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initial version

to add to the discussion, the warning

Warning [RaySensor.cc:206] ranges not constructed yet (zero sized)

has been addressed in trunk, should be available with the next release (the sensors were not set active in the plugin).

to add to the discussion, the warning

Warning [RaySensor.cc:206] ranges not constructed yet (zero sized)

has been addressed in trunk, a fix should be available with the next release (the sensors were not set active in the plugin).