standardbots 2.0.0.dev1752004997__tar.gz → 2.0.0.dev1753213530__tar.gz

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: standardbots
-Version: 2.0.0.dev1752004997
+Version: 2.0.0.dev1753213530
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/README.md

@@ -1,9 +1,11 @@
-You can test the API by using the playground, add your own file or use the existing python scripts.
-When a client has an issue, and they send their code. It's helpful to test their code to see possible issues
+You can test the API by using the playground, add your own file or use the
+existing python scripts. When a client has an issue, and they send their code.
+It's helpful to test their code to see possible issues
 
 # ENABLE API ON YOUR LOCAL MACHINE
 
-Follow the steps here https://www.notion.so/standardbots/Using-the-REST-API-b2c778d47969444dac61483f0117acad
+Follow the steps here
+https://www.notion.so/standardbots/Using-the-REST-API-b2c778d47969444dac61483f0117acad
 
 # CONFIG
 
@@ -11,7 +13,8 @@ At the top of the file, use your token
 
 # RUN
 
-To run a script move into the `sdks/python` folder and run `python playground/filename.py`
+To run a script move into the `sdks/python` folder and run
+`python playground/filename.py`
 
 # To create a test build
 
@@ -48,8 +51,8 @@ To set up tests:
 cd sdks/python
 ```
 
-Note: Make sure to select proper python interpreter.
-Sometimes there is an error related to missing "dotenv" module, to solve this install it separately
+Note: Make sure to select proper python interpreter. Sometimes there is an error
+related to missing "dotenv" module, to solve this install it separately
 
 ```
 python3 -m pip install python-dotenv
@@ -60,16 +63,18 @@ python3 -m pip install -r requirements-dev.txt
 
 #### Sample routine
 
-You need to add the sample routine in [sdks/python/tests/fixtures/test_public_api_routine.json](./tests/fixtures/test_public_api_routine.json) to your target test environment (i.e. upload the routine to ).
+You need to add the sample routine in
+[sdks/python/tests/fixtures/test_public_api_routine.json](./tests/fixtures/test_public_api_routine.json)
+to your target test environment (i.e. upload the routine to ).
 
 The name of routine should be "Test Public API"
 
 #### Sample globals
 
-- _Variable._ Add global variable called "test_public_api_global" with any value.
+- _Variable._ Add global variable called "test_public_api_global" with any
+  value.
 - _Space._ Create a global space called "Test global space" of any kind.
 
-
 ## Running
 
 Here is a basic test command:
@@ -81,7 +86,8 @@ SB_API_TOKEN=...
 python3 -m pytest ./tests --cov=standardbots --token=$SB_API_TOKEN --api-url=$SB_API_URL
 ```
 
-You may also set up a `.env` file at `sdks/python/.env` with the following contents:
+You may also set up a `.env` file at `sdks/python/.env` with the following
+contents:
 
 ```bash
 export SB_API_URL=http://34.162.0.32:3000
@@ -96,38 +102,43 @@ python3 -m pytest ./tests --cov=standardbots
 
 ### Robot state and testing (Markers)
 
-We need the bot to be in a certain state to run certain tests. For example, we need a routine to be running in order to stop the routine. Camera should be connected by default.
+We need the bot to be in a certain state to run certain tests. For example, we
+need a routine to be running in order to stop the routine. Camera should be
+disconnected by default.
 
 At start of testing, robot should:
 
 - _NOT_ be e-stopped.
 
-
 The basic idea here is:
 
 - These special tests will not be run by default.
-- You may pass a flag (e.g. `--camera-disconnected`) when the bot is in the correct state to run the tests.
+- You may pass a flag (e.g. `--camera-connected`) when the bot is in the correct
+  state to run the tests.
 - Markers usage:
-- When `--gripper=<type>` flag is passed(`type` is value from `GripperKindEnum` enum):
+- When `--gripper=<type>` flag is passed(`type` is value from `GripperKindEnum`
+  enum):
   1. Tests expect that this specific gripper is connected
   2. Tests without the flag are not run.
-- When `--camera-disconnected` flag is passed:
+- When `--camera-connected` flag is passed:
   1. Tests with the flag are run.
   2. Tests without the flag are not run.
 
-We use [pytest markers](https://docs.pytest.org/en/7.1.x/example/markers.html) to do this.
+We use [pytest markers](https://docs.pytest.org/en/7.1.x/example/markers.html)
+to do this.
 
 #### Camera disconnected
 
 The wrist camera should be disabled. Then run:
 
 ```bash
-python3 -m pytest ./tests --cov=standardbots --camera-disconnected
+python3 -m pytest ./tests --cov=standardbots --camera-connected
 ```
 
 #### E-stop
 
-No marker needed for e-stop. However, we do rely on active recovery of e-stop and getting the failure state in order to do these tests.
+No marker needed for e-stop. However, we do rely on active recovery of e-stop
+and getting the failure state in order to do these tests.
 
 When e-stop test runs, cannot have bot in a failure state (pre-test will fail).
 
@@ -151,16 +162,19 @@ tests/test_apis.py
 Fixes:
 
 - _Make sure you can log into remote control._ Ensure that botman is connected.
-- _Ensure that the robot URL is up-to-date._ Botman url will often change when you reboot.
+- _Ensure that the robot URL is up-to-date._ Botman url will often change when
+  you reboot.
 
 ### Custom sensors
 
 To test custom sensors:
+
 - go to the menu on the left bottom corner;
 - Click on 'Equipment';
 - Add Gripper > Custom Gripper;
 - Go to the Sensors tab and click 'Add Sensor';
-- Keep the default values as they are (name: 'Sensor 1', kind: 'Control Box IO', sensor value: 'low');
+- Keep the default values as they are (name: 'Sensor 1', kind: 'Control Box IO',
+  sensor value: 'low');
 - Hit 'Save' and make sure the Custom Gripper is enabled.
 
 Then run:
@@ -173,11 +187,13 @@ python3 -m pytest ./tests --cov=standardbots --gripper=custom_sensors
 
 > See command: `botctl publicapi test:setup-bot`.
 
-We now have a common robot database state that can be used for testing. While this isn't necessary for use, it does provide a common state for testing.
+We now have a common robot database state that can be used for testing. While
+this isn't necessary for use, it does provide a common state for testing.
 
