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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Blue.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/Blue.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Blue.mat
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Blue.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Default.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/Default.mat
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similarity index 100%
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Green.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/Green.mat
similarity index 100%
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similarity index 100%
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Grey.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/Grey.mat
similarity index 100%
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similarity index 100%
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/LightGrey.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/LightGrey.mat
similarity index 100%
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/LightGrey.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Red.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/Red.mat
similarity index 100%
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/Red.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/White.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/White.mat
similarity index 100%
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/White.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thbase_material.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thbase_material.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thbase_material.mat
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thbase_material.mat.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thbase_material.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thbase_material.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thhub_material.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thhub_material.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thhub_material.mat
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thhub_material.mat.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thhub_material.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thhub_material.mat.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thmiddle_material.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thmiddle_material.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thmiddle_material.mat
rename to Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thmiddle_material.mat
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thmiddle_material.mat.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thmiddle_material.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thmiddle_material.mat.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thmiddle_material.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thproximal_material.mat b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thproximal_material.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thproximal_material.mat
rename to Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thproximal_material.mat
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thproximal_material.mat.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thproximal_material.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/Materials/shadow_thproximal_material.mat.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/Materials/shadow_thproximal_material.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/shadowhand.prefab b/Assets/AddOns/RobotsModels/TutoRosSharp/shadowhand.prefab
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/shadowhand.prefab.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/shadowhand.urdf b/Assets/AddOns/RobotsModels/TutoRosSharp/shadowhand.urdf
similarity index 100%
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similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/shadowhand.urdf.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes.meta
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F1.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F1.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F1.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F1.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F1.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F1.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F1.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F1.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F2.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F2.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F2.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F2.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F2.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F2.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F2.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F2.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F3.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F3.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F3.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F3.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F3.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F3.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/F3.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/F3.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH1_z.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH2_z.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/TH3_z.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae
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diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_decimated.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/biotac_thumb_adapter.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/distal_ellipsoid.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/forearm_muscle.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/knuckle.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/lfmetacarpal.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/palm.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/palm.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/palm.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/palm.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/palm.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/palm.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/palm.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/palm.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/wrist.dae b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/wrist.dae
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/wrist.dae
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/wrist.dae
diff --git a/Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/wrist.dae.meta b/Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/wrist.dae.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/TutoRosSharp/sr_grasp_description/meshes/wrist.dae.meta
rename to Assets/AddOns/RobotsModels/TutoRosSharp/sr_grasp_description/meshes/wrist.dae.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca.meta b/Assets/AddOns/RobotsModels/WheelchairLuca.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.003.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.003.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.003.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.003.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.003.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.003.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.003.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.003.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.005.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.005.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.005.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.005.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.005.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.005.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/03 - Default.005.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/03 - Default.005.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.003.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.003.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.003.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.003.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.003.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.003.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.003.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.003.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.005.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.005.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.005.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.005.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.005.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.005.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/08 - Default.005.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/08 - Default.005.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Color_008.007.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Color_008.007.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Color_008.007.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Color_008.007.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Color_008.007.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Color_008.007.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Color_008.007.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Color_008.007.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Gray.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Gray.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Gray.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Gray.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Gray.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Gray.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Gray.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Gray.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Map #29.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Map #29.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Map #29.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Map #29.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Map #29.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Map #29.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Map #29.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Map #29.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.003.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.003.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.003.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.003.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.003.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.003.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.003.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.003.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Material.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Material.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Aluminum_Anodized_0.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/Metal_Corrogated_Shiny_1.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/material.007.mat b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/material.007.mat
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/material.007.mat
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/material.007.mat
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/material.007.mat.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Materials/material.007.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Materials/material.007.mat.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Materials/material.007.mat.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Models.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Models.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Models.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Models.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx b/Assets/AddOns/RobotsModels/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Models/wheelchair_with_new_wheels 2.fbx.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs/Wheelchair.prefab b/Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs/Wheelchair.prefab
