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--- a/Content/Blueprint/Game/BP_LuckyGameState.uasset
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new file mode 100644
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--- /dev/null
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--- a/Content/luckyBot/Luckywidget/menu/WB_AllRandom.uasset
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diff --git a/Luckyrobots.sln.DotSettings.user b/Luckyrobots.sln.DotSettings.user
new file mode 100644
index 00000000..cc14c863
--- /dev/null
+++ b/Luckyrobots.sln.DotSettings.user
@@ -0,0 +1,2 @@
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\ No newline at end of file
diff --git a/Luckyrobots.uproject b/Luckyrobots.uproject
index 9938033a..1394e025 100644
--- a/Luckyrobots.uproject
+++ b/Luckyrobots.uproject
@@ -52,6 +52,16 @@
{
"Name": "StateGraph",
"Enabled": true
+ },
+ {
+ "Name": "BlueprintJson",
+ "Enabled": true,
+ "MarketplaceURL": "com.epicgames.launcher://ue/marketplace/content/f837e4835fbc434a853fe1ead2410b84"
+ },
+ {
+ "Name": "CPathfinding",
+ "Enabled": true,
+ "MarketplaceURL": "com.epicgames.launcher://ue/marketplace/product/c533ad0234c540fb81bdfa7bd55d3514"
}
]
}
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--- a/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.pdb
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp
index b862d702..9054c83e 100644
--- a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp
+++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp
@@ -1,6 +1,6 @@
+D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDefines.h
+D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathNode.h
+D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolume.h
D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDynamicObstacle.h
D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathFindPath.h
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-D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolume.h
-D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathNode.h
D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolumeGroundPrio.h
diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json
index edc926da..3c39dda5 100644
--- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json
+++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json
@@ -2,23 +2,23 @@
"RemapUnityFiles":
{
"Module.CPathfinding.cpp.obj": [
+ "CPathDefines.gen.cpp.obj",
"CPathDynamicObstacle.gen.cpp.obj",
+ "CPathfinding.init.gen.cpp.obj",
+ "CPathFindPath.gen.cpp.obj",
"CPathNode.gen.cpp.obj",
"CPathVolume.gen.cpp.obj",
"CPathVolumeGroundPrio.gen.cpp.obj",
"PerModuleInline.gen.cpp.obj",
"CPathAsyncVolumeGeneration.cpp.obj",
+ "CPathDefines.cpp.obj",
+ "CPathDynamicObstacle.cpp.obj",
"CPathfinding.cpp.obj",
+ "CPathFindPath.cpp.obj",
"CPathNode.cpp.obj",
"CPathOctree.cpp.obj",
"CPathVolume.cpp.obj",
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- "CPathFindPath.gen.cpp.obj",
- "CPathDefines.cpp.obj",
- "CPathDynamicObstacle.cpp.obj",
- "CPathFindPath.cpp.obj"
+ "CPathVolumeGroundPrio.cpp.obj"
]
}
}
\ No newline at end of file
diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp
index 76af612f..0586a7f6 100644
--- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp
+++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp
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version https://git-lfs.github.com/spec/v1
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size 86112
diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp
index d5edb1ab..7f403ae1 100644
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\ No newline at end of file
