From 34eee1ed4f6bfc245e7b144d43de1f594ae9b4db Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Thu, 4 Jun 2020 17:40:37 +0200
Subject: [PATCH] fix qolo

---
 Assets/AddOns/friction.physicMaterial         |    4 +-
 Assets/DiffDriveController.cs                 |    2 +-
 .../Scripts/Agents/ControlSim/Simulations.cs  |    7 +-
 Assets/MotorWriter.cs                         |    2 +-
 .../3d models/Narko2/Narko2.prefab            |   24 +
 .../head_with_neck.prefab                     |    1 +
 .../Old/Pepper-3Ddata-master/left_arm.prefab  |    1 +
 .../Old/Pepper-3Ddata-master/left_hand.prefab |    1 +
 .../Pepper-3Ddata-master/left_shoulder.prefab |    1 +
 .../Old/Pepper-3Ddata-master/leg.prefab       |    1 +
 .../Pepper-3Ddata-master/lower_body.prefab    |    1 +
 .../Old/Pepper-3Ddata-master/pepper.prefab    |    1 +
 .../pepper_with_wheels.prefab                 |    1 +
 .../Old/Pepper-3Ddata-master/right_arm.prefab |    1 +
 .../Pepper-3Ddata-master/right_hand.prefab    |    1 +
 .../right_shoulder.prefab                     |    1 +
 .../Pepper-3Ddata-master/upper_body.prefab    |    1 +
 .../Old/Pepper-3Ddata-master/wheels.prefab    |    1 +
 .../Old/Pepper/urdf/meshes/base.prefab        |    1 +
 .../Old/Pepper/urdf/meshes/base_0.asset       |   10 +-
 .../3d models/Qolo/wheelJoyUnitPlus.prefab    |    2 +-
 .../Robots/RobotsModels/Qolo_sensors.prefab   | 8036 ++++++++++-------
 .../RosCommuncation/TwistSubscriber.cs        |   10 +-
 Assets/Scenes/Tests/FixRobots.unity           | 4889 +++++-----
 Assets/Scenes/Tutos/Tuto1.unity               | 7169 ++++++++++++++-
 Assets/Stages/KerrLann.meta                   |   10 -
 Assets/meshes/ChairMasterShare v1 (1).prefab  |   58 +
 Logs/Packages-Update.log                      |    9 +
 Packages/manifest.json                        |    4 +-
 ProjectSettings/ProjectVersion.txt            |    4 +-
 Scenario/Tests/FileOrder.csv                  |    1 +
 Scenario/Tests/GeneratedScenario.xml          |  279 +
 Scenario/Tests/configTests.xml                |   10 +
 Scenario/Tutos/Tuto2/trial.xml                |  796 +-
 34 files changed, 15245 insertions(+), 6095 deletions(-)
 delete mode 100644 Assets/Stages/KerrLann.meta
 create mode 100644 Scenario/Tests/FileOrder.csv
 create mode 100644 Scenario/Tests/GeneratedScenario.xml
 create mode 100644 Scenario/Tests/configTests.xml

diff --git a/Assets/AddOns/friction.physicMaterial b/Assets/AddOns/friction.physicMaterial
index bbeea8dd..86e51e54 100644
--- a/Assets/AddOns/friction.physicMaterial
+++ b/Assets/AddOns/friction.physicMaterial
@@ -7,8 +7,8 @@ PhysicMaterial:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: friction
-  dynamicFriction: 0.1
+  dynamicFriction: 1
   staticFriction: 2
   bounciness: 0
-  frictionCombine: 1
+  frictionCombine: 3
   bounceCombine: 0
diff --git a/Assets/DiffDriveController.cs b/Assets/DiffDriveController.cs
index 29164eb6..ffbc1838 100644
--- a/Assets/DiffDriveController.cs
+++ b/Assets/DiffDriveController.cs
@@ -103,7 +103,7 @@ public class DiffDriveController : MonoBehaviour
     }
 
 
-    	private void Accelerate(float left, float right)
+    public void Accelerate(float left, float right)
 	{
         rightMotorWriter.Write(right);
         leftMotorWriter.Write(left);   
diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
index ef1d7771..5ccad18e 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
@@ -180,8 +180,9 @@ public class SimManager {
     public void doStep(float deltaTime, List<Vector3> posList, Agent playerGoalState, List<Agent> agentsGoalState, List<Robot> robots = null)
     {
         int i = 0;
-        int in_sim_id = 0;
-        bool player_in_sim = true;
+        int in_sim_id = 0; 
+        bool player_in_sim = false;
+
 
         // Update simulators state
         foreach (ControlSim sim in simulators)
@@ -192,11 +193,11 @@ public class SimManager {
                 if(((TrialCamPlayer)LoaderConfig.playerInfo).in_sim)
                 {
                     sim.updateAgentState(i, posList[i], (playerGoalState.Position- posList[i])/deltaTime);
+                    player_in_sim = true;
                 }
                 else
                 {
                     i = -1;
-                    player_in_sim = false;
                 }
             }
             else
diff --git a/Assets/MotorWriter.cs b/Assets/MotorWriter.cs
index 3c3d7b12..c8df4dfe 100644
--- a/Assets/MotorWriter.cs
+++ b/Assets/MotorWriter.cs
@@ -25,7 +25,7 @@ namespace RosSharp.RosBridgeClient
 
 		    wheel.GetWorldPose(out _pos, out _quat);
 
-		     transform.position = _pos;
+		    transform.position = _pos;
 		    transform.rotation = _quat;
 	    }
 
diff --git a/Assets/Robots/RobotsModels/3d models/Narko2/Narko2.prefab b/Assets/Robots/RobotsModels/3d models/Narko2/Narko2.prefab
index d920e996..1bc57c00 100644
--- a/Assets/Robots/RobotsModels/3d models/Narko2/Narko2.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Narko2/Narko2.prefab	
