[TeamTalk 77]: [614] usarsim/System: Adding missing files from system directory.
tk@edam.speech.cs.cmu.edu
tk at edam.speech.cs.cmu.edu
Tue May 15 09:57:31 EDT 2007
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Added: usarsim/System/Hook.dll
===================================================================
(Binary files differ)
Property changes on: usarsim/System/Hook.dll
___________________________________________________________________
Name: svn:mime-type
+ application/octet-stream
Added: usarsim/System/USARBot.ini
===================================================================
--- usarsim/System/USARBot.ini (rev 0)
+++ usarsim/System/USARBot.ini 2007-05-15 13:57:30 UTC (rev 614)
@@ -0,0 +1,791 @@
+[USARBot.USARConverter]
+C_MeterToUU=250
+;C_MeterToUU=52.5
+;C_AngleToDegree=1;
+;C_AngleToURot=182.0444444;
+C_AngleToDegree=57.2957795131;
+C_AngleToURot=10430.3783505;
+RightHand=true
+NumberPrecision=4
+
+[USARBot.Sensor]
+HiddenSensor=true
+
+[USARBot.OdometrySensor]
+HiddenSensor=true
+ScanInterval=0.2
+EncoderResolution=0.01
+;LeftTire=LeftMWheel
+;RightTire=RightMWheel
+
+[USARBot.GPSSensor]
+HiddenSensor=true
+
+[USARBot.INSSensor]
+Mean=0.1
+Sigma=0.05
+
+[USARBot.GroundTruth]
+ScanInterval=0.2
+bWithTimeStamp=True
+
+[USARBot.EncoderSensor]
+Noise=0.005
+Resolution=0.01745
+
+[USARBot.SonarSensor]
+HiddenSensor=true
+MaxRange=5
+BeamAngle=0.3491
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=5.000000,OutVal=5.000000)))
+bWithTimeStamp=True
+
+[USARBot.RangeScanner]
+HiddenSensor=False
+MaxRange=20.000000
+ScanInterval=.20
+Resolution=0.01745
+ScanFov=3.1415
+;ScanFov=0.018
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARModels.Hokuyo]
+HiddenSensor=False
+MaxRange=4.000000
+ScanInterval=0.4
+Resolution=0.0174533
+ScanFov=4.712389
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARModels.S300_scanner]
+HiddenSensor=False
+MaxRange=20.000000
+ScanInterval=0.2
+Resolution=0.0174533
+ScanFov=4.712389
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARBot.IRScanner]
+HiddenSensor=False
+MaxRange=20.000000
+MinRange=0.100000
+ScanInterval=1.0
+Resolution=0.01745
+ScanFov=3.1415
+bPitch=false
+bYaw=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARBot.IRCamera]
+MaxRange=4.000000
+ScanInterval=1.0
+Fov=1.0472
+HorResolution=0.01534
+VerResolution=0.01150
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
+
+[USARBot.RangeScanner3D]
+MaxRange=4.000000
+ScanInterval=0.5
+VerticalFOV=1.5708
+HorizontalFOV=1.7454
+VerticalResolution=0.07854
+HorizontalResolution=0.08727
+
+[USARBot.HumanMotionSensor]
+HiddenSensor=True
+MaxRange=4
+FOV=1.0472
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
+
+[USARBot.RobotCamera]
+CameraDefFov=0.7854 ; 45 deg
+CameraMinFov=0.3491 ; 20 deg
+CameraMaxFov=2.0944 ; 120 deg
+
+[USARBot.VictSensor]
+HiddenSensor=True
+Distance=6
+HorizontalFOV=0.6981317 ;40 degrees
+HorizontalStep=0.0698131 ;4 degrees
+VerticalFOV=0.6981317 ;40 degrees
+VerticalStep=0.0698131 ;4 degrees
+bWithTimeStamp=true
+bShowResults=false ; Graphically show where the traces hit
+Mean=0.0
+Sigma=0.01
+
+[USARBot.RFIDSensor]
+bAlwaysReadRFIDmem=true
+
+[USARBot.RFIDReleaser]
+NumTags=5
+
+[USARBot.TouchSensor]
+Diameter=0.005
+
+[USARBot.CO2Sensor]
+ValidRange=(Min=0,Max=100)
+
+[USARBot.Gripper]
+;LeftFinger=LeftFinger
+;RightFinger=RightFinger
+MaxAngle=1.57
+
+[USARBot.ViewTestPlayerController]
+EnemyTurnSpeed=45000
+InputClass=Class'Engine.PlayerInput'
+bDebuggingVoiceChat=False
+bAutoDemoRec=False
+MidGameMenuClass=GUI2K4.UT2K4DisconnectOptionPage
+DemoMenuClass=GUI2K4.UT2K4DemoPlayback
+AdminMenuClass=GUI2K4.RemoteAdmin
+ChatPasswordMenuClass=GUI2K4.UT2K4ChatPassword
+
+[USARBot.KRobot]
+ChassisMass=2.000000
+TorqueCurve=(Points=())
+FlipTorque=350.000000
+FlipTime=3.000000
+msgTimer=0.2
+bDebug=False
+
+[USARBot.P2AT]
+bDebug=False
+Weight=14
+Payload=40
+ChassisMass=1.000000
+MotorTorque=40.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.StereoP2AT]
+bDebug=False
+Weight=14
+Payload=40
+ChassisMass=1.000000
+MotorTorque=40.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=-0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0)) ; Left Eye
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0)) ; Right Eye
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.P2DX]
+bDebug=false
+Weight=9
+Payload=20
+ChassisMass=2.000000
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RearWheel",PartClass=class'USARModels.P2DXSmallTire',DrawScale3D=(X=1.0,Y=0.5,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-0.1919998,Z=0.167857),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.039999958,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.2876214,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.114999875,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.15499984,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.1899998,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.20999977,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.20999977,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.1899998,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.15499984,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.114999875,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.055999942,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECLeft",Parent="LeftFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECTilt",Parent="CameraPanTilt_Link2",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECPan",Parent="CameraPanTilt_Link1",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=1.5707964,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0.0,X=-0.1523808,Z=0.142857),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+
+[USARBot.ATRVJr]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=2.000000
+MotorTorque=100.0