 ### How to create a new backup
 
-In the place where you are running the stack and want to create the backup (e.g. on the control box):
+In the place where you are running the stack and want to create the backup (e.g.
+on the control box):
 
 ```bash
 DB_USER=sb

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/setup.py

@@ -13,7 +13,7 @@
 from setuptools import setup, find_packages  # noqa: H301
 
 NAME = "standardbots"
-VERSION = "2.0.0-dev1752004997"
+VERSION = "2.0.0-dev1753213530"
 # To install the library, run the following
 #
 # python setup.py install

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/standardbots/auto_generated/apis.py

@@ -284,6 +284,50 @@ class Default:
             )
         
 
+        def get_equipment(
+            self,
+        ) -> Response[
+            Union[
+                models.GetEquipmentConfigResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.GetEquipmentConfigResponse
+        ]:
+            """
+            Get the currently-configured equipment
+
+            """
+            path = "/api/v1/equipment"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_get_equipment_config_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
         def control_gripper(
             self,
             body: models.GripperCommandRequest,

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/standardbots/auto_generated/models.py

@@ -1186,18 +1186,106 @@ def serialize_environment_variable(data: EnvironmentVariable) -> object:
   }
 
 @dataclass
-class EquipmentKeyAssignments:
-  """Dictionary mapping equipment IDs to equipment keys"""
+class EquipmentConfig:
+  """Equipment configuration
+"""
+  id: Union[str, None] = None
+  name: Union[str, None] = None
+  kind: Union[str, None] = None
+  is_enabled: Union[bool, None] = None
+  config: Union[str, None] = None
+
+  def validate_id(self, value: str) -> Tuple[bool, str]:
+    if value is None:
+      return [False, "id is required for EquipmentConfig"]
+
+    if not isinstance(value, str):
+      return [False, "id must be of type str for EquipmentConfig, got " + type(value).__name__]
+
+    return [True, ""]
+
+  def validate_name(self, value: str) -> Tuple[bool, str]:
+    if value is None:
+      return [True, ""]
+
+    if not isinstance(value, str):
+      return [False, "name must be of type str for EquipmentConfig, got " + type(value).__name__]
+
+    return [True, ""]
+
+  def validate_kind(self, value: str) -> Tuple[bool, str]:
+    if value is None:
+      return [False, "kind is required for EquipmentConfig"]
+
+    if not isinstance(value, str):
+      return [False, "kind must be of type str for EquipmentConfig, got " + type(value).__name__]
+
+    return [True, ""]
+
+  def validate_is_enabled(self, value: bool) -> Tuple[bool, str]:
+    if value is None:
+      return [False, "is_enabled is required for EquipmentConfig"]
+
+    if not isinstance(value, bool):
+      return [False, "is_enabled must be of type bool for EquipmentConfig, got " + type(value).__name__]
+
+    return [True, ""]
+
+  def validate_config(self, value: str) -> Tuple[bool, str]:
+    if value is None:
+      return [False, "config is required for EquipmentConfig"]
+
+    if not isinstance(value, str):
+      return [False, "config must be of type str for EquipmentConfig, got " + type(value).__name__]
+
+    return [True, ""]
 
   def __post_init__(self):
     # Type check incoming model - raise error if invalid (required or wrong type)
+    is_valid, error_str = self.validate_id(self.id)
+    if not is_valid:
+      raise TypeError(error_str)
+    is_valid, error_str = self.validate_name(self.name)
+    if not is_valid:
+      raise TypeError(error_str)
+    is_valid, error_str = self.validate_kind(self.kind)
+    if not is_valid:
+      raise TypeError(error_str)
+    is_valid, error_str = self.validate_is_enabled(self.is_enabled)
+    if not is_valid:
+      raise TypeError(error_str)
+    is_valid, error_str = self.validate_config(self.config)
+    if not is_valid:
+      raise TypeError(error_str)
 
-def parse_equipment_key_assignments(data: object):
-  return EquipmentKeyAssignments(
+def parse_equipment_config(data: object):
+  return EquipmentConfig(
+    id=parse_str(data["id"]) if "id" in data and data.get("id") is not None else None,
+    name=parse_str(data["name"]) if "name" in data and data.get("name") is not None else None,
+    kind=parse_str(data["kind"]) if "kind" in data and data.get("kind") is not None else None,
+    is_enabled=parse_bool(data["is_enabled"]) if "is_enabled" in data and data.get("is_enabled") is not None else None,
