Report correct exception when unable to add waypoint

src/isar_exr/api/energy_robotics_api.py

@@ -6,6 +6,7 @@
 from typing import Any, Dict, Optional
 
 from gql.dsl import DSLMutation, DSLQuery, DSLSchema, DSLVariableDefinitions, dsl_gql
+from gql.transport.exceptions import TransportQueryError
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotAPIException,
     RobotCommunicationException,
@@ -19,7 +20,6 @@
 from isar_exr.api.models.enums import AwakeStatus
 from isar_exr.api.models.models import (
     AddPointOfInterestInput,
-    BatteryStatusType,
     Pose3DStampedInput,
     UpsertPointOfInterestInput,
 )
@@ -344,6 +344,10 @@ def create_waypoint_task_definition(
             response_dict: dict[str, Any] = self.client.query(
                 dsl_gql(create_waypoint_task_definition_mutation), params
             )
+        except TransportQueryError as e:
+            raise RobotInfeasibleMissionException(
+                f"Unable to add waypoint with task name {task_name} as it is not reachable: {e}"
+            )
         except Exception:
             message: str = "Could not create waypoint task definition"
             self.logger.error(message)

src/isar_exr/robotinterface.py

@@ -18,6 +18,7 @@
     Transform,
     align_maps,
 )
+from isar_exr.models.exceptions import NoMissionRunningException
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotCommunicationException,
     RobotInfeasibleStepException,
@@ -54,14 +55,12 @@
     Point3DInput,
     PointOfInterestActionPhotoInput,
     PointOfInterestActionVideoInput,
-    PointOfInterestByCustomerTag,
     PointOfInterestTypeEnum,
     Pose3DInput,
     Pose3DStampedInput,
     QuaternionInput,
 )
 from isar_exr.config.settings import settings
-from isar_exr.models.exceptions import NoMissionRunningException
 
 
 class Robot(RobotInterface):