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index c4bef75e..788c9c52 100644
Binary files a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.exp and b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.exp differ
diff --git a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb
index d1167496..81eb59c6 100644
--- a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb
+++ b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:c3c7ef2c33703dac07804264dd4594a226b5a3ed8bdf6342ca09b6ac01c6eb11
-size 67481600
+oid sha256:024749dbc4e2664eb1eb250095d968ca0559acbe0e449e7cb116ff11803f70be
+size 67653632
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
index 2aa1ba5e..dd6a1bb3 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
@@ -11,6 +11,7 @@
#include "LuckyMujoco.h"
#include "fstream"
#include "filesystem"
+#include "Misc/FMujocoSimWorker.h"
AMujocoVolumeActor::AMujocoVolumeActor()
{
@@ -21,7 +22,6 @@ AMujocoVolumeActor::AMujocoVolumeActor()
SpriteComponent = CreateDefaultSubobject(TEXT("Sprite"));
RootComponent = SpriteComponent;
-
if (SpriteComponent)
{
SpriteComponent->bHiddenInGame = true;
@@ -118,6 +118,7 @@ void AMujocoVolumeActor::InitializeMujoco()
if (auto* World = GetWorld())
{
+
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Generating Mujoco model..."));
OnMujocoCompileBegin.Broadcast();
@@ -190,7 +191,15 @@ void AMujocoVolumeActor::InitializeMujoco()
AssignComponentsToArray(World, TendonComponents);
mj_resetData(MujocoModel.Get(), MujocoData.Get());
+ if (MujocoModel && MujocoData && bMultithreaded)
+ {
+ SimulatedPositions.SetNum(MujocoModel->nbody);
+ SimulatedRotations.SetNum(MujocoModel->nbody);
+ SimWorker = MakeUnique(
+ MujocoModel.Get(), MujocoData.Get(), Options.Get()->Options.TimeStep,
+ &SimulatedPositions, &SimulatedRotations, &MujocoDataLock);
+ }
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Mujoco model generated!"));
OnMujocoCompileSuccess.Broadcast();
}
@@ -389,6 +398,31 @@ void AMujocoVolumeActor::PostRegisterAllComponents()
void AMujocoVolumeActor::Tick(float DeltaTime)
{
+ // Super::Tick(DeltaTime);
+ if (bMultithreaded)
+ {
+ FScopeLock Lock(&MujocoDataLock);
+
+ for (int32 i = 1; i < BodyComponents.Num(); ++i)
+ {
+ if (BodyComponents[i].IsValid() && SimulatedPositions.IsValidIndex(i) && SimulatedRotations.IsValidIndex(i))
+ {
+ if (bUpdatePositions)
+ {
+ BodyComponents[i]->SetWorldLocationAndRotation(SimulatedPositions[i], SimulatedRotations[i]);
+ }
+ if (bUpdateBounds)
+ {
+ BodyComponents[i]->UpdateBounds();
+ }
+ if (bUpdateOverlaps)
+ {
+ BodyComponents[i]->UpdateOverlaps();
+ }
+ }
+ }
+ return;
+ }
if (MujocoData)
{
mj_step(MujocoModel.Get(), MujocoData.Get());
@@ -397,7 +431,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
{
mj_step(MujocoModel.Get(), MujocoData.Get());
}
-
+
for (int32 i = 1; i < BodyComponents.Num(); ++i)
{
if (BodyComponents[i].IsValid())
@@ -408,16 +442,25 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f;
FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]);
- BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation);
- BodyComponents[i]->UpdateBounds();
- BodyComponents[i]->UpdateOverlaps();
+ if (bUpdatePositions)
+ {
+ BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation);
+ }
+ if (bUpdateBounds)
+ {
+ BodyComponents[i]->UpdateBounds();
+ }
+ if (bUpdateOverlaps)
+ {
+ BodyComponents[i]->UpdateOverlaps();
+ }
}
else
{
UE_LOG(LogMujoco, Warning, TEXT("Invalid body component at index: %d"), i);
}
}
- }
+ }
}
void AMujocoVolumeActor::PostInitializeComponents()
@@ -427,13 +470,19 @@ void AMujocoVolumeActor::PostInitializeComponents()
void AMujocoVolumeActor::BeginPlay()
{
- Super::BeginPlay();
+ Super::BeginPlay();
}