+MaxTorque=150.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=-0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=-0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.124,Z=-0.14),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S1",Position=(X=0.33495012,Y=-0.104390375,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S2",Position=(X=0.34040916,Y=-0.049910426,Z=-0.0),Direction=(Y=0.0,Z=-0.26183134,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S3",Position=(X=0.3470606,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S4",Position=(X=0.34040916,Y=0.049910426,Z=-0.0),Direction=(Y=0.0,Z=0.26183134,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S5",Position=(X=0.33495012,Y=0.104390375,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S6",Position=(X=0.23023024,Y=0.17499982,Z=-0.0),Direction=(Y=0.0,Z=0.7853982,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S7",Position=(X=0.17248991,Y=0.17859982,Z=-0.0),Direction=(Y=0.0,Z=1.0472295,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S8",Position=(X=0.117199875,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.308965,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S9",Position=(X=0.07226088,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S10",Position=(X=-0.2951654,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S11",Position=(X=-0.3470606,Y=0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S12",Position=(X=-0.3470606,Y=-0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S13",Position=(X=-0.2951654,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S14",Position=(X=0.07226088,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S15",Position=(X=0.117199875,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.308965,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S16",Position=(X=0.17248991,Y=-0.17859982,Z=-0.0),Direction=(Y=0.0,Z=-1.0472295,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S17",Position=(X=0.23023024,Y=-0.17499982,Z=-0.0),Direction=(Y=0.0,Z=-0.7853982,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMSr',ItemName="Scanner1",Position=(X=0.2759997,Y=0.0,Z=-0.06399993),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Zerg]
+ChassisMass=4.000000
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="LeftFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="RightFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="LeftRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="RightRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0380952,Z=-0.05728),PkgClass=Class'USARMisPkg.PGCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(X=0.0,Z=0.0,Y=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0,Y=0,Z=0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.RangeScanner',ItemName="Scanner1",Position=(X=0.09333324,Y=0.0,Z=-0.0857142),Direction=(x=0.0,y=0.0,z=0.0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="Scanner2",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0,X=-5,Z=0),Direction=(Y=0,Z=32768,X=0))
+
+[USARBot.Talon]
+ChassisMass=2.000000
+MotorTorque=450.0
+MaxTorque=450.0
+Weight=34
+Payload=45
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="RightTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=-0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="TalonArm",Location=(X=0.2752381,Y=0.0,Z=-0.00571429),PkgClass=Class'USARMisPkg.TalonArm')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TalonArm_Link3",Position=(Y=0.0,X=-0.0380952,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ACam",Parent="TalonArm_Link2",Position=(X=0.0761904,Y=0.06285708,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="FCam",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="RCam",Parent="",Position=(X=-0.32380918,Y=-0.03238092,Z=-0.22095215),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0,Z=0,X=0))
+
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TalonArm_Link3",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.TeleMax]
+ChassisMass=2.000000
+MotorTorque=300.0
+MaxTorque=300.0
+Weight=34
+Payload=45
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="FRFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="FRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="FLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="RRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="RLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+MisPkgs=(PkgName="TeleMaxArm",Location=(Y=0.0,X=0.1742,Z=-0.0843),PkgClass=Class'USARMisPkg.TeleMaxArm')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TeleMaxArm_Link6",Position=(X=0.076,Y=0.028,Z=-0.044),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="EFCam",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=-0.098175.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ERCam",Parent="TeleMaxArm_Link4",Position=(X=-0.032,Y=-0.02,Z=0),Direction=(Y=0.0,Z=3.141593,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="BCam",Parent="TeleMaxArm_Link1",Position=(X=0.056,Y=-0.008,Z=-0.236),Direction=(Y=-0.1963495,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TeleMaxArm_Link7",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARModels.TarantulaFrontTrack]
+MaxTTiresNum=8
+
+[USARModels.TarantulaRearTrack]
+MaxTTiresNum=8
+
+[USARBot.Tarantula]
+ChassisMass=2.000000
+MotorTorque=450.0
+MaxTorque=450.0
+MotorSpeed=0.349
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="FRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
+JointParts=(PartName="FLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=-0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
+JointParts=(PartName="RRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
+JointParts=(PartName="RLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=-0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
+JointParts=(PartName="FRTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="FLTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="RRTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="RLTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner',ItemName="Scanner1",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="TarantulaRangeScanner3D",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFIDReader",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR1",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR2",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=-0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR3",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR4",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=-0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Position=(X=0.0,Y=0.0,Z=0.0095238),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Hummer]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.SnowStorm]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.GPSSensor',ItemName="GPS",Position=(X=0.0,Y=0.0,Z=-1.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,Z=0.0,X=0.0))
+
