Toegevoegd tbv design of experiment.

1.	Een MongoDB – koppelen aan Unity. De positie/orientation van de linerobot moet in de tijd worden getraced en opgeslagen in MongoDB. = getest
2.	Maken json-configfile voor startup met daarin een paar regel-parameters (PID) en lengte tijd t van simulatie en DB-gegevens. In DB de positie en orientatie van de lijnrobot elke seconde.
3.	Applicatie sluit automatische na t seconde (in config-file te definiëren).Dit geldt alleen voor executable.
4.	Jpeg rendertexture fixed en zelfde formaat als depthimage (nieuw script gemaakt, er wordt een bestaande rendertexture gebruikt ipv nieuwe ge-genereerd, van oude is formaat zelfde als die van depthimage)
5.	In json mogelijkheid lijnen definieren punten van parcours (en lijnbreedte)
6.	Parcours wordt gegenereerd op platte vlak
7. Update README

README.md

@@ -55,7 +55,106 @@ Than it shows the image with a colormap (depth-2-colormap).
 
 Additionally we would be able to re-pulish the topic under another topic-name, and than it could be shown in rqt_gui.
 
-## 
+## Database 
+A MongoDB is used to store timedata (currently only the position and orientation of the linerobot every second).
+
+Instaal a MongoDB and readup on howto do that (A DB can be stored locally or in the cloud)
+
+## Executable
+A Unity-executable can be built from within the Unity Editor. A scene (or multiple scenes) must be used.
+There are 3 scenes defined in the project. They work stand-alone (they are not linked to eachother, like typically is done in a game which has levels, than each level is a scene).
+That is why you should only compile one scene at a time.
+For use of design of experiment use the scene 'SceneLineRenderer'.
+
+## Design of Experiment
+For design of experiment a configuration file is read. The config.json is read that is in the main directory of the Editor (the parent of the Assets-folder) or the main executable-directory (in which the bat-file is present to start the executable).
+
+The json-configuration file looks like this:
+[code]
+{ "Database" :	{ "ClientConnection" : "mongodb://127.0.0.1:27017",
+                  "DatabaseName" : "test",
+                  "DBCollection" : "LineRobot2"
+				},
+    "Kspeedcontroller" : 1.45,
+    "SimulationTime" : 10.0,
+    "VelocitySetpointGenerator" :  { "Dark" : 0.6,
+                                     "Bright" : 1.0,
+                                     "Threshold1" : 0.78,
+                                     "Threshold2" : 0.83,
+                                     "DistanceCenterToWheel" : 0.07,
+                                     "K" : 2.1,
+                                     "ForwardSpeed" : 0.1
+                                   },
+	"Parcours" : {
+		"LineWidth" : 0.05, 
+		"Kind" : "Trail",
+		"LinePieces" : [
+			{ "x" : 0.0, "y" : -0.1 },
+			{ "x" : 0.0, "y" : 0.0},
+			{ "x" : -1.0, "y" : 0.0},
+			{ "x" : -1.0, "y" : 1.0},
+			{ "x" : 0.0, "y" : -0.1}
+			]
+	}
+[/code]
+
+Lets analyse the content:
+### Database
+"ClientConnection" : "mongodb://127.0.0.1:27017"
+"DatabaseName" : "test"
+"DBCollection" : "LineRobot2"
+
+Tip: Download MongoDB Compass Community (free) from the MongoDB website and create a database (in the cloud or local), this will also show the connection string that can be copied to the json-file. The clientconnection is the connectionstring.
+
+A database MUST be present at start of the application and thus made beforehand, the Unity app does not create one.
+
+A DBCollection MUST not necessarily be present, the Unity app will create a collection if it does not exist. Typically you would store each experiment in a different collection.
+
+### Kspeedcontroller
+The left and right-motor each receive a speed-setpoint from the VelocitySetpointGenerator. This is the P-action of each speedcontroller. If you do not know what this does keep it at 1.45.
+
+### SimulationTime
+This is the time in seconds after which the application stops. So if you want to store 20 seconds of linerobot-data set the simulation time to 20 seconds.
+
+### VelocitySetpointGenerator
+This contains the settings that use the redsensor to determine setpoints for both wheels.
+
+The redvalue is a value from 0-1. This value is mapped to a different linear scale given the 4 values dark, bright, threshold 1 and threshold2.
+
+Constraint: Dark < Threshold1 < Threshold2 < Bright.
+
+The dark-value is mapped to -1
+The values between Threshold1 and Threshold2 are mapped to 0
+The bright-value is mapped to 1
+Any values inbetween are linearly interpolated
+
+
+DistanceCenterToWheel is half the distance between the two wheels. Do not alter this unless you really change the wheelbase, change K instead
+
+K is a proportial action to determine the required rotation 
+ForwardSpeed is the forward speed in m/s.
+
+
+### Parcours
+LineWidth determines the (constant) width of the lines 
+Kind has two options (case-sensitive)
+1. Trail
+2. PieceWise
+
+The LinePieces is an array of x and y.
++x = to right,
++y = to up (from point of view camera, x and y are on the flat horizontal plane)
+
+#### Trail
+In this case the array linepieces will form a uninterrupted line from each point to the next.
+
+#### PieceWise
+In this case the array of linepieces must have an even number of entries. If there are n entries than n/2 linepieces are made, going from 1st to 2nd entry, 3th to 4th entry, 5th to 6th, etc. 
+
+The lines are made with a LineRenderer in Unity and for the PieceWise case each linepiece has its own GameObject and LineRenderer attached to it.
+
+
+
 