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -132,6 +133,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -210,6 +212,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -342,6 +345,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -420,6 +424,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -498,6 +503,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -576,6 +582,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -654,6 +661,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -732,6 +740,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -810,6 +819,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -888,6 +898,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -966,6 +977,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1044,6 +1056,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1122,6 +1135,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1200,6 +1214,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1278,6 +1293,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1356,6 +1372,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1434,6 +1451,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1512,6 +1530,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1590,6 +1609,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1668,6 +1688,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1746,6 +1767,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1824,6 +1846,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1902,6 +1925,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/head_with_neck.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/head_with_neck.prefab
index 56389884..893182d4 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/head_with_neck.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/head_with_neck.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_arm.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_arm.prefab
index 12cf931e..ba0bfed9 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_arm.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_arm.prefab	
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_hand.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_hand.prefab
index 63e19693..f154e7e9 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_hand.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_hand.prefab	
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_shoulder.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_shoulder.prefab
index a1456585..d8feebda 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_shoulder.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/left_shoulder.prefab	
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/leg.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/leg.prefab
index 1301c8fa..64d6762f 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/leg.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/leg.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/lower_body.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/lower_body.prefab
index 7741c84f..3917e99a 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/lower_body.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/lower_body.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper.prefab
index 506e3ea8..9104550e 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper_with_wheels.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper_with_wheels.prefab
index 137cd77b..950ac06c 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper_with_wheels.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/pepper_with_wheels.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_arm.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_arm.prefab
index 128d566c..c0ef66b1 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_arm.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_arm.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_hand.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_hand.prefab
index 0ced03af..ea4eb3ed 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_hand.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_hand.prefab	
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_shoulder.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_shoulder.prefab
index 6c691bc4..43561c83 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_shoulder.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/right_shoulder.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/upper_body.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/upper_body.prefab
index f76386f2..a4b35e45 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/upper_body.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/upper_body.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/wheels.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/wheels.prefab
index 97c31ab9..8c1e7261 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/wheels.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/Old/Pepper-3Ddata-master/wheels.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base.prefab b/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base.prefab
index 094643c8..0f94140d 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base.prefab	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base.prefab	
@@ -85,6 +85,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
diff --git a/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base_0.asset b/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base_0.asset
index f448929c..0d0f52f7 100644
--- a/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base_0.asset	
+++ b/Assets/Robots/RobotsModels/3d models/Old/Pepper/urdf/meshes/base_0.asset	
@@ -17,8 +17,8 @@ Mesh:
     firstVertex: 0
     vertexCount: 3792
     localAABB:
-      m_Center: {x: -0.25938502, y: 0.1488595, z: -0.2415415}
-      m_Extent: {x: 0.233645, y: 0.1459035, z: 0.2103585}
+      m_Center: {x: -246854.5, y: 147528.5, z: -225435.5}
+      m_Extent: {x: 245839.5, y: 147234.5, z: 225068.5}
   m_Shapes:
     vertices: []
     shapes: []
@@ -97,7 +97,7 @@ Mesh:
       format: 0
       dimension: 0
     m_DataSize: 91008
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diff --git a/Assets/Robots/RobotsModels/Qolo_sensors.prefab b/Assets/Robots/RobotsModels/Qolo_sensors.prefab
