[Greg McKaskle]

I'm not sure I understand the question. They are good quality lenses and I have used them on the 206. If you remove the lens you will find that the threads are pretty loose. I applied a bit of teflon tape to keep the lens from twisting due to vibration on the robot.

I'm not convinced that IR is a better solution than visible light, and I think it will be harder to debug if/when it doesn't work. If you try out IR, do it methodically, and perhaps have a backup plan -- a visible-light LED ring and lens to swap back to.

Greg McKaskle