 
 

Unity/LineRobot/Assets/CameraJpegPubExistingTexture.cs

@@ -0,0 +1,106 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Collections;
+using sensor_msgs;
+using sensor_msgs.msg.dds_;
+
+/*
+ * This class is the same as CameraJpegPub only the rendertexture is already defined and assigned to the Camera 
+ * rendertexture MUST be R8G8B8_UNORM
+ */
+[RequireComponent(typeof(Camera))]
+public class CameraJpegPubExistingTexture : MonoBehaviour
+{
+    private Queue<AsyncGPUReadbackRequest> requests = new Queue<AsyncGPUReadbackRequest>();
+
+    public float timeBetweenRequests = 0.2f;
+    public string topicname = "rt/jaja/image_raw/compressed";
+    public string frame_id = null;
+    [Range(0, 100)]
+    public int JpgQuality = 50;
+
+    private Camera MyCamera;
+    private CompressedImagePublisher ImagePub;
+    private Texture2D tex;
+    private RenderTexture m_RenderTexture;
+    private float timer = 0.0f;
+    private CompressedImage_ myimage = new CompressedImage_ { format_ = "jpeg" };
+    private float[] depth_result;
+
+    void Start()
+    {
+        ImagePub = new CompressedImagePublisher(topicname);
+
+        MyCamera = GetComponent<Camera>();
+        MyCamera.rect = new Rect(0f, 0f, 1f, 1f);
+        // create RenderTexture and assign it to the main camera
+        m_RenderTexture = MyCamera.targetTexture; // get it instead of create it
+        MyCamera.pixelRect = new Rect(0, 0, m_RenderTexture.width, m_RenderTexture.height);
+        MyCamera.Render();
+
+        tex = new Texture2D(MyCamera.pixelWidth, MyCamera.pixelHeight, TextureFormat.BGRA32, false);
+        Debug.Log("In start, camsize width:" + MyCamera.pixelWidth.ToString() + " height:" + MyCamera.pixelHeight.ToString());
+    }
+
+    void Update()
+    {
+        // Handle Request Queue
+        while (requests.Count > 0)
+        {
+            // Get the first Request in the Queue
+            AsyncGPUReadbackRequest request = requests.Peek();
+            if (request.hasError)
+            {
+                // Error!
+                Debug.LogWarning("AsyncGPUReadbackRequest Error! :(");
+                requests.Dequeue(); // Remove from Queue
+            }
+            else if (request.done)
+            {
+                ReadbackData(request);
+                requests.Dequeue(); // Remove from Queue
+            }
+            else
+            {
+                // Request is still processing.
+                break;
+            }
+            // Note : We have to Dequeue items or break,
+            // or we'll be caught in an infinite loop!
+        }
+
+        // Handle Request Timer
+        timer += Time.deltaTime;
+        if (timer > timeBetweenRequests)
+        {
+            timer = timer - timeBetweenRequests;
+            AsyncGPUReadbackRequest rq = AsyncGPUReadback.Request(m_RenderTexture);
+            requests.Enqueue(rq);
+        }
+    }
+
+    void ReadbackData(AsyncGPUReadbackRequest request)
+    {
+        //tex = new Texture2D(512, 512, TextureFormat.BGRA32, false); //BGRSA32 dan kleuren okay, niet voor RGBA32 (blauw en rood omgedraaid)
+        // warom nieuwe tex, die is al gedefinieerd bij Start? dus weggehaald
+        int len = request.GetData<Color32>().ToArray().Length;
+
+        //Debug.Log("Got a AsyncGPUReadbackRequest with size " + len.ToString() + " and require size " + (MyCamera.pixelWidth * MyCamera.pixelHeight).ToString() + ", discarding it");
+        //Debug.Log("camsize width:" + MyCamera.pixelWidth.ToString() + " height:" + MyCamera.pixelHeight.ToString());
+
+        tex.SetPixels32(request.GetData<Color32>().ToArray());
+        tex.Apply();
+
+        myimage.data_ = tex.EncodeToJPG(JpgQuality);
+        myimage.header_.stamp_ = ros_helper.RosHelper.GetUnixTimestamp();
+        myimage.header_.frame_id_ = frame_id;
+        ImagePub.Publish(myimage); // dit duurt waarschijnlijk zo lang
+    }
+
+    private void OnDisable()
+    {
+        ImagePub.Cleanup();
+    }
+}

