diff --git a/Binaries/Win64/mujoco.dll b/Binaries/Win64/mujoco.dll
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diff --git a/Content/GameBP/UI/WB_GameWidget.uasset b/Content/GameBP/UI/WB_GameWidget.uasset
index 4e82e3ba..7831b9b8 100644
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diff --git a/Plugins/BlueprintJson/Binaries/Mac/UnrealEditor-BlueprintJson.dylib b/Plugins/BlueprintJson/Binaries/Mac/UnrealEditor-BlueprintJson.dylib
index 2f5bb6be..afe74e05 100755
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diff --git a/Plugins/FileHelperPlugin/Binaries/Mac/UnrealEditor-FileHelper.dylib b/Plugins/FileHelperPlugin/Binaries/Mac/UnrealEditor-FileHelper.dylib
index 3a8a443d..6518c00d 100755
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diff --git a/Plugins/LuckyMujoco/Binaries/Mac/UnrealEditor-LuckyMujoco.dylib b/Plugins/LuckyMujoco/Binaries/Mac/UnrealEditor-LuckyMujoco.dylib
index 7fb6b257..f5dabfa6 100755
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diff --git a/Plugins/LuckyMujoco/Binaries/Mac/UnrealEditor-LuckyMujocoEditor.dylib b/Plugins/LuckyMujoco/Binaries/Mac/UnrealEditor-LuckyMujocoEditor.dylib
index b444e098..bcc0fd2f 100755
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diff --git a/Plugins/LuckyTextWrite/Binaries/Mac/UnrealEditor-LuckyTextWrite.dylib b/Plugins/LuckyTextWrite/Binaries/Mac/UnrealEditor-LuckyTextWrite.dylib
index f0e78606..96b7109d 100755
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diff --git a/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-CoreUtility.dylib b/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-CoreUtility.dylib
index 4237bb52..9e89abab 100755
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diff --git a/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SIOJEditorPlugin.dylib b/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SIOJEditorPlugin.dylib
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diff --git a/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SIOJson.dylib b/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SIOJson.dylib
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diff --git a/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SocketIOClient.dylib b/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SocketIOClient.dylib
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diff --git a/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SocketIOLib.dylib b/Plugins/SocketIOClient/Binaries/Mac/UnrealEditor-SocketIOLib.dylib
index d7f5aa0e..8e44f14e 100755
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diff --git a/Plugins/VaRestPlugin/Binaries/Mac/UnrealEditor-VaRest.dylib b/Plugins/VaRestPlugin/Binaries/Mac/UnrealEditor-VaRest.dylib
index 54bde8eb..853aa3d6 100755
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diff --git a/Plugins/VaRestPlugin/Binaries/Mac/UnrealEditor-VaRestEditor.dylib b/Plugins/VaRestPlugin/Binaries/Mac/UnrealEditor-VaRestEditor.dylib
index caba54a7..dcfec3ea 100755
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diff --git a/Source/LuckyWorldV2/Private/Core/LuckyRobotsGameInstance.cpp b/Source/LuckyWorldV2/Private/Core/LuckyRobotsGameInstance.cpp
index 78ed3061..f001fe2a 100644
--- a/Source/LuckyWorldV2/Private/Core/LuckyRobotsGameInstance.cpp
+++ b/Source/LuckyWorldV2/Private/Core/LuckyRobotsGameInstance.cpp
@@ -701,8 +701,16 @@ EUnrealBuildType ULuckyRobotsGameInstance::CheckBuildConfiguration() const
 	}
 #else
 	{
-		UE_LOG(LogTemp, Warning, TEXT("Unknown build configuration"));
-		return EUnrealBuildType::None;
+		if (GIsEditor)
+		{
+			UE_LOG(LogTemp, Warning, TEXT("In Editor Play"));
+			return EUnrealBuildType::Development;
+		}
+		else 
+		{
+			UE_LOG(LogTemp, Warning, TEXT("Unknown build configuration"));
+			return EUnrealBuildType::None;
+		}
 	}
 #endif
 }
diff --git a/mac_build.sh b/mac_build.sh
index 37f8edd1..eda92069 100755
--- a/mac_build.sh
+++ b/mac_build.sh
@@ -13,6 +13,18 @@ PROJECT_ROOT="$(pwd)"
 PROJECT_FILE="$PROJECT_ROOT/LuckyWorldV2.uproject"
 ARCHIVE_DIR="$PROJECT_ROOT/Builds"
 
+# patch UE 5.5 https://github.com/EpicGames/UnrealEngine/pull/13132/commits/578ccdb82c78fbfcab8c1e3a21301893f22a9f64
+PATCH_FILE_DST="$UE_ROOT/Engine/Plugins/Runtime/StateTree/Source/StateTreeModule/Public/StateTreeExecutionContext.h"
+# Backup the destination file before modifying
+if [ ! -f "${PATCH_FILE_DST}.bak" ]; then cp "$PATCH_FILE_DST" "${PATCH_FILE_DST}.bak"; fi
+# Fix line 227
+sed -i '' '227s/.*$/\tEventQueue->template ForEachEvent<FStateTreeSharedEvent>(Function);/' "$PATCH_FILE_DST"
+# Fix line 242
+sed -i '' '242s/.*$/\tEventQueue->template ForEachEvent<FStateTreeSharedEvent>([Function](const FStateTreeSharedEvent& Event)/' "$PATCH_FILE_DST"
+
+# Print confirmation
+echo "Patched $PATCH_FILE_DST successfully"
+
 rm -rf DerivedDataCache Intermediate Binaries Saved
 
 "$UE_ROOT/Engine/Build/BatchFiles/Mac/GenerateProjectFiles.sh" -project="$PROJECT_FILE" -game -engine
diff --git a/robotdata/0/Actuator.json b/robotdata/0/Actuator.json
deleted file mode 100644
index c95bf260..00000000
--- a/robotdata/0/Actuator.json
+++ /dev/null
@@ -1,187 +0,0 @@
-{
-	"ActuatorData": [
-		{
-			"index": 1
-		},
-		{
-			"index": 2
-		},
-		{
-			"index": 3
-		},
-		{
-			"index": 4
-		},
-		{
-			"index": 5
-		},
-		{
-			"index": 6
-		},
-		{
-			"index": 7
-		},
-		{
-			"index": 8
-		},
-		{
-			"index": 9
-		},
-		{
-			"index": 10
-		},
-		{
-			"index": 11
-		},
-		{
-			"index": 12
-		},
-		{
-			"index": 13
-		},
-		{
-			"index": 14
-		},
-		{
-			"index": 15
-		},
-		{
-			"index": 16
-		},
-		{
-			"index": 17
-		},
-		{
-			"index": 18
-		},
-		{
-			"index": 19
-		},
-		{
-			"index": 20
-		},
-		{
-			"index": 21
-		},
-		{
-			"index": 22
-		},
-		{
-			"index": 23
-		},
-		{
-			"index": 24
-		},
-		{
-			"index": 25
-		},
-		{
-			"index": 26
-		},
-		{
-			"index": 27
-		},
-		{
-			"index": 28
-		},
-		{
-			"index": 29
-		},
-		{
-			"index": 30
-		},
-		{
-			"index": 31
-		},
-		{
-			"index": 32
-		},
-		{
-			"index": 33
-		},
-		{
-			"index": 34
-		},
-		{
-			"index": 35
-		},
-		{
-			"index": 36
-		},
-		{
-			"index": 37
-		},
-		{
-			"index": 38
-		},
-		{
-			"index": 39
-		},
-		{
-			"index": 40
-		},
-		{
-			"index": 41
-		},
-		{
-			"index": 42
-		},
-		{
-			"index": 43
-		},
-		{
-			"index": 44
-		},
-		{
-			"index": 45
-		},
-		{
-			"index": 46
-		},
-		{
-			"index": 47
-		},
-		{
-			"index": 48
-		},
-		{
-			"index": 49
-		},
-		{
-			"index": 50
-		},
-		{
-			"index": 51
-		},
-		{
-			"index": 52
-		},
-		{
-			"index": 53
-		},
-		{
-			"index": 54
-		},
-		{
-			"index": 55
-		},
-		{
-			"index": 56
-		},
-		{
-			"index": 57
-		},
-		{
-			"index": 58
-		},
-		{
-			"index": 59
-		},
-		{
-			"index": 60
-		},
-		{
-			"index": 61
-		}
-	]
-}
\ No newline at end of file
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diff --git a/robotdata/0/ArmCam/ArmCamPos.json b/robotdata/0/ArmCam/ArmCamPos.json