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-  JointName: base_link_left_motor_wheel_joint
+  JointName: base_link_caster_front_left_joint
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   VelocityLimit: 1000
---- !u!59 &8035768820496661471
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-  m_UseSpring: 0
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@@ -6446,21 +8066,20 @@ HingeJoint:
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diff --git a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
index a1995f21..78f9b891 100644
--- a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
+++ b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
@@ -23,7 +23,7 @@ namespace RosSharp.RosBridgeClient
 {
     public class TwistSubscriber : Subscriber<Messages.Geometry.Twist>
     {
-        public enum Mode {kinematic, force, motor};
+        public enum Mode {kinematic, force, motor_base_velocity, motor_wheel_control};
         public Transform SubscribedTransform;
         public Mode mode = Mode.kinematic;
 
@@ -100,10 +100,16 @@ namespace RosSharp.RosBridgeClient
                     SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
                 break;
         
-                case Mode.motor:
+                case Mode.motor_base_velocity:
                     if(controller == null) break;
                     controller.ControlMotorsClosedLoop(deltaTime, linearVelocity.z, angularVelocity.y);
                 break;
+
+                case Mode.motor_wheel_control:
+                    if(controller == null) break;
+                    controller.Accelerate(linearVelocity.x, linearVelocity.y);
+                break;
+
             }
             
             previousRealTime = Time.realtimeSinceStartup;
diff --git a/Assets/Scenes/Tests/FixRobots.unity b/Assets/Scenes/Tests/FixRobots.unity
index b826d112..724cbbe2 100644
--- a/Assets/Scenes/Tests/FixRobots.unity
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@@ -439,6 +449,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -450,6 +461,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -516,6 +528,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -527,6 +540,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -593,6 +607,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -604,6 +619,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -670,6 +686,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -681,6 +698,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -747,6 +765,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -758,6 +777,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -824,6 +844,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -835,6 +856,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -901,6 +923,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -912,6 +935,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -978,6 +1002,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -989,6 +1014,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1055,6 +1081,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1066,6 +1093,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1132,6 +1160,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1143,6 +1172,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1209,6 +1239,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1220,6 +1251,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1286,6 +1318,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1297,6 +1330,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1363,6 +1397,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1374,6 +1409,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1440,6 +1476,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1451,6 +1488,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1517,6 +1555,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1528,6 +1567,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1594,6 +1634,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1605,6 +1646,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1671,6 +1713,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1682,6 +1725,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1748,6 +1792,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1759,6 +1804,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1884,6 +1930,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1895,6 +1942,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1961,6 +2009,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1972,6 +2021,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2038,6 +2088,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2049,6 +2100,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2115,6 +2167,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2126,6 +2179,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2192,6 +2246,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2203,6 +2258,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2269,6 +2325,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2280,6 +2337,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
diff --git a/Logs/Packages-Update.log b/Logs/Packages-Update.log
index 60591435..5b315d5e 100644
--- a/Logs/Packages-Update.log
+++ b/Logs/Packages-Update.log
@@ -160,3 +160,12 @@ Update Mode: updateDependencies
 The following packages were updated:
   com.unity.ads from version 2.0.8 to 3.4.4
   com.unity.test-framework from version 1.1.11 to 1.1.13
+
+=== Wed May 20 11:51:30 2020
+
+Packages were changed.
