[TeamTalk 364]: [900] trunk/usarsim: 1) update from sourceforge
tk@edam.speech.cs.cmu.edu
tk at edam.speech.cs.cmu.edu
Mon Jan 14 15:12:18 EST 2008
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Added: trunk/usarsim/Doc/IUB_README.txt
===================================================================
--- trunk/usarsim/Doc/IUB_README.txt (rev 0)
+++ trunk/usarsim/Doc/IUB_README.txt 2008-01-14 20:12:18 UTC (rev 900)
@@ -0,0 +1,21 @@
+How to Install
+==============
+Extract the package to your UT2004 directory and recompile USARBot.
+
+
+Notes
+=====
+Known bug: The camera does not behave properly when rotated. Shall be fixed
+soon.
+
+Credits
+=======
+Developed by:
+Stefan Markov
+Ivan Delchev
+Mentar Mahmudi
+
+at IUB, 2005 under the supervision of Prof. Stefano Carpin.
+
+Please send bugs to:
+s.markov at iu-bremen.de
\ No newline at end of file
Added: trunk/usarsim/Doc/SampleRobotDescription.doc
===================================================================
(Binary files differ)
Property changes on: trunk/usarsim/Doc/SampleRobotDescription.doc
___________________________________________________________________
Name: svn:executable
+ *
Name: svn:mime-type
+ application/octet-stream
Modified: trunk/usarsim/System/USARBot.ini
===================================================================
--- trunk/usarsim/System/USARBot.ini 2008-01-14 17:38:38 UTC (rev 899)
+++ trunk/usarsim/System/USARBot.ini 2008-01-14 20:12:18 UTC (rev 900)
@@ -26,7 +26,7 @@
Sigma=0.1
[USARBot.GroundTruth]
-ScanInterval=0.2
+ScanInterval=0.05
bWithTimeStamp=True
[USARBot.EncoderSensor]
@@ -43,7 +43,7 @@
[USARBot.RangeScanner]
HiddenSensor=False
MaxRange=20.000000
-ScanInterval=.20
+ScanInterval=.2
Resolution=0.01745
ScanFov=3.1415
;ScanFov=0.018
@@ -127,9 +127,11 @@
[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
@@ -201,7 +203,7 @@
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'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.012),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))
@@ -428,6 +430,7 @@
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))
+>>>>>>> 1.85
[USARBot.UnitLoader]
bDebug=False
Weight=50
@@ -440,10 +443,17 @@
JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=0.30,Z=0.2),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.UnitLoaderTireRight',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.30,X=-0.30,Z=0.2),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.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=-0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+<<<<<<< USARBot.ini
JointParts=(PartName="Light",PartClass=class'USARModels.SpinLight',DrawScale3D=(X=1,Y=1,Z=1),Parent="",JointClass=class'USARBot.KSpinHinge',ParentPos=(Y=0.0,X=0.45,Z=-1.33),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
MisPkgs=(PkgName="UnitLoaderTop",Location=(Y=0,X=-0.17,Z=-0.32),PkgClass=Class'USARMisPkg.UnitLoaderTop')
MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0,X=0.6,Z=-.55),PkgClass=Class'USARMisPkg.CameraPanTilt')
+=======
+JointParts=(PartName="Light",PartClass=class'USARModels.SpinLight',DrawScale3D=(X=1,Y=1,Z=1),Parent="",JointClass=class'USARBot.KSpinHinge',ParentPos=(Y=0.0,X=0.45,Z=-1.33),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="UnitLoaderTop",Location=(Y=0,X=-0.17,Z=-0.15),PkgClass=Class'USARMisPkg.UnitLoaderTop',Orientation=(Y=0,Z=0,X=0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0,X=0.6,Z=-.55),Orientation=(X=0.0,Y=0.5,Z=0.0),PkgClass=Class'USARMisPkg.CameraPanTilt')
+>>>>>>> 1.85
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))
+<<<<<<< USARBot.ini
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.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'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.875,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=0.0,X=0.0))
@@ -824,3 +834,383 @@
bDebug=true
cleanOnClose=false
+=======
+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.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'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.875,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.RFIDPackageScanner',ItemName="reader1",Parent="UnitLoaderTop_Link1",Position=(X=0.43,Y=0.0,Z=-0.25),Direction=(Y=0.0,Z=3.145,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner2",Position=(X=-0.79,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=3.145,X=0.0))
+Effecters=(ItemClass=class'USARModels.UnitLoaderTableEffecter',ItemName="Roller",Parent="UnitLoaderTop_Link1",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=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))
+HeadLights=(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))
+HeadLights=(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))
+HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.0,X=2.0857122,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.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))
+Headlights=(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))