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diff --git a/robotdata/0/HeadCam/HeadCamPos.json b/robotdata/0/HeadCam/HeadCamPos.json
deleted file mode 100644
index b15671a9..00000000
--- a/robotdata/0/HeadCam/HeadCamPos.json
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index 31794f31..00000000
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deleted file mode 100644
index 7c26f47a..00000000
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diff --git a/robotdata/1/Actuator.json b/robotdata/1/Actuator.json
deleted file mode 100644
index 697002b6..00000000
--- a/robotdata/1/Actuator.json
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-{
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diff --git a/robotdata/1/HeadCam/HeadCamPos.json b/robotdata/1/HeadCam/HeadCamPos.json
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--- a/robotdata/1/HeadCam/HeadCamPos.json
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diff --git a/robotdata/10_ArmCam/10_Depth.jpg b/robotdata/10_ArmCam/10_Depth.jpg
deleted file mode 100644
index e2c36b1c..00000000
Binary files a/robotdata/10_ArmCam/10_Depth.jpg and /dev/null differ
diff --git a/robotdata/10_ArmCam/10_RGB.jpg b/robotdata/10_ArmCam/10_RGB.jpg
deleted file mode 100644
index ebb1f5e6..00000000
Binary files a/robotdata/10_ArmCam/10_RGB.jpg and /dev/null differ
diff --git a/robotdata/10_ArmCam/ArmCamPos.json b/robotdata/10_ArmCam/ArmCamPos.json
deleted file mode 100644
index 98b449fa..00000000
--- a/robotdata/10_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-	"transforms": [
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-		{
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-			"index": 5,
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-		},
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-			"index": 6,
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-			"index": 8,
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-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
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-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
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-}
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diff --git a/robotdata/10_HeadCam/10_Depth.jpg b/robotdata/10_HeadCam/10_Depth.jpg
deleted file mode 100644
index ba8c692b..00000000
Binary files a/robotdata/10_HeadCam/10_Depth.jpg and /dev/null differ
diff --git a/robotdata/10_HeadCam/10_RGB.jpg b/robotdata/10_HeadCam/10_RGB.jpg
deleted file mode 100644
index 62fa054c..00000000
Binary files a/robotdata/10_HeadCam/10_RGB.jpg and /dev/null differ
diff --git a/robotdata/10_HeadCam/HeadCamPos.json b/robotdata/10_HeadCam/HeadCamPos.json
deleted file mode 100644
index e76ded4a..00000000
--- a/robotdata/10_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-	"transforms": [
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-		{
-			"index": 2,
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-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
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-}
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diff --git a/robotdata/11_ArmCam/11_Depth.jpg b/robotdata/11_ArmCam/11_Depth.jpg
deleted file mode 100644
index cbe22367..00000000
Binary files a/robotdata/11_ArmCam/11_Depth.jpg and /dev/null differ
diff --git a/robotdata/11_ArmCam/11_RGB.jpg b/robotdata/11_ArmCam/11_RGB.jpg
deleted file mode 100644
index 27e535f5..00000000
Binary files a/robotdata/11_ArmCam/11_RGB.jpg and /dev/null differ
diff --git a/robotdata/11_ArmCam/ArmCamPos.json b/robotdata/11_ArmCam/ArmCamPos.json
deleted file mode 100644
index 58f17912..00000000
--- a/robotdata/11_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
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-}
\ No newline at end of file
diff --git a/robotdata/11_HeadCam/11_Depth.jpg b/robotdata/11_HeadCam/11_Depth.jpg
deleted file mode 100644
index 1c272fac..00000000
Binary files a/robotdata/11_HeadCam/11_Depth.jpg and /dev/null differ
diff --git a/robotdata/11_HeadCam/11_RGB.jpg b/robotdata/11_HeadCam/11_RGB.jpg
deleted file mode 100644
index e142c2ae..00000000
Binary files a/robotdata/11_HeadCam/11_RGB.jpg and /dev/null differ
diff --git a/robotdata/11_HeadCam/HeadCamPos.json b/robotdata/11_HeadCam/HeadCamPos.json
deleted file mode 100644
index 6c2177bf..00000000
--- a/robotdata/11_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/12_ArmCam/12_Depth.jpg b/robotdata/12_ArmCam/12_Depth.jpg
deleted file mode 100644
index 1240a3e8..00000000
Binary files a/robotdata/12_ArmCam/12_Depth.jpg and /dev/null differ
diff --git a/robotdata/12_ArmCam/12_RGB.jpg b/robotdata/12_ArmCam/12_RGB.jpg
deleted file mode 100644
index 3529616f..00000000
Binary files a/robotdata/12_ArmCam/12_RGB.jpg and /dev/null differ
diff --git a/robotdata/12_ArmCam/ArmCamPos.json b/robotdata/12_ArmCam/ArmCamPos.json
deleted file mode 100644
index 6646663e..00000000
--- a/robotdata/12_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
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-		},
-		{
-			"index": 3,
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-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
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-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/12_HeadCam/12_Depth.jpg b/robotdata/12_HeadCam/12_Depth.jpg
deleted file mode 100644
index 8f8ff6af..00000000
Binary files a/robotdata/12_HeadCam/12_Depth.jpg and /dev/null differ
diff --git a/robotdata/12_HeadCam/12_RGB.jpg b/robotdata/12_HeadCam/12_RGB.jpg
deleted file mode 100644
index 5f483f08..00000000
Binary files a/robotdata/12_HeadCam/12_RGB.jpg and /dev/null differ
diff --git a/robotdata/12_HeadCam/HeadCamPos.json b/robotdata/12_HeadCam/HeadCamPos.json
deleted file mode 100644
index 770b5742..00000000
--- a/robotdata/12_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/13_ArmCam/13_Depth.jpg b/robotdata/13_ArmCam/13_Depth.jpg
deleted file mode 100644
index 320ee8e5..00000000
Binary files a/robotdata/13_ArmCam/13_Depth.jpg and /dev/null differ
diff --git a/robotdata/13_ArmCam/13_RGB.jpg b/robotdata/13_ArmCam/13_RGB.jpg
deleted file mode 100644
index 934c2822..00000000
Binary files a/robotdata/13_ArmCam/13_RGB.jpg and /dev/null differ
diff --git a/robotdata/13_ArmCam/ArmCamPos.json b/robotdata/13_ArmCam/ArmCamPos.json
deleted file mode 100644
index af7f18ed..00000000
--- a/robotdata/13_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/13_HeadCam/13_Depth.jpg b/robotdata/13_HeadCam/13_Depth.jpg
deleted file mode 100644
index f8c4f1c0..00000000
Binary files a/robotdata/13_HeadCam/13_Depth.jpg and /dev/null differ
diff --git a/robotdata/13_HeadCam/13_RGB.jpg b/robotdata/13_HeadCam/13_RGB.jpg
deleted file mode 100644
index f3b079ee..00000000
Binary files a/robotdata/13_HeadCam/13_RGB.jpg and /dev/null differ
