diff --git a/src/isar/apis/models/models.py b/src/isar/apis/models/models.py
index 48289016..f1a89a61 100644
--- a/src/isar/apis/models/models.py
+++ b/src/isar/apis/models/models.py
@@ -9,6 +9,7 @@
 class TaskResponse(BaseModel):
     id: str
     tag_id: Optional[str] = None
+    inspection_id: Optional[str] = None
     type: TaskTypes
 
 
diff --git a/src/isar/apis/models/start_mission_definition.py b/src/isar/apis/models/start_mission_definition.py
index 67d95b6b..bc572593 100644
--- a/src/isar/apis/models/start_mission_definition.py
+++ b/src/isar/apis/models/start_mission_definition.py
@@ -2,7 +2,6 @@
 from enum import Enum
 from typing import List, Optional
 
-from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -44,7 +43,6 @@ class StartMissionInspectionDefinition(BaseModel):
     analysis_type: Optional[str] = None
     duration: Optional[float] = None
     metadata: Optional[dict] = None
-    id: Optional[str] = None
 
 
 class StartMissionTaskDefinition(BaseModel):
@@ -52,180 +50,132 @@ class StartMissionTaskDefinition(BaseModel):
     pose: InputPose
     inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
-    id: Optional[str] = None
     zoom: Optional[ZoomDescription] = None
 
 
 class StartMissionDefinition(BaseModel):
     tasks: List[StartMissionTaskDefinition]
-    id: Optional[str] = None
     name: Optional[str] = None
     start_pose: Optional[InputPose] = None
-    dock: Optional[bool] = None
-    undock: Optional[bool] = None
+    dock: Optional[bool] = Field(default=False)
+    undock: Optional[bool] = Field(default=False)
 
 
-def to_isar_mission(start_mission_definition: StartMissionDefinition) -> Mission:
+def to_isar_mission(
+    start_mission_definition: StartMissionDefinition,
+    return_pose: Optional[InputPose] = None,
+) -> Mission:
     isar_tasks: List[TASKS] = []
 
-    for start_mission_task_definition in start_mission_definition.tasks:
-        task: TASKS = create_isar_task(start_mission_task_definition)
-        if start_mission_task_definition.id:
-            task.id = start_mission_task_definition.id
+    for task_definition in start_mission_definition.tasks:
+        task: TASKS = to_isar_task(task_definition)
         isar_tasks.append(task)
 
+    if return_pose:
+        isar_tasks.append(ReturnToHome(pose=return_pose.to_alitra_pose()))
+
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    check_for_duplicate_ids(isar_tasks)
-
-    isar_mission: Mission = Mission(tasks=isar_tasks)
-
-    isar_mission.dock = start_mission_definition.dock
-    isar_mission.undock = start_mission_definition.undock
-
+    isar_mission_name: str
     if start_mission_definition.name:
-        isar_mission.name = start_mission_definition.name
+        isar_mission_name = start_mission_definition.name
     else:
-        isar_mission.name = _build_mission_name()
-
-    if start_mission_definition.id:
-        isar_mission.id = start_mission_definition.id
+        isar_mission_name = _build_mission_name()
 
+    start_pose = None
     if start_mission_definition.start_pose:
-        input_pose: InputPose = start_mission_definition.start_pose
-        input_frame: Frame = Frame(name=input_pose.frame_name)
-        input_position: Position = Position(
-            input_pose.position.x,
-            input_pose.position.y,
-            input_pose.position.z,
-            input_frame,
-        )
-        input_orientation: Orientation = Orientation(
-            input_pose.orientation.x,
-            input_pose.orientation.y,
-            input_pose.orientation.z,
-            input_pose.orientation.w,
-            input_frame,
-        )
-        isar_mission.start_pose = Pose(
-            position=input_position, orientation=input_orientation, frame=input_frame
-        )
-
-    return isar_mission
-
-
-def check_for_duplicate_ids(items: List[TASKS]):
-    duplicate_ids = get_duplicate_ids(items=items)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create as there were duplicate IDs which is not allowed "
-            f"({duplicate_ids})"
-        )
-
+        start_pose = start_mission_definition.start_pose.to_alitra_pose()
+
+    return Mission(
+        tasks=isar_tasks,
+        name=isar_mission_name,
+        start_pose=start_pose,
+        dock=start_mission_definition.dock,
+        undock=start_mission_definition.undock,
+    )
 
