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Frontend Power Tower update #1861

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Merged
merged 2 commits into from
Mar 19, 2023
Merged

Frontend Power Tower update #1861

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f28c092
frontend power tower upd in multiprocesing full test
RUFFY-369 Sep 10, 2022
ecb2a07
minor cleaning
pariaspe Mar 19, 2023
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115 changes: 48 additions & 67 deletions exercises/static/exercises/power_tower_inspection/web-template/power_tower_inspection.world
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<sdf version="1.5">
<world name="default">

<gui fullscreen="1">
<gui fullscreen="1">
<camera name="user_camera">
<pose frame=''>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</pose>
<view_controller>orbit</view_controller>
Expand Down Expand Up @@ -35,287 +35,268 @@
<name>launching_pad</name>
</include>

<!-- Power Tower Wires -->
<!-- Power Tower Wires 0 -->
<include>
<uri>model://power_tower_danube_wires</uri>
<pose>-41 -4 0.05 0 0</pose>
<pose>-33.147 -4 0.05 0 -0 0</pose>
<name>power_tower_wires0</name>
</include>

<!-- Power Tower -->
<!-- Power Tower 1 -->
<include>
<uri>model://power_tower_danube</uri>
<pose>-1 -4 0.05 0 0</pose>
<pose>-1 -4 0.05 0 -0 0</pose>
<name>power_tower1</name>
</include>

<!-- Power Tower Wires -->
<!-- Power Tower Wires 1 -->
<include>
<uri>model://power_tower_danube_wires</uri>
<pose>-1 -4 0.05 0 0</pose>
<pose>-1 -4 0.05 0 -0 0</pose>
<name>power_tower_wires1</name>
</include>


<!-- Power Tower -->
<!-- Power Tower 2 -->
<include>
<uri>model://power_tower_danube</uri>
<pose>39 -4 0.05 0 0</pose>
<pose>31.204 -3.99821 0.05 0 -0 0</pose>
<name>power_tower2</name>
</include>

<!-- Power Tower Wires -->
<!-- Power Tower Wires 2 -->
<include>
<uri>model://power_tower_danube_wires</uri>
<pose>39 -4 0.05 0 0</pose>
<pose>33.2811 -4 0.05 0 -0 0</pose>
<name>power_tower_wires2</name>
</include>

<!-- Power Tower -->
<!-- Power Tower 3 -->
<include>
<uri>model://power_tower_danube</uri>
<pose>79 -4 0.05 0 0</pose>
<pose>65.4438 -3.98967 0.05 0 -0 0</pose>
<name>power_tower3</name>
</include>

<!-- Power Tower Wires -->
<!-- Power Tower Wires 3 -->
<include>
<uri>model://power_tower_danube_wires</uri>
<pose>79 -4 0.05 0 0</pose>
<pose>67.3397 -4 0.05 0 -0 0</pose>
<name>power_tower_wires3</name>
</include>


<!-- Rust Defect 1 Tower 1 -->
<!-- Rust Defect 1 Tower 1 -->
<include>
<uri>model://rust_defect_01</uri>
<!-- <pose>-2.31 -4 3.79 0 1.74</pose> -->
<pose>-2.31 -4 3.79 0 0.17</pose>
<pose>-3.60744 -4 7.56915 0 0.133065 0</pose>
<name>rust_def1_tower1</name>
</include>

<!-- Rust Defect 1 Tower 1 Opposite -->
<include>
<uri>model://rust_defect_01</uri>
<!-- <pose>0.232054 -4.00614 3.96187 0 1.41745 0</pose> -->
<pose>0.232054 -4.00614 3.96187 0 -0.15255 0</pose>
<pose>1.49613 -4.03526 7.70739 0 -0.15255 0</pose>
<name>rust_def1_tower1_opp</name>
</include>

<!-- Rust Defect 2 Tower 1 -->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>-1.80605 -4.40198 14.7671 0 1.57</pose> -->
<pose>-1.80605 -4.40198 14.7671 0 0.0</pose>
<pose>-2.95486 -4.40198 12.7216 0 -0 0</pose>
<name>rust_def2_tower1</name>
</include>

<!-- Rust Defect 2 Tower 1 Opposite-->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>-0.438877 -4.04055 14.7724 0 1.57 0</pose> -->
<pose>-0.438877 -4.04055 14.7724 0 0.0 0</pose>
<pose>0.753853 -4.97547 12.7523 0 -0.157217 0</pose>
<name>rust_def2_tower1_opp</name>
</include>

