isar 1.24.3__py3-none-any.whl → 1.24.4__py3-none-any.whl

isar/apis/models/models.py

@@ -1,8 +1,6 @@
-from dataclasses import dataclass
 from typing import List, Optional
 
 from alitra import Frame, Orientation, Pose, Position
-from isar.apis.models.media_connection_type import MediaConnectionType
 from pydantic import BaseModel, Field
 
 from robot_interface.models.mission.task import TaskTypes
@@ -35,13 +33,6 @@ class RobotInfoResponse(BaseModel):
     plant_short_name: str
 
 
-@dataclass
-class MediaConfig:
-    url: str
-    token: str
-    media_connection_type: MediaConnectionType
-
-
 class InputOrientation(BaseModel):
     x: float
     y: float

isar/apis/models/start_mission_definition.py

@@ -1,6 +1,6 @@
 import time
 from enum import Enum
-from typing import Any, Dict, List, Optional
+from typing import List, Optional
 
 from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field

isar/config/keyvault/keyvault_service.py

@@ -65,7 +65,7 @@ class Keyvault:
             raise KeyvaultError  # type: ignore
 
     def get_secret_client(self) -> SecretClient:
-        if self.client == None:
+        if self.client is None:
             try:
                 credential: Union[ClientSecretCredential, DefaultAzureCredential]
                 if self.client_id and self.client_secret and self.tenant_id:

isar/services/utilities/robot_utilities.py

@@ -2,7 +2,7 @@ import logging
 
 from injector import inject
 
-from isar.apis.models.models import MediaConfig
+from robot_interface.models.robots.media import MediaConfig
 from robot_interface.robot_interface import RobotInterface
 
 

isar/state_machine/state_machine.py

@@ -237,8 +237,6 @@ class StateMachine(object):
 
         self.current_state: State = States(self.state)  # type: ignore
 
-        self.predefined_mission_id: Optional[int] = None
-
         self.transitions_log_length: int = transitions_log_length
         self.transitions_list: Deque[States] = deque([], self.transitions_log_length)
 

isar/state_machine/states/monitor.py

@@ -1,7 +1,7 @@
 import logging
 import time
 from copy import deepcopy
-from typing import TYPE_CHECKING, Callable, Optional, Sequence, Tuple, Union
+from typing import TYPE_CHECKING, Callable, Optional, Tuple, Union
 
 from injector import inject
 from transitions import State

{isar-1.24.3.dist-info → isar-1.24.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.3
+Version: 1.24.4
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.24.3.dist-info → isar-1.24.4.dist-info}/RECORD

