text: from controller import Robot
  
  robot = Robot()
  timestep = int(robot.getBasicTimeStep())
  
  leftmotor = robot.getDevice('motor_1')
  rightmotor = robot.getDevice('motor_2')
  leftmotor.setPosition(float('inf'))
  rightmotor.setPosition(float('inf'))
  
  irl2 = robot.getDevice('IRL2')
  irl1 = robot.getDevice('IRL1')
  ircl = robot.getDevice('IRCL')
  ircr = robot.getDevice('IRCR')
  irr1 = robot.getDevice('IRR1')
  irr2 = robot.getDevice('IRR2')
  
  irl2.enable(timestep)
  irl1.enable(timestep)
  ircl.enable(timestep)
  ircr.enable(timestep)
  irr1.enable(timestep)
  irr2.enable(timestep)
  
  while robot.step(timestep) != -1:  
      rightmotor.setVelocity(1)
      leftmotor.setVelocity(1)
      
      irl2_val = irl2.getValue()
      irl1_val = irl1.getValue()
      ircl_val = ircl.getValue()
      ircr_val = ircr.getValue()
      irr1_val = irr1.getValue()
      irr2_val = irr2.getValue()
      
      print('{:.2f} {:.2f} {:.2f} {:.2f} {:.2f} {:.2f}'.format(irl2_val, irl1_val, ircl_val, ircr_val, irr1_val, irr2_val))