From 88d1f96be899fa5f4ef62b25ea9760d2008f3ed4 Mon Sep 17 00:00:00 2001
From: Thomas Sundvoll <thomas@sundvoll.net>
Date: Mon, 10 Oct 2022 16:04:12 +0200
Subject: [PATCH] Add predefined poses at K-Lab

---
 .../config/predefined_poses/predefined_poses.py   | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/isar/config/predefined_poses/predefined_poses.py b/src/isar/config/predefined_poses/predefined_poses.py
index 52450cb0..b245cb33 100644
--- 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
     #