Hi, I am trying to modify the sample file "simulate.cpp" in order to perform an automatic collection of images of a robot arm and a door with handle. Those images later will be used for CNN training to recognize the handle of the door. My plan is that the robot arm will be moved randomly and images are captured and saved along the way in a fixed frequency. The process is started when user press a certain key. I already loaded the robot arm and the door but am having difficulty with the moving and capturing images parts. Can anyone point me to a feasible solutions? Thanks!