546094
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.03] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.03] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.03] Dist. To Collision Point: 2.88190263343
+EventLog - INFO - [T:14.064] Bot X: 3.06667350872
+EventLog - INFO - [T:14.064] Bot Y: 5.01610766554
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.064] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.064] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.064] Dist. To Collision Point: 2.88718326694
+EventLog - INFO - [T:14.108] Bot X: 3.07396802854
+EventLog - INFO - [T:14.108] Bot Y: 5.0161987599
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.108] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.108] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.108] Dist. To Collision Point: 2.8924727358
+EventLog - INFO - [T:14.152] Bot X: 3.08147407308
+EventLog - INFO - [T:14.152] Bot Y: 5.0162908912
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.152] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.152] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.152] Dist. To Collision Point: 2.89792356311
+EventLog - INFO - [T:14.18] Bot X: 3.08874453319
+EventLog - INFO - [T:14.18] Bot Y: 5.01639870876
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.18] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.18] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.18] Dist. To Collision Point: 2.90322496178
+EventLog - INFO - [T:14.21] Bot X: 3.09594998586
+EventLog - INFO - [T:14.21] Bot Y: 5.0165385816
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.21] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.21] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.21] Dist. To Collision Point: 2.90851025333
+EventLog - INFO - [T:14.238] Bot X: 3.10339432433
+EventLog - INFO - [T:14.238] Bot Y: 5.01663770967
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.238] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.238] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.238] Dist. To Collision Point: 2.91394801487
+EventLog - INFO - [T:14.266] Bot X: 3.11061857717
+EventLog - INFO - [T:14.266] Bot Y: 5.01673413201
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.266] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.266] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.266] Dist. To Collision Point: 2.91923363805
+EventLog - INFO - [T:14.296] Bot X: 3.11784991965
+EventLog - INFO - [T:14.296] Bot Y: 5.01683008316
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.296] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.296] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.296] Dist. To Collision Point: 2.92453236618
+EventLog - INFO - [T:14.344] Bot X: 3.12531015173
+EventLog - INFO - [T:14.344] Bot Y: 5.01692901911
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.344] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.344] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.344] Dist. To Collision Point: 2.93000744056
+EventLog - INFO - [T:14.373] Bot X: 3.13255995752
+EventLog - INFO - [T:14.373] Bot Y: 5.01702568582
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.373] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.373] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.373] Dist. To Collision Point: 2.93533682575
+EventLog - INFO - [T:14.401] Bot X: 3.13981814244
+EventLog - INFO - [T:14.401] Bot Y: 5.01712229635
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.401] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.401] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.401] Dist. To Collision Point: 2.94068048763
+EventLog - INFO - [T:14.43] Bot X: 3.14730515901
+EventLog - INFO - [T:14.43] Bot Y: 5.01722184981
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.43] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.43] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.43] Dist. To Collision Point: 2.94620113447
+EventLog - INFO - [T:14.458] Bot X: 3.15458116804
+EventLog - INFO - [T:14.458] Bot Y: 5.01731897877
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.458] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.458] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.458] Dist. To Collision Point: 2.95157475894
+EventLog - INFO - [T:14.5] Bot X: 3.16186598842
+EventLog - INFO - [T:14.5] Bot Y: 5.01741666267
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.5] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.5] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.5] Dist. To Collision Point: 2.95696334553
+EventLog - INFO - [T:14.544] Bot X: 3.16937934636
+EventLog - INFO - [T:14.544] Bot Y: 5.0175166339
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.544] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.544] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.544] Dist. To Collision Point: 2.96252895325
+EventLog - INFO - [T:14.572] Bot X: 3.17667438619
+EventLog - INFO - [T:14.572] Bot Y: 5.01761249423
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.572] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.572] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.572] Dist. To Collision Point: 2.96794023542
+EventLog - INFO - [T:14.602] Bot X: 3.1839611519
+EventLog - INFO - [T:14.602] Bot Y: 5.01770619066
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.602] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.602] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.602] Dist. To Collision Point: 2.97335202488
+EventLog - INFO - [T:14.631] Bot X: 3.19145541026
+EventLog - INFO - [T:14.631] Bot Y: 5.0178170238
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.631] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.631] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.631] Dist. To Collision Point: 2.97893605738
+EventLog - INFO - [T:14.66] Bot X: 3.19866949057
+EventLog - INFO - [T:14.66] Bot Y: 5.01796431702
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.66] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.66] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.66] Dist. To Collision Point: 2.98434669385
+EventLog - INFO - [T:14.7] Bot X: 3.2058911575
+EventLog - INFO - [T:14.7] Bot Y: 5.01806507867
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.7] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.7] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.7] Dist. To Collision Point: 2.98973914152
+EventLog - INFO - [T:14.744] Bot X: 3.21333313745
+EventLog - INFO - [T:14.744] Bot Y: 5.018169577
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.744] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.744] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.744] Dist. To Collision Point: 2.99530460738
+EventLog - INFO - [T:14.771] Bot X: 3.22056330652
+EventLog - INFO - [T:14.771] Bot Y: 5.01827015835
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.771] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.771] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.771] Dist. To Collision Point: 3.00071883068
+EventLog - INFO - [T:14.801] Bot X: 3.22780266865
+EventLog - INFO - [T:14.801] Bot Y: 5.01837074661
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.801] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.801] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.801] Dist. To Collision Point: 3.00614751301
+EventLog - INFO - [T:14.829] Bot X: 3.2352708128
+EventLog - INFO - [T:14.829] Bot Y: 5.01847505922
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.829] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.829] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.829] Dist. To Collision Point: 3.01175610537
+EventLog - INFO - [T:14.857] Bot X: 3.24252780914
+EventLog - INFO - [T:14.857] Bot Y: 5.0185762774
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.857] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.857] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.857] Dist. To Collision Point: 3.01721375242
+EventLog - INFO - [T:14.896] Bot X: 3.2497932767
+EventLog - INFO - [T:14.896] Bot Y: 5.01867749807
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.896] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.896] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.896] Dist. To Collision Point: 3.02268527848
+EventLog - INFO - [T:14.939] Bot X: 3.25728828704
+EventLog - INFO - [T:14.939] Bot Y: 5.01878221277
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.939] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.939] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.939] Dist. To Collision Point: 3.02833777761
+EventLog - INFO - [T:14.987] Bot X: 3.26457192315
+EventLog - INFO - [T:14.987] Bot Y: 5.01888446901
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:14.987] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:14.987] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:14.987] Dist. To Collision Point: 3.03383884782
+EventLog - INFO - [T:15.016] Bot X: 3.27186325415
+EventLog - INFO - [T:15.016] Bot Y: 5.01898628197
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.016] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.016] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.016] Dist. To Collision Point: 3.03935287699
+EventLog - INFO - [T:15.043] Bot X: 3.27937961964
+EventLog - INFO - [T:15.043] Bot Y: 5.01908990268
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.043] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.043] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.043] Dist. To Collision Point: 3.04504402962
+EventLog - INFO - [T:15.072] Bot X: 3.28666765792
+EventLog - INFO - [T:15.072] Bot Y: 5.01918822293
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.072] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.072] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.072] Dist. To Collision Point: 3.05056842449
+EventLog - INFO - [T:15.1] Bot X: 3.29394417593
+EventLog - INFO - [T:15.1] Bot Y: 5.01929645527
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.1] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.1] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.1] Dist. To Collision Point: 3.05609811851
+EventLog - INFO - [T:15.135] Bot X: 3.30138901023
+EventLog - INFO - [T:15.135] Bot Y: 5.01945248455
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.135] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.135] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.135] Dist. To Collision Point: 3.06179316175
+EventLog - INFO - [T:15.179] Bot X: 3.3086054688
+EventLog - INFO - [T:15.179] Bot Y: 5.01955939155
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.179] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.179] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.179] Dist. To Collision Point: 3.06729147564
+EventLog - INFO - [T:15.207] Bot X: 3.31582788183
+EventLog - INFO - [T:15.207] Bot Y: 5.01966577104
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.207] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.207] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.207] Dist. To Collision Point: 3.07280104355
+EventLog - INFO - [T:15.235] Bot X: 3.32327592801
+EventLog - INFO - [T:15.235] Bot Y: 5.01977402512
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.235] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.235] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.235] Dist. To Collision Point: 3.07848920686
+EventLog - INFO - [T:15.263] Bot X: 3.33051402475
+EventLog - INFO - [T:15.263] Bot Y: 5.01987913667
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.263] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.263] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.263] Dist. To Collision Point: 3.08402415541
+EventLog - INFO - [T:15.291] Bot X: 3.33776125306
+EventLog - INFO - [T:15.291] Bot Y: 5.01998490868
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.291] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.291] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.291] Dist. To Collision Point: 3.0895734901
+EventLog - INFO - [T:15.331] Bot X: 3.34523686536
+EventLog - INFO - [T:15.331] Bot Y: 5.02009390885
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.331] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.331] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.331] Dist. To Collision Point: 3.0953049925
+EventLog - INFO - [T:15.375] Bot X: 3.35250120139
+EventLog - INFO - [T:15.375] Bot Y: 5.02019970957
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.375] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.375] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.375] Dist. To Collision Point: 3.1008815535
+EventLog - INFO - [T:15.419] Bot X: 3.35977440274
+EventLog - INFO - [T:15.419] Bot Y: 5.020305835
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.419] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.419] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.419] Dist. To Collision Point: 3.10647204024
+EventLog - INFO - [T:15.448] Bot X: 3.36727745226
+EventLog - INFO - [T:15.448] Bot Y: 5.02041585622
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.448] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.448] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.448] Dist. To Collision Point: 3.11224684181
+EventLog - INFO - [T:15.476] Bot X: 3.37456782222
+EventLog - INFO - [T:15.476] Bot Y: 5.02052244171
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.476] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.476] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.476] Dist. To Collision Point: 3.11786480052
+EventLog - INFO - [T:15.504] Bot X: 3.38186318522
+EventLog - INFO - [T:15.504] Bot Y: 5.02062772189
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.504] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.504] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.504] Dist. To Collision Point: 3.12349263749
+EventLog - INFO - [T:15.532] Bot X: 3.38937350756
+EventLog - INFO - [T:15.532] Bot Y: 5.02073402288
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.532] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.532] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.532] Dist. To Collision Point: 3.12929215334
+EventLog - INFO - [T:15.563] Bot X: 3.39665187154
+EventLog - INFO - [T:15.563] Bot Y: 5.02084382824
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.563] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.563] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.563] Dist. To Collision Point: 3.13492385887
+EventLog - INFO - [T:15.611] Bot X: 3.40389029151
+EventLog - INFO - [T:15.611] Bot Y: 5.02099632991
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.611] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.611] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.611] Dist. To Collision Point: 3.14055923791
+EventLog - INFO - [T:15.639] Bot X: 3.41131784516
+EventLog - INFO - [T:15.639] Bot Y: 5.02111741425
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.639] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.639] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.639] Dist. To Collision Point: 3.14632594918
+EventLog - INFO - [T:15.667] Bot X: 3.41854099628
+EventLog - INFO - [T:15.667] Bot Y: 5.02122880575
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.667] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.667] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.667] Dist. To Collision Point: 3.15193655712
+EventLog - INFO - [T:15.696] Bot X: 3.42576877406
+EventLog - INFO - [T:15.696] Bot Y: 5.02133842076
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.696] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.696] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.696] Dist. To Collision Point: 3.15755614028
+EventLog - INFO - [T:15.724] Bot X: 3.43322466246
+EventLog - INFO - [T:15.724] Bot Y: 5.02145140482
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.724] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.724] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.724] Dist. To Collision Point: 3.16335986901
+EventLog - INFO - [T:15.762] Bot X: 3.44047068337
+EventLog - INFO - [T:15.762] Bot Y: 5.02156165788
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.762] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.762] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.762] Dist. To Collision Point: 3.16900714927
+EventLog - INFO - [T:15.806] Bot X: 3.44772510734
+EventLog - INFO - [T:15.806] Bot Y: 5.02167201908
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.806] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.806] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.806] Dist. To Collision Point: 3.17466747412
+EventLog - INFO - [T:15.85] Bot X: 3.45520821029
+EventLog - INFO - [T:15.85] Bot Y: 5.0217857363
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.85] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.85] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.85] Dist. To Collision Point: 3.18051293584
+EventLog - INFO - [T:15.878] Bot X: 3.46248012668
+EventLog - INFO - [T:15.878] Bot Y: 5.0218963629
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.878] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.878] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.878] Dist. To Collision Point: 3.18620007071
+EventLog - INFO - [T:15.906] Bot X: 3.4697611583
+EventLog - INFO - [T:15.906] Bot Y: 5.0220076639
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.906] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.906] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.906] Dist. To Collision Point: 3.19190112382
+EventLog - INFO - [T:15.934] Bot X: 3.47727128709
+EventLog - INFO - [T:15.934] Bot Y: 5.0221223473
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.934] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.934] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.934] Dist. To Collision Point: 3.19778820872
+EventLog - INFO - [T:15.962] Bot X: 3.48456638966
+EventLog - INFO - [T:15.962] Bot Y: 5.02223235411
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.962] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.962] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.962] Dist. To Collision Point: 3.20351236106
+EventLog - INFO - [T:15.994] Bot X: 3.4918571506
+EventLog - INFO - [T:15.994] Bot Y: 5.02234048922
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:15.994] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:15.994] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:15.994] Dist. To Collision Point: 3.20923833962
+EventLog - INFO - [T:16.042] Bot X: 3.49935787001
+EventLog - INFO - [T:16.042] Bot Y: 5.02245559791
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.042] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.042] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.042] Dist. To Collision Point: 3.21513825726
+EventLog - INFO - [T:16.09] Bot X: 3.50660644333
+EventLog - INFO - [T:16.09] Bot Y: 5.0226058507
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.09] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.09] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.09] Dist. To Collision Point: 3.22087067308
+EventLog - INFO - [T:16.118] Bot X: 3.51380781807
+EventLog - INFO - [T:16.118] Bot Y: 5.02273616861
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.118] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.118] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.118] Dist. To Collision Point: 3.22655992599
+EventLog - INFO - [T:16.146] Bot X: 3.52125246675
+EventLog - INFO - [T:16.146] Bot Y: 5.02285478049
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.146] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.146] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.146] Dist. To Collision Point: 3.23243763501
+EventLog - INFO - [T:16.174] Bot X: 3.52847934278
+EventLog - INFO - [T:16.174] Bot Y: 5.02296889249
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.174] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.174] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.174] Dist. To Collision Point: 3.23814893502
+EventLog - INFO - [T:16.204] Bot X: 3.53571451998
+EventLog - INFO - [T:16.204] Bot Y: 5.023083061
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.204] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.204] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.204] Dist. To Collision Point: 3.24387280814
+EventLog - INFO - [T:16.234] Bot X: 3.54317877997
+EventLog - INFO - [T:16.234] Bot Y: 5.02320117702
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.234] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.234] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.234] Dist. To Collision Point: 3.24978443972
+EventLog - INFO - [T:16.278] Bot X: 3.55043207789
+EventLog - INFO - [T:16.278] Bot Y: 5.0233160549
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.278] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.278] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.278] Dist. To Collision Point: 3.2555351688
+EventLog - INFO - [T:16.305] Bot X: 3.55769382766
+EventLog - INFO - [T:16.305] Bot Y: 5.02343094758
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.305] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.305] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.305] Dist. To Collision Point: 3.26129853085
+EventLog - INFO - [T:16.334] Bot X: 3.56518471401
+EventLog - INFO - [T:16.334] Bot Y: 5.02354951358
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.334] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.334] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.334] Dist. To Collision Point: 3.2672500426
+EventLog - INFO - [T:16.362] Bot X: 3.57246456882
+EventLog - INFO - [T:16.362] Bot Y: 5.02366527781
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.362] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.362] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.362] Dist. To Collision Point: 3.27304028431
+EventLog - INFO - [T:16.391] Bot X: 3.57975271264
+EventLog - INFO - [T:16.391] Bot Y: 5.0237812218
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.391] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.391] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.391] Dist. To Collision Point: 3.27884310064
+EventLog - INFO - [T:16.434] Bot X: 3.58726831729
+EventLog - INFO - [T:16.434] Bot Y: 5.02389944367
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.434] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.434] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.434] Dist. To Collision Point: 3.28483239885
+EventLog - INFO - [T:16.477] Bot X: 3.59456017833
+EventLog - INFO - [T:16.477] Bot Y: 5.02401248808
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.477] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.477] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.477] Dist. To Collision Point: 3.29064836376
+EventLog - INFO - [T:16.506] Bot X: 3.60184189447
+EventLog - INFO - [T:16.506] Bot Y: 5.02412663894
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.506] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.506] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.506] Dist. To Collision Point: 3.29646287339
+EventLog - INFO - [T:16.535] Bot X: 3.60931940887
+EventLog - INFO - [T:16.535] Bot Y: 5.02427708076
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.535] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.535] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.535] Dist. To Collision Point: 3.30246015219
+EventLog - INFO - [T:16.563] Bot X: 3.61651619944
+EventLog - INFO - [T:16.563] Bot Y: 5.02442121736
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.563] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.563] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.563] Dist. To Collision Point: 3.30823757688
+EventLog - INFO - [T:16.594] Bot X: 3.62374381453
+EventLog - INFO - [T:16.594] Bot Y: 5.02454072305
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.594] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.594] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.594] Dist. To Collision Point: 3.31402992137
+EventLog - INFO - [T:16.63] Bot X: 3.63118869496
+EventLog - INFO - [T:16.63] Bot Y: 5.02466282231
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.63] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.63] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.63] Dist. To Collision Point: 3.32000166671
+EventLog - INFO - [T:16.678] Bot X: 3.63842254401
+EventLog - INFO - [T:16.678] Bot Y: 5.02478152051
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.678] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.678] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.678] Dist. To Collision Point: 3.32580987118
+EventLog - INFO - [T:16.706] Bot X: 3.64566586515
+EventLog - INFO - [T:16.706] Bot Y: 5.02490054755
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.706] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.706] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.706] Dist. To Collision Point: 3.33163138244
+EventLog - INFO - [T:16.734] Bot X: 3.6531376189
+EventLog - INFO - [T:16.734] Bot Y: 5.02502358409
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.734] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.734] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.734] Dist. To Collision Point: 3.33764247789
+EventLog - INFO - [T:16.762] Bot X: 3.66039816836
+EventLog - INFO - [T:16.762] Bot Y: 5.02514300853
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.762] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.762] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.762] Dist. To Collision Point: 3.34348922337
+EventLog - INFO - [T:16.792] Bot X: 3.6676673279
+EventLog - INFO - [T:16.792] Bot Y: 5.02526256132
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.792] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.792] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.792] Dist. To Collision Point: 3.34934844119
+EventLog - INFO - [T:16.833] Bot X: 3.675166352
+EventLog - INFO - [T:16.833] Bot Y: 5.02538642952
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.833] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.833] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.833] Dist. To Collision Point: 3.35539904689
+EventLog - INFO - [T:16.877] Bot X: 3.68245341951
+EventLog - INFO - [T:16.877] Bot Y: 5.02550698067
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.877] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.877] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.877] Dist. To Collision Point: 3.36128434366
+EventLog - INFO - [T:16.905] Bot X: 3.68974725013
+EventLog - INFO - [T:16.905] Bot Y: 5.02562647181
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.905] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.905] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.905] Dist. To Collision Point: 3.36717989326
+EventLog - INFO - [T:16.933] Bot X: 3.69726118362
+EventLog - INFO - [T:16.933] Bot Y: 5.02574801246
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.933] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.933] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.933] Dist. To Collision Point: 3.3732581374
+EventLog - INFO - [T:16.961] Bot X: 3.70454424709
+EventLog - INFO - [T:16.961] Bot Y: 5.02586544227
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.961] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.961] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.961] Dist. To Collision Point: 3.37915491386
+EventLog - INFO - [T:16.991] Bot X: 3.71180920378
+EventLog - INFO - [T:16.991] Bot Y: 5.02600728128
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:16.991] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:16.991] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:16.991] Dist. To Collision Point: 3.38505719552
+EventLog - INFO - [T:17.033] Bot X: 3.71922553788
+EventLog - INFO - [T:17.033] Bot Y: 5.02616843655
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.033] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.033] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.033] Dist. To Collision Point: 3.39109770027
+EventLog - INFO - [T:17.081] Bot X: 3.72645376311
+EventLog - INFO - [T:17.081] Bot Y: 5.02629274372
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.081] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.081] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.081] Dist. To Collision Point: 3.39697070309
+EventLog - INFO - [T:17.109] Bot X: 3.73367869411
+EventLog - INFO - [T:17.109] Bot Y: 5.02641638961
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.109] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.109] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.109] Dist. To Collision Point: 3.40284588793
+EventLog - INFO - [T:17.137] Bot X: 3.74113035549
+EventLog - INFO - [T:17.137] Bot Y: 5.02654338798
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.137] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.137] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.137] Dist. To Collision Point: 3.4089105705
+EventLog - INFO - [T:17.165] Bot X: 3.74837245435
+EventLog - INFO - [T:17.165] Bot Y: 5.02666686415
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.165] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.165] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.165] Dist. To Collision Point: 3.41480999075
+EventLog - INFO - [T:17.194] Bot X: 3.75562320711
+EventLog - INFO - [T:17.194] Bot Y: 5.02679084734
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.194] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.194] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.194] Dist. To Collision Point: 3.4207218454
+EventLog - INFO - [T:17.229] Bot X: 3.76310246605
+EventLog - INFO - [T:17.229] Bot Y: 5.02691857899
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.229] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.229] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.229] Dist. To Collision Point: 3.42682531027
+EventLog - INFO - [T:17.273] Bot X: 3.7703704253
+EventLog - INFO - [T:17.273] Bot Y: 5.02704264139
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.273] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.273] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.273] Dist. To Collision Point: 3.43276152756
+EventLog - INFO - [T:17.317] Bot X: 3.77764752702
+EventLog - INFO - [T:17.317] Bot Y: 5.02716732494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.317] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.317] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.317] Dist. To Collision Point: 3.43871061411
+EventLog - INFO - [T:17.345] Bot X: 3.78515417352
+EventLog - INFO - [T:17.345] Bot Y: 5.0272962502
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.345] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.345] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.345] Dist. To Collision Point: 3.44485288431
+EventLog - INFO - [T:17.373] Bot X: 3.79244722765
+EventLog - INFO - [T:17.373] Bot Y: 5.0274204641
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.373] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.373] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.373] Dist. To Collision Point: 3.45082494397
+EventLog - INFO - [T:17.402] Bot X: 3.79974108137
+EventLog - INFO - [T:17.402] Bot Y: 5.02754329023
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.402] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.402] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.402] Dist. To Collision Point: 3.45680191091
+EventLog - INFO - [T:17.431] Bot X: 3.80724634071
+EventLog - INFO - [T:17.431] Bot Y: 5.02766815004
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.431] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.431] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.431] Dist. To Collision Point: 3.46295649368
+EventLog - INFO - [T:17.461] Bot X: 3.81451588768
+EventLog - INFO - [T:17.461] Bot Y: 5.02780858148
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.461] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.461] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.461] Dist. To Collision Point: 3.46893425369
+EventLog - INFO - [T:17.504] Bot X: 3.82171778127
+EventLog - INFO - [T:17.504] Bot Y: 5.02797694646
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.504] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.504] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.504] Dist. To Collision Point: 3.47487830896
+EventLog - INFO - [T:17.548] Bot X: 3.82916266676
+EventLog - INFO - [T:17.548] Bot Y: 5.02810851274
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.548] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.548] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.548] Dist. To Collision Point: 3.48100316895
+EventLog - INFO - [T:17.576] Bot X: 3.83638670778
+EventLog - INFO - [T:17.576] Bot Y: 5.02823577391
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.576] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.576] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.576] Dist. To Collision Point: 3.48695102299
+EventLog - INFO - [T:17.605] Bot X: 3.84361780636
+EventLog - INFO - [T:17.605] Bot Y: 5.02836350658
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.605] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.605] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.605] Dist. To Collision Point: 3.49290971367
+EventLog - INFO - [T:17.635] Bot X: 3.85107784105
+EventLog - INFO - [T:17.635] Bot Y: 5.0284952129
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.635] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.635] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.635] Dist. To Collision Point: 3.49906204676
+EventLog - INFO - [T:17.666] Bot X: 3.85832741252
+EventLog - INFO - [T:17.666] Bot Y: 5.02862368023
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.666] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.666] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.666] Dist. To Collision Point: 3.50504595605
+EventLog - INFO - [T:17.696] Bot X: 3.86558536104
+EventLog - INFO - [T:17.696] Bot Y: 5.02875213306
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.696] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.696] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.696] Dist. To Collision Point: 3.51104146914
+EventLog - INFO - [T:17.744] Bot X: 3.87307214687
+EventLog - INFO - [T:17.744] Bot Y: 5.0288845455
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.744] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.744] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.744] Dist. To Collision Point: 3.51723095311
+EventLog - INFO - [T:17.773] Bot X: 3.88034796336
+EventLog - INFO - [T:17.773] Bot Y: 5.02901363618
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.773] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.773] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.773] Dist. To Collision Point: 3.52325108977
+EventLog - INFO - [T:17.804] Bot X: 3.88763255414
+EventLog - INFO - [T:17.804] Bot Y: 5.02914328065
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.804] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.804] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.804] Dist. To Collision Point: 3.52928345917
+EventLog - INFO - [T:17.833] Bot X: 3.8951456028
+EventLog - INFO - [T:17.833] Bot Y: 5.02927609561
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.833] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.833] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.833] Dist. To Collision Point: 3.53550944644
+EventLog - INFO - [T:17.862] Bot X: 3.90244000354
+EventLog - INFO - [T:17.862] Bot Y: 5.0294036051
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.862] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.862] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.862] Dist. To Collision Point: 3.54155819902
+EventLog - INFO - [T:17.9] Bot X: 3.90972596794
+EventLog - INFO - [T:17.9] Bot Y: 5.02952884659
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.9] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.9] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.9] Dist. To Collision Point: 3.54760342435
+EventLog - INFO - [T:17.944] Bot X: 3.91721947341
+EventLog - INFO - [T:17.944] Bot Y: 5.02967301964
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.944] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.944] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.944] Dist. To Collision Point: 3.5538344826
+EventLog - INFO - [T:17.971] Bot X: 3.92442953327
+EventLog - INFO - [T:17.971] Bot Y: 5.02984958051
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:17.971] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:17.971] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:17.971] Dist. To Collision Point: 3.55985602515
+EventLog - INFO - [T:18.0] Bot X: 3.93165114305
+EventLog - INFO - [T:18.0] Bot Y: 5.02998241001
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.0] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.0] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.0] Dist. To Collision Point: 3.56586658655
+EventLog - INFO - [T:18.029] Bot X: 3.93909287376
+EventLog - INFO - [T:18.029] Bot Y: 5.03011814509
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.029] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.029] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.029] Dist. To Collision Point: 3.57206440387
+EventLog - INFO - [T:18.057] Bot X: 3.94632282901
+EventLog - INFO - [T:18.057] Bot Y: 5.03025033598
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.057] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.057] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.057] Dist. To Collision Point: 3.57809057174
+EventLog - INFO - [T:18.096] Bot X: 3.95356204377
+EventLog - INFO - [T:18.096] Bot Y: 5.03038257368
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.096] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.096] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.096] Dist. To Collision Point: 3.58412885375
+EventLog - INFO - [T:18.14] Bot X: 3.96102998988
+EventLog - INFO - [T:18.14] Bot Y: 5.03051954395
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.14] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.14] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.14] Dist. To Collision Point: 3.59036289474
+EventLog - INFO - [T:18.184] Bot X: 3.96828679477
+EventLog - INFO - [T:18.184] Bot Y: 5.03065249521
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.184] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.184] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.184] Dist. To Collision Point: 3.59642510657
+EventLog - INFO - [T:18.213] Bot X: 3.97555208054
+EventLog - INFO - [T:18.213] Bot Y: 5.0307854966
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.213] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.213] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.213] Dist. To Collision Point: 3.60249877313
+EventLog - INFO - [T:18.241] Bot X: 3.98304695269
+EventLog - INFO - [T:18.241] Bot Y: 5.0309230421
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.241] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.241] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.241] Dist. To Collision Point: 3.60876918302
+EventLog - INFO - [T:18.269] Bot X: 3.99033041541
+EventLog - INFO - [T:18.269] Bot Y: 5.03105717452
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.269] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.269] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.269] Dist. To Collision Point: 3.61486745665
+EventLog - INFO - [T:18.298] Bot X: 3.99762148143
+EventLog - INFO - [T:18.298] Bot Y: 5.03119080752
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.298] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.298] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.298] Dist. To Collision Point: 3.62097612951
+EventLog - INFO - [T:18.328] Bot X: 4.00513725339
+EventLog - INFO - [T:18.328] Bot Y: 5.03132701405
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.328] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.328] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.328] Dist. To Collision Point: 3.62727677961
+EventLog - INFO - [T:18.371] Bot X: 4.01242447937
+EventLog - INFO - [T:18.371] Bot Y: 5.03145674133
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.371] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.371] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.371] Dist. To Collision Point: 3.63338894427
+EventLog - INFO - [T:18.419] Bot X: 4.01970032366
+EventLog - INFO - [T:18.419] Bot Y: 5.03159710695
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.419] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.419] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.419] Dist. To Collision Point: 3.63950193467
+EventLog - INFO - [T:18.447] Bot X: 4.02714108611
+EventLog - INFO - [T:18.447] Bot Y: 5.03178402259
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.447] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.447] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.447] Dist. To Collision Point: 3.64578207668
+EventLog - INFO - [T:18.475] Bot X: 4.03435734994
+EventLog - INFO - [T:18.475] Bot Y: 5.0319225685
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.475] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.475] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.475] Dist. To Collision Point: 3.65185313652
+EventLog - INFO - [T:18.503] Bot X: 4.04157941114
+EventLog - INFO - [T:18.503] Bot Y: 5.03205900064
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.503] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.503] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.503] Dist. To Collision Point: 3.65793200783
+EventLog - INFO - [T:18.531] Bot X: 4.04902714588
+EventLog - INFO - [T:18.531] Bot Y: 5.03219976669
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.531] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.531] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.531] Dist. To Collision Point: 3.6642052213
+EventLog - INFO - [T:18.567] Bot X: 4.05626500544
+EventLog - INFO - [T:18.567] Bot Y: 5.03233642318
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.567] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.567] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.567] Dist. To Collision Point: 3.67030579033
+EventLog - INFO - [T:18.611] Bot X: 4.06351196677
+EventLog - INFO - [T:18.611] Bot Y: 5.03247379421
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.611] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.611] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.611] Dist. To Collision Point: 3.67641847006
+EventLog - INFO - [T:18.641] Bot X: 4.07098729855
+EventLog - INFO - [T:18.641] Bot Y: 5.03261538638
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.641] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.641] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.641] Dist. To Collision Point: 3.68272803332
+EventLog - INFO - [T:18.669] Bot X: 4.07825136455
+EventLog - INFO - [T:18.669] Bot Y: 5.03275286481
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.669] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.669] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.669] Dist. To Collision Point: 3.68886339426
+EventLog - INFO - [T:18.697] Bot X: 4.08552435177
+EventLog - INFO - [T:18.697] Bot Y: 5.03289075607
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.697] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.697] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.697] Dist. To Collision Point: 3.69501053024
+EventLog - INFO - [T:18.725] Bot X: 4.09302715469
+EventLog - INFO - [T:18.725] Bot Y: 5.03303352495
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.725] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.725] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.725] Dist. To Collision Point: 3.70135647548
+EventLog - INFO - [T:18.767] Bot X: 4.10031721831
+EventLog - INFO - [T:18.767] Bot Y: 5.03317184211
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.767] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.767] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.767] Dist. To Collision Point: 3.70752640682
+EventLog - INFO - [T:18.811] Bot X: 4.10761203503
+EventLog - INFO - [T:18.811] Bot Y: 5.03330869211
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.811] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.811] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.811] Dist. To Collision Point: 3.71370357724
+EventLog - INFO - [T:18.839] Bot X: 4.11512149867
+EventLog - INFO - [T:18.839] Bot Y: 5.03344723902
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.839] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.839] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.839] Dist. To Collision Point: 3.7200654679
+EventLog - INFO - [T:18.868] Bot X: 4.12239918348
+EventLog - INFO - [T:18.868] Bot Y: 5.03358901624
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.868] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.868] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.868] Dist. To Collision Point: 3.72623917729
+EventLog - INFO - [T:18.896] Bot X: 4.12963393754
+EventLog - INFO - [T:18.896] Bot Y: 5.03377261693
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.896] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.896] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.896] Dist. To Collision Point: 3.73240366212
+EventLog - INFO - [T:18.924] Bot X: 4.13706125982
+EventLog - INFO - [T:18.924] Bot Y: 5.03392496422
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.924] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.924] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.924] Dist. To Collision Point: 3.73871656626
+EventLog - INFO - [T:18.967] Bot X: 4.14428375162
+EventLog - INFO - [T:18.967] Bot Y: 5.03406613081
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:18.967] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:18.967] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:18.967] Dist. To Collision Point: 3.74485550968
+EventLog - INFO - [T:19.011] Bot X: 4.15151127651
+EventLog - INFO - [T:19.011] Bot Y: 5.03420717799
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.011] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.011] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.011] Dist. To Collision Point: 3.75100248205
+EventLog - INFO - [T:19.04] Bot X: 4.15896698379
+EventLog - INFO - [T:19.04] Bot Y: 5.03435254794
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.04] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.04] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.04] Dist. To Collision Point: 3.75734748774
+EventLog - INFO - [T:19.068] Bot X: 4.16621278777
+EventLog - INFO - [T:19.068] Bot Y: 5.03449430978
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.068] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.068] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.068] Dist. To Collision Point: 3.76351802997
+EventLog - INFO - [T:19.096] Bot X: 4.17346698174
+EventLog - INFO - [T:19.096] Bot Y: 5.03463619299
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.096] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.096] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.096] Dist. To Collision Point: 3.76969953288
+EventLog - INFO - [T:19.124] Bot X: 4.18094985286
+EventLog - INFO - [T:19.124] Bot Y: 5.03478243281
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.124] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.124] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.124] Dist. To Collision Point: 3.77607984021
+EventLog - INFO - [T:19.179] Bot X: 4.18822158775
+EventLog - INFO - [T:19.179] Bot Y: 5.03492470342
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.179] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.179] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.179] Dist. To Collision Point: 3.78228408292
+EventLog - INFO - [T:19.226] Bot X: 4.19550241802
+EventLog - INFO - [T:19.226] Bot Y: 5.03506767581
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.226] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.226] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.226] Dist. To Collision Point: 3.78850017681
+EventLog - INFO - [T:19.254] Bot X: 4.20301226092
+EventLog - INFO - [T:19.254] Bot Y: 5.03521495246
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.254] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.254] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.254] Dist. To Collision Point: 3.7949156625
+EventLog - INFO - [T:19.282] Bot X: 4.21030687862
+EventLog - INFO - [T:19.282] Bot Y: 5.03535644515
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.282] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.282] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.282] Dist. To Collision Point: 3.80115029316
+EventLog - INFO - [T:19.311] Bot X: 4.21759679317
+EventLog - INFO - [T:19.311] Bot Y: 5.03549576238
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.311] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.311] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.311] Dist. To Collision Point: 3.80738355801
+EventLog - INFO - [T:19.339] Bot X: 4.225096768
+EventLog - INFO - [T:19.339] Bot Y: 5.03564356718
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.339] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.339] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.339] Dist. To Collision Point: 3.81380273867
+EventLog - INFO - [T:19.369] Bot X: 4.23234239087
+EventLog - INFO - [T:19.369] Bot Y: 5.03582553989
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.369] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.369] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.369] Dist. To Collision Point: 3.82002884712
+EventLog - INFO - [T:19.413] Bot X: 4.23954287388
+EventLog - INFO - [T:19.413] Bot Y: 5.03598559548
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.413] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.413] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.413] Dist. To Collision Point: 3.82620867272
+EventLog - INFO - [T:19.442] Bot X: 4.24698652804
+EventLog - INFO - [T:19.442] Bot Y: 5.03613588936
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.442] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.442] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.442] Dist. To Collision Point: 3.8325928954
+EventLog - INFO - [T:19.469] Bot X: 4.25421304238
+EventLog - INFO - [T:19.469] Bot Y: 5.03628134546
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.469] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.469] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.469] Dist. To Collision Point: 3.838794299
+EventLog - INFO - [T:19.497] Bot X: 4.26144794133
+EventLog - INFO - [T:19.497] Bot Y: 5.03642692032
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.497] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.497] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.497] Dist. To Collision Point: 3.84500646307
+EventLog - INFO - [T:19.526] Bot X: 4.26891190655
+EventLog - INFO - [T:19.526] Bot Y: 5.03657744934
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.526] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.526] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.526] Dist. To Collision Point: 3.85141924275
+EventLog - INFO - [T:19.565] Bot X: 4.27616489336
+EventLog - INFO - [T:19.565] Bot Y: 5.03672380312
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.565] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.565] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.565] Dist. To Collision Point: 3.85765442729
+EventLog - INFO - [T:19.609] Bot X: 4.28342633435
+EventLog - INFO - [T:19.609] Bot Y: 5.03687021512
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.609] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.609] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.609] Dist. To Collision Point: 3.86390038515
+EventLog - INFO - [T:19.653] Bot X: 4.29091694185
+EventLog - INFO - [T:19.653] Bot Y: 5.03702133027
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.653] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.653] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.653] Dist. To Collision Point: 3.87034722426
+EventLog - INFO - [T:19.682] Bot X: 4.29819652307
+EventLog - INFO - [T:19.682] Bot Y: 5.03716872489
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.682] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.682] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.682] Dist. To Collision Point: 3.87661632548
+EventLog - INFO - [T:19.71] Bot X: 4.30548433779
+EventLog - INFO - [T:19.71] Bot Y: 5.03731626925
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.71] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.71] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.71] Dist. To Collision Point: 3.88289604588
+EventLog - INFO - [T:19.738] Bot X: 4.31299945926
+EventLog - INFO - [T:19.738] Bot Y: 5.03746691628
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.738] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.738] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.738] Dist. To Collision Point: 3.8893745339
+EventLog - INFO - [T:19.766] Bot X: 4.32029046197
+EventLog - INFO - [T:19.766] Bot Y: 5.03761111181
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.766] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.766] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.766] Dist. To Collision Point: 3.89566235781
+EventLog - INFO - [T:19.801] Bot X: 4.32757140755
+EventLog - INFO - [T:19.801] Bot Y: 5.03775681501
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.801] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.801] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.801] Dist. To Collision Point: 3.90194588879
+EventLog - INFO - [T:19.845] Bot X: 4.33504667459
+EventLog - INFO - [T:19.845] Bot Y: 5.03794016381
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.845] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.845] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.845] Dist. To Collision Point: 3.90841832979
+EventLog - INFO - [T:19.873] Bot X: 4.34224323534
+EventLog - INFO - [T:19.873] Bot Y: 5.0381119696
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.873] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.873] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.873] Dist. To Collision Point: 3.91465038678
+EventLog - INFO - [T:19.9] Bot X: 4.34947001552
+EventLog - INFO - [T:19.9] Bot Y: 5.03826237088
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.9] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.9] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.9] Dist. To Collision Point: 3.92090044272
+EventLog - INFO - [T:19.929] Bot X: 4.3569145352
+EventLog - INFO - [T:19.929] Bot Y: 5.03841668996
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.929] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.929] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.929] Dist. To Collision Point: 3.92734200205
+EventLog - INFO - [T:19.957] Bot X: 4.36414815389
+EventLog - INFO - [T:19.957] Bot Y: 5.03856670152
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:19.957] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:19.957] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:19.957] Dist. To Collision Point: 3.9336045046
+EventLog - INFO - [T:20.001] Bot X: 4.37139126017
+EventLog - INFO - [T:20.001] Bot Y: 5.0387171047
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.001] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.001] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.001] Dist. To Collision Point: 3.93987866072
+EventLog - INFO - [T:20.045] Bot X: 4.37886272968
+EventLog - INFO - [T:20.045] Bot Y: 5.03887244552
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.045] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.045] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.045] Dist. To Collision Point: 3.94635421527
+EventLog - INFO - [T:20.073] Bot X: 4.3861230159
+EventLog - INFO - [T:20.073] Bot Y: 5.03902327448
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.073] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.073] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.073] Dist. To Collision Point: 3.95265004626
+EventLog - INFO - [T:20.102] Bot X: 4.39339193842
+EventLog - INFO - [T:20.102] Bot Y: 5.03917429189
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.102] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.102] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.102] Dist. To Collision Point: 3.95895668506
+EventLog - INFO - [T:20.129] Bot X: 4.40089071828
+EventLog - INFO - [T:20.129] Bot Y: 5.03933062463
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.129] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.129] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.129] Dist. To Collision Point: 3.96546648784
+EventLog - INFO - [T:20.157] Bot X: 4.40817748842
+EventLog - INFO - [T:20.157] Bot Y: 5.03948266292
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.157] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.157] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.157] Dist. To Collision Point: 3.97179565375
+EventLog - INFO - [T:20.204] Bot X: 4.41547090624
+EventLog - INFO - [T:20.204] Bot Y: 5.03963354024
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.204] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.204] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.204] Dist. To Collision Point: 3.97813321525
+EventLog - INFO - [T:20.248] Bot X: 4.42298397138
+EventLog - INFO - [T:20.248] Bot Y: 5.03978708633
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.248] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.248] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.248] Dist. To Collision Point: 3.98466410285
+EventLog - INFO - [T:20.277] Bot X: 4.43026621629
+EventLog - INFO - [T:20.277] Bot Y: 5.0399358352
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.277] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.277] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.277] Dist. To Collision Point: 3.99099760854
+EventLog - INFO - [T:20.304] Bot X: 4.43752961967
+EventLog - INFO - [T:20.304] Bot Y: 5.04010992114
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.304] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.304] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.304] Dist. To Collision Point: 3.99733107957
+EventLog - INFO - [T:20.333] Bot X: 4.4449427853
+EventLog - INFO - [T:20.333] Bot Y: 5.04030168942
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.333] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.333] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.333] Dist. To Collision Point: 4.0038055846
+EventLog - INFO - [T:20.361] Bot X: 4.45217030331
+EventLog - INFO - [T:20.361] Bot Y: 5.04045610111
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.361] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.361] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.361] Dist. To Collision Point: 4.01010452274
+EventLog - INFO - [T:20.396] Bot X: 4.45939487458
+EventLog - INFO - [T:20.396] Bot Y: 5.04061021389
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.396] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.396] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.396] Dist. To Collision Point: 4.01640390414
+EventLog - INFO - [T:20.44] Bot X: 4.46684619316
+EventLog - INFO - [T:20.44] Bot Y: 5.04076937467
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.44] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.44] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.44] Dist. To Collision Point: 4.02290436672
+EventLog - INFO - [T:20.484] Bot X: 4.474087985
+EventLog - INFO - [T:20.484] Bot Y: 5.04092411818
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.484] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.484] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.484] Dist. To Collision Point: 4.0292252305
+EventLog - INFO - [T:20.512] Bot X: 4.48133838697
+EventLog - INFO - [T:20.512] Bot Y: 5.04107936804
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.512] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.512] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.512] Dist. To Collision Point: 4.03555687904
+EventLog - INFO - [T:20.54] Bot X: 4.48881729109
+EventLog - INFO - [T:20.54] Bot Y: 5.04123936599
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.54] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.54] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.54] Dist. To Collision Point: 4.04209124227
+EventLog - INFO - [T:20.569] Bot X: 4.49608493057
+EventLog - INFO - [T:20.569] Bot Y: 5.04139480549
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.569] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.569] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.569] Dist. To Collision Point: 4.048444141
+EventLog - INFO - [T:20.598] Bot X: 4.50336173298
+EventLog - INFO - [T:20.598] Bot Y: 5.04155092682
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.598] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.598] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.598] Dist. To Collision Point: 4.05480837849
+EventLog - INFO - [T:20.632] Bot X: 4.51086802479
+EventLog - INFO - [T:20.632] Bot Y: 5.04171223066
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.632] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.632] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.632] Dist. To Collision Point: 4.06137667373
+EventLog - INFO - [T:20.676] Bot X: 4.51816064604
+EventLog - INFO - [T:20.676] Bot Y: 5.04186778236
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.676] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.676] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.676] Dist. To Collision Point: 4.06776053079
+EventLog - INFO - [T:20.724] Bot X: 4.52545367849
+EventLog - INFO - [T:20.724] Bot Y: 5.04202165751
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.724] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.724] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.724] Dist. To Collision Point: 4.07414695993
+EventLog - INFO - [T:20.752] Bot X: 4.53295805949
+EventLog - INFO - [T:20.752] Bot Y: 5.04217860114
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.752] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.752] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.752] Dist. To Collision Point: 4.08072094727
+EventLog - INFO - [T:20.78] Bot X: 4.54022643135
+EventLog - INFO - [T:20.78] Bot Y: 5.04235101548
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.78] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.78] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.78] Dist. To Collision Point: 4.08710144409
+EventLog - INFO - [T:20.809] Bot X: 4.54742489432
+EventLog - INFO - [T:20.809] Bot Y: 5.04254770578
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.809] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.809] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.809] Dist. To Collision Point: 4.09343643753
+EventLog - INFO - [T:20.837] Bot X: 4.55486942552
+EventLog - INFO - [T:20.837] Bot Y: 5.04271154157
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.837] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.837] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.837] Dist. To Collision Point: 4.09997127181
+EventLog - INFO - [T:20.876] Bot X: 4.56209308378
+EventLog - INFO - [T:20.876] Bot Y: 5.04286992761
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.876] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.876] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.876] Dist. To Collision Point: 4.10631489683
+EventLog - INFO - [T:20.924] Bot X: 4.569323895
+EventLog - INFO - [T:20.924] Bot Y: 5.04302880047
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.924] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.924] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.924] Dist. To Collision Point: 4.1126678809
+EventLog - INFO - [T:20.951] Bot X: 4.57678367252
+EventLog - INFO - [T:20.951] Bot Y: 5.04319267616
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.951] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.951] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.951] Dist. To Collision Point: 4.11922506082
+EventLog - INFO - [T:20.981] Bot X: 4.58403293706
+EventLog - INFO - [T:20.981] Bot Y: 5.04335236551
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:20.981] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:20.981] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:20.981] Dist. To Collision Point: 4.12560036014
+EventLog - INFO - [T:21.01] Bot X: 4.5912905858
+EventLog - INFO - [T:21.01] Bot Y: 5.04351208578
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.01] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.01] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.01] Dist. To Collision Point: 4.13198584977
+EventLog - INFO - [T:21.038] Bot X: 4.59877708068
+EventLog - INFO - [T:21.038] Bot Y: 5.04367676751
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.038] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.038] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.038] Dist. To Collision Point: 4.13857566694
+EventLog - INFO - [T:21.071] Bot X: 4.60605264027
+EventLog - INFO - [T:21.071] Bot Y: 5.04383724558
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.071] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.071] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.071] Dist. To Collision Point: 4.14498295215
+EventLog - INFO - [T:21.115] Bot X: 4.61333692789
+EventLog - INFO - [T:21.115] Bot Y: 5.04399827373
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.115] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.115] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.115] Dist. To Collision Point: 4.15140097298
+EventLog - INFO - [T:21.144] Bot X: 4.62084956277
+EventLog - INFO - [T:21.144] Bot Y: 5.0441633454
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.144] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.144] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.144] Dist. To Collision Point: 4.15802268851
+EventLog - INFO - [T:21.172] Bot X: 4.62814319114
+EventLog - INFO - [T:21.172] Bot Y: 5.04432191721
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.172] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.172] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.172] Dist. To Collision Point: 4.16445344002
+EventLog - INFO - [T:21.201] Bot X: 4.63542825934
+EventLog - INFO - [T:21.201] Bot Y: 5.04447815965
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.201] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.201] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.201] Dist. To Collision Point: 4.17087843383
+EventLog - INFO - [T:21.229] Bot X: 4.64292079033
+EventLog - INFO - [T:21.229] Bot Y: 5.04465519489
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.229] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.229] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.229] Dist. To Collision Point: 4.17749734704
+EventLog - INFO - [T:21.263] Bot X: 4.6501268191
+EventLog - INFO - [T:21.263] Bot Y: 5.04486013304
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.263] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.263] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.263] Dist. To Collision Point: 4.18388289647
+EventLog - INFO - [T:21.307] Bot X: 4.65734923432
+EventLog - INFO - [T:21.307] Bot Y: 5.0450238213
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.307] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.307] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.307] Dist. To Collision Point: 4.19026528777
+EventLog - INFO - [T:21.351] Bot X: 4.66479054184
+EventLog - INFO - [T:21.351] Bot Y: 5.04519150802
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.351] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.351] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.351] Dist. To Collision Point: 4.19684349824
+EventLog - INFO - [T:21.379] Bot X: 4.67202011418
+EventLog - INFO - [T:21.379] Bot Y: 5.04535479195
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.379] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.379] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.379] Dist. To Collision Point: 4.20323747495
+EventLog - INFO - [T:21.408] Bot X: 4.67925899054
+EventLog - INFO - [T:21.408] Bot Y: 5.04551817676
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.408] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.408] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.408] Dist. To Collision Point: 4.20964234302
+EventLog - INFO - [T:21.436] Bot X: 4.68672655091
+EventLog - INFO - [T:21.436] Bot Y: 5.04568724033
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.436] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.436] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.436] Dist. To Collision Point: 4.21625263354
+EventLog - INFO - [T:21.464] Bot X: 4.69398297492
+EventLog - INFO - [T:21.464] Bot Y: 5.04585137753
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.464] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.464] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.464] Dist. To Collision Point: 4.22267869955
+EventLog - INFO - [T:21.495] Bot X: 4.70124788725
+EventLog - INFO - [T:21.495] Bot Y: 5.04601561013
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.495] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.495] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.495] Dist. To Collision Point: 4.22911493337
+EventLog - INFO - [T:21.543] Bot X: 4.70874241183
+EventLog - INFO - [T:21.543] Bot Y: 5.04618540738
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.543] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.543] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.543] Dist. To Collision Point: 4.23575758475
+EventLog - INFO - [T:21.588] Bot X: 4.71602550269
+EventLog - INFO - [T:21.588] Bot Y: 5.04635084849
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.588] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.588] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.588] Dist. To Collision Point: 4.24221577105
+EventLog - INFO - [T:21.617] Bot X: 4.72331613409
+EventLog - INFO - [T:21.617] Bot Y: 5.04651570947
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.617] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.617] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.617] Dist. To Collision Point: 4.24868296041
+EventLog - INFO - [T:21.645] Bot X: 4.73083114448
+EventLog - INFO - [T:21.645] Bot Y: 5.04668389198
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.645] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.645] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.645] Dist. To Collision Point: 4.25535113652
+EventLog - INFO - [T:21.674] Bot X: 4.73811744337
+EventLog - INFO - [T:21.674] Bot Y: 5.04684447263
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.674] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.674] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.674] Dist. To Collision Point: 4.26181787816
+EventLog - INFO - [T:21.702] Bot X: 4.74539246861
+EventLog - INFO - [T:21.702] Bot Y: 5.04701645509
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.702] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.702] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.702] Dist. To Collision Point: 4.26828284216
+EventLog - INFO - [T:21.731] Bot X: 4.75282875297
+EventLog - INFO - [T:21.731] Bot Y: 5.04723321148
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.731] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.731] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.731] Dist. To Collision Point: 4.27491342354
+EventLog - INFO - [T:21.779] Bot X: 4.76004483777
+EventLog - INFO - [T:21.779] Bot Y: 5.04740321624
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.779] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.779] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.779] Dist. To Collision Point: 4.28133091662
+EventLog - INFO - [T:21.809] Bot X: 4.76726636795
+EventLog - INFO - [T:21.809] Bot Y: 5.0475705673
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.809] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.809] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.809] Dist. To Collision Point: 4.28775447282
+EventLog - INFO - [T:21.837] Bot X: 4.77471373885
+EventLog - INFO - [T:21.837] Bot Y: 5.04774333658
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.837] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.837] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.837] Dist. To Collision Point: 4.29438166503
+EventLog - INFO - [T:21.865] Bot X: 4.7819513153
+EventLog - INFO - [T:21.865] Bot Y: 5.04791111675
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.865] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.865] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.865] Dist. To Collision Point: 4.30082468764
+EventLog - INFO - [T:21.892] Bot X: 4.78919795103
+EventLog - INFO - [T:21.892] Bot Y: 5.0480796229
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.892] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.892] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.892] Dist. To Collision Point: 4.30727855525
+EventLog - INFO - [T:21.931] Bot X: 4.79667293491
+EventLog - INFO - [T:21.931] Bot Y: 5.04825331672
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.931] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.931] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.931] Dist. To Collision Point: 4.31393837705
+EventLog - INFO - [T:21.974] Bot X: 4.80393666734
+EventLog - INFO - [T:21.974] Bot Y: 5.04842199452
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:21.974] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:21.974] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:21.974] Dist. To Collision Point: 4.32041249557
+EventLog - INFO - [T:22.018] Bot X: 4.81120935767
+EventLog - INFO - [T:22.018] Bot Y: 5.04859115672
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.018] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.018] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.018] Dist. To Collision Point: 4.32689724731
