isar 1.22.3__tar.gz → 1.23.0__tar.gz

{isar-1.22.3 → isar-1.23.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.22.3
+Version: 1.23.0
 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-1.22.3 → isar-1.23.0}/requirements.txt

@@ -8,23 +8,23 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.4.0
+anyio==4.6.0
     # via
     #   httpx
     #   starlette
-azure-core==1.30.2
+azure-core==1.31.0
     # via
     #   azure-identity
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.17.1
+azure-identity==1.18.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
 azure-keyvault-secrets==4.8.0
     # via isar (pyproject.toml)
-azure-storage-blob==12.22.0
+azure-storage-blob==12.23.1
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
@@ -54,15 +54,15 @@ dacite==1.8.1
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.114.1
+fastapi==0.115.0
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
 fastapi-azure-auth==5.0.1
     # via isar (pyproject.toml)
-google-api-core==2.19.2
+google-api-core==2.20.0
     # via opencensus
-google-auth==2.34.0
+google-auth==2.35.0
     # via google-api-core
 googleapis-common-protos==1.65.0
     # via google-api-core
@@ -70,18 +70,18 @@ h11==0.14.0
     # via
     #   httpcore
     #   uvicorn
-httpcore==1.0.5
+httpcore==1.0.6
     # via httpx
 httpx==0.27.2
     # via fastapi-azure-auth
-idna==3.8
+idna==3.10
     # via
     #   anyio
     #   httpx
     #   requests
 injector==0.22.0
     # via isar (pyproject.toml)
-isodate==0.6.1
+isodate==0.7.0
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
@@ -91,7 +91,7 @@ msal==1.31.0
     #   msal-extensions
 msal-extensions==1.2.0
     # via azure-identity
-numpy==2.1.1
+numpy==2.1.2
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -115,7 +115,7 @@ portalocker==2.10.1
     # via msal-extensions
 proto-plus==1.24.0
     # via google-api-core
-protobuf==5.28.1
+protobuf==5.28.2
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -130,12 +130,12 @@ pyasn1-modules==0.4.1
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.9.1
+pydantic==2.9.2
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
-pydantic-core==2.23.3
+pydantic-core==2.23.4
     # via pydantic
 pydantic-settings==2.5.2
     # via isar (pyproject.toml)
@@ -168,14 +168,13 @@ scipy==1.14.1
 six==1.16.0
     # via
     #   azure-core
-    #   isodate
     #   opencensus
     #   transitions
 sniffio==1.3.1
     # via
     #   anyio
     #   httpx
-starlette==0.38.5
+starlette==0.38.6
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
@@ -188,9 +187,9 @@ typing-extensions==4.12.2
     #   fastapi
     #   pydantic
     #   pydantic-core
-urllib3==2.2.2
+urllib3==2.2.3
     # via requests
-uvicorn==0.30.6
+uvicorn==0.31.0
     # via isar (pyproject.toml)
 wrapt==1.16.0
     # via opencensus-ext-requests

{isar-1.22.3 → isar-1.23.0}/src/isar/apis/api.py

@@ -213,6 +213,7 @@ class API:
             methods=["POST"],
             dependencies=[authentication_dependency],
             summary="Drive to the provided pose",
+            deprecated=True,
             responses={
                 HTTPStatus.OK.value: {
                     "description": "Drive to succesfully started",

{isar-1.22.3 → isar-1.23.0}/src/isar/apis/models/models.py

@@ -3,16 +3,13 @@ from typing import List, Optional
 from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
-
-class StepResponse(BaseModel):
-    id: str
-    type: str
+from robot_interface.models.mission.task import TaskTypes
 
 
 class TaskResponse(BaseModel):
     id: str
     tag_id: Optional[str] = None
-    steps: List[StepResponse]
+    type: TaskTypes
 
 
 class StartMissionResponse(BaseModel):
@@ -25,8 +22,6 @@ class ControlMissionResponse(BaseModel):
     mission_status: str
     task_id: str
     task_status: str
-    step_id: str
-    step_status: str
 
 
 class RobotInfoResponse(BaseModel):

isar-1.23.0/src/isar/apis/models/start_mission_definition.py

@@ -0,0 +1,226 @@
+import time
+from enum import Enum
+from typing import Any, Dict, List, Optional
+
+from alitra import Frame, Orientation, Pose, Position
+from pydantic import BaseModel, Field
+
+from isar.apis.models.models import InputPose, InputPosition
+from isar.config.settings import settings
+from isar.mission_planner.mission_planner_interface import MissionPlannerError
+from robot_interface.models.inspection.inspection import Inspection, InspectionMetadata
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.task import (
+    TASKS,
+    DockingProcedure,
+    Localize,
+    RecordAudio,
+    ReturnToHome,
+    TakeImage,
+    TakeThermalImage,
+    TakeThermalVideo,
+    TakeVideo,
+)
+from robot_interface.models.mission.task import Task
+
+
+class InspectionTypes(str, Enum):
+    image: str = "Image"
+    thermal_image: str = "ThermalImage"
+    video: str = "Video"
+    thermal_video: str = "ThermalVideo"
+    audio: str = "Audio"
+
+
+class TaskType(str, Enum):
+    Inspection: str = "inspection"
+    Localization: str = "localization"
+    ReturnToHome: str = "return_to_home"
+    Dock: str = "dock"
+
+
+class StartMissionInspectionDefinition(BaseModel):
+    type: InspectionTypes = Field(default=InspectionTypes.image)
+    inspection_target: InputPosition
+    analysis_type: Optional[str] = None
+    duration: Optional[float] = None
+    metadata: Optional[dict] = None
+    id: Optional[str] = None
+
+
+class StartMissionTaskDefinition(BaseModel):
+    type: TaskType = Field(default=TaskType.Inspection)
+    pose: InputPose
+    inspection: StartMissionInspectionDefinition
+    tag: Optional[str] = None
+    id: Optional[str] = None
+
+
+class StartMissionDefinition(BaseModel):
+    tasks: List[StartMissionTaskDefinition]
+    id: Optional[str] = None
+    name: Optional[str] = None
+    start_pose: Optional[InputPose] = None
+    dock: Optional[bool] = None
+    undock: Optional[bool] = None
+
+
+def to_isar_mission(start_mission_definition: StartMissionDefinition) -> Mission:
+    isar_tasks: List[TASKS] = []
+
+    for start_mission_task_definition in start_mission_definition.tasks:
+        task: TASKS = create_isar_task(start_mission_task_definition)
+        if start_mission_task_definition.id:
+            task.id = start_mission_task_definition.id
+        isar_tasks.append(task)
+
+    if not isar_tasks:
+        raise MissionPlannerError("Mission does not contain any valid tasks")
+
+    check_for_duplicate_ids(isar_tasks)
+
+    isar_mission: Mission = Mission(tasks=isar_tasks)
+
+    isar_mission.dock = start_mission_definition.dock
+    isar_mission.undock = start_mission_definition.undock
+
+    if start_mission_definition.name:
+        isar_mission.name = start_mission_definition.name
+    else:
+        isar_mission.name = _build_mission_name()
+
+    if start_mission_definition.id:
+        isar_mission.id = start_mission_definition.id
+
+    if start_mission_definition.start_pose:
+        input_pose: InputPose = start_mission_definition.start_pose
+        input_frame: Frame = Frame(name=input_pose.frame_name)
+        input_position: Position = Position(
+            input_pose.position.x,
+            input_pose.position.y,
+            input_pose.position.z,
+            input_frame,
+        )
+        input_orientation: Orientation = Orientation(
+            input_pose.orientation.x,
+            input_pose.orientation.y,
+            input_pose.orientation.z,
+            input_pose.orientation.w,
+            input_frame,
+        )
+        isar_mission.start_pose = Pose(
+            position=input_position, orientation=input_orientation, frame=input_frame
+        )
+
+    return isar_mission
+
+
+def check_for_duplicate_ids(items: List[TASKS]):
+    duplicate_ids = get_duplicate_ids(items=items)
+    if len(duplicate_ids) > 0:
+        raise MissionPlannerError(
+            f"Failed to create as there were duplicate IDs which is not allowed "
+            f"({duplicate_ids})"
+        )
+
+
+def create_isar_task(start_mission_task_definition) -> TASKS:
+
+    if start_mission_task_definition.type == TaskType.Inspection:
+        return create_inspection_task(start_mission_task_definition)
+    elif start_mission_task_definition.type == TaskType.Localization:
+        return create_localization_task(start_mission_task_definition)
+    elif start_mission_task_definition.type == TaskType.ReturnToHome:
+        return create_return_to_home_task(start_mission_task_definition)
+    elif start_mission_task_definition.type == TaskType.Dock:
+        return create_dock_task()
+    else:
+        raise MissionPlannerError(
+            f"Failed to create task: '{start_mission_task_definition.type}' is not a valid"
+        )
+
+
+def create_inspection_task(
+    start_mission_task_definition: StartMissionTaskDefinition,
+) -> TASKS:
+
+    if start_mission_task_definition.inspection.type == InspectionTypes.image:
+        return TakeImage(
+            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
+            tag_id=start_mission_task_definition.tag,
+            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
+            metadata=start_mission_task_definition.inspection.metadata,
+        )
+    elif start_mission_task_definition.inspection.type == InspectionTypes.video:
+        return TakeVideo(
+            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=start_mission_task_definition.inspection.duration,
+            tag_id=start_mission_task_definition.tag,
+            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
+            metadata=start_mission_task_definition.inspection.metadata,
+        )
+
+    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
+        return TakeThermalImage(
+            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
+            tag_id=start_mission_task_definition.tag,
+            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
+            metadata=start_mission_task_definition.inspection.metadata,
+        )
+
+    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
+        return TakeThermalVideo(
+            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=start_mission_task_definition.inspection.duration,
+            tag_id=start_mission_task_definition.tag,
+            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
+            metadata=start_mission_task_definition.inspection.metadata,
+        )
+
+    elif start_mission_task_definition.inspection.type == InspectionTypes.audio:
+        return RecordAudio(
+            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=start_mission_task_definition.inspection.duration,
+            tag_id=start_mission_task_definition.tag,
+            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
+            metadata=start_mission_task_definition.inspection.metadata,
+        )
+    else:
+        raise ValueError(
+            f"Inspection type '{start_mission_task_definition.inspection.type}' not supported"
+        )
+
+
+def create_localization_task(
+    start_mission_task_definition: StartMissionTaskDefinition,
+) -> Localize:
+    return Localize(
+        localization_pose=start_mission_task_definition.pose.to_alitra_pose()
+    )
+
+
+def create_return_to_home_task(
+    start_mission_task_definition: StartMissionTaskDefinition,
+) -> ReturnToHome:
+    return ReturnToHome(pose=start_mission_task_definition.pose.to_alitra_pose())
+
+
+def create_dock_task() -> DockingProcedure:
+    return DockingProcedure(behavior="dock")
+
+
+def get_duplicate_ids(items: List[TASKS]) -> List[str]:
+    unique_ids: List[str] = []
+    duplicate_ids: List[str] = []
+    for item in items:
+        id: str = item.id
+        if id not in unique_ids:
+            unique_ids.append(id)
+        else:
+            duplicate_ids.append(id)
+
+    return duplicate_ids
+
+
+def _build_mission_name() -> str:
+    return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"