diff --git a/robotdata/13_HeadCam/HeadCamPos.json b/robotdata/13_HeadCam/HeadCamPos.json
deleted file mode 100644
index 489824a0..00000000
--- a/robotdata/13_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,60 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/14_ArmCam/14_Depth.jpg b/robotdata/14_ArmCam/14_Depth.jpg
deleted file mode 100644
index 2a831c57..00000000
Binary files a/robotdata/14_ArmCam/14_Depth.jpg and /dev/null differ
diff --git a/robotdata/14_ArmCam/14_RGB.jpg b/robotdata/14_ArmCam/14_RGB.jpg
deleted file mode 100644
index 13c9360f..00000000
Binary files a/robotdata/14_ArmCam/14_RGB.jpg and /dev/null differ
diff --git a/robotdata/14_ArmCam/ArmCamPos.json b/robotdata/14_ArmCam/ArmCamPos.json
deleted file mode 100644
index 0db745ec..00000000
--- a/robotdata/14_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/14_HeadCam/14_Depth.jpg b/robotdata/14_HeadCam/14_Depth.jpg
deleted file mode 100644
index f65732e8..00000000
Binary files a/robotdata/14_HeadCam/14_Depth.jpg and /dev/null differ
diff --git a/robotdata/14_HeadCam/14_RGB.jpg b/robotdata/14_HeadCam/14_RGB.jpg
deleted file mode 100644
index 4c52eb12..00000000
Binary files a/robotdata/14_HeadCam/14_RGB.jpg and /dev/null differ
diff --git a/robotdata/14_HeadCam/HeadCamPos.json b/robotdata/14_HeadCam/HeadCamPos.json
deleted file mode 100644
index 55c4e890..00000000
--- a/robotdata/14_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/15_ArmCam/15_Depth.jpg b/robotdata/15_ArmCam/15_Depth.jpg
deleted file mode 100644
index 57d6be0f..00000000
Binary files a/robotdata/15_ArmCam/15_Depth.jpg and /dev/null differ
diff --git a/robotdata/15_ArmCam/15_RGB.jpg b/robotdata/15_ArmCam/15_RGB.jpg
deleted file mode 100644
index 68669361..00000000
Binary files a/robotdata/15_ArmCam/15_RGB.jpg and /dev/null differ
diff --git a/robotdata/15_ArmCam/ArmCamPos.json b/robotdata/15_ArmCam/ArmCamPos.json
deleted file mode 100644
index 308aa6ca..00000000
--- a/robotdata/15_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,68 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/15_HeadCam/15_Depth.jpg b/robotdata/15_HeadCam/15_Depth.jpg
deleted file mode 100644
index 34a199c6..00000000
Binary files a/robotdata/15_HeadCam/15_Depth.jpg and /dev/null differ
diff --git a/robotdata/15_HeadCam/15_RGB.jpg b/robotdata/15_HeadCam/15_RGB.jpg
deleted file mode 100644
index 1c18844d..00000000
Binary files a/robotdata/15_HeadCam/15_RGB.jpg and /dev/null differ
diff --git a/robotdata/15_HeadCam/HeadCamPos.json b/robotdata/15_HeadCam/HeadCamPos.json
deleted file mode 100644
index 34700ca4..00000000
--- a/robotdata/15_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,68 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/16_ArmCam/16_Depth.jpg b/robotdata/16_ArmCam/16_Depth.jpg
deleted file mode 100644
index ec7bb023..00000000
Binary files a/robotdata/16_ArmCam/16_Depth.jpg and /dev/null differ
diff --git a/robotdata/16_ArmCam/16_RGB.jpg b/robotdata/16_ArmCam/16_RGB.jpg
deleted file mode 100644
index 5067d1b3..00000000
Binary files a/robotdata/16_ArmCam/16_RGB.jpg and /dev/null differ
diff --git a/robotdata/16_ArmCam/ArmCamPos.json b/robotdata/16_ArmCam/ArmCamPos.json
deleted file mode 100644
index fad16ce3..00000000
--- a/robotdata/16_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,72 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/16_HeadCam/16_Depth.jpg b/robotdata/16_HeadCam/16_Depth.jpg
deleted file mode 100644
index c31ee549..00000000
Binary files a/robotdata/16_HeadCam/16_Depth.jpg and /dev/null differ
diff --git a/robotdata/16_HeadCam/16_RGB.jpg b/robotdata/16_HeadCam/16_RGB.jpg
deleted file mode 100644
index 9cee0f80..00000000
Binary files a/robotdata/16_HeadCam/16_RGB.jpg and /dev/null differ
diff --git a/robotdata/16_HeadCam/HeadCamPos.json b/robotdata/16_HeadCam/HeadCamPos.json
deleted file mode 100644
index eba4c5d0..00000000
--- a/robotdata/16_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,72 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/17_ArmCam/17_Depth.jpg b/robotdata/17_ArmCam/17_Depth.jpg
deleted file mode 100644
index f91fa12e..00000000
Binary files a/robotdata/17_ArmCam/17_Depth.jpg and /dev/null differ
diff --git a/robotdata/17_ArmCam/17_RGB.jpg b/robotdata/17_ArmCam/17_RGB.jpg
deleted file mode 100644
index b6211848..00000000
Binary files a/robotdata/17_ArmCam/17_RGB.jpg and /dev/null differ
diff --git a/robotdata/17_ArmCam/ArmCamPos.json b/robotdata/17_ArmCam/ArmCamPos.json
deleted file mode 100644
index 2047e458..00000000
--- a/robotdata/17_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,76 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
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-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/17_HeadCam/17_Depth.jpg b/robotdata/17_HeadCam/17_Depth.jpg
deleted file mode 100644
index c75a8aa2..00000000
Binary files a/robotdata/17_HeadCam/17_Depth.jpg and /dev/null differ
diff --git a/robotdata/17_HeadCam/17_RGB.jpg b/robotdata/17_HeadCam/17_RGB.jpg
deleted file mode 100644
index 89f10749..00000000
Binary files a/robotdata/17_HeadCam/17_RGB.jpg and /dev/null differ
diff --git a/robotdata/17_HeadCam/HeadCamPos.json b/robotdata/17_HeadCam/HeadCamPos.json
deleted file mode 100644
index 81b1dd22..00000000
--- a/robotdata/17_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,76 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/18_ArmCam/18_Depth.jpg b/robotdata/18_ArmCam/18_Depth.jpg
deleted file mode 100644
index 309b6b04..00000000
Binary files a/robotdata/18_ArmCam/18_Depth.jpg and /dev/null differ
diff --git a/robotdata/18_ArmCam/18_RGB.jpg b/robotdata/18_ArmCam/18_RGB.jpg
deleted file mode 100644
index 09f76aab..00000000
Binary files a/robotdata/18_ArmCam/18_RGB.jpg and /dev/null differ
diff --git a/robotdata/18_ArmCam/ArmCamPos.json b/robotdata/18_ArmCam/ArmCamPos.json
deleted file mode 100644
index f5876896..00000000
--- a/robotdata/18_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,80 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/18_HeadCam/18_Depth.jpg b/robotdata/18_HeadCam/18_Depth.jpg
deleted file mode 100644
index 9042137c..00000000
Binary files a/robotdata/18_HeadCam/18_Depth.jpg and /dev/null differ
diff --git a/robotdata/18_HeadCam/18_RGB.jpg b/robotdata/18_HeadCam/18_RGB.jpg
deleted file mode 100644
index c5f78e90..00000000
Binary files a/robotdata/18_HeadCam/18_RGB.jpg and /dev/null differ
diff --git a/robotdata/18_HeadCam/HeadCamPos.json b/robotdata/18_HeadCam/HeadCamPos.json
deleted file mode 100644
index 439d99ca..00000000
--- a/robotdata/18_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,80 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/19_ArmCam/19_Depth.jpg b/robotdata/19_ArmCam/19_Depth.jpg
deleted file mode 100644
index 364abc2d..00000000
Binary files a/robotdata/19_ArmCam/19_Depth.jpg and /dev/null differ
diff --git a/robotdata/19_ArmCam/19_RGB.jpg b/robotdata/19_ArmCam/19_RGB.jpg