+EventLog - INFO - [T:22.046] Bot X: 4.81871181761
+EventLog - INFO - [T:22.046] Bot Y: 5.04876615708
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.046] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.046] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.046] Dist. To Collision Point: 4.33358973646
+EventLog - INFO - [T:22.074] Bot X: 4.82600147459
+EventLog - INFO - [T:22.074] Bot Y: 5.04893568756
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.074] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.074] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.074] Dist. To Collision Point: 4.34009470232
+EventLog - INFO - [T:22.102] Bot X: 4.83329561435
+EventLog - INFO - [T:22.102] Bot Y: 5.04910359287
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.102] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.102] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.102] Dist. To Collision Point: 4.34660535239
+EventLog - INFO - [T:22.129] Bot X: 4.8408040971
+EventLog - INFO - [T:22.129] Bot Y: 5.04927386969
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.129] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.129] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.129] Dist. To Collision Point: 4.3533087177
+EventLog - INFO - [T:22.162] Bot X: 4.84808096712
+EventLog - INFO - [T:22.162] Bot Y: 5.04944716118
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.162] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.162] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.162] Dist. To Collision Point: 4.35981170242
+EventLog - INFO - [T:22.206] Bot X: 4.85531183632
+EventLog - INFO - [T:22.206] Bot Y: 5.04966059237
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.206] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.206] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.206] Dist. To Collision Point: 4.36629536128
+EventLog - INFO - [T:22.25] Bot X: 4.86273850311
+EventLog - INFO - [T:22.25] Bot Y: 5.04984453306
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.25] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.25] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.25] Dist. To Collision Point: 4.372940502
+EventLog - INFO - [T:22.279] Bot X: 4.86996028196
+EventLog - INFO - [T:22.279] Bot Y: 5.0500164947
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.279] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.279] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.279] Dist. To Collision Point: 4.37940149926
+EventLog - INFO - [T:22.307] Bot X: 4.87718736261
+EventLog - INFO - [T:22.307] Bot Y: 5.05018857395
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.307] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.307] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.307] Dist. To Collision Point: 4.38586961856
+EventLog - INFO - [T:22.335] Bot X: 4.88464267588
+EventLog - INFO - [T:22.335] Bot Y: 5.05036598327
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.335] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.335] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.335] Dist. To Collision Point: 4.39254444033
+EventLog - INFO - [T:22.363] Bot X: 4.89188808281
+EventLog - INFO - [T:22.363] Bot Y: 5.05053885494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.363] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.363] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.363] Dist. To Collision Point: 4.39903395288
+EventLog - INFO - [T:22.394] Bot X: 4.8991418584
+EventLog - INFO - [T:22.394] Bot Y: 5.050711869
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.394] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.394] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.394] Dist. To Collision Point: 4.40553330185
+EventLog - INFO - [T:22.442] Bot X: 4.90662429856
+EventLog - INFO - [T:22.442] Bot Y: 5.05089022533
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.442] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.442] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.442] Dist. To Collision Point: 4.41223995231
+EventLog - INFO - [T:22.486] Bot X: 4.9138956554
+EventLog - INFO - [T:22.486] Bot Y: 5.05106374167
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.486] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.486] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.486] Dist. To Collision Point: 4.41875988738
+EventLog - INFO - [T:22.515] Bot X: 4.92117608731
+EventLog - INFO - [T:22.515] Bot Y: 5.05123798077
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.515] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.515] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.515] Dist. To Collision Point: 4.42529054733
+EventLog - INFO - [T:22.543] Bot X: 4.92868545789
+EventLog - INFO - [T:22.543] Bot Y: 5.05141741569
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.543] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.543] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.543] Dist. To Collision Point: 4.43202889267
+EventLog - INFO - [T:22.571] Bot X: 4.93597942479
+EventLog - INFO - [T:22.571] Bot Y: 5.0515899635
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.571] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.571] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.571] Dist. To Collision Point: 4.43857552306
+EventLog - INFO - [T:22.601] Bot X: 4.94326836718
+EventLog - INFO - [T:22.601] Bot Y: 5.05176004779
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.601] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.601] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.601] Dist. To Collision Point: 4.44511889276
+EventLog - INFO - [T:22.634] Bot X: 4.95076748093
+EventLog - INFO - [T:22.634] Bot Y: 5.05194017106
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.634] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.634] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.634] Dist. To Collision Point: 4.45185572696
+EventLog - INFO - [T:22.678] Bot X: 4.95800978135
+EventLog - INFO - [T:22.678] Bot Y: 5.05215286735
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.678] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.678] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.678] Dist. To Collision Point: 4.45838200227
+EventLog - INFO - [T:22.706] Bot X: 4.96521039775
+EventLog - INFO - [T:22.706] Bot Y: 5.05234191038
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.706] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.706] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.706] Dist. To Collision Point: 4.4648626039
+EventLog - INFO - [T:22.734] Bot X: 4.97265292935
+EventLog - INFO - [T:22.734] Bot Y: 5.05252373138
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.734] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.734] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.734] Dist. To Collision Point: 4.47155702405
+EventLog - INFO - [T:22.762] Bot X: 4.97987901415
+EventLog - INFO - [T:22.762] Bot Y: 5.05270015817
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.762] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.762] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.762] Dist. To Collision Point: 4.47805897228
+EventLog - INFO - [T:22.791] Bot X: 4.98711358491
+EventLog - INFO - [T:22.791] Bot Y: 5.05287675468
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.791] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.791] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.791] Dist. To Collision Point: 4.4845707665
+EventLog - INFO - [T:22.834] Bot X: 4.99457719707
+EventLog - INFO - [T:22.834] Bot Y: 5.05305928414
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.834] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.834] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.834] Dist. To Collision Point: 4.49129120149
+EventLog - INFO - [T:22.881] Bot X: 5.00182980671
+EventLog - INFO - [T:22.881] Bot Y: 5.05323669494
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.881] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.881] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.881] Dist. To Collision Point: 4.49782391547
+EventLog - INFO - [T:22.909] Bot X: 5.00909087557
+EventLog - INFO - [T:22.909] Bot Y: 5.05341420572
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.909] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.909] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.909] Dist. To Collision Point: 4.50436641431
+EventLog - INFO - [T:22.937] Bot X: 5.01658113112
+EventLog - INFO - [T:22.937] Bot Y: 5.05359742932
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.937] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.937] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.937] Dist. To Collision Point: 4.51111778036
+EventLog - INFO - [T:22.965] Bot X: 5.02386035486
+EventLog - INFO - [T:22.965] Bot Y: 5.05377601762
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.965] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.965] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.965] Dist. To Collision Point: 4.51768141063
+EventLog - INFO - [T:22.995] Bot X: 5.03114774328
+EventLog - INFO - [T:22.995] Bot Y: 5.05395471867
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:22.995] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:22.995] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:22.995] Dist. To Collision Point: 4.52425456343
+EventLog - INFO - [T:23.029] Bot X: 5.03866225749
+EventLog - INFO - [T:23.029] Bot Y: 5.05413732008
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.029] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.029] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.029] Dist. To Collision Point: 4.53103412017
+EventLog - INFO - [T:23.073] Bot X: 5.04595228017
+EventLog - INFO - [T:23.073] Bot Y: 5.05431222628
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.073] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.073] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.073] Dist. To Collision Point: 4.53761234715
+EventLog - INFO - [T:23.133] Bot X: 5.05323233631
+EventLog - INFO - [T:23.133] Bot Y: 5.0544890897
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.133] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.133] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.133] Dist. To Collision Point: 4.54418474829
+EventLog - INFO - [T:23.173] Bot X: 5.06070493041
+EventLog - INFO - [T:23.173] Bot Y: 5.05470510489
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.173] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.173] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.173] Dist. To Collision Point: 4.55094878382
+EventLog - INFO - [T:23.202] Bot X: 5.06789919238
+EventLog - INFO - [T:23.202] Bot Y: 5.05490701094
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.202] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.202] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.202] Dist. To Collision Point: 4.55746024604
+EventLog - INFO - [T:23.23] Bot X: 5.0751247748
+EventLog - INFO - [T:23.23] Bot Y: 5.05508781498
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.23] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.23] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.23] Dist. To Collision Point: 4.56399223125
+EventLog - INFO - [T:23.257] Bot X: 5.08256875039
+EventLog - INFO - [T:23.257] Bot Y: 5.05527408177
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.257] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.257] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.257] Dist. To Collision Point: 4.57072383552
+EventLog - INFO - [T:23.286] Bot X: 5.08980193754
+EventLog - INFO - [T:23.286] Bot Y: 5.05545515074
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.286] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.286] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.286] Dist. To Collision Point: 4.57726697834
+EventLog - INFO - [T:23.314] Bot X: 5.09704463151
+EventLog - INFO - [T:23.314] Bot Y: 5.05563662994
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.314] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.314] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.314] Dist. To Collision Point: 4.5838208834
+EventLog - INFO - [T:23.342] Bot X: 5.10451562698
+EventLog - INFO - [T:23.342] Bot Y: 5.05582398274
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.342] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.342] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.342] Dist. To Collision Point: 4.59058362329
+EventLog - INFO - [T:23.37] Bot X: 5.11177545717
+EventLog - INFO - [T:23.37] Bot Y: 5.0560059267
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.37] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.37] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.37] Dist. To Collision Point: 4.59715727395
+EventLog - INFO - [T:23.405] Bot X: 5.1190439503
+EventLog - INFO - [T:23.405] Bot Y: 5.05618811967
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.405] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.405] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.405] Dist. To Collision Point: 4.60374085574
+EventLog - INFO - [T:23.449] Bot X: 5.12654228687
+EventLog - INFO - [T:23.449] Bot Y: 5.05637661381
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.449] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.449] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.449] Dist. To Collision Point: 4.61053502754
+EventLog - INFO - [T:23.477] Bot X: 5.13382857525
+EventLog - INFO - [T:23.477] Bot Y: 5.05655983709
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.477] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.477] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.477] Dist. To Collision Point: 4.61713918659
+EventLog - INFO - [T:23.505] Bot X: 5.14112141363
+EventLog - INFO - [T:23.505] Bot Y: 5.05674178081
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.505] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.505] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.505] Dist. To Collision Point: 4.62375069925
+EventLog - INFO - [T:23.534] Bot X: 5.1486334639
+EventLog - INFO - [T:23.534] Bot Y: 5.05692701496
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.534] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.534] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.534] Dist. To Collision Point: 4.63056212293
+EventLog - INFO - [T:23.562] Bot X: 5.15591477845
+EventLog - INFO - [T:23.562] Bot Y: 5.05710682147
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.562] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.562] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.562] Dist. To Collision Point: 4.63716651961
+EventLog - INFO - [T:23.597] Bot X: 5.16317630641
+EventLog - INFO - [T:23.597] Bot Y: 5.05731264044
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.597] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.597] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.597] Dist. To Collision Point: 4.64376673261
+EventLog - INFO - [T:23.641] Bot X: 5.17058736325
+EventLog - INFO - [T:23.641] Bot Y: 5.05753372325
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.641] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.641] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.641] Dist. To Collision Point: 4.6505097767
+EventLog - INFO - [T:23.699] Bot X: 5.17781379847
+EventLog - INFO - [T:23.699] Bot Y: 5.05771884629
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.699] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.699] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.699] Dist. To Collision Point: 4.65707335025
+EventLog - INFO - [T:23.742] Bot X: 5.18503786067
+EventLog - INFO - [T:23.742] Bot Y: 5.05790390106
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.742] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.742] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.742] Dist. To Collision Point: 4.66363673157
+EventLog - INFO - [T:23.77] Bot X: 5.19248878304
+EventLog - INFO - [T:23.77] Bot Y: 5.05809497945
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.77] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.77] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.77] Dist. To Collision Point: 4.67040836987
+EventLog - INFO - [T:23.799] Bot X: 5.19973022116
+EventLog - INFO - [T:23.799] Bot Y: 5.05828076553
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.799] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.799] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.799] Dist. To Collision Point: 4.67699164416
+EventLog - INFO - [T:23.827] Bot X: 5.20698019898
+EventLog - INFO - [T:23.827] Bot Y: 5.05846702327
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.827] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.827] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.827] Dist. To Collision Point: 4.68358474654
+EventLog - INFO - [T:23.855] Bot X: 5.21445868072
+EventLog - INFO - [T:23.855] Bot Y: 5.05865902424
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.855] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.855] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.855] Dist. To Collision Point: 4.69038763273
+EventLog - INFO - [T:23.883] Bot X: 5.22172593202
+EventLog - INFO - [T:23.883] Bot Y: 5.05884558127
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.883] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.883] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.883] Dist. To Collision Point: 4.69700033707
+EventLog - INFO - [T:23.911] Bot X: 5.22900235205
+EventLog - INFO - [T:23.911] Bot Y: 5.0590328696
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.911] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.911] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.911] Dist. To Collision Point: 4.70362354402
+EventLog - INFO - [T:23.939] Bot X: 5.23650819355
+EventLog - INFO - [T:23.939] Bot Y: 5.05922626502
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.939] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.939] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.939] Dist. To Collision Point: 4.71045769272
+EventLog - INFO - [T:23.968] Bot X: 5.24380027348
+EventLog - INFO - [T:23.968] Bot Y: 5.05941287136
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:23.968] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:23.968] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:23.968] Dist. To Collision Point: 4.71709861296
+EventLog - INFO - [T:24.012] Bot X: 5.25109234716
+EventLog - INFO - [T:24.012] Bot Y: 5.05959750321
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.012] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.012] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.012] Dist. To Collision Point: 4.72374059471
+EventLog - INFO - [T:24.04] Bot X: 5.25859572236
+EventLog - INFO - [T:24.04] Bot Y: 5.0597862802
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.04] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.04] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.04] Dist. To Collision Point: 4.73057652211
+EventLog - INFO - [T:24.069] Bot X: 5.26586263609
+EventLog - INFO - [T:24.069] Bot Y: 5.05999064356
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.069] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.069] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.069] Dist. To Collision Point: 4.73720831975
+EventLog - INFO - [T:24.096] Bot X: 5.27305791116
+EventLog - INFO - [T:24.096] Bot Y: 5.06021566641
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.096] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.096] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.096] Dist. To Collision Point: 4.74378642917
+EventLog - INFO - [T:24.125] Bot X: 5.28050245967
+EventLog - INFO - [T:24.125] Bot Y: 5.06041088099
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.125] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.125] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.125] Dist. To Collision Point: 4.75057801591
+EventLog - INFO - [T:24.163] Bot X: 5.28772556784
+EventLog - INFO - [T:24.163] Bot Y: 5.06060019691
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.163] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.163] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.163] Dist. To Collision Point: 4.7571694204
+EventLog - INFO - [T:24.207] Bot X: 5.29495589489
+EventLog - INFO - [T:24.207] Bot Y: 5.06079002367
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.207] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.207] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.207] Dist. To Collision Point: 4.76376939374
+EventLog - INFO - [T:24.251] Bot X: 5.30241522253
+EventLog - INFO - [T:24.251] Bot Y: 5.06098582429
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.251] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.251] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.251] Dist. To Collision Point: 4.77058030948
+EventLog - INFO - [T:24.278] Bot X: 5.30966399282
+EventLog - INFO - [T:24.278] Bot Y: 5.06117646371
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.278] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.278] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.278] Dist. To Collision Point: 4.77720099201
+EventLog - INFO - [T:24.307] Bot X: 5.31692115004
+EventLog - INFO - [T:24.307] Bot Y: 5.06136718056
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.307] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.307] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.307] Dist. To Collision Point: 4.78383110482
+EventLog - INFO - [T:24.335] Bot X: 5.32440715224
+EventLog - INFO - [T:24.335] Bot Y: 5.0615638485
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.335] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.335] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.335] Dist. To Collision Point: 4.79067217503
+EventLog - INFO - [T:24.363] Bot X: 5.33168225038
+EventLog - INFO - [T:24.363] Bot Y: 5.06175542822
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.363] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.363] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.363] Dist. To Collision Point: 4.79732255858
+EventLog - INFO - [T:24.395] Bot X: 5.33896603729
+EventLog - INFO - [T:24.395] Bot Y: 5.06194754657
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.395] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.395] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.395] Dist. To Collision Point: 4.80398283957
+EventLog - INFO - [T:24.439] Bot X: 5.34647808618
+EventLog - INFO - [T:24.439] Bot Y: 5.06214455253
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.439] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.439] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.439] Dist. To Collision Point: 4.81085325827
+EventLog - INFO - [T:24.483] Bot X: 5.35377078213
+EventLog - INFO - [T:24.483] Bot Y: 5.06233386447
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.483] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.483] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.483] Dist. To Collision Point: 4.81752406881
+EventLog - INFO - [T:24.512] Bot X: 5.36105483094
+EventLog - INFO - [T:24.512] Bot Y: 5.06252083681
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.512] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.512] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.512] Dist. To Collision Point: 4.82418786955
+EventLog - INFO - [T:24.541] Bot X: 5.36854619006
+EventLog - INFO - [T:24.541] Bot Y: 5.06273040275
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.541] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.541] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.541] Dist. To Collision Point: 4.831050578
+EventLog - INFO - [T:24.569] Bot X: 5.37574796988
+EventLog - INFO - [T:24.569] Bot Y: 5.06296373713
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.569] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.569] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.569] Dist. To Collision Point: 4.83766336498
+EventLog - INFO - [T:24.598] Bot X: 5.38296929191
+EventLog - INFO - [T:24.598] Bot Y: 5.06315924652
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.598] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.598] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.598] Dist. To Collision Point: 4.84427941441
+EventLog - INFO - [T:24.635] Bot X: 5.39041004827
+EventLog - INFO - [T:24.635] Bot Y: 5.06335879721
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.635] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.635] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.635] Dist. To Collision Point: 4.85109751198
+EventLog - INFO - [T:24.679] Bot X: 5.39763917459
+EventLog - INFO - [T:24.679] Bot Y: 5.06355301046
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.679] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.679] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.679] Dist. To Collision Point: 4.85772359112
+EventLog - INFO - [T:24.707] Bot X: 5.40487766328
+EventLog - INFO - [T:24.707] Bot Y: 5.06374737742
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.707] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.707] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.707] Dist. To Collision Point: 4.86435993893
+EventLog - INFO - [T:24.735] Bot X: 5.41234476374
+EventLog - INFO - [T:24.735] Bot Y: 5.06394834421
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.735] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.735] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.735] Dist. To Collision Point: 4.87120788193
+EventLog - INFO - [T:24.763] Bot X: 5.41960074033
+EventLog - INFO - [T:24.763] Bot Y: 5.06414348264
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.763] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.763] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.763] Dist. To Collision Point: 4.8778638938
+EventLog - INFO - [T:24.792] Bot X: 5.42686521465
+EventLog - INFO - [T:24.792] Bot Y: 5.06433876146
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.792] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.792] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.792] Dist. To Collision Point: 4.88452938312
+EventLog - INFO - [T:24.83] Bot X: 5.43435931307
+EventLog - INFO - [T:24.83] Bot Y: 5.06454061064
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.83] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.83] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.83] Dist. To Collision Point: 4.89140752671
+EventLog - INFO - [T:24.875] Bot X: 5.44164194619
+EventLog - INFO - [T:24.875] Bot Y: 5.06473716177
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.875] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.875] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.875] Dist. To Collision Point: 4.89809349293
+EventLog - INFO - [T:24.918] Bot X: 5.44893204061
+EventLog - INFO - [T:24.918] Bot Y: 5.06493304812
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.918] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.918] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.918] Dist. To Collision Point: 4.90478765428
+EventLog - INFO - [T:24.946] Bot X: 5.45644615096
+EventLog - INFO - [T:24.946] Bot Y: 5.06513298016
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.946] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.946] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.946] Dist. To Collision Point: 4.9116884733
+EventLog - INFO - [T:24.974] Bot X: 5.46373139666
+EventLog - INFO - [T:24.974] Bot Y: 5.06532423729
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:24.974] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:24.974] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:24.974] Dist. To Collision Point: 4.91837974555
+EventLog - INFO - [T:25.004] Bot X: 5.47100544621
+EventLog - INFO - [T:25.004] Bot Y: 5.06552768049
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.004] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.004] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.004] Dist. To Collision Point: 4.9250676576
+EventLog - INFO - [T:25.032] Bot X: 5.47843732907
+EventLog - INFO - [T:25.032] Bot Y: 5.06577375353
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.032] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.032] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.032] Dist. To Collision Point: 4.931918414
+EventLog - INFO - [T:25.071] Bot X: 5.48565419327
+EventLog - INFO - [T:25.071] Bot Y: 5.06597421359
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.071] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.071] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.071] Dist. To Collision Point: 4.93855648162
+EventLog - INFO - [T:25.11] Bot X: 5.4928750911
+EventLog - INFO - [T:25.11] Bot Y: 5.06617243389
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.11] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.11] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.11] Dist. To Collision Point: 4.94519890788
+EventLog - INFO - [T:25.138] Bot X: 5.50032190255
+EventLog - INFO - [T:25.138] Bot Y: 5.06637705079
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.138] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.138] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.138] Dist. To Collision Point: 4.95205093556
+EventLog - INFO - [T:25.166] Bot X: 5.50755899588
+EventLog - INFO - [T:25.166] Bot Y: 5.06657577593
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.166] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.166] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.166] Dist. To Collision Point: 4.95871159305
+EventLog - INFO - [T:25.195] Bot X: 5.51480512184
+EventLog - INFO - [T:25.195] Bot Y: 5.06677518817
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.195] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.195] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.195] Dist. To Collision Point: 4.96538237087
+EventLog - INFO - [T:25.223] Bot X: 5.52227956185
+EventLog - INFO - [T:25.223] Bot Y: 5.06698075268
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.223] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.223] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.223] Dist. To Collision Point: 4.97226497563
+EventLog - INFO - [T:25.262] Bot X: 5.52954276779
+EventLog - INFO - [T:25.262] Bot Y: 5.06718040403
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.262] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.262] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.262] Dist. To Collision Point: 4.97895467209
+EventLog - INFO - [T:25.31] Bot X: 5.53681496019
+EventLog - INFO - [T:25.31] Bot Y: 5.06738060261
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.31] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.31] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.31] Dist. To Collision Point: 4.98565438593
+EventLog - INFO - [T:25.358] Bot X: 5.54431687322
+EventLog - INFO - [T:25.358] Bot Y: 5.0675875882
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.358] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.358] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.358] Dist. To Collision Point: 4.99256761538
+EventLog - INFO - [T:25.387] Bot X: 5.55160595135
+EventLog - INFO - [T:25.387] Bot Y: 5.06778806825
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.387] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.387] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.387] Dist. To Collision Point: 4.99928608352
+EventLog - INFO - [T:25.416] Bot X: 5.55889924846
+EventLog - INFO - [T:25.416] Bot Y: 5.06798676534
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.416] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.416] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.416] Dist. To Collision Point: 5.00600926195
+EventLog - INFO - [T:25.444] Bot X: 5.56640661682
+EventLog - INFO - [T:25.444] Bot Y: 5.06818852477
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.444] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.444] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.444] Dist. To Collision Point: 5.01293030809
+EventLog - INFO - [T:25.473] Bot X: 5.57368255286
+EventLog - INFO - [T:25.473] Bot Y: 5.06839310476
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.473] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.473] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.473] Dist. To Collision Point: 5.01964333773
+EventLog - INFO - [T:25.502] Bot X: 5.58090919793
+EventLog - INFO - [T:25.502] Bot Y: 5.06863579507
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.502] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.502] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.502] Dist. To Collision Point: 5.02632870378
+EventLog - INFO - [T:25.546] Bot X: 5.5883354305
+EventLog - INFO - [T:25.546] Bot Y: 5.06885125093
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.546] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.546] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.546] Dist. To Collision Point: 5.0331863293
+EventLog - INFO - [T:25.575] Bot X: 5.59555642286
+EventLog - INFO - [T:25.575] Bot Y: 5.06905399532
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.575] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.575] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.575] Dist. To Collision Point: 5.03985320953
+EventLog - INFO - [T:25.604] Bot X: 5.60278298562
+EventLog - INFO - [T:25.604] Bot Y: 5.06925697362
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.604] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.604] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.604] Dist. To Collision Point: 5.04652679932
+EventLog - INFO - [T:25.632] Bot X: 5.61023785286
+EventLog - INFO - [T:25.632] Bot Y: 5.06946625871
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.632] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.632] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.632] Dist. To Collision Point: 5.05341278294
+EventLog - INFO - [T:25.66] Bot X: 5.61748280314
+EventLog - INFO - [T:25.66] Bot Y: 5.0696700355
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.66] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.66] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.66] Dist. To Collision Point: 5.06010657894
+EventLog - INFO - [T:25.702] Bot X: 5.62473609357
+EventLog - INFO - [T:25.702] Bot Y: 5.06987396387
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.702] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.702] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.702] Dist. To Collision Point: 5.06680957376
+EventLog - INFO - [T:25.75] Bot X: 5.6322180352
+EventLog - INFO - [T:25.75] Bot Y: 5.07008421076
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.75] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.75] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.75] Dist. To Collision Point: 5.07372542209
+EventLog - INFO - [T:25.777] Bot X: 5.63948893232
+EventLog - INFO - [T:25.777] Bot Y: 5.07028873868
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.777] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.777] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.777] Dist. To Collision Point: 5.08044782537
+EventLog - INFO - [T:25.806] Bot X: 5.6467688727
+EventLog - INFO - [T:25.806] Bot Y: 5.07049400317
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.806] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.806] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.806] Dist. To Collision Point: 5.08718030576
+EventLog - INFO - [T:25.835] Bot X: 5.65427766779
+EventLog - INFO - [T:25.835] Bot Y: 5.07070532968
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.835] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.835] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.835] Dist. To Collision Point: 5.09412585821
+EventLog - INFO - [T:25.863] Bot X: 5.66157085491
+EventLog - INFO - [T:25.863] Bot Y: 5.07090867237
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.863] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.863] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.863] Dist. To Collision Point: 5.10087273424
+EventLog - INFO - [T:25.902] Bot X: 5.66885869668
+EventLog - INFO - [T:25.902] Bot Y: 5.07110927896
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.902] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.902] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.902] Dist. To Collision Point: 5.10761512444
+EventLog - INFO - [T:25.949] Bot X: 5.67635682182
+EventLog - INFO - [T:25.949] Bot Y: 5.07132152643
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.949] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.949] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.949] Dist. To Collision Point: 5.11455599964
+EventLog - INFO - [T:25.977] Bot X: 5.68359544508
+EventLog - INFO - [T:25.977] Bot Y: 5.07156473721
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:25.977] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:25.977] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:25.977] Dist. To Collision Point: 5.12127365354
+EventLog - INFO - [T:26.006] Bot X: 5.69079561831
+EventLog - INFO - [T:26.006] Bot Y: 5.0717833884
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.006] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.006] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.006] Dist. To Collision Point: 5.12794764211
+EventLog - INFO - [T:26.034] Bot X: 5.69823703034
+EventLog - INFO - [T:26.034] Bot Y: 5.07199667442
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.034] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.034] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.034] Dist. To Collision Point: 5.13484162261
+EventLog - INFO - [T:26.062] Bot X: 5.70546250546
+EventLog - INFO - [T:26.062] Bot Y: 5.07220399033
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.062] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.062] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.062] Dist. To Collision Point: 5.141537109
+EventLog - INFO - [T:26.097] Bot X: 5.71269653662
+EventLog - INFO - [T:26.097] Bot Y: 5.07241152028
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.097] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.097] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.097] Dist. To Collision Point: 5.14824195521
+EventLog - INFO - [T:26.145] Bot X: 5.72015961138
+EventLog - INFO - [T:26.145] Bot Y: 5.07262586557
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.145] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.145] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.145] Dist. To Collision Point: 5.15516069656
+EventLog - INFO - [T:26.173] Bot X: 5.72741165573
+EventLog - INFO - [T:26.173] Bot Y: 5.07283416314
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.173] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.173] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.173] Dist. To Collision Point: 5.16188526613
+EventLog - INFO - [T:26.203] Bot X: 5.73467215792
+EventLog - INFO - [T:26.203] Bot Y: 5.07304259847
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.203] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.203] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.203] Dist. To Collision Point: 5.16861907343
+EventLog - INFO - [T:26.23] Bot X: 5.74216185291
+EventLog - INFO - [T:26.23] Bot Y: 5.07325774227
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.23] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.23] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.23] Dist. To Collision Point: 5.175567
+EventLog - INFO - [T:26.258] Bot X: 5.74944051527
+EventLog - INFO - [T:26.258] Bot Y: 5.07346733469
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.258] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.258] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.258] Dist. To Collision Point: 5.18232081801
+EventLog - INFO - [T:26.301] Bot X: 5.75672728683
+EventLog - INFO - [T:26.301] Bot Y: 5.07367698526
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.301] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.301] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.301] Dist. To Collision Point: 5.18908352055
+EventLog - INFO - [T:26.345] Bot X: 5.76424102515
+EventLog - INFO - [T:26.345] Bot Y: 5.07389130969
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.345] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.345] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.345] Dist. To Collision Point: 5.19605761815
+EventLog - INFO - [T:26.373] Bot X: 5.7715299313
+EventLog - INFO - [T:26.373] Bot Y: 5.07409672412
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.373] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.373] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.373] Dist. To Collision Point: 5.20282348015
+EventLog - INFO - [T:26.403] Bot X: 5.77880898541
+EventLog - INFO - [T:26.403] Bot Y: 5.07430458171
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.403] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.403] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.403] Dist. To Collision Point: 5.20958269674
+EventLog - INFO - [T:26.431] Bot X: 5.78627855234
+EventLog - INFO - [T:26.431] Bot Y: 5.07455239169
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.431] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.431] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.431] Dist. To Collision Point: 5.21653400851
+EventLog - INFO - [T:26.459] Bot X: 5.79347258424
+EventLog - INFO - [T:26.459] Bot Y: 5.07478271818
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.459] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.459] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.459] Dist. To Collision Point: 5.2232269525
+EventLog - INFO - [T:26.501] Bot X: 5.80069685734
+EventLog - INFO - [T:26.501] Bot Y: 5.07499453617
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.501] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.501] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.501] Dist. To Collision Point: 5.22994165295
+EventLog - INFO - [T:26.545] Bot X: 5.80814009119
+EventLog - INFO - [T:26.545] Bot Y: 5.07521352417
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.545] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.545] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.545] Dist. To Collision Point: 5.23686159427
+EventLog - INFO - [T:26.573] Bot X: 5.81537279991
+EventLog - INFO - [T:26.573] Bot Y: 5.07542552013
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.573] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.573] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.573] Dist. To Collision Point: 5.24358687732
+EventLog - INFO - [T:26.604] Bot X: 5.82261503172
+EventLog - INFO - [T:26.604] Bot Y: 5.07563792758
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.604] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.604] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.604] Dist. To Collision Point: 5.25032242793
+EventLog - INFO - [T:26.631] Bot X: 5.83008548166
+EventLog - INFO - [T:26.631] Bot Y: 5.07585711319
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.631] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.631] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.631] Dist. To Collision Point: 5.25727168398
+EventLog - INFO - [T:26.659] Bot X: 5.83734478929
+EventLog - INFO - [T:26.659] Bot Y: 5.07606999552
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.659] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.659] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.659] Dist. To Collision Point: 5.26402586237
+EventLog - INFO - [T:26.701] Bot X: 5.84461277444
+EventLog - INFO - [T:26.701] Bot Y: 5.07628317519
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.701] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.701] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.701] Dist. To Collision Point: 5.27078948536
+EventLog - INFO - [T:26.744] Bot X: 5.85211057107
+EventLog - INFO - [T:26.744] Bot Y: 5.07650362361
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.744] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.744] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.744] Dist. To Collision Point: 5.27776859403
+EventLog - INFO - [T:26.772] Bot X: 5.85939627383
+EventLog - INFO - [T:26.772] Bot Y: 5.07671781722
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.772] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.772] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.772] Dist. To Collision Point: 5.2845516438
+EventLog - INFO - [T:26.802] Bot X: 5.86668841587
+EventLog - INFO - [T:26.802] Bot Y: 5.07693059632
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.802] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.802] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.802] Dist. To Collision Point: 5.291341406
+EventLog - INFO - [T:26.83] Bot X: 5.87419931798
+EventLog - INFO - [T:26.83] Bot Y: 5.07714729951
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.83] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.83] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.83] Dist. To Collision Point: 5.29833529792
+EventLog - INFO - [T:26.858] Bot X: 5.88147957537
+EventLog - INFO - [T:26.858] Bot Y: 5.07735798292
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.858] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.858] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.858] Dist. To Collision Point: 5.30511602757
+EventLog - INFO - [T:26.896] Bot X: 5.88873887146
+EventLog - INFO - [T:26.896] Bot Y: 5.07759553075
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.896] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.896] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.896] Dist. To Collision Point: 5.31188930353
+EventLog - INFO - [T:26.94] Bot X: 5.89614721502
+EventLog - INFO - [T:26.94] Bot Y: 5.07784699905
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.94] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.94] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.94] Dist. To Collision Point: 5.31880651378
+EventLog - INFO - [T:26.985] Bot X: 5.90337233154
+EventLog - INFO - [T:26.985] Bot Y: 5.07806300916
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:26.985] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:26.985] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:26.985] Dist. To Collision Point: 5.32554251869
+EventLog - INFO - [T:27.014] Bot X: 5.91059555529
+EventLog - INFO - [T:27.014] Bot Y: 5.07828016501
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.014] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.014] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.014] Dist. To Collision Point: 5.33227851643
+EventLog - INFO - [T:27.042] Bot X: 5.91804588711
+EventLog - INFO - [T:27.042] Bot Y: 5.07850319624
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.042] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.042] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.042] Dist. To Collision Point: 5.33922727625
+EventLog - INFO - [T:27.071] Bot X: 5.92528678315
+EventLog - INFO - [T:27.071] Bot Y: 5.07872001679
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.071] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.071] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.071] Dist. To Collision Point: 5.34598202631
+EventLog - INFO - [T:27.099] Bot X: 5.93253614629
+EventLog - INFO - [T:27.099] Bot Y: 5.07893725729
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.099] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.099] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.099] Dist. To Collision Point: 5.35274602178
+EventLog - INFO - [T:27.128] Bot X: 5.94001400154
+EventLog - INFO - [T:27.128] Bot Y: 5.07916122839
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.128] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.128] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.128] Dist. To Collision Point: 5.35972450473
+EventLog - INFO - [T:27.172] Bot X: 5.94728065838
+EventLog - INFO - [T:27.172] Bot Y: 5.07937886369
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.172] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.172] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.172] Dist. To Collision Point: 5.36650718693
+EventLog - INFO - [T:27.219] Bot X: 5.95455648103
+EventLog - INFO - [T:27.219] Bot Y: 5.07959726654
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.219] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.219] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.219] Dist. To Collision Point: 5.37329989194
+EventLog - INFO - [T:27.247] Bot X: 5.96206165957
+EventLog - INFO - [T:27.247] Bot Y: 5.07982268556
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.247] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.247] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.247] Dist. To Collision Point: 5.38030810724
+EventLog - INFO - [T:27.276] Bot X: 5.96935302949
+EventLog - INFO - [T:27.276] Bot Y: 5.08004025419
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.276] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.276] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.276] Dist. To Collision Point: 5.38711741111
+EventLog - INFO - [T:27.303] Bot X: 5.97664398938
+EventLog - INFO - [T:27.303] Bot Y: 5.08025555685
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.303] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.303] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.303] Dist. To Collision Point: 5.39392673174
+EventLog - INFO - [T:27.331] Bot X: 5.98414622881
+EventLog - INFO - [T:27.331] Bot Y: 5.08047611701
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.331] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.331] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.331] Dist. To Collision Point: 5.40093431827
+EventLog - INFO - [T:27.368] Bot X: 5.9914114596
+EventLog - INFO - [T:27.368] Bot Y: 5.08071203228
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.368] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.368] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.368] Dist. To Collision Point: 5.40773038577
+EventLog - INFO - [T:27.412] Bot X: 5.99860365867
+EventLog - INFO - [T:27.412] Bot Y: 5.08096557048
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.412] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.412] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.412] Dist. To Collision Point: 5.41446703241
+EventLog - INFO - [T:27.44] Bot X: 6.00604707707
+EventLog - INFO - [T:27.44] Bot Y: 5.08119344798
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.44] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.44] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.44] Dist. To Collision Point: 5.42142698069
+EventLog - INFO - [T:27.468] Bot X: 6.01326936199
+EventLog - INFO - [T:27.468] Bot Y: 5.0814152217
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.468] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.468] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.468] Dist. To Collision Point: 5.42818164954
+EventLog - INFO - [T:27.497] Bot X: 6.02049913603
+EventLog - INFO - [T:27.497] Bot Y: 5.08163619084
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.497] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.497] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.497] Dist. To Collision Point: 5.43494413987
+EventLog - INFO - [T:27.525] Bot X: 6.02795796834
+EventLog - INFO - [T:27.525] Bot Y: 5.08186413419
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.525] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.525] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.525] Dist. To Collision Point: 5.44192214207
+EventLog - INFO - [T:27.563] Bot X: 6.03520615579
+EventLog - INFO - [T:27.563] Bot Y: 5.08208584593
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.563] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.563] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.563] Dist. To Collision Point: 5.44870438683
+EventLog - INFO - [T:27.619] Bot X: 6.04246274567
+EventLog - INFO - [T:27.619] Bot Y: 5.08230769118
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.619] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.619] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.619] Dist. To Collision Point: 5.45549565616
+EventLog - INFO - [T:27.654] Bot X: 6.04994816874
+EventLog - INFO - [T:27.654] Bot Y: 5.08253647112
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.654] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.654] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.654] Dist. To Collision Point: 5.46250232502
+EventLog - INFO - [T:27.682] Bot X: 6.05722269847
+EventLog - INFO - [T:27.682] Bot Y: 5.08275925394
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.682] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.682] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.682] Dist. To Collision Point: 5.46931298431
+EventLog - INFO - [T:27.71] Bot X: 6.0645058691
+EventLog - INFO - [T:27.71] Bot Y: 5.08298255199
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.71] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.71] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.71] Dist. To Collision Point: 5.47613303315
+EventLog - INFO - [T:27.738] Bot X: 6.07201721428
+EventLog - INFO - [T:27.738] Bot Y: 5.08321156635
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.738] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.738] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.738] Dist. To Collision Point: 5.4831675186
+EventLog - INFO - [T:27.771] Bot X: 6.07930883301
+EventLog - INFO - [T:27.771] Bot Y: 5.08343168037
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.771] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.771] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.771] Dist. To Collision Point: 5.48999660937
+EventLog - INFO - [T:27.824] Bot X: 6.08659171869
+EventLog - INFO - [T:27.824] Bot Y: 5.08364947945
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.824] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.824] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.824] Dist. To Collision Point: 5.49681793833
+EventLog - INFO - [T:27.866] Bot X: 6.09408170024
+EventLog - INFO - [T:27.866] Bot Y: 5.08389160184
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.866] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.866] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.866] Dist. To Collision Point: 5.5038413455
+EventLog - INFO - [T:27.895] Bot X: 6.10127981226
+EventLog - INFO - [T:27.895] Bot Y: 5.08415321575
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.895] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.895] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.895] Dist. To Collision Point: 5.51060317272
+EventLog - INFO - [T:27.922] Bot X: 6.10850158967
+EventLog - INFO - [T:27.922] Bot Y: 5.08437942992
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.922] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.922] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.922] Dist. To Collision Point: 5.51737465425
+EventLog - INFO - [T:27.95] Bot X: 6.11594149717
+EventLog - INFO - [T:27.95] Bot Y: 5.0846125225
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.95] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.95] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.95] Dist. To Collision Point: 5.52435188465
+EventLog - INFO - [T:27.981] Bot X: 6.12316994035
+EventLog - INFO - [T:27.981] Bot Y: 5.08483810593
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:27.981] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:27.981] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:27.981] Dist. To Collision Point: 5.53113163266
+EventLog - INFO - [T:28.01] Bot X: 6.13040784242
+EventLog - INFO - [T:28.01] Bot Y: 5.08506372966
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.01] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.01] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.01] Dist. To Collision Point: 5.53792130286
+EventLog - INFO - [T:28.038] Bot X: 6.13787428077
+EventLog - INFO - [T:28.038] Bot Y: 5.08529676057
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.038] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.038] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.038] Dist. To Collision Point: 5.54492666076
+EventLog - INFO - [T:28.066] Bot X: 6.14512960615
+EventLog - INFO - [T:28.066] Bot Y: 5.08552305868
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.066] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.066] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.066] Dist. To Collision Point: 5.55173504943
+EventLog - INFO - [T:28.094] Bot X: 6.15239342976
+EventLog - INFO - [T:28.094] Bot Y: 5.08574953272
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.094] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.094] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.094] Dist. To Collision Point: 5.5585525214
+EventLog - INFO - [T:28.13] Bot X: 6.159886858
+EventLog - INFO - [T:28.13] Bot Y: 5.08598356108
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.13] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.13] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.13] Dist. To Collision Point: 5.56558683047
+EventLog - INFO - [T:28.173] Bot X: 6.16716880411
+EventLog - INFO - [T:28.173] Bot Y: 5.08621133318
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.173] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.173] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.173] Dist. To Collision Point: 5.57242390151
+EventLog - INFO - [T:28.217] Bot X: 6.17445817996
+EventLog - INFO - [T:28.217] Bot Y: 5.08643831724
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.217] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.217] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.217] Dist. To Collision Point: 5.57926870362
+EventLog - INFO - [T:28.245] Bot X: 6.1819712118
+EventLog - INFO - [T:28.245] Bot Y: 5.08667006558
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.245] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.245] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.245] Dist. To Collision Point: 5.58632388608
+EventLog - INFO - [T:28.273] Bot X: 6.18925525395
+EventLog - INFO - [T:28.273] Bot Y: 5.08689210336
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.273] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.273] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.273] Dist. To Collision Point: 5.59316419368
+EventLog - INFO - [T:28.301] Bot X: 6.19652819373
+EventLog - INFO - [T:28.301] Bot Y: 5.08712710414
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.301] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.301] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.301] Dist. To Collision Point: 5.60000015813
+EventLog - INFO - [T:28.329] Bot X: 6.20395579133
+EventLog - INFO - [T:28.329] Bot Y: 5.08740251461
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.329] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.329] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.329] Dist. To Collision Point: 5.60699581668
+EventLog - INFO - [T:28.365] Bot X: 6.21117180228
+EventLog - INFO - [T:28.365] Bot Y: 5.08763490764
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.365] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.365] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.365] Dist. To Collision Point: 5.61378018903
+EventLog - INFO - [T:28.413] Bot X: 6.21839189427
+EventLog - INFO - [T:28.413] Bot Y: 5.08786556233
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.413] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.413] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.413] Dist. To Collision Point: 5.62056878946
+EventLog - INFO - [T:28.442] Bot X: 6.22583801059
+EventLog - INFO - [T:28.442] Bot Y: 5.08810272354
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.442] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.442] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.442] Dist. To Collision Point: 5.62757077642
+EventLog - INFO - [T:28.47] Bot X: 6.23307455604
+EventLog - INFO - [T:28.47] Bot Y: 5.08833275636
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.47] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.47] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.47] Dist. To Collision Point: 5.63437662525
+EventLog - INFO - [T:28.498] Bot X: 6.2403200873
+EventLog - INFO - [T:28.498] Bot Y: 5.08856338402
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.498] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.498] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.498] Dist. To Collision Point: 5.64119212307
+EventLog - INFO - [T:28.526] Bot X: 6.24779389949
+EventLog - INFO - [T:28.526] Bot Y: 5.0888011372
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.526] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.526] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.526] Dist. To Collision Point: 5.6482234325
+EventLog - INFO - [T:28.561] Bot X: 6.25505649819
+EventLog - INFO - [T:28.561] Bot Y: 5.08903206812
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.561] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.561] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.561] Dist. To Collision Point: 5.65505709257
+EventLog - INFO - [T:28.605] Bot X: 6.26232809351
+EventLog - INFO - [T:28.605] Bot Y: 5.0892635934
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.605] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.605] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.605] Dist. To Collision Point: 5.66190041099
+EventLog - INFO - [T:28.653] Bot X: 6.26982934821
+EventLog - INFO - [T:28.653] Bot Y: 5.08950285813
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.653] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.653] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.653] Dist. To Collision Point: 5.66896114726
+EventLog - INFO - [T:28.681] Bot X: 6.27711773287
+EventLog - INFO - [T:28.681] Bot Y: 5.0897345564
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.681] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.681] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.681] Dist. To Collision Point: 5.67582232075
+EventLog - INFO - [T:28.709] Bot X: 6.28441004036
+EventLog - INFO - [T:28.709] Bot Y: 5.0899642949
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.709] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.709] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.709] Dist. To Collision Point: 5.68268749455
+EventLog - INFO - [T:28.737] Bot X: 6.2919161447
+EventLog - INFO - [T:28.737] Bot Y: 5.09019781689
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.737] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.737] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.737] Dist. To Collision Point: 5.68975397767
+EventLog - INFO - [T:28.765] Bot X: 6.29919101933
+EventLog - INFO - [T:28.765] Bot Y: 5.09043399726
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.765] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.765] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.765] Dist. To Collision Point: 5.69660747152
+EventLog - INFO - [T:28.797] Bot X: 6.30641328687
+EventLog - INFO - [T:28.797] Bot Y: 5.09070598385
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.797] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.797] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.797] Dist. To Collision Point: 5.7034261991
+EventLog - INFO - [T:28.841] Bot X: 6.31383976207
+EventLog - INFO - [T:28.841] Bot Y: 5.09095293808
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.841] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.841] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.841] Dist. To Collision Point: 5.71042679061
+EventLog - INFO - [T:28.889] Bot X: 6.32105972467
+EventLog - INFO - [T:28.889] Bot Y: 5.09118793533
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.889] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.889] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.889] Dist. To Collision Point: 5.71723189116
+EventLog - INFO - [T:28.917] Bot X: 6.32828548175
+EventLog - INFO - [T:28.917] Bot Y: 5.09142277939
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.917] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.917] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.917] Dist. To Collision Point: 5.72404335572
+EventLog - INFO - [T:28.945] Bot X: 6.33573967113
+EventLog - INFO - [T:28.945] Bot Y: 5.09166436335
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.945] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.945] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.945] Dist. To Collision Point: 5.73107097899
+EventLog - INFO - [T:28.974] Bot X: 6.34298396389
+EventLog - INFO - [T:28.974] Bot Y: 5.0918994
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:28.974] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:28.974] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:28.974] Dist. To Collision Point: 5.73790185134
+EventLog - INFO - [T:29.003] Bot X: 6.35023656213
+EventLog - INFO - [T:29.003] Bot Y: 5.09213461087
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.003] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.003] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.003] Dist. To Collision Point: 5.74474154479
+EventLog - INFO - [T:29.036] Bot X: 6.3577177881
+EventLog - INFO - [T:29.036] Bot Y: 5.09237712542
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.036] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.036] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.036] Dist. To Collision Point: 5.75179787942
+EventLog - INFO - [T:29.08] Bot X: 6.36498800919
+EventLog - INFO - [T:29.08] Bot Y: 5.09261302529
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.08] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.08] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.08] Dist. To Collision Point: 5.7586563124
+EventLog - INFO - [T:29.108] Bot X: 6.37226724401
+EventLog - INFO - [T:29.108] Bot Y: 5.09284967116
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.108] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.108] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.108] Dist. To Collision Point: 5.76552443385
+EventLog - INFO - [T:29.135] Bot X: 6.37977526899
+EventLog - INFO - [T:29.135] Bot Y: 5.09309322727
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.135] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.135] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.135] Dist. To Collision Point: 5.77260929833
+EventLog - INFO - [T:29.163] Bot X: 6.38706748882
+EventLog - INFO - [T:29.163] Bot Y: 5.09332768795
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.163] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.163] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.163] Dist. To Collision Point: 5.77949079458
+EventLog - INFO - [T:29.193] Bot X: 6.39435407906
+EventLog - INFO - [T:29.193] Bot Y: 5.09355914433
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.193] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.193] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.193] Dist. To Collision Point: 5.78636697123
+EventLog - INFO - [T:29.228] Bot X: 6.4018511009
+EventLog - INFO - [T:29.228] Bot Y: 5.09380387787
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.228] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.228] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.228] Dist. To Collision Point: 5.79344516657
+EventLog - INFO - [T:29.276] Bot X: 6.40908571024
+EventLog - INFO - [T:29.276] Bot Y: 5.0940770959
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.276] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.276] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.276] Dist. To Collision Point: 5.8002899932
+EventLog - INFO - [T:29.32] Bot X: 6.41628600696
+EventLog - INFO - [T:29.32] Bot Y: 5.09432588323
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.32] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.32] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.32] Dist. To Collision Point: 5.80709496336
+EventLog - INFO - [T:29.348] Bot X: 6.42372611368
+EventLog - INFO - [T:29.348] Bot Y: 5.09457223714
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.348] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.348] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.348] Dist. To Collision Point: 5.81412372676
+EventLog - INFO - [T:29.376] Bot X: 6.43095075394
+EventLog - INFO - [T:29.376] Bot Y: 5.09481179464
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.376] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.376] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.376] Dist. To Collision Point: 5.82095004635
+EventLog - INFO - [T:29.405] Bot X: 6.43818417887
+EventLog - INFO - [T:29.405] Bot Y: 5.09505078296
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.405] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.405] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.405] Dist. To Collision Point: 5.82778532894
+EventLog - INFO - [T:29.434] Bot X: 6.44564663602
+EventLog - INFO - [T:29.434] Bot Y: 5.09529743847
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.434] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.434] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.434] Dist. To Collision Point: 5.8348380896
+EventLog - INFO - [T:29.464] Bot X: 6.45289802637
+EventLog - INFO - [T:29.464] Bot Y: 5.09553708611
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.464] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.464] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.464] Dist. To Collision Point: 5.84169234514
+EventLog - INFO - [T:29.509] Bot X: 6.46015787518
+EventLog - INFO - [T:29.509] Bot Y: 5.09577690601
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.509] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.509] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.509] Dist. To Collision Point: 5.84855552678
+EventLog - INFO - [T:29.552] Bot X: 6.46764690032
+EventLog - INFO - [T:29.552] Bot Y: 5.09602442521
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.552] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.552] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.552] Dist. To Collision Point: 5.85563642177
+EventLog - INFO - [T:29.58] Bot X: 6.47492488195
+EventLog - INFO - [T:29.58] Bot Y: 5.09626545373
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.58] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.58] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.58] Dist. To Collision Point: 5.8625189296
+EventLog - INFO - [T:29.609] Bot X: 6.48221090947
+EventLog - INFO - [T:29.609] Bot Y: 5.09650646459
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.609] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.609] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.609] Dist. To Collision Point: 5.86940991026
+EventLog - INFO - [T:29.637] Bot X: 6.48972372512
+EventLog - INFO - [T:29.637] Bot Y: 5.09675291499
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.637] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.637] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.637] Dist. To Collision Point: 5.87651565517
+EventLog - INFO - [T:29.665] Bot X: 6.49701136217
+EventLog - INFO - [T:29.665] Bot Y: 5.0969892376
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.665] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.665] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.665] Dist. To Collision Point: 5.88340842177
+EventLog - INFO - [T:29.7] Bot X: 6.50428928995
+EventLog - INFO - [T:29.7] Bot Y: 5.09722850167
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.7] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.7] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.7] Dist. To Collision Point: 5.89029412278
+EventLog - INFO - [T:29.748] Bot X: 6.51175547587
+EventLog - INFO - [T:29.748] Bot Y: 5.09750829111
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.748] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.748] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.748] Dist. To Collision Point: 5.8973711374
+EventLog - INFO - [T:29.776] Bot X: 6.51894811244
+EventLog - INFO - [T:29.776] Bot Y: 5.09776880101
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.776] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.776] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.776] Dist. To Collision Point: 5.90418657257
+EventLog - INFO - [T:29.807] Bot X: 6.52617126704
+EventLog - INFO - [T:29.807] Bot Y: 5.09801155459
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.807] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.807] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.807] Dist. To Collision Point: 5.91102514184
+EventLog - INFO - [T:29.835] Bot X: 6.53361363332
+EventLog - INFO - [T:29.835] Bot Y: 5.09826308304
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.835] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.835] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.835] Dist. To Collision Point: 5.91807271654
+EventLog - INFO - [T:29.863] Bot X: 6.54084563247
+EventLog - INFO - [T:29.863] Bot Y: 5.09850652705
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.863] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.863] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.863] Dist. To Collision Point: 5.92492167331
+EventLog - INFO - [T:29.908] Bot X: 6.54808718263
+EventLog - INFO - [T:29.908] Bot Y: 5.09875030448
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.908] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.908] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.908] Dist. To Collision Point: 5.93178060053
+EventLog - INFO - [T:29.945] Bot X: 6.55555687504
+EventLog - INFO - [T:29.945] Bot Y: 5.0990017842
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.945] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.945] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.945] Dist. To Collision Point: 5.93885658575
+EventLog - INFO - [T:29.973] Bot X: 6.5628154467
+EventLog - INFO - [T:29.973] Bot Y: 5.09924604851
+EventLog - INFO - cylinder_s_R_0.1
+EventLog - INFO - [T:29.973] cylinder_s_R_0.1 X: 1.00000010982
+EventLog - INFO - [T:29.973] cylinder_s_R_0.1 Y: 3.00000045629
+EventLog - INFO - Safedist.: 1.6
+EventLog - INFO - [T:29.973] Dist. To Collision Point: 5.94573347272
+EventLog - INFO - [T:30.003] Simulation Timeout!
