Unify navigation on NavigateToPose and remove legacy proxies

tests/test_dr_regressions.py

@@ -1,7 +1,5 @@
 """DR semantic regression tests independent of ROS transport."""
-import copy
 import json
-import math
 import sys
 import tempfile
 import unittest
@@ -23,13 +21,6 @@ class DrSemanticsTests(unittest.TestCase):
         for key in ('shelf_id','column_id','tier_id','station_binding_ref','expected_geometry_epoch'):
             self.assertEqual(result[key],getattr(goal,key))
 
-    def test_semantic_navigation_accepts_positive_subsecond_budget(self):
-        from navigation_gateway.semantic_proxy import duration_seconds
-        from types import SimpleNamespace
-        self.assertAlmostEqual(duration_seconds(SimpleNamespace(sec=0,nanosec=500000000)),.5)
-        for sec,nanosec in [(0,0),(-1,1),(3600,1),(1,1000000000),(1,-1)]:
-            with self.assertRaises(ValueError):duration_seconds(SimpleNamespace(sec=sec,nanosec=nanosec))
-
     def test_shelf_tier_can_be_empty_without_guessing(self):
         # BT p15 and RB02 allow an unknown tier; execution must decide whether
         # its chosen route can use the observation without that calibration.
@@ -48,17 +39,6 @@ class DrSemanticsTests(unittest.TestCase):
             self.assertEqual(result['status'], 'SUCCEEDED')
             self.assertEqual(result['tier_id'], '')
 
-    def test_navigation_reports_signed_shortest_yaw_error(self):
-        from navigation_gateway.gateway import pose_errors
-        from test_navigation_gateway import request
-        target = request()['target_pose']
-        current = copy.deepcopy(target)
-        current['orientation'].update(z=math.sin(.2/2), w=math.cos(.2/2))
-        distance, yaw = pose_errors(target, current)
-        self.assertEqual(distance, 0)
-        self.assertAlmostEqual(yaw, -.2)
-        current['orientation'].update(z=math.sin(-.2/2), w=math.cos(-.2/2))
-        self.assertAlmostEqual(pose_errors(target, current)[1], .2)
 
 
 if __name__ == '__main__':