Preconditions

Setup Place the robot in a clear, safe area with room for the full path. Load a trajectory with at least 5 spaced waypoints (W1→W5). Open telemetry/logging so you can see which waypoint is marked "reached" and which one is targeted on resume. Make sure you can set the read direction and interrupt execution mid-segment.

Steps

Test A — Forward

1. Set read direction to FORWARD.
2. Start from W1.
3. Let the robot reach W3; confirm W3 is logged as "reached."
4. Interrupt while it's between W3 and W4 (before W4 is reached).
5. Resume.

Test B — Backward

1. Set read direction to BACKWARD.
2. Start from W5, going W4, W3…
3. Let the robot reach W3; confirm it's logged as "reached."
4. Interrupt while it's between W3 and W2.
5. Resume.

1. Set read direction to FORWARD.
2. Start from W1.
3. Let the robot reach W3; confirm W3 is logged as "reached."
4. Interrupt while it's between W3 and W4 (before W4 is reached).
5. Resume.

Test B — Backward

1. Set read direction to BACKWARD.
2. Start from W5, going W4, W3…
3. Let the robot reach W3; confirm it's logged as "reached."
4. Interrupt while it's between W3 and W2.
5. Resume.

Expected

Test A Expected: it drives back to W3 (last reached waypoint), then continues to W4, W5. Pass = resume target is W3. Fail = it skips to W4. Test B Expected: it goes directly to W2 (next waypoint) — it does NOT return to W3. Pass = resume target is W2. Fail = it returns to W3 first.

Notes

• Automation approach (planned): SDK / mission_control trigger
• Reason / caveat: Select/resume a state via mission_control programmatically.
• Repo-verified: Verified: resume = re-issue shape request via RobotCommand; cmd-id feedback tracked. Yes.