diff --git a/build/sim/log/lm1.log b/build/sim/log/lm1.log
new file mode 100644
index 0000000000000000000000000000000000000000..075bfd7aa0589adf31b421f6cd23bd70b19d5896
--- /dev/null
+++ b/build/sim/log/lm1.log
@@ -0,0 +1,6252 @@
+EventLog - INFO - [T:0.206] Bot X: 0.140468916213
+EventLog - INFO - [T:0.206] Bot Y: 5.00001159073
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.206] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.206] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.206] Dist. To Collision Point: 4.09131841953
+EventLog - INFO - [T:0.249] Bot X: 0.140469215454
+EventLog - INFO - [T:0.249] Bot Y: 5.00000925855
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.249] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.249] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.249] Dist. To Collision Point: 4.09131607653
+EventLog - INFO - [T:0.289] Bot X: 0.140469470365
+EventLog - INFO - [T:0.289] Bot Y: 5.00001064158
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.289] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.289] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.289] Dist. To Collision Point: 4.09131737514
+EventLog - INFO - [T:0.326] Bot X: 0.140469772096
+EventLog - INFO - [T:0.326] Bot Y: 5.0000122904
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.326] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.326] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.326] Dist. To Collision Point: 4.09131892377
+EventLog - INFO - [T:0.366] Bot X: 0.140470069292
+EventLog - INFO - [T:0.366] Bot Y: 5.00001391579
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.366] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.366] Dist. To Collision Point: 4.09132045045
+EventLog - INFO - [T:0.399] Bot X: 0.140470367035
+EventLog - INFO - [T:0.399] Bot Y: 5.00001554435
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.399] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.399] Dist. To Collision Point: 4.09132198012
+EventLog - INFO - [T:0.431] Bot X: 0.140470673882
+EventLog - INFO - [T:0.431] Bot Y: 5.00001722275
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.431] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.431] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.431] Dist. To Collision Point: 4.0913235566
+EventLog - INFO - [T:0.463] Bot X: 0.140968091537
+EventLog - INFO - [T:0.463] Bot Y: 5.00002008591
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.463] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.463] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.463] Dist. To Collision Point: 4.0912218844
+EventLog - INFO - [T:0.493] Bot X: 0.142433702798
+EventLog - INFO - [T:0.493] Bot Y: 5.00002184981
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.493] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.493] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.493] Dist. To Collision Point: 4.09091612637
+EventLog - INFO - [T:0.522] Bot X: 0.144957671527
+EventLog - INFO - [T:0.522] Bot Y: 5.00002344637
+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:0.522] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.522] Dist. To Collision Point: 4.09038934027
+EventLog - INFO - [T:0.555] Bot X: 0.148384317839
+EventLog - INFO - [T:0.555] Bot Y: 5.00002485443
+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:0.555] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.555] Dist. To Collision Point: 4.08967579475
+EventLog - INFO - [T:0.599] Bot X: 0.15274708807
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.599] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.599] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.599] Dist. To Collision Point: 4.08877074004
+EventLog - INFO - [T:0.647] Bot X: 0.158158066917
+EventLog - INFO - [T:0.647] Bot Y: 5.00002704607
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.647] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.647] Dist. To Collision Point: 4.08765387595
+EventLog - INFO - [T:0.675] Bot X: 0.164188338302
+EventLog - INFO - [T:0.675] Bot Y: 5.000027924
+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.675] Dist. To Collision Point: 4.08641707693
+EventLog - INFO - [T:0.704] Bot X: 0.170823653402
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.704] Dist. To Collision Point: 4.0850666581
+EventLog - INFO - [T:0.732] Bot X: 0.178079352285
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.732] Dist. To Collision Point: 4.08359685888
+EventLog - INFO - [T:0.759] Bot X: 0.185292221996
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.759] Dist. To Collision Point: 4.08214085705
+EventLog - INFO - [T:0.798] Bot X: 0.192469522076
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.798] Dist. To Collision Point: 4.08072855601
+EventLog - INFO - [T:0.842] Bot X: 0.199920332146
+EventLog - INFO - [T:0.842] Bot Y: 5.00003363029
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.842] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.842] Dist. To Collision Point: 4.07926421286
+EventLog - INFO - [T:0.871] Bot X: 0.207145070876
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.871] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.871] Dist. To Collision Point: 4.07785461026
+EventLog - INFO - [T:0.899] Bot X: 0.214376330725
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.899] Dist. To Collision Point: 4.07645674059
+EventLog - INFO - [T:0.927] Bot X: 0.221836117469
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.927] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.927] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.927] Dist. To Collision Point: 4.07502820266
+EventLog - INFO - [T:0.956] Bot X: 0.22908551911
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.956] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:0.956] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.956] Dist. To Collision Point: 4.07365293068
+EventLog - INFO - [T:0.99] Bot X: 0.236343212581
+EventLog - INFO - [T:0.99] Bot Y: 5.00004525569
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:0.99] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:0.99] Dist. To Collision Point: 4.07228851342
+EventLog - INFO - [T:1.034] Bot X: 0.243829676064
+EventLog - INFO - [T:1.034] Bot Y: 5.00004803282
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.034] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.034] Dist. To Collision Point: 4.07089398335
+EventLog - INFO - [T:1.082] Bot X: 0.251104923684
+EventLog - INFO - [T:1.082] Bot Y: 5.00005089416
+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.082] Dist. To Collision Point: 4.06955169414
+EventLog - INFO - [T:1.11] Bot X: 0.25838900841
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.11] Dist. To Collision Point: 4.068220478
+EventLog - INFO - [T:1.138] Bot X: 0.265901953864
+EventLog - INFO - [T:1.138] Bot Y: 5.00005570665
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.138] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.138] Dist. To Collision Point: 4.06685942684
+EventLog - INFO - [T:1.167] Bot X: 0.273197781772
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.167] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.167] Dist. To Collision Point: 4.06554973415
+EventLog - INFO - [T:1.196] Bot X: 0.280485893681
+EventLog - INFO - [T:1.196] Bot Y: 5.0000545422
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.196] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:1.196] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.196] Dist. To Collision Point: 4.06425108596
+EventLog - INFO - [T:1.23] Bot X: 0.287979165587
+EventLog - INFO - [T:1.23] Bot Y: 5.00004468494
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.23] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:1.23] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.23] Dist. To Collision Point: 4.06292150431
+EventLog - INFO - [T:1.274] Bot X: 0.295206315603
+EventLog - INFO - [T:1.274] Bot Y: 5.00005248421
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:1.274] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:1.274] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:1.274] Dist. To Collision Point: 4.06166887055
+EventLog - INFO - [T:1.302] Bot X: 0.30243038323
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:4.705] Bot X: 1.05023768916
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:4.733] Bot X: 1.05770582118
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.194] Dist. To Collision Point: 4.00446020654
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.241] Dist. To Collision Point: 4.00478563456
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.269] Dist. To Collision Point: 4.00511502241
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.436] Dist. To Collision Point: 4.00698735334
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.477] Dist. To Collision Point: 4.00739794696
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.534] Dist. To Collision Point: 4.00829513706
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.562] Dist. To Collision Point: 4.00874816874
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.592] Dist. To Collision Point: 4.00921296531
+EventLog - INFO - [T:5.625] Bot X: 1.25569392273
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.625] Dist. To Collision Point: 4.00970484981
+EventLog - INFO - [T:5.669] Bot X: 1.26294007168
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.669] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.669] Dist. To Collision Point: 4.0101954485
+EventLog - INFO - [T:5.717] Bot X: 1.27019446922
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.717] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.717] Dist. To Collision Point: 4.01069940433
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.745] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.745] Dist. To Collision Point: 4.01123273858
+EventLog - INFO - [T:5.775] Bot X: 1.28494911874
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.775] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.775] Dist. To Collision Point: 4.01176417464
+EventLog - INFO - [T:5.803] Bot X: 1.29222972001
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:5.803] Dist. To Collision Point: 4.01230980806
+EventLog - INFO - [T:5.831] Bot X: 1.29973975988
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.831] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:5.831] Dist. To Collision Point: 4.0128861875
+EventLog - INFO - [T:5.861] Bot X: 1.30703544557
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.861] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:5.861] Dist. To Collision Point: 4.01345861264
+EventLog - INFO - [T:5.905] Bot X: 1.31432784653
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.905] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:5.905] Dist. To Collision Point: 4.01404330505
+EventLog - INFO - [T:5.934] Bot X: 1.32182977541
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.934] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.934] Dist. To Collision Point: 4.01466008413
+EventLog - INFO - [T:5.962] Bot X: 1.32908460195
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.962] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:5.962] Dist. To Collision Point: 4.01528331202
+EventLog - INFO - [T:5.991] Bot X: 1.33629549421
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:5.991] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:5.991] Dist. To Collision Point: 4.01592200246
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.019] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:6.019] Dist. To Collision Point: 4.016581043
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.06] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:6.06] Dist. To Collision Point: 4.01723303139
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:6.108] Dist. To Collision Point: 4.01789739012
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:6.137] Dist. To Collision Point: 4.01859567219
+EventLog - INFO - [T:6.166] Bot X: 1.37292038397
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.166] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:6.166] Dist. To Collision Point: 4.01928706511
+EventLog - INFO - [T:6.195] Bot X: 1.38018208085
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.195] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:6.195] Dist. To Collision Point: 4.01999207648
+EventLog - INFO - [T:6.224] Bot X: 1.38767269529
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.224] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:6.224] Dist. To Collision Point: 4.02073276412
+EventLog - INFO - [T:6.256] Bot X: 1.39495210803
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.256] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:6.256] Dist. To Collision Point: 4.02146614872
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+EventLog - INFO - [T:6.304] Bot Y: 5.00204997853
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:6.304] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:6.886] Dist. To Collision Point: 4.03810258292
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+EventLog - INFO - [T:6.927] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:6.971] Dist. To Collision Point: 4.04016097335
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+EventLog - INFO - [T:7.001] Dist. To Collision Point: 4.04118279703
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+EventLog - INFO - [T:7.029] Dist. To Collision Point: 4.04224846235
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+EventLog - INFO - [T:7.057] Dist. To Collision Point: 4.04329655313
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+EventLog - INFO - [T:7.085] Dist. To Collision Point: 4.04435831124
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+EventLog - INFO - [T:7.124] Dist. To Collision Point: 4.04546667264
+EventLog - INFO - [T:7.171] Bot X: 1.59289918639
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:7.171] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:7.171] Dist. To Collision Point: 4.04655648993
+EventLog - INFO - [T:7.201] Bot X: 1.60017598803
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.201] Dist. To Collision Point: 4.04766060873
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+EventLog - INFO - [T:7.23] Dist. To Collision Point: 4.04881327819
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.258] Dist. To Collision Point: 4.04994539584
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:7.286] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:7.286] Dist. To Collision Point: 4.05109016071
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+EventLog - INFO - [T:7.327] Dist. To Collision Point: 4.05227995964
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:7.371] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:7.371] Dist. To Collision Point: 4.05345751751
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+EventLog - INFO - [T:7.43] Dist. To Collision Point: 4.05589079635
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+EventLog - INFO - [T:7.458] Dist. To Collision Point: 4.05709509287
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.486] Dist. To Collision Point: 4.05831162892
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.571] Dist. To Collision Point: 4.06082376161
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.628] Dist. To Collision Point: 4.06339292246
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:7.803] Dist. To Collision Point: 4.07000111192
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:7.859] Dist. To Collision Point: 4.07279168334
+EventLog - INFO - [T:7.887] Bot X: 1.75422157404
+EventLog - INFO - [T:7.887] Bot Y: 5.00374220214
+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:7.887] Dist. To Collision Point: 4.07416271201
+EventLog - INFO - [T:7.923] Bot X: 1.76166381563
+EventLog - INFO - [T:7.923] Bot Y: 5.00378510311
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:7.923] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:7.923] Dist. To Collision Point: 4.07558915004
+EventLog - INFO - [T:7.966] Bot X: 1.76889391827
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:11.246] Dist. To Collision Point: 4.27645385673
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:11.274] Dist. To Collision Point: 4.27903851282
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:11.994] Dist. To Collision Point: 4.33953958709
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.173] Dist. To Collision Point: 4.35407646936
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.204] Dist. To Collision Point: 4.35696303844
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.232] Dist. To Collision Point: 4.35995115124
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.376] Dist. To Collision Point: 4.37178038801
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.435] Dist. To Collision Point: 4.37782428699
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.463] Dist. To Collision Point: 4.38081943802
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.491] Dist. To Collision Point: 4.3838216639
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.525] Dist. To Collision Point: 4.38692382312
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.568] Dist. To Collision Point: 4.38996767011
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:12.612] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:12.612] Dist. To Collision Point: 4.39298599206
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:12.641] sphere_s_R_1 X: 1.0
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.764] Dist. To Collision Point: 4.4084023046
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:12.812] Dist. To Collision Point: 4.41148826742
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:12.869] Dist. To Collision Point: 4.41779592161
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:12.897] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:12.897] Dist. To Collision Point: 4.42092346701
+EventLog - INFO - [T:12.925] Bot X: 2.86147872235
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:12.925] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:12.925] Dist. To Collision Point: 4.42415786685
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:12.96] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:12.96] Dist. To Collision Point: 4.42730489027
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+EventLog - INFO - [T:13.568] Dist. To Collision Point: 4.48610232642
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+EventLog - INFO - [T:13.784] Dist. To Collision Point: 4.50974439816
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+EventLog - INFO - [T:13.827] Dist. To Collision Point: 4.51325015088
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+EventLog - INFO - [T:13.871] Dist. To Collision Point: 4.51666471778
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:13.899] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:13.899] Dist. To Collision Point: 4.52008803702
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+EventLog - INFO - [T:13.927] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:13.927] Dist. To Collision Point: 4.523618777
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:13.955] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:13.955] Dist. To Collision Point: 4.5270644255
+EventLog - INFO - [T:13.985] Bot X: 3.09594998586
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:13.985] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:13.985] Dist. To Collision Point: 4.53051746722
+EventLog - INFO - [T:14.031] Bot X: 3.10339432433
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+EventLog - INFO - [T:14.031] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:14.031] Dist. To Collision Point: 4.53405405508
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:14.079] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:14.079] Dist. To Collision Point: 4.53749532954
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.107] Dist. To Collision Point: 4.54094838103
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+EventLog - INFO - [T:14.136] Dist. To Collision Point: 4.54451999507
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.165] Dist. To Collision Point: 4.54800036642
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+EventLog - INFO - [T:14.195] Dist. To Collision Point: 4.55149351603
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.227] Dist. To Collision Point: 4.55510601814
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.423] Dist. To Collision Point: 4.57660687102
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.467] Dist. To Collision Point: 4.58019484101
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:14.51] Dist. To Collision Point: 4.58375422281
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:14.538] Dist. To Collision Point: 4.58743177899
+EventLog - INFO - [T:14.567] Bot X: 3.22056330652
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:14.567] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:14.567] Dist. To Collision Point: 4.59101257499
+EventLog - INFO - [T:14.596] Bot X: 3.22780266865
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:14.596] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:14.596] Dist. To Collision Point: 4.59460642359
+EventLog - INFO - [T:14.625] Bot X: 3.2352708128
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:14.625] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:14.625] Dist. To Collision Point: 4.59832332575
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+EventLog - INFO - [T:15.493] Dist. To Collision Point: 4.69633014592
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+EventLog - INFO - [T:15.595] Dist. To Collision Point: 4.70799363106
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+EventLog - INFO - [T:15.651] Dist. To Collision Point: 4.71587306108
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:15.693] Dist. To Collision Point: 4.719773917
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+EventLog - INFO - [T:15.741] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:15.741] Dist. To Collision Point: 4.72380579686
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+EventLog - INFO - [T:15.771] Dist. To Collision Point: 4.72772918589
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+EventLog - INFO - [T:15.8] Dist. To Collision Point: 4.73165669404
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+EventLog - INFO - [T:15.829] Dist. To Collision Point: 4.73570890148
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:15.857] Dist. To Collision Point: 4.73966598948
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:15.889] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:15.889] Dist. To Collision Point: 4.74358893966
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+EventLog - INFO - [T:15.935] Dist. To Collision Point: 4.74763884325
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:15.977] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:15.977] Dist. To Collision Point: 4.75157726411
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.006] Dist. To Collision Point: 4.75552788264
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.035] Dist. To Collision Point: 4.75961196083
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.064] Dist. To Collision Point: 4.76358854872
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.092] Dist. To Collision Point: 4.7675774043
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.124] Dist. To Collision Point: 4.77170025308
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:16.173] Dist. To Collision Point: 4.77571525803
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:16.201] Dist. To Collision Point: 4.77974260597
+EventLog - INFO - [T:16.232] Bot X: 3.58726831729
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:16.232] Dist. To Collision Point: 4.78390259918
+EventLog - INFO - [T:16.26] Bot X: 3.59456017833
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:16.26] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:16.26] Dist. To Collision Point: 4.78794517755
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:16.288] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:16.288] Dist. To Collision Point: 4.79199086498
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+EventLog - INFO - [T:16.893] Dist. To Collision Point: 4.86672663555
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+EventLog - INFO - [T:16.921] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:16.921] Dist. To Collision Point: 4.87102117435
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:16.956] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:16.956] Dist. To Collision Point: 4.87520227095
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+EventLog - INFO - [T:17.0] Dist. To Collision Point: 4.8793958425
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+EventLog - INFO - [T:17.048] Dist. To Collision Point: 4.88372895231
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:17.104] Dist. To Collision Point: 4.89217767946
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.132] Dist. To Collision Point: 4.89654968903
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.16] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.16] Dist. To Collision Point: 4.90080372121
+EventLog - INFO - [T:17.192] Bot X: 3.79974108137
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.192] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.192] Dist. To Collision Point: 4.90506422765
+EventLog - INFO - [T:17.235] Bot X: 3.80724634071
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.235] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.235] Dist. To Collision Point: 4.9094544243
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.279] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.279] Dist. To Collision Point: 4.9137299123
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+EventLog - INFO - [T:17.307] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.307] Dist. To Collision Point: 4.91799649435
+EventLog - INFO - [T:17.335] Bot X: 3.82916266676
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.335] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.335] Dist. To Collision Point: 4.92237946378
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.363] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.363] Dist. To Collision Point: 4.92663911874
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.393] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.393] Dist. To Collision Point: 4.93091013605
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.427] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:17.427] Dist. To Collision Point: 4.93532354928
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.471] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.471] Dist. To Collision Point: 4.93961985927
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+EventLog - INFO - [T:17.5] Dist. To Collision Point: 4.94392791321
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.528] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:17.528] Dist. To Collision Point: 4.94837895094
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.555] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:17.555] Dist. To Collision Point: 4.95271191071
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.584] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:17.584] Dist. To Collision Point: 4.95705732706
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.623] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.623] Dist. To Collision Point: 4.96154551688
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.667] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.667] Dist. To Collision Point: 4.96590891851
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:17.715] Dist. To Collision Point: 4.97027242051
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.743] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:17.743] Dist. To Collision Point: 4.9747798043
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.772] Dist. To Collision Point: 4.97915411858
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:17.8] Dist. To Collision Point: 4.98350646127
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.829] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.829] Dist. To Collision Point: 4.98799751242
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.859] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.859] Dist. To Collision Point: 4.99236777325
+EventLog - INFO - [T:17.906] Bot X: 3.95356204377
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.906] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.906] Dist. To Collision Point: 4.99675018753
+EventLog - INFO - [T:17.934] Bot X: 3.96102998988
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.934] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:17.934] Dist. To Collision Point: 5.00127847606
+EventLog - INFO - [T:17.962] Bot X: 3.96828679477
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:17.962] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:18.806] Dist. To Collision Point: 5.11926272826
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+EventLog - INFO - [T:18.834] Dist. To Collision Point: 5.12397042202
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+EventLog - INFO - [T:18.863] Dist. To Collision Point: 5.12855220829
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+EventLog - INFO - [T:18.891] Dist. To Collision Point: 5.13314541914
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+EventLog - INFO - [T:18.92] Dist. To Collision Point: 5.13788976589
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+EventLog - INFO - [T:18.966] Dist. To Collision Point: 5.14250661204
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+EventLog - INFO - [T:19.006] Dist. To Collision Point: 5.1471357911
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:19.035] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:19.035] Dist. To Collision Point: 5.1519168526
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+EventLog - INFO - [T:19.064] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:19.064] Dist. To Collision Point: 5.15656590129
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:19.092] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:19.092] Dist. To Collision Point: 5.16121644301
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+EventLog - INFO - [T:19.12] Dist. To Collision Point: 5.166010856
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.157] Dist. To Collision Point: 5.17067936738
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.205] Dist. To Collision Point: 5.1753084699
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.233] Dist. To Collision Point: 5.18008826476
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+EventLog - INFO - [T:19.262] Dist. To Collision Point: 5.18473428682
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.289] Dist. To Collision Point: 5.1893915787
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.317] Dist. To Collision Point: 5.19420278361
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.357] Dist. To Collision Point: 5.19888406017
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.401] Dist. To Collision Point: 5.20357661872
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.445] Dist. To Collision Point: 5.20842351765
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.473] Dist. To Collision Point: 5.21314028375
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:19.501] Dist. To Collision Point: 5.21786827788
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:19.529] Dist. To Collision Point: 5.2227487511
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:19.557] Dist. To Collision Point: 5.22748813888
+EventLog - INFO - [T:19.589] Bot X: 4.32757140755
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:19.589] Dist. To Collision Point: 5.2322281649
+EventLog - INFO - [T:19.633] Bot X: 4.33504667459
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:19.633] Dist. To Collision Point: 5.23712679703
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+EventLog - INFO - [T:20.54] Dist. To Collision Point: 5.36851939492
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+EventLog - INFO - [T:20.569] Dist. To Collision Point: 5.37343511337
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+EventLog - INFO - [T:20.626] Dist. To Collision Point: 5.38336449081
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+EventLog - INFO - [T:20.747] Dist. To Collision Point: 5.3982208603
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+EventLog - INFO - [T:20.776] Dist. To Collision Point: 5.40314634686
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+EventLog - INFO - [T:20.805] Dist. To Collision Point: 5.40808266019
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+EventLog - INFO - [T:20.833] Dist. To Collision Point: 5.4131800521
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+EventLog - INFO - [T:20.862] Dist. To Collision Point: 5.4181394697
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+EventLog - INFO - [T:20.895] Dist. To Collision Point: 5.423110343
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:20.939] Dist. To Collision Point: 5.42824177064
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:20.967] Dist. To Collision Point: 5.43322765816
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.025] Dist. To Collision Point: 5.4433544373
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+EventLog - INFO - [T:21.053] Dist. To Collision Point: 5.44833178976
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.091] Dist. To Collision Point: 5.45329452135
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.135] Dist. To Collision Point: 5.45841222812
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.179] Dist. To Collision Point: 5.46338970894
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.208] Dist. To Collision Point: 5.46837855657
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.237] Dist. To Collision Point: 5.473530662
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.264] Dist. To Collision Point: 5.47854210425
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:21.293] Dist. To Collision Point: 5.48356437368
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+EventLog - INFO - [T:21.766] Dist. To Collision Point: 5.55514669607
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+EventLog - INFO - [T:21.81] Dist. To Collision Point: 5.56025243332
+EventLog - INFO - [T:21.838] Bot X: 4.81871181761
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.838] Dist. To Collision Point: 5.56552489355
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+EventLog - INFO - [T:21.867] Dist. To Collision Point: 5.57065233932
+EventLog - INFO - [T:21.895] Bot X: 4.83329561435
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+EventLog - INFO - [T:21.895] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.895] Dist. To Collision Point: 5.5757865071
+EventLog - INFO - [T:21.922] Bot X: 4.8408040971
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:21.922] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.922] Dist. To Collision Point: 5.58107471587
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:21.954] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:21.954] Dist. To Collision Point: 5.5862106513
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.002] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.002] Dist. To Collision Point: 5.59134869854
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.05] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.05] Dist. To Collision Point: 5.59660517505
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.078] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.078] Dist. To Collision Point: 5.6017163612
+EventLog - INFO - [T:22.107] Bot X: 4.87718736261
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.107] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.107] Dist. To Collision Point: 5.60683594636
+EventLog - INFO - [T:22.135] Bot X: 4.88464267588
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.135] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.135] Dist. To Collision Point: 5.61212199776
+EventLog - INFO - [T:22.164] Bot X: 4.89188808281
+EventLog - INFO - [T:22.164] Bot Y: 5.05053885494
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.164] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.164] Dist. To Collision Point: 5.6172642687
+EventLog - INFO - [T:22.194] Bot X: 4.8991418584
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.194] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.194] Dist. To Collision Point: 5.62241708499
+EventLog - INFO - [T:22.242] Bot X: 4.90662429856
+EventLog - INFO - [T:22.242] Bot Y: 5.05089022533
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.242] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.242] Dist. To Collision Point: 5.6277371143
+EventLog - INFO - [T:22.27] Bot X: 4.9138956554
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.27] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.27] Dist. To Collision Point: 5.63291191485
+EventLog - INFO - [T:22.298] Bot X: 4.92117608731
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.298] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.298] Dist. To Collision Point: 5.63809817975
+EventLog - INFO - [T:22.326] Bot X: 4.92868545789
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.326] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.326] Dist. To Collision Point: 5.64345217958
+EventLog - INFO - [T:22.353] Bot X: 4.93597942479
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.353] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.353] Dist. To Collision Point: 5.64865605827
+EventLog - INFO - [T:22.39] Bot X: 4.94326836718
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.39] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.39] Dist. To Collision Point: 5.65385929259
+EventLog - INFO - [T:22.434] Bot X: 4.95076748093
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.434] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.434] Dist. To Collision Point: 5.65922104518
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.477] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.477] Dist. To Collision Point: 5.66443150631
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.505] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.505] Dist. To Collision Point: 5.66960037896
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.534] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.534] Dist. To Collision Point: 5.67493787548
+EventLog - INFO - [T:22.562] Bot X: 4.97987901415
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.562] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.562] Dist. To Collision Point: 5.68012460597
+EventLog - INFO - [T:22.592] Bot X: 4.98711358491
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.592] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.592] Dist. To Collision Point: 5.68532186667
+EventLog - INFO - [T:22.627] Bot X: 4.99457719707
+EventLog - INFO - [T:22.627] Bot Y: 5.05305928414
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.627] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.627] Dist. To Collision Point: 5.6906885826
+EventLog - INFO - [T:22.673] Bot X: 5.00182980671
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.673] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.673] Dist. To Collision Point: 5.69590813717
+EventLog - INFO - [T:22.701] Bot X: 5.00909087557
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.701] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.701] Dist. To Collision Point: 5.70113816458
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.73] Dist. To Collision Point: 5.70653801371
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:22.758] Dist. To Collision Point: 5.71179062611
+EventLog - INFO - [T:22.786] Bot X: 5.03114774328
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.786] Dist. To Collision Point: 5.71705352338
+EventLog - INFO - [T:22.821] Bot X: 5.03866225749
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.821] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.821] Dist. To Collision Point: 5.72248392222
+EventLog - INFO - [T:22.865] Bot X: 5.04595228017
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.865] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.865] Dist. To Collision Point: 5.72775501235
+EventLog - INFO - [T:22.909] Bot X: 5.05323233631
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.909] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.909] Dist. To Collision Point: 5.73302486917
+EventLog - INFO - [T:22.937] Bot X: 5.06070493041
+EventLog - INFO - [T:22.937] Bot Y: 5.05470510489
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.937] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:22.937] Dist. To Collision Point: 5.73846303634
+EventLog - INFO - [T:22.965] Bot X: 5.06789919238
+EventLog - INFO - [T:22.965] Bot Y: 5.05490701094
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:22.965] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:22.965] sphere_s_R_1 Y: 1.0
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+EventLog - INFO - [T:23.489] Dist. To Collision Point: 5.82933323507
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+EventLog - INFO - [T:23.532] Dist. To Collision Point: 5.83481765423
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.576] Dist. To Collision Point: 5.84015211295
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+EventLog - INFO - [T:23.605] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.605] Dist. To Collision Point: 5.84549715368
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.633] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.633] Dist. To Collision Point: 5.85101487321
+EventLog - INFO - [T:23.662] Bot X: 5.22172593202
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+EventLog - INFO - [T:23.662] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.662] Dist. To Collision Point: 5.85638090442
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+EventLog - INFO - [T:23.724] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:23.724] Dist. To Collision Point: 5.86730939568
+EventLog - INFO - [T:23.772] Bot X: 5.24380027348
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:23.772] Dist. To Collision Point: 5.87270581771
+EventLog - INFO - [T:23.801] Bot X: 5.25109234716
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+EventLog - INFO - [T:23.801] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.801] Dist. To Collision Point: 5.87810496948
+EventLog - INFO - [T:23.829] Bot X: 5.25859572236
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.829] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.829] Dist. To Collision Point: 5.88366400871
+EventLog - INFO - [T:23.857] Bot X: 5.26586263609
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.857] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.857] Dist. To Collision Point: 5.88906682385
+EventLog - INFO - [T:23.885] Bot X: 5.27305791116
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.885] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.885] Dist. To Collision Point: 5.8944359501
+EventLog - INFO - [T:23.932] Bot X: 5.28050245967
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.932] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.932] Dist. To Collision Point: 5.89996930752
+EventLog - INFO - [T:23.972] Bot X: 5.28772556784
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:23.972] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:23.972] Dist. To Collision Point: 5.9053420311
+EventLog - INFO - [T:24.001] Bot X: 5.29495589489
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.001] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.001] Dist. To Collision Point: 5.91072430041
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.03] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.03] Dist. To Collision Point: 5.91628114715
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.058] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.058] Dist. To Collision Point: 5.92168540202
+EventLog - INFO - [T:24.086] Bot X: 5.31692115004
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.086] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.086] Dist. To Collision Point: 5.92709976219
+EventLog - INFO - [T:24.124] Bot X: 5.32440715224
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.124] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.124] Dist. To Collision Point: 5.93268894463
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.168] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.168] Dist. To Collision Point: 5.9381249799
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.216] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.216] Dist. To Collision Point: 5.94357166557
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.244] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:24.244] Dist. To Collision Point: 5.94919239219
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.272] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:24.272] Dist. To Collision Point: 5.95465166485
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.3] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.329] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:24.329] Dist. To Collision Point: 5.96573332795
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.36] Dist. To Collision Point: 5.97116777734
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:24.404] Dist. To Collision Point: 5.97659458859
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:24.448] Dist. To Collision Point: 5.98218898956
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.476] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.476] Dist. To Collision Point: 5.9876283601
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.504] Dist. To Collision Point: 5.99307850574
+EventLog - INFO - [T:24.532] Bot X: 5.41234476374
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.532] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.532] Dist. To Collision Point: 5.99870506514
+EventLog - INFO - [T:24.56] Bot X: 5.41960074033
+EventLog - INFO - [T:24.56] Bot Y: 5.06414348264
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.56] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.56] Dist. To Collision Point: 6.0041762925
+EventLog - INFO - [T:24.595] Bot X: 5.42686521465
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.595] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:24.595] Dist. To Collision Point: 6.00965766052
+EventLog - INFO - [T:24.635] Bot X: 5.43435931307
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:24.635] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:25.389] Dist. To Collision Point: 6.14365229567
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+EventLog - INFO - [T:25.47] Dist. To Collision Point: 6.15494611147
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:25.514] Dist. To Collision Point: 6.16052416739
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+EventLog - INFO - [T:25.542] Dist. To Collision Point: 6.16628165172
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+EventLog - INFO - [T:25.571] Dist. To Collision Point: 6.1718804241
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+EventLog - INFO - [T:25.6] Dist. To Collision Point: 6.17748997459
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:25.628] Dist. To Collision Point: 6.1832792667
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+EventLog - INFO - [T:25.658] Dist. To Collision Point: 6.18890460858
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+EventLog - INFO - [T:25.702] Dist. To Collision Point: 6.19452760837
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+EventLog - INFO - [T:25.807] Dist. To Collision Point: 6.21152022413
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+EventLog - INFO - [T:25.836] Dist. To Collision Point: 6.21728140828
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+EventLog - INFO - [T:25.864] Dist. To Collision Point: 6.22287897432
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+EventLog - INFO - [T:25.894] Dist. To Collision Point: 6.22848651254
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+EventLog - INFO - [T:25.938] Dist. To Collision Point: 6.23427527446
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+EventLog - INFO - [T:25.966] Dist. To Collision Point: 6.23990377195
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+EventLog - INFO - [T:25.995] Dist. To Collision Point: 6.24554212634
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+EventLog - INFO - [T:26.024] Dist. To Collision Point: 6.25136206552
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+EventLog - INFO - [T:26.052] Dist. To Collision Point: 6.25702176238
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+EventLog - INFO - [T:26.09] Dist. To Collision Point: 6.26269100798
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:26.134] Dist. To Collision Point: 6.26853913993
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:26.181] Dist. To Collision Point: 6.27421405459
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:26.21] Dist. To Collision Point: 6.27988639575
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:26.238] Dist. To Collision Point: 6.28573301797
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:26.266] Dist. To Collision Point: 6.29136182526
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:26.964] Dist. To Collision Point: 6.41224748636
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.009] Dist. To Collision Point: 6.41800154105
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+EventLog - INFO - [T:27.036] Dist. To Collision Point: 6.42394030631
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+EventLog - INFO - [T:27.064] Dist. To Collision Point: 6.42971212478
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+EventLog - INFO - [T:27.092] Dist. To Collision Point: 6.43548528133
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+EventLog - INFO - [T:27.121] Dist. To Collision Point: 6.44142833319
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.16] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.16] Dist. To Collision Point: 6.44720086933
+EventLog - INFO - [T:27.204] Bot X: 5.99860365867
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+EventLog - INFO - [T:27.204] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.204] Dist. To Collision Point: 6.45293100257
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.248] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.248] Dist. To Collision Point: 6.45884256641
+EventLog - INFO - [T:27.276] Bot X: 6.01326936199
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.276] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.276] Dist. To Collision Point: 6.46458195924
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.304] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:27.304] Dist. To Collision Point: 6.47032963374
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.332] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:27.332] Dist. To Collision Point: 6.47626251331
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+EventLog - INFO - [T:27.36] Dist. To Collision Point: 6.48203099999
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.396] Dist. To Collision Point: 6.48780907757
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+EventLog - INFO - [T:27.44] Dist. To Collision Point: 6.49377244327
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+EventLog - INFO - [T:27.468] Dist. To Collision Point: 6.49957110489
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+EventLog - INFO - [T:27.496] Dist. To Collision Point: 6.50537979045
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+EventLog - INFO - [T:27.524] Dist. To Collision Point: 6.51137276752
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.552] Dist. To Collision Point: 6.51719207246
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.592] Dist. To Collision Point: 6.5230060849
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.636] Dist. To Collision Point: 6.52899984564
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.679] Dist. To Collision Point: 6.53478103785
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.708] Dist. To Collision Point: 6.54056142997
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:27.735] Dist. To Collision Point: 6.54651944635
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.763] Dist. To Collision Point: 6.55231047718
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.792] Dist. To Collision Point: 6.55811179418
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.827] Dist. To Collision Point: 6.56409946199
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.871] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.871] Dist. To Collision Point: 6.56992064846
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.899] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.899] Dist. To Collision Point: 6.5757514627
+EventLog - INFO - [T:27.927] Bot X: 6.159886858
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.927] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:27.927] Dist. To Collision Point: 6.58176982648
+EventLog - INFO - [T:27.955] Bot X: 6.16716880411
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:27.955] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:28.539] Dist. To Collision Point: 6.68835515383
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.567] Dist. To Collision Point: 6.69425692256
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+EventLog - INFO - [T:28.595] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.595] Dist. To Collision Point: 6.70014159682
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:28.624] Dist. To Collision Point: 6.70617543452
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.653] Dist. To Collision Point: 6.71204106928
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+EventLog - INFO - [T:28.694] Dist. To Collision Point: 6.71791385288
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+EventLog - INFO - [T:28.738] Dist. To Collision Point: 6.72397465049
+EventLog - INFO - [T:28.766] Bot X: 6.34298396389
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+EventLog - INFO - [T:28.766] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:28.766] Dist. To Collision Point: 6.72986763155
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.795] Dist. To Collision Point: 6.73576995927
+EventLog - INFO - [T:28.823] Bot X: 6.3577177881
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:28.823] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.823] Dist. To Collision Point: 6.74186105119
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:28.851] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.851] Dist. To Collision Point: 6.74778317031
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:28.894] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.894] Dist. To Collision Point: 6.75371555307
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:28.942] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.942] Dist. To Collision Point: 6.75983684063
+EventLog - INFO - [T:28.971] Bot X: 6.38706748882
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:28.971] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:28.971] Dist. To Collision Point: 6.76578359763
+EventLog - INFO - [T:29.0] Bot X: 6.39435407906
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.0] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.0] Dist. To Collision Point: 6.77172669254
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.028] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.028] Dist. To Collision Point: 6.77784814722
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.056] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:29.056] Dist. To Collision Point: 6.78378032426
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+EventLog - INFO - [T:29.094] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:29.094] Dist. To Collision Point: 6.78967293375
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.142] Dist. To Collision Point: 6.79575799756
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.172] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:29.172] Dist. To Collision Point: 6.80166962776
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.202] sphere_s_R_1 X: 1.0
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+EventLog - INFO - [T:29.202] Dist. To Collision Point: 6.80759047523
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.23] Dist. To Collision Point: 6.81370151929
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.258] Dist. To Collision Point: 6.81964228606
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.294] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.294] Dist. To Collision Point: 6.82559246408
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.338] Dist. To Collision Point: 6.83173321482
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.366] Dist. To Collision Point: 6.83770379078
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.395] Dist. To Collision Point: 6.84368334089
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.424] Dist. To Collision Point: 6.84985043812
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - [T:29.452] Dist. To Collision Point: 6.85583362756
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.494] Dist. To Collision Point: 6.86181331591
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.533] Dist. To Collision Point: 6.86797077902
+EventLog - INFO - [T:29.578] Bot X: 6.51894811244
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+EventLog - INFO - sphere_s_R_1
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.578] Dist. To Collision Point: 6.87389972391
+EventLog - INFO - [T:29.607] Bot X: 6.52617126704
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+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.607] sphere_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.607] Dist. To Collision Point: 6.87984502545
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+EventLog - INFO - [T:29.635] Bot Y: 5.09826308304
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.635] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.635] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.635] Dist. To Collision Point: 6.88597416061
+EventLog - INFO - [T:29.663] Bot X: 6.54084563247
+EventLog - INFO - [T:29.663] Bot Y: 5.09850652705
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.663] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.663] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.663] Dist. To Collision Point: 6.8919319552
+EventLog - INFO - [T:29.691] Bot X: 6.54808718263
+EventLog - INFO - [T:29.691] Bot Y: 5.09875030448
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.691] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.691] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.691] Dist. To Collision Point: 6.89790007499
+EventLog - INFO - [T:29.729] Bot X: 6.55555687504
+EventLog - INFO - [T:29.729] Bot Y: 5.0990017842
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.729] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.729] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.729] Dist. To Collision Point: 6.90405879311
+EventLog - INFO - [T:29.773] Bot X: 6.5628154467
+EventLog - INFO - [T:29.773] Bot Y: 5.09924604851
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.773] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.773] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.773] Dist. To Collision Point: 6.91004586528
+EventLog - INFO - [T:29.802] Bot X: 6.57008270684
+EventLog - INFO - [T:29.802] Bot Y: 5.09949065498
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.802] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.802] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.802] Dist. To Collision Point: 6.91604258165
+EventLog - INFO - [T:29.83] Bot X: 6.57757974023
+EventLog - INFO - [T:29.83] Bot Y: 5.09974350672
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.83] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.83] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.83] Dist. To Collision Point: 6.92223176291
+EventLog - INFO - [T:29.859] Bot X: 6.58486464961
+EventLog - INFO - [T:29.859] Bot Y: 5.09998909371
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.859] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.859] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.859] Dist. To Collision Point: 6.92824824346
+EventLog - INFO - [T:29.887] Bot X: 6.59215590927
+EventLog - INFO - [T:29.887] Bot Y: 5.10023310278
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.887] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.887] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.887] Dist. To Collision Point: 6.93427135399
+EventLog - INFO - [T:29.921] Bot X: 6.59966550001
+EventLog - INFO - [T:29.921] Bot Y: 5.10048168585
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.921] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.921] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.921] Dist. To Collision Point: 6.94047575948
+EventLog - INFO - [T:29.965] Bot X: 6.60694457536
+EventLog - INFO - [T:29.965] Bot Y: 5.10072366771
+EventLog - INFO - sphere_s_R_1
+EventLog - INFO - [T:29.965] sphere_s_R_1 X: 1.0
+EventLog - INFO - [T:29.965] sphere_s_R_1 Y: 1.0
+EventLog - INFO - Safedist.: 2.5
+EventLog - INFO - [T:29.965] Dist. To Collision Point: 6.94649278918
+EventLog - INFO - [T:30.009] Simulation Timeout!
