Fixed SOArm100 data capture so it writes the data like in v1.

Plugins/LuckyWorld/Source/LuckyWorld/Private/Lib/LuckyDataCaptureSubsystem.cpp

@@ -0,0 +1,8 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "Lib/LuckyDataCaptureSubsystem.h"
+
+
+
+

Plugins/LuckyWorld/Source/LuckyWorld/Private/Lib/LuckyWorldFunctions.cpp

@@ -162,6 +162,11 @@ FString ULuckyWorldFunctions::FVectorToJsonString(const FVector& Vector)
 	return TEXT("{}");
 }
 
+FString ULuckyWorldFunctions::GetRobotDataCapturePath()
+{
+	return FPaths::ProjectDir() / TEXT("robotdata");
+}
+
 const ULuckyWorldSettings* ULuckyWorldFunctions::GetLuckyWorldSettings()
 {
 	return ULuckyWorldSettings::GetLuckyWorldSettings(); 

Plugins/LuckyWorld/Source/LuckyWorld/Public/Lib/LuckyDataCaptureSubsystem.h

@@ -0,0 +1,22 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Subsystems/WorldSubsystem.h"
+#include "LuckyDataCaptureSubsystem.generated.h"
+
+/**
+ * 
+ */
+UCLASS()
+class LUCKYWORLD_API UDataCaptureSubsystem : public UWorldSubsystem
+{
+	GENERATED_BODY()
+	
+public:
+
+	UFUNCTION(BlueprintCallable,Category = "LuckyRobots|DataCapture")
+	void WriteImageToDisk(UTextureRenderTarget2D* RenderTarget, int32 Count, const FString& Folder);
+		
+};

Plugins/LuckyWorld/Source/LuckyWorld/Public/Lib/LuckyWorldFunctions.h

@@ -62,6 +62,12 @@ public:
 	 */
 	UFUNCTION(BlueprintPure,Category = "LuckyWorld|Utils", meta = (BlueprintAutocast, CompactNodeTitle = "->"))
 	static FString FVectorToJsonString(const FVector& Vector);
+					
+	/**
+	 * @return - The RobotData path.
+	 */
+	UFUNCTION(BlueprintPure,Category = "LuckyWorld|Utils")
+	static FString GetRobotDataCapturePath();
 				
 	/**
 	 * @return - Lucky World Settings.

robotdata/Actuator.json

@@ -0,0 +1,35 @@
+{
+	"ActuatorData": [
+		{
+			"capture": 1,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/1_RGB.jpg\",\"TopCam\":\"TopCam/1_RGB.jpg\"}"
+		},
+		{
+			"capture": 2,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/2_RGB.jpg\",\"TopCam\":\"TopCam/2_RGB.jpg\"}"
+		},
+		{
+			"capture": 3,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/3_RGB.jpg\",\"TopCam\":\"TopCam/3_RGB.jpg\"}"
+		},
+		{
+			"capture": 4,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/4_RGB.jpg\",\"TopCam\":\"TopCam/4_RGB.jpg\"}"
+		},
+		{
+			"capture": 5,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/5_RGB.jpg\",\"TopCam\":\"TopCam/5_RGB.jpg\"}"
+		},
+		{
+			"capture": 6,
+			"success": false,
+			"cameras": "{\"FrontCam\":\"FrontCam/6_RGB.jpg\",\"TopCam\":\"TopCam/6_RGB.jpg\"}"
+		}
+	],
+	"robotInfoList": []
+}

robotdata/FrontCam/FrontCamPos.json

@@ -0,0 +1,28 @@
+{
+	"transforms": [
+		{
+			"index": 1,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 2,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 3,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 4,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 5,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 6,
+			"transform": "Translation: X=71.764 Y=-107.870 Z=51.549 Rotation: P=-0.000000 Y=-90.000000 R=0.000000 Scale: X=1.000 Y=1.000 Z=1.000"
+		}
+	]
+}

robotdata/TopCam/TopCamPos.json

@@ -0,0 +1,28 @@
+{
+	"transforms": [
+		{
+			"index": 1,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 2,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 3,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 4,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 5,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		},
+		{
+			"index": 6,
+			"transform": "Translation: X=68.764 Y=-179.870 Z=153.549 Rotation: P=-90.000000 Y=-165.963757 R=75.963757 Scale: X=1.000 Y=1.000 Z=1.000"
+		}
+	]
+}