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@@ -3913,7 +5319,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981526801771847}
   - component: {fileID: 6016981526801771844}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: cyllinderWheel
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -3966,7 +5372,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981526937216310}
   - component: {fileID: 6016981526937216311}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: wheelJoyUnitPlus_0
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4011,7 +5417,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981527266938916}
   - component: {fileID: 6016981527266938917}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: wheelJoyUnitPlus_0
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4056,7 +5462,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981527365859209}
   - component: {fileID: 6016981527365859206}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Visuals
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4099,7 +5505,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981527387368868}
   - component: {fileID: 6016981527387368869}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Sphere
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4143,7 +5549,7 @@ GameObject:
   m_Component:
   - component: {fileID: 6016981527501803427}
   - component: {fileID: 6016981527501803424}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Visuals
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4188,7 +5594,7 @@ GameObject:
   - component: {fileID: 6113120077017365457}
   - component: {fileID: 6113120077017365456}
   - component: {fileID: 6113120077017365463}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: base_link
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4214,6 +5620,7 @@ Transform:
   - {fileID: 5228543049547826958}
   - {fileID: 6016981526755088194}
   - {fileID: 6016981525957559309}
+  - {fileID: 3015783815852458862}
   m_Father: {fileID: 5526748559872246136}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -4273,7 +5680,7 @@ GameObject:
   m_Component:
   - component: {fileID: 2850886604544600963}
   - component: {fileID: 4852931240245863723}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_2
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4319,7 +5726,7 @@ GameObject:
   m_Component:
   - component: {fileID: 992554542236223875}
   - component: {fileID: 846181672408075434}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Collisions
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4363,7 +5770,7 @@ GameObject:
   m_Component:
   - component: {fileID: 98847234209250067}
   - component: {fileID: 8116082012503950071}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_5
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4408,7 +5815,7 @@ GameObject:
   m_Component:
   - component: {fileID: 3787199412346213885}
   - component: {fileID: 341340127764746328}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Collisions
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4452,7 +5859,7 @@ GameObject:
   m_Component:
   - component: {fileID: 7145858510804841983}
   - component: {fileID: 9167466144193153337}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Visuals
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4497,7 +5904,7 @@ GameObject:
   - component: {fileID: 8576894390448119160}
   - component: {fileID: 3786751012058984339}
   - component: {fileID: 830992617277031344}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_14
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4576,7 +5983,7 @@ GameObject:
   m_Component:
   - component: {fileID: 7348995450941298552}
   - component: {fileID: 5498647220845167400}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_16
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4623,7 +6030,7 @@ GameObject:
   - component: {fileID: 3545146296555055738}
   - component: {fileID: 6810895401903768570}
   - component: {fileID: 6212818604008479256}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_1
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4702,7 +6109,7 @@ GameObject:
   m_Component:
   - component: {fileID: 3548156194634012627}
   - component: {fileID: 6171040415967333664}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: unnamed
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4748,7 +6155,7 @@ GameObject:
   - component: {fileID: 3223103803248923336}
   - component: {fileID: 4787051421160939219}
   - component: {fileID: 8818270310094072058}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: wheelJoyUnitPlus_0
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4826,7 +6233,7 @@ GameObject:
   m_Component:
   - component: {fileID: 4552678309173936813}
   - component: {fileID: 2545461002560722519}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_7
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4872,7 +6279,7 @@ GameObject:
   m_Component:
   - component: {fileID: 1798555656594927518}
   - component: {fileID: 3966741986310043358}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Collisions
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -4920,7 +6327,8 @@ GameObject:
   - component: {fileID: 4400198578411435848}
   - component: {fileID: 8035768820496661468}
   - component: {fileID: 8035768820496661471}
-  m_Layer: 0
+  - component: {fileID: 800176357407751590}
+  m_Layer: 12
   m_Name: left_motor_wheel
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -5015,7 +6423,7 @@ HingeJoint:
   m_Anchor: {x: 0, y: 0, z: 0}
   m_Axis: {x: 1, y: 0, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: 0, y: 0.2, z: 0.294}
+  m_ConnectedAnchor: {x: 0, y: 0.2, z: 0.29400003}
   m_UseSpring: 0
   m_Spring:
     spring: 0
@@ -5023,7 +6431,7 @@ HingeJoint:
     targetPosition: 0
   m_UseMotor: 1
   m_Motor:
-    targetVelocity: 150
+    targetVelocity: 0
     force: 400
     freeSpin: 0
   m_UseLimits: 0
@@ -5039,6 +6447,19 @@ HingeJoint:
   m_EnablePreprocessing: 1
   m_MassScale: 1
   m_ConnectedMassScale: 150
+--- !u!114 &800176357407751590
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 8035768820496661470}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: eaa616c911f27ab8bb2d60967fdc59e4, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  MaxVelocity: 0
 --- !u!1 &8249442083318503129
 GameObject:
   m_ObjectHideFlags: 0
@@ -5050,7 +6471,7 @@ GameObject:
   - component: {fileID: 8284318877085735061}
   - component: {fileID: 8631199726039405392}
   - component: {fileID: 5503340262876701988}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_18
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -5130,7 +6551,7 @@ GameObject:
   - component: {fileID: 4824988012268925240}
   - component: {fileID: 5246555562543992478}
   - component: {fileID: 4853653949625404138}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_20
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -5210,7 +6631,7 @@ GameObject:
   - component: {fileID: 5884276049485817736}
   - component: {fileID: 6547714216666005579}
   - component: {fileID: 2836136512497390752}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_7
   m_TagString: Untagged
   m_Icon: {fileID: 0}
@@ -5289,7 +6710,7 @@ GameObject:
   m_Component:
   - component: {fileID: 467267519778083410}
   - component: {fileID: 3734658348496881469}
-  m_Layer: 0
+  m_Layer: 12
   m_Name: Qolo_T_CB_simulator_15
   m_TagString: Untagged
   m_Icon: {fileID: 0}
diff --git a/Assets/Scenes/Tutos/Tuto1.unity b/Assets/Scenes/Tutos/Tuto1.unity
index 41ba3831450226a3f10881b3e4a6d780860b7dc8..405e8cc838001af0a76b24cdc983c5f0c09143c2 100644
--- a/Assets/Scenes/Tutos/Tuto1.unity
+++ b/Assets/Scenes/Tutos/Tuto1.unity
@@ -17054,26 +17054,6 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 6016981526725478069, guid: 63546cc7828dd0ea4b007c226d952460,
-        type: 3}
-      propertyPath: AngularResolution
-      value: 0.5
-      objectReference: {fileID: 0}
-    - target: {fileID: 6016981526725478071, guid: 63546cc7828dd0ea4b007c226d952460,
-        type: 3}
-      propertyPath: m_LocalRotation.y
-      value: -0.7071068
-      objectReference: {fileID: 0}
-    - target: {fileID: 6016981526725478071, guid: 63546cc7828dd0ea4b007c226d952460,
-        type: 3}
-      propertyPath: m_LocalRotation.w
-      value: 0.7071068
-      objectReference: {fileID: 0}
-    - target: {fileID: 6016981526725478071, guid: 63546cc7828dd0ea4b007c226d952460,
-        type: 3}
-      propertyPath: m_LocalEulerAnglesHint.y
-      value: -90
-      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 63546cc7828dd0ea4b007c226d952460, type: 3}
 --- !u!1 &2132669723
diff --git a/Assets/skinnedColliderStartup.cs b/Assets/skinnedColliderStartup.cs
new file mode 100644
index 0000000000000000000000000000000000000000..8331702d0c21465ddfaf4bad88c65cad2b5c08f7
--- /dev/null
+++ b/Assets/skinnedColliderStartup.cs
@@ -0,0 +1,32 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class skinnedColliderStartup : MonoBehaviour
+{
+    // mesh collider type
+    private SkinnedMeshRenderer meshRenderer;
+    private MeshCollider meshCollider;
+    private Mesh colliderMesh;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        meshRenderer = GetComponent<SkinnedMeshRenderer>();
+        meshCollider = GetComponent<MeshCollider>();
+        colliderMesh = new Mesh();
+        colliderMesh.Clear();
+        meshRenderer.BakeMesh(colliderMesh);
+        meshCollider.sharedMesh = null;
+        meshCollider.sharedMesh = colliderMesh;
+        
+    }
+
+    void OnDestroy(){
+        try
+        {
+            Destroy(colliderMesh);
+        }
+        catch{}
+    }
+}
diff --git a/Assets/skinnedColliderStartup.cs.meta b/Assets/skinnedColliderStartup.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..8febe9079743692dd39213ef68889dcc5e466092
--- /dev/null
+++ b/Assets/skinnedColliderStartup.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fb7e100c01a4f26788be5b4d169c6994
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset
index 28d2caf9bff43759416fdce0d5217bb955046abf..e36d953fba546e4a34d8fdc16df2604fc825105a 100644
--- a/ProjectSettings/DynamicsManager.asset
+++ b/ProjectSettings/DynamicsManager.asset
@@ -17,7 +17,7 @@ PhysicsManager:
   m_ClothInterCollisionDistance: 0
   m_ClothInterCollisionStiffness: 0
   m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefffffffdfffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefffffffdfffffffbfffffff7ffffffefffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
   m_ReuseCollisionCallbacks: 0
@@ -32,4 +32,5 @@ PhysicsManager:
   m_FrictionType: 0
   m_EnableEnhancedDeterminism: 0
   m_EnableUnifiedHeightmaps: 1
+  m_SolverType: 0
   m_DefaultMaxAngularSpeed: 7
diff --git a/ProjectSettings/Packages/com.unity.progrids/Settings.json b/ProjectSettings/Packages/com.unity.progrids/Settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..43fcd7a106dd0b7f2c57b200176d9e274a40b211
--- /dev/null
+++ b/ProjectSettings/Packages/com.unity.progrids/Settings.json
@@ -0,0 +1,7 @@
+{
+    "m_Name": "Settings",
+    "m_Path": "ProjectSettings/Packages/com.unity.progrids/Settings.json",
+    "m_Dictionary": {
+        "m_DictionaryValues": []
+    }
+}
\ No newline at end of file
diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset
index ba4ddac11baf2fbcbf59f77cfee7d3dd5746a7c5..8840bf1e3696972d07d3f2de2090927b121cf653 100644
--- a/ProjectSettings/TagManager.asset
+++ b/ProjectSettings/TagManager.asset
@@ -33,7 +33,7 @@ TagManager:
   - wheelchair
   - turtlebot
   - cuybot
-  - 
+  - Qolo
   - 
   - 
   -