diff --git a/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab b/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab
index 6ad0c478f7c0f5c80054f152e61eb596a049a681..4523772266dccff1693e5924563090703e3200f9 100644
--- a/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab
+++ b/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab
@@ -223,10 +223,8 @@ GameObject:
- component: {fileID: 3061186050394187488}
- component: {fileID: 8679655339076051440}
- component: {fileID: 4349708356240028345}
- - component: {fileID: 498133031}
- - component: {fileID: 498133032}
- - component: {fileID: 6442246810404132364}
- component: {fileID: 8051383300919184930}
+ - component: {fileID: 6442246810404132364}
m_Layer: 0
m_Name: wheel
m_TagString: Untagged
@@ -243,7 +241,7 @@ Transform:
m_GameObject: {fileID: 1944007635667346338}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
m_LocalPosition: {x: 0.18530001, y: 0.0518, z: 0.16059995}
- m_LocalScale: {x: 0, y: 0, z: 0}
+ m_LocalScale: {x: 0.1, y: 0.1, z: 0.1}
m_Children:
- {fileID: 4157537481017338540}
- {fileID: 166020690769825207}
@@ -291,107 +289,13 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 7631001c063f69d4495bca90731abab2, type: 3}
m_Name:
m_EditorClassIdentifier:
+ dirtyResetOnStart: 0
DisplayInertiaGizmo: 0
UseUrdfData: 0
CenterOfMass: {x: 0, y: 0, z: 0}
InertiaTensor: {x: 1, y: 1, z: 1}
InertiaTensorRotation: {x: 0, y: 0, z: 0, w: 1}
---- !u!153 &498133031
-ConfigurableJoint:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- m_GameObject: {fileID: 1944007635667346338}
- m_ConnectedBody: {fileID: 2428524261686948678}
- m_Anchor: {x: 0, y: 0, z: 0}
- m_Axis: {x: 1, y: 0, z: 0}
- m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: 0.1853, y: 0.0518, z: 0.16059995}
- serializedVersion: 2
- m_SecondaryAxis: {x: 0, y: 1, z: 0}
- m_XMotion: 0
- m_YMotion: 0
- m_ZMotion: 0
- m_AngularXMotion: 2
- m_AngularYMotion: 2
- m_AngularZMotion: 2
- m_LinearLimitSpring:
- spring: 0
- damper: 0
- m_LinearLimit:
- limit: 0
- bounciness: 0
- contactDistance: 0
- m_AngularXLimitSpring:
- spring: 0
- damper: 0
- m_LowAngularXLimit:
- limit: 0
- bounciness: 0
- contactDistance: 0
- m_HighAngularXLimit:
- limit: 0
- bounciness: 0
- contactDistance: 0
- m_AngularYZLimitSpring:
- spring: 0
- damper: 0
- m_AngularYLimit:
- limit: 0
- bounciness: 0
- contactDistance: 0
- m_AngularZLimit:
- limit: 0
- bounciness: 0
- contactDistance: 0
- m_TargetPosition: {x: 0, y: 0, z: 0}
- m_TargetVelocity: {x: 0, y: 0, z: 0}
- m_XDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_YDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_ZDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_TargetRotation: {x: 0, y: 0, z: 0, w: 1}
- m_TargetAngularVelocity: {x: 0, y: 0, z: 0}
- m_RotationDriveMode: 0
- m_AngularXDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_AngularYZDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_SlerpDrive:
- serializedVersion: 3
- positionSpring: 0
- positionDamper: 0
- maximumForce: 3.4028233e+38
- m_ProjectionMode: 0
- m_ProjectionDistance: 0.1
- m_ProjectionAngle: 180
- m_ConfiguredInWorldSpace: 0
- m_SwapBodies: 0
- m_BreakForce: Infinity
- m_BreakTorque: Infinity
- m_EnableCollision: 0
- m_EnablePreprocessing: 1
- m_MassScale: 1
- m_ConnectedMassScale: 100
---- !u!114 &498133032
+--- !u!114 &8051383300919184930
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
@@ -417,7 +321,7 @@ ConfigurableJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: 0.1853, y: 0.0518, z: 0.16059995}
+ m_ConnectedAnchor: {x: 0.18530001, y: 0.0518, z: 0.16059995}
serializedVersion: 2
m_SecondaryAxis: {x: 0, y: 1, z: 0}
m_XMotion: 0
@@ -499,23 +403,8 @@ ConfigurableJoint:
m_BreakTorque: Infinity
m_EnableCollision: 0
m_EnablePreprocessing: 1
- m_MassScale: 1
+ m_MassScale: 0.1