diff --git a/build/sim/log/lm2.log b/build/sim/log/lm2.log
new file mode 100644
index 0000000000000000000000000000000000000000..1fbda30c86733772ea8e735d3af5bae0c8be6842
--- /dev/null
+++ b/build/sim/log/lm2.log
@@ -0,0 +1,6203 @@
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+EventLog - INFO - [T:0.465] Bot Y: 5.00001064158
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.465] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.465] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.465] Dist to collision point: 1.63266785059
+EventLog - INFO - [T:0.499] Bot X: 0.140469772096
+EventLog - INFO - [T:0.499] Bot Y: 5.0000122904
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.499] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.499] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.499] Dist to collision point: 1.63266934603
+EventLog - INFO - [T:0.533] Bot X: 0.140470069292
+EventLog - INFO - [T:0.533] Bot Y: 5.00001391579
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.533] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.533] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.533] Dist to collision point: 1.6326708203
+EventLog - INFO - [T:0.565] Bot X: 0.140470367035
+EventLog - INFO - [T:0.565] Bot Y: 5.00001554435
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.565] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.565] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.565] Dist to collision point: 1.63267229746
+EventLog - INFO - [T:0.599] Bot X: 0.140470673882
+EventLog - INFO - [T:0.599] Bot Y: 5.00001722275
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.599] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.599] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.599] Dist to collision point: 1.63267381982
+EventLog - INFO - [T:0.632] Bot X: 0.140968091537
+EventLog - INFO - [T:0.632] Bot Y: 5.00002008591
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.632] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.632] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.632] Dist to collision point: 1.63252930628
+EventLog - INFO - [T:0.665] Bot X: 0.142433702798
+EventLog - INFO - [T:0.665] Bot Y: 5.00002184981
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.665] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.665] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.665] Dist to collision point: 1.63209751147
+EventLog - INFO - [T:0.699] Bot X: 0.144957671527
+EventLog - INFO - [T:0.699] Bot Y: 5.00002344637
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.699] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.699] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.699] Dist to collision point: 1.6313539873
+EventLog - INFO - [T:0.732] Bot X: 0.148384317839
+EventLog - INFO - [T:0.732] Bot Y: 5.00002485443
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.732] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.732] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.732] Dist to collision point: 1.63034679075
+EventLog - INFO - [T:0.773] Bot X: 0.15274708807
+EventLog - INFO - [T:0.773] Bot Y: 5.0000260834
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.773] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.773] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.773] Dist to collision point: 1.62906886087
+EventLog - INFO - [T:0.816] Bot X: 0.158158066917
+EventLog - INFO - [T:0.816] Bot Y: 5.00002704607
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.816] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.816] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.816] Dist to collision point: 1.62749109613
+EventLog - INFO - [T:0.864] Bot X: 0.164188338302
+EventLog - INFO - [T:0.864] Bot Y: 5.000027924
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.864] box_s_R_1 X: 1.0
+EventLog - INFO - [T:0.864] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.864] Dist to collision point: 1.62574269739
+EventLog - INFO - [T:0.908] Bot X: 0.170823653402
+EventLog - INFO - [T:0.908] Bot Y: 5.00002952331
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.908] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.908] Dist to collision point: 1.62383186381
+EventLog - INFO - [T:0.939] Bot X: 0.178079352285
+EventLog - INFO - [T:0.939] Bot Y: 5.00002621926
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.939] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.939] Dist to collision point: 1.62175240158
+EventLog - INFO - [T:0.968] Bot X: 0.185292221996
+EventLog - INFO - [T:0.968] Bot Y: 5.00001565163
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.968] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.968] Dist to collision point: 1.61969366934
+EventLog - INFO - [T:0.997] Bot X: 0.192469522076
+EventLog - INFO - [T:0.997] Bot Y: 5.00003000927
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:0.997] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:0.997] Dist to collision point: 1.61768446439
+EventLog - INFO - [T:1.024] Bot X: 0.199920332146
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.024] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.024] Dist to collision point: 1.61560410776
+EventLog - INFO - [T:1.052] Bot X: 0.207145070876
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.052] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.052] Dist to collision point: 1.61360063207
+EventLog - INFO - [T:1.096] Bot X: 0.214376330725
+EventLog - INFO - [T:1.096] Bot Y: 5.00003687586
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.096] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.096] Dist to collision point: 1.61161175708
+EventLog - INFO - [T:1.14] Bot X: 0.221836117469
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.14] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.14] Dist to collision point: 1.60957715584
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+EventLog - INFO - box_s_R_1
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.168] Dist to collision point: 1.6076164847
+EventLog - INFO - [T:1.196] Bot X: 0.236343212581
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.196] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.196] Dist to collision point: 1.60566957763
+EventLog - INFO - [T:1.225] Bot X: 0.243829676064
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.225] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.225] Dist to collision point: 1.60367799983
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+EventLog - INFO - box_s_R_1
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.253] Dist to collision point: 1.60175924979
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+EventLog - INFO - box_s_R_1
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.284] Dist to collision point: 1.59985461549
+EventLog - INFO - [T:1.328] Bot X: 0.265901953864
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.328] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.328] Dist to collision point: 1.59790612013
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.373] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.373] Dist to collision point: 1.59602987984
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.402] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.402] Dist to collision point: 1.59416921395
+EventLog - INFO - [T:1.43] Bot X: 0.287979165587
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+EventLog - INFO - box_s_R_1
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.43] Dist to collision point: 1.59226599317
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.457] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.457] Dist to collision point: 1.59046386187
+EventLog - INFO - [T:1.485] Bot X: 0.30243038323
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+EventLog - INFO - box_s_R_1
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.485] Dist to collision point: 1.58867708639
+EventLog - INFO - [T:1.516] Bot X: 0.309873163722
+EventLog - INFO - [T:1.516] Bot Y: 5.00006096494
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.516] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.516] Dist to collision point: 1.58685004281
+EventLog - INFO - [T:1.559] Bot X: 0.317103178115
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.559] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.559] Dist to collision point: 1.58509254214
+EventLog - INFO - [T:1.603] Bot X: 0.324341924043
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.603] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.603] Dist to collision point: 1.58335014529
+EventLog - INFO - [T:1.631] Bot X: 0.331809749452
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.631] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.631] Dist to collision point: 1.58157016668
+EventLog - INFO - [T:1.66] Bot X: 0.339066323977
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.66] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.66] Dist to collision point: 1.57985747692
+EventLog - INFO - [T:1.688] Bot X: 0.346331350246
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.688] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.688] Dist to collision point: 1.57815957696
+EventLog - INFO - [T:1.716] Bot X: 0.353825713008
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.716] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.716] Dist to collision point: 1.57642601476
+EventLog - INFO - [T:1.751] Bot X: 0.361108818008
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+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.751] box_s_R_1 X: 1.0
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+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.751] Dist to collision point: 1.57475923992
+EventLog - INFO - [T:1.795] Bot X: 0.368399879745
+EventLog - INFO - [T:1.795] Bot Y: 5.00008917159
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.795] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.795] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.795] Dist to collision point: 1.57310710624
+EventLog - INFO - [T:1.843] Bot X: 0.375917014911
+EventLog - INFO - [T:1.843] Bot Y: 5.00009155701
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.843] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.843] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.843] Dist to collision point: 1.57142089357
+EventLog - INFO - [T:1.87] Bot X: 0.383206741468
+EventLog - INFO - [T:1.87] Bot Y: 5.00009159834
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.87] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.87] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.87] Dist to collision point: 1.56980107629
+EventLog - INFO - [T:1.898] Bot X: 0.390482795153
+EventLog - INFO - [T:1.898] Bot Y: 5.000084803
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.898] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.898] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.898] Dist to collision point: 1.5681949452
+EventLog - INFO - [T:1.926] Bot X: 0.39793888198
+EventLog - INFO - [T:1.926] Bot Y: 5.00008953786
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.926] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.926] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.926] Dist to collision point: 1.56657854928
+EventLog - INFO - [T:1.953] Bot X: 0.405159376902
+EventLog - INFO - [T:1.953] Bot Y: 5.00009860747
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.953] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.953] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.953] Dist to collision point: 1.56503506918
+EventLog - INFO - [T:1.983] Bot X: 0.412382997158
+EventLog - INFO - [T:1.983] Bot Y: 5.00010308117
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:1.983] box_s_R_1 X: 1.0
+EventLog - INFO - [T:1.983] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:1.983] Dist to collision point: 1.56350364805
+EventLog - INFO - [T:2.031] Bot X: 0.419830864006
+EventLog - INFO - [T:2.031] Bot Y: 5.0001078785
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.031] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.031] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.031] Dist to collision point: 1.56194296713
+EventLog - INFO - [T:2.075] Bot X: 0.427068310221
+EventLog - INFO - [T:2.075] Bot Y: 5.00011287382
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.075] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.075] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.075] Dist to collision point: 1.56044436349
+EventLog - INFO - [T:2.102] Bot X: 0.434315314247
+EventLog - INFO - [T:2.102] Bot Y: 5.00011751294
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.102] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.102] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.102] Dist to collision point: 1.5589609144
+EventLog - INFO - [T:2.13] Bot X: 0.44179055929
+EventLog - INFO - [T:2.13] Bot Y: 5.00012215876
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.13] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.13] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.13] Dist to collision point: 1.55744899724
+EventLog - INFO - [T:2.158] Bot X: 0.449054517795
+EventLog - INFO - [T:2.158] Bot Y: 5.00012651016
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.158] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.158] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.158] Dist to collision point: 1.5559975952
+EventLog - INFO - [T:2.187] Bot X: 0.456327142131
+EventLog - INFO - [T:2.187] Bot Y: 5.00013087788
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.187] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.187] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.187] Dist to collision point: 1.55456223838
+EventLog - INFO - [T:2.219] Bot X: 0.463829654448
+EventLog - INFO - [T:2.219] Bot Y: 5.00013597003
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.219] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.219] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.219] Dist to collision point: 1.55310076684
+EventLog - INFO - [T:2.267] Bot X: 0.471119848799
+EventLog - INFO - [T:2.267] Bot Y: 5.00014076263
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.267] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.267] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.267] Dist to collision point: 1.5516987257
+EventLog - INFO - [T:2.295] Bot X: 0.478415920331
+EventLog - INFO - [T:2.295] Bot Y: 5.00014473029
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.295] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.295] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.295] Dist to collision point: 1.55031277234
+EventLog - INFO - [T:2.322] Bot X: 0.485928303632
+EventLog - INFO - [T:2.322] Bot Y: 5.00014747209
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.322] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.322] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.322] Dist to collision point: 1.54890330758
+EventLog - INFO - [T:2.349] Bot X: 0.493206939439
+EventLog - INFO - [T:2.349] Bot Y: 5.00014379043
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.349] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.349] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.349] Dist to collision point: 1.54754979553
+EventLog - INFO - [T:2.379] Bot X: 0.500453297168
+EventLog - INFO - [T:2.379] Bot Y: 5.00014605371
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.379] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.379] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.379] Dist to collision point: 1.54622609984
+EventLog - INFO - [T:2.423] Bot X: 0.507888233743
+EventLog - INFO - [T:2.423] Bot Y: 5.00015962029
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.423] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.423] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.423] Dist to collision point: 1.54489773237
+EventLog - INFO - [T:2.467] Bot X: 0.515112745345
+EventLog - INFO - [T:2.467] Bot Y: 5.00016753112
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.467] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.467] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.467] Dist to collision point: 1.54361995302
+EventLog - INFO - [T:2.494] Bot X: 0.522340391068
+EventLog - INFO - [T:2.494] Bot Y: 5.00017437441
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.494] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.494] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.494] Dist to collision point: 1.54235854543
+EventLog - INFO - [T:2.523] Bot X: 0.529795662739
+EventLog - INFO - [T:2.523] Bot Y: 5.00018138319
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.523] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.523] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.523] Dist to collision point: 1.54107625311
+EventLog - INFO - [T:2.552] Bot X: 0.537041518424
+EventLog - INFO - [T:2.552] Bot Y: 5.00018753378
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.552] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.552] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.552] Dist to collision point: 1.53984775542
+EventLog - INFO - [T:2.581] Bot X: 0.544295650094
+EventLog - INFO - [T:2.581] Bot Y: 5.00019345645
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.581] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.581] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.581] Dist to collision point: 1.5386358632
+EventLog - INFO - [T:2.618] Bot X: 0.55177842387
+EventLog - INFO - [T:2.618] Bot Y: 5.00019938313
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.618] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.618] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.618] Dist to collision point: 1.53740476164
+EventLog - INFO - [T:2.662] Bot X: 0.559049794803
+EventLog - INFO - [T:2.662] Bot Y: 5.00020504444
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.662] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.662] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.662] Dist to collision point: 1.53622703709
+EventLog - INFO - [T:2.706] Bot X: 0.566330238349
+EventLog - INFO - [T:2.706] Bot Y: 5.00021119458
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.706] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.706] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.706] Dist to collision point: 1.53506682184
+EventLog - INFO - [T:2.734] Bot X: 0.573840108296
+EventLog - INFO - [T:2.734] Bot Y: 5.00021748847
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.734] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.734] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.734] Dist to collision point: 1.53388943881
+EventLog - INFO - [T:2.761] Bot X: 0.581135773487
+EventLog - INFO - [T:2.761] Bot Y: 5.00022271841
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.761] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.761] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.761] Dist to collision point: 1.53276371416
+EventLog - INFO - [T:2.791] Bot X: 0.588428577153
+EventLog - INFO - [T:2.791] Bot Y: 5.0002274498
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.791] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.791] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.791] Dist to collision point: 1.53165664634
+EventLog - INFO - [T:2.819] Bot X: 0.595930208507
+EventLog - INFO - [T:2.819] Bot Y: 5.00022700991
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.819] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.819] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.819] Dist to collision point: 1.53053217973
+EventLog - INFO - [T:2.858] Bot X: 0.603184223594
+EventLog - INFO - [T:2.858] Bot Y: 5.00022802267
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.858] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.858] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.858] Dist to collision point: 1.52946515301
+EventLog - INFO - [T:2.902] Bot X: 0.610396872886
+EventLog - INFO - [T:2.902] Bot Y: 5.00024570272
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.902] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.902] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.902] Dist to collision point: 1.52843919451
+EventLog - INFO - [T:2.93] Bot X: 0.617842199355
+EventLog - INFO - [T:2.93] Bot Y: 5.00025690868
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.93] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.93] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.93] Dist to collision point: 1.52739251836
+EventLog - INFO - [T:2.96] Bot X: 0.625068989475
+EventLog - INFO - [T:2.96] Bot Y: 5.00026547634
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.96] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.96] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.96] Dist to collision point: 1.52639311983
+EventLog - INFO - [T:2.99] Bot X: 0.6323036826
+EventLog - INFO - [T:2.99] Bot Y: 5.00027370062
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.99] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.99] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:2.99] Dist to collision point: 1.5254109091
+EventLog - INFO - [T:3.019] Bot X: 0.639767790173
+EventLog - INFO - [T:3.019] Bot Y: 5.00028162026
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.019] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.019] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.019] Dist to collision point: 1.52441656604
+EventLog - INFO - [T:3.051] Bot X: 0.647020866725
+EventLog - INFO - [T:3.051] Bot Y: 5.00028911396
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.051] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.051] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.051] Dist to collision point: 1.52346921689
+EventLog - INFO - [T:3.094] Bot X: 0.654282369284
+EventLog - INFO - [T:3.094] Bot Y: 5.00029644695
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.094] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.094] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.094] Dist to collision point: 1.52253947533
+EventLog - INFO - [T:3.138] Bot X: 0.661772816368
+EventLog - INFO - [T:3.138] Bot Y: 5.00030387954
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.138] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.138] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.138] Dist to collision point: 1.52160011627
+EventLog - INFO - [T:3.167] Bot X: 0.669052144888
+EventLog - INFO - [T:3.167] Bot Y: 5.00031153295
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.167] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.167] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.167] Dist to collision point: 1.52070698669
+EventLog - INFO - [T:3.197] Bot X: 0.676340010242
+EventLog - INFO - [T:3.197] Bot Y: 5.00031934804
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.197] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.197] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.197] Dist to collision point: 1.51983207925
+EventLog - INFO - [T:3.225] Bot X: 0.683856073422
+EventLog - INFO - [T:3.225] Bot Y: 5.00032645128
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.225] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.225] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.225] Dist to collision point: 1.51894889803
+EventLog - INFO - [T:3.253] Bot X: 0.691149974766
+EventLog - INFO - [T:3.253] Bot Y: 5.0003330783
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.253] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.253] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.253] Dist to collision point: 1.5181110771
+EventLog - INFO - [T:3.285] Bot X: 0.698433079953
+EventLog - INFO - [T:3.285] Bot Y: 5.00033583811
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.285] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.285] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.285] Dist to collision point: 1.51728987657
+EventLog - INFO - [T:3.33] Bot X: 0.705913966185
+EventLog - INFO - [T:3.33] Bot Y: 5.00033757443
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.33] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.33] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.33] Dist to collision point: 1.51646530475
+EventLog - INFO - [T:3.378] Bot X: 0.713125675102
+EventLog - INFO - [T:3.378] Bot Y: 5.00036016321
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.378] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.378] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.378] Dist to collision point: 1.51571045062
+EventLog - INFO - [T:3.405] Bot X: 0.720353358927
+EventLog - INFO - [T:3.405] Bot Y: 5.00037276476
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.405] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.405] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.405] Dist to collision point: 1.51496292376
+EventLog - INFO - [T:3.433] Bot X: 0.727798212462
+EventLog - INFO - [T:3.433] Bot Y: 5.00038429568
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.433] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.433] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.433] Dist to collision point: 1.51421139298
+EventLog - INFO - [T:3.46] Bot X: 0.735031694782
+EventLog - INFO - [T:3.46] Bot Y: 5.00039438841
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.46] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.46] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.46] Dist to collision point: 1.5134994634
+EventLog - INFO - [T:3.489] Bot X: 0.742274897164
+EventLog - INFO - [T:3.489] Bot Y: 5.0004039484
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.489] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.489] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.489] Dist to collision point: 1.5128051897
+EventLog - INFO - [T:3.522] Bot X: 0.749746496304
+EventLog - INFO - [T:3.522] Bot Y: 5.00041356891
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.522] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.522] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.522] Dist to collision point: 1.51210889731
+EventLog - INFO - [T:3.562] Bot X: 0.757006869213
+EventLog - INFO - [T:3.562] Bot Y: 5.00042274262
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.562] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.562] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.562] Dist to collision point: 1.51145170965
+EventLog - INFO - [T:3.605] Bot X: 0.764275710314
+EventLog - INFO - [T:3.605] Bot Y: 5.00043177124
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.605] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.605] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.605] Dist to collision point: 1.51081297303
+EventLog - INFO - [T:3.634] Bot X: 0.771774215996
+EventLog - INFO - [T:3.634] Bot Y: 5.00044142541
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.634] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.634] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.634] Dist to collision point: 1.51017473282
+EventLog - INFO - [T:3.661] Bot X: 0.779060999348
+EventLog - INFO - [T:3.661] Bot Y: 5.00045107924
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.661] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.661] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.661] Dist to collision point: 1.50957459823
+EventLog - INFO - [T:3.689] Bot X: 0.786355179882
+EventLog - INFO - [T:3.689] Bot Y: 5.00045988453
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.689] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.689] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.689] Dist to collision point: 1.50899258167
+EventLog - INFO - [T:3.718] Bot X: 0.793871080902
+EventLog - INFO - [T:3.718] Bot Y: 5.00046868762
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.718] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.718] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.718] Dist to collision point: 1.5084131238
+EventLog - INFO - [T:3.753] Bot X: 0.801155889452
+EventLog - INFO - [T:3.753] Bot Y: 5.00047443877
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.753] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.753] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.753] Dist to collision point: 1.50786860648
+EventLog - INFO - [T:3.797] Bot X: 0.808422602172
+EventLog - INFO - [T:3.797] Bot Y: 5.00047801912
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.797] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.797] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.797] Dist to collision point: 1.50734282535
+EventLog - INFO - [T:3.841] Bot X: 0.815855592452
+EventLog - INFO - [T:3.841] Bot Y: 5.00050587952
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.841] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.841] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.841] Dist to collision point: 1.50684936681
+EventLog - INFO - [T:3.869] Bot X: 0.82308346618
+EventLog - INFO - [T:3.869] Bot Y: 5.00052004732
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.869] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.869] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.869] Dist to collision point: 1.50637625112
+EventLog - INFO - [T:3.897] Bot X: 0.830308537925
+EventLog - INFO - [T:3.897] Bot Y: 5.00053354571
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.897] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.897] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.897] Dist to collision point: 1.5059220091
+EventLog - INFO - [T:3.925] Bot X: 0.837759944955
+EventLog - INFO - [T:3.925] Bot Y: 5.00054615639
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.925] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.925] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.925] Dist to collision point: 1.50547251544
+EventLog - INFO - [T:3.952] Bot X: 0.845001936846
+EventLog - INFO - [T:3.952] Bot Y: 5.00055786119
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.952] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.952] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.952] Dist to collision point: 1.50505486009
+EventLog - INFO - [T:3.991] Bot X: 0.852252624625
+EventLog - INFO - [T:3.991] Bot Y: 5.00056927688
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.991] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.991] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:3.991] Dist to collision point: 1.50465592682
+EventLog - INFO - [T:4.028] Bot X: 0.85973177729
+EventLog - INFO - [T:4.028] Bot Y: 5.00058086633
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.028] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.028] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.028] Dist to collision point: 1.50426472547
+EventLog - INFO - [T:4.076] Bot X: 0.866999533097
+EventLog - INFO - [T:4.076] Bot Y: 5.00059195622
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.076] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.076] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.076] Dist to collision point: 1.50390435677
+EventLog - INFO - [T:4.104] Bot X: 0.874276166455
+EventLog - INFO - [T:4.104] Bot Y: 5.00060326679
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.104] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.104] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.104] Dist to collision point: 1.5035634666
+EventLog - INFO - [T:4.131] Bot X: 0.881782526139
+EventLog - INFO - [T:4.131] Bot Y: 5.0006153121
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.131] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.131] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.131] Dist to collision point: 1.50323287387
+EventLog - INFO - [T:4.159] Bot X: 0.889075894157
+EventLog - INFO - [T:4.159] Bot Y: 5.00062624996
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.159] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.159] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.159] Dist to collision point: 1.502931028
+EventLog - INFO - [T:4.187] Bot X: 0.896371476492
+EventLog - INFO - [T:4.187] Bot Y: 5.00063682142
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.187] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.187] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.187] Dist to collision point: 1.50264858387
+EventLog - INFO - [T:4.216] Bot X: 0.903878815249
+EventLog - INFO - [T:4.216] Bot Y: 5.00064574129
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.216] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.216] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.216] Dist to collision point: 1.50237673551
+EventLog - INFO - [T:4.264] Bot X: 0.91114959175
+EventLog - INFO - [T:4.264] Bot Y: 5.00065290958
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.264] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.264] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.264] Dist to collision point: 1.50213205758
+EventLog - INFO - [T:4.312] Bot X: 0.91836925903
+EventLog - INFO - [T:4.312] Bot Y: 5.00068344443
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.312] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.312] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.312] Dist to collision point: 1.50193206125
+EventLog - INFO - [T:4.34] Bot X: 0.925814266082
+EventLog - INFO - [T:4.34] Bot Y: 5.00070028571
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.34] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.34] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.34] Dist to collision point: 1.50173160109
+EventLog - INFO - [T:4.368] Bot X: 0.933038525298
+EventLog - INFO - [T:4.368] Bot Y: 5.00071595409
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.368] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.368] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.368] Dist to collision point: 1.50155623807
+EventLog - INFO - [T:4.397] Bot X: 0.940269517899
+EventLog - INFO - [T:4.397] Bot Y: 5.00073029537
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.397] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.397] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.397] Dist to collision point: 1.50139893307
+EventLog - INFO - [T:4.424] Bot X: 0.947729433819
+EventLog - INFO - [T:4.424] Bot Y: 5.00074459469
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.424] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.424] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.424] Dist to collision point: 1.50125666997
+EventLog - INFO - [T:4.452] Bot X: 0.954979055559
+EventLog - INFO - [T:4.452] Bot Y: 5.0007582588
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.452] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.452] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.452] Dist to collision point: 1.5011381557
+EventLog - INFO - [T:4.496] Bot X: 0.962236978511
+EventLog - INFO - [T:4.496] Bot Y: 5.00077174345
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.496] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.496] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.496] Dist to collision point: 1.50103903447
+EventLog - INFO - [T:4.544] Bot X: 0.969723672947
+EventLog - INFO - [T:4.544] Bot Y: 5.00078547718
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.544] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.544] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.544] Dist to collision point: 1.50095729535
+EventLog - INFO - [T:4.573] Bot X: 0.976999099247
+EventLog - INFO - [T:4.573] Bot Y: 5.00079895121
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.573] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.573] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.573] Dist to collision point: 1.50089811679
+EventLog - INFO - [T:4.601] Bot X: 0.984283452023
+EventLog - INFO - [T:4.601] Bot Y: 5.00081289837
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.601] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.601] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.601] Dist to collision point: 1.50085919946
+EventLog - INFO - [T:4.628] Bot X: 0.991796785713
+EventLog - INFO - [T:4.628] Bot Y: 5.00082663033
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.628] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.628] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.628] Dist to collision point: 1.50083924419
+EventLog - INFO - [T:4.657] Bot X: 0.99909274838
+EventLog - INFO - [T:4.657] Bot Y: 5.00083941001
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.657] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.657] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.657] Dist to collision point: 1.5008395643
+EventLog - INFO - [T:4.688] Bot X: 1.0063809133
+EventLog - INFO - [T:4.688] Bot Y: 5.00085070744
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.688] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.688] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.688] Dist to collision point: 1.50085833952
+EventLog - INFO - [T:4.732] Bot X: 1.01387568679
+EventLog - INFO - [T:4.732] Bot Y: 5.00086262464
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.732] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.732] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.732] Dist to collision point: 1.50089871408
+EventLog - INFO - [T:4.78] Bot X: 1.02110291565
+EventLog - INFO - [T:4.78] Bot Y: 5.00089566521
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.78] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.78] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.78] Dist to collision point: 1.50097913791
+EventLog - INFO - [T:4.809] Bot X: 1.02832634593
+EventLog - INFO - [T:4.809] Bot Y: 5.00091569651
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.809] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.809] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.809] Dist to collision point: 1.50106608967
+EventLog - INFO - [T:4.836] Bot X: 1.03576870022
+EventLog - INFO - [T:4.836] Bot Y: 5.00093532831
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.836] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.836] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.836] Dist to collision point: 1.50117512186
+EventLog - INFO - [T:4.864] Bot X: 1.04299861609
+EventLog - INFO - [T:4.864] Bot Y: 5.00095269579
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.864] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.864] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.864] Dist to collision point: 1.50129921091
+EventLog - INFO - [T:4.892] Bot X: 1.05023768916
+EventLog - INFO - [T:4.892] Bot Y: 5.00096950977
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.892] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.892] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.892] Dist to collision point: 1.50144249962
+EventLog - INFO - [T:4.924] Bot X: 1.05770582118
+EventLog - INFO - [T:4.924] Bot Y: 5.00098623096
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.924] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.924] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.924] Dist to collision point: 1.50161026387
+EventLog - INFO - [T:4.968] Bot X: 1.06496267153
+EventLog - INFO - [T:4.968] Bot Y: 5.00100228937
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.968] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.968] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.968] Dist to collision point: 1.50179309464
+EventLog - INFO - [T:4.997] Bot X: 1.07222796458
+EventLog - INFO - [T:4.997] Bot Y: 5.00101818731
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.997] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.997] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:4.997] Dist to collision point: 1.5019957019
+EventLog - INFO - [T:5.025] Bot X: 1.07972245987
+EventLog - INFO - [T:5.025] Bot Y: 5.00103457412
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.025] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.025] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.025] Dist to collision point: 1.50222537916
+EventLog - INFO - [T:5.053] Bot X: 1.08700564194
+EventLog - INFO - [T:5.053] Bot Y: 5.00105096241
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.053] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.053] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.053] Dist to collision point: 1.50246916692
+EventLog - INFO - [T:5.08] Bot X: 1.09429695747
+EventLog - INFO - [T:5.08] Bot Y: 5.00106682829
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.08] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.08] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.08] Dist to collision point: 1.50273254564
+EventLog - INFO - [T:5.124] Bot X: 1.10181413893
+EventLog - INFO - [T:5.124] Bot Y: 5.0010825059
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.124] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.124] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.124] Dist to collision point: 1.50302419623
+EventLog - INFO - [T:5.172] Bot X: 1.10910365989
+EventLog - INFO - [T:5.172] Bot Y: 5.00109642991
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.172] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.172] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.172] Dist to collision point: 1.50332588542
+EventLog - INFO - [T:5.2] Bot X: 1.11638094541
+EventLog - INFO - [T:5.2] Bot Y: 5.00111217552
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.2] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.2] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.2] Dist to collision point: 1.50364868958
+EventLog - INFO - [T:5.227] Bot X: 1.12383724838
+EventLog - INFO - [T:5.227] Bot Y: 5.00114675633
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.227] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.227] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.227] Dist to collision point: 1.50401834794
+EventLog - INFO - [T:5.255] Bot X: 1.13105685957
+EventLog - INFO - [T:5.255] Bot Y: 5.00117203149
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.255] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.255] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.255] Dist to collision point: 1.50438781063
+EventLog - INFO - [T:5.283] Bot X: 1.13828022095
+EventLog - INFO - [T:5.283] Bot Y: 5.00119414568
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.283] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.283] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.283] Dist to collision point: 1.50477371744
+EventLog - INFO - [T:5.323] Bot X: 1.14572803718
+EventLog - INFO - [T:5.323] Bot Y: 5.00121528349
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.323] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.323] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.323] Dist to collision point: 1.50519028224
+EventLog - INFO - [T:5.367] Bot X: 1.15296577814
+EventLog - INFO - [T:5.367] Bot Y: 5.00123494603
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.367] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.367] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.367] Dist to collision point: 1.50561397812
+EventLog - INFO - [T:5.396] Bot X: 1.1602130211
+EventLog - INFO - [T:5.396] Bot Y: 5.00125397015
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.396] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.396] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.396] Dist to collision point: 1.50605706538
+EventLog - INFO - [T:5.424] Bot X: 1.16768848077
+EventLog - INFO - [T:5.424] Bot Y: 5.00127336634
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.424] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.424] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.424] Dist to collision point: 1.50653430365
+EventLog - INFO - [T:5.451] Bot X: 1.17495263989
+EventLog - INFO - [T:5.451] Bot Y: 5.00129203089
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.451] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.451] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.451] Dist to collision point: 1.50701772148
+EventLog - INFO - [T:5.479] Bot X: 1.18222536504
+EventLog - INFO - [T:5.479] Bot Y: 5.00131063337
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.479] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.479] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.479] Dist to collision point: 1.50752120903
+EventLog - INFO - [T:5.527] Bot X: 1.18972789501
+EventLog - INFO - [T:5.527] Bot Y: 5.00133029852
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.527] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.527] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.527] Dist to collision point: 1.50806159296
+EventLog - INFO - [T:5.567] Bot X: 1.19701819384
+EventLog - INFO - [T:5.567] Bot Y: 5.00134900839
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.567] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.567] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.567] Dist to collision point: 1.50860622844
+EventLog - INFO - [T:5.596] Bot X: 1.204314198
+EventLog - INFO - [T:5.596] Bot Y: 5.00136696266
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.596] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.596] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.596] Dist to collision point: 1.50917017388
+EventLog - INFO - [T:5.624] Bot X: 1.21182612708
+EventLog - INFO - [T:5.624] Bot Y: 5.00138442814
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.624] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.624] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.624] Dist to collision point: 1.50977031038
+EventLog - INFO - [T:5.652] Bot X: 1.21910548894
+EventLog - INFO - [T:5.652] Bot Y: 5.00140363997
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.652] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.652] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.652] Dist to collision point: 1.51037398547
+EventLog - INFO - [T:5.68] Bot X: 1.22635242127
+EventLog - INFO - [T:5.68] Bot Y: 5.00143758484
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.68] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.68] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.68] Dist to collision point: 1.5110091152
+EventLog - INFO - [T:5.719] Bot X: 1.23378612947
+EventLog - INFO - [T:5.719] Bot Y: 5.00147147327
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.719] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.719] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.719] Dist to collision point: 1.51167973783
+EventLog - INFO - [T:5.763] Bot X: 1.24101053869
+EventLog - INFO - [T:5.763] Bot Y: 5.00149669506
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.763] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.763] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.763] Dist to collision point: 1.51234322682
+EventLog - INFO - [T:5.807] Bot X: 1.24823826411
+EventLog - INFO - [T:5.807] Bot Y: 5.00152050669
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.807] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.807] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.807] Dist to collision point: 1.51302475086
+EventLog - INFO - [T:5.834] Bot X: 1.25569392273
+EventLog - INFO - [T:5.834] Bot Y: 5.00154390211
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.834] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.834] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.834] Dist to collision point: 1.51374664537
+EventLog - INFO - [T:5.864] Bot X: 1.26294007168
+EventLog - INFO - [T:5.864] Bot Y: 5.00156595021
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.864] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.864] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.864] Dist to collision point: 1.51446704245
+EventLog - INFO - [T:5.892] Bot X: 1.27019446922
+EventLog - INFO - [T:5.892] Bot Y: 5.00158776747
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.892] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.892] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.892] Dist to collision point: 1.51520720841
+EventLog - INFO - [T:5.92] Bot X: 1.27767751931
+EventLog - INFO - [T:5.92] Bot Y: 5.00161008574
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.92] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.92] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.92] Dist to collision point: 1.51599062131
+EventLog - INFO - [T:5.955] Bot X: 1.28494911874
+EventLog - INFO - [T:5.955] Bot Y: 5.0016316413
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.955] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.955] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.955] Dist to collision point: 1.51677129454
+EventLog - INFO - [T:5.999] Bot X: 1.29222972001
+EventLog - INFO - [T:5.999] Bot Y: 5.00165363151
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.999] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.999] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:5.999] Dist to collision point: 1.51757259521
+EventLog - INFO - [T:6.043] Bot X: 1.29973975988
+EventLog - INFO - [T:6.043] Bot Y: 5.00167610261
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.043] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.043] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.043] Dist to collision point: 1.51841909224
+EventLog - INFO - [T:6.071] Bot X: 1.30703544557
+EventLog - INFO - [T:6.071] Bot Y: 5.00169704882
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.071] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.071] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.071] Dist to collision point: 1.51926011831
+EventLog - INFO - [T:6.099] Bot X: 1.31432784653
+EventLog - INFO - [T:6.099] Bot Y: 5.0017173388
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.099] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.099] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.099] Dist to collision point: 1.52011936357
+EventLog - INFO - [T:6.128] Bot X: 1.32182977541
+EventLog - INFO - [T:6.128] Bot Y: 5.00173976999
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.128] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.128] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.128] Dist to collision point: 1.52102488521
+EventLog - INFO - [T:6.155] Bot X: 1.32908460195
+EventLog - INFO - [T:6.155] Bot Y: 5.00177503123
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.155] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.155] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.155] Dist to collision point: 1.5219333562
+EventLog - INFO - [T:6.187] Bot X: 1.33629549421
+EventLog - INFO - [T:6.187] Bot Y: 5.00181644637
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.187] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.187] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.187] Dist to collision point: 1.52286140984
+EventLog - INFO - [T:6.231] Bot X: 1.34374095572
+EventLog - INFO - [T:6.231] Bot Y: 5.00184525317
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.231] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.231] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.231] Dist to collision point: 1.52382538419
+EventLog - INFO - [T:6.275] Bot X: 1.35096780461
+EventLog - INFO - [T:6.275] Bot Y: 5.00187241533
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.275] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.275] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.275] Dist to collision point: 1.5247792671
+EventLog - INFO - [T:6.302] Bot X: 1.35820276113
+EventLog - INFO - [T:6.302] Bot Y: 5.00189832697
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.302] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.302] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.302] Dist to collision point: 1.52575166837
+EventLog - INFO - [T:6.33] Bot X: 1.36566711163
+EventLog - INFO - [T:6.33] Bot Y: 5.0019243796
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.33] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.33] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.33] Dist to collision point: 1.52677381927
+EventLog - INFO - [T:6.357] Bot X: 1.37292038397
+EventLog - INFO - [T:6.357] Bot Y: 5.00194938736
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.357] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.357] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.357] Dist to collision point: 1.52778578651
+EventLog - INFO - [T:6.386] Bot X: 1.38018208085
+EventLog - INFO - [T:6.386] Bot Y: 5.00197424783
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.386] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.386] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.386] Dist to collision point: 1.52881750362
+EventLog - INFO - [T:6.418] Bot X: 1.38767269529
+EventLog - INFO - [T:6.418] Bot Y: 5.00199973036
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.418] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.418] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.418] Dist to collision point: 1.5299012014
+EventLog - INFO - [T:6.462] Bot X: 1.39495210803
+EventLog - INFO - [T:6.462] Bot Y: 5.00202483971
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.462] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.462] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.462] Dist to collision point: 1.5309737335
+EventLog - INFO - [T:6.506] Bot X: 1.40224006074
+EventLog - INFO - [T:6.506] Bot Y: 5.00204997853
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.506] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.506] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.506] Dist to collision point: 1.5320662926
+EventLog - INFO - [T:6.533] Bot X: 1.40975618531
+EventLog - INFO - [T:6.533] Bot Y: 5.00207490071
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.533] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.533] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.533] Dist to collision point: 1.53321169293
+EventLog - INFO - [T:6.561] Bot X: 1.41704971592
+EventLog - INFO - [T:6.561] Bot Y: 5.00209865564
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.561] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.561] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.561] Dist to collision point: 1.53434176103
+EventLog - INFO - [T:6.591] Bot X: 1.42433276645
+EventLog - INFO - [T:6.591] Bot Y: 5.00212246891
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.591] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.591] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.591] Dist to collision point: 1.53548894386
+EventLog - INFO - [T:6.619] Bot X: 1.43181470782
+EventLog - INFO - [T:6.619] Bot Y: 5.00216070085
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.619] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.619] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.619] Dist to collision point: 1.53670043045
+EventLog - INFO - [T:6.65] Bot X: 1.43902396777
+EventLog - INFO - [T:6.65] Bot Y: 5.00221105545
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.65] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.65] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.65] Dist to collision point: 1.53789963492
+EventLog - INFO - [T:6.698] Bot X: 1.44625201588
+EventLog - INFO - [T:6.698] Bot Y: 5.00224139988
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.698] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.698] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.698] Dist to collision point: 1.5391002474
+EventLog - INFO - [T:6.738] Bot X: 1.45369701666
+EventLog - INFO - [T:6.738] Bot Y: 5.0022729271
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.738] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.738] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.738] Dist to collision point: 1.54035617357
+EventLog - INFO - [T:6.766] Bot X: 1.46093080991
+EventLog - INFO - [T:6.766] Bot Y: 5.00230217513
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.766] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.766] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.766] Dist to collision point: 1.54159353521
+EventLog - INFO - [T:6.795] Bot X: 1.46817432549
+EventLog - INFO - [T:6.795] Bot Y: 5.00233085833
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.795] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.795] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.795] Dist to collision point: 1.54285012464
+EventLog - INFO - [T:6.823] Bot X: 1.47564617221
+EventLog - INFO - [T:6.823] Bot Y: 5.00236009996
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.823] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.823] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.823] Dist to collision point: 1.544164979
+EventLog - INFO - [T:6.852] Bot X: 1.48290679571
+EventLog - INFO - [T:6.852] Bot Y: 5.00238834015
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.852] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.852] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.852] Dist to collision point: 1.54546092574
+EventLog - INFO - [T:6.886] Bot X: 1.49017587397
+EventLog - INFO - [T:6.886] Bot Y: 5.00241644528
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.886] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.886] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.886] Dist to collision point: 1.54677637262
+EventLog - INFO - [T:6.93] Bot X: 1.49767455581
+EventLog - INFO - [T:6.93] Bot Y: 5.00244571116
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.93] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.93] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.93] Dist to collision point: 1.54815262737
+EventLog - INFO - [T:6.974] Bot X: 1.50496147503
+EventLog - INFO - [T:6.974] Bot Y: 5.00247432288
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.974] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.974] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:6.974] Dist to collision point: 1.54950861324
+EventLog - INFO - [T:7.002] Bot X: 1.51225577912
+EventLog - INFO - [T:7.002] Bot Y: 5.00250200507
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.002] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.002] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.002] Dist to collision point: 1.55088317228
+EventLog - INFO - [T:7.031] Bot X: 1.51977137472
+EventLog - INFO - [T:7.031] Bot Y: 5.00253014705
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.031] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.031] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.031] Dist to collision point: 1.55231799485
+EventLog - INFO - [T:7.058] Bot X: 1.52705592876
+EventLog - INFO - [T:7.058] Bot Y: 5.00255641347
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.058] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.058] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.058] Dist to collision point: 1.55372600815
+EventLog - INFO - [T:7.086] Bot X: 1.5343236125
+EventLog - INFO - [T:7.086] Bot Y: 5.00259550133
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.086] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.086] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.086] Dist to collision point: 1.55516132633
+EventLog - INFO - [T:7.121] Bot X: 1.5417536616
+EventLog - INFO - [T:7.121] Bot Y: 5.00265639319
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.121] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.121] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.121] Dist to collision point: 1.55666770276
+EventLog - INFO - [T:7.165] Bot X: 1.54898203771
+EventLog - INFO - [T:7.165] Bot Y: 5.00268902275
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.165] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.165] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.165] Dist to collision point: 1.55812485113
+EventLog - INFO - [T:7.194] Bot X: 1.55620719524
+EventLog - INFO - [T:7.194] Bot Y: 5.00272306748
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.194] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.194] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.194] Dist to collision point: 1.55960027511
+EventLog - INFO - [T:7.222] Bot X: 1.5636588271
+EventLog - INFO - [T:7.222] Bot Y: 5.00275671981
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.222] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.222] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.222] Dist to collision point: 1.56113880932
+EventLog - INFO - [T:7.249] Bot X: 1.57090105483
+EventLog - INFO - [T:7.249] Bot Y: 5.00278890302
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.249] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.249] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.249] Dist to collision point: 1.56265134671
+EventLog - INFO - [T:7.277] Bot X: 1.57815191348
+EventLog - INFO - [T:7.277] Bot Y: 5.0028208197
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.277] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.277] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.277] Dist to collision point: 1.56418286797
+EventLog - INFO - [T:7.321] Bot X: 1.58563125209
+EventLog - INFO - [T:7.321] Bot Y: 5.00285356165
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.321] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.321] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.321] Dist to collision point: 1.56578074444
+EventLog - INFO - [T:7.365] Bot X: 1.59289918639
+EventLog - INFO - [T:7.365] Bot Y: 5.00288520707
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.365] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.365] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.365] Dist to collision point: 1.56735101344
+EventLog - INFO - [T:7.409] Bot X: 1.60017598803
+EventLog - INFO - [T:7.409] Bot Y: 5.00291708469
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.409] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.409] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.409] Dist to collision point: 1.56894083774
+EventLog - INFO - [T:7.437] Bot X: 1.60768248887
+EventLog - INFO - [T:7.437] Bot Y: 5.00295028127
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.437] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.437] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.437] Dist to collision point: 1.57059939279
+EventLog - INFO - [T:7.464] Bot X: 1.61497595565
+EventLog - INFO - [T:7.464] Bot Y: 5.00298167411
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.464] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.464] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.464] Dist to collision point: 1.57222772297
+EventLog - INFO - [T:7.491] Bot X: 1.62227129783
+EventLog - INFO - [T:7.491] Bot Y: 5.00301260579
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.491] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.491] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.491] Dist to collision point: 1.57387339972
+EventLog - INFO - [T:7.519] Bot X: 1.62977828569
+EventLog - INFO - [T:7.519] Bot Y: 5.0030428654
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.519] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.519] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.519] Dist to collision point: 1.57558338186
+EventLog - INFO - [T:7.561] Bot X: 1.63704981135
+EventLog - INFO - [T:7.561] Bot Y: 5.00308448376
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.561] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.561] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.561] Dist to collision point: 1.57726920132
+EventLog - INFO - [T:7.605] Bot X: 1.6442664045
+EventLog - INFO - [T:7.605] Bot Y: 5.00315203439
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.605] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.605] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.605] Dist to collision point: 1.57898482614
+EventLog - INFO - [T:7.633] Bot X: 1.65171154418
+EventLog - INFO - [T:7.633] Bot Y: 5.00318900566
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.633] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.633] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.633] Dist to collision point: 1.58074041999
+EventLog - INFO - [T:7.661] Bot X: 1.65893585192
+EventLog - INFO - [T:7.661] Bot Y: 5.00322671549
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.661] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.661] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.661] Dist to collision point: 1.58246276585
+EventLog - INFO - [T:7.688] Bot X: 1.66616708167
+EventLog - INFO - [T:7.688] Bot Y: 5.00326300619
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.688] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.688] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.688] Dist to collision point: 1.58420208893
+EventLog - INFO - [T:7.716] Bot X: 1.67362731791
+EventLog - INFO - [T:7.716] Bot Y: 5.00329997293
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.716] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.716] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.716] Dist to collision point: 1.58601353564
+EventLog - INFO - [T:7.753] Bot X: 1.68087714787
+EventLog - INFO - [T:7.753] Bot Y: 5.00333560077
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.753] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.753] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.753] Dist to collision point: 1.58779057818
+EventLog - INFO - [T:7.797] Bot X: 1.68813530071
+EventLog - INFO - [T:7.797] Bot Y: 5.0033710876
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.797] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.797] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.797] Dist to collision point: 1.58958618787
+EventLog - INFO - [T:7.841] Bot X: 1.69562223224
+EventLog - INFO - [T:7.841] Bot Y: 5.00340751764
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.841] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.841] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.841] Dist to collision point: 1.5914556783
+EventLog - INFO - [T:7.868] Bot X: 1.70289787742
+EventLog - INFO - [T:7.868] Bot Y: 5.00344303629
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.868] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.868] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.868] Dist to collision point: 1.59328944705
+EventLog - INFO - [T:7.896] Bot X: 1.71018241592
+EventLog - INFO - [T:7.896] Bot Y: 5.00347900199
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.896] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.896] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.896] Dist to collision point: 1.59514250351
+EventLog - INFO - [T:7.924] Bot X: 1.71769589046
+EventLog - INFO - [T:7.924] Bot Y: 5.00351534335
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.924] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.924] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.924] Dist to collision point: 1.59707046074
+EventLog - INFO - [T:7.951] Bot X: 1.72499167829
+EventLog - INFO - [T:7.951] Bot Y: 5.00354997748
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.951] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.951] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.951] Dist to collision point: 1.59895877122
+EventLog - INFO - [T:7.985] Bot X: 1.73227945303
+EventLog - INFO - [T:7.985] Bot Y: 5.00358287709
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.985] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.985] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:7.985] Dist to collision point: 1.60085987537
+EventLog - INFO - [T:8.033] Bot X: 1.7397746257
+EventLog - INFO - [T:8.033] Bot Y: 5.00362790309
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.033] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.033] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.033] Dist to collision point: 1.60284309326
+EventLog - INFO - [T:8.06] Bot X: 1.74699897942
+EventLog - INFO - [T:8.06] Bot Y: 5.00370136507
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.06] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.06] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.06] Dist to collision point: 1.6048001945
