From d22b2a4aa46e5659510f954ffea83bf386275235 Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Wed, 23 Oct 2019 17:23:19 +0200
Subject: [PATCH] nav stack, odom, physics

---
 Assets/AddOns/CylinderCollider.cs             |     3 +
 .../RosCommuncation/ClockSubscriber.cs        |     5 +-
 .../RosCommuncation/JointStatePublisher.cs    |     2 +-
 .../RosCommuncation/OdometryPublisher.cs      |    74 +
 .../RosCommuncation/OdometryPublisher.cs.meta |    11 +
 .../UrdfJoints/UrdfJointRevolute.cs           |     2 +-
 Assets/AddOns/friction.physicMaterial         |     6 +-
 Assets/MainAssets/MainManager.prefab          |    44 +-
 .../Scripts/Sensors/Lidar/LidarProvider.cs    |     2 +
 .../Scripts/Sensors/Scripts/SensorProvider.cs |     2 +-
 .../Sensors/Scripts/SensorProvider2D.cs       |     8 +-
 Assets/MainAssets/Scripts/Loader/LoaderXP.cs  |     6 +-
 Assets/MainAssets/Scripts/Tools/ToolsTime.cs  |     9 +-
 Assets/OdomProvider.cs                        |   134 +
 Assets/OdomProvider.cs.meta                   |    11 +
 Assets/Scenes/CrowdBot/Inria/DataGen2.unity   |   185 +-
 .../NewRobotsImport/TurtleBotImport.unity     | 18234 +++++++++++++++-
 .../Tests/NewRobotsImport/WheelchairUCL.unity |   307 +-
 Configurations/configWchUCL2.xml              |    11 +
 ProjectSettings/DynamicsManager.asset         |     2 +-
 ProjectSettings/TagManager.asset              |     2 +-
 ProjectSettings/TimeManager.asset             |     4 +-
 Scenario/Tests/trialTest.xml                  |     4 +-
 Scenario/TestsUCL/FileOrder.csv               |     1 +
 Scenario/TestsUCL/trialTest.xml               |   420 +
 25 files changed, 18847 insertions(+), 642 deletions(-)
 create mode 100644 Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
 create mode 100644 Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs.meta
 create mode 100644 Assets/OdomProvider.cs
 create mode 100644 Assets/OdomProvider.cs.meta
 create mode 100644 Configurations/configWchUCL2.xml
 create mode 100644 Scenario/TestsUCL/FileOrder.csv
 create mode 100644 Scenario/TestsUCL/trialTest.xml

diff --git a/Assets/AddOns/CylinderCollider.cs b/Assets/AddOns/CylinderCollider.cs
index 642fd428..dfcd608b 100644
--- a/Assets/AddOns/CylinderCollider.cs
+++ b/Assets/AddOns/CylinderCollider.cs
@@ -89,18 +89,21 @@ namespace kode80.Colliders
 				colliderTransform = CreateBoxCollider( i, boxSize, radiusStep * i).transform;
 				colliderTransform.SetParent( transform, false);
 				colliderTransform.SetParent( parent, true);
+				colliderTransform.gameObject.layer = parent.gameObject.layer;
 			}
 
 			if( capTop) {
 				colliderTransform = CreateCapCollider( true).transform;
 				colliderTransform.SetParent( transform, false);
 				colliderTransform.SetParent( parent, true);
+				colliderTransform.gameObject.layer = parent.gameObject.layer;
 			}
 
 			if( capBottom) {
 				colliderTransform = CreateCapCollider( false).transform;
 				colliderTransform.SetParent( transform, false);
 				colliderTransform.SetParent( parent, true);
+				colliderTransform.gameObject.layer = parent.gameObject.layer;
 			}
 		}
 
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockSubscriber.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockSubscriber.cs
index 306fe2b9..ad4790f0 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockSubscriber.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ClockSubscriber.cs
@@ -10,6 +10,8 @@ namespace RosSharp.RosBridgeClient
         private uint secs = 0;
         private uint nsecs = 0;
 
