isar 1.24.4__py3-none-any.whl → 1.24.6__py3-none-any.whl

isar/apis/models/start_mission_definition.py

@@ -19,6 +19,7 @@ from robot_interface.models.mission.task import (
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
+    ZoomDescription,
 )
 
 
@@ -52,6 +53,7 @@ class StartMissionTaskDefinition(BaseModel):
     inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
     id: Optional[str] = None
+    zoom: Optional[ZoomDescription] = None
 
 
 class StartMissionDefinition(BaseModel):
@@ -148,6 +150,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
     elif start_mission_task_definition.inspection.type == InspectionTypes.video:
         return TakeVideo(
@@ -156,6 +159,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
@@ -164,6 +168,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
@@ -173,6 +178,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.audio:
@@ -182,6 +188,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
     else:
         raise ValueError(

isar/config/certs/ca-cert.pem

@@ -1,35 +1,35 @@
 -----BEGIN CERTIFICATE-----
-MIIGGzCCBAOgAwIBAgIUSYiMjuwMgyqwMJ50grQRj92s7tEwDQYJKoZIhvcNAQEL
+MIIGGzCCBAOgAwIBAgIUCVuS8tL7R2bdjRJznkk1NN0oUa8wDQYJKoZIhvcNAQEL
 BQAwgZwxCzAJBgNVBAYTAk5PMQ8wDQYDVQQIDAZCZXJnZW4xDzANBgNVBAcMBkJl
 cmdlbjEUMBIGA1UECgwLRXFfUm9ib3RpY3MxETAPBgNVBAsMCFJvYm90aWNzMRww
 GgYDVQQDDBNSb2JvdGljc19TZWxmU2lnbmVkMSQwIgYJKoZIhvcNAQkBFhVmZ19y
-b2JvdHNAZXF1aW5vci5jb20wHhcNMjQxMTI5MTIwODA3WhcNMjUxMTI5MTIwODA3
+b2JvdHNAZXF1aW5vci5jb20wHhcNMjQxMjExMDczNzAzWhcNMjUxMjExMDczNzAz
 WjCBnDELMAkGA1UEBhMCTk8xDzANBgNVBAgMBkJlcmdlbjEPMA0GA1UEBwwGQmVy
 Z2VuMRQwEgYDVQQKDAtFcV9Sb2JvdGljczERMA8GA1UECwwIUm9ib3RpY3MxHDAa
 BgNVBAMME1JvYm90aWNzX1NlbGZTaWduZWQxJDAiBgkqhkiG9w0BCQEWFWZnX3Jv
 Ym90c0BlcXVpbm9yLmNvbTCCAiIwDQYJKoZIhvcNAQEBBQADggIPADCCAgoCggIB
-AIuxSKWbBEaXku8BPa8vdQ4fZKWXFxX3706vEst8Z+T1IKkYjFDbLEMu0c9HayVf
-4cCzyQPINgYc/DSxd31QQaEH++LDk9BOSl3YyLl/3ZMUTbOyMp0Kx+mN9LrmcEDF
-G44aC8XTm4szetb5HijbLLu5Lvay7hlYynuQ9D6GkVlEjew3xiAcUhVA8BctjBGm
-ILfkia2LNKqEtGT1gh3Q8+p1yrKRGLHw7boRBAFow4sLx5BMuYc7Kk8405ymntRd
-pRoHIRu5K1D8/9vwIBfz8rEM8aVCq/TqAutQL1t3w/lq6iLzikrc2ke1FNWLVZUI
-vem8gjsmPUaEBZxmvIWZjtNmDwa/Z+PVipKFoC8yS27AwxIuPCWNODnUPP112hrS
-2Lgad64Tap2S4zB7Wrg+1JvHzTRCgOg96Hf0Nnr2elSjRgfi//ddObAxQEcKZq3u
-6SBgc0conq+3olbtaIutK7Mn244ynz1+Edadn2lwhf/FQG95pSIb/1PayrtkzPgv
-BDmzaUUWuxJkDry4tDTAu7ruktDXQ3OFaF/3Mko3RKR7hQqSDL4XqArSBgKv8QGs
-nklgBbEa5fkh8Ng5vRLcMaNCTeS1K9n66sR2ZP5JWoWgR/Ldl5mbnwvtqqyhUdx1