deleted file mode 100644
index 9907b748..00000000
Binary files a/robotdata/19_ArmCam/19_RGB.jpg and /dev/null differ
diff --git a/robotdata/19_ArmCam/ArmCamPos.json b/robotdata/19_ArmCam/ArmCamPos.json
deleted file mode 100644
index d505e54c..00000000
--- a/robotdata/19_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/19_HeadCam/19_Depth.jpg b/robotdata/19_HeadCam/19_Depth.jpg
deleted file mode 100644
index c0cfe377..00000000
Binary files a/robotdata/19_HeadCam/19_Depth.jpg and /dev/null differ
diff --git a/robotdata/19_HeadCam/19_RGB.jpg b/robotdata/19_HeadCam/19_RGB.jpg
deleted file mode 100644
index faa22796..00000000
Binary files a/robotdata/19_HeadCam/19_RGB.jpg and /dev/null differ
diff --git a/robotdata/19_HeadCam/HeadCamPos.json b/robotdata/19_HeadCam/HeadCamPos.json
deleted file mode 100644
index 68455a1b..00000000
--- a/robotdata/19_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/1_ArmCam/1_Depth.jpg b/robotdata/1_ArmCam/1_Depth.jpg
deleted file mode 100644
index 2f762425..00000000
Binary files a/robotdata/1_ArmCam/1_Depth.jpg and /dev/null differ
diff --git a/robotdata/1_ArmCam/1_RGB.jpg b/robotdata/1_ArmCam/1_RGB.jpg
deleted file mode 100644
index 00611558..00000000
Binary files a/robotdata/1_ArmCam/1_RGB.jpg and /dev/null differ
diff --git a/robotdata/1_ArmCam/ArmCamPos.json b/robotdata/1_ArmCam/ArmCamPos.json
deleted file mode 100644
index b7788f0e..00000000
--- a/robotdata/1_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/1_HeadCam/1_Depth.jpg b/robotdata/1_HeadCam/1_Depth.jpg
deleted file mode 100644
index 3fe93051..00000000
Binary files a/robotdata/1_HeadCam/1_Depth.jpg and /dev/null differ
diff --git a/robotdata/1_HeadCam/1_RGB.jpg b/robotdata/1_HeadCam/1_RGB.jpg
deleted file mode 100644
index 4f63ee51..00000000
Binary files a/robotdata/1_HeadCam/1_RGB.jpg and /dev/null differ
diff --git a/robotdata/1_HeadCam/HeadCamPos.json b/robotdata/1_HeadCam/HeadCamPos.json
deleted file mode 100644
index e6c6ed9f..00000000
--- a/robotdata/1_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/20_ArmCam/20_Depth.jpg b/robotdata/20_ArmCam/20_Depth.jpg
deleted file mode 100644
index c477d0c6..00000000
Binary files a/robotdata/20_ArmCam/20_Depth.jpg and /dev/null differ
diff --git a/robotdata/20_ArmCam/20_RGB.jpg b/robotdata/20_ArmCam/20_RGB.jpg
deleted file mode 100644
index a4fc7ba1..00000000
Binary files a/robotdata/20_ArmCam/20_RGB.jpg and /dev/null differ
diff --git a/robotdata/20_ArmCam/ArmCamPos.json b/robotdata/20_ArmCam/ArmCamPos.json
deleted file mode 100644
index ae1bd670..00000000
--- a/robotdata/20_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,88 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/20_HeadCam/20_Depth.jpg b/robotdata/20_HeadCam/20_Depth.jpg
deleted file mode 100644
index 19e999e1..00000000
Binary files a/robotdata/20_HeadCam/20_Depth.jpg and /dev/null differ
diff --git a/robotdata/20_HeadCam/20_RGB.jpg b/robotdata/20_HeadCam/20_RGB.jpg
deleted file mode 100644
index 82596853..00000000
Binary files a/robotdata/20_HeadCam/20_RGB.jpg and /dev/null differ
diff --git a/robotdata/20_HeadCam/HeadCamPos.json b/robotdata/20_HeadCam/HeadCamPos.json
deleted file mode 100644
index e615a802..00000000
--- a/robotdata/20_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,88 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
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-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/21_ArmCam/21_Depth.jpg b/robotdata/21_ArmCam/21_Depth.jpg
deleted file mode 100644
index 98f9367d..00000000
Binary files a/robotdata/21_ArmCam/21_Depth.jpg and /dev/null differ
diff --git a/robotdata/21_ArmCam/21_RGB.jpg b/robotdata/21_ArmCam/21_RGB.jpg
deleted file mode 100644
index 16f7f449..00000000
Binary files a/robotdata/21_ArmCam/21_RGB.jpg and /dev/null differ
diff --git a/robotdata/21_ArmCam/ArmCamPos.json b/robotdata/21_ArmCam/ArmCamPos.json
deleted file mode 100644
index 90187cbd..00000000
--- a/robotdata/21_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,92 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/21_HeadCam/21_Depth.jpg b/robotdata/21_HeadCam/21_Depth.jpg
deleted file mode 100644
index be173407..00000000
Binary files a/robotdata/21_HeadCam/21_Depth.jpg and /dev/null differ
diff --git a/robotdata/21_HeadCam/21_RGB.jpg b/robotdata/21_HeadCam/21_RGB.jpg
deleted file mode 100644
index bd9dda2b..00000000
Binary files a/robotdata/21_HeadCam/21_RGB.jpg and /dev/null differ
diff --git a/robotdata/21_HeadCam/HeadCamPos.json b/robotdata/21_HeadCam/HeadCamPos.json
deleted file mode 100644
index 56f57df1..00000000
--- a/robotdata/21_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,92 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/22_ArmCam/22_Depth.jpg b/robotdata/22_ArmCam/22_Depth.jpg
deleted file mode 100644
index 53c011a2..00000000
Binary files a/robotdata/22_ArmCam/22_Depth.jpg and /dev/null differ
diff --git a/robotdata/22_ArmCam/22_RGB.jpg b/robotdata/22_ArmCam/22_RGB.jpg
deleted file mode 100644
index 70264e06..00000000
Binary files a/robotdata/22_ArmCam/22_RGB.jpg and /dev/null differ
diff --git a/robotdata/22_ArmCam/ArmCamPos.json b/robotdata/22_ArmCam/ArmCamPos.json
deleted file mode 100644
index 276f91a2..00000000
--- a/robotdata/22_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,96 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043617 Y=84.513407 R=-0.130051 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/22_HeadCam/22_Depth.jpg b/robotdata/22_HeadCam/22_Depth.jpg
deleted file mode 100644
index 17c10b27..00000000
Binary files a/robotdata/22_HeadCam/22_Depth.jpg and /dev/null differ
diff --git a/robotdata/22_HeadCam/22_RGB.jpg b/robotdata/22_HeadCam/22_RGB.jpg
deleted file mode 100644
index c95898bb..00000000
Binary files a/robotdata/22_HeadCam/22_RGB.jpg and /dev/null differ
diff --git a/robotdata/22_HeadCam/HeadCamPos.json b/robotdata/22_HeadCam/HeadCamPos.json
deleted file mode 100644
index 4c0e6e13..00000000
--- a/robotdata/22_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,96 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
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-		},
-		{
-			"index": 13,
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-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
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-		}
-	]
-}
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diff --git a/robotdata/23_ArmCam/23_Depth.jpg b/robotdata/23_ArmCam/23_Depth.jpg
deleted file mode 100644
index 6562a4da..00000000
Binary files a/robotdata/23_ArmCam/23_Depth.jpg and /dev/null differ
diff --git a/robotdata/23_ArmCam/23_RGB.jpg b/robotdata/23_ArmCam/23_RGB.jpg
deleted file mode 100644
index d0cb655d..00000000
Binary files a/robotdata/23_ArmCam/23_RGB.jpg and /dev/null differ
diff --git a/robotdata/23_ArmCam/ArmCamPos.json b/robotdata/23_ArmCam/ArmCamPos.json
deleted file mode 100644
index d82e5270..00000000