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs/Wheelchair.prefab
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs/Wheelchair.prefab
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs/Wheelchair.prefab.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs/Wheelchair.prefab.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Prefabs/Wheelchair.prefab.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Prefabs/Wheelchair.prefab.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Scripts.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts/WheelchairController.cs b/Assets/AddOns/RobotsModels/WheelchairLuca/Scripts/WheelchairController.cs
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts/WheelchairController.cs
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Scripts/WheelchairController.cs
diff --git a/Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts/WheelchairController.cs.meta b/Assets/AddOns/RobotsModels/WheelchairLuca/Scripts/WheelchairController.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairLuca/Scripts/WheelchairController.cs.meta
rename to Assets/AddOns/RobotsModels/WheelchairLuca/Scripts/WheelchairController.cs.meta
diff --git a/Assets/MainAssets/Robots/3D/WheelchairUCL.obj b/Assets/AddOns/RobotsModels/WheelchairUCL.obj
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairUCL.obj
rename to Assets/AddOns/RobotsModels/WheelchairUCL.obj
diff --git a/Assets/MainAssets/Robots/3D/WheelchairUCL.obj.meta b/Assets/AddOns/RobotsModels/WheelchairUCL.obj.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/WheelchairUCL.obj.meta
rename to Assets/AddOns/RobotsModels/WheelchairUCL.obj.meta
diff --git a/Assets/MainAssets/Robots/3D/turtlebot.prefab b/Assets/AddOns/RobotsModels/turtlebot.prefab
similarity index 100%
rename from Assets/MainAssets/Robots/3D/turtlebot.prefab
rename to Assets/AddOns/RobotsModels/turtlebot.prefab
diff --git a/Assets/MainAssets/Robots/3D/turtlebot.prefab.meta b/Assets/AddOns/RobotsModels/turtlebot.prefab.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/turtlebot.prefab.meta
rename to Assets/AddOns/RobotsModels/turtlebot.prefab.meta
diff --git a/Assets/MainAssets/Robots/3D/wheelchair_with_sensors Variant.prefab b/Assets/AddOns/RobotsModels/wheelchair_with_sensors Variant.prefab
similarity index 100%
rename from Assets/MainAssets/Robots/3D/wheelchair_with_sensors Variant.prefab
rename to Assets/AddOns/RobotsModels/wheelchair_with_sensors Variant.prefab
diff --git a/Assets/MainAssets/Robots/3D/wheelchair_with_sensors Variant.prefab.meta b/Assets/AddOns/RobotsModels/wheelchair_with_sensors Variant.prefab.meta
similarity index 100%
rename from Assets/MainAssets/Robots/3D/wheelchair_with_sensors Variant.prefab.meta
rename to Assets/AddOns/RobotsModels/wheelchair_with_sensors Variant.prefab.meta
diff --git a/Assets/AddOns/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs b/Assets/AddOns/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs
index 23f662cd25843bf99458930d0710dd776a680f28..33559e13f9ac553e8b4c3f69a2a1ca2c87e1bd4a 100644
--- a/Assets/AddOns/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs
+++ b/Assets/AddOns/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs
@@ -19,7 +19,8 @@ namespace RosSharp.RosBridgeClient
     {
         public static void Update(this Messages.Standard.Header header)
         {
-            float time = UnityEngine.Time.realtimeSinceStartup;
+            // float time = UnityEngine.Time.realtimeSinceStartup;
+            float time = ToolsTime.TrialTime;
             uint secs = (uint)time;
             uint nsecs = (uint)(1e9 *(time-secs));
             header.seq++;
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs
new file mode 100644
index 0000000000000000000000000000000000000000..bf949535ffb0189556fd006e65f401c221c6615f
--- /dev/null
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs
@@ -0,0 +1,22 @@
+using Newtonsoft.Json;
+using RosSharp.RosBridgeClient.Messages.Geometry;
+using RosSharp.RosBridgeClient.Messages.Navigation;
+using RosSharp.RosBridgeClient.Messages.Sensor;
+using RosSharp.RosBridgeClient.Messages.Standard;
+using RosSharp.RosBridgeClient.Messages.Actionlib;
+
+namespace RosSharp.RosBridgeClient.Messages.rosgraph_msgs
+{
+public class Clock : Message
+{
+[JsonIgnore]
+public const string RosMessageName = "rosgraph_msgs/Clock";
+
+public Time clock;
+
+public Clock()
+{
+clock = new Time();
+}
+}
+}
\ No newline at end of file
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs.meta b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f024c191cc5b054ab23cb5eefe8f0d20f6bc573c
--- /dev/null
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/Clock.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4271200c0b9f7423795662efebbc8450
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockPublisher.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockPublisher.cs
index e6a02ea3793094849502e25c822387e0c73a127a..657669dc486d0122be8a95c31f3f9395bab0af92 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockPublisher.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockPublisher.cs
@@ -1,18 +1,33 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
+using RosSharp;
+using System;
 
-public class ClockPublisher : MonoBehaviour
+namespace RosSharp.RosBridgeClient
 {
-    // Start is called before the first frame update
-    void Start()
+public class ClockPublisher : Publisher<Messages.rosgraph_msgs.Clock>
+{
+    private Messages.rosgraph_msgs.Clock message;
+
+    protected override void Start()
     {
-        
+        base.Start();
+        message = new Messages.rosgraph_msgs.Clock(); 
+        message.clock = new RosSharp.RosBridgeClient.Messages.Standard.Time();
+        message.clock.secs = 0;
+        message.clock.nsecs = 0;
     }
 
-    // Update is called once per frame
-    void Update()
+    private void FixedUpdate()
     {
-        
+        float time = ToolsTime.TrialTime;
+        uint secs = (uint)time;
+        uint nsecs = (uint)(1e9 *(time-secs));
+        message.clock.secs = secs;
+        message.clock.nsecs = nsecs;