+        private float currentTime;
+
         private bool first_message = true;
 
         public float DeltaTime { get { 
@@ -17,6 +19,7 @@ namespace RosSharp.RosBridgeClient
             deltaTime = 0;
             return dt;
         }}
+        public float Time { get { return currentTime; }}
 
 		protected override void Start()
 		{
@@ -27,7 +30,7 @@ namespace RosSharp.RosBridgeClient
         {
             secs = message.clock.secs;
             nsecs = message.clock.nsecs;
-            float currentTime = (float)(secs) + (float)(nsecs)/1e9f;
+            currentTime = (float)(secs) + (float)(nsecs)/1e9f;
             deltaTime = first_message ? 0 : currentTime - lastTime;
             first_message = false;
             lastTime = currentTime; 
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs
index 7f82c4ab..37222533 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs
@@ -50,10 +50,10 @@ namespace RosSharp.RosBridgeClient
 
         public void UpdateMessage()
         {
-            message.header.Update();
             for (int i = 0; i < JointStateReaders.Count; i++)
                 UpdateJointState(i);
 
+            message.header.Update();
             Publish(message);
         }
 
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
new file mode 100644
index 00000000..294de053
--- /dev/null
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs
@@ -0,0 +1,74 @@
+using UnityEngine;
+using CrowdBot;
+
+namespace RosSharp.RosBridgeClient
+{
+    public class OdometryPublisher: Publisher<Messages.Navigation.Odometry>, Publisher
+    {
+        public OdomProvider odom;
+        public string FrameId = "odom";
+        private Messages.Navigation.Odometry message;
+
+        protected override void Start()
+        {
+            base.Start();
+            InitializeMessage();
+        }
+
+        private void FixedUpdate()
+        {
+            // UpdateMessage();
+        }
+
+        private void InitializeMessage()
+        {
+            message = new Messages.Navigation.Odometry();
+            message.header = new Messages.Standard.Header { frame_id = FrameId };
+            message.header.stamp = new RosBridgeClient.Messages.Standard.Time();
+
+            message.twist = new Messages.Geometry.TwistWithCovariance();
+            message.twist.covariance = new float[36];
+            message.twist.twist = new Messages.Geometry.Twist();
+            message.twist.twist.linear = new Messages.Geometry.Vector3();
+            message.twist.twist.angular = new Messages.Geometry.Vector3();
+            
+            message.pose = new Messages.Geometry.PoseWithCovariance();
+            message.pose.covariance = new float[36];
+            message.pose.pose = new Messages.Geometry.Pose();
+            message.pose.pose.position = new Messages.Geometry.Point();
+            message.pose.pose.orientation = new Messages.Geometry.Quaternion();
+        }
+        public void UpdateMessage()
+        {
+            message.header.Update();
+            message.pose.pose.position.x = odom.get_pose_and_twist().x;
+            message.pose.pose.position.y = odom.get_pose_and_twist().y;
+            message.pose.pose.orientation = GetRotation(Quaternion.AngleAxis(odom.get_pose_and_twist().theta*Mathf.Rad2Deg, Vector3.forward));
+            // message.pose.pose.orientation = GetRotation(Quaternion.identity);
+
+            message.twist.twist.linear = GetGeometryVector3(new Vector3(odom.get_pose_and_twist().dxdt, odom.get_pose_and_twist().dydt, 0 ));
+            message.twist.twist.angular = GetGeometryVector3(new Vector3(0,0, odom.get_pose_and_twist().dthetadt * Mathf.Rad2Deg    ));
+ 
+            Publish(message);
+        }
+
+        private static Messages.Geometry.Vector3 GetGeometryVector3(Vector3 vector3)
+        {
+            Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3();
+            geometryVector3.x = vector3.x;
+            geometryVector3.y = vector3.y;
+            geometryVector3.z = vector3.z;
+            return geometryVector3;
+        }
+
+        private Messages.Geometry.Quaternion GetRotation(Quaternion q)
+        {
+            Messages.Geometry.Quaternion my_q = new Messages.Geometry.Quaternion();
+            my_q.x = q.x;
+            my_q.y = q.y;
+            my_q.z = q.z;
+            my_q.w = q.w;
+            return my_q;
+        }
+    }
+}
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs.meta b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs.meta
new file mode 100644
index 00000000..8540a7ee
--- /dev/null
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0443bbc2c39282f29b28910fd79197d9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/AddOns/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs b/Assets/AddOns/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs
index 86f8dfc8..812d10f7 100644
--- a/Assets/AddOns/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs
+++ b/Assets/AddOns/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs
@@ -35,7 +35,7 @@ namespace RosSharp.Urdf
         }
 