+Update Mode: updateDependencies
+
+The following packages were updated:
+  com.unity.ads from version 3.4.4 to 3.4.5
+  com.unity.test-framework from version 1.1.13 to 1.1.14
diff --git a/Packages/manifest.json b/Packages/manifest.json
index 71a43776..26787b2c 100644
--- a/Packages/manifest.json
+++ b/Packages/manifest.json
@@ -2,7 +2,7 @@
   "dependencies": {
     "com.unity.2d.sprite": "1.0.0",
     "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.ads": "3.4.4",
+    "com.unity.ads": "3.4.5",
     "com.unity.analytics": "3.3.5",
     "com.unity.collab-proxy": "1.2.16",
     "com.unity.ext.nunit": "1.0.0",
@@ -11,7 +11,7 @@
     "com.unity.probuilder": "4.2.3",
     "com.unity.progrids": "3.0.3-preview.5",
     "com.unity.purchasing": "2.0.6",
-    "com.unity.test-framework": "1.1.13",
+    "com.unity.test-framework": "1.1.14",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.6",
     "com.unity.ugui": "1.0.0",
diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
index c7d3fa90..3814b772 100644
--- a/ProjectSettings/ProjectVersion.txt
+++ b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2019.3.11f1
-m_EditorVersionWithRevision: 2019.3.11f1 (ceef2d848e70)
+m_EditorVersion: 2019.3.14f1
+m_EditorVersionWithRevision: 2019.3.14f1 (2b330bf6d2d8)
diff --git a/Scenario/Tests/FileOrder.csv b/Scenario/Tests/FileOrder.csv
new file mode 100644
index 00000000..9a68fc21
--- /dev/null
+++ b/Scenario/Tests/FileOrder.csv
@@ -0,0 +1 @@
+/Scenario/Tests/GeneratedScenario.xml
\ No newline at end of file
diff --git a/Scenario/Tests/GeneratedScenario.xml b/Scenario/Tests/GeneratedScenario.xml
new file mode 100644
index 00000000..c3ba8c30
--- /dev/null
+++ b/Scenario/Tests/GeneratedScenario.xml
@@ -0,0 +1,279 @@
+<?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="Plane">
+    <Position x="-0" y="0" z="0" />
+    <Rotation x="0" y="0" z="0" />
+    <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
+    <endingConditions>
+      <condition parameter="time" test="less" value="0" />
+    </endingConditions>
+  </scene>
+  <player>
+    <TrialCamPlayer mesh="CamPlayer" radius="0.33" in_sim="false">
+      <Position x="-17.85" y="17.04" z="8.110001" />
+      <Rotation x="0" y="0" z="190.802734" />
+      <controlLaw>
+        <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+      </controlLaw>
+    </TrialCamPlayer>
+  </player>
+  <robots>
+    <robot>
+      <TrialRegularRobot mesh="Qolo_sensors" radius="1">
+        <Position x="-0" y="0" z="0.01" />
+        <Rotation x="0" y="0" z="0" />
+        <controlLaw>
+          <LawFake />
+        </controlLaw>
+      </TrialRegularRobot>
+    </robot>
+  </robots>
+  <agents>
+    <agent>
+      <TrialRegularAgent mesh="f009" radius="0.33" visualVariation="9" animationOffset="0.697260857" heightOffset="-0.02786814">
+        <Position x="1.40761292" y="-32.7011" z="1.6" />
+        <Rotation x="-0" y="0" z="248.200546" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="1.88858676" y="17.9780159" z="0.01" />
+              <Waypoint x="-0.6037548" y="15.5049229" z="0.01" />
+              <Waypoint x="0.5498344" y="15.178504" z="0.01" />
+              <Waypoint x="1.51581848" y="15.5390177" z="0.01" />
+              <Waypoint x="0.59104073" y="18.817646" z="0.01" />
+              <Waypoint x="0.792912245" y="21.6481" z="0.01" />
+              <Waypoint x="0.2986601" y="19.7650223" z="0.01" />
+              <Waypoint x="-0.142502129" y="16.4252872" z="0.01" />
+              <Waypoint x="1.93438792" y="15.8263817" z="0.01" />
+              <Waypoint x="0.7802828" y="19.4111347" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m002" radius="0.33" visualVariation="8" animationOffset="0.6397022" heightOffset="-0.04046097">
+        <Position x="0.7068608" y="-32.23658" z="1.6" />
+        <Rotation x="-0" y="0" z="267.13562" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="-0.0476299524" y="20.44189" z="0.01" />
+              <Waypoint x="1.02778661" y="21.8311157" z="0.01" />
+              <Waypoint x="0.595391631" y="16.2903214" z="0.01" />
+              <Waypoint x="1.01036716" y="17.28674" z="0.01" />
+              <Waypoint x="2.20804787" y="17.4996166" z="0.01" />
+              <Waypoint x="-0.063934505" y="17.739254" z="0.01" />
+              <Waypoint x="0.643404245" y="18.5366459" z="0.01" />
+              <Waypoint x="1.84517908" y="16.7607155" z="0.01" />
+              <Waypoint x="0.20656532" y="16.642683" z="0.01" />
+              <Waypoint x="0.772148132" y="17.6054573" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="2" animationOffset="0.413502872" heightOffset="0.0108250193">
+        <Position x="-0.9128056" y="-35.1978378" z="1.6" />
+        <Rotation x="-0" y="0" z="263.090851" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="-0.600912869" y="16.89373" z="0.01" />
+              <Waypoint x="2.048003" y="19.4364243" z="0.01" />
+              <Waypoint x="0.905014753" y="17.8165646" z="0.01" />
+              <Waypoint x="0.6448454" y="15.9240637" z="0.01" />
+              <Waypoint x="1.50623655" y="20.16176" z="0.01" />
+              <Waypoint x="1.13009977" y="21.8827324" z="0.01" />
+              <Waypoint x="0.822525561" y="21.2068176" z="0.01" />
+              <Waypoint x="1.71662593" y="21.6615162" z="0.01" />
+              <Waypoint x="1.681001" y="20.7891445" z="0.01" />
+              <Waypoint x="0.853364766" y="18.3571224" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="5" animationOffset="0.0892339945" heightOffset="0.0025517866">
+        <Position x="-1.68409562" y="-35.5686836" z="1.6" />
+        <Rotation x="0" y="-0" z="28.5393486" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="0.6506313" y="18.5507431" z="0.01" />
+              <Waypoint x="0.273392916" y="20.1332035" z="0.01" />
+              <Waypoint x="1.32919383" y="18.1877136" z="0.01" />
+              <Waypoint x="1.87981153" y="19.0731812" z="0.01" />
+              <Waypoint x="-0.426332653" y="18.1395035" z="0.01" />
+              <Waypoint x="1.04703522" y="15.9942665" z="0.01" />
+              <Waypoint x="2.22459841" y="17.5781536" z="0.01" />
+              <Waypoint x="1.83718729" y="21.267498" z="0.01" />
+              <Waypoint x="0.5884319" y="20.62008" z="0.01" />
+              <Waypoint x="1.47743249" y="20.6333618" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m001" radius="0.33" visualVariation="8" animationOffset="0.79391" heightOffset="-0.0356619619">
+        <Position x="-0.9406319" y="-34.73408" z="1.6" />
+        <Rotation x="0" y="-0" z="78.05151" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="0.137869239" y="18.8808613" z="0.01" />
+              <Waypoint x="0.958513" y="19.1948833" z="0.01" />
+              <Waypoint x="0.15521425" y="19.04644" z="0.01" />
+              <Waypoint x="-0.578705966" y="18.84708" z="0.01" />
+              <Waypoint x="1.61478329" y="18.39798" z="0.01" />
+              <Waypoint x="-0.159446955" y="19.2855511" z="0.01" />
+              <Waypoint x="1.10235167" y="22.107357" z="0.01" />
+              <Waypoint x="0.236229" y="15.3532848" z="0.01" />
+              <Waypoint x="1.51191187" y="21.6345215" z="0.01" />
+              <Waypoint x="0.7980141" y="16.8806362" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m018" radius="0.33" visualVariation="6" animationOffset="0.123265624" heightOffset="0.000325363129">
+        <Position x="-1.44942439" y="-33.83381" z="1.6" />
+        <Rotation x="0" y="-0" z="72.49917" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="1.52140212" y="16.3152351" z="0.01" />