+JointParts=(PartName="LAB",PartClass=class'USARModels.QRIOLAB',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LAA",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="LAC",PartClass=class'USARModels.QRIOLAC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LAB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.023644,Y=-2.0000001E-5,Z=0.18921602),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="BA",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=0.0017000001,Z=0.17780001),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="BB",PartClass=class'USARModels.QRIOBack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="BA",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="RLA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="BB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.094560005,Z=0.110348),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RLB",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RLA",JointClass=class'USARBot.KDHinge',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))
+JointParts=(PartName="RLC",PartClass=class'USARModels.QRIOLEC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RLB",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="RLD",PartClass=class'USARModels.QRIOLED',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RLC",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=0.22862801),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="RLE",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RLD",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.011772001,Y=0.0,Z=0.204868),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RLF",PartClass=class'USARModels.QRIOLEF',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RLE",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="LLA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="BB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=-0.094560005,Z=0.110348),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="LLB",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LLA",JointClass=class'USARBot.KDHinge',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))
+JointParts=(PartName="LLC",PartClass=class'USARModels.QRIOLEC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LLB",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="LLD",PartClass=class'USARModels.QRIOLED',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LLC",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=0.22862801),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="LLE",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LLD",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.011772001,Y=0.0,Z=0.204868),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LLF",PartClass=class'USARModels.QRIOLEF',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="LLE",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))
+Sensors=(ItemClass=Class'USARBot.BallHSensor',Parent="HP",ItemName="BHS",Position=(X=0.1,Y=0.0,Z=-0.22000001),direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=Class'USARBot.AIBOCamera',Parent="HP",ItemName="Camera",Position=(X=0.1,Y=0,Z=-0.22000001),direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Soryu]
+bDebug=False
+Weight=10
+Payload=2
+MotorTorque=1000.0
+MaxTorque=1000.0
+BrakeTorque=1000.0
+bMountByUU=False
+JointParts=(PartName="RCTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LCTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="FrontCarYaw",PartClass=class'USARModels.SoryuCarJoint',DrawScale3D=(X=1.0,Y=1.0,Z=1.0000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(Y=0,X=0.20286,Z=0.00000000000000),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=-0.0,Y=0,Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="FrontCarPitch",PartClass=class'USARModels.SoryuFrontCar',DrawScale3D=(X=1.0,Y=1.0,Z=1.0000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FrontCarYaw",JointClass=class'USARBot.KDHinge',ParentPos=(Y=0,X=0.0,Z=0.00000000000000),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.20286,Y=0,Z=-0.0),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="RFTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="FrontCarPitch",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LFTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="FrontCarPitch",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RearCarYaw",PartClass=class'USARModels.SoryuCarJoint',DrawScale3D=(X=1.0,Y=1.0,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(Y=0,X=-0.20286,Z=0.0000000000000),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RearCarPitch",PartClass=class'USARModels.SoryuCar',DrawScale3D=(X=1.0,Y=1.0,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RearCarYaw",JointClass=class'USARBot.KDHinge',ParentPos=(Y=0,X=0,Z=0.0000000000000),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.20286,Y=0,Z=-0.0),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="RRTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="RearCarPitch",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LRTrack",PartClass=class'USARModels.SoryuTrack',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="RearCarPitch",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.054287,X=0.12143,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="FrontCarPitch",Position=(Y=0.0,X=0.15715,Z=0),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLights=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="FrontCarPitch",Position=(Y=0.0,X=0.15715,Z=0.0),Direction=(Y=-0.5,Z=0.0,X=0.0))
