Add predefined poses at K-Lab

equinor · Oct 10, 2022 · 88d1f96 · 88d1f96
1 parent 2892c3d
commit 88d1f96
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/src/isar/config/predefined_poses/predefined_poses.py b/src/isar/config/predefined_poses/predefined_poses.py
@@ -9,6 +9,21 @@
 robot_frame = Frame("robot")
 asset_frame = Frame("asset")
 predefined_poses = {
+    #
+    # K-lab VG2
+    #
+    # Big valve straight behind the stairs. East heading
+    "331-LD-525": Pose(
+        position=Position(x=20255.341, y=5313.426, z=14.358, frame=asset_frame),
+        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
+        frame=asset_frame,
+    ),
+    # Small valve close to utility station. East heading
+    "344-LD-1024": Pose(
+        position=Position(x=20262.871, y=5313.760, z=14.464, frame=asset_frame),
+        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
+        frame=asset_frame,
+    ),
     #
     # K-lab inlet area
     #