-def create_isar_task(start_mission_task_definition) -> TASKS:
 
-    if start_mission_task_definition.type == TaskType.Inspection:
-        return create_inspection_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Localization:
-        return create_localization_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.ReturnToHome:
-        return create_return_to_home_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Dock:
+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)
+    elif task_definition.type == TaskType.Dock:
         return create_dock_task()
     else:
         raise MissionPlannerError(
-            f"Failed to create task: '{start_mission_task_definition.type}' is not a valid"
+            f"Failed to create task: '{task_definition.type}' is not a valid"
         )
 
 
-def create_inspection_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> TASKS:
+def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    inspection_definition = task_definition.inspection
 
-    if start_mission_task_definition.inspection.type == InspectionTypes.image:
+    if inspection_definition.type == InspectionTypes.image:
         return TakeImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-    elif start_mission_task_definition.inspection.type == InspectionTypes.video:
+    elif inspection_definition.type == InspectionTypes.video:
         return TakeVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
+    elif inspection_definition.type == InspectionTypes.thermal_image:
         return TakeThermalImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
+    elif inspection_definition.type == InspectionTypes.thermal_video:
         return TakeThermalVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.audio:
+    elif inspection_definition.type == InspectionTypes.audio:
         return RecordAudio(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
     else:
         raise ValueError(
-            f"Inspection type '{start_mission_task_definition.inspection.type}' not supported"
+            f"Inspection type '{inspection_definition.type}' not supported"
         )
 
 
-def create_localization_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> Localize:
-    return Localize(
-        localization_pose=start_mission_task_definition.pose.to_alitra_pose()
-    )
+def to_localization_task(task_definition: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task_definition.pose.to_alitra_pose())
 
 
 def create_return_to_home_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
+    task_definition: StartMissionTaskDefinition,
 ) -> ReturnToHome:
-    return ReturnToHome(pose=start_mission_task_definition.pose.to_alitra_pose())
+    return ReturnToHome(pose=task_definition.pose.to_alitra_pose())
 
 
 def create_dock_task() -> DockingProcedure:
     return DockingProcedure(behavior="dock")
 
 
-def get_duplicate_ids(items: List[TASKS]) -> List[str]:
-    unique_ids: List[str] = []
-    duplicate_ids: List[str] = []
-    for item in items:
-        id: str = item.id
-        if id not in unique_ids:
-            unique_ids.append(id)
-        else:
-            duplicate_ids.append(id)
-
-    return duplicate_ids
-
-
 def _build_mission_name() -> str:
     return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"
diff --git a/src/isar/apis/schedule/scheduling_controller.py b/src/isar/apis/schedule/scheduling_controller.py
index 97d88e48..b950bbfc 100644
--- a/src/isar/apis/schedule/scheduling_controller.py
+++ b/src/isar/apis/schedule/scheduling_controller.py
@@ -21,7 +21,13 @@
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import TASKS, Localize, MoveArm, ReturnToHome
+from robot_interface.models.mission.task import (
+    TASKS,
+    InspectionTask,
+    Localize,
+    MoveArm,
+    ReturnToHome,
+)
 
 
 class SchedulingController:
@@ -115,7 +121,9 @@ def start_mission(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         try:
-            mission: Mission = to_isar_mission(mission_definition)
+            mission: Mission = to_isar_mission(
+                start_mission_definition=mission_definition, return_pose=return_pose
+            )
         except MissionPlannerError as e:
             error_message = f"Bad Request - Cannot create ISAR mission: {e}"
             self.logger.warning(error_message)
@@ -127,9 +135,6 @@ def start_mission(
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
-        if return_pose:
-            pose: Pose = return_pose.to_alitra_pose()
-            mission.tasks.append(ReturnToHome(pose=pose))
 
         initial_pose_alitra: Optional[Pose] = (
             initial_pose.to_alitra_pose() if initial_pose else None
@@ -213,7 +218,9 @@ def drive_to(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = target_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[ReturnToHome(pose=pose)])
+        mission: Mission = Mission(
+            name="Drive to pose", tasks=[ReturnToHome(pose=pose)]
+        )
 
         self.logger.info(
             f"Starting drive to mission with ISAR Mission ID: '{mission.id}'"
@@ -237,7 +244,9 @@ def start_localization_mission(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = localization_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[Localize(localization_pose=pose)])
+        mission: Mission = Mission(
+            name="Localization mission", tasks=[Localize(localization_pose=pose)]
+        )
 
         self.logger.info(
             f"Starting localization mission with ISAR Mission ID: '{mission.id}'"
@@ -284,7 +293,9 @@ def start_move_arm_mission(
 
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
-        mission: Mission = Mission(tasks=[MoveArm(arm_pose=arm_pose_literal)])
+        mission: Mission = Mission(
+            name="Move arm mission", tasks=[MoveArm(arm_pose=arm_pose_literal)]
+        )
 
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
@@ -302,4 +313,11 @@ def _api_response(self, mission: Mission) -> StartMissionResponse:
         )
 
     def _task_api_response(self, task: TASKS) -> TaskResponse:
-        return TaskResponse(id=task.id, tag_id=task.tag_id, type=task.type)
+        if isinstance(task, InspectionTask):
+            inspection_id = task.inspection_id
+        else:
+            inspection_id = None
+
+        return TaskResponse(
+            id=task.id, tag_id=task.tag_id, inspection_id=inspection_id, type=task.type
+        )
diff --git a/src/isar/config/predefined_missions/default.json b/src/isar/config/predefined_missions/default.json
index fd1dd033..76672314 100644
--- a/src/isar/config/predefined_missions/default.json
+++ b/src/isar/config/predefined_missions/default.json
@@ -1,5 +1,6 @@
 {
   "id": "1",
+  "name": "Default mission",
   "tasks": [
     {
       "type": "take_image",
@@ -8,22 +9,22 @@
           "x": -2,
           "y": -2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -33,22 +34,22 @@
           "x": -2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -58,16 +59,16 @@
           "x": 2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       }
     }
   ]
diff --git a/src/isar/config/predefined_missions/default_turtlebot.json b/src/isar/config/predefined_missions/default_turtlebot.json
index 080d8f98..c2005784 100644
--- a/src/isar/config/predefined_missions/default_turtlebot.json
+++ b/src/isar/config/predefined_missions/default_turtlebot.json
@@ -1,5 +1,6 @@
 {
   "id": "2",
+  "name": "Default mission Turtlebot",
   "tasks": [
     {
       "type": "take_image",
@@ -8,22 +9,22 @@
           "x": -3.6,
           "y": 4,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": -0.7286672256879113,
           "w": -0.6848660759820616,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": -4.7,
         "y": 4.9,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
 
@@ -34,22 +35,22 @@
           "x": 4.7,
           "y": 3,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.5769585,
           "w": 0.8167734,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 5.6,
         "y": 5.2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -59,22 +60,22 @@
           "x": 4.7,
           "y": 3,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.5769585,
           "w": 0.8167734,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 3.1,
         "y": 5.2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -84,22 +85,22 @@
           "x": 0.95,
           "y": 2.6,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": -0.6992469,
           "w": 0.7148802,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 1.9,
         "y": 1.9,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     }
   ]
diff --git a/src/isar/mission_planner/local_planner.py b/src/isar/mission_planner/local_planner.py
index 7af96df0..dd4c119e 100644
--- a/src/isar/mission_planner/local_planner.py
+++ b/src/isar/mission_planner/local_planner.py
@@ -1,8 +1,7 @@
+import json
 import logging
 from pathlib import Path
-from typing import List, Optional
 