+
+[USARBot.Kurt2D]
+bDebug=False
+msgTimer=0.05
+Weight=24
+ChassisMass=24.000000
+MotorTorque=60
+ChassisMass=35.000000
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.KurtTireR',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.15,Y=0.12,Z=0.15),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.KurtTireL',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.15,Y=-0.12,Z=0.15),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightMWheel",PartClass=class'USARModels.KurtTireR',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0,Y=0.12,Z=0.15),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftMWheel",PartClass=class'USARModels.KurtTireL',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0,Y=-0.12,Z=0.15),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.KurtTireR',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.15,Y=0.12,Z=0.15),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.KurtTireL',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.15,Y=-0.12,Z=0.15),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="Structure",PartClass=class'USARModels.KurtStructure',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),JointClass=class'KCarWheelJoint',bSteeringLocked=true,bSuspensionLocked=true,BrakeTorque=100.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0,Y=0.0,Z=0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(X=0.06),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="Back",Position=(X=-0.21,Y=0,Z=0.02),Direction=(Y=0,Z=3.14,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="BackRight",Position=(X=-0.20,Y=0.15,Z=0.02),Direction=(Y=0,Z=2.355,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="Right",Position=(X=0,Y=0.16,Z=0.02),Direction=(Y=0,Z=1.57,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="FrontRight",Position=(X=0.19,Y=0.15,Z=0.02),Direction=(Y=0,Z=0.785,X=0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="Front",Position=(X=0.21,Y=0.0,Z=0.02),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="FrontLeft",Position=(X=0.19,Y=-0.15,Z=0.02),Direction=(Y=0,Z=-0.785,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="Left",Position=(X=0,Y=-0.16,Z=-0.02),Direction=(Y=0,Z=-1.57,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="BackLeft",Position=(X=-0.20,Y=-0.15,Z=0.02),Direction=(Y=0,Z=-2.355,X=0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.13,Y=0,Z=-0.11),Direction=(X=0,Y=0,Z=0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECLeft",Parent="LeftMWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.57))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightMWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.57))
+
+[USARBot.Kurt3D]
+bMultiView=true
+bDebug=false
+MaxTorque=60.0
+MotorTorque=50.0
+ChassisMass=35.000000
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.14,Y=0.14,Z=0.14),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.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.14,Y=-0.14,Z=0.14),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightMWheel",PartClass=class'USARModels.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0,Y=0.1925,Z=0.14),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftMWheel",PartClass=class'USARModels.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0,Y=-0.1925,Z=0.14),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.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.14,Y=0.14,Z=0.14),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.KurtTireOutdoor',DrawScale3D=(X=1.0,Y=1,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.14,Y=-0.14,Z=0.14),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared1",Position=(X=-0.21,Y=0,Z=0.0),Direction=(Y=0,Z=3.14,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared2",Position=(X=-0.21,Y=0.15,Z=0.0),Direction=(Y=0,Z=2.355,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared3",Position=(X=0,Y=0.15,Z=0.0),Direction=(Y=0,Z=1.57,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared4",Position=(X=0.17,Y=0.15,Z=0.0),Direction=(Y=0,Z=0.785,X=0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="sonar1",Position=(X=0.21,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared5",Position=(X=0.17,Y=-0.15,Z=0.0),Direction=(Y=0,Z=-0.785,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared6",Position=(X=0,Y=-0.15,Z=0.0),Direction=(Y=0,Z=-1.57,X=0))
+Sensors=(ItemClass=class'USARBot.IRSensor',ItemName="infrared7",Position=(X=-0.21,Y=-0.15,Z=0.0),Direction=(Y=0,Z=-2.355,X=0))
+JointParts=(PartName="ScannerSides",PartClass=class'USARModels.Kurt3DScannerSides',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=true,bSuspensionLocked=true,BrakeTorque=100.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.16,Y=0.0095,Z=-0.16),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Parent="ScannerSides",Position=(X=0,Y=-0.0095,Z=0),Direction=(X=0,Y=0,Z=0 ))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0,Y=0,Z=0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECLeft",Parent="LeftMWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.57))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightMWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.57))
+
+[USARBot.Lisa]
+bDebug=False
+Payload=40
+ChassisMass=1.000000
+MotorTorque = 140
+msgTimer = 0.1
+Weight = 50
+bMountByUU=False
+JointParts=(PartName="LeftSteeredWheel",PartClass=class'USARModels.LisaTireBig',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.268,Y=-0.172,Z=0.016),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightSteeredWheel",PartClass=class'USARModels.LisaTireBig',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.268,Y=0.172,Z=0.016),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftPassiveWheel",PartClass=class'USARModels.LisaTireSmall',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.268,Y=-0.172,Z=0.072),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightPassiveWheel",PartClass=class'USARModels.LisaTireSmall',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,BrakeTorque=75.0,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.268,Y=0.172,Z=0.072),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECLeft",Parent="LeftSteeredWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.570796326))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightSteeredWheel",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=-1.570796326))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0,Y=0,Z=0),Direction=(X=0,Y=0,Z=0))
+
+[USARBot.FPSLog]
+FPSLogMode=FPS_OFF
+maxSamplesSec=4
+
+[USARBot.BallHSensor]
+CameraXres=208
+CameraYres=160
+BallRadiusUU=10
+BallSamples=12
+LODhalf=0.8
+LODcenter=2
+
+[USARBot.MultiView]
+CameraNum=8
+WideMode=4
+CameraXres=208
+CameraYres=160
+IsCameraLocked=False
+
+[Engine.Vehicle]
+bVehicleShadows=True
+
+[USARBot.USARDeathMatch]
+bstats=true
+bAutoId=false
+TimeLimit=0
+
+[XGame.xPlayer]
+bClassicTrans=False
+
+[UnrealGame.UnrealPlayer]
+CustomizedAnnouncerPack=
+CustomStatusAnnouncerPack=UnrealGame.FemaleAnnouncer
+CustomRewardAnnouncerPack=UnrealGame.MaleAnnouncer
+MaxRecentServers=25
+bDontShowLoginMenu=False
+RecentServers=127.0.0.1:7777
+RecentServers=129.6.72.19:7777
+
+[Engine.PlayerController]
+bLookUpStairs=False
+bSnapToLevel=False
+bAlwaysMouseLook=True
+bKeyboardLook=True
+bNeverSwitchOnPickup=False
+bAlwaysLevel=False
+bNoVoiceMessages=False
+bNoTextToSpeechVoiceMessages=True
+bNoVoiceTaunts=False
+bNoAutoTaunts=False
+bAutoTaunt=False
+bNoMatureLanguage=False
+bDynamicNetSpeed=True
+bSmallWeapons=True
+bLandingShake=True
+bAimingHelp=False
+bEnablePickupForceFeedback=False
+bEnableWeaponForceFeedback=False
+bEnableDamageForceFeedback=False
+bEnableGUIForceFeedback=False
+bEnableInitialChatRoom=True
+bEnableStatsTracking=False
+bOnlySpeakTeamText=False
+AutoJoinMask=5
+AnnouncerLevel=2
+AnnouncerVolume=4
+TextToSpeechVoiceVolume=1.000000
+DesiredFOV=90.000000
+DefaultFOV=90.000000
+ScreenFlashScaling=1.000000
+TimeMarginSlack=0.000000
+StatsUsername=
+StatsPassword=
+DynamicPingThreshold=400.000000
+LastActiveChannel=
+VoiceChatCodec=CODEC_48NB
+VoiceChatLANCodec=CODEC_96WB
+ChatPassword=
+DefaultActiveChannel=
+
+[Engine.Controller]
+Handedness=1.000000
+
+[USARBot.SoccerBall]
+ChassisMass=0.04
+msgTimer=0.2
+batteryLife=3600
+bDebug=False
+MaxNetUpdateInterval=0.1
+bMountByUU=False
+enableReposition=True
+outRepositionTime=1
+inRepositionTime=10
+movementTolerance=5
+frontierX=700
+frontierY=500
+targetPos=(X=0,Y=0,Z=10)
+
+[USARBot.WorldController]
+bDebug=true
+cleanOnClose=false
Modified: trunk/usarsim/System/USARMisPkg.ini
===================================================================
--- trunk/usarsim/System/USARMisPkg.ini 2008-01-14 17:38:38 UTC (rev 899)
+++ trunk/usarsim/System/USARMisPkg.ini 2008-01-14 20:12:18 UTC (rev 900)
@@ -1,321 +1,321 @@
-;--------------------------------------------------------------------------------------------------------------
-; Camera Pan/Tilt mission package used for the ATRVJr, P2DX, P2AT, Hummer, Sedan
-;--------------------------------------------------------------------------------------------------------------
-[USARMisPkg.CameraPanTilt]
-Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.CameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.CameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.CameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
-
-;--------------------------------------------------------------------------------------------------------------
-; Camera Pan/Tilt mission package used for the Zerg
-;--------------------------------------------------------------------------------------------------------------
-[USARMisPkg.PGCameraPanTilt]
-Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.PGCameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.PGCameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.PGCameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
-
-;--------------------------------------------------------------------------------------------------------------
-; Camera Pan/Tilt mission package used for the Submarine
-;--------------------------------------------------------------------------------------------------------------
-[USARMisPkg.UnderwaterCameraPanTilt]
-Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.UnderwaterCameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.UnderwaterCameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.UnderwaterCameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
-
-;--------------------------------------------------------------------------------------------------------------
-; Arm mission package used for the Talon
-;--------------------------------------------------------------------------------------------------------------
-[USARMisPkg.TalonArm]
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TalonLowerArm',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TalonUpperArm',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TalonGripperBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=2,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TalonLeftFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=5,LinkClass=Class'USARMisPkg.TalonRightFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="C",SelfMount="A")
-
-;--------------------------------------------------------------------------------------------------------------
-; Arm mission package used for the TeleMax
-;--------------------------------------------------------------------------------------------------------------
-[USARMisPkg.TeleMaxArm]
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxTurret',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxUATilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxTelescope',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=2,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxLATilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=5,LinkClass=Class'USARMisPkg.TeleMaxLATurn',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=4,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=6,LinkClass=Class'USARMisPkg.TeleMaxGripperTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=5,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=7,LinkClass=Class'USARMisPkg.TeleMaxGripperTurn',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=6,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=8,LinkClass=Class'USARMisPkg.TeleMaxLFingerBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=7,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=9,LinkClass=Class'USARMisPkg.TeleMaxLFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=8,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=10,LinkClass=Class'USARMisPkg.TeleMaxRFingerBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=7,ParentMount="C",SelfMount="A")
-Links=(LinkNumber=11,LinkClass=Class'USARMisPkg.TeleMaxRFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=10,ParentMount="B",SelfMount="A")
-
-[USARMisPkg.TeleMaxFTrack]
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxFTrackFrame',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxPrimWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="C",SelfMount="A")
-Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="D",SelfMount="A")
-
-[USARMisPkg.TeleMaxRTrack]
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxRTrackFrame',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
-Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxPrimWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
-Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="C",SelfMount="A")
-Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="D",SelfMount="A")
-
;--------------------------------------------------------------------------------------------------------------
+; Camera Pan/Tilt mission package used for the ATRVJr, P2DX, P2AT, Hummer, Sedan
+;--------------------------------------------------------------------------------------------------------------
+[USARMisPkg.CameraPanTilt]
+Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.CameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.CameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.CameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
+
+;--------------------------------------------------------------------------------------------------------------
+; Camera Pan/Tilt mission package used for the Zerg
+;--------------------------------------------------------------------------------------------------------------
+[USARMisPkg.PGCameraPanTilt]
+Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.PGCameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.PGCameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.PGCameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=0.8),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
+
+;--------------------------------------------------------------------------------------------------------------
+; Camera Pan/Tilt mission package used for the Submarine
+;--------------------------------------------------------------------------------------------------------------
+[USARMisPkg.UnderwaterCameraPanTilt]
+Links=(LinkNumber=0,LinkClass=Class'USARMisPkg.UnderwaterCameraBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.UnderwaterCameraPan',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=0,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.UnderwaterCameraTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")))
+
+;--------------------------------------------------------------------------------------------------------------
+; Arm mission package used for the Talon
+;--------------------------------------------------------------------------------------------------------------
+[USARMisPkg.TalonArm]
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TalonLowerArm',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TalonUpperArm',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TalonGripperBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=2,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TalonLeftFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=5,LinkClass=Class'USARMisPkg.TalonRightFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="C",SelfMount="A")
+
+;--------------------------------------------------------------------------------------------------------------
+; Arm mission package used for the TeleMax
+;--------------------------------------------------------------------------------------------------------------
+[USARMisPkg.TeleMaxArm]
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxTurret',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxUATilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxTelescope',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=2,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxLATilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=3,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=5,LinkClass=Class'USARMisPkg.TeleMaxLATurn',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=4,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=6,LinkClass=Class'USARMisPkg.TeleMaxGripperTilt',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=5,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=7,LinkClass=Class'USARMisPkg.TeleMaxGripperTurn',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=6,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=8,LinkClass=Class'USARMisPkg.TeleMaxLFingerBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=7,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=9,LinkClass=Class'USARMisPkg.TeleMaxLFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=8,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=10,LinkClass=Class'USARMisPkg.TeleMaxRFingerBase',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=7,ParentMount="C",SelfMount="A")
+Links=(LinkNumber=11,LinkClass=Class'USARMisPkg.TeleMaxRFinger',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=10,ParentMount="B",SelfMount="A")
+
+[USARMisPkg.TeleMaxFTrack]
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxFTrackFrame',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxPrimWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="C",SelfMount="A")
+Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="D",SelfMount="A")
+
+[USARMisPkg.TeleMaxRTrack]
+Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.TeleMaxRTrackFrame',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,SelfMount="A")
+Links=(LinkNumber=2,LinkClass=Class'USARMisPkg.TeleMaxPrimWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="B",SelfMount="A")
+Links=(LinkNumber=3,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="C",SelfMount="A")
+Links=(LinkNumber=4,LinkClass=Class'USARMisPkg.TeleMaxAuxWheel',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=1,ParentMount="D",SelfMount="A")
+
+;--------------------------------------------------------------------------------------------------------------
; Table Mission Package for the UnitLoader
;--------------------------------------------------------------------------------------------------------------
[USARMisPkg.UnitLoaderTop]
-Links=(LinkNumber=1,LinkClass=Class'USARMisPkg.UnitLoaderTable',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),ParentLinkNumber=-1,ParentMount="B",SelfMount="A")
-
-;--------------------------------------------------------------------------------------------------------------
-; Camera Pan/Tilt mission package used for the AirRobot
@@ Diff output truncated at 60000 characters. @@
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