+EventLog - INFO - [T:8.088] Bot X: 1.75422157404
+EventLog - INFO - [T:8.088] Bot Y: 5.00374220214
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.088] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.088] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.088] Dist to collision point: 1.60674122308
+EventLog - INFO - [T:8.116] Bot X: 1.76166381563
+EventLog - INFO - [T:8.116] Bot Y: 5.00378510311
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.116] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.116] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.116] Dist to collision point: 1.60875878583
+EventLog - INFO - [T:8.144] Bot X: 1.76889391827
+EventLog - INFO - [T:8.144] Bot Y: 5.00382516432
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.144] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.144] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.144] Dist to collision point: 1.61073345495
+EventLog - INFO - [T:8.188] Bot X: 1.77613322135
+EventLog - INFO - [T:8.188] Bot Y: 5.00386485501
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.188] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.188] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.188] Dist to collision point: 1.61272615015
+EventLog - INFO - [T:8.232] Bot X: 1.78360149809
+EventLog - INFO - [T:8.232] Bot Y: 5.0039055258
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.232] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.232] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.232] Dist to collision point: 1.61479824039
+EventLog - INFO - [T:8.28] Bot X: 1.79085850964
+EventLog - INFO - [T:8.28] Bot Y: 5.00394486745
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.28] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.28] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.28] Dist to collision point: 1.61682766474
+EventLog - INFO - [T:8.309] Bot X: 1.79812396674
+EventLog - INFO - [T:8.309] Bot Y: 5.00398409069
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.309] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.309] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.309] Dist to collision point: 1.61887515189
+EventLog - INFO - [T:8.337] Bot X: 1.80561870304
+EventLog - INFO - [T:8.337] Bot Y: 5.00402460478
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.337] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.337] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.337] Dist to collision point: 1.62100386887
+EventLog - INFO - [T:8.365] Bot X: 1.81290211475
+EventLog - INFO - [T:8.365] Bot Y: 5.0040644509
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.365] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.365] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.365] Dist to collision point: 1.62308907752
+EventLog - INFO - [T:8.393] Bot X: 1.82019354996
+EventLog - INFO - [T:8.393] Bot Y: 5.00410376952
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.393] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.393] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.393] Dist to collision point: 1.62519182368
+EventLog - INFO - [T:8.424] Bot X: 1.82771060312
+EventLog - INFO - [T:8.424] Bot Y: 5.00414346443
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.424] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.424] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.424] Dist to collision point: 1.62737530268
+EventLog - INFO - [T:8.468] Bot X: 1.83499975023
+EventLog - INFO - [T:8.468] Bot Y: 5.00418034979
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.468] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.468] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.468] Dist to collision point: 1.62950694929
+EventLog - INFO - [T:8.496] Bot X: 1.84227710773
+EventLog - INFO - [T:8.496] Bot Y: 5.00422549591
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.496] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.496] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.496] Dist to collision point: 1.63165872848
+EventLog - INFO - [T:8.524] Bot X: 1.8497308968
+EventLog - INFO - [T:8.524] Bot Y: 5.00430487804
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.524] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.524] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.524] Dist to collision point: 1.63391061279
+EventLog - INFO - [T:8.551] Bot X: 1.85694908993
+EventLog - INFO - [T:8.551] Bot Y: 5.00435219301
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.551] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.551] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.551] Dist to collision point: 1.63607829331
+EventLog - INFO - [T:8.581] Bot X: 1.86417217555
+EventLog - INFO - [T:8.581] Bot Y: 5.00439796956
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.581] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.581] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.581] Dist to collision point: 1.63826106467
+EventLog - INFO - [T:8.62] Bot X: 1.87162022738
+EventLog - INFO - [T:8.62] Bot Y: 5.0044434363
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.62] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.62] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.62] Dist to collision point: 1.64052594168
+EventLog - INFO - [T:8.664] Bot X: 1.87885826297
+EventLog - INFO - [T:8.664] Bot Y: 5.00448707105
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.664] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.664] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.664] Dist to collision point: 1.64274172681
+EventLog - INFO - [T:8.712] Bot X: 1.88610569387
+EventLog - INFO - [T:8.712] Bot Y: 5.0045304914
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.712] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.712] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.712] Dist to collision point: 1.64497517817
+EventLog - INFO - [T:8.741] Bot X: 1.89358136848
+EventLog - INFO - [T:8.741] Bot Y: 5.00457512127
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.741] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.741] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.741] Dist to collision point: 1.64729453133
+EventLog - INFO - [T:8.77] Bot X: 1.90084574369
+EventLog - INFO - [T:8.77] Bot Y: 5.00461832683
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.77] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.77] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.77] Dist to collision point: 1.64956339822
+EventLog - INFO - [T:8.798] Bot X: 1.90811876089
+EventLog - INFO - [T:8.798] Bot Y: 5.00466157181
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.798] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.798] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.798] Dist to collision point: 1.6518499258
+EventLog - INFO - [T:8.826] Bot X: 1.91562161291
+EventLog - INFO - [T:8.826] Bot Y: 5.00470669704
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.826] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.826] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.826] Dist to collision point: 1.65422483616
+EventLog - INFO - [T:8.856] Bot X: 1.92291208001
+EventLog - INFO - [T:8.856] Bot Y: 5.00475016546
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.856] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.856] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.856] Dist to collision point: 1.65654730264
+EventLog - INFO - [T:8.9] Bot X: 1.9302080335
+EventLog - INFO - [T:8.9] Bot Y: 5.00479273183
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.9] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.9] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.9] Dist to collision point: 1.65888550672
+EventLog - INFO - [T:8.927] Bot X: 1.93771956805
+EventLog - INFO - [T:8.927] Bot Y: 5.00483514354
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.927] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.927] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.927] Dist to collision point: 1.66130694187
+EventLog - INFO - [T:8.956] Bot X: 1.94499880859
+EventLog - INFO - [T:8.956] Bot Y: 5.00488160883
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.956] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.956] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.956] Dist to collision point: 1.66367354921
+EventLog - INFO - [T:8.984] Bot X: 1.95224395154
+EventLog - INFO - [T:8.984] Bot Y: 5.00496011297
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:8.984] box_s_R_1 X: 1.0
+EventLog - INFO - [T:8.984] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:8.984] Dist to collision point: 1.6660743746
+EventLog - INFO - [T:9.012] Bot X: 1.95967374183
+EventLog - INFO - [T:9.012] Bot Y: 5.00502030667
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.012] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.012] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.012] Dist to collision point: 1.66853196979
+EventLog - INFO - [T:9.07] Bot X: 1.96689816391
+EventLog - INFO - [T:9.07] Bot Y: 5.00507035454
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.07] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.07] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.07] Dist to collision point: 1.67092802823
+EventLog - INFO - [T:9.112] Bot X: 1.97412605964
+EventLog - INFO - [T:9.112] Bot Y: 5.00511854807
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.112] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.112] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.112] Dist to collision point: 1.67333768278
+EventLog - INFO - [T:9.14] Bot X: 1.98158192082
+EventLog - INFO - [T:9.14] Bot Y: 5.00516762127
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.14] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.14] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.14] Dist to collision point: 1.67583758268
+EventLog - INFO - [T:9.169] Bot X: 1.98882817848
+EventLog - INFO - [T:9.169] Bot Y: 5.00521508765
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.169] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.169] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.169] Dist to collision point: 1.67828138157
+EventLog - INFO - [T:9.197] Bot X: 1.99608270818
+EventLog - INFO - [T:9.197] Bot Y: 5.00526250952
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.197] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.197] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.197] Dist to collision point: 1.68074202777
+EventLog - INFO - [T:9.224] Bot X: 2.003565902
+EventLog - INFO - [T:9.224] Bot Y: 5.00531126469
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.224] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.224] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.224] Dist to collision point: 1.68329485179
+EventLog - INFO - [T:9.255] Bot X: 2.01083772864
+EventLog - INFO - [T:9.255] Bot Y: 5.00535859387
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.255] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.255] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.255] Dist to collision point: 1.68578983128
+EventLog - INFO - [T:9.299] Bot X: 2.01811863218
+EventLog - INFO - [T:9.299] Bot Y: 5.00540646832
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.299] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.299] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.299] Dist to collision point: 1.68830245338
+EventLog - INFO - [T:9.347] Bot X: 2.02562883442
+EventLog - INFO - [T:9.347] Bot Y: 5.00545571975
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.347] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.347] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.347] Dist to collision point: 1.69090876343
+EventLog - INFO - [T:9.375] Bot X: 2.03292448527
+EventLog - INFO - [T:9.375] Bot Y: 5.00550249884
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.375] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.375] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.375] Dist to collision point: 1.69345381941
+EventLog - INFO - [T:9.403] Bot X: 2.04021648735
+EventLog - INFO - [T:9.403] Bot Y: 5.0055481869
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.403] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.403] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.403] Dist to collision point: 1.69601052591
+EventLog - INFO - [T:9.43] Bot X: 2.04771821089
+EventLog - INFO - [T:9.43] Bot Y: 5.00559787717
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.43] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.43] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.43] Dist to collision point: 1.69865778304
+EventLog - INFO - [T:9.458] Bot X: 2.0549716876
+EventLog - INFO - [T:9.458] Bot Y: 5.00567616879
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.458] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.458] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.458] Dist to collision point: 1.70125994438
+EventLog - INFO - [T:9.491] Bot X: 2.06217744284
+EventLog - INFO - [T:9.491] Bot Y: 5.00574596107
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.491] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.491] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.491] Dist to collision point: 1.70385086559
+EventLog - INFO - [T:9.534] Bot X: 2.06962311755
+EventLog - INFO - [T:9.534] Bot Y: 5.00580196194
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.534] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.534] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.534] Dist to collision point: 1.70652683161
+EventLog - INFO - [T:9.562] Bot X: 2.07685017995
+EventLog - INFO - [T:9.562] Bot Y: 5.00585414392
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.562] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.562] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.562] Dist to collision point: 1.70913574617
+EventLog - INFO - [T:9.591] Bot X: 2.08408538994
+EventLog - INFO - [T:9.591] Bot Y: 5.00590581001
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.591] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.591] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.591] Dist to collision point: 1.71176039261
+EventLog - INFO - [T:9.619] Bot X: 2.09154989132
+EventLog - INFO - [T:9.619] Bot Y: 5.00595893141
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.619] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.619] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.619] Dist to collision point: 1.71448196332
+EventLog - INFO - [T:9.647] Bot X: 2.09880333815
+EventLog - INFO - [T:9.647] Bot Y: 5.00601053725
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.647] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.647] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.647] Dist to collision point: 1.71714004979
+EventLog - INFO - [T:9.694] Bot X: 2.10606522367
+EventLog - INFO - [T:9.694] Bot Y: 5.00606205419
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.694] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.694] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.694] Dist to collision point: 1.71981433628
+EventLog - INFO - [T:9.735] Bot X: 2.11355611521
+EventLog - INFO - [T:9.735] Bot Y: 5.00611511566
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.735] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.735] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.735] Dist to collision point: 1.72258670688
+EventLog - INFO - [T:9.763] Bot X: 2.12083591243
+EventLog - INFO - [T:9.763] Bot Y: 5.00616715041
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.763] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.763] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.763] Dist to collision point: 1.7252947817
+EventLog - INFO - [T:9.792] Bot X: 2.12812413351
+EventLog - INFO - [T:9.792] Bot Y: 5.00621933016
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.792] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.792] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.792] Dist to collision point: 1.72801922818
+EventLog - INFO - [T:9.82] Bot X: 2.13564024593
+EventLog - INFO - [T:9.82] Bot Y: 5.00627202851
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.82] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.82] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.82] Dist to collision point: 1.73084154284
+EventLog - INFO - [T:9.847] Bot X: 2.14293338435
+EventLog - INFO - [T:9.847] Bot Y: 5.00632227866
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.847] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.847] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.847] Dist to collision point: 1.73359255985
+EventLog - INFO - [T:9.886] Bot X: 2.15021618486
+EventLog - INFO - [T:9.886] Bot Y: 5.00637291005
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.886] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.886] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.886] Dist to collision point: 1.73635307445
+EventLog - INFO - [T:9.93] Bot X: 2.15769719376
+EventLog - INFO - [T:9.93] Bot Y: 5.00645193137
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.93] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.93] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.93] Dist to collision point: 1.73922748956
+EventLog - INFO - [T:9.974] Bot X: 2.16490067881
+EventLog - INFO - [T:9.974] Bot Y: 5.00653382614
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:9.974] box_s_R_1 X: 1.0
+EventLog - INFO - [T:9.974] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:9.974] Dist to collision point: 1.74201348817
+EventLog - INFO - [T:10.003] Bot X: 2.17212917135
+EventLog - INFO - [T:10.003] Bot Y: 5.00659162102
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.003] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.003] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.003] Dist to collision point: 1.74479884497
+EventLog - INFO - [T:10.031] Bot X: 2.17957432732
+EventLog - INFO - [T:10.031] Bot Y: 5.00664960024
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.031] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.031] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.031] Dist to collision point: 1.74767932918
+EventLog - INFO - [T:10.059] Bot X: 2.1868082803
+EventLog - INFO - [T:10.059] Bot Y: 5.00670536194
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.059] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.059] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.059] Dist to collision point: 1.75049022861
+EventLog - INFO - [T:10.086] Bot X: 2.19405182938
+EventLog - INFO - [T:10.086] Bot Y: 5.00676103501
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.086] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.086] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.086] Dist to collision point: 1.75331715248
+EventLog - INFO - [T:10.122] Bot X: 2.2015237848
+EventLog - INFO - [T:10.122] Bot Y: 5.00681859702
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.122] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.122] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.122] Dist to collision point: 1.75624632956
+EventLog - INFO - [T:10.162] Bot X: 2.20878451631
+EventLog - INFO - [T:10.162] Bot Y: 5.00687437292
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.162] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.162] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.162] Dist to collision point: 1.75910512894
+EventLog - INFO - [T:10.206] Bot X: 2.2160537677
+EventLog - INFO - [T:10.206] Bot Y: 5.00693011573
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.206] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.206] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.206] Dist to collision point: 1.76197954784
+EventLog - INFO - [T:10.233] Bot X: 2.2235528031
+EventLog - INFO - [T:10.233] Bot Y: 5.00698806615
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.233] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.233] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.233] Dist to collision point: 1.76495813771
+EventLog - INFO - [T:10.261] Bot X: 2.23083999572
+EventLog - INFO - [T:10.261] Bot Y: 5.0070446174
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.261] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.261] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.261] Dist to collision point: 1.76786528922
+EventLog - INFO - [T:10.288] Bot X: 2.23813426401
+EventLog - INFO - [T:10.288] Bot Y: 5.0071002364
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.288] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.288] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.288] Dist to collision point: 1.7707866052
+EventLog - INFO - [T:10.317] Bot X: 2.24564948625
+EventLog - INFO - [T:10.317] Bot Y: 5.00715670701
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.317] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.317] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.317] Dist to collision point: 1.77380840484
+EventLog - INFO - [T:10.354] Bot X: 2.25293375018
+EventLog - INFO - [T:10.354] Bot Y: 5.00721060004
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.354] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.354] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.354] Dist to collision point: 1.77674886247
+EventLog - INFO - [T:10.398] Bot X: 2.26020089914
+EventLog - INFO - [T:10.398] Bot Y: 5.00728549082
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.398] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.398] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.398] Dist to collision point: 1.77971407306
+EventLog - INFO - [T:10.442] Bot X: 2.26762412084
+EventLog - INFO - [T:10.442] Bot Y: 5.00738367102
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.442] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.442] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.442] Dist to collision point: 1.78277542311
+EventLog - INFO - [T:10.469] Bot X: 2.27485245123
+EventLog - INFO - [T:10.469] Bot Y: 5.00744444015
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.469] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.469] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.469] Dist to collision point: 1.7857359082
+EventLog - INFO - [T:10.497] Bot X: 2.28207774141
+EventLog - INFO - [T:10.497] Bot Y: 5.00750504608
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.497] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.497] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.497] Dist to collision point: 1.78870670306
+EventLog - INFO - [T:10.525] Bot X: 2.28952958612
+EventLog - INFO - [T:10.525] Bot Y: 5.00756687506
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.525] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.525] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.525] Dist to collision point: 1.79178219612
+EventLog - INFO - [T:10.552] Bot X: 2.29677189762
+EventLog - INFO - [T:10.552] Bot Y: 5.0076267879
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.552] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.552] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.552] Dist to collision point: 1.7947828353
+EventLog - INFO - [T:10.594] Bot X: 2.30402289618
+EventLog - INFO - [T:10.594] Bot Y: 5.00768705701
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.594] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.594] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.594] Dist to collision point: 1.79779892085
+EventLog - INFO - [T:10.637] Bot X: 2.31150238952
+EventLog - INFO - [T:10.637] Bot Y: 5.00774903879
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.637] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.637] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.637] Dist to collision point: 1.80092196028
+EventLog - INFO - [T:10.666] Bot X: 2.3187705197
+EventLog - INFO - [T:10.666] Bot Y: 5.00780915383
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.666] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.666] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.666] Dist to collision point: 1.80396833579
+EventLog - INFO - [T:10.693] Bot X: 2.32604770066
+EventLog - INFO - [T:10.693] Bot Y: 5.00786971662
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.693] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.693] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.693] Dist to collision point: 1.80703034259
+EventLog - INFO - [T:10.72] Bot X: 2.33355452894
+EventLog - INFO - [T:10.72] Bot Y: 5.00793256456
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.72] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.72] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.72] Dist to collision point: 1.81020131226
+EventLog - INFO - [T:10.748] Bot X: 2.34084800967
+EventLog - INFO - [T:10.748] Bot Y: 5.00799276784
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.748] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.748] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.748] Dist to collision point: 1.81329296986
+EventLog - INFO - [T:10.793] Bot X: 2.34814304062
+EventLog - INFO - [T:10.793] Bot Y: 5.0080521511
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.793] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.793] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.793] Dist to collision point: 1.8163958965
+EventLog - INFO - [T:10.837] Bot X: 2.35564967065
+EventLog - INFO - [T:10.837] Bot Y: 5.00811163399
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.837] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.837] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.837] Dist to collision point: 1.81959915146
+EventLog - INFO - [T:10.864] Bot X: 2.36292081451
+EventLog - INFO - [T:10.864] Bot Y: 5.00818649533
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.864] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.864] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.864] Dist to collision point: 1.82272920094
+EventLog - INFO - [T:10.892] Bot X: 2.37013120483
+EventLog - INFO - [T:10.892] Bot Y: 5.00829327379
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.892] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.892] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.892] Dist to collision point: 1.82587407637
+EventLog - INFO - [T:10.919] Bot X: 2.37757580433
+EventLog - INFO - [T:10.919] Bot Y: 5.00835921636
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.919] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.919] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.919] Dist to collision point: 1.82909166849
+EventLog - INFO - [T:10.947] Bot X: 2.38480017025
+EventLog - INFO - [T:10.947] Bot Y: 5.00842416923
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.947] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.947] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.947] Dist to collision point: 1.83222600303
+EventLog - INFO - [T:10.985] Bot X: 2.39203152768
+EventLog - INFO - [T:10.985] Bot Y: 5.00848848603
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:10.985] box_s_R_1 X: 1.0
+EventLog - INFO - [T:10.985] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:10.985] Dist to collision point: 1.8353735649
+EventLog - INFO - [T:11.033] Bot X: 2.39949178896
+EventLog - INFO - [T:11.033] Bot Y: 5.00855463468
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.033] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.033] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.033] Dist to collision point: 1.83863187867
+EventLog - INFO - [T:11.061] Bot X: 2.4067416446
+EventLog - INFO - [T:11.061] Bot Y: 5.00861932912
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.061] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.061] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.061] Dist to collision point: 1.84180961919
+EventLog - INFO - [T:11.089] Bot X: 2.41399986296
+EventLog - INFO - [T:11.089] Bot Y: 5.00868391565
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.089] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.089] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.089] Dist to collision point: 1.84500160843
+EventLog - INFO - [T:11.117] Bot X: 2.42148689139
+EventLog - INFO - [T:11.117] Bot Y: 5.00875041071
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.117] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.117] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.117] Dist to collision point: 1.84830531911
+EventLog - INFO - [T:11.145] Bot X: 2.42876284027
+EventLog - INFO - [T:11.145] Bot Y: 5.0088153434
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.145] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.145] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.145] Dist to collision point: 1.85152703006
+EventLog - INFO - [T:11.185] Bot X: 2.43604764506
+EventLog - INFO - [T:11.185] Bot Y: 5.00888081185
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.185] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.185] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.185] Dist to collision point: 1.85476374402
+EventLog - INFO - [T:11.236] Bot X: 2.44356112794
+EventLog - INFO - [T:11.236] Bot Y: 5.00894761962
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.236] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.236] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.236] Dist to collision point: 1.85811252462
+EventLog - INFO - [T:11.274] Bot X: 2.45085663093
+EventLog - INFO - [T:11.274] Bot Y: 5.00901152586
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.274] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.274] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.274] Dist to collision point: 1.86137401712
+EventLog - INFO - [T:11.302] Bot X: 2.45814402198
+EventLog - INFO - [T:11.302] Bot Y: 5.0090734401
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.302] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.302] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.302] Dist to collision point: 1.86464064329
+EventLog - INFO - [T:11.33] Bot X: 2.46563885804
+EventLog - INFO - [T:11.33] Bot Y: 5.00915077923
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.33] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.33] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.33] Dist to collision point: 1.86802366854
+EventLog - INFO - [T:11.358] Bot X: 2.47285751614
+EventLog - INFO - [T:11.358] Bot Y: 5.00926605812
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.358] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.358] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.358] Dist to collision point: 1.8713297209
+EventLog - INFO - [T:11.393] Bot X: 2.48007938307
+EventLog - INFO - [T:11.393] Bot Y: 5.00933453818
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.393] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.393] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.393] Dist to collision point: 1.87460453797
+EventLog - INFO - [T:11.437] Bot X: 2.48752154968
+EventLog - INFO - [T:11.437] Bot Y: 5.00940609418
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.437] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.437] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.437] Dist to collision point: 1.87799072706
+EventLog - INFO - [T:11.465] Bot X: 2.49475183922
+EventLog - INFO - [T:11.465] Bot Y: 5.00947472038
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.465] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.465] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.465] Dist to collision point: 1.88128992157
+EventLog - INFO - [T:11.492] Bot X: 2.50199128968
+EventLog - INFO - [T:11.492] Bot Y: 5.00954325576
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.492] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.492] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.492] Dist to collision point: 1.88460317834
+EventLog - INFO - [T:11.519] Bot X: 2.50945955722
+EventLog - INFO - [T:11.519] Bot Y: 5.00961448156
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.519] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.519] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.519] Dist to collision point: 1.88803211255
+EventLog - INFO - [T:11.546] Bot X: 2.51671667361
+EventLog - INFO - [T:11.546] Bot Y: 5.00968354534
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.546] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.546] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.546] Dist to collision point: 1.8913741047
+EventLog - INFO - [T:11.584] Bot X: 2.52398225661
+EventLog - INFO - [T:11.584] Bot Y: 5.00975256579
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.584] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.584] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.584] Dist to collision point: 1.89472984247
+EventLog - INFO - [T:11.632] Bot X: 2.53147732894
+EventLog - INFO - [T:11.632] Bot Y: 5.0098240126
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.632] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.632] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.632] Dist to collision point: 1.89820218585
+EventLog - INFO - [T:11.661] Bot X: 2.5387610546
+EventLog - INFO - [T:11.661] Bot Y: 5.0098939645
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.661] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.661] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.661] Dist to collision point: 1.90158714245
+EventLog - INFO - [T:11.689] Bot X: 2.54605254762
+EventLog - INFO - [T:11.689] Bot Y: 5.00996352554
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.689] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.689] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.689] Dist to collision point: 1.90498515851
+EventLog - INFO - [T:11.716] Bot X: 2.5535693665
+EventLog - INFO - [T:11.716] Bot Y: 5.01003409468
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.716] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.716] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.716] Dist to collision point: 1.90849743127
+EventLog - INFO - [T:11.744] Bot X: 2.56085810065
+EventLog - INFO - [T:11.744] Bot Y: 5.01010058116
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.744] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.744] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.744] Dist to collision point: 1.91191128794
+EventLog - INFO - [T:11.784] Bot X: 2.56813513657
+EventLog - INFO - [T:11.784] Bot Y: 5.01017630573
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.784] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.784] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.784] Dist to collision point: 1.91533784376
+EventLog - INFO - [T:11.828] Bot X: 2.57558395536
+EventLog - INFO - [T:11.828] Bot Y: 5.01029961153
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.828] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.828] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.828] Dist to collision point: 1.91889680722
+EventLog - INFO - [T:11.876] Bot X: 2.58280041513
+EventLog - INFO - [T:11.876] Bot Y: 5.01037489363
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.876] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.876] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.876] Dist to collision point: 1.92231421634
+EventLog - INFO - [T:11.904] Bot X: 2.59002326475
+EventLog - INFO - [T:11.904] Bot Y: 5.0104492138
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.904] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.904] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.904] Dist to collision point: 1.92574309939
+EventLog - INFO - [T:11.932] Bot X: 2.59747142022
+EventLog - INFO - [T:11.932] Bot Y: 5.01052446954
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.932] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.932] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.932] Dist to collision point: 1.92928746599
+EventLog - INFO - [T:11.959] Bot X: 2.6047095454
+EventLog - INFO - [T:11.959] Bot Y: 5.01059746179
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.959] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.959] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.959] Dist to collision point: 1.93274121973
+EventLog - INFO - [T:11.988] Bot X: 2.61195684426
+EventLog - INFO - [T:11.988] Bot Y: 5.01067105955
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:11.988] box_s_R_1 X: 1.0
+EventLog - INFO - [T:11.988] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:11.988] Dist to collision point: 1.93620911074
+EventLog - INFO - [T:12.02] Bot X: 2.61943253876
+EventLog - INFO - [T:12.02] Bot Y: 5.01074688771
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.02] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.02] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.02] Dist to collision point: 1.93979590423
+EventLog - INFO - [T:12.064] Bot X: 2.62669695013
+EventLog - INFO - [T:12.064] Bot Y: 5.0108204475
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.064] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.064] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.064] Dist to collision point: 1.94329059288
+EventLog - INFO - [T:12.108] Bot X: 2.63397018286
+EventLog - INFO - [T:12.108] Bot Y: 5.0108942537
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.108] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.108] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.108] Dist to collision point: 1.94679888117
+EventLog - INFO - [T:12.135] Bot X: 2.64147329294
+EventLog - INFO - [T:12.135] Bot Y: 5.0109709531
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.135] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.135] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.135] Dist to collision point: 1.95042816797
+EventLog - INFO - [T:12.162] Bot X: 2.6487637989
+EventLog - INFO - [T:12.162] Bot Y: 5.01104524403
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.162] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.162] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.162] Dist to collision point: 1.95396370283
+EventLog - INFO - [T:12.191] Bot X: 2.65605953942
+EventLog - INFO - [T:12.191] Bot Y: 5.01111837644
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.191] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.191] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.191] Dist to collision point: 1.95750980819
+EventLog - INFO - [T:12.219] Bot X: 2.66357060282
+EventLog - INFO - [T:12.219] Bot Y: 5.01119184907
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.219] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.219] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.219] Dist to collision point: 1.96116841893
+EventLog - INFO - [T:12.255] Bot X: 2.67084951248
+EventLog - INFO - [T:12.255] Bot Y: 5.01126916781
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.255] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.255] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.255] Dist to collision point: 1.96472859636
+EventLog - INFO - [T:12.295] Bot X: 2.6780910735
+EventLog - INFO - [T:12.295] Bot Y: 5.01138968901
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.295] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.295] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.295] Dist to collision point: 1.96831864658
+EventLog - INFO - [T:12.339] Bot X: 2.68551965706
+EventLog - INFO - [T:12.339] Bot Y: 5.01147873366
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.339] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.339] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.339] Dist to collision point: 1.97197937822
+EventLog - INFO - [T:12.367] Bot X: 2.69274336763
+EventLog - INFO - [T:12.367] Bot Y: 5.01155852411
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.367] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.367] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.367] Dist to collision point: 1.97554185776
+EventLog - INFO - [T:12.396] Bot X: 2.69997134852
+EventLog - INFO - [T:12.396] Bot Y: 5.01163611667
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.396] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.396] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.396] Dist to collision point: 1.97911309278
+EventLog - INFO - [T:12.423] Bot X: 2.70742736642
+EventLog - INFO - [T:12.423] Bot Y: 5.01171607041
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.423] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.423] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.423] Dist to collision point: 1.9828059589
+EventLog - INFO - [T:12.451] Bot X: 2.71467354349
+EventLog - INFO - [T:12.451] Bot Y: 5.01179417882
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.451] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.451] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.451] Dist to collision point: 1.98640400659
+EventLog - INFO - [T:12.484] Bot X: 2.72192812892
+EventLog - INFO - [T:12.484] Bot Y: 5.01187236695
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.484] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.484] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.484] Dist to collision point: 1.99001481234
+EventLog - INFO - [T:12.543] Bot X: 2.72941139574
+EventLog - INFO - [T:12.543] Bot Y: 5.01195288894
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.543] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.543] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.543] Dist to collision point: 1.99374828195
+EventLog - INFO - [T:12.586] Bot X: 2.73668342161
+EventLog - INFO - [T:12.586] Bot Y: 5.012031213
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.586] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.586] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.586] Dist to collision point: 1.99738509992
+EventLog - INFO - [T:12.615] Bot X: 2.74396456972
+EventLog - INFO - [T:12.615] Bot Y: 5.01211017648
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.615] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.615] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.615] Dist to collision point: 2.00103548219
+EventLog - INFO - [T:12.643] Bot X: 2.75147488283
+EventLog - INFO - [T:12.643] Bot Y: 5.01219157352
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.643] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.643] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.643] Dist to collision point: 2.00480958956
+EventLog - INFO - [T:12.671] Bot X: 2.75877034413
+EventLog - INFO - [T:12.671] Bot Y: 5.01226941084
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.671] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.671] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.671] Dist to collision point: 2.00848321401
+EventLog - INFO - [T:12.699] Bot X: 2.76606183291
+EventLog - INFO - [T:12.699] Bot Y: 5.01234569587
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.699] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.699] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.699] Dist to collision point: 2.01216189802
+EventLog - INFO - [T:12.727] Bot X: 2.77356316571
+EventLog - INFO - [T:12.727] Bot Y: 5.01242748559
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.727] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.727] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.727] Dist to collision point: 2.01595814396
+EventLog - INFO - [T:12.771] Bot X: 2.78081424901
+EventLog - INFO - [T:12.771] Bot Y: 5.01254492251
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.771] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.771] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.771] Dist to collision point: 2.01967044286
+EventLog - INFO - [T:12.8] Bot X: 2.78801617051
+EventLog - INFO - [T:12.8] Bot Y: 5.01264552389
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.8] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.8] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.8] Dist to collision point: 2.02335129793
+EventLog - INFO - [T:12.828] Bot X: 2.79546170006
+EventLog - INFO - [T:12.828] Bot Y: 5.01273287109
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.828] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.828] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.828] Dist to collision point: 2.02715019321
+EventLog - INFO - [T:12.855] Bot X: 2.80268873477
+EventLog - INFO - [T:12.855] Bot Y: 5.01281515615
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.855] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.855] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.855] Dist to collision point: 2.03084353217
+EventLog - INFO - [T:12.883] Bot X: 2.80992398145
+EventLog - INFO - [T:12.883] Bot Y: 5.01289739822
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.883] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.883] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.883] Dist to collision point: 2.03454895461
+EventLog - INFO - [T:12.919] Bot X: 2.81738834289
+EventLog - INFO - [T:12.919] Bot Y: 5.01298249949
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.919] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.919] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.919] Dist to collision point: 2.03838029516
+EventLog - INFO - [T:12.968] Bot X: 2.82464176402
+EventLog - INFO - [T:12.968] Bot Y: 5.01306532618
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:12.968] box_s_R_1 X: 1.0
+EventLog - INFO - [T:12.968] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:12.968] Dist to collision point: 2.04211156272
+EventLog - INFO - [T:13.005] Bot X: 2.83190362788
+EventLog - INFO - [T:13.005] Bot Y: 5.01314811983
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.005] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.005] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.005] Dist to collision point: 2.04585499603
+EventLog - INFO - [T:13.034] Bot X: 2.83939459177
+EventLog - INFO - [T:13.034] Bot Y: 5.01323353787
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.034] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.034] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.034] Dist to collision point: 2.04972481745
+EventLog - INFO - [T:13.062] Bot X: 2.84667452253
+EventLog - INFO - [T:13.062] Bot Y: 5.01331708351
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.062] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.062] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.062] Dist to collision point: 2.05349410622
+EventLog - INFO - [T:13.09] Bot X: 2.85396280871
+EventLog - INFO - [T:13.09] Bot Y: 5.01340082786
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.09] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.09] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.09] Dist to collision point: 2.05727567973
+EventLog - INFO - [T:13.125] Bot X: 2.86147872235
+EventLog - INFO - [T:13.125] Bot Y: 5.01348599064
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.125] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.125] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.125] Dist to collision point: 2.06118249311
+EventLog - INFO - [T:13.166] Bot X: 2.86877130737
+EventLog - INFO - [T:13.166] Bot Y: 5.01356729011
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.166] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.166] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.166] Dist to collision point: 2.06497994922
+EventLog - INFO - [T:13.195] Bot X: 2.87605368206
+EventLog - INFO - [T:13.195] Bot Y: 5.01364934932
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.195] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.195] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.195] Dist to collision point: 2.0687806046
+EventLog - INFO - [T:13.223] Bot X: 2.88353308432
+EventLog - INFO - [T:13.223] Bot Y: 5.01376563534
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.223] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.223] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.223] Dist to collision point: 2.07272054733
+EventLog - INFO - [T:13.25] Bot X: 2.8907326493
+EventLog - INFO - [T:13.25] Bot Y: 5.01387936258
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.25] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.25] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.25] Dist to collision point: 2.07652227054
+EventLog - INFO - [T:13.278] Bot X: 2.89796092478
+EventLog - INFO - [T:13.278] Bot Y: 5.01396844729
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.278] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.278] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.278] Dist to collision point: 2.08032432054
+EventLog - INFO - [T:13.318] Bot X: 2.90540604285
+EventLog - INFO - [T:13.318] Bot Y: 5.01405815382
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.318] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.318] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.318] Dist to collision point: 2.08424639757
+EventLog - INFO - [T:13.362] Bot X: 2.91264006149
+EventLog - INFO - [T:13.362] Bot Y: 5.0141450075
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.362] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.362] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.362] Dist to collision point: 2.08806452536
+EventLog - INFO - [T:13.41] Bot X: 2.91988356241
+EventLog - INFO - [T:13.41] Bot Y: 5.01423208356
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.41] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.41] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.41] Dist to collision point: 2.09189515289
+EventLog - INFO - [T:13.438] Bot X: 2.92735552531
+EventLog - INFO - [T:13.438] Bot Y: 5.01432217408
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.438] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.438] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.438] Dist to collision point: 2.09585455284
+EventLog - INFO - [T:13.465] Bot X: 2.93461627183
+EventLog - INFO - [T:13.465] Bot Y: 5.01440957143
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.465] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.465] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.465] Dist to collision point: 2.09970936497
+EventLog - INFO - [T:13.493] Bot X: 2.94188559295
+EventLog - INFO - [T:13.493] Bot Y: 5.01449702724
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.493] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.493] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.493] Dist to collision point: 2.10357602197
+EventLog - INFO - [T:13.52] Bot X: 2.94938476207
+EventLog - INFO - [T:13.52] Bot Y: 5.01458776102
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.52] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.52] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.52] Dist to collision point: 2.10757303919
+EventLog - INFO - [T:13.555] Bot X: 2.95667202034
+EventLog - INFO - [T:13.555] Bot Y: 5.01467616305
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.555] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.555] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.555] Dist to collision point: 2.1114647137
+EventLog - INFO - [T:13.598] Bot X: 2.96396615233
+EventLog - INFO - [T:13.598] Bot Y: 5.01476359209
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.598] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.598] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.598] Dist to collision point: 2.11536638792
+EventLog - INFO - [T:13.642] Bot X: 2.97148081827
+EventLog - INFO - [T:13.642] Bot Y: 5.01485245143
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.642] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.642] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.642] Dist to collision point: 2.11939251368
+EventLog - INFO - [T:13.67] Bot X: 2.97876458191
+EventLog - INFO - [T:13.67] Bot Y: 5.01493794907
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.67] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.67] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.67] Dist to collision point: 2.12330165437
+EventLog - INFO - [T:13.697] Bot X: 2.98603076754
+EventLog - INFO - [T:13.697] Bot Y: 5.01504695356
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.697] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.697] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.697] Dist to collision point: 2.12722942661
+EventLog - INFO - [T:13.724] Bot X: 2.99344985114
+EventLog - INFO - [T:13.724] Bot Y: 5.01517836494
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.724] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.724] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.724] Dist to collision point: 2.13126488611
+EventLog - INFO - [T:13.752] Bot X: 3.00067851615
+EventLog - INFO - [T:13.752] Bot Y: 5.01527079513
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.752] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.752] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.752] Dist to collision point: 2.13517233285
+EventLog - INFO - [T:13.79] Bot X: 3.00790371717
+EventLog - INFO - [T:13.79] Bot Y: 5.01536247939
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.79] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.79] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.79] Dist to collision point: 2.13908418945
+EventLog - INFO - [T:13.833] Bot X: 3.01535551501
+EventLog - INFO - [T:13.833] Bot Y: 5.01545664668
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.833] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.833] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.833] Dist to collision point: 2.14312557333
+EventLog - INFO - [T:13.862] Bot X: 3.02259771447
+EventLog - INFO - [T:13.862] Bot Y: 5.01554816757
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.862] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.862] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.862] Dist to collision point: 2.14952910321
+EventLog - INFO - [T:13.889] Bot X: 3.02984863405
+EventLog - INFO - [T:13.889] Bot Y: 5.01564021886
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.889] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.889] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.889] Dist to collision point: 2.15597389933
+EventLog - INFO - [T:13.916] Bot X: 3.03732805252
+EventLog - INFO - [T:13.916] Bot Y: 5.01573499618
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.916] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.916] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.916] Dist to collision point: 2.16261948661
+EventLog - INFO - [T:13.945] Bot X: 3.0445961464
+EventLog - INFO - [T:13.945] Bot Y: 5.01582701808
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.945] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.945] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.945] Dist to collision point: 2.16907519888
+EventLog - INFO - [T:13.986] Bot X: 3.05187336474
+EventLog - INFO - [T:13.986] Bot Y: 5.01591959977
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:13.986] box_s_R_1 X: 1.0
+EventLog - INFO - [T:13.986] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:13.986] Dist to collision point: 2.17553728894
+EventLog - INFO - [T:14.029] Bot X: 3.05938018393
+EventLog - INFO - [T:14.029] Bot Y: 5.01601546094
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.029] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.029] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.029] Dist to collision point: 2.18220147682
+EventLog - INFO - [T:14.073] Bot X: 3.06667350872
+EventLog - INFO - [T:14.073] Bot Y: 5.01610766554
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.073] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.073] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.073] Dist to collision point: 2.18867379989
+EventLog - INFO - [T:14.1] Bot X: 3.07396802854
+EventLog - INFO - [T:14.1] Bot Y: 5.0161987599
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.1] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.1] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.1] Dist to collision point: 2.19514484866
+EventLog - INFO - [T:14.128] Bot X: 3.08147407308
+EventLog - INFO - [T:14.128] Bot Y: 5.0162908912
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.128] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.128] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.128] Dist to collision point: 2.20180095776
+EventLog - INFO - [T:14.156] Bot X: 3.08874453319
+EventLog - INFO - [T:14.156] Bot Y: 5.01639870876
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.156] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.156] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.156] Dist to collision point: 2.20825636758
+EventLog - INFO - [T:14.185] Bot X: 3.09594998586
+EventLog - INFO - [T:14.185] Bot Y: 5.0165385816
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.185] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.185] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.185] Dist to collision point: 2.21466998745
+EventLog - INFO - [T:14.221] Bot X: 3.10339432433
+EventLog - INFO - [T:14.221] Bot Y: 5.01663770967
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.221] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.221] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.221] Dist to collision point: 2.22127077544
+EventLog - INFO - [T:14.265] Bot X: 3.11061857717
+EventLog - INFO - [T:14.265] Bot Y: 5.01673413201
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.265] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.265] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.265] Dist to collision point: 2.2276751541
+EventLog - INFO - [T:14.293] Bot X: 3.11784991965
+EventLog - INFO - [T:14.293] Bot Y: 5.01683008316
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.293] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.293] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.293] Dist to collision point: 2.23408422263
+EventLog - INFO - [T:14.32] Bot X: 3.12531015173
+EventLog - INFO - [T:14.32] Bot Y: 5.01692901911
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.32] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.32] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.32] Dist to collision point: 2.24069483407
+EventLog - INFO - [T:14.348] Bot X: 3.13255995752
+EventLog - INFO - [T:14.348] Bot Y: 5.01702568582
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.348] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.348] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.348] Dist to collision point: 2.24711806521
+EventLog - INFO - [T:14.377] Bot X: 3.13981814244
+EventLog - INFO - [T:14.377] Bot Y: 5.01712229635
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.377] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.377] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.377] Dist to collision point: 2.25354751573
+EventLog - INFO - [T:14.424] Bot X: 3.14730515901
+EventLog - INFO - [T:14.424] Bot Y: 5.01722184981
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.424] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.424] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.424] Dist to collision point: 2.26017850999
+EventLog - INFO - [T:14.464] Bot X: 3.15458116804
+EventLog - INFO - [T:14.464] Bot Y: 5.01731897877
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.464] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.464] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.464] Dist to collision point: 2.26662180719
+EventLog - INFO - [T:14.508] Bot X: 3.16186598842
+EventLog - INFO - [T:14.508] Bot Y: 5.01741666267
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.508] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.508] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.508] Dist to collision point: 2.27307219321
+EventLog - INFO - [T:14.536] Bot X: 3.16937934636
+EventLog - INFO - [T:14.536] Bot Y: 5.0175166339
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.536] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.536] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.536] Dist to collision point: 2.27972360336
+EventLog - INFO - [T:14.564] Bot X: 3.17667438619
+EventLog - INFO - [T:14.564] Bot Y: 5.01761249423
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.564] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.564] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.564] Dist to collision point: 2.28618026618
+EventLog - INFO - [T:14.592] Bot X: 3.1839611519
+EventLog - INFO - [T:14.592] Bot Y: 5.01770619066
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.592] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.592] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.592] Dist to collision point: 2.29262775746
+EventLog - INFO - [T:14.621] Bot X: 3.19145541026
+EventLog - INFO - [T:14.621] Bot Y: 5.0178170238
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.621] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.621] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.621] Dist to collision point: 2.29926566013
+EventLog - INFO - [T:14.657] Bot X: 3.19866949057
+EventLog - INFO - [T:14.657] Bot Y: 5.01796431702
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.657] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.657] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.657] Dist to collision point: 2.30567593783
+EventLog - INFO - [T:14.697] Bot X: 3.2058911575
+EventLog - INFO - [T:14.697] Bot Y: 5.01806507867
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.697] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.697] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.697] Dist to collision point: 2.31206794181
+EventLog - INFO - [T:14.741] Bot X: 3.21333313745
+EventLog - INFO - [T:14.741] Bot Y: 5.018169577
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.741] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.741] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.741] Dist to collision point: 2.31865471109
+EventLog - INFO - [T:14.768] Bot X: 3.22056330652
+EventLog - INFO - [T:14.768] Bot Y: 5.01827015835
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.768] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.768] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.768] Dist to collision point: 2.32505300162
+EventLog - INFO - [T:14.797] Bot X: 3.22780266865
+EventLog - INFO - [T:14.797] Bot Y: 5.01837074661
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.797] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.797] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.797] Dist to collision point: 2.3314589027
+EventLog - INFO - [T:14.824] Bot X: 3.2352708128
+EventLog - INFO - [T:14.824] Bot Y: 5.01847505922
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.824] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.824] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.824] Dist to collision point: 2.33806709553
+EventLog - INFO - [T:14.852] Bot X: 3.24252780914
+EventLog - INFO - [T:14.852] Bot Y: 5.0185762774
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.852] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.852] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.852] Dist to collision point: 2.34448800253
+EventLog - INFO - [T:14.888] Bot X: 3.2497932767
+EventLog - INFO - [T:14.888] Bot Y: 5.01867749807
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.888] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.888] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.888] Dist to collision point: 2.35091601921
+EventLog - INFO - [T:14.932] Bot X: 3.25728828704
+EventLog - INFO - [T:14.932] Bot Y: 5.01878221277
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.932] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.932] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.932] Dist to collision point: 2.35754698003
+EventLog - INFO - [T:14.98] Bot X: 3.26457192315
+EventLog - INFO - [T:14.98] Bot Y: 5.01888446901
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:14.98] box_s_R_1 X: 1.0
+EventLog - INFO - [T:14.98] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:14.98] Dist to collision point: 2.36399094944
+EventLog - INFO - [T:15.008] Bot X: 3.27186325415
+EventLog - INFO - [T:15.008] Bot Y: 5.01898628197
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.008] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.008] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.008] Dist to collision point: 2.37044124544
+EventLog - INFO - [T:15.037] Bot X: 3.27937961964
+EventLog - INFO - [T:15.037] Bot Y: 5.01908990268
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.037] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.037] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.037] Dist to collision point: 2.37708976827
+EventLog - INFO - [T:15.064] Bot X: 3.28666765792
+EventLog - INFO - [T:15.064] Bot Y: 5.01918822293
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.064] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.064] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.064] Dist to collision point: 2.38353510188
+EventLog - INFO - [T:15.091] Bot X: 3.29394417593
+EventLog - INFO - [T:15.091] Bot Y: 5.01929645527
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.091] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.091] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.091] Dist to collision point: 2.38997538259
+EventLog - INFO - [T:15.128] Bot X: 3.30138901023
+EventLog - INFO - [T:15.128] Bot Y: 5.01945248455
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.128] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.128] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.128] Dist to collision point: 2.39658798208
+EventLog - INFO - [T:15.173] Bot X: 3.3086054688
+EventLog - INFO - [T:15.173] Bot Y: 5.01955939155
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.173] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.173] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.173] Dist to collision point: 2.40297482834
+EventLog - INFO - [T:15.2] Bot X: 3.31582788183
+EventLog - INFO - [T:15.2] Bot Y: 5.01966577104
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.2] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.2] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.2] Dist to collision point: 2.40936666703
+EventLog - INFO - [T:15.228] Bot X: 3.32327592801
+EventLog - INFO - [T:15.228] Bot Y: 5.01977402512
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.228] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.228] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.228] Dist to collision point: 2.41595752566
+EventLog - INFO - [T:15.255] Bot X: 3.33051402475
+EventLog - INFO - [T:15.255] Bot Y: 5.01987913667
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.255] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.255] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.255] Dist to collision point: 2.42236266684
+EventLog - INFO - [T:15.283] Bot X: 3.33776125306
+EventLog - INFO - [T:15.283] Bot Y: 5.01998490868
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.283] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.283] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.283] Dist to collision point: 2.42877630986
+EventLog - INFO - [T:15.32] Bot X: 3.34523686536
+EventLog - INFO - [T:15.32] Bot Y: 5.02009390885
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.32] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.32] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.32] Dist to collision point: 2.43539220668
+EventLog - INFO - [T:15.364] Bot X: 3.35250120139
+EventLog - INFO - [T:15.364] Bot Y: 5.02019970957
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.364] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.364] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.364] Dist to collision point: 2.44182128573
+EventLog - INFO - [T:15.412] Bot X: 3.35977440274
+EventLog - INFO - [T:15.412] Bot Y: 5.020305835