--- a/robotdata/23_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,100 +0,0 @@
-{
-	"transforms": [
-		{
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-		},
-		{
-			"index": 1,
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-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043617 Y=84.513407 R=-0.130051 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043222 Y=84.513373 R=-0.130252 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/23_HeadCam/23_Depth.jpg b/robotdata/23_HeadCam/23_Depth.jpg
deleted file mode 100644
index 31cdeddb..00000000
Binary files a/robotdata/23_HeadCam/23_Depth.jpg and /dev/null differ
diff --git a/robotdata/23_HeadCam/23_RGB.jpg b/robotdata/23_HeadCam/23_RGB.jpg
deleted file mode 100644
index 40b8157a..00000000
Binary files a/robotdata/23_HeadCam/23_RGB.jpg and /dev/null differ
diff --git a/robotdata/23_HeadCam/HeadCamPos.json b/robotdata/23_HeadCam/HeadCamPos.json
deleted file mode 100644
index 520309d2..00000000
--- a/robotdata/23_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,100 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-146.007 Y=311.431 Z=125.960 Rotation: P=-0.206875 Y=-5.427315 R=-0.002138 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207073 Y=-5.427277 R=-0.002534 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/24_ArmCam/24_Depth.jpg b/robotdata/24_ArmCam/24_Depth.jpg
deleted file mode 100644
index ed984221..00000000
Binary files a/robotdata/24_ArmCam/24_Depth.jpg and /dev/null differ
diff --git a/robotdata/24_ArmCam/24_RGB.jpg b/robotdata/24_ArmCam/24_RGB.jpg
deleted file mode 100644
index 97900089..00000000
Binary files a/robotdata/24_ArmCam/24_RGB.jpg and /dev/null differ
diff --git a/robotdata/24_ArmCam/ArmCamPos.json b/robotdata/24_ArmCam/ArmCamPos.json
deleted file mode 100644
index 0bad638b..00000000
--- a/robotdata/24_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,104 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043617 Y=84.513407 R=-0.130051 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043222 Y=84.513373 R=-0.130252 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043536 Y=84.514206 R=-0.134220 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/24_HeadCam/24_Depth.jpg b/robotdata/24_HeadCam/24_Depth.jpg
deleted file mode 100644
index 9140fc72..00000000
Binary files a/robotdata/24_HeadCam/24_Depth.jpg and /dev/null differ
diff --git a/robotdata/24_HeadCam/24_RGB.jpg b/robotdata/24_HeadCam/24_RGB.jpg
deleted file mode 100644
index 8d77f5dd..00000000
Binary files a/robotdata/24_HeadCam/24_RGB.jpg and /dev/null differ
diff --git a/robotdata/24_HeadCam/HeadCamPos.json b/robotdata/24_HeadCam/HeadCamPos.json
deleted file mode 100644
index 452b2123..00000000
--- a/robotdata/24_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,104 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
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-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-146.007 Y=311.431 Z=125.960 Rotation: P=-0.206875 Y=-5.427315 R=-0.002138 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207073 Y=-5.427277 R=-0.002534 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-145.997 Y=311.430 Z=125.958 Rotation: P=-0.210981 Y=-5.427259 R=-0.002223 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/25_ArmCam/25_Depth.jpg b/robotdata/25_ArmCam/25_Depth.jpg
deleted file mode 100644
index 3656b620..00000000
Binary files a/robotdata/25_ArmCam/25_Depth.jpg and /dev/null differ
diff --git a/robotdata/25_ArmCam/25_RGB.jpg b/robotdata/25_ArmCam/25_RGB.jpg
deleted file mode 100644
index f67fe65b..00000000
Binary files a/robotdata/25_ArmCam/25_RGB.jpg and /dev/null differ
diff --git a/robotdata/25_ArmCam/ArmCamPos.json b/robotdata/25_ArmCam/ArmCamPos.json
deleted file mode 100644
index 5f9e8633..00000000
--- a/robotdata/25_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,108 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043269 Y=84.514285 R=-0.130476 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.391 Rotation: P=-10.043617 Y=84.513407 R=-0.130051 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043222 Y=84.513373 R=-0.130252 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043536 Y=84.514206 R=-0.134220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-149.416 Y=359.952 Z=17.388 Rotation: P=-10.045305 Y=84.514530 R=-0.136759 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/25_HeadCam/25_Depth.jpg b/robotdata/25_HeadCam/25_Depth.jpg
deleted file mode 100644
index a67b4629..00000000
Binary files a/robotdata/25_HeadCam/25_Depth.jpg and /dev/null differ
diff --git a/robotdata/25_HeadCam/25_RGB.jpg b/robotdata/25_HeadCam/25_RGB.jpg
deleted file mode 100644
index 04dc1c21..00000000
Binary files a/robotdata/25_HeadCam/25_RGB.jpg and /dev/null differ
diff --git a/robotdata/25_HeadCam/HeadCamPos.json b/robotdata/25_HeadCam/HeadCamPos.json
deleted file mode 100644
index 1b9a3865..00000000
--- a/robotdata/25_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,108 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-146.007 Y=311.431 Z=125.960 Rotation: P=-0.206875 Y=-5.427315 R=-0.002138 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207073 Y=-5.427277 R=-0.002534 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-145.997 Y=311.430 Z=125.958 Rotation: P=-0.210981 Y=-5.427259 R=-0.002223 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213482 Y=-5.427208 R=-0.000458 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/26_ArmCam/26_Depth.jpg b/robotdata/26_ArmCam/26_Depth.jpg
deleted file mode 100644
index c4b9aed6..00000000
Binary files a/robotdata/26_ArmCam/26_Depth.jpg and /dev/null differ
diff --git a/robotdata/26_ArmCam/26_RGB.jpg b/robotdata/26_ArmCam/26_RGB.jpg
deleted file mode 100644
index 0a0e649a..00000000
Binary files a/robotdata/26_ArmCam/26_RGB.jpg and /dev/null differ
diff --git a/robotdata/26_ArmCam/ArmCamPos.json b/robotdata/26_ArmCam/ArmCamPos.json
deleted file mode 100644
index a2eabe9b..00000000
--- a/robotdata/26_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,112 +0,0 @@
-{
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-		},
-		{
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-		},
-		{
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-		},
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-		},
-		{
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-		},
-		{
-			"index": 19,
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-		},
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-			"index": 20,
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-		},
-		{
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-		},
-		{
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-		},
-		{
-			"index": 23,
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-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043536 Y=84.514206 R=-0.134220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-149.416 Y=359.952 Z=17.388 Rotation: P=-10.045305 Y=84.514530 R=-0.136759 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 26,
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-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/26_HeadCam/26_Depth.jpg b/robotdata/26_HeadCam/26_Depth.jpg
deleted file mode 100644
index ec149c34..00000000
Binary files a/robotdata/26_HeadCam/26_Depth.jpg and /dev/null differ
diff --git a/robotdata/26_HeadCam/26_RGB.jpg b/robotdata/26_HeadCam/26_RGB.jpg
deleted file mode 100644
index b4a0553e..00000000
Binary files a/robotdata/26_HeadCam/26_RGB.jpg and /dev/null differ
diff --git a/robotdata/26_HeadCam/HeadCamPos.json b/robotdata/26_HeadCam/HeadCamPos.json
deleted file mode 100644
index 94870402..00000000
--- a/robotdata/26_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,112 +0,0 @@
-{
-	"transforms": [
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-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
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-		{
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-		},
-		{
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-		},
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-		},
-		{
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-		},
-		{
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-		},
-		{
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-		},
-		{
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-		},
-		{
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-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213482 Y=-5.427208 R=-0.000458 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 26,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.209819 Y=-5.427206 R=-0.002284 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/27_ArmCam/27_Depth.jpg b/robotdata/27_ArmCam/27_Depth.jpg
deleted file mode 100644
index 8e212704..00000000
Binary files a/robotdata/27_ArmCam/27_Depth.jpg and /dev/null differ
diff --git a/robotdata/27_ArmCam/27_RGB.jpg b/robotdata/27_ArmCam/27_RGB.jpg
deleted file mode 100644
index 253ed827..00000000
Binary files a/robotdata/27_ArmCam/27_RGB.jpg and /dev/null differ
diff --git a/robotdata/27_ArmCam/ArmCamPos.json b/robotdata/27_ArmCam/ArmCamPos.json
deleted file mode 100644
index 6a24733c..00000000
--- a/robotdata/27_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,116 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
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-		},
-		{
-			"index": 2,
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-		{
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-		},
-		{
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-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
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-		},
-		{
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-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045229 Y=84.515142 R=-0.136624 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044369 Y=84.514902 R=-0.135824 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-149.417 Y=359.951 Z=17.390 Rotation: P=-10.043400 Y=84.514912 R=-0.135911 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044154 Y=84.514589 R=-0.135107 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045354 Y=84.514759 R=-0.136938 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043206 Y=84.513644 R=-0.131220 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043314 Y=84.513864 R=-0.132421 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045402 Y=84.514593 R=-0.136820 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.390 Rotation: P=-10.043847 Y=84.514129 R=-0.134047 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.043108 Y=84.513479 R=-0.130251 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.044578 Y=84.514435 R=-0.136055 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
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-		},
-		{
-			"index": 23,
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-		},
-		{
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-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-149.416 Y=359.952 Z=17.388 Rotation: P=-10.045305 Y=84.514530 R=-0.136759 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 26,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043475 Y=84.514011 R=-0.133041 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 27,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.391 Rotation: P=-10.043061 Y=84.513764 R=-0.131757 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/27_HeadCam/27_Depth.jpg b/robotdata/27_HeadCam/27_Depth.jpg
deleted file mode 100644
index 1d8005c8..00000000
Binary files a/robotdata/27_HeadCam/27_Depth.jpg and /dev/null differ
diff --git a/robotdata/27_HeadCam/27_RGB.jpg b/robotdata/27_HeadCam/27_RGB.jpg
deleted file mode 100644
index 84a7d85c..00000000
Binary files a/robotdata/27_HeadCam/27_RGB.jpg and /dev/null differ
diff --git a/robotdata/27_HeadCam/HeadCamPos.json b/robotdata/27_HeadCam/HeadCamPos.json
deleted file mode 100644
index 99272266..00000000
--- a/robotdata/27_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,116 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
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-		},
-		{
-			"index": 2,
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-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
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-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 10,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207293 Y=-5.427686 R=-0.002483 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 11,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213349 Y=-5.427632 R=-0.000529 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 12,
-			"transform": "Translation: X=-145.994 Y=311.431 Z=125.958 Rotation: P=-0.212561 Y=-5.427614 R=-0.001389 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 13,
-			"transform": "Translation: X=-145.994 Y=311.429 Z=125.958 Rotation: P=-0.212645 Y=-5.427615 R=-0.002359 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 14,
-			"transform": "Translation: X=-145.996 Y=311.431 Z=125.958 Rotation: P=-0.211854 Y=-5.427556 R=-0.001604 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 15,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213659 Y=-5.427519 R=-0.000407 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 16,
-			"transform": "Translation: X=-146.004 Y=311.429 Z=125.959 Rotation: P=-0.208026 Y=-5.427489 R=-0.002550 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 17,
-			"transform": "Translation: X=-146.002 Y=311.429 Z=125.959 Rotation: P=-0.209209 Y=-5.427478 R=-0.002443 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 18,
-			"transform": "Translation: X=-145.992 Y=311.433 Z=125.957 Rotation: P=-0.213543 Y=-5.427422 R=-0.000360 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 19,
-			"transform": "Translation: X=-145.998 Y=311.430 Z=125.958 Rotation: P=-0.210810 Y=-5.427397 R=-0.001912 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 20,
-			"transform": "Translation: X=-146.006 Y=311.429 Z=125.960 Rotation: P=-0.207072 Y=-5.427382 R=-0.002648 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 21,
-			"transform": "Translation: X=-145.993 Y=311.431 Z=125.958 Rotation: P=-0.212788 Y=-5.427337 R=-0.001183 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 22,
-			"transform": "Translation: X=-146.007 Y=311.431 Z=125.960 Rotation: P=-0.206875 Y=-5.427315 R=-0.002138 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 23,
-			"transform": "Translation: X=-146.006 Y=311.430 Z=125.960 Rotation: P=-0.207073 Y=-5.427277 R=-0.002534 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 24,
-			"transform": "Translation: X=-145.997 Y=311.430 Z=125.958 Rotation: P=-0.210981 Y=-5.427259 R=-0.002223 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 25,
-			"transform": "Translation: X=-145.991 Y=311.433 Z=125.957 Rotation: P=-0.213482 Y=-5.427208 R=-0.000458 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 26,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.209819 Y=-5.427206 R=-0.002284 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 27,
-			"transform": "Translation: X=-146.003 Y=311.429 Z=125.959 Rotation: P=-0.208555 Y=-5.427169 R=-0.002696 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/2_ArmCam/2_Depth.jpg b/robotdata/2_ArmCam/2_Depth.jpg
deleted file mode 100644
index 2ecce3b8..00000000
Binary files a/robotdata/2_ArmCam/2_Depth.jpg and /dev/null differ
diff --git a/robotdata/2_ArmCam/2_RGB.jpg b/robotdata/2_ArmCam/2_RGB.jpg
deleted file mode 100644
index f8443cfe..00000000
Binary files a/robotdata/2_ArmCam/2_RGB.jpg and /dev/null differ
diff --git a/robotdata/2_ArmCam/ArmCamPos.json b/robotdata/2_ArmCam/ArmCamPos.json
deleted file mode 100644
index b5708202..00000000
--- a/robotdata/2_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/2_HeadCam/2_Depth.jpg b/robotdata/2_HeadCam/2_Depth.jpg
deleted file mode 100644
index 529222ed..00000000
Binary files a/robotdata/2_HeadCam/2_Depth.jpg and /dev/null differ
diff --git a/robotdata/2_HeadCam/2_RGB.jpg b/robotdata/2_HeadCam/2_RGB.jpg
deleted file mode 100644
index fa25379e..00000000
Binary files a/robotdata/2_HeadCam/2_RGB.jpg and /dev/null differ
diff --git a/robotdata/2_HeadCam/HeadCamPos.json b/robotdata/2_HeadCam/HeadCamPos.json
deleted file mode 100644
index 4efc08c8..00000000
--- a/robotdata/2_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/3_ArmCam/3_Depth.jpg b/robotdata/3_ArmCam/3_Depth.jpg
deleted file mode 100644
index ad9cc452..00000000
Binary files a/robotdata/3_ArmCam/3_Depth.jpg and /dev/null differ
diff --git a/robotdata/3_ArmCam/3_RGB.jpg b/robotdata/3_ArmCam/3_RGB.jpg
deleted file mode 100644
index 5a6defd3..00000000
Binary files a/robotdata/3_ArmCam/3_RGB.jpg and /dev/null differ
diff --git a/robotdata/3_ArmCam/ArmCamPos.json b/robotdata/3_ArmCam/ArmCamPos.json
deleted file mode 100644
index ef243865..00000000
--- a/robotdata/3_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,20 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/3_HeadCam/3_Depth.jpg b/robotdata/3_HeadCam/3_Depth.jpg
deleted file mode 100644
index 01b93aee..00000000
Binary files a/robotdata/3_HeadCam/3_Depth.jpg and /dev/null differ
diff --git a/robotdata/3_HeadCam/3_RGB.jpg b/robotdata/3_HeadCam/3_RGB.jpg
deleted file mode 100644
index 3be7835c..00000000
Binary files a/robotdata/3_HeadCam/3_RGB.jpg and /dev/null differ
diff --git a/robotdata/3_HeadCam/HeadCamPos.json b/robotdata/3_HeadCam/HeadCamPos.json
deleted file mode 100644
index 36a5cde0..00000000
--- a/robotdata/3_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,20 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/4_ArmCam/4_Depth.jpg b/robotdata/4_ArmCam/4_Depth.jpg
deleted file mode 100644
index 52a9a7f5..00000000
Binary files a/robotdata/4_ArmCam/4_Depth.jpg and /dev/null differ
diff --git a/robotdata/4_ArmCam/4_RGB.jpg b/robotdata/4_ArmCam/4_RGB.jpg
deleted file mode 100644
index ddf55669..00000000
Binary files a/robotdata/4_ArmCam/4_RGB.jpg and /dev/null differ
diff --git a/robotdata/4_ArmCam/ArmCamPos.json b/robotdata/4_ArmCam/ArmCamPos.json
deleted file mode 100644
index 74eccdc0..00000000
--- a/robotdata/4_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/4_HeadCam/4_Depth.jpg b/robotdata/4_HeadCam/4_Depth.jpg
deleted file mode 100644
index 8d4f28e4..00000000
Binary files a/robotdata/4_HeadCam/4_Depth.jpg and /dev/null differ
diff --git a/robotdata/4_HeadCam/4_RGB.jpg b/robotdata/4_HeadCam/4_RGB.jpg
deleted file mode 100644
index 4962c3f3..00000000
Binary files a/robotdata/4_HeadCam/4_RGB.jpg and /dev/null differ
diff --git a/robotdata/4_HeadCam/HeadCamPos.json b/robotdata/4_HeadCam/HeadCamPos.json
deleted file mode 100644
index 94b0074f..00000000
--- a/robotdata/4_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/5_ArmCam/5_Depth.jpg b/robotdata/5_ArmCam/5_Depth.jpg
deleted file mode 100644
index 43751ece..00000000
Binary files a/robotdata/5_ArmCam/5_Depth.jpg and /dev/null differ
diff --git a/robotdata/5_ArmCam/5_RGB.jpg b/robotdata/5_ArmCam/5_RGB.jpg
deleted file mode 100644
index 510a9538..00000000
Binary files a/robotdata/5_ArmCam/5_RGB.jpg and /dev/null differ
diff --git a/robotdata/5_ArmCam/ArmCamPos.json b/robotdata/5_ArmCam/ArmCamPos.json
deleted file mode 100644
index 21a48bff..00000000
--- a/robotdata/5_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,28 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/5_HeadCam/5_Depth.jpg b/robotdata/5_HeadCam/5_Depth.jpg
deleted file mode 100644
index 44c3cde7..00000000
Binary files a/robotdata/5_HeadCam/5_Depth.jpg and /dev/null differ
diff --git a/robotdata/5_HeadCam/5_RGB.jpg b/robotdata/5_HeadCam/5_RGB.jpg
deleted file mode 100644
index 9eecbfa6..00000000
Binary files a/robotdata/5_HeadCam/5_RGB.jpg and /dev/null differ
diff --git a/robotdata/5_HeadCam/HeadCamPos.json b/robotdata/5_HeadCam/HeadCamPos.json
deleted file mode 100644
index b2419ec5..00000000
--- a/robotdata/5_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,28 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/6_ArmCam/6_Depth.jpg b/robotdata/6_ArmCam/6_Depth.jpg
deleted file mode 100644
index a809a032..00000000
Binary files a/robotdata/6_ArmCam/6_Depth.jpg and /dev/null differ
diff --git a/robotdata/6_ArmCam/6_RGB.jpg b/robotdata/6_ArmCam/6_RGB.jpg
deleted file mode 100644
index 23b1f56d..00000000
Binary files a/robotdata/6_ArmCam/6_RGB.jpg and /dev/null differ
diff --git a/robotdata/6_ArmCam/ArmCamPos.json b/robotdata/6_ArmCam/ArmCamPos.json
deleted file mode 100644
index 9d98dee2..00000000
--- a/robotdata/6_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/6_HeadCam/6_Depth.jpg b/robotdata/6_HeadCam/6_Depth.jpg
deleted file mode 100644
index ab9438d8..00000000
Binary files a/robotdata/6_HeadCam/6_Depth.jpg and /dev/null differ
diff --git a/robotdata/6_HeadCam/6_RGB.jpg b/robotdata/6_HeadCam/6_RGB.jpg
deleted file mode 100644
index 0849d0c7..00000000
Binary files a/robotdata/6_HeadCam/6_RGB.jpg and /dev/null differ
diff --git a/robotdata/6_HeadCam/HeadCamPos.json b/robotdata/6_HeadCam/HeadCamPos.json
deleted file mode 100644
index 7038bfff..00000000
--- a/robotdata/6_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/7_ArmCam/7_Depth.jpg b/robotdata/7_ArmCam/7_Depth.jpg
deleted file mode 100644
index 8bc8c6b5..00000000
Binary files a/robotdata/7_ArmCam/7_Depth.jpg and /dev/null differ
diff --git a/robotdata/7_ArmCam/7_RGB.jpg b/robotdata/7_ArmCam/7_RGB.jpg
deleted file mode 100644
index 472a596a..00000000
Binary files a/robotdata/7_ArmCam/7_RGB.jpg and /dev/null differ
diff --git a/robotdata/7_ArmCam/ArmCamPos.json b/robotdata/7_ArmCam/ArmCamPos.json
deleted file mode 100644
index 959f14cf..00000000
--- a/robotdata/7_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/7_HeadCam/7_Depth.jpg b/robotdata/7_HeadCam/7_Depth.jpg
deleted file mode 100644
index e10e8991..00000000
Binary files a/robotdata/7_HeadCam/7_Depth.jpg and /dev/null differ
diff --git a/robotdata/7_HeadCam/7_RGB.jpg b/robotdata/7_HeadCam/7_RGB.jpg
deleted file mode 100644
index c88bb5fc..00000000
Binary files a/robotdata/7_HeadCam/7_RGB.jpg and /dev/null differ
diff --git a/robotdata/7_HeadCam/HeadCamPos.json b/robotdata/7_HeadCam/HeadCamPos.json
deleted file mode 100644
index 2648f1a9..00000000
--- a/robotdata/7_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/8_ArmCam/8_Depth.jpg b/robotdata/8_ArmCam/8_Depth.jpg
deleted file mode 100644
index 86c32327..00000000
Binary files a/robotdata/8_ArmCam/8_Depth.jpg and /dev/null differ
diff --git a/robotdata/8_ArmCam/8_RGB.jpg b/robotdata/8_ArmCam/8_RGB.jpg
deleted file mode 100644
index 06775b97..00000000
Binary files a/robotdata/8_ArmCam/8_RGB.jpg and /dev/null differ
diff --git a/robotdata/8_ArmCam/ArmCamPos.json b/robotdata/8_ArmCam/ArmCamPos.json
deleted file mode 100644
index 6bf61b28..00000000
--- a/robotdata/8_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/8_HeadCam/8_Depth.jpg b/robotdata/8_HeadCam/8_Depth.jpg
deleted file mode 100644
index edd4b0ac..00000000
Binary files a/robotdata/8_HeadCam/8_Depth.jpg and /dev/null differ
diff --git a/robotdata/8_HeadCam/8_RGB.jpg b/robotdata/8_HeadCam/8_RGB.jpg
deleted file mode 100644
index 4d945108..00000000
Binary files a/robotdata/8_HeadCam/8_RGB.jpg and /dev/null differ
diff --git a/robotdata/8_HeadCam/HeadCamPos.json b/robotdata/8_HeadCam/HeadCamPos.json
deleted file mode 100644
index 49a2647d..00000000
--- a/robotdata/8_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/9_ArmCam/9_Depth.jpg b/robotdata/9_ArmCam/9_Depth.jpg
deleted file mode 100644
index 13b32598..00000000
Binary files a/robotdata/9_ArmCam/9_Depth.jpg and /dev/null differ
diff --git a/robotdata/9_ArmCam/9_RGB.jpg b/robotdata/9_ArmCam/9_RGB.jpg
deleted file mode 100644
index 1254233b..00000000
Binary files a/robotdata/9_ArmCam/9_RGB.jpg and /dev/null differ
diff --git a/robotdata/9_ArmCam/ArmCamPos.json b/robotdata/9_ArmCam/ArmCamPos.json
deleted file mode 100644
index e3d15c73..00000000
--- a/robotdata/9_ArmCam/ArmCamPos.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.391 Rotation: P=-10.043450 Y=84.518425 R=-0.131139 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-149.419 Y=359.952 Z=17.390 Rotation: P=-10.043637 Y=84.518360 R=-0.133694 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-149.420 Y=359.952 Z=17.392 Rotation: P=-10.043077 Y=84.517079 R=-0.129865 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.389 Rotation: P=-10.043330 Y=84.517674 R=-0.136491 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.389 Rotation: P=-10.043802 Y=84.517085 R=-0.136382 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.388 Rotation: P=-10.045109 Y=84.516590 R=-0.137010 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-149.419 Y=359.951 Z=17.391 Rotation: P=-10.042901 Y=84.514941 R=-0.130090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-149.418 Y=359.952 Z=17.390 Rotation: P=-10.043743 Y=84.515405 R=-0.133393 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-149.417 Y=359.952 Z=17.387 Rotation: P=-10.045667 Y=84.515772 R=-0.137145 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-149.418 Y=359.951 Z=17.390 Rotation: P=-10.043280 Y=84.514717 R=-0.133040 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file
diff --git a/robotdata/9_HeadCam/9_Depth.jpg b/robotdata/9_HeadCam/9_Depth.jpg
deleted file mode 100644
index 4073f48b..00000000
Binary files a/robotdata/9_HeadCam/9_Depth.jpg and /dev/null differ
diff --git a/robotdata/9_HeadCam/9_RGB.jpg b/robotdata/9_HeadCam/9_RGB.jpg
deleted file mode 100644
index 3d4e5097..00000000
Binary files a/robotdata/9_HeadCam/9_RGB.jpg and /dev/null differ
diff --git a/robotdata/9_HeadCam/HeadCamPos.json b/robotdata/9_HeadCam/HeadCamPos.json
deleted file mode 100644
index 42b23c0c..00000000
--- a/robotdata/9_HeadCam/HeadCamPos.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-	"transforms": [
-		{
-			"index": 0,
-			"transform": "Translation: X=-146.005 Y=311.430 Z=125.960 Rotation: P=-0.207947 Y=-5.428016 R=-0.002287 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 1,
-			"transform": "Translation: X=-145.999 Y=311.430 Z=125.958 Rotation: P=-0.210463 Y=-5.427964 R=-0.002104 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 2,
-			"transform": "Translation: X=-146.008 Y=311.430 Z=125.960 Rotation: P=-0.206692 Y=-5.427952 R=-0.002663 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 3,
-			"transform": "Translation: X=-145.993 Y=311.429 Z=125.957 Rotation: P=-0.213216 Y=-5.427936 R=-0.002418 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 4,
-			"transform": "Translation: X=-145.993 Y=311.430 Z=125.957 Rotation: P=-0.213110 Y=-5.427870 R=-0.001948 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 5,
-			"transform": "Translation: X=-145.992 Y=311.432 Z=125.957 Rotation: P=-0.213729 Y=-5.427834 R=-0.000645 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 6,
-			"transform": "Translation: X=-146.007 Y=311.429 Z=125.960 Rotation: P=-0.206913 Y=-5.427792 R=-0.002847 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 7,
-			"transform": "Translation: X=-146.000 Y=311.430 Z=125.959 Rotation: P=-0.210166 Y=-5.427776 R=-0.002009 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 8,
-			"transform": "Translation: X=-145.991 Y=311.434 Z=125.957 Rotation: P=-0.213863 Y=-5.427728 R=-0.000090 Scale: X=1.000 Y=1.000 Z=1.000"
-		},
-		{
-			"index": 9,
-			"transform": "Translation: X=-146.000 Y=311.429 Z=125.959 Rotation: P=-0.209818 Y=-5.427701 R=-0.002474 Scale: X=1.000 Y=1.000 Z=1.000"
-		}
-	]
-}
\ No newline at end of file