├── .gitignore ├── Assembly-CSharp.csproj ├── Assets ├── Cyborg.meta ├── Cyborg │ ├── Animations.meta │ ├── Animations │ │ ├── _cyborg_idle.fbx │ │ ├── _cyborg_idle.fbx.meta │ │ ├── _cyborg_idle_fight.fbx │ │ ├── _cyborg_idle_fight.fbx.meta │ │ ├── _cyborg_jump.fbx │ │ ├── _cyborg_jump.fbx.meta │ │ ├── _cyborg_jumpDown.fbx │ │ ├── _cyborg_jumpDown.fbx.meta │ │ ├── _cyborg_jumpUp.fbx │ │ ├── _cyborg_jumpUp.fbx.meta │ │ ├── _cyborg_jumping.fbx │ │ ├── _cyborg_jumping.fbx.meta │ │ ├── _cyborg_pistol.fbx │ │ ├── _cyborg_pistol.fbx.meta │ │ ├── _cyborg_press_wall.fbx │ │ ├── _cyborg_press_wall.fbx.meta │ │ ├── _cyborg_run.fbx │ │ ├── _cyborg_run.fbx.meta │ │ ├── _cyborg_run_left.fbx │ │ ├── _cyborg_run_left.fbx.meta │ │ ├── _cyborg_run_left_45.fbx │ │ ├── _cyborg_run_left_45.fbx.meta │ │ ├── _cyborg_run_right.fbx │ │ ├── _cyborg_run_right.fbx.meta │ │ ├── _cyborg_run_right_45.fbx │ │ ├── _cyborg_run_right_45.fbx.meta │ │ ├── _cyborg_walk.fbx │ │ ├── _cyborg_walk.fbx.meta │ │ ├── _cyborg_walk_left.fbx │ │ ├── _cyborg_walk_left.fbx.meta │ │ ├── _cyborg_walk_left_45.fbx │ │ ├── _cyborg_walk_left_45.fbx.meta │ │ ├── _cyborg_walk_right.fbx │ │ ├── _cyborg_walk_right.fbx.meta │ │ ├── _cyborg_walk_right_45.fbx │ │ ├── _cyborg_walk_right_45.fbx.meta │ │ ├── _cyborg_walk_turn_left.fbx │ │ ├── _cyborg_walk_turn_left.fbx.meta │ │ ├── _cyborg_walk_turn_right.fbx │ │ └── _cyborg_walk_turn_right.fbx.meta │ ├── Materials.meta │ ├── Materials │ │ ├── body.mat │ │ ├── body.mat.meta │ │ ├── body.png │ │ ├── body.png.meta │ │ ├── body_ao_bake.png │ │ ├── body_ao_bake.png.meta │ │ ├── gun_cromo.mat │ │ ├── gun_cromo.mat.meta │ │ ├── gun_steel.mat │ │ ├── gun_steel.mat.meta │ │ ├── mecha.mat │ │ ├── mecha.mat.meta │ │ ├── mecha.png │ │ ├── mecha.png.meta │ │ ├── mecha_ao.png │ │ └── mecha_ao.png.meta │ ├── Models.meta │ ├── Models │ │ ├── _cyborg_base.fbx │ │ ├── _cyborg_base.fbx.meta │ │ ├── pistol.fbx │ │ └── pistol.fbx.meta │ ├── Scenes.meta │ └── Scenes │ │ ├── Scene.unity │ │ └── Scene.unity.meta ├── Cyborg_Controller.controller ├── Cyborg_Controller.controller.meta ├── IMU.cs ├── IMU.cs.meta ├── Scenes.meta ├── Scenes │ ├── SampleScene.unity │ └── SampleScene.unity.meta ├── rotate.cs └── rotate.cs.meta ├── IMU.csv ├── LICENSE ├── Logs └── Packages-Update.log ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset └── XRSettings.asset ├── README.md └── csvs ├── .ipynb_checkpoints └── visualize_csv-checkpoint.ipynb ├── abdomen.csv ├── antebraco.L.csv ├── antebraco.R.csv ├── braco.L.csv ├── braco.R.csv ├── cabeca.csv ├── canela.L.csv ├── canela.R.csv ├── clavicula.L.csv ├── clavicula.R.csv ├── csvconvert.py ├── femur.L.csv ├── femur.R.csv ├── final_csv ├── .ipynb_checkpoints │ └── visualize_csv-checkpoint.ipynb ├── abdomen.csv ├── antebraco.L.csv ├── antebraco.R.csv ├── braco.L.csv ├── braco.R.csv ├── cabeca.csv ├── canela.L.csv ├── canela.R.csv ├── clavicula.L.csv ├── clavicula.R.csv ├── femur.L.csv ├── femur.R.csv ├── mao.R.csv ├── pe.L.csv ├── pe.R.csv ├── pelvis.csv ├── pescoco.csv ├── pontape.L.csv ├── pontape.R.csv ├── respiracao.csv └── torax.csv ├── mao.R.csv ├── pe.L.csv ├── pe.R.csv ├── pelvis.csv ├── pescoco.csv ├── pontape.L.csv ├── pontape.R.csv ├── respiracao.csv ├── torax.csv └── visualize_csv.ipynb /.gitignore: -------------------------------------------------------------------------------- 1 | [Ll]ibrary/ 2 | [Tt]emp/ 3 | [Oo]bj/ 4 | [Bb]uild/ 5 | [Bb]uilds/ 6 | Assets/AssetStoreTools* 7 | 8 | # Visual Studio cache directory 9 | .vs/ 10 | 11 | # Autogenerated VS/MD/Consulo solution and project files 12 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-------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ff9833c99d669d5478eabd7b556782c3 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 9100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/IMU.cs: -------------------------------------------------------------------------------- 1 | #define DEBUG 2 | //#define ENABLED 3 | 4 | using System.Collections; 5 | using System.Collections.Generic; 6 | using UnityEngine; 7 | using System.IO; 8 | 9 | public class IMU : MonoBehaviour 10 | { 11 | float updateFreq = 30f; 12 | Vector3 angVel; 13 | Vector3 angAccel; 14 | Vector3 linVel; 15 | Vector3 linAccel; 16 | private Vector3 lastPos; 17 | private Vector3 lastAng; 18 | private Vector3 lastLinVel; 19 | private Vector3 lastAngVel; 20 | private float timer = 0.0f; 21 | readonly int MAX_LINES = 10; 22 | string[] lines; 23 | int index; 24 | string path; 25 | 26 | // Start is called before the first frame update 27 | void Start() 28 | { 29 | #if ENABLED 30 | path = $"Z:/Share/csvs/{transform.parent.name}.csv"; 31 | File.WriteAllText(path, "LinAccel: x,y,z,AngVel: x,y,z,Magnetometer: x,y,z,time,name\n"); 32 | lines = new string[MAX_LINES]; 33 | index = 0; 34 | linAccel.x = (linVel.x - lastLinVel.x) / timer; 35 | linAccel.y = (linVel.y - lastLinVel.y) / timer; 36 | linAccel.z = (linVel.z - lastLinVel.z) / timer; 37 | angAccel.x = ((angVel.x - lastAngVel.x) / timer) / 9.81f; 38 | angAccel.y = ((angVel.y - lastAngVel.y) / timer) / 9.81f; 39 | angAccel.z = ((angVel.z - lastAngVel.z) / timer) / 9.81f; 40 | 41 | lastPos = transform.position; 42 | 43 | lastAng.x = Mathf.Abs((transform.rotation.eulerAngles).x); 44 | lastAng.y = Mathf.Abs((transform.rotation.eulerAngles).y); 45 | lastAng.z = Mathf.Abs((transform.rotation.eulerAngles).z); 46 | 47 | timer = 0; 48 | #endif 49 | } 50 | 51 | // Update is called once per frame 52 | void Update() 53 | { 54 | #if ENABLED 55 | timer += Time.deltaTime; 56 | if (timer > (1 / updateFreq)) 57 | { 58 | 59 | lastLinVel = linVel; 60 | lastAngVel = angVel; 61 | 62 | var lastPosInv = transform.InverseTransformPoint(lastPos); 63 | 64 | linVel.x = (0 - lastPosInv.x) / timer; 65 | linVel.y = (0 - lastPosInv.y) / timer; 66 | linVel.z = (0 - lastPosInv.z) / timer; 67 | 68 | var deltaX = Mathf.Abs((transform.rotation.eulerAngles).x) - lastAng.x; 69 | if (Mathf.Abs(deltaX) < 180 && deltaX > -180) angVel.x = deltaX / timer; 70 | else 71 | { 72 | if (deltaX > 180) angVel.x = (360 - deltaX) / timer; 73 | else angVel.x = (360 + deltaX) / timer; 74 | } 75 | 76 | var deltaY = Mathf.Abs((transform.rotation.eulerAngles).y) - lastAng.y; 77 | if (Mathf.Abs(deltaY) < 180 && deltaY > -180) angVel.y = deltaY / timer; 78 | else 79 | { 80 | if (deltaY > 180) angVel.y = (360 - deltaY) / timer; 81 | else angVel.y = (360 - deltaY) / timer; 82 | } 83 | 84 | var deltaZ = Mathf.Abs((transform.rotation.eulerAngles).z) - lastAng.z; 85 | if (Mathf.Abs(deltaZ) < 180 && deltaZ > -180) angVel.z = deltaZ / timer; 86 | else 87 | { 88 | if (deltaZ > 180) angVel.z = (360 - deltaZ) / timer; 89 | else angVel.z = (360 + deltaZ) / timer; 90 | } 91 | 92 | 93 | linAccel.x = (linVel.x - lastLinVel.x) / timer; 94 | linAccel.y = (linVel.y - lastLinVel.y) / timer; 95 | linAccel.z = (linVel.z - lastLinVel.z) / timer; 96 | angAccel.x = ((angVel.x - lastAngVel.x) / timer) / 9.81f; 97 | angAccel.y = ((angVel.y - lastAngVel.y) / timer) / 9.81f; 98 | angAccel.z = ((angVel.z - lastAngVel.z) / timer) / 9.81f; 99 | 100 | lastPos = transform.position; 101 | 102 | lastAng.x = Mathf.Abs((transform.rotation.eulerAngles).x); 103 | lastAng.y = Mathf.Abs((transform.rotation.eulerAngles).y); 104 | lastAng.z = Mathf.Abs((transform.rotation.eulerAngles).z); 105 | 106 | timer = 0; 107 | // Add magnetometer 108 | saveCSV(linAccel, angVel, Vector3.zero); 109 | } 110 | } 111 | 112 | void 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963194225} 253 | m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} 254 | m_LocalPosition: {x: 0, y: 1, z: -10} 255 | m_LocalScale: {x: 1, y: 1, z: 1} 256 | m_Children: [] 257 | m_Father: {fileID: 0} 258 | m_RootOrder: 0 259 | m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} 260 | -------------------------------------------------------------------------------- /Assets/Scenes/SampleScene.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9fc0d4010bbf28b4594072e72b8655ab 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/rotate.cs: -------------------------------------------------------------------------------- 1 | //#define DEBUG 2 | 3 | using System.Collections; 4 | using System.Collections.Generic; 5 | using UnityEngine; 6 | using System.Globalization; 7 | using System.IO; 8 | 9 | public class DataPoint 10 | { 11 | public Vector3 value; 12 | public float time; 13 | 14 | public DataPoint(Vector3 _value, float _time) 15 | { 16 | value = _value; 17 | time = _time; 18 | } 19 | 20 | public static Vector3 stringsArrToVec3(string[] strings, int start) 21 | { 22 | float[] floats = new float[3]; 23 | for (int i = 0; i < floats.Length; i ++) 24 | { 25 | floats[i] = float.Parse(strings[i + start], CultureInfo.InvariantCulture); 26 | } 27 | return new Vector3(floats[0], floats[1], floats[2]); 28 | } 29 | 30 | /* --- !! USES TIME OF FIRST DATA POINT !! --- */ 31 | /* --- !! FISRT IS THE VELOCITY SECOND IS POSITION !! --- */ 32 | public DataPoint integrate_with(DataPoint dataPoint) 33 | { 34 | float delta = (time - dataPoint.time); 35 | Vector3 _value = (value * delta) + dataPoint.value; 36 | 37 | return new DataPoint(_value, time); 38 | } 39 | 40 | public DataPoint scale(float a) 41 | { 42 | return new DataPoint(value * a, time); 43 | } 44 | 45 | 46 | /* --- !! USES TIME OF FIRST DATA POINT !! --- */ 47 | /* --- !! FISRT IS THE VELOCITY SECOND IS POSITION !! --- */ 48 | 49 | public static DataPoint operator+(DataPoint a, DataPoint b) 50 | { 51 | return new DataPoint(a.value + b.value, a.time); 52 | } 53 | 54 | public static DataPoint zero() 55 | { 56 | return new DataPoint(Vector3.zero, 0); 57 | } 58 | } 59 | 60 | public class IMUData 61 | { 62 | public DataPoint accelerometer; 63 | public DataPoint gyroscope; 64 | public DataPoint magnetometer; 65 | public float time; 66 | 67 | public IMUData(DataPoint _accelerometer, DataPoint _gyroscope, DataPoint _magnetometer, float _time) 68 | { 69 | accelerometer = _accelerometer; 70 | gyroscope = _gyroscope; 71 | magnetometer = _magnetometer; 72 | time = _time; 73 | } 74 | 75 | public static IMUData fromCSVString(string str) 76 | { 77 | string[] strings = str.Split(','); 78 | float time = float.Parse(strings[strings.Length - 2]); 79 | DataPoint accelerometer = new DataPoint(stringsArrToVec3(strings, 0), time); 80 | DataPoint gyroscope = new DataPoint(stringsArrToVec3(strings, 3), time); 81 | DataPoint magnetometer = new DataPoint(stringsArrToVec3(strings, 6), time); 82 | return new IMUData(accelerometer, gyroscope, magnetometer, time); 83 | } 84 | 85 | public static Vector3 stringsArrToVec3(string[] strings, int start) 86 | { 87 | float[] floats = new float[3]; 88 | for (int i = 0; i < floats.Length; i++) 89 | { 90 | floats[i] = float.Parse(strings[i + start], CultureInfo.InvariantCulture); 91 | } 92 | return new Vector3(floats[0], floats[1], floats[2]); 93 | } 94 | 95 | public static IMUData firstIntegral(IMUData data, IMUData origin) 96 | { 97 | DataPoint accelerometer = data.accelerometer.scale(data.time); 98 | DataPoint gyroscope = data.gyroscope.scale(data.time); 99 | DataPoint magnetometer = data.magnetometer.scale(data.time); 100 | return new IMUData(accelerometer, gyroscope, magnetometer, data.time) + origin; 101 | 102 | } 103 | 104 | /* --- !! USES TIME OF FIRST DATA POINT !! --- */ 105 | /* --- !! FISRT IS THE VELOCITY SECOND IS POSITION !! --- */ 106 | public IMUData integrate_with(IMUData data) 107 | { 108 | DataPoint _accelerometer = accelerometer.integrate_with(data.accelerometer); 109 | DataPoint _gyroscope = gyroscope.integrate_with(data.gyroscope); 110 | DataPoint _magnetometer = magnetometer.integrate_with(magnetometer); 111 | return new IMUData(_accelerometer, _gyroscope, _magnetometer, time); 112 | } 113 | 114 | public IMUData scale(float a) 115 | { 116 | return new IMUData(accelerometer.scale(a), gyroscope.scale(a), magnetometer.scale(a), time); 117 | } 118 | 119 | public static IMUData operator+(IMUData a, IMUData b) 120 | { 121 | return new IMUData(a.accelerometer + b.accelerometer, a.gyroscope + b.gyroscope, a.magnetometer + b.magnetometer, a.time); 122 | } 123 | } 124 | 125 | public class IMUController 126 | { 127 | IMUData[] data; 128 | IMUData[] integrals; 129 | DataPoint[] filteredOrientations; 130 | int length; 131 | 132 | public IMUController(string[] csv, IMUData origin) 133 | { 134 | data = new IMUData[csv.Length - 1]; 135 | 136 | for (int i = 0; i < data.Length; i++) 137 | { 138 | data[i] = IMUData.fromCSVString(csv[i + 1]); 139 | } 140 | 141 | length = data.Length; 142 | integrals = integrate(data, origin); 143 | filteredOrientations = fuseAndFilter(data, integrals); 144 | } 145 | 146 | readonly float filterWeight = 0.1f; 147 | 148 | DataPoint[] filter(DataPoint[] data) 149 | { 150 | for (int i = 1; i < data.Length; i++) 151 | { 152 | data[i] = data[i - 1].scale(1 - filterWeight) + data[i].scale(filterWeight); 153 | } 154 | 155 | return data; 156 | } 157 | 158 | IMUData[] filterIMU(IMUData[] data) 159 | { 160 | for (int i = 1; i < data.Length; i++) 161 | { 162 | data[i] = data[i - 1].scale(1 - filterWeight) + data[i].scale(filterWeight); 163 | } 164 | 165 | return data; 166 | } 167 | 168 | IMUData[] integrate(IMUData[] data, IMUData origin) 169 | { 170 | IMUData[] integrals = new IMUData[data.Length]; 171 | integrals[0] = IMUData.firstIntegral(data[0], origin); 172 | 173 | for (int i = 1; i < data.Length; i++) 174 | { 175 | integrals[i] = data[i].integrate_with(integrals[i - 1]); 176 | } 177 | 178 | return integrals; 179 | } 180 | 181 | float magnetWeight = 0f; 182 | 183 | DataPoint[] fuseAndFilter(IMUData[] data, IMUData[] integrals) 184 | { 185 | //data = filterIMU(data); 186 | DataPoint[] orientations = new DataPoint[length]; 187 | for (int i = 0; i < length; i++) 188 | { 189 | DataPoint angleFromAccel; //??? 190 | 191 | DataPoint angleFromGyroscope;//integral of angVel 192 | 193 | DataPoint angleFromMagnetometer = new DataPoint(Vector3.zero, data[i].time); //?? 194 | 195 | float tau = 0.1f; 196 | float dt; 197 | if (i == 0) 198 | { 199 | dt = data[i].time; 200 | } else 201 | { 202 | dt = data[i].time - data[i - 1].time; 203 | } 204 | float alpha = 1;//tau / (tau + dt); 205 | DataPoint complementedFilter = integrals[i].gyroscope.scale(alpha) + data[i].accelerometer.scale(1 - alpha); 206 | 207 | orientations[i] = complementedFilter.scale(1 - magnetWeight) + angleFromMagnetometer.scale(magnetWeight); //angleFromAccel.scale(accelWeight) + angleFromGyroscope.scale(gyroscopeWeight) + angleFromMagnetometer.scale(1 - accelWeight - gyroscopeWeight); 208 | } 209 | 210 | return filter(orientations); 211 | } 212 | 213 | public float[] getTimes() 214 | { 215 | float[] times = new float[length]; 216 | for (int i = 0; i < length; i++) 217 | { 218 | times[i] = data[i].time; 219 | } 220 | return times; 221 | } 222 | 223 | public DataPoint get(int index) 224 | { 225 | return filteredOrientations[index]; 226 | } 227 | 228 | public int size() 229 | { 230 | return length; 231 | } 232 | 233 | } 234 | 235 | public class CSVData 236 | { 237 | IMUController controller; 238 | float[] times; 239 | public string name; 240 | private int prevIndex = 0; 241 | 242 | public CSVData(string[] csv, IMUData origin) 243 | { 244 | name = csv[1].Split(',')[7]; 245 | controller = new IMUController(csv, origin); 246 | times = getTimes(controller); 247 | } 248 | 249 | public bool atEnd() 250 | { 251 | return prevIndex == times.Length - 1; 252 | } 253 | 254 | public float[] getTimes(IMUController controller) 255 | { 256 | return controller.getTimes(); 257 | } 258 | 259 | public int getIndex(float time) 260 | { 261 | if (time <= times[0]) 262 | { 263 | return 0; 264 | } 265 | 266 | if (time >= times[times.Length - 1]) 267 | { 268 | return times.Length - 1; 269 | } 270 | 271 | if (prevIndex == times.Length - 1) 272 | { 273 | return prevIndex; 274 | } 275 | 276 | if (time >= times[prevIndex + 1]) 277 | { 278 | prevIndex++; 279 | return prevIndex; 280 | } 281 | 282 | if (prevIndex == times.Length - 2) 283 | { 284 | return prevIndex; 285 | } 286 | 287 | if (time >= times[prevIndex + 2]) 288 | { 289 | prevIndex += 2; 290 | return getIndex(time); 291 | } 292 | 293 | return prevIndex; 294 | } 295 | 296 | private DataPoint getPoint(int index, DataPoint[] dataPoints) 297 | { 298 | int realIndex = index; 299 | if (index < 0) 300 | { 301 | Debug.LogError($"INDEX LESS THAN ZERO: {index} in {name}"); 302 | index = 0; 303 | } 304 | 305 | if (index > times.Length - 1) 306 | { 307 | #if DEBUG 308 | Debug.Log("End reached"); 309 | #endif 310 | realIndex = times.Length - 1; 311 | } 312 | 313 | return dataPoints[realIndex]; 314 | } 315 | 316 | public Quaternion getOrientation(float time) 317 | { 318 | int index = getIndex(time); 319 | 320 | int realIndex = index; 321 | if (index < 0) 322 | { 323 | Debug.LogError($"INDEX LESS THAN ZERO: {index} in {name}"); 324 | index = 0; 325 | } 326 | 327 | if (index > times.Length - 2) 328 | { 329 | #if DEBUG 330 | Debug.Log("End reached"); 331 | #endif 332 | realIndex = times.Length - 2; 333 | } 334 | 335 | if (atEnd()) 336 | { 337 | return Quaternion.Euler(controller.get(controller.size() - 1).value); 338 | } 339 | 340 | DataPoint currentPoint = controller.get(realIndex); 341 | DataPoint targetPoint = controller.get(realIndex + 1); 342 | float percent_completion = (time - currentPoint.time) / (targetPoint.time - currentPoint.time); 343 | return Quaternion.Euler(Vector3.Slerp(currentPoint.value, targetPoint.value, percent_completion)); 344 | } 345 | } 346 | 347 | public class Rotater 348 | { 349 | CSVData data; 350 | IMUData origin; 351 | Transform body; 352 | 353 | public Rotater(string path, Transform _body) 354 | { 355 | string[] strings = File.ReadAllLines(path); 356 | List stringFinal = new List(); 357 | 358 | foreach (string str in strings) 359 | { 360 | if (str.Contains(",")) 361 | { 362 | stringFinal.Add(str); 363 | } 364 | } 365 | 366 | body = _body; 367 | // if (body.name == "braco.R") 368 | // { 369 | // origin = new IMUData(DataPoint.zero(), DataPoint.zero(), DataPoint.zero(), 0); 370 | // } else 371 | // { 372 | origin = new IMUData(DataPoint.zero(), new DataPoint(body.eulerAngles, 0), DataPoint.zero(), 0); 373 | // } 374 | 375 | data = new CSVData(stringFinal.ToArray(), origin); 376 | } 377 | 378 | public static float function(float time) 379 | { 380 | if (time < 2) 381 | { 382 | return 0; 383 | } 384 | 385 | return (90 * Mathf.Sin(2 * Mathf.PI * 0.1f * time)); 386 | } 387 | 388 | public static Quaternion rotationFunction(float time, IMUData origin) 389 | { 390 | return Quaternion.Euler(new Vector3(0, function(time), 0) + origin.gyroscope.value); 391 | } 392 | 393 | public void update(float time) 394 | { 395 | //body.rotation = data.getOrientation(time); 396 | 397 | if (body.name.Equals("braco.R")) 398 | { 399 | body.rotation = rotationFunction(time, origin); 400 | } 401 | } 402 | } 403 | 404 | public class rotate : MonoBehaviour 405 | { 406 | readonly string path = "Z:/Share/csvs/final_csv"; 407 | readonly bool read_all = true; 408 | Rotater[] rotaters; 409 | // Start is called before the first frame update 410 | 411 | void OnGUI() 412 | { 413 | GUILayout.Label("Magnetometer reading: " + Input.compass.rawVector.ToString()); 414 | } 415 | 416 | void Start() 417 | { 418 | Input.compass.enabled = true; 419 | //TODO: record beginning offset values 420 | //Model and original should have the same starting position 421 | string[] files = Directory.GetFiles(path); 422 | rotaters = new Rotater[files.Length]; 423 | 424 | for (int i = 0; i < files.Length; i++) 425 | { 426 | string name = getNameFromPath(files[i]); 427 | Debug.Log($"{name} found"); 428 | Transform child = GameObject.Find(name).transform; 429 | rotaters[i] = new Rotater(files[i], child); 430 | } 431 | } 432 | 433 | // Update is called once per frame 434 | void Update() 435 | { 436 | for (int i = 0; i < rotaters.Length; i++) 437 | { 438 | rotaters[i].update(Time.time); 439 | } 440 | } 441 | 442 | string getNameFromPath(string path) 443 | { 444 | string[] folders = path.Split('/'); 445 | string[] subParts = folders[folders.Length - 1].Split('\\')[1].Split('.'); 446 | string[] finalNameArr = new string[subParts.Length - 1]; 447 | 448 | for (int i = 0; i < finalNameArr.Length; i++) 449 | { 450 | finalNameArr[i] = subParts[i]; 451 | } 452 | 453 | return string.Join(".", finalNameArr); 454 | } 455 | } 456 | -------------------------------------------------------------------------------- /Assets/rotate.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 499094280277d20448e0e64c3c6cc284 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /IMU.csv: -------------------------------------------------------------------------------- 1 | LinVel: x,y,z,LinAccel: x,y,z,AngVel: x,y,z,AngAccel: x,y,z,time,name -------------------------------------------------------------------------------- /Logs/Packages-Update.log: -------------------------------------------------------------------------------- 1 | 2 | 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LinAccel: x,y,z,AngVel: x,y,z,Magnetometer: x,y,z,time,name 2 | -0.003509168,0.003057145,0.001710184,0,0,0,0,0,0,0.02,braco.L 3 | 4 | 0.0003705682,-0.0003228345,-0.0001805955,0,0,0,0,0,0,0.3533334,braco.L 5 | 6 | -7.986838E-05,6.958036E-05,3.892364E-05,0,0,0,0,0,0,0.5332239,braco.L 7 | 8 | -0.000207529,0.0001807968,0.0001011387,0,0,0,0,0,0,0.6388838,braco.L 9 | 10 | -0.001493787,0.00130137,0.0007279935,0,0,0,0,0,0,0.6849332,braco.L 11 | 12 | 0.0006177142,-0.0005381451,-0.0003010414,0,0,0,0,0,0,0.7581164,braco.L 13 | 14 | -0.0007234958,0.0006303008,0.0003525938,0,0,0,0,0,0,0.8079141,braco.L 15 | 16 | -0.001323988,0.001153443,0.0006452425,0,0,0,0,0,0,0.8431404,braco.L 17 | 18 | 0.0009488675,-0.000826642,-0.0004624282,0,0,0,0,0,0,0.8934115,braco.L 19 | 20 | -9.965063E-05,8.681445E-05,4.856443E-05,0,0,0,0,0,0,0.9416097,braco.L 21 | 22 | 0.0007224078,-0.000629353,-0.0003520636,0,0,0,0,0,0,1.123375,braco.L 23 | 24 | -0.001545282,0.001346231,0.0007530893,0,0,0,0,0,0,1.172223,braco.L 25 | 26 | 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| -330.2227,-894.1419,289.0386,-87.89909,36.80505,125.9942,0,0,0,12.25378,braco.R 399 | 400 | 499.017,1257.752,42.71998,99.67056,-58.40432,-47.03551,0,0,0,12.28943,braco.R 401 | 402 | -------------------------------------------------------------------------------- /csvs/csvconvert.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import pandas as pd 3 | import os 4 | 5 | 6 | def open_csv(path=""): 7 | if not os.path.isfile(path): 8 | print("No file named {}".format(path)) 9 | exit() 10 | # with open(path) as file: 11 | # raw_csv_lines = file.readlines() 12 | # return raw_csv_lines 13 | return pd.read_csv(path) 14 | 15 | 16 | if __name__ == "__main__": 17 | print(open_csv("braco.R.csv")) 18 | -------------------------------------------------------------------------------- /csvs/femur.L.csv: -------------------------------------------------------------------------------- 1 | LinAccel: x,y,z,AngVel: x,y,z,Magnetometer: x,y,z,time,name 2 | -1.613633E-10,0.003497198,0.0008539332,0,0,0,0,0,0,0.02,femur.L 3 | 4 | 1.703997E-11,-0.0003693042,-9.017534E-05,0,0,0,0,0,0,0.3533334,femur.L 5 | 6 | -3.672616E-12,7.959593E-05,1.943544E-05,0,0,0,0,0,0,0.5332239,femur.L 7 | 8 | -9.54288E-12,0.0002068211,5.050082E-05,0,0,0,0,0,0,0.6388838,femur.L 9 | 10 | -6.868936E-11,0.001488692,0.0003635033,0,0,0,0,0,0,0.6849332,femur.L 11 | 12 | 2.840458E-11,-0.0006156071,-0.0001503167,0,0,0,0,0,0,0.7581164,femur.L 13 | 14 | -3.326876E-11,0.0007210278,0.0001760579,0,0,0,0,0,0,0.8079141,femur.L 15 | 16 | -6.088142E-11,0.001319472,0.0003221839,0,0,0,0,0,0,0.8431404,femur.L 17 | 18 | 4.36321E-11,-0.0009456309,-0.0002309007,0,0,0,0,0,0,0.8934115,femur.L 19 | 20 | -4.582261E-12,9.931067E-05,2.424931E-05,0,0,0,0,0,0,0.9416097,femur.L 21 | 22 | 3.321874E-11,-0.0007199436,-0.0001757932,0,0,0,0,0,0,1.123375,femur.L 23 | 24 | -7.105726E-11,0.001540011,0.0003760342,0,0,0,0,0,0,1.172223,femur.L 25 | 26 | 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/csvs/mao.R.csv: -------------------------------------------------------------------------------- 1 | LinAccel: x,y,z,AngVel: x,y,z,Magnetometer: x,y,z,time,name 2 | -0.001299187,0.004266638,0.001149825,0,0,0,0,0,0,0.02,mao.R 3 | 4 | 0.0001371941,-0.000450557,-0.0001214215,0,0,0,0,0,0,0.3533334,mao.R 5 | 6 | -2.956938E-05,9.710833E-05,2.616991E-05,0,0,0,0,0,0,0.5332239,mao.R 7 | 8 | -7.683274E-05,0.0002523251,6.799959E-05,0,0,0,0,0,0,0.6388838,mao.R 9 | 10 | -0.0005530397,0.001816228,0.0004894589,0,0,0,0,0,0,0.6849332,mao.R 11 | 12 | 0.0002286942,-0.0007510505,-0.0002024021,0,0,0,0,0,0,0.7581164,mao.R 13 | 14 | -0.0002678573,0.0008796658,0.0002370628,0,0,0,0,0,0,0.8079141,mao.R 15 | 16 | -0.0004901755,0.001609777,0.000433822,0,0,0,0,0,0,0.8431404,mao.R 17 | 18 | 0.0003512959,-0.001153685,-0.0003109088,0,0,0,0,0,0,0.8934115,mao.R 19 | 20 | -3.689328E-05,0.0001211604,3.265186E-05,0,0,0,0,0,0,0.9416097,mao.R 21 | 22 | 0.0002674545,-0.0008783428,-0.0002367063,0,0,0,0,0,0,1.123375,mao.R 23 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