[TeamTalk 360]: [896] trunk/usarsim: 1) Removing comments from USARBot.ini
bfrisch@edam.speech.cs.cmu.edu
bfrisch at edam.speech.cs.cmu.edu
Thu Jan 10 15:41:52 EST 2008
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Modified: trunk/usarsim/System/USARBot.ini
===================================================================
--- trunk/usarsim/System/USARBot.ini 2008-01-10 20:33:58 UTC (rev 895)
+++ trunk/usarsim/System/USARBot.ini 2008-01-10 20:41:52 UTC (rev 896)
@@ -1,435 +1,433 @@
-[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=0.0
-Sigma=0.1
-
-[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]
-SensingMode=Attenuation ;may be: Radius, Obstacle, Attenuation
-MaxRange=3 ;Used only by Radius and Obstacle mode
-;Sensor params used in attenuation mode:
-dBmTXPower=36
-dBmRXSensibility=-88
-dBObstacleAttenuation=3.5
-;Other params:
-bTraceRFIDs=false ;Draw 3D lines from sensor to rfid tag
-bAlwaysReadRFIDmem=false
-HiddenSensor=true
-bWithTimeStamp=true
-Weight=0.4
-
-[USARBot.RFIDReleaser]
-NumTags=5
-
-[USARBot.RFIDTag]
-MemorySize=2048
-
-[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))
-HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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
-HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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))
-HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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))
-HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight1",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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=5.000000
-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.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=0.0
+Sigma=0.1
+
+[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]
+SensingMode=Attenuation ;may be: Radius, Obstacle, Attenuation
+MaxRange=3 ;Used only by Radius and Obstacle mode
+dBmTXPower=36
+dBmRXSensibility=-88
+dBObstacleAttenuation=3.5
+bTraceRFIDs=false ;Draw 3D lines from sensor to rfid tag
+bAlwaysReadRFIDmem=false
+HiddenSensor=true
+bWithTimeStamp=true
+Weight=0.4
+
+[USARBot.RFIDReleaser]
+NumTags=5
+
+[USARBot.RFIDTag]
+MemorySize=2048
+
+[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))
+HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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
+HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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))
+HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=0.0,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))
@@ Diff output truncated at 60000 characters. @@
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