Unity/LineRobot/Assets/CameraJpegPubExistingTexture.cs.meta

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Unity/LineRobot/Assets/DatabaseSavePose.cs

@@ -0,0 +1,77 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using MongoDB.Driver;
+using MongoDB.Bson;
+using MongoDB.Bson.Serialization;
+
+public class DatabaseSavePose : MonoBehaviour
+{
+    public ConfigReader Config;
+    public float TimeBetweenSaves = 1.0f; 
+    //private string ClientConnection;
+    //private string DatabaseName;
+    private IMongoCollection<BsonDocument> collection;
+    private MongoClient client;
+    private IMongoDatabase db;
+    private float t = 0f;
+    void Start()
+    {
+        Connect();
+        _map();
+    }
+
+    public void Connect()
+    {
+        string ClientConnection = Config.configuration.Database.ClientConnection;
+        string DatabaseName = Config.configuration.Database.DatabaseName;
+        string coll = Config.configuration.Database.DBCollection; 
+        
+        client = new MongoClient(ClientConnection);
+        db = client.GetDatabase(DatabaseName);
+        collection = db.GetCollection<BsonDocument>(coll);
+    }
+
+
+    private void _map()
+    {
+        BsonClassMap.RegisterClassMap<Vector3>(cm =>
+        {
+            cm.AutoMap();
+            cm.SetIgnoreExtraElements(true);
+        });
+        BsonClassMap.RegisterClassMap<Quaternion>(cm =>
+        {
+            cm.AutoMap();
+            cm.SetIgnoreExtraElements(true);
+        });
+        BsonClassMap.RegisterClassMap<Pose>(cm =>
+        {
+            cm.AutoMap();
+            cm.SetIgnoreExtraElements(true);
+        });
+    }
+
+    void Update()
+    {
+        t += Time.deltaTime;
+        if (t > TimeBetweenSaves)
+        {
+            //save to database
+            Pose p = new Pose { item = "linerobot", 
+                                time = Time.time, 
+                                position = transform.position,  
+                                quaternion = transform.rotation};
+            var bson = p.ToBsonDocument();
+            collection.InsertOne(bson);
+            t = 0f;
+        }
+    }
+}
+public class Pose
+{
+    public string item;
+    public float time;
+    public Vector3 position;
+    public Quaternion quaternion;
+}

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Unity/LineRobot/Assets/Materials/White.mat

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+    - _DetailNormalMapScale: 1
+    - _DstBlend: 0
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+    - _Glossiness: 0.184
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Unity/LineRobot/Assets/RenderParcours.cs

@@ -0,0 +1,74 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RenderParcours : MonoBehaviour
+{
+    public Transform MyParent;
+    public Material LineMaterial;
+    public ConfigReader Config;
+    void Start()
+    {
+        GetParcoursData();
+    }
+
+    void GetParcoursData()
+    {
+        /** "LineWidth" : 0.1, 
+		"Kind" : "PieceWise",	
+		"LinePieces" : [
+			{ "x" : 1.1, "y" : 12.2},
+			{ "x" : 1.43, "y" : 4.5},
+			{ "x" : 1.8, "y" : 3.5},
+			{ "x" : 1.1, "y" : 2.5}
+			]**/
+        if (Config.configuration.Parcours.Kind == "PieceWise")
+        {
+            ConfigLinePieces[] lps = Config.configuration.Parcours.LinePieces;
+            int AmntLinePieces = lps.Length / 2; // Length should have been checked by ConfigReader.ValidParcours() already
+            for (int i = 0; i < AmntLinePieces; i++)
+            {
+                GameObject Renderer = new GameObject();
+                Renderer.transform.SetParent(MyParent);
+                LineRenderer lr = Renderer.AddComponent<LineRenderer>();
+                PrepareLR(lr, Renderer);
+                lr.widthCurve = AnimationCurve.Constant(0.0f, 1f, Config.configuration.Parcours.LineWidth);
+                Vector3[] posvector = new Vector3[2];
+                posvector[0] = new Vector3(lps[i*2].x, lps[i*2].y, 0f);
+                posvector[1] = new Vector3(lps[i * 2 + 1].x, lps[i * 2 + 1].y, 0f);
+                lr.positionCount = posvector.Length;
+                lr.SetPositions(posvector);
+            }
+        }
+        else if (Config.configuration.Parcours.Kind == "Trail")
+        {
+            GameObject Renderer = new GameObject();
+            Renderer.transform.SetParent(MyParent);
+            LineRenderer lr = Renderer.AddComponent<LineRenderer>();
+            PrepareLR(lr, Renderer);
+            lr.widthCurve = AnimationCurve.Constant(0.0f, 1f, Config.configuration.Parcours.LineWidth);
+            ConfigLinePieces[] lps = Config.configuration.Parcours.LinePieces;
+            Vector3[] posvector = new Vector3[lps.Length];
+
+            for (int i = 0; i < lps.Length; i++)
+            {
+                posvector[i] = new Vector3(lps[i].x, lps[i].y, 0f);
+            }
+            lr.positionCount = posvector.Length;
+            lr.SetPositions(posvector);
+        }
+    }
+    void PrepareLR(LineRenderer lr, GameObject Renderer)
+    {
+        lr.alignment = LineAlignment.TransformZ;
+        lr.material = LineMaterial;
+        lr.textureMode = LineTextureMode.Stretch;
+        lr.useWorldSpace = false;
+        lr.shadowCastingMode = UnityEngine.Rendering.ShadowCastingMode.Off;
+        Renderer.transform.localPosition = new Vector3(0, 0, -0.0001f);
+        Renderer.transform.localRotation = Quaternion.identity;
+        lr.generateLightingData = true;
+        lr.numCornerVertices = 3;
+        lr.numCapVertices = 3;
+    }
+}

Unity/LineRobot/Assets/RenderParcours.cs.meta

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Unity/LineRobot/Assets/Scenes/SampleScene.unity

@@ -212,7 +212,7 @@ Transform:
   m_LocalScale: {x: 0.4, y: 1, z: 0.4}
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 15
+  m_RootOrder: 14
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &242021463
 GameObject:
@@ -587,9 +587,9 @@ Camera:
     y: 0
     width: 1
     height: 1
-  near clip plane: 0.2
+  near clip plane: 0.01
   far clip plane: 10
-  field of view: 67.4
+  field of view: 72
   orthographic: 0
   orthographic size: 5
   m_Depth: 1
@@ -614,13 +614,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 396615287}
-  m_LocalRotation: {x: 0.36193335, y: -0, z: -0, w: 0.932204}
-  m_LocalPosition: {x: -0.402, y: 0.535, z: -0.558}
+  m_LocalRotation: {x: 1, y: 0.0000001872535, z: -0, w: 0}
+  m_LocalPosition: {x: -1.08, y: -0.08399999, z: 1.0593002}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
-  m_Father: {fileID: 0}
-  m_RootOrder: 14
-  m_LocalEulerAnglesHint: {x: 42.438004, y: 0, z: 0}
+  m_Father: {fileID: 1719910878}
+  m_RootOrder: 6
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &396615292
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -1590,6 +1590,10 @@ MonoBehaviour:
       DistanceCenterToWheel: 0
       K: 0
       ForwardSpeed: 0
+    Parcours:
+      LineWidth: 0
+      Kind: 
+      LinePieces: []
 --- !u!4 &1226069896
 Transform:
   m_ObjectHideFlags: 0
@@ -1647,6 +1651,7 @@ GameObject:
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   - component: {fileID: 1613415839}
   - component: {fileID: 1613415838}
+  - component: {fileID: 1613415842}
   m_Layer: 0
   m_Name: Camera
   m_TagString: Untagged
@@ -1661,7 +1666,7 @@ MonoBehaviour:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1613415837}
-  m_Enabled: 1
+  m_Enabled: 0
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   m_Script: {fileID: 11500000, guid: d05140bc406fa964a95ea2ba781df27e, type: 3}
   m_Name: 
@@ -1702,7 +1707,7 @@ Camera:
     width: 1
     height: 1
   near clip plane: 0.01
-  far clip plane: 200
+  far clip plane: 10
   field of view: 72
   orthographic: 0
   orthographic size: 5
@@ -1711,7 +1716,7 @@ Camera:
     serializedVersion: 2
     m_Bits: 4294967295
   m_RenderingPath: -1
-  m_TargetTexture: {fileID: 0}
+  m_TargetTexture: {fileID: 8400000, guid: 99c08ce20ff5eb44e85b3a1876a4b2d9, type: 2}
   m_TargetDisplay: 1
   m_TargetEye: 3
   m_HDR: 1
@@ -1733,8 +1738,24 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1719910878}
-  m_RootOrder: 6
+  m_RootOrder: 7
   m_LocalEulerAnglesHint: {x: 180, y: 0, z: -0.000015258789}
+--- !u!114 &1613415842
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1613415837}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1c7fc29026434394b9416bc21765a0d4, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  timeBetweenRequests: 0.2
+  topicname: rt/jaja/image_raw/compressed
+  frame_id: myframe
+  JpgQuality: 50
 --- !u!1001 &1719910877
 PrefabInstance:
   m_ObjectHideFlags: 0

Unity/LineRobot/Assets/Scenes/Scene2.unity

@@ -326,7 +326,7 @@ GameObject:
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   m_NavMeshLayer: 0
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Unity/LineRobot/Assets/Scenes/SceneLineRenderer.unity.meta

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Unity/LineRobot/Assets/Scripts/ConfigReader.cs

@@ -19,7 +19,17 @@ using System;
                                      "DistanceCenterToWheel" : 0.07,
                                      "K" : 2,
                                      "ForwardSpeed" : 0.1
-                                   }
+                                   },
+	"Parcours" : {
+		"LineWidth" : 0.1, 
+		"Kind" : "PieceWise",	
+		"LinePieces" : [
+			{ "x" : 1.1, "y" : 12.2},
+			{ "x" : 1.43, "y" : 4.5},
+			{ "x" : 1.8, "y" : 3.5},
+			{ "x" : 1.1, "y" : 2.5}
+			]
+	}
 } **/
 
 [System.Serializable]
@@ -42,6 +52,21 @@ public class ConfigVelocitySetpointGenerator
     public float ForwardSpeed;
 }
 
+[System.Serializable]
+public class ConfigLinePieces
+{
+    public float x;
+    public float y;
+}
+
+[System.Serializable]
+public class ConfigParcours
+{
+    public float LineWidth;
+    public string Kind; // PieceWise of Trail
+    public ConfigLinePieces[] LinePieces;
+}
+
 [System.Serializable]
 public class Config
 {
@@ -49,6 +74,7 @@ public class Config
     public float Kspeedcontroller;
     public float SimulationTime;
     public ConfigVelocitySetpointGenerator VelocitySetpointGenerator;
+    public ConfigParcours Parcours;
 }
 
 public class ConfigReader : MonoBehaviour
@@ -121,4 +147,32 @@ public class ConfigReader : MonoBehaviour
         return true;
     }
 
+    public bool ValidParcours()
+    {
+        if (configuration.Parcours.LinePieces.Length > 1)
+        {
+            if (configuration.Parcours.Kind == "PieceWise")
+            {
+                // There should be an even amount of points
+                if (configuration.Parcours.LinePieces.Length % 2 == 0)
+                {
+                    return true;
+                }
+                else
+                {
+                    return false;
+                }
+            }
+            else
+            {
+                return true;
+            }
+        }
+        else
+        {
+            return false;
+        }
+    }
+    
+
 }

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Unity/LineRobot/Assets/SpeedControllerFromConfig.cs

@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SpeedControllerFromConfig : MonoBehaviour
+{
+    public ConfigReader Config;
+    public SteeringLineRobot SteeringLineRobot;
+
+    void Start()
+    {
+        SteeringLineRobot.KSpeedController = Config.configuration.Kspeedcontroller;
+    }
+
+}

Unity/LineRobot/Assets/SpeedControllerFromConfig.cs.meta

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Unity/LineRobot/Assets/StopApplicationFromConfig.cs

@@ -0,0 +1,24 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class StopApplicationFromConfig : MonoBehaviour
+{
+    public ConfigReader Config;
+    private float totaltime;
+    private float currenttime = 0f;
+    void Start()
+    {
+        totaltime = Config.configuration.SimulationTime;
+    }
+
+    private void Update()
+    {
+        currenttime += Time.deltaTime;
+        if (currenttime > totaltime)
+        {
+            // stop the application (does not work in the Editor, only for builds)
+            Application.Quit();
+        }
+    }
+}

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Unity/LineRobot/Assets/VelocitySetpointFromConfig.cs

@@ -0,0 +1,22 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class VelocitySetpointFromConfig : MonoBehaviour
+{
+    public ConfigReader Config;
+    public VelocitySetpointGeneration VelocitySetpoint;
+    
+    void Start()
+    {
+        var VSConfig = Config.configuration.VelocitySetpointGenerator;
+        VelocitySetpoint.Bright = VSConfig.Bright;
+        VelocitySetpoint.Dark = VSConfig.Dark;
+        VelocitySetpoint.Threshold1 = VSConfig.Threshold1;
+        VelocitySetpoint.Threshold2 = VSConfig.Threshold2;
+        VelocitySetpoint.DistanceCenterToWheel = VSConfig.DistanceCenterToWheel;
+        VelocitySetpoint.K = VSConfig.K;
+        VelocitySetpoint.ForwardSpeed = VSConfig.ForwardSpeed;
+    }
+
+}

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   m_CameraMode:
     drawMode: 0
@@ -643,13 +643,13 @@ MonoBehaviour:
     m_GridAxis: 1
     m_gridOpacity: 0.5
   m_Rotation:
-    m_Target: {x: 0.2754815, y: -0.4204703, z: 0.13548449, w: 0.85392034}
+    m_Target: {x: 0.2204581, y: -0.61723673, z: 0.18586554, w: 0.7320619}
     speed: 2
-    m_Value: {x: 0.27673134, y: -0.42022005, z: 0.13610022, w: 0.8534118}
+    m_Value: {x: 0.22045329, y: -0.61722326, z: 0.18586148, w: 0.73204595}
   m_Size:
-    m_Target: 1.0206501
+    m_Target: 10
     speed: 2
-    m_Value: 1.0687436
+    m_Value: 10
   m_Ortho:
     m_Target: 1
     speed: 2
@@ -695,10 +695,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 2224
+    x: 2251
     y: -108
-    width: 723
-    height: 603
+    width: 907
+    height: 496
   m_ViewDataDictionary: {fileID: 0}
   m_ViewTransforms:
     m_KeySerializationHelper:
@@ -759,9 +759,9 @@ MonoBehaviour:
   m_Pos:
     serializedVersion: 2
     x: 1920
-    y: 472
-    width: 1286
-    height: 346
+    y: 566
+    width: 1359
+    height: 252
   m_ViewDataDictionary: {fileID: 0}
   m_SearchFilter:
     m_NameFilter: 
@@ -786,10 +786,10 @@ MonoBehaviour:
   m_LockTracker:
     m_IsLocked: 0
   m_FolderTreeState:
-    scrollPos: {x: 0, y: 0}
-    m_SelectedIDs: 74520000
-    m_LastClickedID: 21108
-    m_ExpandedIDs: 000000001a4400001c4400001e44000020440000
+    scrollPos: {x: 0, y: 23}
+    m_SelectedIDs: 56440000
+    m_LastClickedID: 17494
+    m_ExpandedIDs: 00000000384400003a4400003c4400003e4400004044000000ca9a3b
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -817,7 +817,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 000000001a4400001c4400001e44000020440000
+    m_ExpandedIDs: 00000000384400003a4400003c4400003e44000040440000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -845,7 +845,7 @@ MonoBehaviour:
     m_SelectedInstanceIDs: 
     m_LastClickedInstanceID: 0
     m_HadKeyboardFocusLastEvent: 0
-    m_ExpandedInstanceIDs: c6230000bc390000a4340000483600003c3500004c3e0000523e0000a8960000aa960000060001006aff0000ae440000c66b00006aad01003a4c0000ce4c00007c4d0000d06400004853000064760000607600004a4400007e41000094410000144200005e41000024440000da3a00009e40000066410000c4430000f8430000104400001a440000b443000084410000423f0000683f0000ea370000104d0000943d0000803c0000623c0000fc3c00009c3d0000aa3d000000000000ca420000a4b30000
+    m_ExpandedInstanceIDs: c6230000bc390000a4340000483600003c3500004c3e0000523e0000a8960000aa960000060001006aff0000ae440000c66b00006aad01003a4c0000ce4c00007c4d0000d06400004853000064760000607600004a4400007e41000094410000144200005e41000024440000da3a00009e40000066410000c4430000f8430000104400001a440000b443000084410000423f0000683f0000ea370000104d0000943d0000803c0000623c0000fc3c00009c3d0000aa3d0000ca420000a4b3000000000000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -894,10 +894,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1928
-    y: 589
-    width: 1275
-    height: 221
+    x: 1920
+    y: 566
+    width: 1359
+    height: 252
   m_ViewDataDictionary: {fileID: 0}
 --- !u!114 &23
 MonoBehaviour:
@@ -920,10 +920,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 3204
-    y: -100
-    width: 627
-    height: 910
+    x: 3280
+    y: -108
+    width: 559
+    height: 926
   m_ViewDataDictionary: {fileID: 0}
   m_OpenAddComponentMenu: 0
   m_ObjectsLockedBeforeSerialization: []
@@ -931,7 +931,7 @@ MonoBehaviour:
   m_LockTracker:
     m_IsLocked: 0
   m_PreviewResizer:
-    m_CachedPref: 494
+    m_CachedPref: 215
     m_ControlHash: -371814159
     m_PrefName: Preview_InspectorPreview
   m_PreviewWindow: {fileID: 0}