         #region Runtime
-        
+       
         public override float GetPosition()
         {
             return -((HingeJoint)UnityJoint).angle * Mathf.Deg2Rad;
diff --git a/Assets/AddOns/friction.physicMaterial b/Assets/AddOns/friction.physicMaterial
index 946a35e9..54d68f37 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: 5
-  staticFriction: 5
+  dynamicFriction: 0.5
+  staticFriction: 0.5
   bounciness: 0
-  frictionCombine: 0
+  frictionCombine: 3
   bounceCombine: 0
diff --git a/Assets/MainAssets/MainManager.prefab b/Assets/MainAssets/MainManager.prefab
index 2ade87ee..ac67edec 100644
--- a/Assets/MainAssets/MainManager.prefab
+++ b/Assets/MainAssets/MainManager.prefab
@@ -56,9 +56,9 @@ RectTransform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2878436957033867487}
-  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 1.49}
-  m_LocalScale: {x: 0.01, y: 0.01, z: 0.01}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 0, y: 0, z: 0}
   m_Children:
   - {fileID: 1461498601624729770}
   m_Father: {fileID: 6992207386293649281}
@@ -66,9 +66,9 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 0, y: 1.55}
-  m_SizeDelta: {x: 4, y: 3}
-  m_Pivot: {x: 0.5, y: 0.5}
+  m_AnchoredPosition: {x: 0, y: 0}
+  m_SizeDelta: {x: 0, y: 0}
+  m_Pivot: {x: 0, y: 0}
 --- !u!223 &4024575159104824636
 Canvas:
   m_ObjectHideFlags: 0
@@ -78,7 +78,7 @@ Canvas:
   m_GameObject: {fileID: 2878436957033867487}
   m_Enabled: 1
   serializedVersion: 3
-  m_RenderMode: 2
+  m_RenderMode: 0
   m_Camera: {fileID: 0}
   m_PlaneDistance: 100
   m_PixelPerfect: 0
@@ -99,10 +99,10 @@ MonoBehaviour:
   m_GameObject: {fileID: 2878436957033867487}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 1980459831, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: 0cd44c1031e13a943bb63640046fad76, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_UiScaleMode: 0
+  m_UiScaleMode: 1
   m_ReferencePixelsPerUnit: 100
   m_ScaleFactor: 1
   m_ReferenceResolution: {x: 800, y: 600}
@@ -121,7 +121,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 2878436957033867487}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 1301386320, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: dc42784cf147c0c48a680349fa168899, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_IgnoreReversedGraphics: 1
@@ -183,7 +183,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 3283810582631202180}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 708705254, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: 5f7201a12d95ffc409449d95f23cf332, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
@@ -264,7 +264,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 4349393276800915748}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 708705254, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: 5f7201a12d95ffc409449d95f23cf332, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
@@ -288,7 +288,7 @@ MonoBehaviour:
     m_HorizontalOverflow: 0
     m_VerticalOverflow: 0
     m_LineSpacing: 1
-  m_Text: "Press joystick trigger \nto continue\n{ITT}/{TOT}"
+  m_Text: '{ITT}/{TOT}'
 --- !u!1 &6667613691394090678
 GameObject:
   m_ObjectHideFlags: 0
@@ -405,7 +405,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 6684999731301980969}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 1980459831, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: 0cd44c1031e13a943bb63640046fad76, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_UiScaleMode: 0
@@ -427,7 +427,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 6684999731301980969}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 1301386320, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: dc42784cf147c0c48a680349fa168899, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_IgnoreReversedGraphics: 1
@@ -468,11 +468,11 @@ RectTransform:
   m_Father: {fileID: 1019307021977307562}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
-  m_AnchorMin: {x: 0.5, y: 0.5}
-  m_AnchorMax: {x: 0.5, y: 0.5}
+  m_AnchorMin: {x: 0, y: 1}
+  m_AnchorMax: {x: 0, y: 1}
   m_AnchoredPosition: {x: 0, y: 0}
-  m_SizeDelta: {x: 400, y: 300}
-  m_Pivot: {x: 0.5, y: 0.5}
+  m_SizeDelta: {x: 200, y: 100}
+  m_Pivot: {x: 0, y: 1}
 --- !u!222 &2223921666798429335
 CanvasRenderer:
   m_ObjectHideFlags: 0
@@ -490,7 +490,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 7321966939191383273}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: -765806418, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
@@ -510,6 +510,7 @@ MonoBehaviour:
   m_FillClockwise: 1
   m_FillOrigin: 0
   m_UseSpriteMesh: 0
+  m_PixelsPerUnitMultiplier: 1
 --- !u!1 &8856539415331241317
 GameObject:
   m_ObjectHideFlags: 0
@@ -565,7 +566,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 8856539415331241317}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: -765806418, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
@@ -585,3 +586,4 @@ MonoBehaviour:
   m_FillClockwise: 1
   m_FillOrigin: 0
   m_UseSpriteMesh: 0
+  m_PixelsPerUnitMultiplier: 1
diff --git a/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
index c6612a68..fc96b7b0 100644
--- a/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
@@ -63,6 +63,8 @@ public class LidarProvider : SensorProvider2D
                 }
                 if (DebugInfo)
                     Debug.DrawLine(transform.position, hit.point, Color.yellow);
+                if (DebugInfo)
+                    Debug.Log(hit.collider.gameObject.name);
             }
             else
             {
diff --git a/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
index 10da1163..1d9b6423 100644
--- a/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
@@ -10,7 +10,7 @@ public abstract class SensorProvider : MonoBehaviour
 