+    config=parse_str(data["config"]) if "config" in data and data.get("config") is not None else None,
   )
 
+def serialize_equipment_config(data: EquipmentConfig) -> object:
+  return {
+    "id": serialize_str(data.id),
+    "name": None if data.name is None else serialize_str(data.name),
+    "kind": serialize_str(data.kind),
+    "is_enabled": serialize_bool(data.is_enabled),
+    "config": serialize_str(data.config),
+  }
+
+EquipmentKeyAssignments = Dict[str, str]
+
+def parse_equipment_key_assignments(data: object) -> EquipmentKeyAssignments:
+  return {
+    parse_str(key): parse_str(value) for key, value in data.items()
+  }
+
 def serialize_equipment_key_assignments(data: EquipmentKeyAssignments) -> object:
   return {
+    serialize_str(key): serialize_str(value) for key, value in data.items()
   }
 
 class ErrorEnum(Enum):
@@ -4058,6 +4146,14 @@ def parse_environment_variables_list(data: object) -> EnvironmentVariablesList:
 def serialize_environment_variables_list(data: EnvironmentVariablesList) -> List[object]:
   return [serialize_environment_variable(item) for item in data]
 
+EquipmentConfigList = List[EquipmentConfig]
+
+def parse_equipment_config_list(data: object) -> EquipmentConfigList:
+  return [parse_equipment_config(item) for item in data]
+
+def serialize_equipment_config_list(data: EquipmentConfigList) -> List[object]:
+  return [serialize_equipment_config(item) for item in data]
+
 @dataclass
 class StartRecordingRequest:
   """Request to start recording movement and camera data"""
@@ -4077,7 +4173,7 @@ class StartRecordingRequest:
     if value is None:
       return [True, ""]
 
-    if not isinstance(value, EquipmentKeyAssignments):
+    if not (isinstance(value, dict) and all((isinstance(k, str) and isinstance(val, str)) for k, val in value.items())):
       return [False, "equipmentKeyAssignments must be of type EquipmentKeyAssignments for StartRecordingRequest, got " + type(value).__name__]
 
     return [True, ""]
@@ -6668,6 +6764,37 @@ def serialize_routine(data: Routine) -> object:
     "environment_variables": None if data.environment_variables is None else serialize_environment_variables_list(data.environment_variables),
   }
 
+@dataclass
+class GetEquipmentConfigResponse:
+  """Response to get the currently-configured equipment
+"""
+  equipment: Union[EquipmentConfigList, None] = None
+
+  def validate_equipment(self, value: EquipmentConfigList) -> Tuple[bool, str]:
+    if value is None:
+      return [True, ""]
+
+    if not (isinstance(value, list) and all(isinstance(x, EquipmentConfig) for x in value)):
+      return [False, "equipment must be of type EquipmentConfigList for GetEquipmentConfigResponse, got " + type(value).__name__]
+
+    return [True, ""]
+
+  def __post_init__(self):
+    # Type check incoming model - raise error if invalid (required or wrong type)
+    is_valid, error_str = self.validate_equipment(self.equipment)
+    if not is_valid:
+      raise TypeError(error_str)
+
+def parse_get_equipment_config_response(data: object):
+  return GetEquipmentConfigResponse(
+    equipment=parse_equipment_config_list(data["equipment"]) if "equipment" in data and data.get("equipment") is not None else None,
+  )
+
+def serialize_get_equipment_config_response(data: GetEquipmentConfigResponse) -> object:
+  return {
+    "equipment": None if data.equipment is None else serialize_equipment_config_list(data.equipment),
+  }
+
 @dataclass
 class CalibrationData:
   """The result of a calibration"""
@@ -8059,6 +8186,7 @@ class RecorderConfig:
   bots: Union[RecorderBotDetailsList, None] = None
   offset: Union[OffsetConfig, None] = None
   sensors: Union[SensorConfigList, None] = None
+  equipmentKeyAssignments: Union[EquipmentKeyAssignments, None] = None
 
   def validate_isSecondary(self, value: bool) -> Tuple[bool, str]:
     if value is None:
@@ -8114,6 +8242,15 @@ class RecorderConfig:
 
     return [True, ""]
 
+  def validate_equipmentKeyAssignments(self, value: EquipmentKeyAssignments) -> Tuple[bool, str]:
+    if value is None:
+      return [True, ""]
+
+    if not (isinstance(value, dict) and all((isinstance(k, str) and isinstance(val, str)) for k, val in value.items())):
+      return [False, "equipmentKeyAssignments must be of type EquipmentKeyAssignments for RecorderConfig, got " + type(value).__name__]
+
+    return [True, ""]
+
   def __post_init__(self):
     # Type check incoming model - raise error if invalid (required or wrong type)
     is_valid, error_str = self.validate_isSecondary(self.isSecondary)