void AMujocoVolumeActor::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
Super::EndPlay(EndPlayReason);
+ if (SimWorker)
+ {
+ SimWorker->EnsureCompletion();
+ SimWorker.Reset();
+ }
+
MujocoData.Reset();
MujocoModel.Reset();
}
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp
new file mode 100644
index 00000000..5bf45933
--- /dev/null
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp
@@ -0,0 +1,72 @@
+// MujocoSimWorker.cpp
+
+#include "Misc/FMujocoSimWorker.h"
+#include "HAL/PlatformProcess.h"
+
+FMujocoSimWorker::FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep,
+ TArray* InPositions, TArray* InRotations, FCriticalSection* InLock)
+ : Model(InModel), Data(InData), Timestep(InTimestep),
+ Positions(InPositions), Rotations(InRotations), DataLock(InLock), bStopThread(false)
+{
+ Thread = FRunnableThread::Create(this, TEXT("FMujocoSimWorker"), 0, TPri_AboveNormal);
+ if (!Thread)
+ {
+ UE_LOG(LogTemp, Fatal, TEXT("Failed to create MuJoCo simulation thread!"));
+ }
+}
+
+FMujocoSimWorker::~FMujocoSimWorker()
+{
+ if (Thread)
+ {
+ Thread->Kill(true);
+ delete Thread;
+ Thread = nullptr;
+ }
+}
+
+bool FMujocoSimWorker::Init()
+{
+ return true;
+}
+
+uint32 FMujocoSimWorker::Run()
+{
+ int NumBodies = Model->nbody;
+
+ Positions->SetNum(NumBodies);
+ Rotations->SetNum(NumBodies);
+
+ while (!bStopThread)
+ {
+ mj_step(Model, Data);
+
+ // Lock the buffer
+ FScopeLock Lock(DataLock);
+ for (int i = 0; i < NumBodies; ++i)
+ {
+ mjtNum* Pos = Data->xpos + 3 * i;
+ mjtNum* Quat = Data->xquat + 4 * i;
+
+ (*Positions)[i] = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f;
+ (*Rotations)[i] = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]);
+ }
+ FPlatformProcess::Sleep(Timestep);
+ }
+
+ return 0;
+}
+
+void FMujocoSimWorker::Stop()
+{
+ bStopThread = true;
+}
+
+void FMujocoSimWorker::EnsureCompletion()
+{
+ Stop();
+ if (Thread)
+ {
+ Thread->WaitForCompletion();
+ }
+}
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp
new file mode 100644
index 00000000..aace47c2
--- /dev/null
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp
@@ -0,0 +1,58 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "World/LLMWorldManager.h"
+#include "EngineUtils.h"
+#include "Components/LightComponent.h"
+#include "Engine/DirectionalLight.h"
+
+// Sets default values
+ALLMWorldManager::ALLMWorldManager()
+{
+ // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
+ PrimaryActorTick.bCanEverTick = false;
+
+}
+
+// Called when the game starts or when spawned
+void ALLMWorldManager::BeginPlay()
+{
+ Super::BeginPlay();
+ TArray Lights;
+ for (TActorIterator Itr(GetWorld()); Itr; ++Itr)
+ {
+ DefaultLighting.Add(*Itr,Itr->GetLightComponent()->Intensity);
+ }
+}
+
+// Called every frame
+void ALLMWorldManager::Tick(float DeltaTime)
+{
+ Super::Tick(DeltaTime);
+
+}
+
+void ALLMWorldManager::ProcessLLMCommand_Implementation(const FString& Command)
+{
+ const FString CMD = Command.Replace(*CommandPrefix,*FString(""));
+ FString Left = "";
+ FString Right = "";
+ CMD.Split(" ", &Left, &Right);
+
+ if (Left.IsEmpty() || Right.IsEmpty())
+ {
+ return;
+ }
+
+ if (Left == GlobalLightingCommandPrefix)
+ {
+ TArray Lights;
+ for (TActorIterator Itr(GetWorld()); Itr; ++Itr)
+ {
+ //Right == "0" ? 0 : DefaultLighting.FindRef(*Itr)
+ Itr->GetLightComponent()->SetIntensity(FCString::Atof(*Right));
+ }
+ }
+
+}
+
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
index 12b041e8..174f15e3 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
@@ -6,6 +6,7 @@
#include "Components/BillboardComponent.h"
#include "Misc/MujocoWrapper.h"
#include "Delegates/DelegateCombinations.h"
+#include "Misc/FMujocoSimWorker.h"
#include "MujocoVolumeActor.generated.h"
class UMujocoBodyComponent;
@@ -61,6 +62,18 @@ public:
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100))
int32 FrameSkip = 0;
+ UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation")
+ bool bMultithreaded = true;
+
+ UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation")
+ bool bUpdatePositions = true;
+
+ UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation")
+ bool bUpdateBounds = true;
+
+ UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation")
+ bool bUpdateOverlaps = true;
+
UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco")
TObjectPtr SpriteComponent;
@@ -117,4 +130,12 @@ protected:
virtual void BeginPlay() override;
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+
+private:
+ TUniquePtr SimWorker;
+ FCriticalSection MujocoDataLock;
+
+ TArray SimulatedPositions;
+ TArray SimulatedRotations;
+
};
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h
new file mode 100644
index 00000000..a4299d18
--- /dev/null
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h
@@ -0,0 +1,34 @@
+// MujocoSimWorker.h
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "HAL/Runnable.h"
+#include "HAL/ThreadSafeBool.h"
+#include
+
+class FMujocoSimWorker : public FRunnable
+{
+public:
+ FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep,
+ TArray* InPositions, TArray* InRotations, FCriticalSection* InLock);
+ virtual ~FMujocoSimWorker();
+
+ virtual bool Init() override;
+ virtual uint32 Run() override;
+ virtual void Stop() override;
+
+ void EnsureCompletion();
+
+private:
+ FThreadSafeBool bStopThread;
+ FRunnableThread* Thread;
+
+ mjModel* Model;
+ mjData* Data;
+ float Timestep;
+ TArray* Positions;
+ TArray* Rotations;
+ FCriticalSection* DataLock;
+};
+
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h
new file mode 100644
index 00000000..1c33decb
--- /dev/null
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h
@@ -0,0 +1,40 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Engine/DirectionalLight.h"
+#include "GameFramework/Actor.h"
+#include "LLMWorldManager.generated.h"
+
+UCLASS(BlueprintType,Blueprintable)
+class LUCKYMUJOCO_API ALLMWorldManager : public AActor
+{
+ GENERATED_BODY()
+
+public:
+ // Sets default values for this actor's properties
+ ALLMWorldManager();
+
+ UPROPERTY(EditAnywhere,BlueprintReadWrite)
+ FString CommandPrefix = "World:";
+
+ UPROPERTY(EditAnywhere,BlueprintReadWrite)
+ FString GlobalLightingCommandPrefix = "Lighting";
+
+protected:
+ // Called when the game starts or when spawned
+ virtual void BeginPlay() override;
+
+public:
+ // Called every frame
+ virtual void Tick(float DeltaTime) override;
+
+ UFUNCTION(BlueprintCallable,BlueprintNativeEvent)
+ void ProcessLLMCommand(const FString& Command);
+
+private:
+
+ TMap DefaultLighting;
+
+};
diff --git a/RobotData/0_ArmCam/0_Depth.jpg b/RobotData/0_ArmCam/0_Depth.jpg
new file mode 100644
index 00000000..ffd3d264
--- /dev/null
+++ b/RobotData/0_ArmCam/0_Depth.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:121ce267f1b81516c1e787b96efb0a823a9421b65930264c80f4961484ad882d
+size 47083
diff --git a/RobotData/0_ArmCam/0_RGB.jpg b/RobotData/0_ArmCam/0_RGB.jpg
new file mode 100644
index 00000000..673fdf3a
--- /dev/null
+++ b/RobotData/0_ArmCam/0_RGB.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef537f3c763786183b70c6ec2e07149e409bfee61fd695419084f2b9cb2981ec
+size 46896
diff --git a/RobotData/0_ArmCam/ArmCamPos.json b/RobotData/0_ArmCam/ArmCamPos.json
new file mode 100644
index 00000000..a5b97417
--- /dev/null
+++ b/RobotData/0_ArmCam/ArmCamPos.json
@@ -0,0 +1,8 @@
+{
+ "transforms": [
+ {
+ "index": 0,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/RobotData/0_HeadCam/0_Depth.jpg b/RobotData/0_HeadCam/0_Depth.jpg