     [SerializeField]
     [Tooltip ("Number of bits used by the sensor to represent the data")]
-    protected int Bits = 8;
+    protected int Bits = 32;
 
     [SerializeField]
     [Tooltip ("Frequency in Hz at which the sensor operates")]
diff --git a/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs
index 217cb1cd..6b142ed5 100644
--- a/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs
+++ b/Assets/MainAssets/Robots/Scripts/Sensors/Scripts/SensorProvider2D.cs
@@ -14,10 +14,10 @@ public abstract class SensorProvider2D : SensorProvider
 
     public override void QuantiseSensorData()
     {
-        for (int i = 0; i < SensorValues.Length; ++i)
-        {
-            // SensorValues[i] = Mathf.FloorToInt(SensorValues[i] / QuantisationStep) * QuantisationStep;
-        }
+        // for (int i = 0; i < SensorValues.Length; ++i)
+        // {
+        //     // SensorValues[i] = Mathf.FloorToInt(SensorValues[i] / QuantisationStep) * QuantisationStep;
+        // }
     }
     
     public virtual float[] GetData()
diff --git a/Assets/MainAssets/Scripts/Loader/LoaderXP.cs b/Assets/MainAssets/Scripts/Loader/LoaderXP.cs
index d6b0ee93..e6838b87 100644
--- a/Assets/MainAssets/Scripts/Loader/LoaderXP.cs
+++ b/Assets/MainAssets/Scripts/Loader/LoaderXP.cs
@@ -197,8 +197,10 @@ namespace CrowdMP.Core
         public TrialEnding()
         {
             parameter = TrialParam.time;
-            test = TrialTest.greater;
-            value = 60;
+            test = TrialTest.less;
+            // test = TrialTest.greater;
+            // value = 60;
+            value = 0;
         }
 
     }
diff --git a/Assets/MainAssets/Scripts/Tools/ToolsTime.cs b/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
index 9c3ef040..5288e349 100644
--- a/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
+++ b/Assets/MainAssets/Scripts/Tools/ToolsTime.cs
@@ -65,7 +65,14 @@ public static class ToolsTime {
 #endif
         
         timeSinceTrialStarted += realDeltaTime;
-        absoluteTime += realDeltaTime;
+        if(use_ros)
+        {
+            absoluteTime = ros_clock.Time;
+        }
+        else
+        {
+            absoluteTime += realDeltaTime;
+        }
 
         if (bPause)
             deltaTime = 0;
diff --git a/Assets/OdomProvider.cs b/Assets/OdomProvider.cs
new file mode 100644
index 00000000..81f8ae90
--- /dev/null
+++ b/Assets/OdomProvider.cs
@@ -0,0 +1,134 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using RosSharp.RosBridgeClient;
+using CrowdMP;
+
+namespace CrowdBot
+{
+    public class OdomProvider : MonoBehaviour
+    {
+        [SerializeField]
+        [Tooltip ("ticks per wheel turn.")]
+        protected float steps = 2578.33f;
+
+        [SerializeField]
+        [Tooltip ("Wheels radius (m).")]
+        protected float radius = 0.076f;
+
+        [SerializeField]
+        [Tooltip ("Spacing between wheels (m).")]
+        protected float spacing = 0.3f;
+
+        [SerializeField]
+        [Tooltip ("List of all additive noise generator associated with this sensor.")]
+        protected List<AdditiveNoiseGenerator> AdditiveNoiseGenerators;
+
+        [SerializeField]
+        [Tooltip ("Right wheel joint")]
+        protected JointStateReader r_wheel;
+
+        [SerializeField]
+        [Tooltip ("Left wheel joint")]
+        protected JointStateReader l_wheel;
+
+        [SerializeField]
+        [Tooltip ("Set to true to see debug info in the console")]
+        protected bool DebugInfo = false;
+
+        public struct Pose_and_twist{
+            public float x;
+            public float y;
+            public float theta;
+            public float dxdt;
+            public float dydt;
+            public float dthetadt;
+            
+            public Pose_and_twist(float xx, float yy, float th, float dxx, float dyy, float dth)
+            {
+                x = xx;
+                y = yy;
+                theta = th;
+                dxdt = dxx;
+                dydt = dyy;
+                dthetadt = dth;
+            }
+
+        }
+
+        // estimated position and velocity of the robot (2D)
+        protected Pose_and_twist p_t;
+
+        private float last_time;
+
+        // Use this for initialization
+        public virtual void Start () {
+            p_t = new Pose_and_twist(0,0,0,0,0,0);
+            last_time = ToolsTime.AbsoluteTime;
+        }
+
+        public void Update()
+        {
+            r_wheel.Read( out _, out float r_p, out float r_v, out float r_effort);
+            l_wheel.Read( out _, out float l_p, out float l_v, out float l_effort);
+
+            foreach( AdditiveNoiseGenerator n in AdditiveNoiseGenerators)
+            {
+                r_v += (float)(n.GetValue());
+                r_p += (float)(n.GetValue());
+                r_effort += (float)(n.GetValue());
+                l_v += (float)(n.GetValue());
+                l_p += (float)(n.GetValue());
+                l_effort += (float)(n.GetValue());
+            }
+            
+            // http://rossum.sourceforge.net/papers/DiffSteer/
+            // get timestamp
+
+            // // Quantesize the raw computation with the steps of the odometry sensor
+            // float delta_r_p = (Mathf.Round(r_p - last_r_pos)*(steps/360))/(steps/360);
+            // float delta_l_p = (Mathf.Round(l_p - last_l_pos)*(steps/360))/(steps/360);
+
+            // // inverse kinematic
+            // float delta_p = (radius*delta_l_p + radius*delta_r_p) / 2;
+            // float delta_curv = (spacing/2) * ((delta_r_p + delta_l_p) / (delta_r_p - delta_l_p));
+            
+            // float delta_o = delta_l_p/delta_curv; // R * dtheta = dX
+
+
+            float now = ToolsTime.AbsoluteTime;
+            float dt = now - last_time;
+
+            // inverse kinematic
+            p_t.dthetadt = radius * (r_v - l_v) / spacing;
+            p_t.theta = p_t.dthetadt  * dt + p_t.theta;
+
+            if(p_t.theta >= 2*Mathf.PI)
+            {
+                p_t.theta -= 2*Mathf.PI;
+            }
+            if(p_t.theta < 0)
+            {
+                p_t.theta += 2*Mathf.PI;
+            }
+            
+            float v = radius * (r_v + l_v) / 2;
+            p_t.dxdt = v * Mathf.Cos(p_t.theta);
+            p_t.dydt = v * Mathf.Sin(p_t.theta);
+
+            p_t.x =  p_t.dxdt * dt + p_t.x;
+            p_t.y =  p_t.dydt * dt + p_t.y;
+
+            last_time = ToolsTime.AbsoluteTime;
+
+            if(DebugInfo)
+                Debug.Log(p_t.x + " " + p_t.y + " " + p_t.theta*Mathf.Rad2Deg);
