FIX - SO100 works in kitchen level

+ Rotation values are better
+ changed Kp value back to 300 like Pitch
+ Added Contact exclusion rule
+ Fixed Range for body and control
+ Restore proper delta values

Source/LuckyWorldV2/LuckyWorldV2.Build.cs

@@ -19,7 +19,8 @@ public class LuckyWorldV2 : ModuleRules
 			"SocketIOClient",
 			"VaRest",
             "SIOJson",
-            "NavigationSystem"
+            "NavigationSystem",
+            "RenderCore"
         });
 
 		PrivateDependencyModuleNames.AddRange(new string[] {  });

Source/LuckyWorldV2/Private/LRRenderUtilLibrary.cpp

@@ -0,0 +1,180 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#include "LRRenderUtilLibrary.h"
+
+#include "Components/SceneCaptureComponent2D.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "Kismet/KismetRenderingLibrary.h"
+#include "GameFramework/Actor.h"
+#include "Engine/World.h"
+
+void ULRRenderUtilLibrary::SetupSceneCaptureForMesh(
+    USceneCaptureComponent2D* SceneCapture, 
+    UStaticMeshComponent* MeshComp,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!SceneCapture || !MeshComp)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: Invalid SceneCapture or MeshComp"));
+		return;
+	}
+
+	if (!MeshComp->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: MeshComp is not valid"));
+		return;
+	}
+
+	// Set the scene capture to focus on the mesh
+	SceneCapture->ShowOnlyComponent(MeshComp);
+    
+	SceneCapture->CaptureSource = CaptureSource;
+	SceneCapture->bCaptureEveryFrame = false;
+	SceneCapture->bCaptureOnMovement = false;
+	SceneCapture->FOVAngle = 90.f;
+    
+	// Set a solid background color
+	SceneCapture->CompositeMode = ESceneCaptureCompositeMode::SCCM_Overwrite;
+	
+	// Ensure we have a valid texture target
+	if (SceneCapture->TextureTarget)
+	{
+		SceneCapture->TextureTarget->ClearColor = FLinearColor::Transparent;
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: TextureTarget is null"));
+		return;
+	}
+
+	// Adjust the transform to frame the mesh
+	FVector MeshBounds = MeshComp->Bounds.BoxExtent;
+	FVector MeshOrigin = MeshComp->Bounds.Origin;
+
+	// Calculate the camera distance based on mesh size
+	float MaxExtent = FMath::Max3(MeshBounds.X, MeshBounds.Y, MeshBounds.Z);
+	float CameraDistance = MaxExtent * 2.5f; // Adjusted to ensure mesh fits in view
+
+	// Calculate the camera location - position from front of mesh (+X axis)
+	FVector CameraLocation = MeshOrigin + FVector(CameraDistance, 0.f, 0.f);
+
+	// Calculate the camera rotation to look at mesh center
+	FRotator CameraRotation = (MeshOrigin - CameraLocation).Rotation();
+    
+	SceneCapture->SetWorldLocationAndRotation(CameraLocation, CameraRotation);
+	
+	// Register component to make sure it will render
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+}
+
+UTextureRenderTarget2D* ULRRenderUtilLibrary::CaptureMeshToRenderTarget(
+    UStaticMeshComponent* MeshComp, 
+    const FVector2D& ImageSize, 
+    UObject* WorldContextObject,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!MeshComp || !WorldContextObject || !WorldContextObject->GetWorld())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Invalid parameters"));
+		return nullptr;
+	}
+
+	// Create a render target with proper size
+	UTextureRenderTarget2D* RenderTarget = UKismetRenderingLibrary::CreateRenderTarget2D(
+		WorldContextObject, 
+		FMath::Max(32, static_cast<int32>(ImageSize.X)), 
+		FMath::Max(32, static_cast<int32>(ImageSize.Y)), 
+		ETextureRenderTargetFormat::RTF_RGBA8);
+
+	if (!RenderTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create render target"));
+		return nullptr;
+	}
+
+	// Create a temporary actor to hold the scene capture component
+	AActor* TempActor = WorldContextObject->GetWorld()->SpawnActor<AActor>();
+	if (!TempActor)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to spawn temporary actor"));
+		return RenderTarget;
+	}
+	
+	// Create a root component if it doesn't exist
+	if (!TempActor->GetRootComponent())
+	{
+		USceneComponent* RootComponent = NewObject<USceneComponent>(TempActor, TEXT("RootComponent"));
+		TempActor->SetRootComponent(RootComponent);
+		RootComponent->RegisterComponent();
+	}
+	
+	// Create and set up scene capture component
+	USceneCaptureComponent2D* SceneCapture = NewObject<USceneCaptureComponent2D>(TempActor);
+	if (SceneCapture)
+	{
+		SceneCapture->RegisterComponent();
+		SceneCapture->AttachToComponent(TempActor->GetRootComponent(), FAttachmentTransformRules::KeepRelativeTransform);
+		SceneCapture->TextureTarget = RenderTarget;
+
+		// Setup the scene capture
+		SetupSceneCaptureForMesh(SceneCapture, MeshComp, CaptureSource);
+
+		// Clear the render target
+		UKismetRenderingLibrary::ClearRenderTarget2D(WorldContextObject, RenderTarget, FLinearColor::Transparent);
+
+		// Disable post-processing effects
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureMethod = true;
+		SceneCapture->PostProcessSettings.AutoExposureMethod = EAutoExposureMethod::AEM_Manual;
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureBias = true;
+		SceneCapture->PostProcessSettings.AutoExposureBias = 1.0f;
+		SceneCapture->PostProcessSettings.bOverride_BloomIntensity = true;
+		SceneCapture->PostProcessSettings.BloomIntensity = 0.0f;
+		
+		// Trigger a one-time capture
+		SceneCapture->CaptureScene();
+		
+		// Force the GPU to complete rendering
+		FlushRenderingCommands();
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create scene capture component"));
+	}
+
+	// Clean up the temporary actor
+	TempActor->Destroy();
+    
+	return RenderTarget;
+}
+
+bool ULRRenderUtilLibrary::CaptureSceneNow(USceneCaptureComponent2D* SceneCapture)
+{
+	if (!SceneCapture || !SceneCapture->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Invalid scene capture component"));
+		return false;
+	}
+	
+	if (!SceneCapture->TextureTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Scene capture has no texture target"));
+		return false;
+	}
+	
+	// Ensure component is registered
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+	
+	// Trigger the capture
+	SceneCapture->CaptureScene();
+	
+	// Force the GPU to complete rendering
+	FlushRenderingCommands();
+	
+	return true;
+}

