Skip to content

Commit

Permalink
Remove unused step
Browse files Browse the repository at this point in the history
  • Loading branch information
@Eddasol
Eddasol committed Dec 20, 2024
1 parent 13e53d3 commit 63e65ae
Show file tree
Hide file tree
Showing 4 changed files with 102 additions and 133 deletions.
2 changes: 1 addition & 1 deletion src/isar/script.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
print_setting(fillchar="-")
print_setting("Robot package", settings.ROBOT_PACKAGE)
print_setting("Robot name", settings.ROBOT_NAME)
print_setting("Run mission stepwise", settings.RUN_MISSION_BY_TASK)
print_setting("Run mission taskwise", settings.RUN_MISSION_BY_TASK)
print_setting("Running on port", settings.API_PORT)
print_setting("Mission planner", settings.MISSION_PLANNER)
print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
Expand Down
2 changes: 1 addition & 1 deletion src/robot_interface/models/exceptions/robot_exceptions.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
class ErrorReason(str, Enum):
RobotCommunicationException: str = "robot_communication_exception"
RobotCommunicationTimeoutException: str = "robot_communication_timeout_exception"
RobotInfeasibleTaskException: str = "robot_infeasible_step_exception"
RobotInfeasibleTaskException: str = "robot_infeasible_task_exception"
RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
RobotMissionStatusException: str = "robot_mission_status_exception"
RobotTaskStatusException: str = "robot_task_status_exception"
Expand Down
161 changes: 73 additions & 88 deletions tests/integration/turtlebot/config/missions/default.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,103 +2,88 @@
"id": "2",
"tasks": [
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": -3.6,
"y": 4,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": -0.7286672256879113,
"w": -0.6848660759820616,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": -3.6,
"y": 4,
"z": 0,
"frame": "asset"
},
{
"type": "take_image",
"target": {
"x": -4.7,
"y": 4.9,
"z": 0,
"frame": "robot"
}
}
]
"orientation": {
"x": 0,
"y": 0,
"z": -0.7286672256879113,
"w": -0.6848660759820616,
"frame": "asset"
},
"frame": "asset"
}
},
{
"type": "take_image",
"target": {
"x": -4.7,
"y": 4.9,
"z": 0,
"frame": "robot"
}
},
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": 4.7,
"y": 3,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.5769585,
"w": 0.8167734,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": 4.7,
"y": 3,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.5769585,
"w": 0.8167734,
"frame": "asset"
},
{
"type": "take_image",
"target": {
"x": 5.6,
"y": 5.2,
"z": 0,
"frame": "robot"
}
}
]
"frame": "asset"
}
},
{
"steps": []
"type": "take_image",
"target": {
"x": 5.6,
"y": 5.2,
"z": 0,
"frame": "robot"
}
},
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": 0.95,
"y": 2.6,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": -0.6992469,
"w": 0.7148802,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": 0.95,
"y": 2.6,
"z": 0,
"frame": "asset"
},
{
"type": "take_thermal_image",
"target": {
"x": 1.9,
"y": 1.9,
"z": 0,
"frame": "robot"
}
}
]
"orientation": {
"x": 0,
"y": 0,
"z": -0.6992469,
"w": 0.7148802,
"frame": "asset"
},
"frame": "asset"
}
},
{
"type": "take_thermal_image",
"target": {
"x": 1.9,
"y": 1.9,
"z": 0,
"frame": "robot"
}
}
]
}
70 changes: 27 additions & 43 deletions tests/test_data/test_mission_not_working.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,60 +2,44 @@
"id": "1",
"tasks": [
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": -2,
"yaw": 1
}
}
"action_type": "return_to_home",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": -2,
"yaw": 1
}
]
}
},
{
"steps": [
{
"action_type": "drive_three",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": 2,
"psi": 1
}
"action_type": "drive_three",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": 2,
"psi": 1
}
}
]
},
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": 2,
"y": 2,
"phi": 1
}
}
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": 2,
"y": 2,
"phi": 1
}
]
}
},
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"uups": {
"x": 0,
"y": 0,
"psi": 1
}
}
"action_type": "drive_to",
"action_message": {
"uups": {
"x": 0,
"y": 0,
"psi": 1
}
]
}
}
]
}

0 comments on commit 63e65ae

Please sign in to comment.