+        }
+
+        public Pose_and_twist get_pose_and_twist()
+        {
+            return p_t;
+        }
+
+    }
+}
\ No newline at end of file
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   m_Axis: {x: 0, y: 1, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: -0.21040003, y: 0.1662, z: -0.4081}
+  m_ConnectedAnchor: {x: -0.21040004, y: 0.1662, z: -0.4081}
   m_UseSpring: 1
   m_Spring:
     spring: 0
@@ -13546,6 +13623,59 @@ Transform:
   m_Father: {fileID: 180283217}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1268246999
+GameObject:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
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+  - component: {fileID: 1268247001}
+  m_Layer: 9
+  m_Name: Cylinder (2)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1268247000
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+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 1812965686}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 90}
+--- !u!114 &1268247001
+MonoBehaviour:
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+  m_PrefabAsset: {fileID: 0}
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+  m_Name: 
+  m_EditorClassIdentifier: 
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+  height: 0.06
+  boxCount: 256
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+  capBottom: 0
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+  isTrigger: 0
+  material: {fileID: 13400000, guid: 350992b88700690ad8e501040af84faa, type: 2}
+  colliderParent: {fileID: 0}
 --- !u!1 &1271518999
 GameObject:
   m_ObjectHideFlags: 0
@@ -18105,7 +18235,6 @@ GameObject:
   - component: {fileID: 1663441971}
   - component: {fileID: 1663441970}
   - component: {fileID: 1663441976}
-  - component: {fileID: 1663441977}
   - component: {fileID: 1663441975}
   m_Layer: 9
   m_Name: left_wheel
@@ -18141,7 +18270,7 @@ HingeJoint:
   m_Anchor: {x: 0, y: 0, z: 0}
   m_Axis: {x: 1, y: 0, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: -0.2715, y: 0.1662, z: 0}
+  m_ConnectedAnchor: {x: -0.27149993, y: 0.1662, z: 0}
   m_UseSpring: 0
   m_Spring:
     spring: 0
@@ -18250,19 +18379,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: eaa616c911f27ab8bb2d60967fdc59e4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  MaxVelocity: 400
---- !u!114 &1663441977
-MonoBehaviour:
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-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1663441968}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: aec95d463d3b5794e8e0107fc6647fcd, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
+  MaxVelocity: 500
 --- !u!1 &1665135457
 GameObject:
   m_ObjectHideFlags: 0
@@ -18352,7 +18469,7 @@ MonoBehaviour:
   MaxRange: 30
   AdditiveNoiseGenerators:
   - {fileID: 1666812925}
-  DebugInfo: 1
+  DebugInfo: 0
   AngularResolution: 0.6
   StartAngle: -110
   EndAngle: 120
@@ -18557,7 +18674,7 @@ HingeJoint:
   m_Anchor: {x: 0, y: 0, z: 0}
   m_Axis: {x: 1, y: 0, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: -0.002859041, y: -0.082619995, z: -0.06238001}
+  m_ConnectedAnchor: {x: -0.0028589573, y: -0.082619995, z: -0.06238}
   m_UseSpring: 0
   m_Spring:
     spring: 0
@@ -19667,7 +19784,7 @@ SphereCollider:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1760288371}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: 350992b88700690ad8e501040af84faa, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -20237,6 +20354,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1846366477}
+  - {fileID: 1268247000}
   m_Father: {fileID: 1701520048}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -20353,7 +20471,7 @@ SphereCollider:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1823772609}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: 350992b88700690ad8e501040af84faa, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -22063,7 +22181,7 @@ HingeJoint:
   m_Anchor: {x: 0, y: 0, z: 0}
   m_Axis: {x: 1, y: 0, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: -0.0028589647, y: -0.082619995, z: -0.06238001}
+  m_ConnectedAnchor: {x: -0.0028589573, y: -0.082619995, z: -0.06238}
   m_UseSpring: 0
   m_Spring:
     spring: 0
@@ -214395,13 +214513,15 @@ GameObject:
   - component: {fileID: 6851702019191997704}
   - component: {fileID: 6851702019191997705}