+        Publish(message);
     }
 }
+
+}
\ No newline at end of file
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs.meta b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs.meta
index 1fb6adc8a066dc20a992c0b155a192c73ed3225f..f9f6b9a8082611401f8276c696bdef7148a2195e 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs.meta
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs.meta
@@ -4,7 +4,7 @@ MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
-  executionOrder: 0
+  executionOrder: 100
   icon: {instanceID: 0}
   userData: 
   assetBundleName: 
diff --git a/Assets/AddOns/RosSharp/Urdf/pepper/pepper_meshes/meshes/1.0/HeadPitch_0.10.prefab b/Assets/AddOns/RosSharp/Urdf/pepper/pepper_meshes/meshes/1.0/HeadPitch_0.10.prefab
index 2dee2150667418d30229efd04fe9b059ae48f0f7..5dc862a95810e0231468f8dcc771b80f71efe5c0 100644
--- a/Assets/AddOns/RosSharp/Urdf/pepper/pepper_meshes/meshes/1.0/HeadPitch_0.10.prefab
+++ b/Assets/AddOns/RosSharp/Urdf/pepper/pepper_meshes/meshes/1.0/HeadPitch_0.10.prefab
@@ -1,6 +1,6 @@
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   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 5072869193585438021}
+  m_GameObject: {fileID: 5483641230354283222}
   m_Mesh: {fileID: 4300000, guid: 0a815ccbc92011e7db78dd77b6a11674, type: 2}
---- !u!23 &4047598411447281086
+--- !u!23 &6727311478224266302
 MeshRenderer:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 5072869193585438021}
+  m_GameObject: {fileID: 5483641230354283222}
   m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
@@ -77,7 +77,7 @@ MeshRenderer:
   m_SortingLayerID: 0
   m_SortingLayer: 0
   m_SortingOrder: 0
---- !u!1 &7061122163894547445
+--- !u!1 &8927350198243830097
 GameObject:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -85,7 +85,7 @@ GameObject:
   m_PrefabAsset: {fileID: 0}
   serializedVersion: 6
   m_Component:
-  - component: {fileID: 9089354874535087076}
+  - component: {fileID: 8572633955141502037}
   m_Layer: 0
   m_Name: WheelFR_0.10
   m_TagString: Untagged
@@ -93,18 +93,18 @@ GameObject:
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
   m_IsActive: 1
---- !u!4 &9089354874535087076
+--- !u!4 &8572633955141502037
 Transform:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7061122163894547445}
+  m_GameObject: {fileID: 8927350198243830097}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
-  - {fileID: 7128272426643554195}
+  - {fileID: 924568284689391575}
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/RotateJoints.cs b/Assets/MainAssets/Robots/Scripts/RotateJoints.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/RotateJoints.cs
rename to Assets/MainAssets/Robots/Scripts/RotateJoints.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/RotateJoints.cs.meta b/Assets/MainAssets/Robots/Scripts/RotateJoints.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/RotateJoints.cs.meta
rename to Assets/MainAssets/Robots/Scripts/RotateJoints.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors.meta b/Assets/MainAssets/Robots/Scripts/Sensors.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor.meta b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts.meta b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredPublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/InfraredSensor/Scripts/InfraredSensorProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/Lidar2DProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DProvider.cs
similarity index 59%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/Lidar2DProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DProvider.cs
index 1b1d23cd0b6bcf526a66964677c19d54e69ab458..9b433c66321f2caec353c4946529d0ccd0777632 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/Lidar2DProvider.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DProvider.cs
@@ -1,4 +1,5 @@
-using System.Collections;
+using System;
+using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
@@ -27,39 +28,63 @@ public class Lidar2DProvider : SensorProvider2D
     private int nbHMeasures;
     private int nbVMeasures;
 
+    protected float[] Intensities;
+
+    protected byte[] PointCloud;
+
     public override void Start()
     {
         base.Start();
         nbHMeasures = Mathf.RoundToInt((HorizontalEndAngle - HorizontalStartAngle) / AngularResolution);
         nbVMeasures = Mathf.RoundToInt((VerticalEndAngle - VerticalStartAngle) / AngularResolution);
-        SensorValues = new float[nbHMeasures];
+        SensorValues = new float[nbHMeasures*nbVMeasures];
+        Intensities = new float[nbHMeasures*nbVMeasures];
+        PointCloud = new byte[(nbHMeasures*nbVMeasures)*16];
     }
 
+
     public override IEnumerator Sense()
     {
         Sensing = true;
         yield return new WaitForSeconds(SensingFrequency == 0 ? 0 : 1f / SensingFrequency);
         RaycastHit hit;
         Vector3 transformPosition = transform.position;
+        PointCloud = new byte[(nbHMeasures*nbVMeasures)*16];
         for (int i = 0; i < nbHMeasures; ++i)
         {
             for (int j = 0; j < nbVMeasures; ++j)
             {
                 float currentHAngle = HorizontalStartAngle + i * AngularResolution;
                 float currentVAngle = VerticalStartAngle + j * AngularResolution;
-                Quaternion rotation = Quaternion.AngleAxis(currentVAngle, Vector3.forward) * Quaternion.AngleAxis(currentHAngle, Vector3.up);
+                Quaternion rotation = Quaternion.AngleAxis(currentVAngle, Vector3.left) * Quaternion.AngleAxis(currentHAngle, Vector3.up);
                 Vector3 direction = rotation * transform.forward;
                 Ray ray_dir = new Ray(transformPosition, direction);
                 if (Physics.Raycast(ray_dir, out hit, MaxRange) && hit.distance > MinRange)
                 {
-                    //float incidenceAngle = Vector3.Angle(hit.normal, -direction);
-                    SensorValues[i] = hit.distance;
+                    float incidenceAngle = Vector3.Angle(hit.normal, -direction);
+                    Intensities[i+j] = Mathf.Cos(incidenceAngle*Mathf.Deg2Rad);
+                    SensorValues[i+j] = hit.distance;
                     foreach (AdditiveNoiseGenerator gen in AdditiveNoiseGenerators)
                     {