@@ -4,9 +4,8 @@ isar/script.py,sha256=9cIRRTnuMbIAj435tGyoSpTkyGL4huCxfppvMtV2p4Y,5965
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vUy7QbHrKcTHjh2rkU7lqQPkCasI6umha8r6H88JiXE,13942
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
-isar/apis/models/media_connection_type.py,sha256=Z8Jayi5SjBJh_xEd5KdS__A6bM-nofbSAedc6u41iAY,91
-isar/apis/models/models.py,sha256=3zbQbYlj4NX2pyiy8PuoMhY9RKg2a7o2gROHd_yEG3M,1921
-isar/apis/models/start_mission_definition.py,sha256=oY2CRKNkf4DQys0lbz-WTib1Ppw_OUwHqhBTrBhUJQk,8044
+isar/apis/models/models.py,sha256=6E8VhGBti6EKJefYTDNVERxRu_g_omg4J2MriPUPkaw,1709
+isar/apis/models/start_mission_definition.py,sha256=it1SKc8Wbdvccd1a7Fz-fy3ue9aBzFYPz1Xhi7p8OVc,8033
 isar/apis/robot_control/robot_controller.py,sha256=en6j-dHIxUXraREz7JETqtxgHl79ks7TBgBwPKc6VQE,1019
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=ALfFYgNSEBWJPI8L5a9xHQUPksKkkJqEN1pc_7k-ZzU,11053
@@ -21,7 +20,7 @@ isar/config/settings.py,sha256=lbpuXAyeSCHFcEuIQvbqwyJIOp23Rtdqpajf_HrUjbU,13491
 isar/config/certs/ca-cert.pem,sha256=3X9NO4qzvA55PMXPyOwOCcXw33YVbF7tjPU5cX7vO5I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
-isar/config/keyvault/keyvault_service.py,sha256=b2EWNiNQmZ-FUWjZidNg5KXRcVH-U8CsiqcBf1devNw,3124
+isar/config/keyvault/keyvault_service.py,sha256=TEAJv5RlWnYvy-n9keivdATDafdTQDj4QY8Aw3SEKoU,3124
 isar/config/maps/JSP1_intermediate_deck.json,sha256=fdotzN6MVotyLbqpIjRSrbBYM84vogLkdS585NjBnL8,826
 isar/config/maps/JSP1_weather_deck.json,sha256=_dG3cSBI8q4_uHqHMOO5kSYqMXn85JL3_9PaH4uk1yQ,832
 isar/config/maps/default_map.json,sha256=3CdGMr0Qn3PrL4TfUK8I5a-hotMrS_n5DKfaEORJPT4,776
@@ -36,8 +35,6 @@ isar/config/predefined_mission_definition/default_turtlebot.json,sha256=Ka379MLu
 isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/predefined_missions/default.json,sha256=27-_KSQvYnmhv7edn1eB9jXjtodad29-pvdpT1YRxr0,1325
 isar/config/predefined_missions/default_turtlebot.json,sha256=yjxr7-q0Yueq4aAyOG0Yw2x9NuxKTBOZDmjg5-BlYOM,1944
-isar/config/predefined_poses/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_poses/predefined_poses.py,sha256=fhq8JF00feDLFKNBlyWeFoLfvfs5dVb__C7CmiVbwmQ,25779
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/mission_planner/local_planner.py,sha256=gNEtln8e-f2mmyP9IM_8lbXo92HNF4rdMrrIxOPMoBY,3073
 isar/mission_planner/mission_planner_interface.py,sha256=51k6KKXqC8wZ4Mc8ZWo00Nwy8c6yNa81nEZNZelwJeo,485
@@ -66,17 +63,17 @@ isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=5G6ahslydh
 isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
-isar/services/utilities/robot_utilities.py,sha256=90QSZRrPaRXATJOLBNmlkVpHZxGohYB9BBPCsE2gUoA,543
+isar/services/utilities/robot_utilities.py,sha256=4-ob4kcIiRN_GXFDBMwBadfbwpYqKEkyzyC40wzvmko,555
 isar/services/utilities/scheduling_utilities.py,sha256=UUMxhudY2mQRG6Edjq6BG7oxwlqmcu5h6fMyw4Vhl_o,8376
 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=ceH0WiQNVMYIe7mVuH62L7OPPGrj1Qx2FuToIYBRQlk,21820
+isar/state_machine/state_machine.py,sha256=XwaUEEmPGiH9cuHKpNe09Ch6GXMbVp0Jckc3UHIAG6g,21762
 isar/state_machine/states_enum.py,sha256=BlrUcBWkM5K6D_UZXRwTaUgGpAagWmVZH6HhDBGzVU4,278
 isar/state_machine/states/__init__.py,sha256=kErbKPDTwNfCLijvdyN6_AuOqDwR23nu9F0Qovsnir4,218
 isar/state_machine/states/idle.py,sha256=wKEG3QzmEO3MfFCwbh9vBRZin3sby_cwXhm85Fke9-s,3224
 isar/state_machine/states/initialize.py,sha256=TVXV5Ps3N4_flM88j9pQiX88kZgLzLwzlJy_6hPbgcA,2359
 isar/state_machine/states/initiate.py,sha256=j1wvSC3zVODgRkKOVsQROiuWkjihSBtwCs5GsoivLvc,5655
-isar/state_machine/states/monitor.py,sha256=bcrLKftME7tWUGCwx_wj6myZToD4BBJT3jq9WMbpd0w,9874
+isar/state_machine/states/monitor.py,sha256=lYtTSLa8KSTuhcH2qltF7Bj0icJ0xCuV2koFEc71enk,9864
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
 isar/state_machine/states/offline.py,sha256=IfEZ6-kl6OfJSRT1eKHOey7AU23tKiSHqpwGqclmH_c,2166
 isar/state_machine/states/paused.py,sha256=TIg1iJvAxGUIfzE_qWp0wrq4Ka0a3zEf3GNwIWLIK0M,1177
@@ -89,7 +86,7 @@ isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8A
 isar/storage/uploader.py,sha256=JBlgaHYdFFUPlkx0eI0HBhP93fr9PIPTaYp6HG0iMeU,6509
 isar/storage/utilities.py,sha256=AGqOzhnyPXSStpJjBstqQ4QgUoHJioQB2DJ1NqeWn_w,3136
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/robot_interface.py,sha256=WAH9Pop4Y9M5x3SS7mPllalgmmPJQybFRB2rT0hHAiU,9527
+robot_interface/robot_interface.py,sha256=fGmjW5IKRi7N-7mz0r-XOXx-hgYpH1ScrnRTFB7l_sQ,9539
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -103,6 +100,7 @@ robot_interface/models/mission/mission.py,sha256=FjrLagGqhk8x9y_fX7DwvApA_hdc7YJ
 robot_interface/models/mission/status.py,sha256=C_viZWNTYOncWCdurx7Pko_D9d595QmHuJZBT8YMHUg,724
 robot_interface/models/mission/task.py,sha256=Qy2XmOmk8HChXMe1y8Dn9PvgA2W98Ypd1VqPPNK8ILM,5118
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+robot_interface/models/robots/media.py,sha256=Bo6XisTND9MOsxvJe6mWtKumFCpX6pbEBzEnAKpoIpU,232
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=DkzYZNWFaJkG3AVc0dM4Bj52hZEQj-14Q75zqzQcv9A,2988
@@ -110,9 +108,9 @@ robot_interface/telemetry/payloads.py,sha256=JM5E_IHkZpim_zdwc-w52D7dYFBeP4iO1-x
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=nU2Q_3P9Fq9hs6F_wtUjWtHfl_g1Siy-yDhXXSKwHwg,1018
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.24.3.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.24.3.dist-info/METADATA,sha256=ZoTxrm0IQXDQ3vgg0xm6GMfxzAwFiDv8fTnTXrwOl4o,30661
-isar-1.24.3.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-isar-1.24.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.24.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.24.3.dist-info/RECORD,,
+isar-1.24.4.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.24.4.dist-info/METADATA,sha256=i17yWOgbHOaHfq_zzUa3fYWYRHN9qdX9XY-msvcJ5f8,30661
+isar-1.24.4.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+isar-1.24.4.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.24.4.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.24.4.dist-info/RECORD,,

robot_interface/models/robots/media.py

@@ -0,0 +1,13 @@
+from dataclasses import dataclass
+from enum import Enum
+
+
+class MediaConnectionType(str, Enum):
+    LiveKit: str = "LiveKit"
+
+
+@dataclass
+class MediaConfig:
+    url: str
+    token: str
+    media_connection_type: MediaConnectionType

robot_interface/robot_interface.py

@@ -3,7 +3,7 @@ from queue import Queue
 from threading import Thread
 from typing import Callable, List
 
-from isar.apis.models.models import MediaConfig
+from robot_interface.models.robots.media import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission

isar/apis/models/media_connection_type.py

@@ -1,5 +0,0 @@
-from enum import Enum
-
-
-class MediaConnectionType(str, Enum):
-    LiveKit: str = "LiveKit"

isar/config/predefined_poses/predefined_poses.py

@@ -1,616 +0,0 @@
-from alitra import Frame, Orientation, Pose, Position
-
-# Euler heading to quaternion
-# East = 0 deg = (x=0, y=0, z=0, w=1)
-# North = 90 deg = (x=0, y=0, z=0.7071, w=0.7071)
-# West = 180 deg = (x=0, y=0, z=1, w=0)
-# South = 270 deg = (x=0, y=0, z=-0.7071, w=0.7071)
-
-robot_frame = Frame("robot")
-asset_frame = Frame("asset")
-predefined_poses = {
-    #
-    # K-lab VG2
-    #
-    # View from VG2 towards crane
-    "20-PT-5583": Pose(
-        position=Position(x=20257.979, y=5310.630, z=14.365, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Open area picture of fuse box
-    "EJE-342-0231": Pose(
-        position=Position(x=20252.559, y=5308.437, z=14.375, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Big valve straight behind the stairs. East heading
-    "331-LD-525": Pose(
-        position=Position(x=20254.540, y=5311.651, z=14.321, 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=20260.593, y=5312.311, z=14.418, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    #
-    # K-lab inlet area
-    #
-    "334-LD-0225": Pose(
-        position=Position(x=1.63, y=1.724, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.5383686, w=0.8427095, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "314-LD-1001": Pose(
-        position=Position(x=24.853, y=23.761, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.998122, w=0.0612579, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "346-LD-1073": Pose(
-        position=Position(x=25.005, y=23.607, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.9995287, w=-0.0306988, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "314-PI-001": Pose(
-        position=Position(x=25.041, y=23.682, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.8907533, w=0.4544871, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "300-LD-0025": Pose(
-        position=Position(x=21.279, y=17.392, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.2006291, w=0.9796673, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "344-LD-1001": Pose(
-        position=Position(x=24.853, y=23.761, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.998122, w=0.0612579, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "15-LD-0059": Pose(
-        position=Position(x=27.297, y=22.686, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.9631559, w=0.2689439, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    "345-LD-1004": Pose(
-        position=Position(x=20.293, y=20.982, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.5256679, w=0.8506899, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    # start of narrow passage
-    "345-LD-003": Pose(
-        position=Position(x=20.994, y=10.3, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.8963647, w=0.4433175, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    # end of narrow passage
-    "345-LD-004": Pose(
-        position=Position(x=16.609, y=15.444, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0.999986, w=0.0052963, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    #
-    # Compressor area K-lab
-    #
-    "355-LD-1003": Pose(
-        position=Position(x=20248.440, y=5247.118, z=14.450, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.054, w=0.998, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "313-LD-1111": Pose(
-        position=Position(x=20249.830, y=5246.737, z=14.450, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.999, w=-0.041, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1104 and 313-PA-101A has the same pose
-    "313-LD-1104": Pose(
-        position=Position(x=20250.720, y=5252.582, z=14.450, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.356, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1104 and 313-PA-101A has the same pose
-    "313-PA-101A": Pose(
-        position=Position(x=20252.860, y=5252.368, z=14.450, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    #
-    #   Second Floor K-Lab Compressor area
-    #
-    # 300-LD-0066 and 300-XCV-003 has the same pose
-    # Robot Orientation: 90 deg
-    "300-LD-0066": Pose(
-        position=Position(x=20259.220, y=5241.849, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 300-LD-0066 and 300-XCV-003 has the same pose
-    # Robot Orientation: 90 deg
-    "300-XCV-003": Pose(
-        position=Position(x=20259.220, y=5241.849, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 0 deg
-    "313-LD-1248": Pose(
-        position=Position(x=20256.540, y=5243.902, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 0 deg
-    "313-FG-136": Pose(
-        position=Position(x=20256.470, y=5243.299, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1177 and 313-LD-1135 has the same pose
-    # Robot Orientation: 270 deg
-    "313-LD-1177": Pose(
-        position=Position(x=20254.740, y=5242.001, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1177 and 313-LD-1135 has the same pose
-    # Robot Orientation: 270 deg
-    "313-LD-1135": Pose(
-        position=Position(x=20254.740, y=5242.001, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-LD-1133": Pose(
-        position=Position(x=20252.960, y=5241.896, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-FG-135": Pose(
-        position=Position(x=20252.100, y=5241.975, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1243 and 313-LD-1242 has the same pose
-    # Robot Orientation: 180 deg
-    "313-LD-1243": Pose(
-        position=Position(x=20256.640, y=5243.246, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1243 and 313-LD-1242 has the same pose
-    # Robot Orientation: 180 deg
-    "313-LD-1242": Pose(
-        position=Position(x=20256.640, y=5243.246, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-LD-1037": Pose(
-        position=Position(x=20254.650, y=5242.229, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-LD-1050": Pose(
-        position=Position(x=20252.560, y=5241.928, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-TT-1102C": Pose(
-        position=Position(x=20252.250, y=5242.033, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1241 and 313-LD-1240 has the same pose
-    # Robot Orientation: 270 deg
-    "313-LD-1241": Pose(
-        position=Position(x=20252.210, y=5241.930, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1241 and 313-LD-1240 has the same pose
-    # Robot Orientation: 270 deg
-    "313-LD-1240": Pose(
-        position=Position(x=20252.210, y=5241.930, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-LD-1056": Pose(
-        position=Position(x=20256.470, y=5241.838, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 270 deg
-    "313-LD-1060": Pose(
-        position=Position(x=20253.920, y=5246.332, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Robot Orientation: 90 deg
-    "313-PT-1012": Pose(
-        position=Position(x=20252.940, y=5246.394, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-PT-1061B and 313-LD-1257 has the same pose
-    # Robot Orientation: 90 deg
-    "313-PT-1016B": Pose(
-        position=Position(x=20250.430, y=5246.008, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-PT-1061B and 313-LD-1257 has the same pose
-    # Robot Orientation: 90 deg
-    "313-LD-1257": Pose(
-        position=Position(x=20250.430, y=5246.008, z=16.880, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 355-LD-1079 Robot orientation 90 degrees
-    "355-LD-1079": Pose(
-        position=Position(x=20252.630, y=5253.167, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 331-EV-1009 Robot orientation 90 degrees
-    "331-EV-1009": Pose(
-        position=Position(x=20255.710, y=5252.991, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1094 Robot orientation 90 degrees
-    "313-LD-1094": Pose(
-        position=Position(x=20255.710, y=5252.980, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1095 Robot orientation 135 degrees
-    "313-LD-1095": Pose(
-        position=Position(x=20256.860, y=5252.572, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1213 Robot orientation 180 degrees
-    "313-LD-1213": Pose(
-        position=Position(x=20257.070, y=5250.289, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-LD-1214 Robot orientation 180 degrees
-    "313-LD-1214": Pose(
-        position=Position(x=20257.070, y=5250.289, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 300-LD-1001 Robot orientation 235 degrees. Part above in 4th floor
-    "300-LD-1001": Pose(
-        position=Position(x=20257.000, y=5248.983, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 300-LD-1002 Robot orientation 235 degrees. Part above in 4th floor
-    "300-LD-1002": Pose(
-        position=Position(x=20257.000, y=5248.983, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-JA-001 Robot orientation 270 degrees
-    "313-JA-001": Pose(
-        position=Position(x=20255.810, y=5248.977, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-HH-001 Robot orientation 0 degrees. Should have photo from other side?
-    # Implementation of handling several photos for same part?
-    "313-HH-001": Pose(
-        position=Position(x=20250.810, y=5249.645, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # EJE-342-1004.08 Robot orientation 0 degrees
-    "EJE-342-1004.08": Pose(
-        position=Position(x=20251.050, y=5251.786, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # EJE-342-0226.10 Robot orientation 90 degrees
-    "EJE-342-0226.10": Pose(
-        position=Position(x=20252.070, y=5253.136, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # EJE-342-1004.03 Robot orientation 90 degrees
-    "EJE-342-1004.03": Pose(
-        position=Position(x=20252.630, y=5253.136, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # 313-KG-001 Robot orientation 90 degrees. Pose on stairs
-    "313-KG-001": Pose(
-        position=Position(x=20253.900, y=5253.020, z=18.735, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # JBZS-313-021 Robot orientation 270 degrees
-    "JBZS-313-021": Pose(
-        position=Position(x=20250.000, y=5253.155, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # JBZS-313-024 Robot orientation 315 degrees
-    "JBZS-313-024": Pose(
-        position=Position(x=20250.160, y=5249.555, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # JBES-313-003 Robot orientation 315 degrees
-    "JBES-313-003": Pose(
-        position=Position(x=20250.160, y=5249.555, z=18.540, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.935, w=0.357, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    #
-    # AP520 & AP530
-    #
-    # A-VB20-0292 Car seal valve south heading
-    "A-VB20-0292": Pose(
-        position=Position(x=309.978, y=108.173, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB20-0656 Car seal valve south heading
-    "A-VB20-0656": Pose(
-        position=Position(x=309.931, y=103.610, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0111 Car seal valve east heading
-    "A-VB23-0111": Pose(
-        position=Position(x=319.502, y=90.022, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0118 Car seal valve west heading
-    "A-VB23-0118": Pose(
-        position=Position(x=319.865, y=112.225, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB50-0119 Car seal valve south heading
-    "A-VB50-0119": Pose(
-        position=Position(x=312.504, y=102.436, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB50-0150 Car seal valve east heading
-    "A-VB50-0150": Pose(
-        position=Position(x=316.401, y=110.011, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB64-0095 Car seal valve south heading
-    "A-VB64-0095": Pose(
-        position=Position(x=310.027, y=105.676, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB64-0096 Car seal valve south heading
-    "A-VB64-0096": Pose(
-        position=Position(x=310.120, y=104.511, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB64-0100 Car seal valve south heading
-    "A-VB64-0100": Pose(
-        position=Position(x=310.041, y=100.015, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB64-0101 Car seal valve south heading
-    "A-VB64-0101": Pose(
-        position=Position(x=310.041, y=100.015, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0147 Car seal valve east heading
-    "A-VB23-0147": Pose(
-        position=Position(x=333.650, y=112.330, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0392 Car seal valve east heading
-    "A-VB23-0392": Pose(
-        position=Position(x=334.744, y=90.333, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0539 Car seal valve east heading
-    "A-VB23-0539": Pose(
-        position=Position(x=335.099, y=112.361, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0398 Car seal valve east heading
-    "A-VB23-0398": Pose(
-        position=Position(x=343.198, y=87.717, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0545 Car seal valve east heading
-    "A-VB23-0545": Pose(
-        position=Position(x=343.959, y=112.298, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VF50-0153 Car seal valve east heading
-    "A-VF50-0153": Pose(
-        position=Position(x=338.766, y=101.248, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VF50-0154 Car seal valve east heading
-    "A-VF50-0154": Pose(
-        position=Position(x=337.611, y=109.592, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB23-0183 Car seal valve east heading
-    "A-VB23-0183": Pose(
-        position=Position(x=341.412, y=83.433, z=536.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    #
-    # AP430
-    #
-    # A-VB20-0039 Car seal valve East
-    "A-VB20-0039": Pose(
-        position=Position(x=328.343, y=83.986, z=531.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VG23-0104 Car seal valve South
-    "A-VG23-0104": Pose(
-        position=Position(x=323.073, y=101.064, z=531.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.707, w=0.707, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VG40-0367 Car seal valve North
-    "A-VG40-0367": Pose(
-        position=Position(x=332.231, y=92.935, z=531.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.707, w=0.707, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VM23-0399 Car seal valve South
-    "A-VM23-0399": Pose(
-        position=Position(x=344.574, y=88.770, z=531.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.707, w=0.707, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # A-VB24-0032 Car seal valve South
-    "A-VB24-0032": Pose(
-        position=Position(x=341.830, y=90.141, z=531.850, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.707, w=0.707, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    # Home on JS weather deck
-    # A-72SP123 Fire extinguisher east heading
-    "A-72SP123": Pose(
-        position=Position(x=13.453, y=10.317, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    # Home on JS intermediate deck
-    #  Fire extinguisher east heading
-    "A-72SP102": Pose(
-        position=Position(x=17, y=10.9, z=0, frame=robot_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=robot_frame),
-        frame=robot_frame,
-    ),
-    #
-    # AQ200
-    #
-    "VG29-4269": Pose(
-        position=Position(x=155.5, y=289.8, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "29PT0183": Pose(
-        position=Position(x=152.5, y=289.9, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VB64-4037": Pose(
-        position=Position(x=149.25, y=292.16, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG53-4024": Pose(
-        position=Position(x=151.5, y=286, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VF29-4270": Pose(
-        position=Position(x=153.35, y=285.56, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4352": Pose(
-        position=Position(x=155.2, y=285.63, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4249": Pose(
-        position=Position(x=154.24, y=282.04, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "29LT0112": Pose(
-        position=Position(x=150.88, y=279.84, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "29XU0188": Pose(
-        position=Position(x=157.46, y=277.14, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=-0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VB71-4216": Pose(
-        position=Position(x=160.75, y=276.86, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4337": Pose(
-        position=Position(x=160.1, y=278.2, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4335": Pose(
-        position=Position(x=160.07, y=279.07, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4333": Pose(
-        position=Position(x=160.01, y=279.78, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4331": Pose(
-        position=Position(x=160.1, y=280.65, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4329": Pose(
-        position=Position(x=160.12, y=281.56, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4327": Pose(
-        position=Position(x=160.08, y=282.39, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG29-4325": Pose(
-        position=Position(x=160.08, y=282.54, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0.7071, w=0.7071, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "29PT0214": Pose(
-        position=Position(x=161.81, y=282.98, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "72SP211": Pose(
-        position=Position(x=147.07, y=280.34, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=1, w=0, frame=asset_frame),
-        frame=asset_frame,
-    ),
-    "VG63-4001 ": Pose(
-        position=Position(x=148.19, y=287.14, z=40.8, frame=asset_frame),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=asset_frame),
-        frame=asset_frame,
-    ),
-}