Old version: https://drive.google.com/file/d/1xfhs6R2_kqhCEzqePPfh5APjfkTBv298/view?usp=sharing New version: https://drive.google.com/file/d/1--TrhXE5WamLkr5TMI7bRjERaitjQD5X/view?usp=sharing New version (v2, fixed positioning): https://drive.google.com/file/d/17Z3hmuPjLivuTOLNQv7qo31ukrflGBCB/view?usp=sharing New version (v3, even more fixed positioning (actually a 0,0,0 robot model offset)): https://drive.google.com/file/d/1CUMb2JYpQ7VIrowQiLBr56HtaIINcbQN/view?usp=sharing