-YxLzbRr0nmjDSufF4Gpbvg+3lpY23pQ0BRQH6zAkeygRAgMBAAGjUzBRMB0GA1Ud
-DgQWBBQehtclGXxA16tJAy/VA8EqWgVXyjAfBgNVHSMEGDAWgBQehtclGXxA16tJ
-Ay/VA8EqWgVXyjAPBgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4ICAQCE
-ehrGvVcUrlB7da8zp+QM3PxhiXiAxPwSNlCqS8QjhPLeKIIJg2aFuyb8PFUvXjhd
-Jvv2A4OEzTv+Jj7W2+3cCoR1oZFv6DZzNI9Ybaa4MWw7VxP9cneTx9f0tSPyRh9s
-n7PwPVhCbilix806pmo8lkrFJFusV/ofiFgLYpu1jG7kCQaaPYMlVXre16M7yeJx
-XHyv6qc59hPNkZphgPIjk52g4f5jEphylt1EuG7qhk+uveIjOfWKyk2gx5fSM6Lr
-NOsPO9fvnK7bZYeO4Wl8esGNcTZjg5LuhmwSba7GhLfU/fAOGAVMKig/4GcIvMBE
-uAJ0Bes3jSYOJXHTnog2Y52h1K0mDcnSVKPOZpGCKf8FoWcH0bNRIauF7j7/mTV3
-yo5As4ANS8PQjfrq14MZrlqL8SpObCb6OvnCSdIiYMsNXVNKEobHy8csYP5h/Ifo
-mdSwmDHEyMI/Bu1NmsK5iz3zhCDraspn7JM0UWxtBL92siE5yysTwPBD2ImKsxF2
-6k0Ad6cWoeZRtfFdq8Ix4EfDXsRFHSRcanUXAhw233WtUBVVqF72f0JubgOmpttz
-1misnsVPwUg4ID8KdTRQi6fxyigXgfxr3YTzPvCip2kDNjZEtTL7N90Mdh6f9BzN
-J6b5slRz9Zr7E0AG5BfKd0qB1Ho3WDQ4zxTVH+QEHQ==
+ALVlT8EjA8UpXdARJM6YfhH+9DEyytb0SJYOEm9jWL7X0G5eMbNfKtfFj/BLQBBw
+GDqyvhFa8SO56zM3Yi1Lir41JkpOKf2zJpNaL1syPxOA87MAm43UN/p2Mo6QAYpC
+lJzmeNoagLFi/kIzGajeUwISOf//Zej0jK/9CpuvvNVHz4wRk4Ap9qtgrM9qhlNq
+rZL4ZQODnvDZ/nwAYwEh9O2sbRr73aiHFcbxNAU2XxtT5UwbZMHom2Xic2Dmubqn
+cWFU+C4upEqPvgYU/hxia/rkhHyicXmdXT6IzjVxPbrlPBHoKVodJOCQ3UoBQl5X
+caHCluKOblA/yX+vEhv2h/m8XOtWiq0Jxnx+6D7B1piZfQnnNVSBT0bOYASb2cpn
+8rJE3RBdBwiqjKTotVTZ8PAS/GY0Gz3GoMAUCvIGA02+/cO9ENls9D79/86lgiCQ
+UqyteNNmo+oMqKHBw9Jmeejw1kbpnJN1abc270+qCT17aeX8yiMza5CyUTQTtgFI
+62xIYaHWhN7GrxOvoMU8X0G1HINwjS5heIhu5bND/26dLZqV3aBUWwb4ql5QIce2
+q5BQKmMqQLZF6J0aFL9dKJv5u3ioPFmiYPsPiRlwusPOoOFCiMt2kqZE3h3wxu6V
+cXWdj0sH+dgxuGYTxrLuoSru4Xv/HPXh15mVY0/eI+u/AgMBAAGjUzBRMB0GA1Ud
+DgQWBBQW2Ms6M3iadKVLOnraMlx6Exm8KjAfBgNVHSMEGDAWgBQW2Ms6M3iadKVL
+OnraMlx6Exm8KjAPBgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4ICAQB0
+XorfCLmVUN3aQWBouwG0fXHBqi3d4RA0vPsi8w+R/dOuHnLBLlHAiOkCMqW23bLs
+ir2UVqpGXcp5keKGeCTj+bmdqhnS/B9eoaeA8np/zDPH834v+Qv7JA5ch50gYrL7
+llF/02e5m0egP2xx9V7k90Du8OBm7xQgfbyrUcB2laC+loPyQiHMF24CU4ESfC4K
+DBXOZm8Kd6+fvzEs8XDLKwjNb9MocHIJikysZTncxfhgVPaU5KCqF3afHkCkZGzn
+Z+yMBfWbZ2WtM3lfwmM7z5NCTSqSFucW5+kw/OnzS3nQLyz2Q4nh4ApojsI3v+FH
+xz8aCITPbVwKAHGYO9jbk9x8LlkzDPCCzBH7dGKLKaQSCoD+IOwig1cI7pM77WeI
+BNC0g2ZCuLdb7c37/kT/1xGrIGUrpDsO34ZWW7E2X8kQPkAgqMNp0uXcnvIoNHO1
+eVL08Om+7WbwK7wS3te5IWDq4rRWVW4Jv709w8z6porr3W8ipdtUoYqbgZI8jOiW
+osY4UVcRwQ4S1oF5pNRzXlZAPwAnaDipglxHBiy9/ARS6HKpOCbmUHbj+goXYNyZ
+ps8TcYc9LFOq4HBE4KKbV971jf/wQy1nVcm2qSbOJ9MPHM5BG22m1iVhSYbLPgE2
+SBZvCS+voD8MqpBB1tPcvVqlPb1pFxf1lOc5QV3uOA==
 -----END CERTIFICATE-----

