fix: lidars prefab

Signed-off-by: A. Sena Yılmaz <[email protected]>
autowarefoundation · Aug 22, 2024 · f174553 · f174553
1 parent aea30f0
commit f174553
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Showing 11 changed files with 335 additions and 116 deletions.
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
@@ -26,12 +26,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 802059967502138397}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 1, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 3571061669704124931}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1418007491393828094
 MeshFilter:
@@ -91,10 +92,18 @@ MeshCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 802059967502138397}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 4
-  m_Convex: 0
+  serializedVersion: 5
+  m_Convex: 1
   m_CookingOptions: 30
   m_Mesh: {fileID: -2262728828464710314, guid: 47fa43d05bdad484d9a091b51b3d36cf, type: 3}
 --- !u!1 &842649118666955240
@@ -122,12 +131,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 842649118666955240}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 3571061669704124931}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &3576351860014150005
 MeshFilter:
@@ -193,7 +203,7 @@ GameObject:
   - component: {fileID: 1581152263907125302}
   m_Layer: 0
   m_Name: HesaiAT128E2X
-  m_TagString: Untagged
+  m_TagString: LidarSensor
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
@@ -205,14 +215,15 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4234831739006619833}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 6901275135546212603}
   - {fileID: 5035934393134541931}
   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &5823733368168859464
 MonoBehaviour:
@@ -284,10 +295,11 @@ MonoBehaviour:
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   configuration:
-    id: 0
+    rid: 0
   references:
-    version: 1
-    00000000:
+    version: 2
+    RefIds:
+    - rid: 0
       type: {class: HesaiAT128LidarConfiguration, ns: RGLUnityPlugin, asm: Assembly-CSharp}
       data:
         _laserArray:

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
@@ -25,12 +25,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2290079389202912719}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 6234784434860781162}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &9064179989084832579
 MeshFilter:
@@ -96,7 +97,7 @@ GameObject:
   - component: {fileID: 3512952426893214564}
   m_Layer: 0
   m_Name: HesaiPandar128E4X
-  m_TagString: Untagged
+  m_TagString: LidarSensor
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
@@ -108,14 +109,15 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 4172142874537177343}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1075361399847604337}
   - {fileID: 5431249843974468697}
   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &8798411946078147196
 MonoBehaviour:
@@ -187,10 +189,11 @@ MonoBehaviour:
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   configuration:
-    id: 0
+    rid: 0
   references:
-    version: 1
-    00000000:
+    version: 2
+    RefIds:
+    - rid: 0
       type: {class: HesaiPandar128E4XLidarConfiguration, ns: RGLUnityPlugin, asm: Assembly-CSharp}
       data:
         _laserArray:
@@ -1132,12 +1135,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8835314765314878244}
+  serializedVersion: 2
   m_LocalRotation: {x: -0.7071068, y: 0, z: 0, w: 0.7071068}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 6234784434860781162}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: -90, y: 0, z: 0}
 --- !u!64 &2311453099999102518
 MeshCollider:
@@ -1147,10 +1151,18 @@ MeshCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8835314765314878244}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 4
-  m_Convex: 0
+  serializedVersion: 5
+  m_Convex: 1
   m_CookingOptions: 30
   m_Mesh: {fileID: 616744135489241343, guid: d36e82edd5dd8a9468da5377737481c1, type: 3}
 --- !u!33 &3733632579269044041

diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
@@ -23,15 +23,16 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1743379296747465402}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1009219314075410404}
   - {fileID: 6806846108152048309}
   - {fileID: 247044143926682103}
   m_Father: {fileID: 8980102000641479971}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &6524473658097988016
 GameObject:
@@ -59,12 +60,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6524473658097988016}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 5148660814787066833}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &4485074540675801324
 MeshFilter:
@@ -124,10 +126,18 @@ MeshCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6524473658097988016}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 4
-  m_Convex: 0
+  serializedVersion: 5
+  m_Convex: 1
   m_CookingOptions: 30
   m_Mesh: {fileID: -4865087185505287995, guid: 456502729877cc8468a14cbd14b2f0d9, type: 3}
 --- !u!1 &7657609816789538522
@@ -156,12 +166,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7657609816789538522}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 5148660814787066833}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &4311981129889444528
 MeshFilter:
@@ -221,10 +232,18 @@ MeshCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7657609816789538522}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 4
-  m_Convex: 0
+  serializedVersion: 5
+  m_Convex: 1
   m_CookingOptions: 30
   m_Mesh: {fileID: 6196747465395140536, guid: 456502729877cc8468a14cbd14b2f0d9, type: 3}
 --- !u!1 &7848994132742887793
@@ -253,12 +272,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7848994132742887793}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 5148660814787066833}
-  m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &2687553592195881953
 MeshFilter:
@@ -318,10 +338,18 @@ MeshCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7848994132742887793}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 4
-  m_Convex: 0
+  serializedVersion: 5
+  m_Convex: 1
   m_CookingOptions: 30
   m_Mesh: {fileID: 1987095256127312640, guid: 456502729877cc8468a14cbd14b2f0d9, type: 3}
 --- !u!1 &8164441558762745267
@@ -349,12 +377,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8164441558762745267}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: -0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 8980102000641479971}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &8418600664510973644
 MeshFilter:
@@ -422,7 +451,7 @@ GameObject:
   - component: {fileID: 4243938545670296942}
   m_Layer: 0
   m_Name: HesaiPandar40P
-  m_TagString: Untagged
+  m_TagString: LidarSensor
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
@@ -434,14 +463,15 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8634644705376915353}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 5148660814787066833}
   - {fileID: 7169624091389836902}
   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &6585696430321227412
 MonoBehaviour:
@@ -513,10 +543,11 @@ MonoBehaviour:
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
   configuration:
-    id: 0
+    rid: 0
   references:
-    version: 1
-    00000000:
+    version: 2
+    RefIds:
+    - rid: 0
       type: {class: UniformRangeLidarConfiguration, ns: RGLUnityPlugin, asm: Assembly-CSharp}
       data:
         _laserArray: