fix some robotics scripts

Assets/CustomLibs/unity_robotics

@@ -1 +1 @@
-Subproject commit 3163d782ca8788cae899a3ca280d9806e6de701b
+Subproject commit d2d59f891fa3d1c39299464dc165b2427a9b8995

Assets/Scenes/main.unity

@@ -8560,9 +8560,9 @@ ArticulationBody:
     target: 0
     targetVelocity: 0
     driveType: 0
-  m_LinearDamping: 0.05
+  m_LinearDamping: 0
-  m_AngularDamping: 0.05
+  m_AngularDamping: 0
-  m_JointFriction: 0.05
+  m_JointFriction: 0
   m_CenterOfMass: {x: 0, y: 0, z: 0}
   m_InertiaTensor: {x: 1, y: 1, z: 1}
   m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -86722,7 +86722,7 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 792546717}
-  - component: {fileID: 792546718}
+  - component: {fileID: 792546719}
   m_Layer: 0
   m_Name: sirius_bot
   m_TagString: UtilityObj
@@ -86745,7 +86745,7 @@ Transform:
   m_Children: []
   m_Father: {fileID: 357998453}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &792546718
+--- !u!114 &792546719
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -86754,19 +86754,23 @@ MonoBehaviour:
   m_GameObject: {fileID: 792546716}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 46757fd7e9d69626c8827a94cbb3965a, type: 3}
+  m_Script: {fileID: 11500000, guid: 713fd61d8164fc73596a3b02b4cde489, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  front_left_wheel: {fileID: 1349958476}
+  _wheelList:
-  front_right_wheel: {fileID: 2082835350}
+  - name: front_left_wheel
-  back_left_wheel: {fileID: 1160352884}
+    obj: {fileID: 1349958476}
-  back_right_wheel: {fileID: 814849843}
+  - name: front_right_wheel
-  maxLinearSpeed: 3
+    obj: {fileID: 2082835350}
-  maxRotationalSpeed: 2
+  - name: back_left_wheel
-  wheelRadius: 0.22
+    obj: {fileID: 1160352884}
-  trackWidth: 0.47
+  - name: back_right_wheel
+    obj: {fileID: 814849843}
+  _robotBody: {fileID: 915175386}
+  maxLinearSpeed: 10
+  maxAngularSpeed: 2
   _frequency: 1
-  use_namespace: 0
+  useNamespace: 1
 --- !u!1001 &794370220
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -89411,7 +89415,7 @@ ArticulationBody:
   m_GameObject: {fileID: 814849839}
   m_Enabled: 1
   serializedVersion: 6
-  m_Mass: 5
+  m_Mass: 3
   m_ParentAnchorPosition: {x: 0.27999878, y: -0.13500002, z: -0.3}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
@@ -100888,7 +100892,7 @@ ArticulationBody:
   m_GameObject: {fileID: 915175385}
   m_Enabled: 1
   serializedVersion: 6
-  m_Mass: 10
+  m_Mass: 1
   m_ParentAnchorPosition: {x: 0, y: 0, z: 0}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
@@ -100928,8 +100932,8 @@ ArticulationBody:
     target: 0
     targetVelocity: 0
     driveType: 0
-  m_LinearDamping: 0.05
+  m_LinearDamping: 0
-  m_AngularDamping: 0.05
+  m_AngularDamping: 0
   m_JointFriction: 0.05
   m_CenterOfMass: {x: -0, y: 0, z: 0}
   m_InertiaTensor: {x: 0.56666666, y: 0.78, z: 0.37466666}
@@ -128824,7 +128828,7 @@ ArticulationBody:
   m_GameObject: {fileID: 1160352880}
   m_Enabled: 1
   serializedVersion: 6
-  m_Mass: 5
+  m_Mass: 3
   m_ParentAnchorPosition: {x: -0.27999878, y: -0.13500002, z: -0.3}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
@@ -149749,7 +149753,7 @@ ArticulationBody:
   m_GameObject: {fileID: 1349958472}
   m_Enabled: 1
   serializedVersion: 6
-  m_Mass: 5
+  m_Mass: 3
   m_ParentAnchorPosition: {x: -0.27999878, y: -0.13500002, z: 0.3}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
@@ -180431,9 +180435,9 @@ ArticulationBody:
     target: 0
     targetVelocity: 0
     driveType: 0
-  m_LinearDamping: 0.05
+  m_LinearDamping: 0
-  m_AngularDamping: 0.05
+  m_AngularDamping: 0
-  m_JointFriction: 0.05
+  m_JointFriction: 0
   m_CenterOfMass: {x: 0, y: 0, z: 0}
   m_InertiaTensor: {x: 1, y: 1, z: 1}
   m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -227282,7 +227286,7 @@ ArticulationBody:
   m_GameObject: {fileID: 2082835346}
   m_Enabled: 1
   serializedVersion: 6
-  m_Mass: 5
+  m_Mass: 3
   m_ParentAnchorPosition: {x: 0.27999878, y: -0.13500002, z: 0.3}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}

Assets/Scripts/ResetPosition.cs

@@ -1,57 +0,0 @@
-using UnityEngine;
-
-public class ResetPosition : MonoBehaviour
-{
-    [SerializeField] private Terrain currentTerrain;
-    [SerializeField] private LayerMask _terrainLayer = 1 << 0;
-    [SerializeField] private float _groundOffset = 1.0f;  // m, shift during raycast to stick robot to the ground
-
-    public bool startRotation = false;
-    private Vector3 targetEuler, targetPosition;
-    private Quaternion targetRotation;
-    private Vector3 terrainPosition, terrainNormal;
-    private float normalizedX, normalizedZ;
-    private Vector3 faceDirection;
-
-    private ArticulationBody body;
-    // draw ray and spawn object little up
-    // Start is called once before the first execution of Update after the MonoBehaviour is created
-
-    void Start()
-    {
-        body = GetComponent<ArticulationBody>();
-    }
-
-    void FixedUpdate() {
-        if (startRotation)
-        {
-            FixPosition();
-        }
-    }
-
-    void FixPosition()
-    {
-        terrainPosition = transform.position - currentTerrain.transform.position;
-        normalizedX = Mathf.InverseLerp(0, currentTerrain.terrainData.size.x, terrainPosition.x);
-        normalizedX = Mathf.Clamp01(normalizedX);
-        normalizedZ = Mathf.InverseLerp(0, currentTerrain.terrainData.size.z, terrainPosition.z);
-        normalizedZ = Mathf.Clamp01(normalizedZ);
-        terrainNormal = currentTerrain.terrainData.GetInterpolatedNormal(normalizedX, normalizedZ);
-
-        faceDirection = Vector3.Cross(terrainNormal, -transform.right);
-
-        Quaternion predictedRot = Quaternion.LookRotation(faceDirection, terrainNormal);
-        targetEuler = predictedRot.eulerAngles;
-        targetEuler.y = transform.rotation.eulerAngles.y;
-
-        targetRotation = Quaternion.Euler(targetEuler);
-        targetPosition = new Vector3(
-            transform.position.x,
-            transform.position.y + _groundOffset,
-            transform.position.z);
-
-        body.TeleportRoot(targetPosition, targetRotation);
-
-        startRotation = false;
-    }
-}

Assets/Scripts/ResetPosition.cs.meta

@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 4b9c4dfebd00ecd8aaf8dbf69d9248e2