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.412] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.412] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.412] Dist to collision point: 2.44825856386
+EventLog - INFO - [T:15.439] Bot X: 3.36727745226
+EventLog - INFO - [T:15.439] Bot Y: 5.02041585622
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.439] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.439] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.439] Dist to collision point: 2.45489985009
+EventLog - INFO - [T:15.468] Bot X: 3.37456782222
+EventLog - INFO - [T:15.468] Bot Y: 5.02052244171
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.468] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.468] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.468] Dist to collision point: 2.46135304516
+EventLog - INFO - [T:15.495] Bot X: 3.38186318522
+EventLog - INFO - [T:15.495] Bot Y: 5.02062772189
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.495] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.495] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.495] Dist to collision point: 2.46781030638
+EventLog - INFO - [T:15.523] Bot X: 3.38937350756
+EventLog - INFO - [T:15.523] Bot Y: 5.02073402288
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.523] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.523] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.523] Dist to collision point: 2.47445716978
+EventLog - INFO - [T:15.552] Bot X: 3.39665187154
+EventLog - INFO - [T:15.552] Bot Y: 5.02084382824
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.552] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.552] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.552] Dist to collision point: 2.48090262578
+EventLog - INFO - [T:15.6] Bot X: 3.40389029151
+EventLog - INFO - [T:15.6] Bot Y: 5.02099632991
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.6] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.6] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.6] Dist to collision point: 2.48733520958
+EventLog - INFO - [T:15.629] Bot X: 3.41131784516
+EventLog - INFO - [T:15.629] Bot Y: 5.02111741425
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.629] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.629] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.629] Dist to collision point: 2.49391828063
+EventLog - INFO - [T:15.656] Bot X: 3.41854099628
+EventLog - INFO - [T:15.656] Bot Y: 5.02122880575
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.656] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.656] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.656] Dist to collision point: 2.50031743719
+EventLog - INFO - [T:15.684] Bot X: 3.42576877406
+EventLog - INFO - [T:15.684] Bot Y: 5.02133842076
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.684] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.684] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.684] Dist to collision point: 2.50672026424
+EventLog - INFO - [T:15.711] Bot X: 3.43322466246
+EventLog - INFO - [T:15.711] Bot Y: 5.02145140482
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.711] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.711] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.711] Dist to collision point: 2.51332568519
+EventLog - INFO - [T:15.752] Bot X: 3.44047068337
+EventLog - INFO - [T:15.752] Bot Y: 5.02156165788
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.752] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.752] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.752] Dist to collision point: 2.51974598154
+EventLog - INFO - [T:15.8] Bot X: 3.44772510734
+EventLog - INFO - [T:15.8] Bot Y: 5.02167201908
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.8] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.8] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.8] Dist to collision point: 2.52617430737
+EventLog - INFO - [T:15.827] Bot X: 3.45520821029
+EventLog - INFO - [T:15.827] Bot Y: 5.0217857363
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.827] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.827] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.827] Dist to collision point: 2.53280585813
+EventLog - INFO - [T:15.855] Bot X: 3.46248012668
+EventLog - INFO - [T:15.855] Bot Y: 5.0218963629
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.855] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.855] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.855] Dist to collision point: 2.53925097118
+EventLog - INFO - [T:15.884] Bot X: 3.4697611583
+EventLog - INFO - [T:15.884] Bot Y: 5.0220076639
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.884] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.884] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.884] Dist to collision point: 2.54570510612
+EventLog - INFO - [T:15.912] Bot X: 3.47727128709
+EventLog - INFO - [T:15.912] Bot Y: 5.0221223473
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.912] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.912] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.912] Dist to collision point: 2.55236298865
+EventLog - INFO - [T:15.955] Bot X: 3.48456638966
+EventLog - INFO - [T:15.955] Bot Y: 5.02223235411
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:15.955] box_s_R_1 X: 1.0
+EventLog - INFO - [T:15.955] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:15.955] Dist to collision point: 2.55883027628
+EventLog - INFO - [T:16.003] Bot X: 3.4918571506
+EventLog - INFO - [T:16.003] Bot Y: 5.02234048922
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.003] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.003] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.003] Dist to collision point: 2.56529355056
+EventLog - INFO - [T:16.03] Bot X: 3.49935787001
+EventLog - INFO - [T:16.03] Bot Y: 5.02245559791
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.03] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.03] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.03] Dist to collision point: 2.57194569834
+EventLog - INFO - [T:16.058] Bot X: 3.50660644333
+EventLog - INFO - [T:16.058] Bot Y: 5.0226058507
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.058] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.058] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.058] Dist to collision point: 2.57839462967
+EventLog - INFO - [T:16.086] Bot X: 3.51380781807
+EventLog - INFO - [T:16.086] Bot Y: 5.02273616861
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.086] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.086] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.086] Dist to collision point: 2.58479280161
+EventLog - INFO - [T:16.113] Bot X: 3.52125246675
+EventLog - INFO - [T:16.113] Bot Y: 5.02285478049
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.113] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.113] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.113] Dist to collision point: 2.59139986171
+EventLog - INFO - [T:16.151] Bot X: 3.52847934278
+EventLog - INFO - [T:16.151] Bot Y: 5.02296889249
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.151] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.151] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.151] Dist to collision point: 2.5978139764
+EventLog - INFO - [T:16.196] Bot X: 3.53571451998
+EventLog - INFO - [T:16.196] Bot Y: 5.023083061
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.196] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.196] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.196] Dist to collision point: 2.60423627287
+EventLog - INFO - [T:16.243] Bot X: 3.54317877997
+EventLog - INFO - [T:16.243] Bot Y: 5.02320117702
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.243] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.243] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.243] Dist to collision point: 2.6108629936
+EventLog - INFO - [T:16.27] Bot X: 3.55043207789
+EventLog - INFO - [T:16.27] Bot Y: 5.0233160549
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.27] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.27] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.27] Dist to collision point: 2.6173033803
+EventLog - INFO - [T:16.298] Bot X: 3.55769382766
+EventLog - INFO - [T:16.298] Bot Y: 5.02343094758
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.298] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.298] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.298] Dist to collision point: 2.62375212556
+EventLog - INFO - [T:16.326] Bot X: 3.56518471401
+EventLog - INFO - [T:16.326] Bot Y: 5.02354951358
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.326] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.326] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.326] Dist to collision point: 2.6304053543
+EventLog - INFO - [T:16.353] Bot X: 3.57246456882
+EventLog - INFO - [T:16.353] Bot Y: 5.02366527781
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.353] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.353] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.353] Dist to collision point: 2.63687238586
+EventLog - INFO - [T:16.391] Bot X: 3.57975271264
+EventLog - INFO - [T:16.391] Bot Y: 5.0237812218
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.391] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.391] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.391] Dist to collision point: 2.64334777705
+EventLog - INFO - [T:16.435] Bot X: 3.58726831729
+EventLog - INFO - [T:16.435] Bot Y: 5.02389944367
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.435] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.435] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.435] Dist to collision point: 2.65002563331
+EventLog - INFO - [T:16.462] Bot X: 3.59456017833
+EventLog - INFO - [T:16.462] Bot Y: 5.02401248808
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.462] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.462] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.462] Dist to collision point: 2.6565048868
+EventLog - INFO - [T:16.489] Bot X: 3.60184189447
+EventLog - INFO - [T:16.489] Bot Y: 5.02412663894
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.489] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.489] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.489] Dist to collision point: 2.66297677681
+EventLog - INFO - [T:16.516] Bot X: 3.60931940887
+EventLog - INFO - [T:16.516] Bot Y: 5.02427708076
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.516] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.516] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.516] Dist to collision point: 2.66964023083
+EventLog - INFO - [T:16.547] Bot X: 3.61651619944
+EventLog - INFO - [T:16.547] Bot Y: 5.02442121736
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.547] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.547] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.547] Dist to collision point: 2.67605421261
+EventLog - INFO - [T:16.595] Bot X: 3.62374381453
+EventLog - INFO - [T:16.595] Bot Y: 5.02454072305
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.595] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.595] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.595] Dist to collision point: 2.68248419847
+EventLog - INFO - [T:16.635] Bot X: 3.63118869496
+EventLog - INFO - [T:16.635] Bot Y: 5.02466282231
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.635] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.635] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.635] Dist to collision point: 2.68910808693
+EventLog - INFO - [T:16.663] Bot X: 3.63842254401
+EventLog - INFO - [T:16.663] Bot Y: 5.02478152051
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.663] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.663] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.663] Dist to collision point: 2.69554533716
+EventLog - INFO - [T:16.69] Bot X: 3.64566586515
+EventLog - INFO - [T:16.69] Bot Y: 5.02490054755
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.69] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.69] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.69] Dist to collision point: 2.70199219368
+EventLog - INFO - [T:16.718] Bot X: 3.6531376189
+EventLog - INFO - [T:16.718] Bot Y: 5.02502358409
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.718] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.718] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.718] Dist to collision point: 2.7086436491
+EventLog - INFO - [T:16.746] Bot X: 3.66039816836
+EventLog - INFO - [T:16.746] Bot Y: 5.02514300853
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.746] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.746] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.746] Dist to collision point: 2.71510816158
+EventLog - INFO - [T:16.79] Bot X: 3.6676673279
+EventLog - INFO - [T:16.79] Bot Y: 5.02526256132
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.79] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.79] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.79] Dist to collision point: 2.72158147213
+EventLog - INFO - [T:16.834] Bot X: 3.675166352
+EventLog - INFO - [T:16.834] Bot Y: 5.02538642952
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.834] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.834] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.834] Dist to collision point: 2.72826095036
+EventLog - INFO - [T:16.862] Bot X: 3.68245341951
+EventLog - INFO - [T:16.862] Bot Y: 5.02550698067
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.862] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.862] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.862] Dist to collision point: 2.73475291231
+EventLog - INFO - [T:16.889] Bot X: 3.68974725013
+EventLog - INFO - [T:16.889] Bot Y: 5.02562647181
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.889] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.889] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.889] Dist to collision point: 2.74125150784
+EventLog - INFO - [T:16.917] Bot X: 3.69726118362
+EventLog - INFO - [T:16.917] Bot Y: 5.02574801246
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.917] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.917] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.917] Dist to collision point: 2.74794669781
+EventLog - INFO - [T:16.945] Bot X: 3.70454424709
+EventLog - INFO - [T:16.945] Bot Y: 5.02586544227
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.945] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.945] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.945] Dist to collision point: 2.75443721441
+EventLog - INFO - [T:16.99] Bot X: 3.71180920378
+EventLog - INFO - [T:16.99] Bot Y: 5.02600728128
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:16.99] box_s_R_1 X: 1.0
+EventLog - INFO - [T:16.99] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:16.99] Dist to collision point: 2.76092486469
+EventLog - INFO - [T:17.034] Bot X: 3.71922553788
+EventLog - INFO - [T:17.034] Bot Y: 5.02616843655
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.034] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.034] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.034] Dist to collision point: 2.76755690674
+EventLog - INFO - [T:17.062] Bot X: 3.72645376311
+EventLog - INFO - [T:17.062] Bot Y: 5.02629274372
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.062] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.062] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.062] Dist to collision point: 2.77400596689
+EventLog - INFO - [T:17.091] Bot X: 3.73367869411
+EventLog - INFO - [T:17.091] Bot Y: 5.02641638961
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.091] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.091] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.091] Dist to collision point: 2.78045301359
+EventLog - INFO - [T:17.118] Bot X: 3.74113035549
+EventLog - INFO - [T:17.118] Bot Y: 5.02654338798
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.118] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.118] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.118] Dist to collision point: 2.78710341127
+EventLog - INFO - [T:17.146] Bot X: 3.74837245435
+EventLog - INFO - [T:17.146] Bot Y: 5.02666686415
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.146] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.146] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.146] Dist to collision point: 2.79356806807
+EventLog - INFO - [T:17.186] Bot X: 3.75562320711
+EventLog - INFO - [T:17.186] Bot Y: 5.02679084734
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.186] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.186] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.186] Dist to collision point: 2.80004188127
+EventLog - INFO - [T:17.23] Bot X: 3.76310246605
+EventLog - INFO - [T:17.23] Bot Y: 5.02691857899
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.23] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.23] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.23] Dist to collision point: 2.80672096561
+EventLog - INFO - [T:17.274] Bot X: 3.7703704253
+EventLog - INFO - [T:17.274] Bot Y: 5.02704264139
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.274] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.274] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.274] Dist to collision point: 2.81321262711
+EventLog - INFO - [T:17.301] Bot X: 3.77764752702
+EventLog - INFO - [T:17.301] Bot Y: 5.02716732494
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.301] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.301] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.301] Dist to collision point: 2.81971397195
+EventLog - INFO - [T:17.329] Bot X: 3.78515417352
+EventLog - INFO - [T:17.329] Bot Y: 5.0272962502
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.329] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.329] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.329] Dist to collision point: 2.82642190408
+EventLog - INFO - [T:17.356] Bot X: 3.79244722765
+EventLog - INFO - [T:17.356] Bot Y: 5.0274204641
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.356] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.356] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.356] Dist to collision point: 2.83293980128
+EventLog - INFO - [T:17.385] Bot X: 3.79974108137
+EventLog - INFO - [T:17.385] Bot Y: 5.02754329023
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.385] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.385] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.385] Dist to collision point: 2.83945906199
+EventLog - INFO - [T:17.421] Bot X: 3.80724634071
+EventLog - INFO - [T:17.421] Bot Y: 5.02766815004
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.421] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.421] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.421] Dist to collision point: 2.84616793476
+EventLog - INFO - [T:17.466] Bot X: 3.81451588768
+EventLog - INFO - [T:17.466] Bot Y: 5.02780858148
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.466] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.466] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.466] Dist to collision point: 2.85267683235
+EventLog - INFO - [T:17.493] Bot X: 3.82171778127
+EventLog - INFO - [T:17.493] Bot Y: 5.02797694646
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.493] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.493] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.493] Dist to collision point: 2.85914049822
+EventLog - INFO - [T:17.521] Bot X: 3.82916266676
+EventLog - INFO - [T:17.521] Bot Y: 5.02810851274
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.521] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.521] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.521] Dist to collision point: 2.86580320967
+EventLog - INFO - [T:17.549] Bot X: 3.83638670778
+EventLog - INFO - [T:17.549] Bot Y: 5.02823577391
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.549] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.549] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.549] Dist to collision point: 2.87226943606
+EventLog - INFO - [T:17.578] Bot X: 3.84361780636
+EventLog - INFO - [T:17.578] Bot Y: 5.02836350658
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.578] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.578] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.578] Dist to collision point: 2.87874348416
+EventLog - INFO - [T:17.621] Bot X: 3.85107784105
+EventLog - INFO - [T:17.621] Bot Y: 5.0284952129
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.621] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.621] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.621] Dist to collision point: 2.885423876
+EventLog - INFO - [T:17.665] Bot X: 3.85832741252
+EventLog - INFO - [T:17.665] Bot Y: 5.02862368023
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.665] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.665] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.665] Dist to collision point: 2.8919174053
+EventLog - INFO - [T:17.709] Bot X: 3.86558536104
+EventLog - INFO - [T:17.709] Bot Y: 5.02875213306
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.709] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.709] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.709] Dist to collision point: 2.89841972605
+EventLog - INFO - [T:17.737] Bot X: 3.87307214687
+EventLog - INFO - [T:17.737] Bot Y: 5.0288845455
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.737] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.737] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.737] Dist to collision point: 2.90512845475
+EventLog - INFO - [T:17.765] Bot X: 3.88034796336
+EventLog - INFO - [T:17.765] Bot Y: 5.02901363618
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.765] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.765] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.765] Dist to collision point: 2.91164973879
+EventLog - INFO - [T:17.794] Bot X: 3.88763255414
+EventLog - INFO - [T:17.794] Bot Y: 5.02914328065
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.794] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.794] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.794] Dist to collision point: 2.91818046889
+EventLog - INFO - [T:17.821] Bot X: 3.8951456028
+EventLog - INFO - [T:17.821] Bot Y: 5.02927609561
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.821] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.821] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.821] Dist to collision point: 2.92491705384
+EventLog - INFO - [T:17.849] Bot X: 3.90244000354
+EventLog - INFO - [T:17.849] Bot Y: 5.0294036051
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.849] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.849] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.849] Dist to collision point: 2.93145833374
+EventLog - INFO - [T:17.893] Bot X: 3.90972596794
+EventLog - INFO - [T:17.893] Bot Y: 5.02952884659
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.893] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.893] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.893] Dist to collision point: 2.93799245561
+EventLog - INFO - [T:17.937] Bot X: 3.91721947341
+EventLog - INFO - [T:17.937] Bot Y: 5.02967301964
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.937] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.937] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.937] Dist to collision point: 2.94472145231
+EventLog - INFO - [T:17.964] Bot X: 3.92442953327
+EventLog - INFO - [T:17.964] Bot Y: 5.02984958051
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.964] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.964] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.964] Dist to collision point: 2.95121521408
+EventLog - INFO - [T:17.993] Bot X: 3.93165114305
+EventLog - INFO - [T:17.993] Bot Y: 5.02998241001
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:17.993] box_s_R_1 X: 1.0
+EventLog - INFO - [T:17.993] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:17.993] Dist to collision point: 2.95769994083
+EventLog - INFO - [T:18.021] Bot X: 3.93909287376
+EventLog - INFO - [T:18.021] Bot Y: 5.03011814509
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.021] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.021] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.021] Dist to collision point: 2.96438324994
+EventLog - INFO - [T:18.048] Bot X: 3.94632282901
+EventLog - INFO - [T:18.048] Bot Y: 5.03025033598
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.048] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.048] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.048] Dist to collision point: 2.97087794261
+EventLog - INFO - [T:18.085] Bot X: 3.95356204377
+EventLog - INFO - [T:18.085] Bot Y: 5.03038257368
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.085] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.085] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.085] Dist to collision point: 2.97738230701
+EventLog - INFO - [T:18.129] Bot X: 3.96102998988
+EventLog - INFO - [T:18.129] Bot Y: 5.03051954395
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.129] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.129] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.129] Dist to collision point: 2.98409392903
+EventLog - INFO - [T:18.173] Bot X: 3.96828679477
+EventLog - INFO - [T:18.173] Bot Y: 5.03065249521
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.173] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.173] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.173] Dist to collision point: 2.99061717157
+EventLog - INFO - [T:18.201] Bot X: 3.97555208054
+EventLog - INFO - [T:18.201] Bot Y: 5.0307854966
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.201] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.201] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.201] Dist to collision point: 2.99714942064
+EventLog - INFO - [T:18.229] Bot X: 3.98304695269
+EventLog - INFO - [T:18.229] Bot Y: 5.0309230421
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.229] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.229] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.229] Dist to collision point: 3.00388975702
+EventLog - INFO - [T:18.257] Bot X: 3.99033041541
+EventLog - INFO - [T:18.257] Bot Y: 5.03105717452
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.257] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.257] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.257] Dist to collision point: 3.0104416533
+EventLog - INFO - [T:18.284] Bot X: 3.99762148143
+EventLog - INFO - [T:18.284] Bot Y: 5.03119080752
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.284] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.284] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.284] Dist to collision point: 3.01700154179
+EventLog - INFO - [T:18.325] Bot X: 4.00513725339
+EventLog - INFO - [T:18.325] Bot Y: 5.03132701405
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.325] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.325] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.325] Dist to collision point: 3.02376440437
+EventLog - INFO - [T:18.369] Bot X: 4.01242447937
+EventLog - INFO - [T:18.369] Bot Y: 5.03145674133
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.369] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.369] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.369] Dist to collision point: 3.0303220077
+EventLog - INFO - [T:18.397] Bot X: 4.01970032366
+EventLog - INFO - [T:18.397] Bot Y: 5.03159710695
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.397] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.397] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.397] Dist to collision point: 3.03687587879
+EventLog - INFO - [T:18.424] Bot X: 4.02714108611
+EventLog - INFO - [T:18.424] Bot Y: 5.03178402259
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.424] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.424] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.424] Dist to collision point: 3.0435999803
+EventLog - INFO - [T:18.452] Bot X: 4.03435734994
+EventLog - INFO - [T:18.452] Bot Y: 5.0319225685
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.452] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.452] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.452] Dist to collision point: 3.05010275481
+EventLog - INFO - [T:18.479] Bot X: 4.04157941114
+EventLog - INFO - [T:18.479] Bot Y: 5.03205900064
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.479] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.479] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.479] Dist to collision point: 3.0566111543
+EventLog - INFO - [T:18.516] Bot X: 4.04902714588
+EventLog - INFO - [T:18.516] Bot Y: 5.03219976669
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.516] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.516] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.516] Dist to collision point: 3.06332446656
+EventLog - INFO - [T:18.565] Bot X: 4.05626500544
+EventLog - INFO - [T:18.565] Bot Y: 5.03233642318
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.565] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.565] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.565] Dist to collision point: 3.06985000123
+EventLog - INFO - [T:18.608] Bot X: 4.06351196677
+EventLog - INFO - [T:18.608] Bot Y: 5.03247379421
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.608] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.608] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.608] Dist to collision point: 3.07638544466
+EventLog - INFO - [T:18.637] Bot X: 4.07098729855
+EventLog - INFO - [T:18.637] Bot Y: 5.03261538638
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.637] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.637] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.637] Dist to collision point: 3.08312831026
+EventLog - INFO - [T:18.665] Bot X: 4.07825136455
+EventLog - INFO - [T:18.665] Bot Y: 5.03275286481
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.665] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.665] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.665] Dist to collision point: 3.08968204286
+EventLog - INFO - [T:18.693] Bot X: 4.08552435177
+EventLog - INFO - [T:18.693] Bot Y: 5.03289075607
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.693] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.693] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.693] Dist to collision point: 3.09624540369
+EventLog - INFO - [T:18.721] Bot X: 4.09302715469
+EventLog - INFO - [T:18.721] Bot Y: 5.03303352495
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.721] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.721] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.721] Dist to collision point: 3.10301793613
+EventLog - INFO - [T:18.752] Bot X: 4.10031721831
+EventLog - INFO - [T:18.752] Bot Y: 5.03317184211
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.752] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.752] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.752] Dist to collision point: 3.10959974854
+EventLog - INFO - [T:18.8] Bot X: 4.10761203503
+EventLog - INFO - [T:18.8] Bot Y: 5.03330869211
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.8] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.8] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.8] Dist to collision point: 3.11618661675
+EventLog - INFO - [T:18.827] Bot X: 4.11512149867
+EventLog - INFO - [T:18.827] Bot Y: 5.03344723902
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.827] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.827] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.827] Dist to collision point: 3.12296778102
+EventLog - INFO - [T:18.855] Bot X: 4.12239918348
+EventLog - INFO - [T:18.855] Bot Y: 5.03358901624
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.855] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.855] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.855] Dist to collision point: 3.12954458931
+EventLog - INFO - [T:18.883] Bot X: 4.12963393754
+EventLog - INFO - [T:18.883] Bot Y: 5.03377261693
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.883] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.883] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.883] Dist to collision point: 3.13610359242
+EventLog - INFO - [T:18.91] Bot X: 4.13706125982
+EventLog - INFO - [T:18.91] Bot Y: 5.03392496422
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.91] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.91] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.91] Dist to collision point: 3.14282211897
+EventLog - INFO - [T:18.952] Bot X: 4.14428375162
+EventLog - INFO - [T:18.952] Bot Y: 5.03406613081
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.952] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.952] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.952] Dist to collision point: 3.14935363912
+EventLog - INFO - [T:18.996] Bot X: 4.15151127651
+EventLog - INFO - [T:18.996] Bot Y: 5.03420717799
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:18.996] box_s_R_1 X: 1.0
+EventLog - INFO - [T:18.996] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:18.996] Dist to collision point: 3.15589106544
+EventLog - INFO - [T:19.04] Bot X: 4.15896698379
+EventLog - INFO - [T:19.04] Bot Y: 5.03435254794
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.04] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.04] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.04] Dist to collision point: 3.16263635239
+EventLog - INFO - [T:19.067] Bot X: 4.16621278777
+EventLog - INFO - [T:19.067] Bot Y: 5.03449430978
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.067] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.067] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.067] Dist to collision point: 3.16919344185
+EventLog - INFO - [T:19.094] Bot X: 4.17346698174
+EventLog - INFO - [T:19.094] Bot Y: 5.03463619299
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.094] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.094] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.094] Dist to collision point: 3.17575957015
+EventLog - INFO - [T:19.122] Bot X: 4.18094985286
+EventLog - INFO - [T:19.122] Bot Y: 5.03478243281
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.122] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.122] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.122] Dist to collision point: 3.18253416982
+EventLog - INFO - [T:19.15] Bot X: 4.18822158775
+EventLog - INFO - [T:19.15] Bot Y: 5.03492470342
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.15] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.15] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.15] Dist to collision point: 3.18911918499
+EventLog - INFO - [T:19.184] Bot X: 4.19550241802
+EventLog - INFO - [T:19.184] Bot Y: 5.03506767581
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.184] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.184] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.184] Dist to collision point: 3.19571415125
+EventLog - INFO - [T:19.227] Bot X: 4.20301226092
+EventLog - INFO - [T:19.227] Bot Y: 5.03521495246
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.227] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.227] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.227] Dist to collision point: 3.20251801782
+EventLog - INFO - [T:19.271] Bot X: 4.21030687862
+EventLog - INFO - [T:19.271] Bot Y: 5.03535644515
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.271] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.271] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.271] Dist to collision point: 3.20912769069
+EventLog - INFO - [T:19.299] Bot X: 4.21759679317
+EventLog - INFO - [T:19.299] Bot Y: 5.03549576238
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.299] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.299] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.299] Dist to collision point: 3.21573364467
+EventLog - INFO - [T:19.326] Bot X: 4.225096768
+EventLog - INFO - [T:19.326] Bot Y: 5.03564356718
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.326] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.326] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.326] Dist to collision point: 3.22253351801
+EventLog - INFO - [T:19.353] Bot X: 4.23234239087
+EventLog - INFO - [T:19.353] Bot Y: 5.03582553989
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.353] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.353] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.353] Dist to collision point: 3.22912192135
+EventLog - INFO - [T:19.382] Bot X: 4.23954287388
+EventLog - INFO - [T:19.382] Bot Y: 5.03598559548
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.382] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.382] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.382] Dist to collision point: 3.23566133596
+EventLog - INFO - [T:19.423] Bot X: 4.24698652804
+EventLog - INFO - [T:19.423] Bot Y: 5.03613588936
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.423] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.423] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.423] Dist to collision point: 3.24241627789
+EventLog - INFO - [T:19.467] Bot X: 4.25421304238
+EventLog - INFO - [T:19.467] Bot Y: 5.03628134546
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.467] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.467] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.467] Dist to collision point: 3.24897543912
+EventLog - INFO - [T:19.495] Bot X: 4.26144794133
+EventLog - INFO - [T:19.495] Bot Y: 5.03642692032
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.495] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.495] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.495] Dist to collision point: 3.25554364118
+EventLog - INFO - [T:19.523] Bot X: 4.26891190655
+EventLog - INFO - [T:19.523] Bot Y: 5.03657744934
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.523] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.523] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.523] Dist to collision point: 3.26232147864
+EventLog - INFO - [T:19.55] Bot X: 4.27616489336
+EventLog - INFO - [T:19.55] Bot Y: 5.03672380312
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.55] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.55] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.55] Dist to collision point: 3.26890924849
+EventLog - INFO - [T:19.579] Bot X: 4.28342633435
+EventLog - INFO - [T:19.579] Bot Y: 5.03687021512
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.579] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.579] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.579] Dist to collision point: 3.27550610839
+EventLog - INFO - [T:19.619] Bot X: 4.29091694185
+EventLog - INFO - [T:19.619] Bot Y: 5.03702133027
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.619] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.619] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.619] Dist to collision point: 3.28231272948
+EventLog - INFO - [T:19.663] Bot X: 4.29819652307
+EventLog - INFO - [T:19.663] Bot Y: 5.03716872489
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.663] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.663] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.663] Dist to collision point: 3.28892932236
+EventLog - INFO - [T:19.711] Bot X: 4.30548433779
+EventLog - INFO - [T:19.711] Bot Y: 5.03731626925
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.711] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.711] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.711] Dist to collision point: 3.29555486056
+EventLog - INFO - [T:19.739] Bot X: 4.31299945926
+EventLog - INFO - [T:19.739] Bot Y: 5.03746691628
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.739] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.739] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.739] Dist to collision point: 3.30238792092
+EventLog - INFO - [T:19.768] Bot X: 4.32029046197
+EventLog - INFO - [T:19.768] Bot Y: 5.03761111181
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.768] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.768] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.768] Dist to collision point: 3.30901782652
+EventLog - INFO - [T:19.796] Bot X: 4.32757140755
+EventLog - INFO - [T:19.796] Bot Y: 5.03775681501
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.796] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.796] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.796] Dist to collision point: 3.31564081315
+EventLog - INFO - [T:19.824] Bot X: 4.33504667459
+EventLog - INFO - [T:19.824] Bot Y: 5.03794016381
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.824] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.824] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.824] Dist to collision point: 3.32245704787
+EventLog - INFO - [T:19.859] Bot X: 4.34224323534
+EventLog - INFO - [T:19.859] Bot Y: 5.0381119696
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.859] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.859] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.859] Dist to collision point: 3.32901848813
+EventLog - INFO - [T:19.907] Bot X: 4.34947001552
+EventLog - INFO - [T:19.907] Bot Y: 5.03826237088
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.907] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.907] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.907] Dist to collision point: 3.33559910577
+EventLog - INFO - [T:19.935] Bot X: 4.3569145352
+EventLog - INFO - [T:19.935] Bot Y: 5.03841668996
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.935] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.935] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.935] Dist to collision point: 3.34237922279
+EventLog - INFO - [T:19.962] Bot X: 4.36414815389
+EventLog - INFO - [T:19.962] Bot Y: 5.03856670152
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.962] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.962] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.962] Dist to collision point: 3.34896874659
+EventLog - INFO - [T:19.991] Bot X: 4.37139126017
+EventLog - INFO - [T:19.991] Bot Y: 5.0387171047
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:19.991] box_s_R_1 X: 1.0
+EventLog - INFO - [T:19.991] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:19.991] Dist to collision point: 3.35556843668
+EventLog - INFO - [T:20.019] Bot X: 4.37886272968
+EventLog - INFO - [T:20.019] Bot Y: 5.03887244552
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.019] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.019] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.019] Dist to collision point: 3.36237779594
+EventLog - INFO - [T:20.051] Bot X: 4.3861230159
+EventLog - INFO - [T:20.051] Bot Y: 5.03902327448
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.051] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.051] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.051] Dist to collision point: 3.3689960966
+EventLog - INFO - [T:20.095] Bot X: 4.39339193842
+EventLog - INFO - [T:20.095] Bot Y: 5.03917429189
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.095] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.095] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.095] Dist to collision point: 3.37562371732
+EventLog - INFO - [T:20.143] Bot X: 4.40089071828
+EventLog - INFO - [T:20.143] Bot Y: 5.03933062463
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.143] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.143] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.143] Dist to collision point: 3.38246266495
+EventLog - INFO - [T:20.171] Bot X: 4.40817748842
+EventLog - INFO - [T:20.171] Bot Y: 5.03948266292
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.171] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.171] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.171] Dist to collision point: 3.38910978185
+EventLog - INFO - [T:20.2] Bot X: 4.41547090624
+EventLog - INFO - [T:20.2] Bot Y: 5.03963354024
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.2] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.2] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.2] Dist to collision point: 3.3957638421
+EventLog - INFO - [T:20.227] Bot X: 4.42298397138
+EventLog - INFO - [T:20.227] Bot Y: 5.03978708633
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.227] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.227] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.227] Dist to collision point: 3.4026189897
+EventLog - INFO - [T:20.255] Bot X: 4.43026621629
+EventLog - INFO - [T:20.255] Bot Y: 5.0399358352
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.255] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.255] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.255] Dist to collision point: 3.40926496202
+EventLog - INFO - [T:20.287] Bot X: 4.43752961967
+EventLog - INFO - [T:20.287] Bot Y: 5.04010992114
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.287] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.287] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.287] Dist to collision point: 3.41590639399
+EventLog - INFO - [T:20.33] Bot X: 4.4449427853
+EventLog - INFO - [T:20.33] Bot Y: 5.04030168942
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.33] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.33] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.33] Dist to collision point: 3.42269235456
+EventLog - INFO - [T:20.378] Bot X: 4.45217030331
+EventLog - INFO - [T:20.378] Bot Y: 5.04045610111
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.378] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.378] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.378] Dist to collision point: 3.42929560525
+EventLog - INFO - [T:20.408] Bot X: 4.45939487458
+EventLog - INFO - [T:20.408] Bot Y: 5.04061021389
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.408] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.408] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.408] Dist to collision point: 3.43589746909
+EventLog - INFO - [T:20.435] Bot X: 4.46684619316
+EventLog - INFO - [T:20.435] Bot Y: 5.04076937467
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.435] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.435] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.435] Dist to collision point: 3.44270810079
+EventLog - INFO - [T:20.463] Bot X: 4.474087985
+EventLog - INFO - [T:20.463] Bot Y: 5.04092411818
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.463] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.463] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.463] Dist to collision point: 3.44932867781
+EventLog - INFO - [T:20.49] Bot X: 4.48133838697
+EventLog - INFO - [T:20.49] Bot Y: 5.04107936804
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.49] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.49] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.49] Dist to collision point: 3.45595867721
+EventLog - INFO - [T:20.522] Bot X: 4.48881729109
+EventLog - INFO - [T:20.522] Bot Y: 5.04123936599
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.522] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.522] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.522] Dist to collision point: 3.46279904078
+EventLog - INFO - [T:20.566] Bot X: 4.49608493057
+EventLog - INFO - [T:20.566] Bot Y: 5.04139480549
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.566] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.566] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.566] Dist to collision point: 3.46944759566
+EventLog - INFO - [T:20.595] Bot X: 4.50336173298
+EventLog - INFO - [T:20.595] Bot Y: 5.04155092682
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.595] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.595] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.595] Dist to collision point: 3.47610615794
+EventLog - INFO - [T:20.623] Bot X: 4.51086802479
+EventLog - INFO - [T:20.623] Bot Y: 5.04171223066
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.623] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.623] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.623] Dist to collision point: 3.48297630492
+EventLog - INFO - [T:20.651] Bot X: 4.51816064604
+EventLog - INFO - [T:20.651] Bot Y: 5.04186778236
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.651] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.651] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.651] Dist to collision point: 3.48965182796
+EventLog - INFO - [T:20.679] Bot X: 4.52545367849
+EventLog - INFO - [T:20.679] Bot Y: 5.04202165751
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.679] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.679] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.679] Dist to collision point: 3.49632841902
+EventLog - INFO - [T:20.718] Bot X: 4.53295805949
+EventLog - INFO - [T:20.718] Bot Y: 5.04217860114
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.718] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.718] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.718] Dist to collision point: 3.50319937517
+EventLog - INFO - [T:20.776] Bot X: 4.54022643135
+EventLog - INFO - [T:20.776] Bot Y: 5.04235101548
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.776] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.776] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.776] Dist to collision point: 3.50986442853
+EventLog - INFO - [T:20.821] Bot X: 4.54742489432
+EventLog - INFO - [T:20.821] Bot Y: 5.04254770578
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.821] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.821] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.821] Dist to collision point: 3.51647785606
+EventLog - INFO - [T:20.849] Bot X: 4.55486942552
+EventLog - INFO - [T:20.849] Bot Y: 5.04271154157
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.849] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.849] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.849] Dist to collision point: 3.52330180659
+EventLog - INFO - [T:20.878] Bot X: 4.56209308378
+EventLog - INFO - [T:20.878] Bot Y: 5.04286992761
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.878] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.878] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.878] Dist to collision point: 3.52992443951
+EventLog - INFO - [T:20.905] Bot X: 4.569323895
+EventLog - INFO - [T:20.905] Bot Y: 5.04302880047
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.905] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.905] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.905] Dist to collision point: 3.53655514563
+EventLog - INFO - [T:20.933] Bot X: 4.57678367252
+EventLog - INFO - [T:20.933] Bot Y: 5.04319267616
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.933] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.933] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.933] Dist to collision point: 3.54339724197
+EventLog - INFO - [T:20.964] Bot X: 4.58403293706
+EventLog - INFO - [T:20.964] Bot Y: 5.04335236551
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:20.964] box_s_R_1 X: 1.0
+EventLog - INFO - [T:20.964] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:20.964] Dist to collision point: 3.55004784009
+EventLog - INFO - [T:21.012] Bot X: 4.5912905858
+EventLog - INFO - [T:21.012] Bot Y: 5.04351208578
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.012] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.012] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.012] Dist to collision point: 3.55670744139
+EventLog - INFO - [T:21.04] Bot X: 4.59877708068
+EventLog - INFO - [T:21.04] Bot Y: 5.04367676751
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.04] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.04] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.04] Dist to collision point: 3.56357844068
+EventLog - INFO - [T:21.067] Bot X: 4.60605264027
+EventLog - INFO - [T:21.067] Bot Y: 5.04383724558
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.067] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.067] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.067] Dist to collision point: 3.57025743169
+EventLog - INFO - [T:21.095] Bot X: 4.61333692789
+EventLog - INFO - [T:21.095] Bot Y: 5.04399827373
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.095] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.095] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.095] Dist to collision point: 3.57694596619
+EventLog - INFO - [T:21.122] Bot X: 4.62084956277
+EventLog - INFO - [T:21.122] Bot Y: 5.0441633454
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.122] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.122] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.122] Dist to collision point: 3.58384518964
+EventLog - INFO - [T:21.156] Bot X: 4.62814319114
+EventLog - INFO - [T:21.156] Bot Y: 5.04432191721
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.156] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.156] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.156] Dist to collision point: 3.59054397439
+EventLog - INFO - [T:21.204] Bot X: 4.63542825934
+EventLog - INFO - [T:21.204] Bot Y: 5.04447815965
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.204] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.204] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.204] Dist to collision point: 3.59723536712
+EventLog - INFO - [T:21.231] Bot X: 4.64292079033
+EventLog - INFO - [T:21.231] Bot Y: 5.04465519489
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.231] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.231] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.231] Dist to collision point: 3.6041256514
+EventLog - INFO - [T:21.259] Bot X: 4.6501268191
+EventLog - INFO - [T:21.259] Bot Y: 5.04486013304
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.259] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.259] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.259] Dist to collision point: 3.61076844111
+EventLog - INFO - [T:21.286] Bot X: 4.65734923432
+EventLog - INFO - [T:21.286] Bot Y: 5.0450238213
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.286] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.286] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.286] Dist to collision point: 3.61741005741
+EventLog - INFO - [T:21.314] Bot X: 4.66479054184
+EventLog - INFO - [T:21.314] Bot Y: 5.04519150802
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.314] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.314] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.314] Dist to collision point: 3.62425395514
+EventLog - INFO - [T:21.352] Bot X: 4.67202011418
+EventLog - INFO - [T:21.352] Bot Y: 5.04535479195
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.352] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.352] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.352] Dist to collision point: 3.63090462723
+EventLog - INFO - [T:21.396] Bot X: 4.67925899054
+EventLog - INFO - [T:21.396] Bot Y: 5.04551817676
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.396] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.396] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.396] Dist to collision point: 3.63756514843
+EventLog - INFO - [T:21.44] Bot X: 4.68672655091
+EventLog - INFO - [T:21.44] Bot Y: 5.04568724033
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.44] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.44] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.44] Dist to collision point: 3.64443769795
+EventLog - INFO - [T:21.468] Bot X: 4.69398297492
+EventLog - INFO - [T:21.468] Bot Y: 5.04585137753
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.468] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.468] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.468] Dist to collision point: 3.65111723021
+EventLog - INFO - [T:21.496] Bot X: 4.70124788725
+EventLog - INFO - [T:21.496] Bot Y: 5.04601561013
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.496] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.496] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.496] Dist to collision point: 3.65780587309
+EventLog - INFO - [T:21.523] Bot X: 4.70874241183
+EventLog - INFO - [T:21.523] Bot Y: 5.04618540738
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.523] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.523] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.523] Dist to collision point: 3.66470747089
+EventLog - INFO - [T:21.551] Bot X: 4.71602550269
+EventLog - INFO - [T:21.551] Bot Y: 5.04635084849
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.551] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.551] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.551] Dist to collision point: 3.67141590254
+EventLog - INFO - [T:21.584] Bot X: 4.72331613409
+EventLog - INFO - [T:21.584] Bot Y: 5.04651570947
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.584] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.584] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.584] Dist to collision point: 3.67813230475
+EventLog - INFO - [T:21.628] Bot X: 4.73083114448
+EventLog - INFO - [T:21.628] Bot Y: 5.04668389198
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.628] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.628] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.628] Dist to collision point: 3.68505608275
+EventLog - INFO - [T:21.671] Bot X: 4.73811744337
+EventLog - INFO - [T:21.671] Bot Y: 5.04684447263
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.671] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.671] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.671] Dist to collision point: 3.6917694648
+EventLog - INFO - [T:21.699] Bot X: 4.74539246861
+EventLog - INFO - [T:21.699] Bot Y: 5.04701645509
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.699] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.699] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.699] Dist to collision point: 3.69847863178
+EventLog - INFO - [T:21.727] Bot X: 4.75282875297
+EventLog - INFO - [T:21.727] Bot Y: 5.04723321148
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.727] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.727] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.727] Dist to collision point: 3.70535487769
+EventLog - INFO - [T:21.755] Bot X: 4.76004483777
+EventLog - INFO - [T:21.755] Bot Y: 5.04740321624
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.755] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.755] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.755] Dist to collision point: 3.71201205877
+EventLog - INFO - [T:21.783] Bot X: 4.76726636795
+EventLog - INFO - [T:21.783] Bot Y: 5.0475705673
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.783] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.783] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.783] Dist to collision point: 3.7186744026
+EventLog - INFO - [T:21.819] Bot X: 4.77471373885
+EventLog - INFO - [T:21.819] Bot Y: 5.04774333658
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.819] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.819] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.819] Dist to collision point: 3.72554652879
+EventLog - INFO - [T:21.867] Bot X: 4.7819513153
+EventLog - INFO - [T:21.867] Bot Y: 5.04791111675
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.867] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.867] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.867] Dist to collision point: 3.73222632809
+EventLog - INFO - [T:21.895] Bot X: 4.78919795103
+EventLog - INFO - [T:21.895] Bot Y: 5.0480796229
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.895] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.895] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.895] Dist to collision point: 3.73891599567
+EventLog - INFO - [T:21.922] Bot X: 4.79667293491
+EventLog - INFO - [T:21.922] Bot Y: 5.04825331672
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.922] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.922] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.922] Dist to collision point: 3.74581776391
+EventLog - INFO - [T:21.951] Bot X: 4.80393666734
+EventLog - INFO - [T:21.951] Bot Y: 5.04842199452
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.951] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.951] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.951] Dist to collision point: 3.75252575022
+EventLog - INFO - [T:21.98] Bot X: 4.81120935767
+EventLog - INFO - [T:21.98] Bot Y: 5.04859115672
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:21.98] box_s_R_1 X: 1.0
+EventLog - INFO - [T:21.98] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:21.98] Dist to collision point: 3.75924341751
+EventLog - INFO - [T:22.023] Bot X: 4.81871181761
+EventLog - INFO - [T:22.023] Bot Y: 5.04876615708
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.023] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.023] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.023] Dist to collision point: 3.76617487652
+EventLog - INFO - [T:22.071] Bot X: 4.82600147459
+EventLog - INFO - [T:22.071] Bot Y: 5.04893568756
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.071] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.071] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.071] Dist to collision point: 3.77291083501
+EventLog - INFO - [T:22.099] Bot X: 4.83329561435
+EventLog - INFO - [T:22.099] Bot Y: 5.04910359287
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.099] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.099] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.099] Dist to collision point: 3.77965152075
+EventLog - INFO - [T:22.126] Bot X: 4.8408040971
+EventLog - INFO - [T:22.126] Bot Y: 5.04927386969
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.126] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.126] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.126] Dist to collision point: 3.78659058719
+EventLog - INFO - [T:22.154] Bot X: 4.84808096712
+EventLog - INFO - [T:22.154] Bot Y: 5.04944716118
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.154] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.154] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.154] Dist to collision point: 3.79332029354
+EventLog - INFO - [T:22.182] Bot X: 4.85531183632
+EventLog - INFO - [T:22.182] Bot Y: 5.04966059237
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.182] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.182] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.182] Dist to collision point: 3.800025568
+EventLog - INFO - [T:22.223] Bot X: 4.86273850311
+EventLog - INFO - [T:22.223] Bot Y: 5.04984453306
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.223] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.223] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.223] Dist to collision point: 3.80689928441
+EventLog - INFO - [T:22.28] Bot X: 4.86996028196
+EventLog - INFO - [T:22.28] Bot Y: 5.0500164947
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.28] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.28] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.28] Dist to collision point: 3.81358181553
+EventLog - INFO - [T:22.316] Bot X: 4.87718736261
+EventLog - INFO - [T:22.316] Bot Y: 5.05018857395
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.316] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.316] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.316] Dist to collision point: 3.82027049838
+EventLog - INFO - [T:22.344] Bot X: 4.88464267588
+EventLog - INFO - [T:22.344] Bot Y: 5.05036598327
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.344] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.344] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.344] Dist to collision point: 3.82717167537
+EventLog - INFO - [T:22.373] Bot X: 4.89188808281
+EventLog - INFO - [T:22.373] Bot Y: 5.05053885494
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.373] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.373] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.373] Dist to collision point: 3.83388000224
+EventLog - INFO - [T:22.401] Bot X: 4.8991418584
+EventLog - INFO - [T:22.401] Bot Y: 5.050711869
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.401] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.401] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.401] Dist to collision point: 3.84059730348
+EventLog - INFO - [T:22.434] Bot X: 4.90662429856
+EventLog - INFO - [T:22.434] Bot Y: 5.05089022533
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.434] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.434] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.434] Dist to collision point: 3.84752761916
+EventLog - INFO - [T:22.462] Bot X: 4.9138956554
+EventLog - INFO - [T:22.462] Bot Y: 5.05106374167
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.462] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.462] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.462] Dist to collision point: 3.85426377326
+EventLog - INFO - [T:22.49] Bot X: 4.92117608731
+EventLog - INFO - [T:22.49] Bot Y: 5.05123798077
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.49] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.49] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.49] Dist to collision point: 3.86100978872
+EventLog - INFO - [T:22.517] Bot X: 4.92868545789
+EventLog - INFO - [T:22.517] Bot Y: 5.05141741569
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.517] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.517] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.517] Dist to collision point: 3.86796912963
+EventLog - INFO - [T:22.546] Bot X: 4.93597942479
+EventLog - INFO - [T:22.546] Bot Y: 5.0515899635
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.546] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.546] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.546] Dist to collision point: 3.87472940937
+EventLog - INFO - [T:22.586] Bot X: 4.94326836718
+EventLog - INFO - [T:22.586] Bot Y: 5.05176004779
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.586] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.586] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.586] Dist to collision point: 3.88148533329
+EventLog - INFO - [T:22.63] Bot X: 4.95076748093
+EventLog - INFO - [T:22.63] Bot Y: 5.05194017106
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.63] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.63] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.63] Dist to collision point: 3.88843942565
+EventLog - INFO - [T:22.674] Bot X: 4.95800978135
+EventLog - INFO - [T:22.674] Bot Y: 5.05215286735
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.674] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.674] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.674] Dist to collision point: 3.89517219207
+EventLog - INFO - [T:22.702] Bot X: 4.96521039775
+EventLog - INFO - [T:22.702] Bot Y: 5.05234191038
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.702] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.702] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.702] Dist to collision point: 3.90185837128
+EventLog - INFO - [T:22.729] Bot X: 4.97265292935
+EventLog - INFO - [T:22.729] Bot Y: 5.05252373138
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.729] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.729] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.729] Dist to collision point: 3.90876498416
+EventLog - INFO - [T:22.756] Bot X: 4.97987901415
+EventLog - INFO - [T:22.756] Bot Y: 5.05270015817
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.756] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.756] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.756] Dist to collision point: 3.91547191607
+EventLog - INFO - [T:22.785] Bot X: 4.98711358491
+EventLog - INFO - [T:22.785] Bot Y: 5.05287675468
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.785] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.785] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.785] Dist to collision point: 3.92218791318
+EventLog - INFO - [T:22.822] Bot X: 4.99457719707
+EventLog - INFO - [T:22.822] Bot Y: 5.05305928414
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.822] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.822] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.822] Dist to collision point: 3.92911793015
+EventLog - INFO - [T:22.87] Bot X: 5.00182980671
+EventLog - INFO - [T:22.87] Bot Y: 5.05323669494
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.87] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.87] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.87] Dist to collision point: 3.93585326835
+EventLog - INFO - [T:22.897] Bot X: 5.00909087557
+EventLog - INFO - [T:22.897] Bot Y: 5.05341420572
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.897] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.897] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.897] Dist to collision point: 3.94259762329
+EventLog - INFO - [T:22.925] Bot X: 5.01658113112
+EventLog - INFO - [T:22.925] Bot Y: 5.05359742932
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.925] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.925] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.925] Dist to collision point: 3.94955615812
+EventLog - INFO - [T:22.953] Bot X: 5.02386035486
+EventLog - INFO - [T:22.953] Bot Y: 5.05377601762
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.953] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.953] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.953] Dist to collision point: 3.95632007339
+EventLog - INFO - [T:22.981] Bot X: 5.03114774328
+EventLog - INFO - [T:22.981] Bot Y: 5.05395471867
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:22.981] box_s_R_1 X: 1.0
+EventLog - INFO - [T:22.981] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:22.981] Dist to collision point: 3.96309274333
+EventLog - INFO - [T:23.022] Bot X: 5.03866225749
+EventLog - INFO - [T:23.022] Bot Y: 5.05413732008
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.022] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.022] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.022] Dist to collision point: 3.97007709102
+EventLog - INFO - [T:23.07] Bot X: 5.04595228017
+EventLog - INFO - [T:23.07] Bot Y: 5.05431222628
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.07] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.07] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.07] Dist to collision point: 3.97685311503
+EventLog - INFO - [T:23.098] Bot X: 5.05323233631
+EventLog - INFO - [T:23.098] Bot Y: 5.0544890897
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.098] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.098] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.098] Dist to collision point: 3.98362194198
+EventLog - INFO - [T:23.126] Bot X: 5.06070493041
+EventLog - INFO - [T:23.126] Bot Y: 5.05470510489
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.126] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.126] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.126] Dist to collision point: 3.99058467255
+EventLog - INFO - [T:23.153] Bot X: 5.06789919238
+EventLog - INFO - [T:23.153] Bot Y: 5.05490701094
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.153] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.153] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.153] Dist to collision point: 3.99728681708
+EventLog - INFO - [T:23.181] Bot X: 5.0751247748
+EventLog - INFO - [T:23.181] Bot Y: 5.05508781498
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.181] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.181] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.181] Dist to collision point: 4.00401059716
+EventLog - INFO - [T:23.222] Bot X: 5.08256875039
+EventLog - INFO - [T:23.222] Bot Y: 5.05527408177
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.222] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.222] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.222] Dist to collision point: 4.0109388151
+EventLog - INFO - [T:23.266] Bot X: 5.08980193754
+EventLog - INFO - [T:23.266] Bot Y: 5.05545515074
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.266] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.266] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.266] Dist to collision point: 4.01767205508
+EventLog - INFO - [T:23.294] Bot X: 5.09704463151
+EventLog - INFO - [T:23.294] Bot Y: 5.05563662994
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.294] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.294] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.294] Dist to collision point: 4.02441537072
+EventLog - INFO - [T:23.321] Bot X: 5.10451562698
+EventLog - INFO - [T:23.321] Bot Y: 5.05582398274
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.321] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.321] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.321] Dist to collision point: 4.03137251783
+EventLog - INFO - [T:23.348] Bot X: 5.11177545717
+EventLog - INFO - [T:23.348] Bot Y: 5.0560059267
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.348] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.348] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.348] Dist to collision point: 4.03813415386
+EventLog - INFO - [T:23.377] Bot X: 5.1190439503
+EventLog - INFO - [T:23.377] Bot Y: 5.05618811967
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.377] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.377] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.377] Dist to collision point: 4.04490502818
+EventLog - INFO - [T:23.422] Bot X: 5.12654228687
+EventLog - INFO - [T:23.422] Bot Y: 5.05637661381
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.422] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.422] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.422] Dist to collision point: 4.05189143225
+EventLog - INFO - [T:23.469] Bot X: 5.13382857525
+EventLog - INFO - [T:23.469] Bot Y: 5.05655983709
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.469] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.469] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.469] Dist to collision point: 4.05868146261
+EventLog - INFO - [T:23.497] Bot X: 5.14112141363
+EventLog - INFO - [T:23.497] Bot Y: 5.05674178081
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.497] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.497] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.497] Dist to collision point: 4.06547818764
+EventLog - INFO - [T:23.524] Bot X: 5.1486334639
+EventLog - INFO - [T:23.524] Bot Y: 5.05692701496
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.524] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.524] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.524] Dist to collision point: 4.07247956801
+EventLog - INFO - [T:23.552] Bot X: 5.15591477845
+EventLog - INFO - [T:23.552] Bot Y: 5.05710682147
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.552] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.552] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.552] Dist to collision point: 4.07926716806
+EventLog - INFO - [T:23.581] Bot X: 5.16317630641
+EventLog - INFO - [T:23.581] Bot Y: 5.05731264044
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.581] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.581] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.581] Dist to collision point: 4.08604779537
+EventLog - INFO - [T:23.618] Bot X: 5.17058736325
+EventLog - INFO - [T:23.618] Bot Y: 5.05753372325
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.618] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.618] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.618] Dist to collision point: 4.09297349144
+EventLog - INFO - [T:23.661] Bot X: 5.17781379847
+EventLog - INFO - [T:23.661] Bot Y: 5.05771884629
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.661] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.661] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.661] Dist to collision point: 4.09971591795
+EventLog - INFO - [T:23.705] Bot X: 5.18503786067
+EventLog - INFO - [T:23.705] Bot Y: 5.05790390106
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.705] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.705] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.705] Dist to collision point: 4.10645724161
+EventLog - INFO - [T:23.732] Bot X: 5.19248878304
+EventLog - INFO - [T:23.732] Bot Y: 5.05809497945
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.732] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.732] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.732] Dist to collision point: 4.11341151208
+EventLog - INFO - [T:23.761] Bot X: 5.19973022116
+EventLog - INFO - [T:23.761] Bot Y: 5.05828076553
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.761] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.761] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.761] Dist to collision point: 4.12017142211
+EventLog - INFO - [T:23.789] Bot X: 5.20698019898
+EventLog - INFO - [T:23.789] Bot Y: 5.05846702327
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.789] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.789] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.789] Dist to collision point: 4.126940514
+EventLog - INFO - [T:23.817] Bot X: 5.21445868072
+EventLog - INFO - [T:23.817] Bot Y: 5.05865902424
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.817] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.817] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.817] Dist to collision point: 4.1339240668
+EventLog - INFO - [T:23.853] Bot X: 5.22172593202
+EventLog - INFO - [T:23.853] Bot Y: 5.05884558127
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.853] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.853] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.853] Dist to collision point: 4.14071148872
+EventLog - INFO - [T:23.903] Bot X: 5.22900235205
+EventLog - INFO - [T:23.903] Bot Y: 5.0590328696
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.903] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.903] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.903] Dist to collision point: 4.14750877671
+EventLog - INFO - [T:23.949] Bot X: 5.23650819355
+EventLog - INFO - [T:23.949] Bot Y: 5.05922626502
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.949] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.949] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.949] Dist to collision point: 4.15452161886
+EventLog - INFO - [T:23.978] Bot X: 5.24380027348
+EventLog - INFO - [T:23.978] Bot Y: 5.05941287136
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:23.978] box_s_R_1 X: 1.0
+EventLog - INFO - [T:23.978] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:23.978] Dist to collision point: 4.16133537275
+EventLog - INFO - [T:24.005] Bot X: 5.25109234716
+EventLog - INFO - [T:24.005] Bot Y: 5.05959750321
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.005] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.005] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.005] Dist to collision point: 4.16814946954
+EventLog - INFO - [T:24.033] Bot X: 5.25859572236
+EventLog - INFO - [T:24.033] Bot Y: 5.0597862802
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.033] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.033] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.033] Dist to collision point: 4.17516171007
+EventLog - INFO - [T:24.061] Bot X: 5.26586263609
+EventLog - INFO - [T:24.061] Bot Y: 5.05999064356
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.061] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.061] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.061] Dist to collision point: 4.18196234905
+EventLog - INFO - [T:24.097] Bot X: 5.27305791116
+EventLog - INFO - [T:24.097] Bot Y: 5.06021566641
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.097] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.097] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.097] Dist to collision point: 4.18870570174
+EventLog - INFO - [T:24.137] Bot X: 5.28050245967
+EventLog - INFO - [T:24.137] Bot Y: 5.06041088099
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.137] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.137] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.137] Dist to collision point: 4.19566935552
+EventLog - INFO - [T:24.164] Bot X: 5.28772556784
+EventLog - INFO - [T:24.164] Bot Y: 5.06060019691
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.164] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.164] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.164] Dist to collision point: 4.2024269237
+EventLog - INFO - [T:24.193] Bot X: 5.29495589489
+EventLog - INFO - [T:24.193] Bot Y: 5.06079002367
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.193] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.193] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.193] Dist to collision point: 4.20919243642
+EventLog - INFO - [T:24.22] Bot X: 5.30241522253
+EventLog - INFO - [T:24.22] Bot Y: 5.06098582429
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.22] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.22] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.22] Dist to collision point: 4.21617332987
+EventLog - INFO - [T:24.248] Bot X: 5.30966399282
+EventLog - INFO - [T:24.248] Bot Y: 5.06117646371
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.248] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.248] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.248] Dist to collision point: 4.22295839385
+EventLog - INFO - [T:24.284] Bot X: 5.31692115004
+EventLog - INFO - [T:24.284] Bot Y: 5.06136718056
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.284] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.284] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.284] Dist to collision point: 4.2297523203
+EventLog - INFO - [T:24.328] Bot X: 5.32440715224
+EventLog - INFO - [T:24.328] Bot Y: 5.0615638485
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.328] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.328] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.328] Dist to collision point: 4.2367615757
+EventLog - INFO - [T:24.372] Bot X: 5.33168225038
+EventLog - INFO - [T:24.372] Bot Y: 5.06175542822
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.372] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.372] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.372] Dist to collision point: 4.2435746128
+EventLog - INFO - [T:24.4] Bot X: 5.33896603729
+EventLog - INFO - [T:24.4] Bot Y: 5.06194754657
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.4] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.4] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.4] Dist to collision point: 4.25039696991
+EventLog - INFO - [T:24.428] Bot X: 5.34647808618
+EventLog - INFO - [T:24.428] Bot Y: 5.06214455253
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.428] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.428] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.428] Dist to collision point: 4.25743381212
+EventLog - INFO - [T:24.455] Bot X: 5.35377078213
+EventLog - INFO - [T:24.455] Bot Y: 5.06233386447
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.455] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.455] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.455] Dist to collision point: 4.26426552129
+EventLog - INFO - [T:24.484] Bot X: 5.36105483094
+EventLog - INFO - [T:24.484] Bot Y: 5.06252083681
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.484] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.484] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.484] Dist to collision point: 4.27108938954
+EventLog - INFO - [T:24.516] Bot X: 5.36854619006
+EventLog - INFO - [T:24.516] Bot Y: 5.06273040275
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.516] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.516] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.516] Dist to collision point: 4.27811510564
+EventLog - INFO - [T:24.56] Bot X: 5.37574796988
+EventLog - INFO - [T:24.56] Bot Y: 5.06296373713
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.56] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.56] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.56] Dist to collision point: 4.28488231818
+EventLog - INFO - [T:24.604] Bot X: 5.38296929191
+EventLog - INFO - [T:24.604] Bot Y: 5.06315924652
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.604] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.604] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.604] Dist to collision point: 4.29165437748
+EventLog - INFO - [T:24.632] Bot X: 5.39041004827
+EventLog - INFO - [T:24.632] Bot Y: 5.06335879721
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.632] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.632] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.632] Dist to collision point: 4.29863257417
+EventLog - INFO - [T:24.66] Bot X: 5.39763917459
+EventLog - INFO - [T:24.66] Bot Y: 5.06355301046
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.66] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.66] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.66] Dist to collision point: 4.30541346377
+EventLog - INFO - [T:24.687] Bot X: 5.40487766328
+EventLog - INFO - [T:24.687] Bot Y: 5.06374737742
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.687] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.687] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.687] Dist to collision point: 4.31220412187
+EventLog - INFO - [T:24.715] Bot X: 5.41234476374
+EventLog - INFO - [T:24.715] Bot Y: 5.06394834421
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.715] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.715] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.715] Dist to collision point: 4.31921049147
+EventLog - INFO - [T:24.752] Bot X: 5.41960074033
+EventLog - INFO - [T:24.752] Bot Y: 5.06414348264
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.752] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.752] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.752] Dist to collision point: 4.32601974692
+EventLog - INFO - [T:24.796] Bot X: 5.42686521465
+EventLog - INFO - [T:24.796] Bot Y: 5.06433876146
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.796] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.796] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.796] Dist to collision point: 4.33283796605
+EventLog - INFO - [T:24.852] Bot X: 5.43435931307
+EventLog - INFO - [T:24.852] Bot Y: 5.06454061064
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.852] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.852] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.852] Dist to collision point: 4.33987292131
+EventLog - INFO - [T:24.889] Bot X: 5.44164194619
+EventLog - INFO - [T:24.889] Bot Y: 5.06473716177
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.889] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.889] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.889] Dist to collision point: 4.34671055269
+EventLog - INFO - [T:24.917] Bot X: 5.44893204061
+EventLog - INFO - [T:24.917] Bot Y: 5.06493304812
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.917] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.917] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.917] Dist to collision point: 4.35355588612
+EventLog - INFO - [T:24.945] Bot X: 5.45644615096
+EventLog - INFO - [T:24.945] Bot Y: 5.06513298016
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.945] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.945] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.945] Dist to collision point: 4.36061189788
+EventLog - INFO - [T:24.973] Bot X: 5.46373139666
+EventLog - INFO - [T:24.973] Bot Y: 5.06532423729
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:24.973] box_s_R_1 X: 1.0
+EventLog - INFO - [T:24.973] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:24.973] Dist to collision point: 4.36745306567
+EventLog - INFO - [T:25.007] Bot X: 5.47100544621
+EventLog - INFO - [T:25.007] Bot Y: 5.06552768049
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.007] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.007] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.007] Dist to collision point: 4.3742893813
+EventLog - INFO - [T:25.035] Bot X: 5.47843732907
+EventLog - INFO - [T:25.035] Bot Y: 5.06577375353
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.035] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.035] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.035] Dist to collision point: 4.38128928408
+EventLog - INFO - [T:25.063] Bot X: 5.48565419327
+EventLog - INFO - [T:25.063] Bot Y: 5.06597421359
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.063] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.063] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.063] Dist to collision point: 4.38807332442
+EventLog - INFO - [T:25.09] Bot X: 5.4928750911
+EventLog - INFO - [T:25.09] Bot Y: 5.06617243389
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.09] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.09] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.09] Dist to collision point: 4.39486126345
+EventLog - INFO - [T:25.117] Bot X: 5.50032190255
+EventLog - INFO - [T:25.117] Bot Y: 5.06637705079
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.117] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.117] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.117] Dist to collision point: 4.40186266892
+EventLog - INFO - [T:25.151] Bot X: 5.50755899588
+EventLog - INFO - [T:25.151] Bot Y: 5.06657577593
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.151] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.151] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.151] Dist to collision point: 4.40866784728
+EventLog - INFO - [T:25.21] Bot X: 5.51480512184
+EventLog - INFO - [T:25.21] Bot Y: 5.06677518817
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.21] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.21] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.21] Dist to collision point: 4.41548266202
+EventLog - INFO - [T:25.251] Bot X: 5.52227956185
+EventLog - INFO - [T:25.251] Bot Y: 5.06698075268
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.251] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.251] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.251] Dist to collision point: 4.42251317699
+EventLog - INFO - [T:25.28] Bot X: 5.52954276779
+EventLog - INFO - [T:25.28] Bot Y: 5.06718040403
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.28] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.28] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.28] Dist to collision point: 4.42934595931
+EventLog - INFO - [T:25.308] Bot X: 5.53681496019
+EventLog - INFO - [T:25.308] Bot Y: 5.06738060261
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.308] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.308] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.308] Dist to collision point: 4.43618828523
+EventLog - INFO - [T:25.335] Bot X: 5.54431687322
+EventLog - INFO - [T:25.335] Bot Y: 5.0675875882
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.335] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.335] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.335] Dist to collision point: 4.44324794669
+EventLog - INFO - [T:25.362] Bot X: 5.55160595135
+EventLog - INFO - [T:25.362] Bot Y: 5.06778806825
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.362] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.362] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.362] Dist to collision point: 4.45010807938
+EventLog - INFO - [T:25.399] Bot X: 5.55889924846
+EventLog - INFO - [T:25.399] Bot Y: 5.06798676534
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.399] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.399] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.399] Dist to collision point: 4.45697246084
+EventLog - INFO - [T:25.443] Bot X: 5.56640661682
+EventLog - INFO - [T:25.443] Bot Y: 5.06818852477
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.443] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.443] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.443] Dist to collision point: 4.46403832539
+EventLog - INFO - [T:25.47] Bot X: 5.57368255286
+EventLog - INFO - [T:25.47] Bot Y: 5.06839310476
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.47] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.47] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.47] Dist to collision point: 4.47089067152
+EventLog - INFO - [T:25.498] Bot X: 5.58090919793
+EventLog - INFO - [T:25.498] Bot Y: 5.06863579507
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.498] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.498] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.498] Dist to collision point: 4.47771202781
+EventLog - INFO - [T:25.526] Bot X: 5.5883354305
+EventLog - INFO - [T:25.526] Bot Y: 5.06885125093
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.526] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.526] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.526] Dist to collision point: 4.48471030206
+EventLog - INFO - [T:25.554] Bot X: 5.59555642286
+EventLog - INFO - [T:25.554] Bot Y: 5.06905399532
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.554] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.554] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.554] Dist to collision point: 4.4915136407
+EventLog - INFO - [T:25.587] Bot X: 5.60278298562
+EventLog - INFO - [T:25.587] Bot Y: 5.06925697362
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.587] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.587] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.587] Dist to collision point: 4.49832319533
+EventLog - INFO - [T:25.631] Bot X: 5.61023785286
+EventLog - INFO - [T:25.631] Bot Y: 5.06946625871
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.631] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.631] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.631] Dist to collision point: 4.50534882349
+EventLog - INFO - [T:25.675] Bot X: 5.61748280314
+EventLog - INFO - [T:25.675] Bot Y: 5.0696700355
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.675] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.675] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.675] Dist to collision point: 4.5121777146
+EventLog - INFO - [T:25.702] Bot X: 5.62473609357
+EventLog - INFO - [T:25.702] Bot Y: 5.06987396387
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.702] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.702] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.702] Dist to collision point: 4.51901537463
+EventLog - INFO - [T:25.729] Bot X: 5.6322180352
+EventLog - INFO - [T:25.729] Bot Y: 5.07008421076
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.729] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.729] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.729] Dist to collision point: 4.52606952416
+EventLog - INFO - [T:25.758] Bot X: 5.63948893232
+EventLog - INFO - [T:25.758] Bot Y: 5.07028873868
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.758] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.758] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.758] Dist to collision point: 4.53292572436
+EventLog - INFO - [T:25.787] Bot X: 5.6467688727
+EventLog - INFO - [T:25.787] Bot Y: 5.07049400317
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.787] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.787] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.787] Dist to collision point: 4.53979156393
+EventLog - INFO - [T:25.819] Bot X: 5.65427766779
+EventLog - INFO - [T:25.819] Bot Y: 5.07070532968
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.819] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.819] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.819] Dist to collision point: 4.54687407747
+EventLog - INFO - [T:25.862] Bot X: 5.66157085491
+EventLog - INFO - [T:25.862] Bot Y: 5.07090867237
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.862] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.862] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.862] Dist to collision point: 4.55375347811
+EventLog - INFO - [T:25.906] Bot X: 5.66885869668
+EventLog - INFO - [T:25.906] Bot Y: 5.07110927896
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.906] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.906] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.906] Dist to collision point: 4.56062783305
+EventLog - INFO - [T:25.933] Bot X: 5.67635682182
+EventLog - INFO - [T:25.933] Bot Y: 5.07132152643
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.933] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.933] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.933] Dist to collision point: 4.56770363013
+EventLog - INFO - [T:25.962] Bot X: 5.68359544508
+EventLog - INFO - [T:25.962] Bot Y: 5.07156473721
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.962] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.962] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.962] Dist to collision point: 4.57454931228
+EventLog - INFO - [T:25.991] Bot X: 5.69079561831
+EventLog - INFO - [T:25.991] Bot Y: 5.0717833884
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:25.991] box_s_R_1 X: 1.0
+EventLog - INFO - [T:25.991] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:25.991] Dist to collision point: 4.58135110793
+EventLog - INFO - [T:26.018] Bot X: 5.69823703034
+EventLog - INFO - [T:26.018] Bot Y: 5.07199667442
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.018] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.018] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.018] Dist to collision point: 4.58837715096
+EventLog - INFO - [T:26.05] Bot X: 5.70546250546
+EventLog - INFO - [T:26.05] Bot Y: 5.07220399033
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.05] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.05] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.05] Dist to collision point: 4.59520030248
+EventLog - INFO - [T:26.094] Bot X: 5.71269653662
+EventLog - INFO - [T:26.094] Bot Y: 5.07241152028
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.094] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.094] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.094] Dist to collision point: 4.60203242096
+EventLog - INFO - [T:26.155] Bot X: 5.72015961138
+EventLog - INFO - [T:26.155] Bot Y: 5.07262586557
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.155] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.155] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.155] Dist to collision point: 4.60908188525
+EventLog - INFO - [T:26.196] Bot X: 5.72741165573
+EventLog - INFO - [T:26.196] Bot Y: 5.07283416314
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.196] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.196] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.196] Dist to collision point: 4.61593293084
+EventLog - INFO - [T:26.224] Bot X: 5.73467215792
+EventLog - INFO - [T:26.224] Bot Y: 5.07304259847
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.224] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.224] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.224] Dist to collision point: 4.62279282622
+EventLog - INFO - [T:26.252] Bot X: 5.74216185291
+EventLog - INFO - [T:26.252] Bot Y: 5.07325774227
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.252] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.252] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.252] Dist to collision point: 4.62987025282
+EventLog - INFO - [T:26.28] Bot X: 5.74944051527
+EventLog - INFO - [T:26.28] Bot Y: 5.07346733469
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.28] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.28] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.28] Dist to collision point: 4.63674935602
+EventLog - INFO - [T:26.307] Bot X: 5.75672728683
+EventLog - INFO - [T:26.307] Bot Y: 5.07367698526
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.307] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.307] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.307] Dist to collision point: 4.64363695633
+EventLog - INFO - [T:26.334] Bot X: 5.76424102515
+EventLog - INFO - [T:26.334] Bot Y: 5.07389130969
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.334] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.334] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.334] Dist to collision point: 4.65073936297
+EventLog - INFO - [T:26.362] Bot X: 5.7715299313
+EventLog - INFO - [T:26.362] Bot Y: 5.07409672412
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.362] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.362] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.362] Dist to collision point: 4.65762926145
+EventLog - INFO - [T:26.391] Bot X: 5.77880898541
+EventLog - INFO - [T:26.391] Bot Y: 5.07430458171
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.391] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.391] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.391] Dist to collision point: 4.66451170773
+EventLog - INFO - [T:26.425] Bot X: 5.78627855234
+EventLog - INFO - [T:26.425] Bot Y: 5.07455239169
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.425] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.425] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.425] Dist to collision point: 4.67158749818
+EventLog - INFO - [T:26.476] Bot X: 5.79347258424
+EventLog - INFO - [T:26.476] Bot Y: 5.07478271818
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.476] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.476] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.476] Dist to collision point: 4.67840016577
+EventLog - INFO - [T:26.512] Bot X: 5.80069685734
+EventLog - INFO - [T:26.512] Bot Y: 5.07499453617
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.512] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.512] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.512] Dist to collision point: 4.68523539632
+EventLog - INFO - [T:26.543] Bot X: 5.80814009119
+EventLog - INFO - [T:26.543] Bot Y: 5.07521352417
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.543] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.543] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.543] Dist to collision point: 4.69227896271
+EventLog - INFO - [T:26.587] Bot X: 5.81537279991
+EventLog - INFO - [T:26.587] Bot Y: 5.07542552013
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.587] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.587] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.587] Dist to collision point: 4.6991238974
+EventLog - INFO - [T:26.617] Bot X: 5.82261503172
+EventLog - INFO - [T:26.617] Bot Y: 5.07563792758
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.617] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.617] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.617] Dist to collision point: 4.70597875112
+EventLog - INFO - [T:26.647] Bot X: 5.83008548166
+EventLog - INFO - [T:26.647] Bot Y: 5.07585711319
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.647] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.647] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.647] Dist to collision point: 4.71305054443
+EventLog - INFO - [T:26.675] Bot X: 5.83734478929
+EventLog - INFO - [T:26.675] Bot Y: 5.07606999552
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.675] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.675] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.675] Dist to collision point: 4.71992329628
+EventLog - INFO - [T:26.702] Bot X: 5.84461277444
+EventLog - INFO - [T:26.702] Bot Y: 5.07628317519
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.702] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.702] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.702] Dist to collision point: 4.72680513699
+EventLog - INFO - [T:26.73] Bot X: 5.85211057107
+EventLog - INFO - [T:26.73] Bot Y: 5.07650362361
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.73] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.73] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.73] Dist to collision point: 4.73390566311
+EventLog - INFO - [T:26.758] Bot X: 5.85939627383
+EventLog - INFO - [T:26.758] Bot Y: 5.07671781722
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.758] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.758] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.758] Dist to collision point: 4.74080619661
+EventLog - INFO - [T:26.787] Bot X: 5.86668841587
+EventLog - INFO - [T:26.787] Bot Y: 5.07693059632
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.787] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.787] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.787] Dist to collision point: 4.74771312044
+EventLog - INFO - [T:26.817] Bot X: 5.87419931798
+EventLog - INFO - [T:26.817] Bot Y: 5.07714729951
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.817] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.817] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.817] Dist to collision point: 4.75482727706
+EventLog - INFO - [T:26.86] Bot X: 5.88147957537
+EventLog - INFO - [T:26.86] Bot Y: 5.07735798292
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.86] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.86] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.86] Dist to collision point: 4.7617240606
+EventLog - INFO - [T:26.905] Bot X: 5.88873887146
+EventLog - INFO - [T:26.905] Bot Y: 5.07759553075
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.905] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.905] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.905] Dist to collision point: 4.76861147774
+EventLog - INFO - [T:26.932] Bot X: 5.89614721502
+EventLog - INFO - [T:26.932] Bot Y: 5.07784699905
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.932] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.932] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.932] Dist to collision point: 4.77564432685
+EventLog - INFO - [T:26.959] Bot X: 5.90337233154
+EventLog - INFO - [T:26.959] Bot Y: 5.07806300916
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.959] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.959] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.959] Dist to collision point: 4.78249380649
+EventLog - INFO - [T:26.988] Bot X: 5.91059555529
+EventLog - INFO - [T:26.988] Bot Y: 5.07828016501
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:26.988] box_s_R_1 X: 1.0
+EventLog - INFO - [T:26.988] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:26.988] Dist to collision point: 4.7893427365
+EventLog - INFO - [T:27.015] Bot X: 5.91804588711
+EventLog - INFO - [T:27.015] Bot Y: 5.07850319624
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.015] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.015] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.015] Dist to collision point: 4.79640753286
+EventLog - INFO - [T:27.057] Bot X: 5.92528678315
+EventLog - INFO - [T:27.057] Bot Y: 5.07872001679
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.057] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.057] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.057] Dist to collision point: 4.80327458653
+EventLog - INFO - [T:27.105] Bot X: 5.93253614629
+EventLog - INFO - [T:27.105] Bot Y: 5.07893725729
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.105] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.105] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.105] Dist to collision point: 4.81015055011
+EventLog - INFO - [T:27.132] Bot X: 5.94001400154
+EventLog - INFO - [T:27.132] Bot Y: 5.07916122839
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.132] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.132] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.132] Dist to collision point: 4.81724405504
+EventLog - INFO - [T:27.16] Bot X: 5.94728065838
+EventLog - INFO - [T:27.16] Bot Y: 5.07937886369
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.16] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.16] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.16] Dist to collision point: 4.82413804674
+EventLog - INFO - [T:27.189] Bot X: 5.95455648103
+EventLog - INFO - [T:27.189] Bot Y: 5.07959726654
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.189] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.189] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.189] Dist to collision point: 4.83104172645
+EventLog - INFO - [T:27.216] Bot X: 5.96206165957
+EventLog - INFO - [T:27.216] Bot Y: 5.07982268556
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.216] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.216] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.216] Dist to collision point: 4.83816393427
+EventLog - INFO - [T:27.256] Bot X: 5.96935302949
+EventLog - INFO - [T:27.256] Bot Y: 5.08004025419
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.256] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.256] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.256] Dist to collision point: 4.84508357906
+EventLog - INFO - [T:27.304] Bot X: 5.97664398938
+EventLog - INFO - [T:27.304] Bot Y: 5.08025555685
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.304] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.304] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.304] Dist to collision point: 4.85200287095
+EventLog - INFO - [T:27.332] Bot X: 5.98414622881
+EventLog - INFO - [T:27.332] Bot Y: 5.08047611701
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.332] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.332] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.332] Dist to collision point: 4.85912318502
+EventLog - INFO - [T:27.36] Bot X: 5.9914114596
+EventLog - INFO - [T:27.36] Bot Y: 5.08071203228
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.36] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.36] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.36] Dist to collision point: 4.86602710786
+EventLog - INFO - [T:27.389] Bot X: 5.99860365867
+EventLog - INFO - [T:27.389] Bot Y: 5.08096557048
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.389] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.389] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.389] Dist to collision point: 4.87286932712
+EventLog - INFO - [T:27.417] Bot X: 6.00604707707
+EventLog - INFO - [T:27.417] Bot Y: 5.08119344798
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.417] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.417] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.417] Dist to collision point: 4.87993941528
+EventLog - INFO - [T:27.456] Bot X: 6.01326936199
+EventLog - INFO - [T:27.456] Bot Y: 5.0814152217
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.456] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.456] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.456] Dist to collision point: 4.88680049058
+EventLog - INFO - [T:27.5] Bot X: 6.02049913603
+EventLog - INFO - [T:27.5] Bot Y: 5.08163619084
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.5] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.5] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.5] Dist to collision point: 4.8936691097
+EventLog - INFO - [T:27.528] Bot X: 6.02795796834
+EventLog - INFO - [T:27.528] Bot Y: 5.08186413419
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.528] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.528] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.528] Dist to collision point: 4.90075615812
+EventLog - INFO - [T:27.558] Bot X: 6.03520615579
+EventLog - INFO - [T:27.558] Bot Y: 5.08208584593
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.558] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.558] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.558] Dist to collision point: 4.9076439301
+EventLog - INFO - [T:27.589] Bot X: 6.04246274567
+EventLog - INFO - [T:27.589] Bot Y: 5.08230769118
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.589] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.589] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.589] Dist to collision point: 4.91454042983
+EventLog - INFO - [T:27.617] Bot X: 6.04994816874
+EventLog - INFO - [T:27.617] Bot Y: 5.08253647112
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.617] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.617] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.617] Dist to collision point: 4.92165520782
+EventLog - INFO - [T:27.663] Bot X: 6.05722269847
+EventLog - INFO - [T:27.663] Bot Y: 5.08275925394
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.663] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.663] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.663] Dist to collision point: 4.92857048579
+EventLog - INFO - [T:27.701] Bot X: 6.0645058691
+EventLog - INFO - [T:27.701] Bot Y: 5.08298255199
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.701] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.701] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.701] Dist to collision point: 4.9354948482
+EventLog - INFO - [T:27.728] Bot X: 6.07201721428
+EventLog - INFO - [T:27.728] Bot Y: 5.08321156635
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.728] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.728] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.728] Dist to collision point: 4.94263652542
+EventLog - INFO - [T:27.756] Bot X: 6.07930883301
+EventLog - INFO - [T:27.756] Bot Y: 5.08343168037
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.756] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.756] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.756] Dist to collision point: 4.94956933143
+EventLog - INFO - [T:27.785] Bot X: 6.08659171869
+EventLog - INFO - [T:27.785] Bot Y: 5.08364947945
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.785] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.785] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.785] Dist to collision point: 4.95649391357
+EventLog - INFO - [T:27.813] Bot X: 6.09408170024
+EventLog - INFO - [T:27.813] Bot Y: 5.08389160184
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.813] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.813] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.813] Dist to collision point: 4.96362240634
+EventLog - INFO - [T:27.851] Bot X: 6.10127981226
+EventLog - INFO - [T:27.851] Bot Y: 5.08415321575
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.851] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.851] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.851] Dist to collision point: 4.97048374663
+EventLog - INFO - [T:27.895] Bot X: 6.10850158967
+EventLog - INFO - [T:27.895] Bot Y: 5.08437942992
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.895] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.895] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.895] Dist to collision point: 4.97735601753
+EventLog - INFO - [T:27.939] Bot X: 6.11594149717
+EventLog - INFO - [T:27.939] Bot Y: 5.0846125225
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.939] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.939] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.939] Dist to collision point: 4.98443666481
+EventLog - INFO - [T:27.967] Bot X: 6.12316994035
+EventLog - INFO - [T:27.967] Bot Y: 5.08483810593
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.967] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.967] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.967] Dist to collision point: 4.99131652149
+EventLog - INFO - [T:27.996] Bot X: 6.13040784242
+EventLog - INFO - [T:27.996] Bot Y: 5.08506372966
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:27.996] box_s_R_1 X: 1.0
+EventLog - INFO - [T:27.996] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:27.996] Dist to collision point: 4.99820604632
+EventLog - INFO - [T:28.024] Bot X: 6.13787428077
+EventLog - INFO - [T:28.024] Bot Y: 5.08529676057
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.024] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.024] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.024] Dist to collision point: 5.00531399001
+EventLog - INFO - [T:28.052] Bot X: 6.14512960615
+EventLog - INFO - [T:28.052] Bot Y: 5.08552305868
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.052] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.052] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.052] Dist to collision point: 5.0122216711
+EventLog - INFO - [T:28.087] Bot X: 6.15239342976
+EventLog - INFO - [T:28.087] Bot Y: 5.08574953272
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.087] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.087] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.087] Dist to collision point: 5.01913816409
+EventLog - INFO - [T:28.131] Bot X: 6.159886858
+EventLog - INFO - [T:28.131] Bot Y: 5.08598356108
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.131] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.131] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.131] Dist to collision point: 5.02627420203
+EventLog - INFO - [T:28.175] Bot X: 6.16716880411
+EventLog - INFO - [T:28.175] Bot Y: 5.08621133318
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.175] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.175] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.175] Dist to collision point: 5.03320972372
+EventLog - INFO - [T:28.202] Bot X: 6.17445817996
+EventLog - INFO - [T:28.202] Bot Y: 5.08643831724
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.202] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.202] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.202] Dist to collision point: 5.04015272644
+EventLog - INFO - [T:28.23] Bot X: 6.1819712118
+EventLog - INFO - [T:28.23] Bot Y: 5.08667006558
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.23] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.23] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.23] Dist to collision point: 5.0473087982
+EventLog - INFO - [T:28.258] Bot X: 6.18925525395
+EventLog - INFO - [T:28.258] Bot Y: 5.08689210336
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.258] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.258] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.258] Dist to collision point: 5.05424662577
+EventLog - INFO - [T:28.286] Bot X: 6.19652819373
+EventLog - INFO - [T:28.286] Bot Y: 5.08712710414
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.286] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.286] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.286] Dist to collision point: 5.0611791035
+EventLog - INFO - [T:28.322] Bot X: 6.20395579133
+EventLog - INFO - [T:28.322] Bot Y: 5.08740251461
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.322] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.322] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.322] Dist to collision point: 5.06827167254
+EventLog - INFO - [T:28.371] Bot X: 6.21117180228
+EventLog - INFO - [T:28.371] Bot Y: 5.08763490764
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.371] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.371] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.371] Dist to collision point: 5.07515108193
+EventLog - INFO - [T:28.398] Bot X: 6.21839189427
+EventLog - INFO - [T:28.398] Bot Y: 5.08786556233
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.398] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.398] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.398] Dist to collision point: 5.0820344726
+EventLog - INFO - [T:28.426] Bot X: 6.22583801059
+EventLog - INFO - [T:28.426] Bot Y: 5.08810272354
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.426] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.426] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.426] Dist to collision point: 5.08913385962
+EventLog - INFO - [T:28.453] Bot X: 6.23307455604
+EventLog - INFO - [T:28.453] Bot Y: 5.08833275636
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.453] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.453] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.453] Dist to collision point: 5.09603401246
+EventLog - INFO - [T:28.481] Bot X: 6.2403200873
+EventLog - INFO - [T:28.481] Bot Y: 5.08856338402
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.481] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.481] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.481] Dist to collision point: 5.10294355616
+EventLog - INFO - [T:28.526] Bot X: 6.24779389949
+EventLog - INFO - [T:28.526] Bot Y: 5.0888011372
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.526] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.526] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.526] Dist to collision point: 5.11007149957
+EventLog - INFO - [T:28.574] Bot X: 6.25505649819
+EventLog - INFO - [T:28.574] Bot Y: 5.08903206812
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.574] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.574] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.574] Dist to collision point: 5.11699869862
+EventLog - INFO - [T:28.603] Bot X: 6.26232809351
+EventLog - INFO - [T:28.603] Bot Y: 5.0892635934
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.603] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.603] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.603] Dist to collision point: 5.12393529988
+EventLog - INFO - [T:28.631] Bot X: 6.26982934821
+EventLog - INFO - [T:28.631] Bot Y: 5.08950285813
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.631] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.631] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.631] Dist to collision point: 5.13109187348
+EventLog - INFO - [T:28.658] Bot X: 6.27711773287
+EventLog - INFO - [T:28.658] Bot Y: 5.0897345564
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.658] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.658] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.658] Dist to collision point: 5.13804582727
+EventLog - INFO - [T:28.686] Bot X: 6.28441004036
+EventLog - INFO - [T:28.686] Bot Y: 5.0899642949
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.686] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.686] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.686] Dist to collision point: 5.14500354609
+EventLog - INFO - [T:28.722] Bot X: 6.2919161447
+EventLog - INFO - [T:28.722] Bot Y: 5.09019781689
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.722] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.722] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.722] Dist to collision point: 5.15216501777
+EventLog - INFO - [T:28.767] Bot X: 6.29919101933
+EventLog - INFO - [T:28.767] Bot Y: 5.09043399726
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.767] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.767] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.767] Dist to collision point: 5.15910987396
+EventLog - INFO - [T:28.795] Bot X: 6.30641328687
+EventLog - INFO - [T:28.795] Bot Y: 5.09070598385
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.795] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.795] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.795] Dist to collision point: 5.16601766148
+EventLog - INFO - [T:28.823] Bot X: 6.31383976207
+EventLog - INFO - [T:28.823] Bot Y: 5.09095293808
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.823] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.823] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.823] Dist to collision point: 5.17311060742
+EventLog - INFO - [T:28.851] Bot X: 6.32105972467
+EventLog - INFO - [T:28.851] Bot Y: 5.09118793533
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.851] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.851] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.851] Dist to collision point: 5.18000532425
+EventLog - INFO - [T:28.878] Bot X: 6.32828548175
+EventLog - INFO - [T:28.878] Bot Y: 5.09142277939
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.878] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.878] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.878] Dist to collision point: 5.18690614918
+EventLog - INFO - [T:28.918] Bot X: 6.33573967113
+EventLog - INFO - [T:28.918] Bot Y: 5.09166436335
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.918] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.918] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.918] Dist to collision point: 5.19402562701
+EventLog - INFO - [T:28.966] Bot X: 6.34298396389
+EventLog - INFO - [T:28.966] Bot Y: 5.0918994
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.966] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.966] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.966] Dist to collision point: 5.20094541573
+EventLog - INFO - [T:28.994] Bot X: 6.35023656213
+EventLog - INFO - [T:28.994] Bot Y: 5.09213461087
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:28.994] box_s_R_1 X: 1.0
+EventLog - INFO - [T:28.994] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:28.994] Dist to collision point: 5.2078737938
+EventLog - INFO - [T:29.022] Bot X: 6.3577177881
+EventLog - INFO - [T:29.022] Bot Y: 5.09237712542
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.022] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.022] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.022] Dist to collision point: 5.21502126105
+EventLog - INFO - [T:29.05] Bot X: 6.36498800919
+EventLog - INFO - [T:29.05] Bot Y: 5.09261302529
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.05] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.05] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.05] Dist to collision point: 5.22196790846
+EventLog - INFO - [T:29.077] Bot X: 6.37226724401
+EventLog - INFO - [T:29.077] Bot Y: 5.09284967116
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.077] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.077] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.077] Dist to collision point: 5.2289240042
+EventLog - INFO - [T:29.118] Bot X: 6.37977526899
+EventLog - INFO - [T:29.118] Bot Y: 5.09309322727
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.118] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.118] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.118] Dist to collision point: 5.23609927736
+EventLog - INFO - [T:29.166] Bot X: 6.38706748882
+EventLog - INFO - [T:29.166] Bot Y: 5.09332768795
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.166] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.166] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.166] Dist to collision point: 5.24306831698
+EventLog - INFO - [T:29.195] Bot X: 6.39435407906
+EventLog - INFO - [T:29.195] Bot Y: 5.09355914433
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.195] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.195] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.195] Dist to collision point: 5.25003173366
+EventLog - INFO - [T:29.223] Bot X: 6.4018511009
+EventLog - INFO - [T:29.223] Bot Y: 5.09380387787
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.223] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.223] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.223] Dist to collision point: 5.25719912445
+EventLog - INFO - [T:29.251] Bot X: 6.40908571024
+EventLog - INFO - [T:29.251] Bot Y: 5.0940770959
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.251] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.251] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.251] Dist to collision point: 5.26412846045
+EventLog - INFO - [T:29.278] Bot X: 6.41628600696
+EventLog - INFO - [T:29.278] Bot Y: 5.09432588323
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.278] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.278] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.278] Dist to collision point: 5.27101799746
+EventLog - INFO - [T:29.317] Bot X: 6.42372611368
+EventLog - INFO - [T:29.317] Bot Y: 5.09457223714
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.317] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.317] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.317] Dist to collision point: 5.27813417112
+EventLog - INFO - [T:29.361] Bot X: 6.43095075394
+EventLog - INFO - [T:29.361] Bot Y: 5.09481179464
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.361] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.361] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.361] Dist to collision point: 5.28504503816
+EventLog - INFO - [T:29.405] Bot X: 6.43818417887
+EventLog - INFO - [T:29.405] Bot Y: 5.09505078296
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.405] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.405] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.405] Dist to collision point: 5.29196468504
+EventLog - INFO - [T:29.433] Bot X: 6.44564663602
+EventLog - INFO - [T:29.433] Bot Y: 5.09529743847
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.433] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.433] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.433] Dist to collision point: 5.29910414971
+EventLog - INFO - [T:29.461] Bot X: 6.45289802637
+EventLog - INFO - [T:29.461] Bot Y: 5.09553708611
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.461] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.461] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.461] Dist to collision point: 5.30604234032
+EventLog - INFO - [T:29.489] Bot X: 6.46015787518
+EventLog - INFO - [T:29.489] Bot Y: 5.09577690601
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.489] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.489] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.489] Dist to collision point: 5.31298924634
+EventLog - INFO - [T:29.516] Bot X: 6.46764690032
+EventLog - INFO - [T:29.516] Bot Y: 5.09602442521
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.516] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.516] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.516] Dist to collision point: 5.3201561789
+EventLog - INFO - [T:29.554] Bot X: 6.47492488195
+EventLog - INFO - [T:29.554] Bot Y: 5.09626545373
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.554] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.554] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.554] Dist to collision point: 5.32712196872
+EventLog - INFO - [T:29.6] Bot X: 6.48221090947
+EventLog - INFO - [T:29.6] Bot Y: 5.09650646459
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.6] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.6] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.6] Dist to collision point: 5.33409602312
+EventLog - INFO - [T:29.641] Bot X: 6.48972372512
+EventLog - INFO - [T:29.641] Bot Y: 5.09675291499
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.641] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.641] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.641] Dist to collision point: 5.34128717183
+EventLog - INFO - [T:29.669] Bot X: 6.49701136217
+EventLog - INFO - [T:29.669] Bot Y: 5.0969892376
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.669] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.669] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.669] Dist to collision point: 5.34826255947
+EventLog - INFO - [T:29.696] Bot X: 6.50428928995
+EventLog - INFO - [T:29.696] Bot Y: 5.09722850167
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.696] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.696] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.696] Dist to collision point: 5.35523036074
+EventLog - INFO - [T:29.723] Bot X: 6.51175547587
+EventLog - INFO - [T:29.723] Bot Y: 5.09750829111
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.723] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.723] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.723] Dist to collision point: 5.36239017646
+EventLog - INFO - [T:29.751] Bot X: 6.51894811244
+EventLog - INFO - [T:29.751] Bot Y: 5.09776880101
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.751] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.751] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.751] Dist to collision point: 5.36928537451
+EventLog - INFO - [T:29.785] Bot X: 6.52617126704
+EventLog - INFO - [T:29.785] Bot Y: 5.09801155459
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.785] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.785] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.785] Dist to collision point: 5.37620435941
+EventLog - INFO - [T:29.833] Bot X: 6.53361363332
+EventLog - INFO - [T:29.833] Bot Y: 5.09826308304
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.833] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.833] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.833] Dist to collision point: 5.38333443824
+EventLog - INFO - [T:29.861] Bot X: 6.54084563247
+EventLog - INFO - [T:29.861] Bot Y: 5.09850652705
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.861] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.861] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.861] Dist to collision point: 5.39026330151
+EventLog - INFO - [T:29.889] Bot X: 6.54808718263
+EventLog - INFO - [T:29.889] Bot Y: 5.09875030448
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.889] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.889] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.889] Dist to collision point: 5.39720194862
+EventLog - INFO - [T:29.917] Bot X: 6.55555687504
+EventLog - INFO - [T:29.917] Bot Y: 5.0990017842
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.917] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.917] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.917] Dist to collision point: 5.40435986023
+EventLog - INFO - [T:29.945] Bot X: 6.5628154467
+EventLog - INFO - [T:29.945] Bot Y: 5.09924604851
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.945] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.945] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.945] Dist to collision point: 5.41131606682
+EventLog - INFO - [T:29.989] Bot X: 6.57008270684
+EventLog - INFO - [T:29.989] Bot Y: 5.09949065498
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:29.989] box_s_R_1 X: 1.0
+EventLog - INFO - [T:29.989] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 1.5
+EventLog - INFO - [T:29.989] Dist to collision point: 5.41828124448
+EventLog - INFO - [T:30.037] Simulation Timeout!
diff --git a/build/sim/package.xml b/build/sim/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0aae8c4c85d1a28ea42e6da58cdf22fa1954c276
--- /dev/null
+++ b/build/sim/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>sim</name>
+ <version>0.0.0</version>
+ <description>The sim package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="stolzenp@todo.todo">stolzenp</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/sim</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>rospy</build_export_depend>
+ <build_export_depend>std_msgs</build_export_depend>
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/build/sim/sim.launch b/build/sim/sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..fe198a9f706ace4dd813464fee8b78ad4ef9cefa
--- /dev/null
+++ b/build/sim/sim.launch
@@ -0,0 +1,19 @@
+<launch>
+ <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+ <arg name="x_pos" default="0"/>
+ <arg name="y_pos" default="5"/>
+ <arg name="z_pos" default="-0.001001"/>
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="world_name" value="$(find sim)/worlds/test.world"/>
+ <arg name="paused" value="false"/>
+ <arg name="use_sim_time" value="true"/>
+ <arg name="gui" value="true"/>
+ <arg name="headless" value="false"/>
+ <arg name="debug" value="false"/>
+ </include>
+
+ <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+ <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+</launch>
diff --git a/build/sim/testmanager.sh b/build/sim/testmanager.sh
new file mode 100644
index 0000000000000000000000000000000000000000..e6f8db303b7bd5c1a110b42184981e5fb12825e9
--- /dev/null
+++ b/build/sim/testmanager.sh
@@ -0,0 +1,136 @@
+#!/bin/bash
+
+cd ~/catkin_ws
+
+
+echo "testing ..."
+echo ""
+
+chmod +x ~/catkin_ws/src/semesterprojekt/src/sim/location_monitor/scripts/bot_listener.py
+chmod +x ~/catkin_ws/src/semesterprojekt/src/sim/location_monitor/scripts/location_monitor_node.py
+
+type=$(cat ~/catkin_ws/src/semesterprojekt/build/sim/botname.txt)
+
+if [ "$type" = "burger" ]
+
+ then
+
+ botradius=0.069
+
+ else
+
+ botradius=0.1405
+
+fi
+
+c=0
+
+cd ~/catkin_ws/src/semesterprojekt/build/test/testfaelle
+
+testfall=$(find ./ -name "$c")
+
+while [ -f $testfall/test.world ]; do
+
+ echo "test$c"
+ echo ""
+
+ timeout=$(grep -i "timeout" $testfall/config.ini | tr -d -c 0-9.)
+ rightBorder=$(grep -i "rangeRightBorder=" $testfall/config.ini | tr -d -c 0-9.)
+ leftBorder=$(grep -i "rangeLeftBorder=" $testfall/config.ini | tr -d -c 0-9.)
+
+
+
+ dist=$(bc -l <<< "scale=10; ($rightBorder-$leftBorder)")
+
+ cp $testfall/test.world ~/catkin_ws/src/semesterprojekt/build/sim/worlds/test.world
+
+ #configuring launch file
+
+ echo '<launch>
+ <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+ <arg name="x_pos" default="0"/>
+ <arg name="y_pos" default="5"/>
+ <arg name="z_pos" default="-0.001001"/>
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="world_name" value="$(find sim)/worlds/test.world"/>
+ <arg name="paused" value="false"/>
+ <arg name="use_sim_time" value="true"/>
+ <arg name="gui" value="true"/>
+ <arg name="headless" value="false"/>
+ <arg name="debug" value="false"/>
+ </include>
+
+ <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+ <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+</launch>' > ~/catkin_ws/src/semesterprojekt/build/sim/sim.launch
+
+ #Launch Welt
+ gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; export TURTLEBOT3_MODEL='$type'; roslaunch sim sim.launch; sleep 5'
+
+ #bot_listener
+ sleep 1
+ gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; cd ~/catkin_ws/src/semesterprojekt/build/sim/log; rosrun location_monitor bot_listener.py;'
+
+ #location_monitor
+# gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; cd ~/catkin_ws/src/semesterprojekt/build/sim/log; rosrun location_monitor location_monitor_node.py '$botradius' '$dist' 500 '$timeout';'
+
+ #Launch Test
+ gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; export TURTLEBOT3_MODEL=burger; rosrun sim turtlebot3_obstacle '$dist';'
+
+
+
+
+
+
+ cd ~/catkin_ws; source devel/setup.bash
+ cd ~/catkin_ws/src/semesterprojekt/build/sim/log
+
+ echo 'Location_Monitor:'
+ echo ''
+
+ if [ "$type" = "burger" ]
+
+ then
+
+ rosrun location_monitor location_monitor_node.py $botradius 0 0 $dist 500 $timeout
+
+ else
+
+ rosrun location_monitor location_monitor_node.py $botradius 0.07 68 $dist 500 $timeout
+
+ fi
+
+
+# if ( rosrun location_monitor location_monitor_node.py $botradius $dist 500 $timeout & ) | grep -q -m 1 'Collision\|Stop\|Timeout'; then
+
+# ps ax | grep -i python | awk {'print $1'} | xargs kill -9
+# ps ax | grep -i gzclient | awk {'print $1'} | xargs kill -9
+# ps ax | grep -i gzserver | awk {'print $1'} | xargs kill -9
+
+# fi
+
+# sleep 30
+
+ ps ax | grep -i python | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+ ps ax | grep -i gzclient | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+ ps ax | grep -i gzserver | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+
+ mv ~/catkin_ws/src/semesterprojekt/build/sim/log/bot_listener.log ~/catkin_ws/src/semesterprojekt/build/sim/log/bl$c.log
+
+ mv ~/catkin_ws/src/semesterprojekt/build/sim/log/location_monitor.log ~/catkin_ws/src/semesterprojekt/build/sim/log/lm$c.log
+
+ let c=c+1
+
+ cd ~/catkin_ws/src/semesterprojekt/build/test/testfaelle
+
+ testfall=$(find ./ -name "$c")
+
+
+done
+
+cd ~/catkin_ws
+
+echo ""
+echo "Done"
diff --git a/build/sim/turtlebot3_obstacle b/build/sim/turtlebot3_obstacle
new file mode 100755
index 0000000000000000000000000000000000000000..85b239b4d367103d32598792677dc456e5ff31e4
--- /dev/null
+++ b/build/sim/turtlebot3_obstacle
@@ -0,0 +1,105 @@
+#!/usr/bin/env python
+#################################################################################
+# Copyright 2018 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#################################################################################
+
+# Authors: Gilbert #
+
+import sys
+import rospy
+import math
+from sensor_msgs.msg import LaserScan
+from std_msgs.msg import String
+from geometry_msgs.msg import Twist
+from datetime import datetime
+from gazebo_msgs.srv import GetWorldProperties
+
+#Angepasst fuer Log-Aufzeichnung
+topic = 'chatter'
+pub = rospy.Publisher(topic, String)
+
+LINEAR_VEL = 0.22
+STOP_DISTANCE = float(sys.argv[1])
+LIDAR_ERROR = 0.05
+SAFE_STOP_DISTANCE = STOP_DISTANCE + LIDAR_ERROR
+
+class Obstacle():
+ def __init__(self):
+ self._cmd_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
+ self.obstacle()
+
+ def get_scan(self):
+ scan = rospy.wait_for_message('scan', LaserScan)
+ scan_filter = []
+
+ samples = len(scan.ranges) # The number of samples is defined in
+ # turtlebot3_<model>.gazebo.xacro file,
+ # the default is 360.
+ samples_view = 1 # 1 <= samples_view <= samples
+
+ if samples_view > samples:
+ samples_view = samples
+
+ if samples_view is 1:
+ scan_filter.append(scan.ranges[0])
+
+ else:
+ left_lidar_samples_ranges = -(samples_view//2 + samples_view % 2)
+ right_lidar_samples_ranges = samples_view//2
+
+ left_lidar_samples = scan.ranges[left_lidar_samples_ranges:]
+ right_lidar_samples = scan.ranges[:right_lidar_samples_ranges]
+ scan_filter.extend(left_lidar_samples + right_lidar_samples)
+
+ for i in range(samples_view):
+ if math.isnan(scan_filter[i]):
+ scan_filter[i] = 0
+
+ return scan_filter
+
+ def obstacle(self):
+ global pub
+ twist = Twist()
+ turtlebot_moving = True
+
+ while not rospy.is_shutdown():
+ lidar_distances = self.get_scan()
+ min_distance = min(lidar_distances)
+
+ if min_distance < SAFE_STOP_DISTANCE:
+ if turtlebot_moving:
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self._cmd_pub.publish(twist)
+ turtlebot_moving = False
+ rospy.loginfo('Stop!')
+ pub.publish("Stop!")
+ else:
+ twist.linear.x = LINEAR_VEL
+ twist.angular.z = 0.0
+ self._cmd_pub.publish(twist)
+ turtlebot_moving = True
+ rospy.loginfo('Distance of the obstacle : %f', min_distance)
+ pub.publish("Distance of the obstacle : " + str(min_distance))
+
+def main():
+ rospy.init_node('turtlebot3_obstacle')
+ try:
+ obstacle = Obstacle()
+ except rospy.ROSInterruptException:
+ pass
+
+if __name__ == '__main__':
+ main()
diff --git a/build/test/testfaelle/ACT5.uml-0/test.world b/build/sim/worlds/test.world
similarity index 100%
rename from build/test/testfaelle/ACT5.uml-0/test.world
rename to build/sim/worlds/test.world
diff --git a/build/test/compiler/compiler.dll b/build/test/compiler/compiler.dll
index 9271b1c6509e3e98a6a45d1c8d1726869b68b5e9..ae7314ed580d1ff2e7988cae2aa789570281ef09 100644
Binary files a/build/test/compiler/compiler.dll and b/build/test/compiler/compiler.dll differ
diff --git a/build/test/compiler/compiler.pdb b/build/test/compiler/compiler.pdb
index 97cb5df239a759f6dced1f9afcfadf558538a561..c2d03d1b2461fec62a06410257fb35b231b3badd 100644
Binary files a/build/test/compiler/compiler.pdb and b/build/test/compiler/compiler.pdb differ
diff --git a/build/test/testfaelle/ACT3.uml-0/config.ini b/build/test/testfaelle/ACT3.uml/0/config.ini
similarity index 100%
rename from build/test/testfaelle/ACT3.uml-0/config.ini
rename to build/test/testfaelle/ACT3.uml/0/config.ini
diff --git a/build/test/testfaelle/ACT3.uml-0/test.world b/build/test/testfaelle/ACT3.uml/0/test.world
similarity index 100%
rename from build/test/testfaelle/ACT3.uml-0/test.world
rename to build/test/testfaelle/ACT3.uml/0/test.world
diff --git a/build/test/testfaelle/ACT4.uml-0/config.ini b/build/test/testfaelle/ACT4.uml/0/config.ini
similarity index 100%
rename from build/test/testfaelle/ACT4.uml-0/config.ini
rename to build/test/testfaelle/ACT4.uml/0/config.ini
diff --git a/build/test/testfaelle/ACT4.uml-0/test.world b/build/test/testfaelle/ACT4.uml/0/test.world
similarity index 100%
rename from build/test/testfaelle/ACT4.uml-0/test.world
rename to build/test/testfaelle/ACT4.uml/0/test.world
diff --git a/build/test/testfaelle/ACT5.uml-0/config.ini b/build/test/testfaelle/ACT5.uml/0/config.ini
similarity index 100%
rename from build/test/testfaelle/ACT5.uml-0/config.ini
rename to build/test/testfaelle/ACT5.uml/0/config.ini
diff --git a/build/test/testfaelle/ACT5.uml/0/test.world b/build/test/testfaelle/ACT5.uml/0/test.world
new file mode 100644
index 0000000000000000000000000000000000000000..b76e6be870c71308003296ad920ef48a3d2f7ae7
--- /dev/null
+++ b/build/test/testfaelle/ACT5.uml/0/test.world
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<sdf version="1.6">
+ <world name="default">
+ <!-- Ground Plane -->
+ <include>
+ <uri>model://ground_plane</uri>
+ </include>
+ <include>
+ <uri>model://sun</uri>
+ </include>
+ <model name="box_s_R_1">
+ <pose>1 3 0 0</pose>
+ <link name="link">
+ <collision name="collision">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ </visual>
+ </link>
+ </model>
+ </world>
+</sdf>
\ No newline at end of file
diff --git a/src/sim/Launch Bot gazebo b/src/sim/Launch Bot gazebo
index 9d7cd8d6565a68ff5edf7b84f4918e5a36dd146f..81dddd2c83d2a51cf863efcf47d8a6a06fab2ae6 100644
--- a/src/sim/Launch Bot gazebo
+++ b/src/sim/Launch Bot gazebo
@@ -18,8 +18,11 @@ Launch der Notbremse
location_monitor Laufen lassen
~/catkin_ws$ source devel/setup.bash
-~/catkin_ws/src/location_monitor/logs$ rosrun location_monitor location_monitor_node.py 0.05(Bot Radius) 0.05(Safty Dist) 2.0(X Ziellienie) 15.0(timeout in Sek)
-
+~/catkin_ws/src/location_monitor/logs$ rosrun location_monitor location_monitorode.py 0.00(Bot Radius) 0.00(Distanz Zur Ecke) 00(Ausrichtungs Radius.) 0.00(Sicherheitsabstand) 0.0(X Ziellinie) 000.0(Timeout)
+
+Distanz Zur Ecke. Waffle:0.07 Burger:0
+Ausrichtungs Radius. Waffle:68 Burger:0
+
bot_listener node Laufen lassen
~/catkin_ws$ source devel/setup.bash
~/catkin_ws/src/location_monitor/logs$ rosrun location_monitor bot_listener.py
diff --git a/src/sim/location_monitor/scripts/bot_listener.py b/src/sim/location_monitor/scripts/bot_listener.py
index 7307ea3175ccc89751e76319e5c807e0891f070a..2f52bb5ecb81d11e334a6be6e853ab2af54e6664 100644
--- a/src/sim/location_monitor/scripts/bot_listener.py
+++ b/src/sim/location_monitor/scripts/bot_listener.py
@@ -1,21 +1,33 @@
#!/usr/bin/env python
import rospy
+import logging
+import os
from std_msgs.msg import String
from datetime import datetime
from gazebo_msgs.srv import GetModelState
from gazebo_msgs.srv import GetWorldProperties
-WriteFlag = 0
-logtime = "bot_listener_log.txt"
-f = open(logtime, "w+")
+logger = logging.getLogger("EventLog")
+logger.setLevel(logging.INFO)
-def callback(data):
+# create a file handler
+handler = logging.FileHandler('bot_listener.log', mode='w')
+handler.setLevel(logging.INFO)
+
+# create a logging format
+formatter = logging.Formatter('%(name)s - %(levelname)s - %(message)s')
+handler.setFormatter(formatter)
+# add the file handler to the logger
+logger.addHandler(handler)
+
+def callback(data):
+ global logger
rospy.loginfo(data.data)
get_world_properties = rospy.ServiceProxy('/gazebo/get_world_properties', GetWorldProperties)
resp1 = get_world_properties()
- f.write("[T:" + str(resp1.sim_time) + "] " + data.data + "\n")
+ logger.info("[T:" + str(resp1.sim_time) + "] " + data.data)
def listener():
rospy.init_node('listener', anonymous=True)
diff --git a/src/sim/location_monitor/scripts/location_monitor_node.py b/src/sim/location_monitor/scripts/location_monitor_node.py
index 87f5cfa6eaa9025ddadb6c61bb8fd0a22fe30d23..2997903bf8fe6b41cd8efa16d7f69bd403839230 100644
--- a/src/sim/location_monitor/scripts/location_monitor_node.py
+++ b/src/sim/location_monitor/scripts/location_monitor_node.py
@@ -5,8 +5,13 @@ import sys
import gc
import rospy
import re
-import array
+import array as arr
import numpy as np
+import sys, traceback
+import multiprocessing
+import time
+import logging
+import os
from datetime import datetime
from geometry_msgs.msg import Quaternion
from tf.transformations import euler_from_quaternion, quaternion_from_euler
@@ -14,23 +19,37 @@ from nav_msgs.msg import Odometry
from gazebo_msgs.srv import GetModelState
from gazebo_msgs.srv import GetWorldProperties
-BotDist = float(sys.argv[1])#Erstes Argumnet
-SafeDist = float(sys.argv[2])#Zweites argument
-DestinationX = float(sys.argv[3])#Ziellinie
-Timeout = float(sys.argv[4])#timeout
+BotDist = float(sys.argv[1])#Abstand vom BotKoordinatenursprung zum Kollisions Rand
+BotSides = float(sys.argv[2])#Distanz Zur Ecke. Waffle:0.07 Burger:0
+BotSideRad = float(sys.argv[3])#Ausrichtungs Radius. Waffle:68 Burger:0
+SafeDist = float(sys.argv[4])#Sicherheitsabstand
+DestinationX = float(sys.argv[5])#Ziellinie
+Timeout = float(sys.argv[6])#timeout
yawBot = 0.0
WriteFlag = 0
-logtime = "location_monitor_log.txt"
-f = open(logtime, "w+")
+
+logger = logging.getLogger("EventLog")
+logger.setLevel(logging.INFO)
+
+# create a file handler
+handler = logging.FileHandler('location_monitor.log', mode='w')
+handler.setLevel(logging.INFO)
+
+# create a logging format
+formatter = logging.Formatter('%(name)s - %(levelname)s - %(message)s')
+handler.setFormatter(formatter)
+
+# add the file handler to the logger
+logger.addHandler(handler)
# y
# ^
# |
-# | ------- Box muss im rechtem Winkel zur x-Achse sein!
-# | | |
-# | | |
-# | -------
+# | ------- <-Box Box muss im rechtem Winkel zur x-Achse sein!
+# | | | 2 1 2 Kollisionspunkte des Bots falls BotSides != 0
+# | | | \ | /
+# | ------- U <-Bot
# |
# ---------------->x
@@ -44,29 +63,29 @@ class Block:
class Detection:
_blockListDict = {}
- def show_gazebo_models(self, botx, boty):
+ def show_gazebo_models(self, cordlist):
global Timeout
global DestinationX
- global f
global WriteFlag
+ global logger
get_world_properties = rospy.ServiceProxy('/gazebo/get_world_properties', GetWorldProperties)
resp1 = get_world_properties()
if resp1.sim_time >= Timeout:
- print("Simulation Timeout!")
+ rospy.loginfo("Simulation Timeout!")
if WriteFlag == 0:
WriteFlag = 1
- f.write("[T:" + str(resp1.sim_time) + "] " + "Simulation Timeout!" + "\n")
- f.close
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Simulation Timeout!")
+ os._exit(1)
if WriteFlag == 0:
- f.write("[T:" + str(resp1.sim_time) + "] " + "Bot X: " + str(botx) + "\n")
- f.write("[T:" + str(resp1.sim_time) + "] " + "Bot Y: " + str(boty) + "\n")
- if botx >= DestinationX:
- print("Bot reached Destination!")
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Bot X: " + str(cordlist[0]))
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Bot Y: " + str(cordlist[1]))
+ if cordlist[0] >= DestinationX and DestinationX != 0.0:
+ rospy.loginfo("Bot reached Destination!")
if WriteFlag == 0:
WriteFlag = 1
- f.write("[T:" + str(resp1.sim_time) + "] " + "Bot reached Destination!" + "\n")
- f.close
- if botx > 0 and boty > 0:
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Bot reached Destination!")
+ os._exit(1)
+ if cordlist[0] > 0 and cordlist[1] > 0:
i = 0
for model in resp1.model_names:
if ("ball" in str(model)) or ("cylinder" in str(model)) or ("box" in str(model) or ("sphere" in str(model))):
@@ -98,145 +117,106 @@ class Detection:
resp_coordinates = model_coordinates(blockName, block._relative_entity_name)
l_x = resp_coordinates.pose.position.x
l_y = resp_coordinates.pose.position.y
- print(blockName)
- print("X: " + str(l_x))
- print("Y: " + str(l_y))
+ rospy.loginfo(blockName)
+ rospy.loginfo("X: " + str(l_x))
+ rospy.loginfo("Y: " + str(l_y))
if WriteFlag == 0:
- f.write(str(blockName) + "\n")
- f.write("[T:" + str(resp1.sim_time) + "] " + str(blockName) + " X: " + str(l_x) + "\n")
- f.write("[T:" + str(resp1.sim_time) + "] " + str(blockName) + " Y: " + str(l_y) + "\n")
+ logger.info(str(blockName))
+ logger.info("[T:" + str(resp1.sim_time) + "] " + str(blockName) + " X: " + str(l_x))
+ logger.info("[T:" + str(resp1.sim_time) + "] " + str(blockName) + " Y: " + str(l_y))
if block._radius != 0:
-
if "box" in str(blockName):
box_orient_list = [resp_coordinates.pose.orientation.x,resp_coordinates.pose.orientation.y,resp_coordinates.pose.orientation.z,resp_coordinates.pose.orientation.w]
(roll, pitch, yaw) = euler_from_quaternion(box_orient_list)
yaw_degrees = yaw * 180.0 / math.pi
if yaw_degrees < 0:
yaw_degrees += 360.0
- boxkdetection(float(block._radius), botx, boty, l_x, l_y, yaw_degrees, resp1.sim_time)
+ boxkdetection(float(block._radius), cordlist, l_x, l_y, yaw_degrees, resp1.sim_time)
else: #if "sphere" , "cylinder" , "ball" etc.
- objectWithRadiusDetection(float(block._radius), botx, boty, l_x, l_y, str(resp1.sim_time))
+ objectWithRadiusDetection(float(block._radius), cordlist, l_x, l_y, str(resp1.sim_time))
else:
- print("Dist: " + str(dist))
if WriteFlag == 0:
- f.write("[T:" + str(resp1.sim_time) + "] " + "Dist: " + str(dist) + "\n")
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Can't detect " + blockName)
except rospy.ServiceException as e:
rospy.loginfo("Get Model State service call failed: {0}".format(e))
else:
rospy.loginfo("Bot out of tracking Range!((x,y)<0)")
if WriteFlag == 0:
- f.write("[T:" + str(resp1.sim_time) + "] " + "Bot out of tracking Range!((x,y)<0)" + "\n")
- f.close
+ logger.info("[T:" + str(resp1.sim_time) + "] " + "Bot out of tracking Range!((x,y)<0)")
+
def distance(x1, y1, x2, y2):
dist = math.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
return dist
-def objectWithRadiusDetection(radius, botx, boty, l_x, l_y, simtime):
+def objectWithRadiusDetection(radius, cordlist, l_x, l_y, simtime):
global WriteFlag
- global f
+ global logger
global SafeDist
- dist = distance(botx, boty, l_x, l_y)
safedist = radius + SafeDist # Radius/Size + Bot front Rad + safe dist
- print("Safedist: " + str(safedist))
- if WriteFlag == 0:
- f.write("Safedist.: " + str(safedist) + "\n")
- print("Distance: " + str(dist))
- if WriteFlag == 0:
- f.write("[T:" + simtime + "] " + "Dist. To Collision Point: " + str(dist) + "\n")
- if dist < safedist:
- rospy.loginfo("Collision!")
- if WriteFlag == 0:
- f.write("[T:" + simtime + "] " + "Collision!")
- f.close
- WriteFlag = 1
+ rospy.loginfo("Safedist: " + str(safedist))
+ lenght = len(cordlist)-1
+ rospy.loginfo("Distance: " + str(distance(cordlist[0], cordlist[1], l_x, l_y)))
+ for i in range(lenght):
+ dist = distance(cordlist[i], cordlist[i+1], l_x, l_y)
+ if WriteFlag == 0:
+ logger.info("Safedist.: " + str(safedist))
+ logger.info("[T:" + simtime + "] " + "Dist. To Collision Point: " + str(dist))
+ if dist < safedist:
+ rospy.loginfo("Collision!")
+ if WriteFlag == 0:
+ logger.info("[T:" + simtime + "] " + "Collision!")
+ os._exit(1)
-def boxkdetection(size, botx, boty, l_x, l_y, yaw_degrees, simtime):
- global f
+def boxkdetection(size, cordlist, l_x, l_y, yaw_degrees, simtime):
global WriteFlag
+ global SafeDist
if (size * 2.0) > 5.0:
- print("Box to big, > 5m")
+ rospy.loginfo("Box to big, > 5m")
if WriteFlag == 0:
- f.write("[T:" + str(simtime) + "] " + "Box Invalid (size > 5m)" + "\n")
- f.close
+ logger.info("[T:" + str(simtime) + "] " + "Box Invalid (size > 5m)")
else:
- # print("SIZEBOX" + str(size))
- safedist = SafeDist
- #print(str(safedist))
+ safedist = SafeDist
if WriteFlag == 0:
- f.write("Safedist.: " + str(safedist) + "\n")
+ logger.info("Safedist.: " + str(safedist))
xR = l_x + size * math.cos(math.radians(yaw_degrees))
yL = l_y + size * math.sin(math.radians(yaw_degrees))
- #XUr = xR * math.cos(math.radians(45)) - yL * math.sin(math.radians(45))
- #yUr = xR * math.sin(math.radians(45)) + yL * math.cos(math.radians(45))
- #dist1 = distance(botx, boty, XUr, yUr)
-
- #XUl = xR * math.cos(math.radians(135)) - yL * math.sin(math.radians(135))
- #yUl = xR * math.sin(math.radians(135)) + yL * math.cos(math.radians(135))
- #dist2 = distance(botx, boty, XUl, yUl)
-
- #XDl = xR * math.cos(math.radians(225)) - yL * math.sin(math.radians(225))
- #yDl = xR * math.sin(math.radians(225)) + yL * math.cos(math.radians(225))
- #dist3 = distance(botx, boty, XDl, yDl)
-
- #XDr = xR * math.cos(math.radians(315)) - yL * math.sin(math.radians(315))
- #yDr = xR * math.sin(math.radians(315)) + yL * math.cos(math.radians(315))
- #dist4 = distance(botx, boty, XDr, yDr)
-
- #print(str(xR) + " " + str(yL))#korrekt
-
- lineA = ((botx, boty), (l_x, l_y))
- lineB = ((l_x, l_y), (xR, yL))
-
- angle = angle_between(lineA, lineB)
- disangle = angle
- angle1 = angle
- if angle > 45:
- disangle = 90 - angle;
- #print("Angle: " + str(angle))#korrekt
- dis = (size) / math.cos(math.radians(disangle))
- # print("Dist from center do edge: " + str(dis))
-
- #f dist1 < dist2 and dist1 < dist3 and dist1 < dist4:
- # angle2 = angle
- #if dist2 < dist1 and dist2 < dist3 and dist2 < dist4:
- # angle2 = 180 - angle
- #if dist3 < dist1 and dist3 < dist2 and dist3 < dist4:
- # angle2 = 180 + angle
- #if dist4 < dist1 and dist4 < dist2 and dist4 < dist3:
- # angle2 = 360 - angle
-
- if botx < l_x and boty > l_y:
- angle1 = 180 - angle
- if botx < l_x and boty < l_y:
- angle1 = 180 + angle
- if botx > l_x and boty < l_y:
- angle1 = 360 - angle
-
- #print("Angle1: " + str(angle2))
- dynX = l_x + dis * math.cos(math.radians(angle1))
- dynY = l_y + dis * math.sin(math.radians(angle1))
-
- #dynX = l_x + dis * math.cos(math.radians(angle2))
- #dynY = l_y + dis * math.sin(math.radians(angle2))
-
- #print("DynX : " + str(dynX))
- #print("DynY : " + str(dynY))
- distult = distance(botx, boty, dynX, dynY)
- if WriteFlag == 0:
- f.write("[T:" + str(simtime) + "] " + "Dist to collision point: " + str(distult) + "\n")
- print("Dist to collision point: " + str(distult))
- if distult < safedist:
- rospy.loginfo("Collision!")
- if WriteFlag == 0:
- f.write("[T:" + str(simtime) + "] " + "Collision!")
- f.close
- WriteFlag = 1
+ lenght = len(cordlist) - 1
+
+ for i in range(lenght):
+ lineA = ((cordlist[i], cordlist[i+1]), (l_x, l_y))
+ lineB = ((l_x, l_y), (xR, yL))
+
+ angle = angle_between(lineA, lineB)
+ disangle = angle
+ angle1 = angle
+ if angle > 45:
+ disangle = 90 - angle;
+ dis = (size) / math.cos(math.radians(disangle))
+ if cordlist[i] < l_x and cordlist[i+1] > l_y:
+ angle1 = 180 - angle
+ if cordlist[i] < l_x and cordlist[i+1] < l_y:
+ angle1 = 180 + angle
+ if cordlist[i] > l_x and cordlist[i+1] < l_y:
+ angle1 = 360 - angle
+
+ dynX = l_x + dis * math.cos(math.radians(angle1))
+ dynY = l_y + dis * math.sin(math.radians(angle1))
+
+ distult = distance(cordlist[i], cordlist[i+1], dynX, dynY)
+ if WriteFlag == 0:
+ logger.info("[T:" + str(simtime) + "] " + "Dist to collision point: " + str(distult))
+ rospy.loginfo("Dist to collision point: " + str(distult))
+ if distult < safedist:
+ rospy.loginfo("Collision!")
+ if WriteFlag == 0:
+ logger.info("[T:" + str(simtime) + "] " + "Collision!")
+ os._exit(1)
def slope(x1, y1, x2, y2): # Line slope given two points:
@@ -265,25 +245,37 @@ def get_rotation (msg):
yaw_degrees = yaw * 180.0 /math.pi
if yaw_degrees <0:
yaw_degrees += 360.0
- #print("Yaw:" + str(yaw_degrees))
+ #rospy.loginfo("Yaw:" + str(yaw_degrees))
yawBot = yaw_degrees
def callback(msg):
global BotDist
global yawBot
+ global BotSides
+ global BotSideRad
get_rotation(msg)
botx = msg.pose.pose.position.x
boty = msg.pose.pose.position.y
botx = botx + BotDist * math.cos(math.radians(yawBot))
boty = boty + BotDist * math.sin(math.radians(yawBot))
- print("BotX: " + str(botx))
- print("BotY: " + str(boty))
+ rospy.loginfo("BotX: " + str(botx))
+ rospy.loginfo("BotY: " + str(boty))
detect = Detection()
- detect.show_gazebo_models(botx, boty)
+
+ cordlist = [botx,boty]
+
+ if BotSides !=0:
+ cordlist.append(botx + BotSides * math.cos(math.radians(yawBot+BotSideRad)))
+ cordlist.append(boty + BotSides * math.sin(math.radians(yawBot+BotSideRad)))
+
+ cordlist.append(botx + BotSides * math.cos(math.radians(yawBot-BotSideRad)))
+ cordlist.append(boty + BotSides * math.sin(math.radians(yawBot-BotSideRad)))
+ detect.show_gazebo_models(cordlist)
gc.collect()
+
def main():
rospy.init_node('location_monitor') #Node in gang bringen
try:
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
index 817e79817ef0277813b528d3d0a98150eab793ea..79722ddee1a839e304d7fe54d6048ce40d3b1a58 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
@@ -116,7 +116,7 @@
</scan>
<range>
<min>0.120</min>
- <max>3.5</max>
+ <max>16</max>
<resolution>0.015</resolution>
</range>
<noise>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
index d066759457e2090775774ff74cdfa7d975234193..c8b1e556b91acdbf81840a28ac89b0c14db1619c 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+ <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
<link name="base_footprint"/>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
index ee2326848f0cc502c3bd5fd9f45c814b805ba078..351b1b4d436dac7c4f1fcfc4803c8a1bdeb96b55 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>
+ <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
index 46cf4a9f0d7fdd1002d83fb53a14d2fad5640c24..e9995c50ad68c654611c3f6fd976ca7878fae492 100644
--- a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
- <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+ <xacro:include filename="$(find sim)/bot.gazebo.xacro"/>
<link name="base_footprint"/>
diff --git a/src/test/compiler/Program.cs b/src/test/compiler/Program.cs
index 037e8c502f03b6a1f6fed7d0f152f61f8ed798c3..a7bf3958ce9c9ccbcf3b17605f686468213fbb19 100644
--- a/src/test/compiler/Program.cs
+++ b/src/test/compiler/Program.cs
@@ -39,7 +39,7 @@ namespace compiler
try
{
var rootNode = rootNodes[i];
- var path = Path.Combine(targetDirectory, @$"{baseName}-{i}");
+ var path = Path.Combine(targetDirectory, @$"{baseName}/{i}");
Directory.CreateDirectory(path);
TestWriter.WriteAll(path, rootNode);
}
diff --git a/src/test/compiler/ConfigWriter.cs b/src/test/compiler/Writer/ConfigWriter.cs
similarity index 100%
rename from src/test/compiler/ConfigWriter.cs
rename to src/test/compiler/Writer/ConfigWriter.cs
diff --git a/src/test/compiler/IWriter.cs b/src/test/compiler/Writer/IWriter.cs
similarity index 100%
rename from src/test/compiler/IWriter.cs
rename to src/test/compiler/Writer/IWriter.cs
diff --git a/src/test/compiler/WorldWriter.cs b/src/test/compiler/Writer/WorldWriter.cs
similarity index 100%
rename from src/test/compiler/WorldWriter.cs
rename to src/test/compiler/Writer/WorldWriter.cs
diff --git a/src/test/testfaelle/Test1.uml b/src/test/testfaelle/Test1.uml
new file mode 100644
index 0000000000000000000000000000000000000000..97e219656a1d632a3fcde4706aff695fecb44d23
--- /dev/null
+++ b/src/test/testfaelle/Test1.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test1">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=0, y=5)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder (x=5, y=5, r=0.1, h=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test13.uml b/src/test/testfaelle/Test13.uml
new file mode 100644
index 0000000000000000000000000000000000000000..c260c7f008d5b65f4567a9b6db047d3f86bd6342
--- /dev/null
+++ b/src/test/testfaelle/Test13.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test13">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=1,y=5,r=1, h=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test14.uml b/src/test/testfaelle/Test14.uml
new file mode 100644
index 0000000000000000000000000000000000000000..e79924e1bb81d68efb547a8d9cbad73754dfca28
--- /dev/null
+++ b/src/test/testfaelle/Test14.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test14">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=1,y=5,r=0.1, h=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test15.uml b/src/test/testfaelle/Test15.uml
new file mode 100644
index 0000000000000000000000000000000000000000..339ffe192e7dbd68ab8a8a673248b306907cc9e8
--- /dev/null
+++ b/src/test/testfaelle/Test15.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test15">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=1,y=5,r=1, h=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test16.uml b/src/test/testfaelle/Test16.uml
new file mode 100644
index 0000000000000000000000000000000000000000..ce01a2ed0f2699ee977a8302fb970edc6a8f085f
--- /dev/null
+++ b/src/test/testfaelle/Test16.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test16">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=3,y=5,r=0.1, h=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test17.uml b/src/test/testfaelle/Test17.uml
new file mode 100644
index 0000000000000000000000000000000000000000..a13982c33b18e1cdbdec512ce8d39ca60533c0ec
--- /dev/null
+++ b/src/test/testfaelle/Test17.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test17">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=3,y=5,r=1, h=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test18.uml b/src/test/testfaelle/Test18.uml
new file mode 100644
index 0000000000000000000000000000000000000000..e8f1658aeb764e047929bb4376c289a426193fed
--- /dev/null
+++ b/src/test/testfaelle/Test18.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test18">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere (x=1, y=5, r=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test19.uml b/src/test/testfaelle/Test19.uml
new file mode 100644
index 0000000000000000000000000000000000000000..434310308b39684c2df711f87ab89612ed5d71b8
--- /dev/null
+++ b/src/test/testfaelle/Test19.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test19">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere (x=1, y=5, r=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test2.uml b/src/test/testfaelle/Test2.uml
new file mode 100644
index 0000000000000000000000000000000000000000..724c18eef15bb8111183b18a6fcea30c7a277adc
--- /dev/null
+++ b/src/test/testfaelle/Test2.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test2">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=0, y=5)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere (x=5, y=5, r=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test20.uml b/src/test/testfaelle/Test20.uml
new file mode 100644
index 0000000000000000000000000000000000000000..1b4b325eb9d7be0ae3e04222fcd0da8b0aedad4b
--- /dev/null
+++ b/src/test/testfaelle/Test20.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test20">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere(x=1, y=5, r=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test21.uml b/src/test/testfaelle/Test21.uml
new file mode 100644
index 0000000000000000000000000000000000000000..518e06d8cc60fefc13e4f81f47a8c99f47649a54
--- /dev/null
+++ b/src/test/testfaelle/Test21.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test21">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere(x=3, y=5, r=0.1,)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test22.uml b/src/test/testfaelle/Test22.uml
new file mode 100644
index 0000000000000000000000000000000000000000..306d3c6868a843d20b0ecd58b5676bbacd10fc80
--- /dev/null
+++ b/src/test/testfaelle/Test22.uml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test22">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30
+</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= sphere (x=3, y=5, r=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test3.uml b/src/test/testfaelle/Test3.uml
new file mode 100644
index 0000000000000000000000000000000000000000..c7538f8430ac0da44cdb48078ec154165b296eb3
--- /dev/null
+++ b/src/test/testfaelle/Test3.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test3">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=0, y=5)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=5,y=5,s=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test4.uml b/src/test/testfaelle/Test4.uml
new file mode 100644
index 0000000000000000000000000000000000000000..6cede43e58bf51bc5675deb522151c8a52eda4d8
--- /dev/null
+++ b/src/test/testfaelle/Test4.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test4">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=3,y=5,s=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test5.uml b/src/test/testfaelle/Test5.uml
new file mode 100644
index 0000000000000000000000000000000000000000..2ae64467f0adc49e1ef92855fc69af40314d2d4f
--- /dev/null
+++ b/src/test/testfaelle/Test5.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test5">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=1,y=5,s=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test6.uml b/src/test/testfaelle/Test6.uml
new file mode 100644
index 0000000000000000000000000000000000000000..d2399613343d9adcd97a2243531b978f644fb9c4
--- /dev/null
+++ b/src/test/testfaelle/Test6.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test6">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=1,y=5,s=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test7.uml b/src/test/testfaelle/Test7.uml
new file mode 100644
index 0000000000000000000000000000000000000000..3680797c23d0fd1ac1c9104c17906daf10b94a1d
--- /dev/null
+++ b/src/test/testfaelle/Test7.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test7">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=1,y=5,s=1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [1, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test8.uml b/src/test/testfaelle/Test8.uml
new file mode 100644
index 0000000000000000000000000000000000000000..3defceba77f58fce1da87a09849c8b36733f2acc
--- /dev/null
+++ b/src/test/testfaelle/Test8.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test8">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= box(x=3,y=5,s=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>
diff --git a/src/test/testfaelle/Test9.uml b/src/test/testfaelle/Test9.uml
new file mode 100644
index 0000000000000000000000000000000000000000..cfcf5afe71852e9f6ee8b7c0968afe20d5495135
--- /dev/null
+++ b/src/test/testfaelle/Test9.uml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<uml:Model xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xmi:id="_wSJZEBEkEeqcA7mMSE3b-A" name="Test9">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_wUOcsBEkEeqcA7mMSE3b-A">
+ <importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Activity" xmi:id="_sz7wUBElEeqcA7mMSE3b-A" name="Activity" node="_7EGDQBElEeqcA7mMSE3b-A _8WVuQBElEeqcA7mMSE3b-A _8peKADhTEeqhK-Tr1AkfpA _PSC0ADz8EeqwwvtZSXxI_A _8Pbz0Dz9EeqwwvtZSXxI_A">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_N2YasDbPEeqLi4nplbzrvQ" annotatedElement="_8WVuQBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_5xeOgDz7EeqwwvtZSXxI_A" annotatedElement="_sz7wUBElEeqcA7mMSE3b-A">
+ <body>t=0</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_XECJoDz8EeqwwvtZSXxI_A" annotatedElement="_PSC0ADz8EeqwwvtZSXxI_A">
+ <body>t >=30</body>
+ </ownedComment>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_USsZsBEmEeqcA7mMSE3b-A" target="_8WVuQBElEeqcA7mMSE3b-A" source="_7EGDQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_2srn0Dz7EeqwwvtZSXxI_A" target="_8peKADhTEeqhK-Tr1AkfpA" source="_8WVuQBElEeqcA7mMSE3b-A"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_Sb6vADz8EeqwwvtZSXxI_A" target="_PSC0ADz8EeqwwvtZSXxI_A" source="_8peKADhTEeqhK-Tr1AkfpA"/>
+ <edge xmi:type="uml:ControlFlow" xmi:id="_g_viwEUpEeq-Z_ECULnOOQ" target="_8Pbz0Dz9EeqwwvtZSXxI_A" source="_PSC0ADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:InitialNode" xmi:id="_7EGDQBElEeqcA7mMSE3b-A" name="Start" outgoing="_USsZsBEmEeqcA7mMSE3b-A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8WVuQBElEeqcA7mMSE3b-A" name="spawn: vehicle f(x=1, y=1)" incoming="_USsZsBEmEeqcA7mMSE3b-A" outgoing="_2srn0Dz7EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_8peKADhTEeqhK-Tr1AkfpA" name="spawn: obstacle s= cylinder(x=1,y=5,r=0.1, h=0.1)" incoming="_2srn0Dz7EeqwwvtZSXxI_A" outgoing="_Sb6vADz8EeqwwvtZSXxI_A"/>
+ <node xmi:type="uml:OpaqueAction" xmi:id="_PSC0ADz8EeqwwvtZSXxI_A" name="constraint: distance(f, s) in [0.5, 2]" visibility="protected" incoming="_Sb6vADz8EeqwwvtZSXxI_A" outgoing="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ <node xmi:type="uml:FlowFinalNode" xmi:id="_8Pbz0Dz9EeqwwvtZSXxI_A" name="Final_Node" incoming="_g_viwEUpEeq-Z_ECULnOOQ"/>
+ </packagedElement>
+</uml:Model>