   - component: {fileID: 6851702019191997715}
-  - component: {fileID: 751276918}
   - component: {fileID: 751276921}
   - component: {fileID: 6851702019191997714}
   - component: {fileID: 6851702019191997713}
   - component: {fileID: 6851702019191997712}
   - component: {fileID: 6851702019191997716}
   - component: {fileID: 6851702019191997717}
+  - component: {fileID: 6851702019191997718}
+  - component: {fileID: 6851702019191997720}
+  - component: {fileID: 6851702019191997719}
   m_Layer: 0
   m_Name: RosConnector
   m_TagString: Clock
@@ -214421,7 +214541,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: c9798f3e9655e9a75857516341a997bf, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  Topic: /right_wheel_motor
+  Topic: /right_motor
   TimeStep: 0
   MotorWriter: {fileID: 954502579}
 --- !u!114 &6851702019191997713
@@ -214436,7 +214556,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: c9798f3e9655e9a75857516341a997bf, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  Topic: /left_wheel_motor
+  Topic: /left_motor
   TimeStep: 0
   MotorWriter: {fileID: 1663441976}
 --- !u!114 &6851702019191997714
@@ -214502,33 +214622,52 @@ MonoBehaviour:
   m_GameObject: {fileID: 6851702019191997711}
   m_Enabled: 0
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 4fe4cf3b1dd3507418f7ec019f9193ff, type: 3}
+  m_Script: {fileID: 11500000, guid: 0443bbc2c39282f29b28910fd79197d9, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  Topic: 
-  TimeStep: 0
-  JointNames:
-  - base_link_caster_front_left_joint
-  - caster_front_left_wheel_joint
-  - base_link_caster_front_right_joint
-  - caster_front_right_wheel_joint
-  - base_link_caster_back_left_joint
-  - caster_back_left_wheel_joint
-  - base_link_caster_back_right_joint
-  - caster_back_right_wheel_joint
-  - base_link_left_wheel_joint
-  - base_link_right_wheel_joint
-  JointStateWriters:
-  - {fileID: 75609626}
-  - {fileID: 1672076579}
-  - {fileID: 606455776}
-  - {fileID: 1979679932}
-  - {fileID: 1201630770}
-  - {fileID: 1440956979}
-  - {fileID: 1389945371}
-  - {fileID: 2063050090}
-  - {fileID: 1663441977}
-  - {fileID: 954502580}
+  Topic: /odom
+  odom: {fileID: 261416161}
+  FrameId: odom
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+  m_EditorClassIdentifier: 
+  Topic: /joy
+  FrameId: Unity
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 --- !u!33 &6944802719763408342
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diff --git a/Configurations/configWchUCL2.xml b/Configurations/configWchUCL2.xml
new file mode 100644
index 00000000..a2485f0c
--- /dev/null
+++ b/Configurations/configWchUCL2.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/TestsUCL/FileOrder.csv</sourceFileExperiment>
+    <userHeight>1.7</userHeight>
+  </experience>
+
+  <log debugLvl="1" />
+  <AddOns />
+</Config>
diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset
index 13cb1104..f878d09d 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: fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefffffffdffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefffffffdfffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
   m_ReuseCollisionCallbacks: 0
diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset
index f878d769..e2200d2c 100644
--- a/ProjectSettings/TagManager.asset
+++ b/ProjectSettings/TagManager.asset
@@ -31,7 +31,7 @@ TagManager:
   - 
   - pepper
   - wheelchair
-  - 
+  - turtlebot
   - 
   - 
   - 
diff --git a/ProjectSettings/TimeManager.asset b/ProjectSettings/TimeManager.asset
index c29e6120..347bc808 100644
--- a/ProjectSettings/TimeManager.asset
+++ b/ProjectSettings/TimeManager.asset
@@ -5,5 +5,5 @@ TimeManager:
   m_ObjectHideFlags: 0
   Fixed Timestep: 0.02
   Maximum Allowed Timestep: 0.33333334
-  m_TimeScale: 2
-  Maximum Particle Timestep: 0.2
+  m_TimeScale: 1
+  Maximum Particle Timestep: 0.1
diff --git a/Scenario/Tests/trialTest.xml b/Scenario/Tests/trialTest.xml
index 0406f5f9..756c6766 100644
--- a/Scenario/Tests/trialTest.xml
+++ b/Scenario/Tests/trialTest.xml
@@ -6,7 +6,7 @@
     <Rotation x="0" y="0" z="0" />
     <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
     <endingConditions>
-      <condition parameter="time" test="greater" value="10000000000" />
+      <condition parameter="time" test="less" value="0" />
     </endingConditions>
   </scene>
 