m_ConnectedMassScale: 100
---- !u!114 &8051383300919184930
-MonoBehaviour:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- m_GameObject: {fileID: 1944007635667346338}
- m_Enabled: 1
- m_EditorHideFlags: 0
- m_Script: {fileID: 11500000, guid: d7e5edcd03b4c4040bc550e77e4028b0, type: 3}
- m_Name:
- m_EditorClassIdentifier:
- JointName:
- EffortLimit: 1000
- VelocityLimit: 1000
--- !u!1 &1989773514065791997
GameObject:
m_ObjectHideFlags: 0
@@ -1365,6 +1254,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 60dbf0837965a2646895ca29e229aa07, type: 3}
m_Name:
m_EditorClassIdentifier:
+ isActive: 1
Sensing: 0
Bits: 8
SensingFrequency: 20
@@ -1445,7 +1335,7 @@ GameObject:
- component: {fileID: 2428524261686948697}
- component: {fileID: 2428524261686948678}
- component: {fileID: 2428524261686948679}
- - component: {fileID: 745677608}
+ - component: {fileID: 2065997649602301439}
m_Layer: 11
m_Name: base_link
m_TagString: VirtualRobotActive
@@ -1515,12 +1405,13 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 7631001c063f69d4495bca90731abab2, type: 3}
m_Name:
m_EditorClassIdentifier:
+ dirtyResetOnStart: 0
DisplayInertiaGizmo: 0
UseUrdfData: 0
CenterOfMass: {x: 0, y: 0, z: 0}
InertiaTensor: {x: 1, y: 1, z: 1}
InertiaTensorRotation: {x: 0, y: 0, z: 0, w: 1}
---- !u!114 &745677608
+--- !u!114 &2065997649602301439
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
@@ -1529,9 +1420,11 @@ MonoBehaviour:
m_GameObject: {fileID: 2428524261686948677}
m_Enabled: 1
m_EditorHideFlags: 0
- m_Script: {fileID: 11500000, guid: e3b839f86927c897d9f4fdab9c68e240, type: 3}
+ m_Script: {fileID: 11500000, guid: 992381e7b5b43af99bed67bf4731bfac, type: 3}
m_Name:
m_EditorClassIdentifier:
+ CenterOfMass: {x: 0.07, y: 0.1, z: 0}
+ UrdfInertialEnabled: 0
--- !u!1 &2428524261740477842
GameObject:
m_ObjectHideFlags: 0
@@ -1989,6 +1882,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 7631001c063f69d4495bca90731abab2, type: 3}
m_Name:
m_EditorClassIdentifier:
+ dirtyResetOnStart: 0
DisplayInertiaGizmo: 0
UseUrdfData: 0
CenterOfMass: {x: 0, y: 0, z: 0}
@@ -2020,7 +1914,7 @@ ConfigurableJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: 0.1853, y: 0.0518, z: -0.1605999}
+ m_ConnectedAnchor: {x: 0.18530001, y: 0.0518, z: -0.16059995}
serializedVersion: 2
m_SecondaryAxis: {x: 0, y: 1, z: 0}
m_XMotion: 0
@@ -2103,7 +1997,7 @@ ConfigurableJoint:
m_EnableCollision: 0
m_EnablePreprocessing: 1
m_MassScale: 1
- m_ConnectedMassScale: 100
+ m_ConnectedMassScale: 200
--- !u!1 &5121663560451586306
GameObject:
m_ObjectHideFlags: 0
@@ -2227,6 +2121,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 7631001c063f69d4495bca90731abab2, type: 3}
m_Name:
m_EditorClassIdentifier:
+ dirtyResetOnStart: 0
DisplayInertiaGizmo: 0
UseUrdfData: 0
CenterOfMass: {x: 0, y: 0, z: 0}
@@ -2258,7 +2153,7 @@ ConfigurableJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: -0.16589999, y: 0.0518, z: -0.1605999}
+ m_ConnectedAnchor: {x: -0.1659, y: 0.0518, z: -0.16059995}
serializedVersion: 2
m_SecondaryAxis: {x: 0, y: 1, z: 0}
m_XMotion: 0
@@ -2341,7 +2236,7 @@ ConfigurableJoint:
m_EnableCollision: 0
m_EnablePreprocessing: 1
m_MassScale: 1
- m_ConnectedMassScale: 100
+ m_ConnectedMassScale: 200
--- !u!1 &5371104424211349140
GameObject:
m_ObjectHideFlags: 0
@@ -2643,6 +2538,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 7631001c063f69d4495bca90731abab2, type: 3}
m_Name:
m_EditorClassIdentifier:
+ dirtyResetOnStart: 0
DisplayInertiaGizmo: 0
UseUrdfData: 0
CenterOfMass: {x: 0, y: 0, z: 0}
@@ -2674,7 +2570,7 @@ ConfigurableJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: -0.16589999, y: 0.0518, z: 0.16059995}
+ m_ConnectedAnchor: {x: -0.1659, y: 0.0518, z: 0.16059995}
serializedVersion: 2
m_SecondaryAxis: {x: 0, y: 1, z: 0}
m_XMotion: 0
@@ -2757,7 +2653,7 @@ ConfigurableJoint:
m_EnableCollision: 0
m_EnablePreprocessing: 1
m_MassScale: 1
- m_ConnectedMassScale: 100
+ m_ConnectedMassScale: 200
--- !u!1 &7555188944893171349
GameObject:
m_ObjectHideFlags: 0
diff --git a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
index d3de8f9e87421304c737b3c033dbbae5e7aa805b..7b33cb4052b04090a99e72bd84730c667b6d855c 100644
--- a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
+++ b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
@@ -59,12 +59,24 @@ namespace RosSharp.RosBridgeClient
{
// float deltaTime = Time.realtimeSinceStartup - previousRealTime;
float deltaTime = ToolsTime.DeltaTime;
-
+
if(is_forced_based)
{
if(deltaTime > 0)
- rigidbody.AddForce( Quaternion.Inverse(rigidbody.rotation) * (linearVelocity - rigidbody.velocity) * rigidbody.mass / deltaTime );
- // rigidbody.angularVelocity = angularVelocity * deltaTime;
+ {
+ if(linearVelocity.magnitude > 0)
+ {
+ Vector3 force = rigidbody.transform.rotation * (linearVelocity - rigidbody.velocity) * rigidbody.mass / deltaTime * 2;
+ rigidbody.AddForce( new Vector3 (force.x, 0, force.z) );
+ }
+
+ if (angularVelocity.magnitude > 0)
+ {
+ Vector3 torque = rigidbody.transform.rotation * (angularVelocity - rigidbody.angularVelocity) * rigidbody.mass / deltaTime * 2;
+ rigidbody.AddTorque( new Vector3 (0, torque.y , 0) );
+ }
+
+ }
}
else
{
diff --git a/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs b/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs
index 1807162bcdbfb5d1b9dcf8e4da66886024e9f0be..81cbb02762b465fdc8178722fc1f29bb32ab4001 100644
--- a/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs
+++ b/Assets/Robots/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs
@@ -23,6 +23,7 @@ namespace RosSharp.Urdf
[RequireComponent(typeof(Rigidbody))]
public class UrdfInertial : MonoBehaviour
{
+ public bool dirtyResetOnStart = false;
public bool DisplayInertiaGizmo;
public bool UseUrdfData;
@@ -77,8 +78,11 @@ namespace RosSharp.Urdf
}
else
{
- _rigidbody.ResetCenterOfMass();
- _rigidbody.ResetInertiaTensor();
+ if(dirtyResetOnStart)
+ {
+ _rigidbody.ResetCenterOfMass();
+ _rigidbody.ResetInertiaTensor();
+ }
}
}
diff --git a/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs b/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
index c956460f0040dfa0f5d338db5ea674e7207a7e79..2c9e122a0c40ddc7ea11fdc8ea3d38ee54ce0897 100644
--- a/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
+++ b/Assets/Robots/Scripts/Sensors/Lidar/LidarProvider.cs
@@ -49,6 +49,8 @@ public class LidarProvider : SensorProvider2D
public override IEnumerator Sense ()
{
+ if(!isActive) yield return null;
+
Sensing = true;
yield return StartCoroutine(CoroutineUtil.WaitForRealSeconds(SensingFrequency == 0 ? 0 : 1f / SensingFrequency));
int nbMeasures = Mathf.RoundToInt((EndAngle - StartAngle) / AngularResolution);
diff --git a/Assets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs b/Assets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
index 1d9b6423fee126cac97b1549529cc82544b2feed..d4aa63dc7c8f652796fb7812c85bc1850c7fba34 100644
--- a/Assets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
+++ b/Assets/Robots/Scripts/Sensors/Scripts/SensorProvider.cs
@@ -4,6 +4,8 @@ using UnityEngine;
public abstract class SensorProvider : MonoBehaviour
{
+ public bool isActive = true;
+
[HideInInspector]
public bool Sensing;
protected float QuantisationStep;
@@ -43,6 +45,7 @@ public abstract class SensorProvider : MonoBehaviour
// }
public virtual void Update(){
+ if(!isActive) return;
if (!Sensing)
{
StartCoroutine(Sense());
diff --git a/Assets/Scenes/Tutos/Tuto1.unity b/Assets/Scenes/Tutos/Tuto1.unity
index 405e8cc838001af0a76b24cdc983c5f0c09143c2..486b5d580d22a71f336a005f5bfaeeebaf7221d8 100644
--- a/Assets/Scenes/Tutos/Tuto1.unity
+++ b/Assets/Scenes/Tutos/Tuto1.unity