<!-- Rust Defect 3 Tower 1 -->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>-1.81251 -3.67691 14.7727 0 1.57</pose> -->
<pose>-1.81251 -3.67691 14.7727 0 0.0</pose>
<pose>-2.95219 -3.67691 12.7055 0 -0 0</pose>
<name>rust_def3_tower1</name>
</include>

<!-- Rust Defect 3 Tower 1 Opposite -->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>-0.435477 -3.59453 14.7738 0 1.57 0</pose> -->
<pose>-0.435477 -3.59453 14.7738 0 0.0 0</pose>
<pose>0.748518 -3.59453 12.7794 0 -0.13313 0</pose>
<name>rust_def3_tower1_opp</name>
</include>

<!-- Rust Defect 4 Tower 1 -->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>-1.59 -4.33479 20.438 0 1.74</pose> -->
<pose>-1.59 -4.33479 20.438 0 0.17</pose>
<pose>-2.84033 -5.48227 20.438 0 -0 0</pose>
<name>rust_def4_tower1</name>
</include>

<!-- Rust Defect 4 Tower 1 Opposite-->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>-0.577392 -3.56405 19.08 0 1.542 0</pose> -->
<pose>-0.577392 -3.56405 19.08 0 -0.028 0</pose>
<pose>0.589758 -2.4916 19.1127 0 -0.028 0</pose>
<name>rust_def4_tower1_opp</name>
</include>

<!-- Rust Defect 5 Tower 1 -->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>-1.73 -3.51 19.1255 0 1.74</pose> -->
<pose>-1.73 -3.51 19.1255 0 0.17</pose>
<pose>-2.83395 -2.47165 19.6886 0 -0 0</pose>
<name>rust_def5_tower1</name>
</include>


<!-- Rust Defect 1 Tower 2 -->
<include>
<uri>model://rust_defect_01</uri>
<!-- <pose>37.69 -4 3.79 0 1.74</pose> -->
<pose>37.69 -4 3.79 0 0.17</pose>
<pose>28.5882 -3.99181 7.62227 0 0.13829 0</pose>
<name>rust_def1_tower2</name>
</include>

<!-- Rust Defect 1 Tower 2 Opposite -->
<include>
<uri>model://rust_defect_01</uri>
<!-- <pose>40.232054 -4.00614 3.96187 0 1.41745 0</pose> -->
<pose>40.232054 -4.00614 3.96187 0 -0.15255 0</pose>
<pose>33.7073 -4.01344 7.68608 0 -0.15255 0</pose>
<name>rust_def1_tower2_opp</name>
</include>

<!-- Rust Defect 2 Tower 2 -->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>38.19395 -4.40198 14.7671 0 1.57</pose> -->
<pose>38.19395 -4.40198 14.7671 0 0.0</pose>
<pose>29.2468 -4.78414 12.7205 0 -0 0</pose>
<name>rust_def2_tower2</name>
</include>

<!-- Rust Defect 2 Tower 2 Opposite-->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>39.561123 -4.04055 14.7724 0 1.57 0</pose> -->
<pose>39.561123 -4.04055 14.7724 0 0.0 0</pose>
<pose>32.9873 -5.06777 12.7772 0 -0 0</pose>
<name>rust_def2_tower2_opp</name>
</include>

<!-- Rust Defect 3 Tower 2 -->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>38.18749 -3.67691 14.7727 0 1.57</pose> -->
<pose>38.18749 -3.67691 14.7727 0 0.0</pose>
<pose>29.2468 -3.38453 12.7361 0 -0 0</pose>
<name>rust_def3_tower2</name>
</include>

<!-- Rust Defect 3 Tower 2 Opposite -->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>39.564523 -3.59453 14.7738 0 1.57 0</pose> -->
<pose>39.564523 -3.59453 14.7738 0 0.0 0</pose>
<pose>32.985 -3.20346 12.7921 0 -0 0</pose>
<name>rust_def3_tower2_opp</name>
</include>

<!-- Rust Defect 4 Tower 2 -->
<include>
<uri>model://rust_defect_02</uri>
<!-- <pose>38.41 -4.33479 20.438 0 1.74</pose> -->
<pose>38.41 -4.33479 20.438 0 0.17</pose>
<pose>32.6964 -5.46176 20.438 0 -0 0</pose>
<name>rust_def4_tower2</name>
</include>

<!-- Rust Defect 4 Tower 2 Opposite-->
<include>
<uri>model://rust_defect_03</uri>
<!-- <pose>39.422608 -3.56405 19.08 0 1.542 0</pose> -->
<pose>39.422608 -3.56405 19.08 0 -0.028 0</pose>
<pose>29.3463 -5.48466 18.7967 0 -0.028 0</pose>
<name>rust_def4_tower2_opp</name>
</include>

<!-- Rust Defect 1 on Wires -->
<include>
<uri>model://rust_defect_wire</uri>
<pose>-7.72635 -0.241255 12.3353 -0.004615 -0.109891 -0.001474</pose>
<pose>-9.07685 3.51833 24.335 -0.004786 -0.289138 -0.000616</pose>
<name>rust_def_wire1</name>
</include>

<!-- Rust Defect 2 on Wires -->
<include>
<uri>model://rust_defect_wire</uri>
<pose>-11.058 1.31607 16.5176 -0.004602 -0.082412 -0.001602</pose>
<pose>-11.9227 -11.4911 23.6347 -0.004676 -0.196566 -0.001068</pose>
<name>rust_def_wire2</name>
</include>

<!-- Rust Defect 3 on Wires -->
<include>
<uri>model://rust_defect_wire</uri>
<pose>19.8548 2.72211 11.5241 -0.004587 -0.002014 -0.001971</pose>
<pose>19.8116 3.52585 23.5406 -0.004686 -0.206067 -0.001021</pose>
<name>rust_def_wire3</name>
</include>

<!-- Rust Defect 4 on Wires -->
<include>
<uri>model://rust_defect_wire</uri>
<pose>30.6961 -7.7434 12.1612 -0.004616 -0.113092 -0.001459</pose>
<pose>11.7343 -11.4951 23.042 -0.004606 0.090845 -0.002398</pose>
<name>rust_def_wire4</name>
</include>

<!-- Rust Defect 1 on Springs of Tower 1-->
<include>
<uri>model://rust_defect_wire</uri>
<pose>-2.37899 -0.352206 13.0936 -0.004633 -0.140673 -0.001331</pose>
<pose>-3.88003 3.2803 26.1377 -0.004633 -0.140673 -0.001331</pose>
<name>rust_def_spring_tower1</name>
<scale>2 2 2</scale>
</include>

<!-- Rust Defect 1 on Springs of Tower 2-->
<include>
<uri>model://rust_defect_wire</uri>
<pose>37.8828 2.61147 13.101 -0.004636 -0.145252 -0.001309</pose>
<pose>28.5276 3.75649 26.1978 -0.004636 -0.145252 -0.001309</pose>
<name>rust_def_spring_tower2</name>
<scale>2 2 2</scale>
</include>

<!-- Nest on Tower -->
<include>
<uri>model://nest1</uri>
<pose>-1.3 1.56 12.55 0 0 0</pose>
<pose>-0.939773 2.42735 25.7108 0 -0 0</pose>
<name>nest1</name>
</include>

<!-- Eggs on Tower-->
<include>
<uri>model://egg</uri>
<pose>-1.3 1.5 13.3197 0 -0 1.57</pose>
<pose>-0.87535 2.40213 26.4432 0 -0 1.57</pose>
<name>egg1</name>
</include>

<!-- Bird on Tower-->
<include>
<uri>model://bird</uri>
<pose>-1.06401 1.28978 13.4012 0 -0 -2.07145</pose>
<pose>-1.12582 2.0562 26.5533 0 0 -2.07145</pose>
<name>bird</name>
</include>

<!-- Nest on Electrical Box-->
<include>
<uri>model://nest1</uri>
<pose>14.86 5.48 2.51339 0 0 0</pose>
<pose>14.86 5.48 2.51339 0 -0 0</pose>
<name>nest2</name>
</include>

<!-- Eggs on Electrical Box-->
<include>
<uri>model://egg</uri>
<pose>14.86 5.42 3.25989 0 0 0</pose>
<pose>14.86 5.42 3.25989 0 -0 0</pose>
<name>egg2</name>
</include>

<!-- Electrical Box -->
<include>
<uri>model://electrical_box</uri>
<pose>15 5 0 0 0 1.57</pose>
<pose>15 5 0 0 -0 1.57</pose>
<name>electrical_box1</name>
</include>

<!-- Electrical Box -->
<include>
<uri>model://electrical_box</uri>
<pose>55 5 0 0 0 1.57</pose>
<pose>55 5 0 0 -0 1.57</pose>
<name>electrical_box2</name>
</include>



<scene>
<shadows>0</shadows>
<ambient>0.4 0.4 0.4 1.0</ambient>
Expand Down