@@ -8134,6 +8271,9 @@ class RecorderConfig:
     is_valid, error_str = self.validate_sensors(self.sensors)
     if not is_valid:
       raise TypeError(error_str)
+    is_valid, error_str = self.validate_equipmentKeyAssignments(self.equipmentKeyAssignments)
+    if not is_valid:
+      raise TypeError(error_str)
 
 def parse_recorder_config(data: object):
   return RecorderConfig(
@@ -8143,6 +8283,7 @@ def parse_recorder_config(data: object):
     bots=parse_recorder_bot_details_list(data["bots"]) if "bots" in data and data.get("bots") is not None else None,
     offset=parse_offset_config(data["offset"]) if "offset" in data and data.get("offset") is not None else None,
     sensors=parse_sensor_config_list(data["sensors"]) if "sensors" in data and data.get("sensors") is not None else None,
+    equipmentKeyAssignments=parse_equipment_key_assignments(data["equipmentKeyAssignments"]) if "equipmentKeyAssignments" in data and data.get("equipmentKeyAssignments") is not None else None,
   )
 
 def serialize_recorder_config(data: RecorderConfig) -> object:
@@ -8153,6 +8294,7 @@ def serialize_recorder_config(data: RecorderConfig) -> object:
     "bots": None if data.bots is None else serialize_recorder_bot_details_list(data.bots),
     "offset": None if data.offset is None else serialize_offset_config(data.offset),
     "sensors": None if data.sensors is None else serialize_sensor_config_list(data.sensors),
+    "equipmentKeyAssignments": None if data.equipmentKeyAssignments is None else serialize_equipment_key_assignments(data.equipmentKeyAssignments),
   }
 
 @dataclass

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/standardbots.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: standardbots
-Version: 2.0.0.dev1752004997
+Version: 2.0.0.dev1753213530
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.0.dev1752004997 → standardbots-2.0.0.dev1753213530}/tests/test_apis.py

@@ -1,5 +1,6 @@
 """Tests for Standard Bots Python SDKs."""
 
+import json
 import time
 
 import pytest
@@ -266,6 +267,37 @@ class TestPostRoutineEditorRoutinePlay:
     #  TODO: can add tests when there is failure in routine(collision etc)
 
 
+class TestGetEquipment:
+    """Tests: [GET] `/api/v1/equipment`
+
+    Not covered here: Ensuring that updates to equipment config and enabled/disabled status are reflected in the response.
+    """
+
+    def test_get_equipment(self, client_live: StandardBotsRobot) -> None:
+        """Get equipment test"""
+        client = client_live
+
+        with client.connection():
+            res = client.equipment.get_equipment()
+
+            assert not res.isNotOk()
+            assert res.status == 200
+            assert isinstance(res.data, models.GetEquipmentConfigResponse)
+            assert res.data.equipment is not None
+            assert isinstance(res.data.equipment, list)
+            if len(res.data.equipment) > 0:
+                assert isinstance(res.data.equipment[0], models.EquipmentConfig)
+
+                equipment = res.data.equipment[0]
+                assert equipment.id is not None
+                assert equipment.kind is not None
+                assert equipment.is_enabled is not None
+                assert equipment.config is not None
+
+                # Can be parsed as JSON
+                assert json.loads(equipment.config) is not None
+
+
 class TestGetEquipmentEndEffectorConfiguration:
     """Tests: [GET] `/api/v1/equipment/end-effector/configuration`"""
 
@@ -959,12 +991,12 @@ class TestPostMovementBrakesEmergencyStop:
                     break
                 assert data.failure.kind == "EStopTriggered"
 
-        # ######################################
-        # Recover from e-stop
-        # ######################################
+            # ######################################
+            # Recover from e-stop
+            # ######################################
 
-        with client.connection():
-            res_status = client.recovery.recover.recover()
+            with client.connection():
+                res_status = client.recovery.recover.recover()
 
     def test_estop_sim(self, client_sim: StandardBotsRobot) -> None:
         """Basic test: sim mode
@@ -1292,7 +1324,7 @@ class TestPostMovementPositionArm:
                 z=0.707,
                 w=0.707,
             )
-            initial_tooltip_position = models.Position(x=0.0, y=0.3687, z=1.4618)
+            initial_tooltip_position = models.Position(x=0.0, y=0.3687, z=1.3618)
             target_tooltip_position = models.Position(x=0.1, y=0.4, z=1.3)
             pose_body = models.ArmPositionUpdateRequest(
                 kind=models.ArmPositionUpdateRequestKindEnum.TooltipPosition,
@@ -1595,7 +1627,6 @@ class TestGetRecoveryStatus:
 class TestGetCameraStreamRGB:
     """Tests: [GET] `/api/v1/camera/stream/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_camera_stream_rgb_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1607,6 +1638,7 @@ class TestGetCameraStreamRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_basic(self, client_live: StandardBotsRobot) -> None:
         """Basic test to get camera steam RGB"""
         client = client_live
@@ -1642,7 +1674,6 @@ class TestGetCameraStreamRGB:
 class TestPostCameraSettings:
     """Tests: [POST] `/api/v1/camera/settings`"""
 
-    @pytest.mark.camera_disconnected
     def test_post_camera_settings_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1662,6 +1693,7 @@ class TestPostCameraSettings:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_post_camera_settings(self, client_live: StandardBotsRobot) -> None:
         """Basic test to update settings"""
         client = client_live
@@ -1683,7 +1715,6 @@ class TestPostCameraSettings:
 class TestGetCameraFrameRGB:
     """Tests: [GET] `/api/v1/camera/frame/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_strem_rgb_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1705,6 +1736,7 @@ class TestGetCameraFrameRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_get_color_frame_invalid_payload(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1717,6 +1749,7 @@ class TestGetCameraFrameRGB:
         assert res.status == 400
         assert res.data.error == models.ErrorEnum.RequestFailedValidation
 
+    @pytest.mark.camera_connected
     def test_get_color_frame(self, client_live: StandardBotsRobot) -> None:
         """Test get color frame"""
         client = client_live
@@ -1746,7 +1779,6 @@ class TestGetCameraFrameRGB:
 class TestGetCameraIntrinsicsRGB:
     """Tests: [GET] `/api/v1/camera/intrinsics/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_get_camera_intrinsics_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1757,6 +1789,7 @@ class TestGetCameraIntrinsicsRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_get_camera_intrinsics(self, client_live: StandardBotsRobot) -> None:
         """Test to get camera intrinsics"""
 
@@ -1772,7 +1805,6 @@ class TestGetCameraIntrinsicsRGB:
 class TestGetCameraStatus:
     """Tests: [GET] `/api/v1/camera/status`"""
 
-    @pytest.mark.camera_disconnected
     def test_get_camera_status_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1785,6 +1817,7 @@ class TestGetCameraStatus:
         assert isinstance(res.data, models.CameraStatus)
         assert not res.data.connected
 
+    @pytest.mark.camera_connected
     def test_get_camera_status(self, client_live: StandardBotsRobot) -> None:
         """Test to get camera status"""
 
@@ -1800,6 +1833,7 @@ class TestGetCameraStatus:
 class TestGetConnectedCameras:
     """Tests: [GET] `/api/v1/cameras/connected`"""
 
+    @pytest.mark.camera_connected
     def test_get_connected_cameras(self, client_live: StandardBotsRobot) -> None:
         """Test case when camera is disconnected"""
 
@@ -2652,9 +2686,7 @@ class TestPostPosesJointPose:
         client = client_live
         with client.connection():
             body = models.JointPoseRequest(
-                pose=models.JointAngles(
-                    j0=20.0, j1=-30.0, j2=71.0, j3=-130.0, j4=-43.0, j5=60.0
-                )
+                pose=models.JointAngles(j0=1.0, j1=-1.0, j2=1.0, j3=1.0, j4=1.0, j5=1.0)
             )
             res = client.poses.construct_pose.joint_pose(body)
             assert not res.isNotOk()
@@ -3290,10 +3322,7 @@ class TestPostMovementPositionArmControlled:
             assert heartbeat_data.event is not None
             assert heartbeat_data.event.kind == models.ArmPositionUpdateKindEnum.Failure
             assert heartbeat_data.event.failure is not None
-            assert (
-                heartbeat_data.event.failure.reason
-                == "Failed to generate a motion plan"
-            )
+            assert heartbeat_data.event.failure.reason == "Error while running motion"
 
     def test_move_then_stop_heartbeat(
         self,
@@ -3361,7 +3390,7 @@ class TestPostMovementPositionArmControlled:
                 )
 
             assert movement_started > 0, "Movement never started"
-            time.sleep(0.25)
+            time.sleep(3)
 
             # Check that the arm has stopped
             res = client.recovery.recover.get_status()