                         SensorValues[i] += (float)gen.GetValue();
                     }
                     if (DebugInfo)
                         Debug.DrawLine(transformPosition, hit.point, Color.yellow);
+
+                    // this should take the noise into account accurately
+                    Vector3 point = hit.point - transform.position;
+
+                    byte[] bytePointx = GetBytesFromFloat(-point.z);
+                    byte[] bytePointy = GetBytesFromFloat(point.x);
+                    byte[] bytePointz = GetBytesFromFloat(point.y);
+                    byte[] byteIntensities = GetBytesFromFloat(Intensities[i+j]);
+
+                    for(int k = 0; k < 4; ++k){
+                        PointCloud[(i*nbVMeasures+j)*16+k] = bytePointx[k];
+                        PointCloud[(i*nbVMeasures+j)*16+k+4] = bytePointy[k];
+                        PointCloud[(i*nbVMeasures+j)*16+k+8] = bytePointz[k];
+                        PointCloud[(i*nbVMeasures+j)*16+k+12] = byteIntensities[k];
+                    }
                 }
                 else
                 {
@@ -73,6 +98,16 @@ public class Lidar2DProvider : SensorProvider2D
         Sensing = false;
     }
 
+    public float[] GetIntensities()
+    {
+        return Intensities;
+    }
+
+    public byte[] GetPoints()
+    {
+        return PointCloud;
+    }
+
     public float GetAngularResolution()
     {
         return AngularResolution;
@@ -92,4 +127,23 @@ public class Lidar2DProvider : SensorProvider2D
     {
         return SensingFrequency == 0 ? 0 : 1f / SensingFrequency;
     }
+
+    private byte[] GetBytesFromFloat(float value)
+    {
+        var floatArray = new float[] {value};
+        var output = new byte[4];
+        Buffer.BlockCopy(floatArray, 0, output, 0, output.Length);
+        // Array.Reverse(output,0,output.Length);
+        return output;
+    }
+
+    public uint GetHeight()
+    {
+        return (uint)nbVMeasures;
+    }
+
+    public uint GetWidth()
+    {
+        return (uint)nbHMeasures;
+    }
 }
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/Lidar2DProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/Lidar2DProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..1cbc996219f94f7c6b521a2fefec132ec8a0819b
--- /dev/null
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs
@@ -0,0 +1,88 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using RosSharp;
+using UnityEngine;
+
+namespace RosSharp.RosBridgeClient
+{
+    public class Lidar2DPublisher : Publisher<Messages.Sensor.PointCloud2>
+    {
+        [SerializeField]
+        private Lidar2DProvider Sensor;
+
+        private string FrameId = "base_link";
+
+        private Messages.Sensor.PointField[] PointFields;
+        Messages.Sensor.PointCloud2 message;
+
+        private bool started = false;
+
+        protected override void Start()
+        {
+            base.Start();
+        }
+
+
+        private void FixedUpdate()
+        {
+            if (Sensor == null) return;
+            
+            if(!started) 
+                InitializeMessage();
+            else
+                UpdateMessage();
+        }
+
+        private void InitializeMessage()
+        {
+            if(Sensor.GetHeight() == 0|| Sensor.GetWidth() == 0) return;
+            PointFields = new Messages.Sensor.PointField[4];
+            for(int i = 0; i< 4; ++i)
+            {
+                PointFields[i] = new Messages.Sensor.PointField();
+            }
+
+            PointFields[0].name = "x";
+            PointFields[0].offset = 0;
+            PointFields[0].datatype = Messages.Sensor.PointField.FLOAT32;
+            PointFields[0].count = 1;
+
+            PointFields[1].name = "y";
+            PointFields[1].offset = 4;
+            PointFields[1].datatype = Messages.Sensor.PointField.FLOAT32;
+            PointFields[1].count = 1;
+
+            PointFields[2].name = "z";
+            PointFields[2].offset = 8;
+            PointFields[2].datatype = Messages.Sensor.PointField.FLOAT32;
+            PointFields[2].count = 1;
+
+            PointFields[3].name = "intensity";
+            PointFields[3].offset = 12;
+            PointFields[3].datatype = Messages.Sensor.PointField.FLOAT32;
+            PointFields[3].count = 1;
+
+            message = new Messages.Sensor.PointCloud2();
+            message.header = new Messages.Standard.Header();
+            message.header.frame_id = FrameId;
+            message.height = Sensor.GetHeight();
+            message.width = Sensor.GetWidth();
+            message.is_dense = true;
+            message.fields = PointFields;
+            message.point_step = 16;
+            message.row_step = message.point_step * message.width;
+            message.data = Sensor.GetPoints();
+            message.is_bigendian = !BitConverter.IsLittleEndian;
+
+            started = true;
+        }
+
+        private void UpdateMessage()
+        {
+            message.header.Update();
+            message.data = Sensor.GetPoints();
+            Publish(message);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4c50d008caea22e0fbe2860ca75fb117dcd7401e
--- /dev/null
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/Lidar2DPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e6dea4f26f5e56528b228c56bd02c318
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
similarity index 86%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
index 200d803104217aadcd5ee35cb78ce81c254c15d8..c7fe4a6287be6e5f2de1b2f73cbfd155b61519af 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarProvider.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
@@ -23,10 +23,13 @@ public class LidarProvider : SensorProvider2D
     [Tooltip ("Angle at which to stop the scan in °")]
     private float EndAngle = 60.0f;
 
+    protected float[] Intensities;
+
     // Use this for initialization
     public override void Start ()
     {
         base.Start();
+        Intensities = new float[0];
     }
     
     public override IEnumerator Sense ()
@@ -35,15 +38,18 @@ public class LidarProvider : SensorProvider2D
         yield return new WaitForSeconds(SensingFrequency == 0 ? 0 : 1f / SensingFrequency);
         int nbMeasures = Mathf.RoundToInt((EndAngle - StartAngle) / AngularResolution);
         SensorValues = new float[nbMeasures];
+        Intensities = new float[nbMeasures];
         RaycastHit hit;
         for(int i = 0; i < nbMeasures; ++i)
         {
-            float currentAngle = StartAngle + i * AngularResolution;
+            // float currentAngle = StartAngle + i * AngularResolution;
+            float currentAngle = EndAngle - i * AngularResolution;
             Vector3 direction = Quaternion.AngleAxis(currentAngle, Vector3.up) * transform.forward;
             Ray ray_dir = new Ray(transform.position, direction);
             if(Physics.Raycast(ray_dir, out hit, MaxRange) && hit.distance > MinRange)
             {
                 float incidenceAngle = Vector3.Angle(hit.normal, -direction);
+                Intensities[i] = Mathf.Cos(incidenceAngle*Mathf.Deg2Rad);
                 SensorValues[i] = hit.distance;
                 foreach (AdditiveNoiseGenerator gen in AdditiveNoiseGenerators)
                 {
@@ -64,6 +70,10 @@ public class LidarProvider : SensorProvider2D
         Sensing = false;
 	}    
 
+    public float[] GetIntensities()
+    {
+        return Intensities;
+    }
     public float GetAngularResolution()
     {
         return AngularResolution;
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
similarity index 91%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarPublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
index a16b060dd48cc4691159ace5328c9dc223385587..ca41dff769108481efb0ca1d215e4bf4f631e571 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarPublisher.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs
@@ -37,6 +37,7 @@ public class LidarPublisher : Publisher<Messages.Sensor.LaserScan>
         message.range_min = Sensor.GetMinRange();
         message.range_max = Sensor.GetMaxRange();
         message.ranges = new float[dataLenth];
+        message.intensities = new float[dataLenth];
     }
     private void FixedUpdate()
     {
@@ -51,7 +52,8 @@ public class LidarPublisher : Publisher<Messages.Sensor.LaserScan>
     {
         message.header.Update();
         message.ranges = Sensor.GetData();
-        Publish(message);
+        message.intensities = Sensor.GetIntensities();
+        if(message.ranges != null) Publish(message);
     }
 }
 
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/LidarPublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarPublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/PepperLidarProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/PepperLidarProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/PepperLidarProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/PepperLidarProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/PepperLidarProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/PepperLidarProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts/PepperLidarProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Lidar/PepperLidarProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBPublisher.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBPublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBPublisher.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBPublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBCamera/Scripts/RGBPublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBCamera/Scripts/RGBPublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Depth.shader b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Depth.shader
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Depth.shader
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Depth.shader
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Depth.shader.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Depth.shader.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Depth.shader.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Depth.shader.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/DepthMat.mat b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/DepthMat.mat
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/DepthMat.mat
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/DepthMat.mat
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/DepthMat.mat.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/DepthMat.mat.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/DepthMat.mat.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/DepthMat.mat.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/PointcloudPublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsenseProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/RGBDCamera/Scripts/RealsensePublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/AdditiveNoiseGenerator.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/AdditiveNoiseGenerator.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/AdditiveNoiseGenerator.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/AdditiveNoiseGenerator.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/AdditiveNoiseGenerator.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/AdditiveNoiseGenerator.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/AdditiveNoiseGenerator.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/AdditiveNoiseGenerator.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/CameraProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/CameraProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/CameraProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/CameraProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/CameraProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/CameraProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/CameraProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/CameraProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GaussianGenerator.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GaussianGenerator.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GaussianGenerator.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GaussianGenerator.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GaussianGenerator.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GaussianGenerator.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GaussianGenerator.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GaussianGenerator.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GetAwayFrom.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GetAwayFrom.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GetAwayFrom.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GetAwayFrom.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GetAwayFrom.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GetAwayFrom.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/GetAwayFrom.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/GetAwayFrom.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/OffsetGenerator.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/OffsetGenerator.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/OffsetGenerator.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/OffsetGenerator.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/OffsetGenerator.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/OffsetGenerator.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/OffsetGenerator.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/OffsetGenerator.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/Rotating.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/Rotating.cs
similarity index 61%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/Rotating.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/Rotating.cs
index 58a34e1cb695e60da27b7b42deb67ea8cae1675a..c319c3eb79787ef723d6b8a2c7d5e31cde71336d 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/Rotating.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/Rotating.cs
@@ -8,8 +8,7 @@ public class Rotating : MonoBehaviour
 
     [SerializeField]
     private float RotatingSpeed = 0.1f;
-    [SerializeField]
-    private float MaxRotation = 360.0f;
+    
     [SerializeField]
     private Vector3 Axis = Vector3.up;
 
@@ -19,10 +18,7 @@ public class Rotating : MonoBehaviour
 	
 	// Update is called once per frame
 	void Update () {
-        if(AngleRotated < MaxRotation)
-        {
-            transform.Rotate(RotatingSpeed * Axis * Time.deltaTime);
-            AngleRotated += RotatingSpeed * Time.deltaTime;
-        }
+        transform.Rotate(RotatingSpeed * Axis * Time.deltaTime);
+        AngleRotated += RotatingSpeed * Time.deltaTime;
     }
 }
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/Rotating.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/Rotating.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/Rotating.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/Rotating.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider1D.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider1D.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider1D.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider1D.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider1D.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider1D.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider1D.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider1D.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider2D.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider2D.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider2D.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SensorProvider2D.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SpikeGenerator.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SpikeGenerator.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SpikeGenerator.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SpikeGenerator.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SpikeGenerator.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SpikeGenerator.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Scripts/SpikeGenerator.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SpikeGenerator.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/SensorProperties.cs b/Assets/MainAssets/Robots/Scripts/Sensors/SensorProperties.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/SensorProperties.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/SensorProperties.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/SensorProperties.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/SensorProperties.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/SensorProperties.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/SensorProperties.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor.meta b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts.meta b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundPublisher.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs.meta b/Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/UltrasoundSensor/Scripts/UltrasoundSensorProvider.cs.meta
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/noiseSimplex.cginc b/Assets/MainAssets/Robots/Scripts/Sensors/noiseSimplex.cginc
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/noiseSimplex.cginc
rename to Assets/MainAssets/Robots/Scripts/Sensors/noiseSimplex.cginc
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/noiseSimplex.cginc.meta b/Assets/MainAssets/Robots/Scripts/Sensors/noiseSimplex.cginc.meta
similarity index 100%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/noiseSimplex.cginc.meta
rename to Assets/MainAssets/Robots/Scripts/Sensors/noiseSimplex.cginc.meta
diff --git a/Assets/MainAssets/Scripts/Managers/DutraTrial.cs b/Assets/MainAssets/Scripts/Managers/DutraTrial.cs
index 56b32cee726aa6f3e5fd4fc710d21dbbfdc54238..4a201b76e29665721efb48b12a63a8231b538097 100644
--- a/Assets/MainAssets/Scripts/Managers/DutraTrial.cs
+++ b/Assets/MainAssets/Scripts/Managers/DutraTrial.cs
@@ -116,8 +116,8 @@ public class DutraTrial : MonoBehaviour, TrialManager {
                 {
                     currentAgentGameObject = (GameObject)GameObject.Instantiate(currentAgentInModel);
                     currentAgentGameObject.name = i.ToString() + " - " + currentAgentGameObject.name;
-                    currentAgentGameObject.GetComponent<Collider>().enabled = true;
-                    currentAgentGameObject.AddComponent<Rigidbody>();
+                    // currentAgentGameObject.GetComponent<Collider>().enabled = true;
