[kamocat]

Here's a file that will give you the bounds of each square.
I did it by extracting the saturation plane, thresholding that (to create a boolean image), and then used particle analysis (deselecting everything except the object bounds).
It may be that you would rather use the "center of mass" option, but I figured bounds would be most efficient in this case, since we know they are squares.

As a note, processing actual images (preferably captured with the actual camera on the robot) will usually provide the most reliable results.