+              <Waypoint x="0.474021852" y="20.62809" z="0.01" />
+              <Waypoint x="1.27079225" y="16.2659016" z="0.01" />
+              <Waypoint x="1.54491091" y="20.5852184" z="0.01" />
+              <Waypoint x="-0.07814294" y="19.519455" z="0.01" />
+              <Waypoint x="0.225903034" y="22.0464859" z="0.01" />
+              <Waypoint x="0.8779897" y="16.38496" z="0.01" />
+              <Waypoint x="1.35741782" y="16.9534836" z="0.01" />
+              <Waypoint x="0.357145071" y="17.5828323" z="0.01" />
+              <Waypoint x="0.456605852" y="18.95698" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f004" radius="0.33" visualVariation="8" animationOffset="0.429523766" heightOffset="-0.006210882">
+        <Position x="-1.58748782" y="-35.9434929" z="1.6" />
+        <Rotation x="-0" y="0" z="331.043823" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="1.51081574" y="19.8181686" z="0.01" />
+              <Waypoint x="1.33232975" y="19.3590069" z="0.01" />
+              <Waypoint x="0.231900036" y="19.5512562" z="0.01" />
+              <Waypoint x="1.819356" y="20.1133785" z="0.01" />
+              <Waypoint x="0.470453382" y="19.67309" z="0.01" />
+              <Waypoint x="-0.187972724" y="21.7775211" z="0.01" />
+              <Waypoint x="1.98447967" y="18.6694279" z="0.01" />
+              <Waypoint x="0.815603852" y="21.3925381" z="0.01" />
+              <Waypoint x="0.161343634" y="19.3456421" z="0.01" />
+              <Waypoint x="1.82237959" y="19.4467754" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m014" radius="0.33" visualVariation="3" animationOffset="0.505492151" heightOffset="0.0029255338">
+        <Position x="-0.185241729" y="-36.34603" z="1.6" />
+        <Rotation x="0" y="-0" z="48.4257164" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="2.21344948" y="22.039814" z="0.01" />
+              <Waypoint x="0.171108544" y="17.5198441" z="0.01" />
+              <Waypoint x="1.97525549" y="16.7299919" z="0.01" />
+              <Waypoint x="-0.4698457" y="17.8943958" z="0.01" />
+              <Waypoint x="-0.3039207" y="20.2235813" z="0.01" />
+              <Waypoint x="2.18718362" y="15.6671238" z="0.01" />
+              <Waypoint x="0.223276675" y="21.969" z="0.01" />
+              <Waypoint x="-0.4015159" y="21.9862957" z="0.01" />
+              <Waypoint x="0.206401169" y="22.2564011" z="0.01" />
+              <Waypoint x="1.48653936" y="16.1516228" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m012" radius="0.33" visualVariation="6" animationOffset="0.22144556" heightOffset="-0.0421834923">
+        <Position x="0.359078884" y="-32.3483047" z="1.6" />
+        <Rotation x="0" y="-0" z="118.146126" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="-0.0650422" y="20.5017242" z="0.01" />
+              <Waypoint x="0.06727153" y="21.00195" z="0.01" />
+              <Waypoint x="1.62297082" y="16.6486874" z="0.01" />
+              <Waypoint x="1.02383733" y="15.3115587" z="0.01" />
+              <Waypoint x="-0.2251162" y="22.2127686" z="0.01" />
+              <Waypoint x="1.30273819" y="17.112936" z="0.01" />
+              <Waypoint x="0.935569167" y="20.396946" z="0.01" />
+              <Waypoint x="1.26908064" y="16.8491116" z="0.01" />
+              <Waypoint x="-0.06161523" y="18.99691" z="0.01" />
+              <Waypoint x="-0.08920646" y="17.44608" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f013" radius="0.33" visualVariation="3" animationOffset="0.180202484" heightOffset="-0.0462574027">
+        <Position x="0.962675452" y="-35.0238647" z="1.6" />
+        <Rotation x="-0" y="0" z="201.036743" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="0" speedDefault="1.33" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="false">
+            <Waypoints>