isar/script.py

@@ -1,4 +1,5 @@
 import logging
+import sys
 import time
 from logging import Logger
 from threading import Thread
@@ -20,10 +21,10 @@ from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
-from robot_interface.models.inspection.inspection import Inspection
-from robot_interface.models.mission.mission import Mission
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
+from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 from robot_interface.robot_interface import RobotInterface
 
 
@@ -168,5 +169,5 @@ def start():
         for thread in threads:
             if not thread.is_alive():
                 logger.critical("Thread '%s' failed - ISAR shutting down", thread.name)
-                exit(1)
+                sys.exit(1)
         time.sleep(state_machine.sleep_time)

isar/state_machine/state_machine.py

@@ -33,7 +33,7 @@ from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
-from robot_interface.models.mission.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
@@ -324,7 +324,7 @@ class StateMachine(object):
         self.current_mission.status = MissionStatus.InProgress
         self.publish_mission_status()
         self.current_task = self.task_selector.next_task()
-        if self.current_task == None:
+        if self.current_task is None:
             self._mission_finished()
         else:
             self.current_task.status = TaskStatus.InProgress

isar/state_machine/states/idle.py

@@ -34,6 +34,14 @@ class Idle(State):
             self.robot_status_thread.wait_for_thread()
         self.robot_status_thread = None
 
+    def _is_ready_to_poll_for_status(self) -> bool:
+        time_since_last_robot_status_poll = (
+            time.time() - self.last_robot_status_poll_time
+        )
+        return (
+            time_since_last_robot_status_poll > settings.ROBOT_API_STATUS_POLL_INTERVAL
+        )
+
     def _run(self) -> None:
         while True:
             if self.state_machine.should_stop_mission():
@@ -51,13 +59,7 @@ class Idle(State):
                 break
             time.sleep(self.state_machine.sleep_time)
 
-            time_from_last_robot_status_poll = (
-                time.time() - self.last_robot_status_poll_time
-            )
-            if (
-                time_from_last_robot_status_poll
-                < settings.ROBOT_API_STATUS_POLL_INTERVAL
-            ):
+            if not self._is_ready_to_poll_for_status():
                 continue
 
             if not self.robot_status_thread:

{isar-1.24.4.dist-info → isar-1.24.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.4
+Version: 1.24.6
 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-1.24.4.dist-info → isar-1.24.6.dist-info}/RECORD

