&SOPHIA2 walks to spot 0.530 252 352 in zone 1 in 2 AND SOPHIA2 does it while walk_neutral AND SOPHIA2 faces right
@SOPHIA walks to spot 0.578 288 322 in zone 1 in 2 AND SOPHIA does it while walk_rear AND SOPHIA faces right
&SOPHIA is rear AND SOPHIA faces right
@SOPHIA2 spot 0.530 244 352 in zone 1 AND SOPHIA2 is idle_exhausted