@@ -9000,7 +9000,7 @@ MeshCollider:
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1099706720}
- m_Material: {fileID: 0}
+ m_Material: {fileID: 13400000, guid: 350992b88700690ad8e501040af84faa, type: 2}
m_IsTrigger: 0
m_Enabled: 1
serializedVersion: 4
@@ -9114,6 +9114,42 @@ PrefabInstance:
m_Modification:
m_TransformParent: {fileID: 0}
m_Modifications:
+ - target: {fileID: 498133031, guid: cb10fa1a13eab5f35971de6bb8cd291e, type: 3}
+ propertyPath: m_ConnectedAnchor.x
+ value: 0.18530001
+ objectReference: {fileID: 0}
+ - target: {fileID: 498133031, guid: cb10fa1a13eab5f35971de6bb8cd291e, type: 3}
+ propertyPath: m_ConnectedAnchor.y
+ value: 0.0518
+ objectReference: {fileID: 0}
+ - target: {fileID: 498133031, guid: cb10fa1a13eab5f35971de6bb8cd291e, type: 3}
+ propertyPath: m_MassScale
+ value: 0.1
+ objectReference: {fileID: 0}
+ - target: {fileID: 498133031, guid: cb10fa1a13eab5f35971de6bb8cd291e, type: 3}
+ propertyPath: m_ConnectedMassScale
+ value: 100
+ objectReference: {fileID: 0}
+ - target: {fileID: 1594815881504067069, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.x
+ value: -0.1659
+ objectReference: {fileID: 0}
+ - target: {fileID: 1594815881504067069, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.y
+ value: 0.0518
+ objectReference: {fileID: 0}
+ - target: {fileID: 1594815881504067069, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_MassScale
+ value: 0.1
+ objectReference: {fileID: 0}
+ - target: {fileID: 1594815881504067069, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedMassScale
+ value: 100
+ objectReference: {fileID: 0}
- target: {fileID: 2428524260522502272, guid: cb10fa1a13eab5f35971de6bb8cd291e,
type: 3}
propertyPath: m_LocalPosition.x
@@ -9174,7 +9210,84 @@ PrefabInstance:
propertyPath: m_Name
value: Cuybot_with_sensors
objectReference: {fileID: 0}
- m_RemovedComponents: []
+ - target: {fileID: 2428524260990036908, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: isActive
+ value: 0
+ objectReference: {fileID: 0}
+ - target: {fileID: 2428524261686948679, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_Enabled
+ value: 1
+ objectReference: {fileID: 0}
+ - target: {fileID: 2499975129936484301, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.x
+ value: 0.18530001
+ objectReference: {fileID: 0}
+ - target: {fileID: 2499975129936484301, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.y
+ value: 0.0518
+ objectReference: {fileID: 0}
+ - target: {fileID: 2499975129936484301, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.z
+ value: -0.16059995
+ objectReference: {fileID: 0}
+ - target: {fileID: 2499975129936484301, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_MassScale
+ value: 0.1
+ objectReference: {fileID: 0}
+ - target: {fileID: 2499975129936484301, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedMassScale
+ value: 100
+ objectReference: {fileID: 0}
+ - target: {fileID: 4455809265994286810, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.x
+ value: -0.1659
+ objectReference: {fileID: 0}
+ - target: {fileID: 4455809265994286810, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.y
+ value: 0.0518
+ objectReference: {fileID: 0}
+ - target: {fileID: 4455809265994286810, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.z
+ value: -0.16059995
+ objectReference: {fileID: 0}
+ - target: {fileID: 4455809265994286810, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_MassScale
+ value: 0.1
+ objectReference: {fileID: 0}
+ - target: {fileID: 4455809265994286810, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedMassScale
+ value: 100
+ objectReference: {fileID: 0}
+ - target: {fileID: 6442246810404132364, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.x
+ value: 0.18530001
+ objectReference: {fileID: 0}
+ - target: {fileID: 6442246810404132364, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_ConnectedAnchor.y
+ value: 0.0518
+ objectReference: {fileID: 0}
+ - target: {fileID: 6442246810404132364, guid: cb10fa1a13eab5f35971de6bb8cd291e,
+ type: 3}
+ propertyPath: m_MassScale
+ value: 0.1
+ objectReference: {fileID: 0}
+ m_RemovedComponents:
+ - {fileID: 0}
+ - {fileID: 0}
m_SourcePrefab: {fileID: 100100000, guid: cb10fa1a13eab5f35971de6bb8cd291e, type: 3}
--- !u!1 &1121671989 stripped
GameObject:
@@ -13475,6 +13588,38 @@ CapsuleCollider:
m_Height: 0.27
m_Direction: 0
m_Center: {x: 0.08, y: 0.02, z: 0}
+--- !u!1 &1734493571 stripped
+GameObject:
+ m_CorrespondingSourceObject: {fileID: 6113120077017365461, guid: 63546cc7828dd0ea4b007c226d952460,
+ type: 3}
+ m_PrefabInstance: {fileID: 2130930804}
+ m_PrefabAsset: {fileID: 0}
+--- !u!114 &1734493576
+MonoBehaviour:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 1734493571}
+ m_Enabled: 1
+ m_EditorHideFlags: 0
+ m_Script: {fileID: 11500000, guid: 992381e7b5b43af99bed67bf4731bfac, type: 3}
+ m_Name:
+ m_EditorClassIdentifier:
+ CenterOfMass: {x: 0, y: 0.2, z: 0}
+ UrdfInertialEnabled: 0
+--- !u!114 &1734493577
+MonoBehaviour:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 1734493571}
+ m_Enabled: 1
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propertyPath: m_Name
value: Qolo_sensors
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diff --git a/Assets/basicOdom.cs b/Assets/basicOdom.cs
new file mode 100644
index 0000000000000000000000000000000000000000..a8f8ada314669880ee4e2791e3da531e173fee8a
--- /dev/null
+++ b/Assets/basicOdom.cs
@@ -0,0 +1,19 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class basicOdom : MonoBehaviour
+{
+ Rigidbody rigidbody;
+ // Start is called before the first frame update
+ void Start()
+ {
+ rigidbody = GetComponent<Rigidbody>();
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+ // print(rigidbody.transform.rotation * rigidbody.velocity);
+ }
+}
diff --git a/Assets/cuybotFix.cs.meta b/Assets/basicOdom.cs.meta
similarity index 83%
rename from Assets/cuybotFix.cs.meta
rename to Assets/basicOdom.cs.meta
index 4951324da9b91fe90e5f89fb78e9068dfe71d6d5..7f2d49c07bffcdde69780211334143bf8ac81d9e 100644
--- a/Assets/cuybotFix.cs.meta
+++ b/Assets/basicOdom.cs.meta
@@ -1,5 +1,5 @@
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diff --git a/Assets/cuybotFix.cs b/Assets/cuybotFix.cs
deleted file mode 100644
index 1931261f962149e796a4c81da9bad2d89fd25b42..0000000000000000000000000000000000000000
--- a/Assets/cuybotFix.cs
+++ /dev/null
@@ -1,12 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class cuybotFix : MonoBehaviour
-{
- // Update is called once per frame
- void Start()
- {
- gameObject.GetComponent<Rigidbody>().centerOfMass = new Vector3(0.07f, 0.05f,0);
- }
-}
diff --git a/Assets/dirtyFixInertial.cs b/Assets/dirtyFixInertial.cs
new file mode 100644
index 0000000000000000000000000000000000000000..98973c6eb1b68f7d6661565da0a79a0bb761ec60
--- /dev/null
+++ b/Assets/dirtyFixInertial.cs
@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class dirtyFixInertial : MonoBehaviour
+{
+ public Vector3 CenterOfMass;
+
+ public bool UrdfInertialEnabled = false;
+
+ bool firstUpdate = true;
+
+ // Start is called before the first frame update
+ void Start()
+ {
+ transform.GetComponent<RosSharp.Urdf.UrdfInertial>().enabled = UrdfInertialEnabled;
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+ if(firstUpdate)
+ {
+ transform.GetComponent<Rigidbody>().centerOfMass = CenterOfMass;
+ firstUpdate = false;
+ }
+ }
+}
diff --git a/Assets/dirtyFixInertial.cs.meta b/Assets/dirtyFixInertial.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c432974fcd8f7741bbda69968022633458af1c50
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