+              <Waypoint x="0.324335158" y="20.1354065" z="0.01" />
+              <Waypoint x="1.69305873" y="21.2825813" z="0.01" />
+              <Waypoint x="0.124836028" y="15.9752111" z="0.01" />
+              <Waypoint x="0.169696867" y="18.385046" z="0.01" />
+              <Waypoint x="0.9121472" y="21.29849" z="0.01" />
+              <Waypoint x="2.11611915" y="17.1760788" z="0.01" />
+              <Waypoint x="-0.37164408" y="17.5337" z="0.01" />
+              <Waypoint x="0.129196167" y="18.3259449" z="0.01" />
+              <Waypoint x="-0.23282069" y="22.0175858" z="0.01" />
+              <Waypoint x="-0.085216105" y="20.4189167" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+      </TrialRegularAgent>
+    </agent>
+  </agents>
+  <obstacles>
+    <obstacle>
+      <TrialObstacle>
+        <Lines />
+        <Points>
+          <Point x1="5.46820164" y1="-21.0508537" thickness="0.6" />
+        </Points>
+      </TrialObstacle>
+    </obstacle>
+    <obstacle>
+      <TrialObstacle>
+        <Lines>
+          <Line x1="1.50814736" y1="-21.8528519" x2="4.07185268" y2="-19.2891464" thickness="1" />
+        </Lines>
+        <Points />
+      </TrialObstacle>
+    </obstacle>
+    <obstacle>
+      <TrialObstacle>
+        <Lines>
+          <Line x1="-1.5" y1="-20.5" x2="-0.5" y2="-19.5" thickness="0.5" />
+        </Lines>
+        <Points />
+      </TrialObstacle>
+    </obstacle>
+  </obstacles>
+</Trial>
\ No newline at end of file
diff --git a/Scenario/Tests/configTests.xml b/Scenario/Tests/configTests.xml
new file mode 100644
index 00000000..0a1d1d18
--- /dev/null
+++ b/Scenario/Tests/configTests.xml
@@ -0,0 +1,10 @@
+<?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/Tests/FileOrder.csv</sourceFileExperiment>
+  </experience>
+
+  <log debugLvl="1" />
+  <AddOns />
+</Config>
diff --git a/Scenario/Tutos/Tuto2/trial.xml b/Scenario/Tutos/Tuto2/trial.xml
index 9eb3c8d6..10af7df9 100644
--- a/Scenario/Tutos/Tuto2/trial.xml
+++ b/Scenario/Tutos/Tuto2/trial.xml
@@ -30,18 +30,802 @@
   </robots>
   <agents>
     <agent>
-      <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="1" animationOffset="0.317944467" heightOffset="0.0427539237">
-        <Position x="-9.364745" y="-1.76068616" z="0" />
-        <Rotation x="0" y="-0" z="113.820358" />
+      <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="4" animationOffset="0.575907648" heightOffset="-0.0238963775">
+        <Position x="19.4887428" y="-2.10872817" z="0" />
+        <Rotation x="-0" y="0" z="343.613647" />
         <controlLaw>
-          <LawWaypoints speedCurrent="1.61809373" speedDefault="1.90744054" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+          <LawWaypoints speedCurrent="1.10334885" speedDefault="2.18405747" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
             <Waypoints>
-              <Waypoint x="28.1625614" y="1.08040762" z="0.01" />
+              <Waypoint x="27.6795635" y="3.37950683" z="0.01" />
             </Waypoints>
           </LawWaypoints>
         </controlLaw>
         <controlSim>
-          <UMANSconfig SimulationID="0" radius="0.33" prefered_speed="1.4" max_speed="3" max_acceleration="3.40282347E+38" />
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="4" animationOffset="0.4429893" heightOffset="0.0199283585">
+        <Position x="14.614975" y="-1.71760321" z="0" />
+        <Rotation x="0" y="-0" z="94.30773" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="1.53670859" speedDefault="1.84281456" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+            <Waypoints>
+              <Waypoint x="26.965416" y="-3.728573" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f017" radius="0.33" visualVariation="6" animationOffset="0.487615049" heightOffset="0.04470657">