new file mode 100644
index 00000000..c4891b3b
--- /dev/null
+++ b/RobotData/0_HeadCam/0_Depth.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3207342afb1ba552414382a9d40b7bf6a2a600962898c72f306780b9681dbf75
+size 45213
diff --git a/RobotData/0_HeadCam/0_RGB.jpg b/RobotData/0_HeadCam/0_RGB.jpg
new file mode 100644
index 00000000..b1d05d05
--- /dev/null
+++ b/RobotData/0_HeadCam/0_RGB.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3f60e5e6f15560ccc27169e529f30c73a6cddf63c9aa4c17a6328b622bd81c
+size 45235
diff --git a/RobotData/0_HeadCam/HeadCamPos.json b/RobotData/0_HeadCam/HeadCamPos.json
new file mode 100644
index 00000000..443d6d8b
--- /dev/null
+++ b/RobotData/0_HeadCam/HeadCamPos.json
@@ -0,0 +1,8 @@
+{
+ "transforms": [
+ {
+ "index": 0,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/RobotData/10_ArmCam/10_Depth.jpg b/RobotData/10_ArmCam/10_Depth.jpg
new file mode 100644
index 00000000..346c1ef8
--- /dev/null
+++ b/RobotData/10_ArmCam/10_Depth.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0044bfc315ffff3357049443655919b72cc07b8340044dff9f93f17adfa4f47
+size 46421
diff --git a/RobotData/10_ArmCam/10_RGB.jpg b/RobotData/10_ArmCam/10_RGB.jpg
new file mode 100644
index 00000000..17457672
--- /dev/null
+++ b/RobotData/10_ArmCam/10_RGB.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bcd3f7a65cad1c6782ca8537ff2dcd1747a2c0dfad3a3058bbec9e56f75baf7
+size 46554
diff --git a/RobotData/10_ArmCam/ArmCamPos.json b/RobotData/10_ArmCam/ArmCamPos.json
new file mode 100644
index 00000000..93a46ca6
--- /dev/null
+++ b/RobotData/10_ArmCam/ArmCamPos.json
@@ -0,0 +1,48 @@
+{
+ "transforms": [
+ {
+ "index": 0,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 1,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 2,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 3,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 4,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 5,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 6,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 7,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 8,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 9,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 10,
+ "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/RobotData/10_HeadCam/10_Depth.jpg b/RobotData/10_HeadCam/10_Depth.jpg
new file mode 100644
index 00000000..518b3a9e
--- /dev/null
+++ b/RobotData/10_HeadCam/10_Depth.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b7ec70a84fc5639e7870fc19897d9363e36a5a32245d2b85d951e2c741e0c3
+size 45725
diff --git a/RobotData/10_HeadCam/10_RGB.jpg b/RobotData/10_HeadCam/10_RGB.jpg
new file mode 100644
index 00000000..dbcf5933
--- /dev/null
+++ b/RobotData/10_HeadCam/10_RGB.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c075fb47facfa721cd9bdaa8cdeb679e1f90635b3308ab07613d12f9fac9d636
+size 45493
diff --git a/RobotData/10_HeadCam/HeadCamPos.json b/RobotData/10_HeadCam/HeadCamPos.json
new file mode 100644
index 00000000..38444a33
--- /dev/null
+++ b/RobotData/10_HeadCam/HeadCamPos.json
@@ -0,0 +1,48 @@
+{
+ "transforms": [
+ {
+ "index": 0,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 1,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 2,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 3,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 4,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 5,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
+ {
+ "index": 6,
+ "transform": "Translation: X=-146.602 Y=305.449 Z=125.312 Rotation: P=0.000000 Y=0.000000 R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+ },
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