+[USARBot.Sedan]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=-1.2666667,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=-1.2666667,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=1.0857143,Z=-0.8857143),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Cooper]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.CooperTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.CooperTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.CooperTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=-1.080244,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.CooperTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=-1.080244,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Submarine]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=2.000000
+bMountByUU=False
+JointParts=(PartName="Propeller1",PartClass=class'USARModels.SubmarinePropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-4.266662,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="Rudder1",PartClass=class'USARModels.SubmarineRudder',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.047616,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="SternPlane1",PartClass=class'USARModels.SubmarineSternPlane',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.657139,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.83809435,Z=-0.420571),PkgClass=Class'USARMisPkg.UnderwaterCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.Pinger',ItemName="Scanner1",Position=(X=-0.9904752,Y=0.0,Z=0.42476144),Direction=(Y=-1.5707964,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.0,X=2.0857122,Z=-0.0),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.AirRobot]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=1
+bMountByUU=False
+JointParts=(PartName="Counter_Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Counter_Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0,Z=-0.09272),PkgClass=Class'USARMisPkg.AirRobotCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link1",Position=(Y=0.008,X=0.024,Z=-0.0008),Direction=(X=0.0,Z=0.0,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.ERS]
+ChassisMass=0.630000
+MaxTorque=60.0
+MotorTorque=20.0
+MotorSpeed=2.79
+;MotorSpeed=6
+HingePropGap=1800.0
+TorqueCurve=(Points=)
+FlipTorque=350.0
+FlipTime=3.0
+msgTimer=0.2
+batteryLife=3600
+bDebug=False
+bDisplayTeamBeacon=False
+bDesiredBehindView=False
+MaxNetUpdateInterval=0.1
+TPCamDistance=600.0
+bMountByUU=False
+RobotSkins=(Name="",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7DefaultSkin',Comment="Default Texture")
+RobotSkins=(Name="RED",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7RedSkin',Comment="Red Texture")
+RobotSkins=(Name="BLUE",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7BlueSkin',Comment="Blue Texture")
+JointParts=(PartName="RFA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RFB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.022400001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RRA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="RRB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.020000001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="LFA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=-0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LFB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.022400001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="LFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=-0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LRA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=-0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="LRB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.020000001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="LRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=-0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="HA",PartClass=Class'USARModels.ERSha',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.068624005,Y=0.0,Z=-0.017856002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="HB",PartClass=Class'USARModels.ERShb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.080740005),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="HC",PartClass=Class'USARModels.ERShc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+Sensors=(ItemClass=Class'USARBot.ERSirNear',Parent="HC",ItemName="IRN",Position=(X=0.084148005,Y=0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.ERSirFar',Parent="HC",ItemName="IRF",Position=(X=0.084148005,Y=-0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.ERSirEdge',Parent=,ItemName="EDG",Position=(X=0.116000004,Y=0.0,Z=0.0073400005),direction=(Y=-0.52356684,Z=0.0,X=0.0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RFC",ItemName="RFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LFC",ItemName="LFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RRC",ItemName="RRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LRC",ItemName="LRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
+Sensors=(ItemClass=Class'USARBot.AccelerationSensor',Parent=,ItemName="ACC",Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.BallHSensor',Parent="HC",ItemName="BHS",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=Class'USARBot.AIBOCamera',Parent="HC",ItemName="Camera",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
+Headlight=(ItemClass=None,Parent=,ItemName=,Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.QRIO]
+msgTimer=0.2
+ChassisMass=1.0
+MaxTorque=60.0
+MotorTorque=50.0
+MotorSpeed=1.92
+HingePropGap=1820
+bDesiredBehindView=False
+MaxNetUpdateInterval=0.1
+bMountByUU=False
+JointParts=(PartName="HT",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=0.2,Y=0.2,Z=0.2),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0321,Y=0.0017000001,Z=-0.24400002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="HP",PartClass=class'USARModels.QRIOHead',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="HT",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="RAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=0.208588,Z=-0.10398801),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RAB",PartClass=class'USARModels.QRIORAB',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAA",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RAC",PartClass=class'USARModels.QRIORAC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.023644,Y=-8.000001E-6,Z=0.189224),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=-0.20522001,Z=-0.10399601),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
@@ Diff output truncated at 60000 characters. @@
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