Source/LuckyWorldV2/Public/LRRenderUtilLibrary.h

@@ -0,0 +1,57 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintFunctionLibrary.h"
+#include "LRRenderUtilLibrary.generated.h"
+
+class USceneCaptureComponent2D;
+class UTextureRenderTarget2D;
+class UStaticMeshComponent;
+
+/**
+ * Utility library for capturing and rendering objects in the Lucky Robots system
+ */
+UCLASS(BlueprintType, Blueprintable)
+class LUCKYWORLDV2_API ULRRenderUtilLibrary : public UBlueprintFunctionLibrary
+{
+	GENERATED_BODY()
+
+public:
+	/**
+	 * Captures a static mesh component to a render target texture
+	 * @param MeshComp The static mesh component to capture
+	 * @param ImageSize The size of the output image
+	 * @param WorldContextObject The world context
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 * @return The rendered texture
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static UTextureRenderTarget2D* CaptureMeshToRenderTarget(
+		UStaticMeshComponent* MeshComp, 
+		const FVector2D& ImageSize,
+
+		UObject* WorldContextObject,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Sets up a scene capture component to focus on a specific mesh
+	 * @param SceneCapture The scene capture component to set up
+	 * @param MeshComp The static mesh component to focus on
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static void SetupSceneCaptureForMesh(
+		USceneCaptureComponent2D* SceneCapture, 
+		UStaticMeshComponent* MeshComp,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Captures the current view of a scene capture component to its render target
+	 * @param SceneCapture The scene capture component to trigger
+	 * @return Success status
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static bool CaptureSceneNow(USceneCaptureComponent2D* SceneCapture);
+};