Use XYZ rotation and update transform

andchiind · Feb 21, 2024 · f427fa2 · f427fa2
1 parent e896f1c
commit f427fa2
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Showing 2 changed files with 23 additions and 23 deletions.
diff --git a/src/isar_exr/config/maps/exr_jca_ap.json b/src/isar_exr/config/maps/exr_jca_ap.json
@@ -5,25 +5,25 @@
     "reference_positions": {
       "positions": [
         {
-          "x": 44.8911,
-          "y": -13.3617,
-          "z": -3.8796,
+          "x": 3.911155020650695,
+          "y": 5.12255353144418,
+          "z": 0.20225898985423513,
           "frame": {
             "name": "robot"
           }
         },
         {
-          "x": 70.7716,
-          "y": 65.8346,
-          "z": -6.0959,
+          "x": 46.043567360911496,
+          "y": 4.556959908349169,
+          "z": 5.060048121110673,
           "frame": {
             "name": "robot"
           }
         },
         {
-          "x": 6.0201,
-          "y": -3.88758,
-          "z": 2.02803,
+          "x": 20.234032825207144,
+          "y": -0.2345100319604262,
+          "z": 4.727181989769355,
           "frame": {
             "name": "robot"
           }
@@ -42,25 +42,25 @@
     "reference_positions": {
       "positions": [
         {
-          "x": 235.246,
-          "y": 276.996,
-          "z": 36.052,
+          "x": 251.918,
+          "y": 318.907,
+          "z": 36.053,
           "frame": {
             "name": "asset"
           }
         },
         {
-          "x": 315.5,
-          "y": 254.5,
-          "z": 36.0,
+          "x": 253.202,
+          "y": 276.532,
+          "z": 37.383,
           "frame": {
             "name": "asset"
           }
         },
         {
-          "x": 243.0,
-          "y": 316.6,
-          "z": 38.7,
+          "x": 247.292,
+          "y": 302.046,
+          "z": 39.202,
           "frame": {
             "name": "asset"
           }

diff --git a/src/isar_exr/robotinterface.py b/src/isar_exr/robotinterface.py
@@ -20,19 +20,19 @@
 )
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotCommunicationException,
-    RobotInitializeException,
-    RobotMissionStatusException,
     RobotInfeasibleStepException,
+    RobotInitializeException,
     RobotMissionNotSupportedException,
+    RobotMissionStatusException,
 )
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, StepStatus
 from robot_interface.models.mission.step import (
     DriveToPose,
-    Localize,
     InspectionStep,
+    Localize,
     Step,
     TakeImage,
     TakeThermalImage,
@@ -50,6 +50,7 @@
 
 from isar_exr.api.energy_robotics_api import EnergyRoboticsApi
 from isar_exr.api.models.models import (
+    AddPointOfInterestInput,
     Point3DInput,
     PointOfInterestActionPhotoInput,
     PointOfInterestActionVideoInput,
@@ -58,7 +59,6 @@
     Pose3DInput,
     Pose3DStampedInput,
     QuaternionInput,
-    AddPointOfInterestInput,
 )
 from isar_exr.config.settings import settings
 from isar_exr.models.exceptions import NoMissionRunningException
@@ -85,7 +85,7 @@ def __init__(self) -> None:
             )
         )
         self.transform: Transform = align_maps(
-            map_alignment.map_from, map_alignment.map_to, rot_axes="z"
+            map_alignment.map_from, map_alignment.map_to, rot_axes="xyz"
         )
 
     def create_new_stage(self) -> str: