diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
index 1077dc924..5d60bac3c 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
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             verticalAngularOffsetDeg: 20.376
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
index d9fa0b322..24badf012 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
@@ -240,7 +240,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &8979344720251141608
 MonoBehaviour:
@@ -543,4 +543,4 @@ MonoBehaviour:
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
         minRange: 0.05
-        maxRange: 120
+        maxRange: 80
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
index d5c330224..3dd16c517 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
@@ -60,7 +60,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &4572956135196922574
 MonoBehaviour:
@@ -586,8 +586,8 @@ MonoBehaviour:
           distanceNoiseStDevBase: 0.02
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
-        minRange: 0.8
-        maxRange: 120
+        minRange: 0.5
+        maxRange: 90
 --- !u!64 &6589030601773676940
 MeshCollider:
   m_ObjectHideFlags: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
index e12d9d657..9f1277732 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
@@ -469,7 +469,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &6012075883028567972
 MonoBehaviour:
@@ -1444,4 +1444,4 @@ MonoBehaviour:
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
         minRange: 0
-        maxRange: 300
+        maxRange: 220
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs
index 327bd7427..d43301a55 100644
--- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs
+++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LaserArrayLibrary.cs
@@ -830,126 +830,126 @@ public static class LaserArrayLibrary
                 new Laser {horizontalAngularOffsetDeg = 0.185f, verticalAngularOffsetDeg = -13.283f, ringId = 2, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -11.758f, ringId = 3, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.343f, verticalAngularOffsetDeg = -10.483f, ringId = 4, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.148f, verticalAngularOffsetDeg = -9.836f, ringId = 5, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.148f, verticalAngularOffsetDeg = -9.836f, ringId = 5, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.147f, verticalAngularOffsetDeg = -9.171f, ringId = 6, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -8.496f, ringId = 7, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -8.496f, ringId = 7, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -7.812f, ringId = 8, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -7.462f, ringId = 9, timeOffset = 0.048963f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.336f, verticalAngularOffsetDeg = -7.115f, ringId = 10, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = -6.767f, ringId = 11, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -7.462f, ringId = 9, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.336f, verticalAngularOffsetDeg = -7.115f, ringId = 10, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = -6.767f, ringId = 11, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = -6.416f, ringId = 12, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = -6.064f, ringId = 13, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = -5.71f, ringId = 14, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = -5.355f, ringId = 15, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = -6.064f, ringId = 13, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = -5.71f, ringId = 14, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = -5.355f, ringId = 15, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = -4.998f, ringId = 16, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.643f, ringId = 17, timeOffset = 0.048963f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.282f, ringId = 18, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.921f, ringId = 19, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.643f, ringId = 17, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.282f, ringId = 18, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.921f, ringId = 19, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.558f, ringId = 20, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.107f, verticalAngularOffsetDeg = -3.194f, ringId = 21, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.106f, verticalAngularOffsetDeg = -2.829f, ringId = 22, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.463f, ringId = 23, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.107f, verticalAngularOffsetDeg = -3.194f, ringId = 21, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.106f, verticalAngularOffsetDeg = -2.829f, ringId = 22, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.463f, ringId = 23, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.095f, ringId = 24, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -1.12f, ringId = 32, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 4.542f, verticalAngularOffsetDeg = -0.25f, ringId = 39, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = -1.519f, verticalAngularOffsetDeg = 0.626f, ringId = 46, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.502f, ringId = 53, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 2.946f, verticalAngularOffsetDeg = 2.376f, ringId = 60, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = -3.155f, verticalAngularOffsetDeg = 3.251f, ringId = 67, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 4.126f, ringId = 74, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.328f, verticalAngularOffsetDeg = 4.876f, ringId = 80, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 6.002f, ringId = 89, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.378f, ringId = 90, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.754f, ringId = 91, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 7.13f, ringId = 92, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.378f, ringId = 90, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.754f, ringId = 91, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 7.13f, ringId = 92, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.507f, ringId = 93, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.882f, ringId = 94, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.257f, ringId = 95, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.632f, ringId = 96, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.882f, ringId = 94, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.257f, ringId = 95, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.632f, ringId = 96, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.003f, ringId = 97, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.376f, ringId = 98, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = 9.749f, ringId = 99, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = 10.121f, ringId = 100, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.376f, ringId = 98, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = 9.749f, ringId = 99, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = 10.121f, ringId = 100, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = 10.493f, ringId = 101, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 10.864f, ringId = 102, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 11.234f, ringId = 103, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = 11.603f, ringId = 104, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 10.864f, ringId = 102, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 11.234f, ringId = 103, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = 11.603f, ringId = 104, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 11.975f, ringId = 105, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 12.343f, ringId = 106, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 12.709f, ringId = 107, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 13.075f, ringId = 108, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 12.343f, ringId = 106, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 12.709f, ringId = 107, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 13.075f, ringId = 108, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.13f, verticalAngularOffsetDeg = 13.439f, ringId = 109, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 13.803f, ringId = 110, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 14.164f, ringId = 111, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.132f, verticalAngularOffsetDeg = 14.525f, ringId = 112, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 13.803f, ringId = 110, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 14.164f, ringId = 111, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.132f, verticalAngularOffsetDeg = 14.525f, ringId = 112, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 14.879f, ringId = 113, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 15.237f, ringId = 114, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.593f, ringId = 115, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.948f, ringId = 116, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 15.237f, ringId = 114, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.593f, ringId = 115, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.948f, ringId = 116, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.299f, ringId = 117, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.651f, ringId = 118, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17f, ringId = 119, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17.347f, ringId = 120, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.651f, ringId = 118, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17f, ringId = 119, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17.347f, ringId = 120, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.151f, verticalAngularOffsetDeg = 17.701f, ringId = 121, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.153f, verticalAngularOffsetDeg = 18.386f, ringId = 122, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.153f, verticalAngularOffsetDeg = 18.386f, ringId = 122, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.154f, verticalAngularOffsetDeg = 19.063f, ringId = 123, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.156f, verticalAngularOffsetDeg = 19.73f, ringId = 124, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.156f, verticalAngularOffsetDeg = 19.73f, ringId = 124, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.388f, verticalAngularOffsetDeg = 20.376f, ringId = 125, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.408f, verticalAngularOffsetDeg = 21.653f, ringId = 126, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 50f},
                 new Laser {horizontalAngularOffsetDeg = 0.196f, verticalAngularOffsetDeg = 23.044f, ringId = 127, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 40f},
@@ -967,98 +967,98 @@ public static class LaserArrayLibrary
             lasers = new[]
             {
                 // Firing Sequence 1
-                new Laser {horizontalAngularOffsetDeg = 0.148f, verticalAngularOffsetDeg = -9.836f, ringId = 5, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.148f, verticalAngularOffsetDeg = -9.836f, ringId = 5, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.147f, verticalAngularOffsetDeg = -9.171f, ringId = 6, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -8.496f, ringId = 7, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -8.496f, ringId = 7, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.146f, verticalAngularOffsetDeg = -7.812f, ringId = 8, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = -6.064f, ringId = 13, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = -5.71f, ringId = 14, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = -5.355f, ringId = 15, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = -6.064f, ringId = 13, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = -5.71f, ringId = 14, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = -5.355f, ringId = 15, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = -4.998f, ringId = 16, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.107f, verticalAngularOffsetDeg = -3.194f, ringId = 21, timeOffset = 0.021185f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.106f, verticalAngularOffsetDeg = -2.829f, ringId = 22, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.463f, ringId = 23, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.107f, verticalAngularOffsetDeg = -3.194f, ringId = 21, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.106f, verticalAngularOffsetDeg = -2.829f, ringId = 22, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.463f, ringId = 23, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.105f, verticalAngularOffsetDeg = -2.095f, ringId = 24, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -1.12f, ringId = 32, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 4.542f, verticalAngularOffsetDeg = -0.25f, ringId = 39, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.022838f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = -1.519f, verticalAngularOffsetDeg = 0.626f, ringId = 46, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.022838f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.502f, ringId = 53, timeOffset = 0f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 2.946f, verticalAngularOffsetDeg = 2.376f, ringId = 60, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.022838f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = -3.155f, verticalAngularOffsetDeg = 3.251f, ringId = 67, timeOffset = 0f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.018867f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 4.126f, ringId = 74, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.016549f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.016549f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.328f, verticalAngularOffsetDeg = 4.876f, ringId = 80, timeOffset = 0.018867f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.01026f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.012578f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.022838f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.003971f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.006289f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.022838f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.01026f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.012578f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.003971f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.006289f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.022838f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.507f, ringId = 93, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.882f, ringId = 94, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.257f, ringId = 95, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.632f, ringId = 96, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 7.882f, ringId = 94, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.257f, ringId = 95, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.104f, verticalAngularOffsetDeg = 8.632f, ringId = 96, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.34f, verticalAngularOffsetDeg = 10.493f, ringId = 101, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 10.864f, ringId = 102, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 11.234f, ringId = 103, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = 11.603f, ringId = 104, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 10.864f, ringId = 102, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.341f, verticalAngularOffsetDeg = 11.234f, ringId = 103, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.342f, verticalAngularOffsetDeg = 11.603f, ringId = 104, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.13f, verticalAngularOffsetDeg = 13.439f, ringId = 109, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 13.803f, ringId = 110, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 14.164f, ringId = 111, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.132f, verticalAngularOffsetDeg = 14.525f, ringId = 112, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 13.803f, ringId = 110, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.131f, verticalAngularOffsetDeg = 14.164f, ringId = 111, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.132f, verticalAngularOffsetDeg = 14.525f, ringId = 112, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.299f, ringId = 117, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.651f, ringId = 118, timeOffset = 0.014896f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17f, ringId = 119, timeOffset = 0.008607f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17.347f, ringId = 120, timeOffset = 0.002318f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.386f, verticalAngularOffsetDeg = 16.651f, ringId = 118, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17f, ringId = 119, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.387f, verticalAngularOffsetDeg = 17.347f, ringId = 120, timeOffset = 0.002318f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.388f, verticalAngularOffsetDeg = 20.376f, ringId = 125, timeOffset = 0.021185f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.408f, verticalAngularOffsetDeg = 21.653f, ringId = 126, timeOffset = 0.014896f, minRange = 0.3f, maxRange = 50f},
                 new Laser {horizontalAngularOffsetDeg = 0.196f, verticalAngularOffsetDeg = 23.044f, ringId = 127, timeOffset = 0.008607f, minRange = 0.3f, maxRange = 40f},
@@ -1068,98 +1068,98 @@ public static class LaserArrayLibrary
                 new Laser {horizontalAngularOffsetDeg = 0.185f, verticalAngularOffsetDeg = -13.283f, ringId = 2, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -11.758f, ringId = 3, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 1.343f, verticalAngularOffsetDeg = -10.483f, ringId = 4, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -7.462f, ringId = 9, timeOffset = 0.048963f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.336f, verticalAngularOffsetDeg = -7.115f, ringId = 10, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = -6.767f, ringId = 11, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.335f, verticalAngularOffsetDeg = -7.462f, ringId = 9, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.336f, verticalAngularOffsetDeg = -7.115f, ringId = 10, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = -6.767f, ringId = 11, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = -6.416f, ringId = 12, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.643f, ringId = 17, timeOffset = 0.048963f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.282f, ringId = 18, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.921f, ringId = 19, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.643f, ringId = 17, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.128f, verticalAngularOffsetDeg = -4.282f, ringId = 18, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.921f, ringId = 19, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.127f, verticalAngularOffsetDeg = -3.558f, ringId = 20, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.118f, verticalAngularOffsetDeg = -1.974f, ringId = 25, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.315f, verticalAngularOffsetDeg = -1.854f, ringId = 26, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.529f, verticalAngularOffsetDeg = -1.729f, ringId = 27, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.121f, verticalAngularOffsetDeg = -1.609f, ringId = 28, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.316f, verticalAngularOffsetDeg = -1.487f, ringId = 29, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.532f, verticalAngularOffsetDeg = -1.362f, ringId = 30, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.124f, verticalAngularOffsetDeg = -1.242f, ringId = 31, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -1.12f, ringId = 32, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.536f, verticalAngularOffsetDeg = -0.995f, ringId = 33, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.127f, verticalAngularOffsetDeg = -0.875f, ringId = 34, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.317f, verticalAngularOffsetDeg = -0.75f, ringId = 35, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 4.539f, verticalAngularOffsetDeg = -0.625f, ringId = 36, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.13f, verticalAngularOffsetDeg = -0.5f, ringId = 37, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.318f, verticalAngularOffsetDeg = -0.375f, ringId = 38, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 4.542f, verticalAngularOffsetDeg = -0.25f, ringId = 39, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -3.133f, verticalAngularOffsetDeg = -0.125f, ringId = 40, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0f, ringId = 41, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.935f, verticalAngularOffsetDeg = 0.125f, ringId = 42, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.517f, verticalAngularOffsetDeg = 0.25f, ringId = 43, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.375f, ringId = 44, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.937f, verticalAngularOffsetDeg = 0.5f, ringId = 45, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = -1.519f, verticalAngularOffsetDeg = 0.626f, ringId = 46, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 0.751f, ringId = 47, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.939f, verticalAngularOffsetDeg = 0.876f, ringId = 48, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.52f, verticalAngularOffsetDeg = 1.001f, ringId = 49, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 1.126f, ringId = 50, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.941f, verticalAngularOffsetDeg = 1.251f, ringId = 51, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.521f, verticalAngularOffsetDeg = 1.377f, ringId = 52, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.502f, ringId = 53, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.943f, verticalAngularOffsetDeg = 1.627f, ringId = 54, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.523f, verticalAngularOffsetDeg = 1.751f, ringId = 55, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 1.876f, ringId = 56, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.945f, verticalAngularOffsetDeg = 2.001f, ringId = 57, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.524f, verticalAngularOffsetDeg = 2.126f, ringId = 58, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.251f, ringId = 59, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 200f},
                 new Laser {horizontalAngularOffsetDeg = 2.946f, verticalAngularOffsetDeg = 2.376f, ringId = 60, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 200f},
-                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.501f, ringId = 61, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 2.626f, ringId = 62, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 2.948f, verticalAngularOffsetDeg = 2.751f, ringId = 63, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = -1.526f, verticalAngularOffsetDeg = 2.876f, ringId = 64, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 200f},
+                new Laser {horizontalAngularOffsetDeg = 1.324f, verticalAngularOffsetDeg = 3.001f, ringId = 65, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.57f, verticalAngularOffsetDeg = 3.126f, ringId = 66, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = -3.155f, verticalAngularOffsetDeg = 3.251f, ringId = 67, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.046645f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.325f, verticalAngularOffsetDeg = 3.376f, ringId = 68, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.573f, verticalAngularOffsetDeg = 3.501f, ringId = 69, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.157f, verticalAngularOffsetDeg = 3.626f, ringId = 70, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 3.751f, ringId = 71, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.575f, verticalAngularOffsetDeg = 3.876f, ringId = 72, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.159f, verticalAngularOffsetDeg = 4.001f, ringId = 73, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.326f, verticalAngularOffsetDeg = 4.126f, ringId = 74, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.044327f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.578f, verticalAngularOffsetDeg = 4.25f, ringId = 75, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.161f, verticalAngularOffsetDeg = 4.375f, ringId = 76, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.327f, verticalAngularOffsetDeg = 4.501f, ringId = 77, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.581f, verticalAngularOffsetDeg = 4.626f, ringId = 78, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.163f, verticalAngularOffsetDeg = 4.751f, ringId = 79, timeOffset = 0.044327f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 1.328f, verticalAngularOffsetDeg = 4.876f, ringId = 80, timeOffset = 0.046645f, minRange = 0.3f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.038038f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.040356f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.031749f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.034067f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0.027778f, minRange = 1.4f, maxRange = 140f},
-                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.050616f, minRange = 1.4f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.583f, verticalAngularOffsetDeg = 5.001f, ringId = 81, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.165f, verticalAngularOffsetDeg = 5.126f, ringId = 82, timeOffset = 0.038038f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.252f, ringId = 83, timeOffset = 0.040356f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.586f, verticalAngularOffsetDeg = 5.377f, ringId = 84, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.167f, verticalAngularOffsetDeg = 5.502f, ringId = 85, timeOffset = 0.031749f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 1.329f, verticalAngularOffsetDeg = 5.626f, ringId = 86, timeOffset = 0.034067f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = 4.588f, verticalAngularOffsetDeg = 5.752f, ringId = 87, timeOffset = 0.027778f, minRange = 0.3f, maxRange = 140f},
+                new Laser {horizontalAngularOffsetDeg = -3.168f, verticalAngularOffsetDeg = 5.877f, ringId = 88, timeOffset = 0.050616f, minRange = 0.3f, maxRange = 140f},
                 new Laser {horizontalAngularOffsetDeg = 0.102f, verticalAngularOffsetDeg = 6.002f, ringId = 89, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.378f, ringId = 90, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.754f, ringId = 91, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 7.13f, ringId = 92, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.378f, ringId = 90, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 6.754f, ringId = 91, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.103f, verticalAngularOffsetDeg = 7.13f, ringId = 92, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.003f, ringId = 97, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.376f, ringId = 98, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = 9.749f, ringId = 99, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = 10.121f, ringId = 100, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.337f, verticalAngularOffsetDeg = 9.376f, ringId = 98, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.338f, verticalAngularOffsetDeg = 9.749f, ringId = 99, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 1.339f, verticalAngularOffsetDeg = 10.121f, ringId = 100, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 11.975f, ringId = 105, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 12.343f, ringId = 106, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 12.709f, ringId = 107, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 100f},
-                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 13.075f, ringId = 108, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.108f, verticalAngularOffsetDeg = 12.343f, ringId = 106, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 12.709f, ringId = 107, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 100f},
+                new Laser {horizontalAngularOffsetDeg = 0.109f, verticalAngularOffsetDeg = 13.075f, ringId = 108, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 100f},
                 new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 14.879f, ringId = 113, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 15.237f, ringId = 114, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.593f, ringId = 115, timeOffset = 0.036385f, minRange = 1.4f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.948f, ringId = 116, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.384f, verticalAngularOffsetDeg = 15.237f, ringId = 114, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.593f, ringId = 115, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 1.385f, verticalAngularOffsetDeg = 15.948f, ringId = 116, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.151f, verticalAngularOffsetDeg = 17.701f, ringId = 121, timeOffset = 0.048963f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.153f, verticalAngularOffsetDeg = 18.386f, ringId = 122, timeOffset = 0.042674f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.153f, verticalAngularOffsetDeg = 18.386f, ringId = 122, timeOffset = 0.042674f, minRange = 0.3f, maxRange = 80f},
                 new Laser {horizontalAngularOffsetDeg = 0.154f, verticalAngularOffsetDeg = 19.063f, ringId = 123, timeOffset = 0.036385f, minRange = 0.3f, maxRange = 80f},
-                new Laser {horizontalAngularOffsetDeg = 0.156f, verticalAngularOffsetDeg = 19.73f, ringId = 124, timeOffset = 0.030096f, minRange = 1.4f, maxRange = 80f},
+                new Laser {horizontalAngularOffsetDeg = 0.156f, verticalAngularOffsetDeg = 19.73f, ringId = 124, timeOffset = 0.030096f, minRange = 0.3f, maxRange = 80f},
             }
         };
     }
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs
index 4a36d293b..5ed120595 100644
--- a/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs
+++ b/Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfigurationLibrary.cs
@@ -85,7 +85,7 @@ public static class LidarConfigurationLibrary
                     maxHAngle = 360.0f,
                     noiseParams = LidarNoiseParams.TypicalNoiseParams,
                     minRange = 0,
-                    maxRange = 300.0f,
+                    maxRange = 220.0f,
                     horizontalBeamDivergence = 0.171887f, // Manual-based value
                     verticalBeamDivergence = 0.0859435f, // Manual-based value
                 }},
@@ -131,8 +131,8 @@ public static class LidarConfigurationLibrary
                     minHAngle = 0.0f,
                     maxHAngle = 360.0f,
                     noiseParams = LidarNoiseParams.TypicalNoiseParams,
-                    minRange = 0.8f,
-                    maxRange = 120.0f,
+                    minRange = 0.5f,
+                    maxRange = 90.0f,
                     horizontalBeamDivergence = 0.13f, // Manual-based value
                     verticalBeamDivergence = 0.13f, // Not specified in manual
                 }},
@@ -158,7 +158,7 @@ public static class LidarConfigurationLibrary
                     maxHAngle = 360.0f,
                     noiseParams = LidarNoiseParams.TypicalNoiseParams,
                     minRange = 0.05f,
-                    maxRange = 120.0f,
+                    maxRange = 80.0f,
                     horizontalBeamDivergence = 0.13f, // Not specified in manual
                     verticalBeamDivergence = 0.13f, // Not specified in manual
                 }},