+        <Position x="3.43087935" y="2.198172" z="0" />
+        <Rotation x="0" y="-0" z="88.6340942" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="1.39070654" speedDefault="2.228485" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+            <Waypoints>
+              <Waypoint x="27.5999069" y="-1.07313681" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f018" radius="0.33" visualVariation="1" animationOffset="0.4632557" heightOffset="-0.0106003471">
+        <Position x="5.69733667" y="-4.940279" z="0" />
+        <Rotation x="0" y="-0" z="61.0987053" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="1.09666252" speedDefault="1.78500223" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+            <Waypoints>
+              <Waypoint x="27.6808224" y="-0.6406102" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="4" animationOffset="0.9650284" heightOffset="0.008012731">
+        <Position x="14.97215" y="2.58110428" z="0" />
+        <Rotation x="-0" y="0" z="182.714325" />
+        <controlLaw>
+          <LawWaypoints speedCurrent="1.0345602" speedDefault="2.03868222" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+            <Waypoints>
+              <Waypoint x="27.8514023" y="0.465301871" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+        <Position x="-19.8688717" y="1.66729522" z="0" />
+        <Rotation x="0" y="-0" z="14.3283176" />
+        <controlLaw>
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+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
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+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="4" animationOffset="0.776754141" heightOffset="0.04611483">
+        <Position x="6.684033" y="3.06280518" z="0" />
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+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+        </controlSim>
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+    </agent>
+    <agent>
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+          </LawWaypoints>
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+        <controlSim>
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+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+        <controlLaw>
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+          </LawWaypoints>
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+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+            <Waypoints>
+              <Waypoint x="28.2537861" y="-2.35646033" z="0.01" />
+            </Waypoints>
+          </LawWaypoints>
+        </controlLaw>
+        <controlSim>
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+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+        <Position x="13.2411966" y="-4.445383" z="0" />
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+        <controlLaw>
+          <LawWaypoints speedCurrent="1.17087221" speedDefault="1.79862928" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+            <Waypoints>
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+          </LawWaypoints>
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+        <controlSim>
+          <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
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+        <Position x="14.97484" y="0.11242491" z="0" />
+        <Rotation x="0" y="-0" z="100.529724" />
+        <controlLaw>
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+            <Waypoints>
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+        <controlSim>
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+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="5" animationOffset="0.8948971" heightOffset="0.03171953">
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-- 
GitLab