From 442e45e88acb0330fe293751f6dc328a2047ba8e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Chirico=20Indreb=C3=B8?= <ACIN@equinor.com>
Date: Fri, 26 Jan 2024 14:59:36 +0100
Subject: [PATCH] Fixed missing map transform

---
 src/isar_exr/api/graphql_client.py                   |  7 +++++--
 .../config/maps/exr_k\303\245rst\303\270.json"       |  0
 src/isar_exr/config/settings.py                      |  2 +-
 src/isar_exr/robotinterface.py                       | 12 +++++++++---
 4 files changed, 15 insertions(+), 6 deletions(-)
 rename src/isar_exr/config/maps/alitra_transform_exr.json => "src/isar_exr/config/maps/exr_k\303\245rst\303\270.json" (100%)

diff --git a/src/isar_exr/api/graphql_client.py b/src/isar_exr/api/graphql_client.py
index cb63bd9..39cb19f 100644
--- a/src/isar_exr/api/graphql_client.py
+++ b/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}")
diff --git a/src/isar_exr/config/maps/alitra_transform_exr.json "b/src/isar_exr/config/maps/exr_k\303\245rst\303\270.json"
similarity index 100%
rename from src/isar_exr/config/maps/alitra_transform_exr.json
rename to "src/isar_exr/config/maps/exr_k\303\245rst\303\270.json"
diff --git a/src/isar_exr/config/settings.py b/src/isar_exr/config/settings.py
index fdea0d3..0ba5a7f 100644
--- a/src/isar_exr/config/settings.py
+++ b/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/")
diff --git a/src/isar_exr/robotinterface.py b/src/isar_exr/robotinterface.py
index 2587ebc..fac7ce3 100644
--- a/src/isar_exr/robotinterface.py
+++ b/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,