@@ -1,11 +1,11 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=da1oE79leMID2cQKrVgahFyo-NAqNa_UA0PNHCA3Zt8,7361
-isar/script.py,sha256=9cIRRTnuMbIAj435tGyoSpTkyGL4huCxfppvMtV2p4Y,5965
+isar/script.py,sha256=UWXRV6S7LTIWEt78YlYajIHG-stOqYDF3Th4UtvgtbE,5980
 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/models.py,sha256=6E8VhGBti6EKJefYTDNVERxRu_g_omg4J2MriPUPkaw,1709
-isar/apis/models/start_mission_definition.py,sha256=it1SKc8Wbdvccd1a7Fz-fy3ue9aBzFYPz1Xhi7p8OVc,8033
+isar/apis/models/start_mission_definition.py,sha256=jK0wXEDAKx1Lj5puWcjtk-zcJkhXpaHYn2OV4vI1CaU,8362
 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
@@ -17,7 +17,7 @@ isar/config/log.py,sha256=zHFLmGWQRn8TrcsxUS6KHpJt2JE86kYazU7b-bkcN9o,2285
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=hJFfyl4S84nmcyf70Pz8nbGlPf4KTVx0UkgP3uf6T8E,534
 isar/config/settings.py,sha256=lbpuXAyeSCHFcEuIQvbqwyJIOp23Rtdqpajf_HrUjbU,13491
-isar/config/certs/ca-cert.pem,sha256=3X9NO4qzvA55PMXPyOwOCcXw33YVbF7tjPU5cX7vO5I,2179
+isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,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=TEAJv5RlWnYvy-n9keivdATDafdTQDj4QY8Aw3SEKoU,3124
@@ -67,10 +67,10 @@ isar/services/utilities/robot_utilities.py,sha256=4-ob4kcIiRN_GXFDBMwBadfbwpYqKE
 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=XwaUEEmPGiH9cuHKpNe09Ch6GXMbVp0Jckc3UHIAG6g,21762
+isar/state_machine/state_machine.py,sha256=vxjk2waZ79F86R1Z_S-lwtbfR8RlKaQ3CLl7yAUN2FY,21756
 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/idle.py,sha256=YKTOPVJUTGp-XR3N8FSm1s5ol3zoTmGs0THUMiO5h6A,3298
 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=lYtTSLa8KSTuhcH2qltF7Bj0icJ0xCuV2koFEc71enk,9864
@@ -98,7 +98,7 @@ robot_interface/models/inspection/inspection.py,sha256=kFO3pDkZrggPrS1O5TxOsQYhG
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/mission/mission.py,sha256=FjrLagGqhk8x9y_fX7DwvApA_hdc7YJcdqT3vigB39g,907
 robot_interface/models/mission/status.py,sha256=C_viZWNTYOncWCdurx7Pko_D9d595QmHuJZBT8YMHUg,724
-robot_interface/models/mission/task.py,sha256=Qy2XmOmk8HChXMe1y8Dn9PvgA2W98Ypd1VqPPNK8ILM,5118
+robot_interface/models/mission/task.py,sha256=25fPumliq507513l88jHG5XlHNAjncdqwUBRazPo-_g,5259
 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
@@ -108,9 +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-1.24.4.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,,
+isar-1.24.6.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.24.6.dist-info/METADATA,sha256=cE17j1NCTw5mGTOL4tEl_xNvKojh4IVgNU4fF-pA5pQ,30661
+isar-1.24.6.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+isar-1.24.6.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.24.6.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.24.6.dist-info/RECORD,,

robot_interface/models/mission/task.py

@@ -29,6 +29,12 @@ class TaskTypes(str, Enum):
     DockingProcedure = "docking_procedure"
 
 
+@dataclass
+class ZoomDescription:
+    objectWidth: float
+    objectHeight: float
+
+
 @dataclass
 class Task:
     status: TaskStatus = field(default=TaskStatus.NotStarted, init=False)
@@ -59,6 +65,7 @@ class InspectionTask(Task):
     inspection: Inspection = field(default=None, init=True)
     robot_pose: Pose = field(default=None, init=True)
     metadata: Optional[dict] = field(default_factory=dict, init=True)
+    zoom: Optional[ZoomDescription] = field(default=None)
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]: