Remove unused localize task

equinor · Feb 6, 2025 · c0c9617 · c0c9617
1 parent f32f8ac
commit c0c9617
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Showing 2 changed files with 0 additions and 19 deletions.
diff --git a/src/isar/apis/models/start_mission_definition.py b/src/isar/apis/models/start_mission_definition.py
@@ -10,7 +10,6 @@
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import (
     TASKS,
-    Localize,
     RecordAudio,
     ReturnToHome,
     TakeImage,
@@ -33,7 +32,6 @@ class InspectionTypes(str, Enum):
 
 class TaskType(str, Enum):
     Inspection = "inspection"
-    Localization = "localization"
     ReturnToHome = "return_to_home"
 
 
@@ -96,8 +94,6 @@ def to_isar_mission(
 def to_isar_task(task_definition: StartMissionTaskDefinition) -> TASKS:
     if task_definition.type == TaskType.Inspection:
         return to_inspection_task(task_definition)
-    elif task_definition.type == TaskType.Localization:
-        return to_localization_task(task_definition)
     elif task_definition.type == TaskType.ReturnToHome:
         return create_return_to_home_task(task_definition)
     else:
@@ -223,10 +219,6 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
 
 
-def to_localization_task(task_definition: StartMissionTaskDefinition) -> Localize:
-    return Localize(localization_pose=task_definition.pose.to_alitra_pose())
-
-
 def create_return_to_home_task(
     task_definition: StartMissionTaskDefinition,
 ) -> ReturnToHome:

diff --git a/src/robot_interface/models/mission/task.py b/src/robot_interface/models/mission/task.py
@@ -20,7 +20,6 @@
 
 class TaskTypes(str, Enum):
     ReturnToHome = "return_to_home"
-    Localize = "localize"
     MoveArm = "move_arm"
     TakeImage = "take_image"
     TakeThermalImage = "take_thermal_image"
@@ -79,15 +78,6 @@ class ReturnToHome(Task):
     type: Literal[TaskTypes.ReturnToHome] = TaskTypes.ReturnToHome
 
 
-class Localize(Task):
-    """
-    Task which causes the robot to localize
-    """
-
-    localization_pose: Pose = Field(default=None)
-    type: Literal[TaskTypes.Localize] = TaskTypes.Localize
-
-
 class MoveArm(Task):
     """
     Task which causes the robot to move its arm
@@ -187,7 +177,6 @@ def get_inspection_type() -> Type[Inspection]:
 
 TASKS = Union[
     ReturnToHome,
-    Localize,
     MoveArm,
     TakeImage,
     TakeThermalImage,