Working on SOArm100 with new UI and also multi-threaded mujoco

Luckyrobots.sln.DotSettings.user

@@ -0,0 +1,2 @@
+<wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation">
+	<s:String x:Key="/Default/CodeInspection/ExcludedFiles/FilesAndFoldersToSkip2/=7020124F_002D9FFC_002D4AC3_002D8F3D_002DAAB8E0240759_002Ff_003AHoxuhub_002Easm_002Fl_003AC_0021_003FUsers_003FBhrama_003FAppData_003FLocal_003FTemp_003FSandboxFiles_003FHynojar_003FHoxuhub_002Easm/@EntryIndexedValue">ForceIncluded</s:String></wpf:ResourceDictionary>

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"
 		}
 	]
 }

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
-D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDefines.h
-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

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",
-			"CPathVolumeGroundPrio.cpp.obj",
-			"CPathDefines.gen.cpp.obj",
-			"CPathfinding.init.gen.cpp.obj",
-			"CPathFindPath.gen.cpp.obj",
-			"CPathDefines.cpp.obj",
-			"CPathDynamicObstacle.cpp.obj",
-			"CPathFindPath.cpp.obj"
+			"CPathVolumeGroundPrio.cpp.obj"
 		]
 	}
 }

Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp

@@ -38,12 +38,6 @@
 /NOIMPLIB
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj"
 "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Module.CPathfinding.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj"
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res"
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\CoreUObject\UnrealEditor-CoreUObject.lib"
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Engine\UnrealEditor-Engine.lib"

Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp

@@ -8,11 +8,5 @@
 /NODEFAULTLIB
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj"
 "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Module.CPathfinding.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj"
-"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj"
 "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res"
 /OUT:"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\UnrealEditor-CPathfinding.lib"

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<UBillboardComponent>(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<FMujocoSimWorker>(
+				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();
 }

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<FVector>* InPositions, TArray<FQuat>* 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();
+	}
+}

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<ADirectionalLight*> Lights;
+	for (TActorIterator<ADirectionalLight> 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<ADirectionalLight*> Lights;
+		for (TActorIterator<ADirectionalLight> Itr(GetWorld()); Itr; ++Itr)
+		{
+			//Right == "0" ? 0 : DefaultLighting.FindRef(*Itr)
+			Itr->GetLightComponent()->SetIntensity(FCString::Atof(*Right));
+		}
+	}
+	
+}
+

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<UBillboardComponent> SpriteComponent;
 
@@ -117,4 +130,12 @@ protected:
 
 	virtual void BeginPlay() override;
 	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+	
+private:
+	TUniquePtr<FMujocoSimWorker> SimWorker;
+	FCriticalSection MujocoDataLock;
+
+	TArray<FVector> SimulatedPositions;
+	TArray<FQuat> SimulatedRotations;
+	
 };

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 <mujoco/mujoco.h>
+
+class FMujocoSimWorker : public FRunnable
+{
+public:
+	FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep,
+				 TArray<FVector>* InPositions, TArray<FQuat>* 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<FVector>* Positions;
+	TArray<FQuat>* Rotations;
+	FCriticalSection* DataLock;
+};
+

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<ADirectionalLight*, float> DefaultLighting;
+	
+};

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"
+		}
+	]
+}

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"
+		}
+	]
+}

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"
+		}
+	]
+}

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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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"
+		}
+	]
+}

RobotData/11_ArmCam/ArmCamPos.json

@@ -0,0 +1,52 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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"
+		}
+	]
+}

RobotData/11_HeadCam/HeadCamPos.json

@@ -0,0 +1,52 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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"
+		}
+	]
+}

RobotData/12_ArmCam/ArmCamPos.json

@@ -0,0 +1,56 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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"
+		}
+	]
+}

RobotData/12_HeadCam/HeadCamPos.json

@@ -0,0 +1,56 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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"
+		}
+	]
+}

RobotData/13_ArmCam/ArmCamPos.json

@@ -0,0 +1,60 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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"
+		}
+	]
+}

RobotData/13_HeadCam/HeadCamPos.json

@@ -0,0 +1,60 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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"
+		}
+	]
+}

RobotData/14_ArmCam/ArmCamPos.json

@@ -0,0 +1,64 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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"
+		}
+	]
+}

RobotData/14_HeadCam/HeadCamPos.json

@@ -0,0 +1,64 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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"
+		}
+	]
+}

RobotData/15_ArmCam/ArmCamPos.json

@@ -0,0 +1,68 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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"
+		}
+	]
+}

RobotData/15_HeadCam/HeadCamPos.json

@@ -0,0 +1,68 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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"
+		}
+	]
+}

RobotData/16_ArmCam/ArmCamPos.json

@@ -0,0 +1,72 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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"
+		}
+	]
+}

RobotData/16_HeadCam/HeadCamPos.json

@@ -0,0 +1,72 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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"
+		}
+	]
+}

RobotData/17_ArmCam/ArmCamPos.json

@@ -0,0 +1,76 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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": 17,
+			"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"
+		}
+	]
+}

RobotData/17_HeadCam/HeadCamPos.json

@@ -0,0 +1,76 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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": 17,
+			"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"
+		}
+	]
+}

RobotData/18_ArmCam/ArmCamPos.json

@@ -0,0 +1,80 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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": 17,
+			"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": 18,
+			"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"
+		}
+	]
+}

RobotData/18_HeadCam/HeadCamPos.json

@@ -0,0 +1,80 @@
+{
+	"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"
+		},
+		{
+			"index": 7,
+			"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": 8,
+			"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": 9,
+			"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": 10,
+			"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": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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": 17,
+			"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": 18,
+			"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"
+		}
+	]
+}

RobotData/19_ArmCam/ArmCamPos.json

@@ -0,0 +1,84 @@
+{
+	"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"
+		},
+		{
+			"index": 11,
+			"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": 12,
+			"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": 13,
+			"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": 14,
+			"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": 15,
+			"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": 16,
+			"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": 17,
+			"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": 18,
+			"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": 19,
+			"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"
+		}
+	]
+}