isar-robot
ISAR - Integration and Supervisory control of Autonomous Robots - is a tool for integrating robot applications into Equinor systems. Through the ISAR API you can send command to a robot to do missions and collect results from the missions.
Running the full ISAR system requires an installation of a robot which satisfies the required interface. isar-robot is a default implementation of such a robot.
Installation
For installation of isar-robot to use with ISAR, please follow the robot integration installation guide.
Run isar-robot
After installing isar-robot, it can be used through ISAR.
Development
Create a fork of the repository and clone the fork to your machine:
git clone https://github.com/<your-username>/isar-robot
cd isar-robot
Choose if you want to run via uv or manually creating venv
Local development with uv
An easy way to run isar-robot locally is with uv. By default, dependencies are installed from the registry versions in uv.lock; no sibling checkout is required.
Run these commands from the isar-robot directory:
uv sync --locked --extra dev
uv run --locked isar-start
Developing against a local ISAR checkout
To edit ISAR alongside isar-robot, clone ISAR into a sibling directory:
parent-folder/
├── isar/
└── isar-robot/
uv sync --locked --extra dev
uv pip install --python .venv/bin/python --no-deps --editable ../isar
uv pip check --python .venv/bin/python
uv run --no-sync isar-start
Run these commands from isar-robot as well. On Windows, use .venv\Scripts\python.exe instead of .venv/bin/python.
The editable install changes only the virtual environment, not pyproject.toml or uv.lock. Edits to the sibling checkout are used immediately. --no-deps preserves the locked dependencies, so use an ISAR checkout compatible with them. If uv pip check reports incompatible or missing dependencies, use a compatible checkout or update the dependencies deliberately before continuing.
Use uv run --no-sync for commands (including uv run --no-sync pytest) while working with the editable checkout. A normal uv run, make run, or uv sync can replace it with the locked registry package. Reapply the editable install after syncing; to return to registry-only dependencies, run uv sync --locked --extra dev.
Configurable variables
Specific mission and task behaviours can be configured as environment variables. These are optional and do not have to be set. These allow for always failing specific mission types, failing specific task types, setting custom task durations, and setting custom mission durations. The following list shows all configurable environment variables. In this case "normal" means non-localization or return to home tasks.
The variable names and types are as follows:
TASK_DURATION_IN_SECONDS: float
MISSION_DURATION_IN_SECONDS: float
SHOULD_FAIL_NORMAL_TASK: bool
SHOULD_FAIL_RETURN_TO_HOME_TASK: bool
Every configuration variable is defined in settings.py, and they may all be overwritten by specifying the variables in your ".env" file in ISAR. Note that the configuration variable must be prefixed with ROBOT_ when specified in the ISAR environment file.
Dependencies
The dependencies used for this package are listed in pyproject.toml and pinned in uv.lock. This ensures our builds are predictable and deterministic. This project uses uv for dependency management:
Install pinned dependencies and this project in editable mode:
uv sync --locked --extra dev
For an editable sibling ISAR dependency, follow Developing against a local ISAR checkout above. Local paths are intentionally not committed as dependency sources, so CI and Dependabot can work without sibling repositories.
Refresh the lockfile after changing dependency declarations:
uv lock
To update the dependencies to the latest versions, run:
uv lock --upgrade
Contributing
We welcome all kinds of contributions, including code, bug reports, issues, feature requests, and documentation. The preferred way of submitting a contribution is to either make an issue on github or by forking the project on github and making a pull request.
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