{isar-1.22.3 → isar-1.23.0}/src/isar/apis/schedule/scheduling_controller.py

@@ -1,6 +1,6 @@
 import logging
 from http import HTTPStatus
-from typing import List, Optional
+from typing import Optional
 
 from alitra import Pose
 from fastapi import Body, HTTPException, Path
@@ -21,8 +21,8 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.step import (
-    DriveToPose,
+from robot_interface.models.mission.task import (
+    TASKS,
     Localize,
     MoveArm,
     ReturnToHome,
@@ -67,8 +67,7 @@ class SchedulingController:
         mission: Mission = self.scheduling_utilities.get_mission(mission_id)
         if return_pose:
             pose: Pose = return_pose.to_alitra_pose()
-            step: DriveToPose = DriveToPose(pose=pose)
-            mission.tasks.append(Task(steps=[step]))
+            mission.tasks.append(ReturnToHome(pose=pose))
 
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
@@ -136,8 +135,7 @@ class SchedulingController:
         )
         if return_pose:
             pose: Pose = return_pose.to_alitra_pose()
-            step: DriveToPose = DriveToPose(pose=pose)
-            mission.tasks.append(Task(steps=[step]))
+            mission.tasks.append(ReturnToHome(pose=pose))
 
         initial_pose_alitra: Optional[Pose] = (
             initial_pose.to_alitra_pose() if initial_pose else None
@@ -211,7 +209,7 @@ class SchedulingController:
         target_pose: InputPose = Body(
             default=None,
             title="Target Pose",
-            description="The target pose for the drive_to step",
+            description="The target pose for the drive_to task",
         ),
     ) -> StartMissionResponse:
         self.logger.info("Received request to start new drive-to mission")
@@ -221,8 +219,7 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = target_pose.to_alitra_pose()
-        step: DriveToPose = DriveToPose(pose=pose)
-        mission: Mission = Mission(tasks=[Task(steps=[step])])
+        mission: Mission = Mission(tasks=[ReturnToHome(pose=pose)])
 
         self.logger.info(
             f"Starting drive to mission with ISAR Mission ID: '{mission.id}'"
@@ -246,8 +243,7 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = localization_pose.to_alitra_pose()
-        step: Localize = Localize(localization_pose=pose)
-        mission: Mission = Mission(tasks=[Task(steps=[step])])
+        mission: Mission = Mission(tasks=[Localize(localization_pose=pose)])
 
         self.logger.info(
             f"Starting localization mission with ISAR Mission ID: '{mission.id}'"
@@ -294,8 +290,7 @@ class SchedulingController:
 
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
-        step: MoveArm = MoveArm(arm_pose=arm_pose_literal)
-        mission: Mission = Mission(tasks=[Task(steps=[step])])
+        mission: Mission = Mission(tasks=[MoveArm(arm_pose=arm_pose_literal)])
 
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
@@ -322,9 +317,5 @@ class SchedulingController:
             tasks=[self._task_api_response(task) for task in mission.tasks],
         )
 
-    def _task_api_response(self, task: Task) -> TaskResponse:
-        steps: List[dict] = []
-        for step in task.steps:
-            steps.append({"id": step.id, "type": step.__class__.__name__})
-
-        return TaskResponse(id=task.id, tag_id=task.tag_id, steps=steps)
+    def _task_api_response(self, task: TASKS) -> TaskResponse:
+        return TaskResponse(id=task.id, tag_id=task.tag_id, type=task.type)

isar-1.23.0/src/isar/config/predefined_missions/default.json

@@ -0,0 +1,74 @@
+{
+  "id": "1",
+  "tasks": [
+    {
+      "type": "take_image",
+      "robot_pose": {
+        "position": {
+          "x": -2,
+          "y": -2,
+          "z": 0,
+          "frame": "asset"
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.4794255,
+          "w": 0.8775826,
+          "frame": "asset"
+        },
+        "frame": "asset"
+      },
+      "target": {
+        "x": 2,
+        "y": 2,
+        "z": 0,
+        "frame": "robot"
+      }
+    },
+    {
+      "type": "take_thermal_image",
+      "robot_pose": {
+        "position": {
+          "x": -2,
+          "y": 2,
+          "z": 0,
+          "frame": "asset"
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.4794255,
+          "w": 0.8775826,
+          "frame": "asset"
+        },
+        "frame": "asset"
+      },
+      "target": {
+        "x": 2,
+        "y": 2,
+        "z": 0,
+        "frame": "robot"
+      }
+    },
+    {
+      "type": "return_to_home",
+      "pose": {
+        "position": {
+          "x": 2,
+          "y": 2,
+          "z": 0,
+          "frame": "asset"
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.4794255,
+          "w": 0.8775826,
+          "frame": "asset"
+        },
+        "frame": "asset"
+      }
+    }
+  ]
+}

isar-1.23.0/src/isar/config/predefined_missions/default_turtlebot.json

@@ -0,0 +1,106 @@
+{
+  "id": "2",
+  "tasks": [
+    {
+      "type": "take_image",
+      "robot_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"
+      },
+      "target": {
+        "x": -4.7,
+        "y": 4.9,
+        "z": 0,
+        "frame": "robot"
+      }
+    },
+
+    {
+      "type": "take_image",
+      "robot_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"
+      },
+      "target": {
+        "x": 5.6,
+        "y": 5.2,
+        "z": 0,
+        "frame": "robot"
+      }
+    },
+    {
+      "type": "take_thermal_image",
+      "robot_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"
+      },
+      "target": {
+        "x": 3.1,
+        "y": 5.2,
+        "z": 0,
+        "frame": "robot"
+      }
+    },
+    {
+      "type": "take_thermal_image",
+      "robot_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"
+      },
+      "target": {
+        "x": 1.9,
+        "y": 1.9,
+        "z": 0,
+        "frame": "robot"
+      }
+    }
+  ]
+}

{isar-1.22.3 → isar-1.23.0}/src/isar/config/settings.env

@@ -1,6 +1,6 @@
 ISAR_ROBOT_PACKAGE = isar_robot
 
-ISAR_RUN_MISSION_STEPWISE = true
+ISAR_RUN_MISSION_BY_TASK = true
 
 ISAR_STORAGE_LOCAL_ENABLED = true
 ISAR_STORAGE_BLOB_ENABLED = false