Fixed missing map transform

src/isar_exr/api/graphql_client.py

@@ -13,7 +13,7 @@
     TransportAlreadyConnected,
 )
 from graphql import DocumentNode, GraphQLError, GraphQLSchema, build_ast_schema, parse
-from httpx import ReadTimeout
+from httpx import ConnectTimeout, ReadTimeout
 
 from isar_exr.api.authentication import get_access_token
 from isar_exr.config.settings import settings
@@ -122,7 +122,10 @@ def query(
             self.logger.error(f"The transport is already connected: {e}")
             raise
         except ReadTimeout as e:
-            self.logger.error(f"Request GraphQL API timed out: {e}")
+            self.logger.error(f"Request to GraphQL API timed out: {e}")
+            raise
+        except ConnectTimeout as e:
+            self.logger.error(f"Connection to GraphQL API timed out: {e}")
             raise
         except Exception as e:
             self.logger.error(f"Unknown error in GraphQL client: {e}")

src/isar_exr/config/settings.py

@@ -25,7 +25,7 @@ def __init__(self) -> None:
     ROBOT_EXR_SITE_ID: str = Field(default="61a0a1f45f71913ebbb4657d")
 
     # Map to be used for creation of alitra transformation
-    MAP: str = Field(default="exr_default")
+    MAP: str = Field(default="exr_kårstø")
 
     # URL for Ex-Robotics API
     ROBOT_API_URL: str = Field(default="https://developer.energy-robotics.com/graphql/")

src/isar_exr/robotinterface.py

@@ -288,11 +288,17 @@ def _create_and_add_poi(
             ),
         )
 
+        transformed_robot_pose = self.transform.transform_position(
+            positions=robot_pose.position,
+            from_=robot_pose.position.frame,
+            to_=Frame("robot"),
+        )
+
         photo_input_pose: Pose3DInput = Pose3DInput(
             position=Point3DInput(
-                x=robot_pose.position.x,
-                y=robot_pose.position.y,
-                z=robot_pose.position.z,
+                x=transformed_robot_pose.x,
+                y=transformed_robot_pose.y,
+                z=transformed_robot_pose.z,
             ),
             orientation=QuaternionInput(
                 w=robot_pose.orientation.w,