Forgot to merge branch on desktop end, so merging that CleanUp branch now.

Managed to fix sort pooling communications and lightReadings. Need to think about how to add ctrl-c capture, rethink pooling finish and logging extraction

Simulation working well - with new obstacle avoidance and movement. Also explicit handling of the light sensors has been added to reduce time delay. Now working in real time with five agents in the ODE physics engine

Sorted out the epuck movement to a target location. Now just need to rethink the structure of the controller with when the movement happens in mind.

Making changes to the movement to make simpler like in the real robots. Everything runs but there is a bug which is stopping the agent from moving anywhere.

Currently broken the avoidance - trying to migrate the movement and avoidance from the real epucks over as it's less complicated and smoother

No errors been thrown initially but still need to check whether managing to run a full simulation. Have seen no evidence of pooling or messaging yet.

Needed to change self.belief to newBeleif and actually set self.belief as the newBelief in updateBelief

Working fine with multiple agents. Now want to restructure logging so that we can get the belief change of the agents in time

Fixed a set of problems with the threading, so now all threads are killed cleanly when the program finishes.

Trying to fix thread issue on stopping simulation, currently have just turned them all into daemon threads...