+                    // currentAgentGameObject.AddComponent<Rigidbody>();
                     // Rigidbody rb = currentAgentGameObject.GetComponent<Rigidbody>();
                     // rb.mass = 1;
                     // rb.drag = Mathf.Infinity;
@@ -142,8 +142,8 @@ public class DutraTrial : MonoBehaviour, TrialManager {
 
         // Setup ROS
         ROS = GameObject.FindGameObjectWithTag("Ros");
-        crowdPublisher = ROS.GetComponent<RosSharp.RosBridgeClient.TwistArrayStampedPublisher>();
-        crowdPublisher.agent = new Rigidbody[i];
+        // crowdPublisher = ROS.GetComponent<RosSharp.RosBridgeClient.TwistArrayStampedPublisher>();
+        // crowdPublisher.agent = new Rigidbody[i];
 
         if (robotsList == null)
             robotsList = new List<GameObject>();
diff --git a/Assets/MainAssets/Robots/Scripts/Robotics.meta b/Assets/Scenes/Tests/Sensors.meta
similarity index 62%
rename from Assets/MainAssets/Robots/Scripts/Robotics.meta
rename to Assets/Scenes/Tests/Sensors.meta
index 9ad6b62ef4f33c1d3ae77ce7df59d87bd9d153f9..bede14b22e653c87128d1afaaea3355213efe1f8 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics.meta
+++ b/Assets/Scenes/Tests/Sensors.meta
@@ -1,8 +1,6 @@
 fileFormatVersion: 2
-guid: fb16591fee376e445bac1ac24bcb8c7a
+guid: 2b95e4332fef9e34ca0768d5dd487a1c
 folderAsset: yes
-timeCreated: 1551952449
-licenseType: Free
 DefaultImporter:
   externalObjects: {}
   userData: 
diff --git a/Assets/Scenes/Tests/Sensors/lidarTests.unity b/Assets/Scenes/Tests/Sensors/lidarTests.unity
new file mode 100644
index 0000000000000000000000000000000000000000..1cf96254ce301f77408c271a3651f6930a3ec4d9
--- /dev/null
+++ b/Assets/Scenes/Tests/Sensors/lidarTests.unity
@@ -0,0 +1,1528 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!29 &1
+OcclusionCullingSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_OcclusionBakeSettings:
+    smallestOccluder: 5
+    smallestHole: 0.25
+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_FogMode: 3
+  m_FogDensity: 0.01
+  m_LinearFogStart: 0
+  m_LinearFogEnd: 300
+  m_AmbientSkyColor: {r: 0.212, g: 0.227, b: 0.259, a: 1}
+  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
+  m_AmbientMode: 0
+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
+  m_HaloStrength: 0.5
+  m_FlareStrength: 1
+  m_FlareFadeSpeed: 3
+  m_HaloTexture: {fileID: 0}
+  m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0}
+  m_DefaultReflectionMode: 0
+  m_DefaultReflectionResolution: 128
+  m_ReflectionBounces: 1
+  m_ReflectionIntensity: 1
+  m_CustomReflection: {fileID: 0}
+  m_Sun: {fileID: 0}
+  m_IndirectSpecularColor: {r: 0.4457615, g: 0.49547642, b: 0.57428074, a: 1}
+  m_UseRadianceAmbientProbe: 0
+--- !u!157 &3
+LightmapSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 11
+  m_GIWorkflowMode: 0
+  m_GISettings:
+    serializedVersion: 2
+    m_BounceScale: 1
+    m_IndirectOutputScale: 1
+    m_AlbedoBoost: 1
+    m_EnvironmentLightingMode: 0
+    m_EnableBakedLightmaps: 1
+    m_EnableRealtimeLightmaps: 1
+  m_LightmapEditorSettings:
+    serializedVersion: 10
+    m_Resolution: 2
+    m_BakeResolution: 40
+    m_AtlasSize: 1024
+    m_AO: 0
+    m_AOMaxDistance: 1
+    m_CompAOExponent: 1
+    m_CompAOExponentDirect: 0
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diff --git a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts.meta b/Assets/Scenes/Tests/Sensors/lidarTests.unity.meta
similarity index 54%
rename from Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts.meta
rename to Assets/Scenes/Tests/Sensors/lidarTests.unity.meta
index d551befdb6dbb2d3e558ea91e34bd516f6e879b3..6942f4dd75e117d823e69f137efb51e84f2cee53 100644
--- a/Assets/MainAssets/Robots/Scripts/Robotics/Sensors/Lidar/Scripts.meta
+++ b/Assets/Scenes/Tests/Sensors/lidarTests.unity.meta
@@ -1,8 +1,5 @@
 fileFormatVersion: 2
-guid: 683256d5abc71544da75f356d2ddf922
-folderAsset: yes
-timeCreated: 1528706737
-licenseType: Free
+guid: caa9bd1959ebe1496a5e49d75376cb85
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   externalObjects: {}
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diff --git a/Scenario/TestsLidar/FileOrder0.csv b/Scenario/TestsLidar/FileOrder0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..023dafb4d67b8867dc7dafd6f2f5f914a83bf265
--- /dev/null
+++ b/Scenario/TestsLidar/FileOrder0.csv
@@ -0,0 +1 @@
+/Scenario/TestsLidar/trial.xml
\ No newline at end of file
diff --git a/Scenario/TestsLidar/trial.xml b/Scenario/TestsLidar/trial.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e155809e540b7e5c29d127efeaaf1ec8d3ca779
--- /dev/null
+++ b/Scenario/TestsLidar/trial.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <scene meshName="Corridor 1">
+    <Position x="0" y="0" z="0" />
+    <Rotation x="0" y="0" z="0" />
+    <endingConditions>
+      <condition parameter="time" test="less" value="0" />
+    </endingConditions>
+  </scene>
+
+  <player>
+    <TrialRegularPlayer mesh="RegPlayer" radius="0.33">
+      <Position x="5" y="0" z="0" />
+      <Rotation x="0" y="0" z="90" />
+      <controlLaw>
+        <LawControllerSpeedAngle speedCurrent="0" speedDefault="0" speedVariation="1.5" angularSpeed="30" accelerationMax="0.8" timeBeforeControl="0" />
+      </controlLaw>
+    </TrialRegularPlayer>
+  </player>
+
+  <agents>
+    <agent>
+      <TrialRegularAgent mesh="m008_variation" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+        <Position x="0" y="3" z="0" />
+        <Rotation x="0" y="0" z="180" />
+        <controlLaw>
+          <LawStanding animationType="2">
+            <LookAt x="0" y="-1" z="0"/>
+          </LawStanding>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+  </agents>
+</Trial>
\ No newline at end of file
diff --git a/configTestLidar.xml b/configTestLidar.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c28a52bab0498cc03875ad85b8ec0df61464039
--- /dev/null
+++ b/configTestLidar.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Config xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+
+  <experience currentUser="0" startingTrial="0">
+    <sourceFileExperiment>./Scenario/TestsLidar/FileOrder{USER}.csv</sourceFileExperiment>
+    <userHeight>1.7</userHeight>
+  </experience>
+
+  <log debugLvl="1" />
+  <AddOns />
+</Config>
\ No newline at end of file