diff --git a/tests/isar/models/example_mission_definition.json b/tests/isar/models/example_mission_definition.json
new file mode 100644
index 00000000..fbe1bccd
--- /dev/null
+++ b/tests/isar/models/example_mission_definition.json
@@ -0,0 +1,40 @@
+{
+    "tasks": [
+        {
+            "pose": {
+                "position": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "frame_name": "robot"
+                },
+                "orientation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "w": 0,
+                    "frame_name": "robot"
+                },
+                "frame_name": "robot"
+            },
+            "inspections": [
+                {
+                    "type": "Image",
+                    "inspection_target": {
+                        "x": 0,
+                        "y": 0,
+                        "z": 0,
+                        "frame_name": "robot"
+                    },
+                    "duration": 0,
+                    "metadata": {},
+                    "id": "generated_inspection_id"
+                }
+            ],
+            "tag": "MY-TAG-123",
+            "id": "generated_task_id"
+        }
+    ],
+    "id": "generated_mission_id",
+    "name": "my-mission"
+}
diff --git a/tests/isar/models/test_start_mission_definition.py b/tests/isar/models/test_start_mission_definition.py
index 36136c00..c5a4b3a0 100644
--- a/tests/isar/models/test_start_mission_definition.py
+++ b/tests/isar/models/test_start_mission_definition.py
@@ -1,8 +1,16 @@
+import json
+import os
 from typing import List, Union
 
 import pytest
+from alitra import Frame, Orientation, Pose, Position
 
-from isar.apis.models.start_mission_definition import get_duplicate_ids
+from isar.apis.models.start_mission_definition import (
+    StartMissionDefinition,
+    get_duplicate_ids,
+    to_isar_mission,
+)
+from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.step import STEPS, Step
 from robot_interface.models.mission.task import Task
 
@@ -51,3 +59,36 @@ def test_duplicate_id_check(
     duplicates: List[str] = get_duplicate_ids(item_list)
     has_duplicates: bool = len(duplicates) > 0
     assert has_duplicates == expected_boolean
+
+
+def test_mission_definition_to_isar_mission():
+    dirname = os.path.dirname(__file__)
+    filepath = os.path.join(dirname, "example_mission_definition.json")
+
+    with open(filepath) as f:
+        datax = json.load(f)
+        mission_definition = StartMissionDefinition(**datax)
+
+    generated_mission: Mission = to_isar_mission(mission_definition)
+    assert generated_mission.id == "generated_mission_id"
+    assert generated_mission.name == "my-mission"
+    assert len(generated_mission.tasks) == 1
+
+    task = generated_mission.tasks[0]
+    assert task.id == "generated_task_id"
+    assert task.tag_id == "MY-TAG-123"
+
+    first_step = task.steps[0]
+    # assert first_step.id == "generated_inspection_id"
+    assert first_step.type == "drive_to_pose"
+    assert first_step.pose == Pose(
+        position=Position(0.0, 0.0, 0.0, frame=Frame("robot")),
+        orientation=Orientation(0.0, 0.0, 0.0, 0.0, frame=Frame("robot")),
+        frame=Frame("robot"),
+    )
+
+    second_step = task.steps[1]
+    # assert second_step.id == "generated_inspection_id"
+    assert second_step.type == "take_image"
+    assert second_step.tag_id == "MY-TAG-123"
+    assert second_step.target == Position(0.0, 0.0, 0.0, frame=Frame("robot"))