@@ -22,7 +22,7 @@
 
   <robots>
     <robot>
-      <TrialRegularRobot mesh="Wheelchair" radius="1">
+      <TrialRegularRobot mesh="turtlebot" radius="0.3">
         <Position x="0" y="0" z="0.01" />
         <Rotation x="0" y="0" z="0" />
         <!-- <controlLaw>
diff --git a/Scenario/TestsUCL/FileOrder.csv b/Scenario/TestsUCL/FileOrder.csv
new file mode 100644
index 00000000..102d96ab
--- /dev/null
+++ b/Scenario/TestsUCL/FileOrder.csv
@@ -0,0 +1 @@
+/Scenario/TestsUCL/trialTest.xml
diff --git a/Scenario/TestsUCL/trialTest.xml b/Scenario/TestsUCL/trialTest.xml
new file mode 100644
index 00000000..5af5dbff
--- /dev/null
+++ b/Scenario/TestsUCL/trialTest.xml
@@ -0,0 +1,420 @@
+<?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" />
+    <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="0" y="0.28" z="11.1500006" />
+      <Rotation x="-30.0000076" y="0" z="270" />
+      <controlLaw>
+        <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="10" dragSpeed="3" />
+      </controlLaw>
+    </TrialCamPlayer>
+  </player>
+
+  <robots>
+    <robot>
+      <TrialRegularRobot mesh="Wheelchair" radius="0.3">
+        <Position x="0" y="0" z="0.01" />
+        <Rotation x="0" y="0" z="0" />
+        <!-- <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.1" accelerationMax="0.8" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="-0" y="-40" z="0" />
+            </Goals>
+          </LawGoals>
+        </controlLaw> -->
+      </TrialRegularRobot>
+    </robot>
+  </robots>
+  <!-- <agents>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="9" animationOffset="0.712842464" heightOffset="0.029720962">
+        <Position x="2698.9502" y="35.5391159" z="0.01" />
+        <Rotation x="0" y="-0" z="72.8311157" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.06473851" accelerationMax="0.877475142" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2698.31787" y="-37.91512" z="0.01" />
+              <Goal x="2699.06128" y="44.37178" z="0.01" />
+              <Goal x="2703.84839" y="40.5512276" z="0.01" />
+              <Goal x="2701.819" y="-40.9511528" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="8" animationOffset="0.209443927" heightOffset="0.0216405019">
+        <Position x="2698.68628" y="35.1703644" z="0.01" />
+        <Rotation x="0" y="-0" z="107.925888" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.595818" accelerationMax="0.8101001" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2698.31787" y="-37.91512" z="0.01" />
+              <Goal x="2699.06128" y="44.37178" z="0.01" />
+              <Goal x="2703.84839" y="40.5512276" z="0.01" />
+              <Goal x="2701.819" y="-40.9511528" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="8" animationOffset="0.6195715" heightOffset="-0.02834693">
+        <Position x="2698.55786" y="35.52419" z="0.01" />
+        <Rotation x="-0" y="0" z="276.122528" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.62776244" accelerationMax="0.6167058" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2698.31787" y="-37.91512" z="0.01" />
+              <Goal x="2699.06128" y="44.37178" z="0.01" />
+              <Goal x="2703.84839" y="40.5512276" z="0.01" />
+              <Goal x="2701.819" y="-40.9511528" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="6" animationOffset="0.998847" heightOffset="-0.0254072212">
+        <Position x="2698.68286" y="35.91257" z="0.01" />
+        <Rotation x="0" y="-0" z="3.91242123" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.28578174" accelerationMax="0.889361441" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2698.31787" y="-37.91512" z="0.01" />
+              <Goal x="2699.06128" y="44.37178" z="0.01" />
+              <Goal x="2703.84839" y="40.5512276" z="0.01" />
+              <Goal x="2701.819" y="-40.9511528" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="0" animationOffset="0.258337677" heightOffset="-0.005205352">
+        <Position x="2699.6355" y="38.66566" z="0.01" />
+        <Rotation x="0" y="-0" z="54.6645775" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.18691647" accelerationMax="0.809491754" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2701.18555" y="-46.86713" z="0.01" />
+              <Goal x="2703.847" y="-39.4257164" z="0.01" />
+              <Goal x="2696.905" y="-41.807766" z="0.01" />
+              <Goal x="2701.0835" y="-38.8003464" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
+    </agent>
+    <agent>
+      <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="6" animationOffset="0.5202579" heightOffset="-0.04385284">
+        <Position x="2699.63" y="38.33" z="0.01" />
+        <Rotation x="-0" y="0" z="281.239624" />
+        <controlLaw>
+          <LawGoals speedCurrent="0" speedDefault="1.48491955" accelerationMax="0.8134129" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+            <Goals>
+              <Goal x="2701.18555" y="-46.86713" z="0.01" />
+              <Goal x="2703.847" y="-39.4257164" z="0.01" />
+              <Goal x="2696.905" y="-41.807766" z="0.01" />
+              <Goal x="2701.0835" y="-38.8003464" z="0.01" />
+            </Goals>
+          </LawGoals>
+        </controlLaw>
+        <controlSim>
+          <VBMConfig SimulationID="1" radius="0.33" neighborAgentDist="5" neighborWallDist="10" sigTtca="3" sigDca="0.3" sigSpeed="3.3" sigAngle="2" />
+        </controlSim>
+      </TrialRegularAgent>
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+      </TrialRegularAgent>
+    </agent>
+  </agents> -->
+</Trial>
\ No newline at end of file
-- 
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