-from alitra import Frame
 from injector import inject
 
 from isar.config.settings import settings
@@ -11,10 +10,8 @@
     MissionPlannerError,
     MissionPlannerInterface,
 )
-from isar.services.readers.base_reader import BaseReader, BaseReaderError
 from robot_interface.models.mission.mission import Mission
 
-
 logger = logging.getLogger("api")
 
 
@@ -39,16 +36,10 @@ def get_mission(self, mission_id) -> Mission:
 
     @staticmethod
     def read_mission_from_file(mission_path: Path) -> Mission:
-        mission_dict: dict = BaseReader.read_json(location=mission_path)
-
-        mission: Mission = BaseReader.dict_to_dataclass(
-            dataclass_dict=mission_dict,
-            target_dataclass=Mission,
-            cast_config=[Frame],
-            strict_config=True,
-        )
+        with open(mission_path) as json_file:
+            mission_dict = json.load(json_file)
 
-        return mission
+        return Mission(**mission_dict)
 
     def get_predefined_missions(self) -> dict:
         missions: dict = {}
@@ -57,13 +48,8 @@ def get_predefined_missions(self) -> dict:
         for file in json_files:
             mission_name = file.stem
             path_to_file = self.predefined_mission_folder.joinpath(file.name)
-            try:
-                mission: Mission = self.read_mission_from_file(path_to_file)
-            except BaseReaderError as e:
-                logger.warning(
-                    f"Failed to read predefined mission {path_to_file} \n {e}"
-                )
-                continue
+
+            mission: Mission = self.read_mission_from_file(path_to_file)
             if mission.id in invalid_mission_ids:
                 logger.warning(
                     f"Duplicate mission id {mission.id} : {path_to_file.as_posix()}"
diff --git a/src/isar/mission_planner/mission_planner_interface.py b/src/isar/mission_planner/mission_planner_interface.py
index 76ccebc4..bcd0327e 100644
--- a/src/isar/mission_planner/mission_planner_interface.py
+++ b/src/isar/mission_planner/mission_planner_interface.py
@@ -9,7 +9,7 @@ def get_mission(self, mission_id: str) -> Mission:
         """
         Parameters
         ----------
-        mission_id : int
+        mission_id : str
 
         Returns
         -------
diff --git a/src/isar/script.py b/src/isar/script.py
index 534d4502..a1e2f85a 100644
--- a/src/isar/script.py
+++ b/src/isar/script.py
@@ -82,7 +82,7 @@ def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
     print()
 
 
-def start():
+def start() -> None:
     injector: Injector = get_injector()
 
     keyvault_client = injector.get(Keyvault)
diff --git a/src/isar/services/readers/base_reader.py b/src/isar/services/readers/base_reader.py
deleted file mode 100644
index 92a4b495..00000000
--- a/src/isar/services/readers/base_reader.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import json
-import logging
-from dataclasses import is_dataclass
-from logging import Logger
-from pathlib import Path
-from typing import Any, Optional
-
-from dacite import Config, from_dict
-
-logger: Logger = logging.getLogger("api")
-
-
-class BaseReader:
-    @staticmethod
-    def read_json(location: Path) -> dict:
-        with open(location) as json_file:
-            return json.load(json_file)
-
-    @staticmethod
-    def dict_to_dataclass(
-        dataclass_dict: dict,
-        target_dataclass: Any,
-        cast_config: list = [],
-        strict_config: bool = False,
-    ) -> Optional[Any]:
-        if not is_dataclass(target_dataclass):
-            raise BaseReaderError("{target_dataclass} is not a dataclass")
-        generated_dataclass = from_dict(
-            data_class=target_dataclass,
-            data=dataclass_dict,
-            config=Config(cast=cast_config, strict=strict_config),
-        )
-        return generated_dataclass
-
-
-class BaseReaderError(Exception):
-    pass
diff --git a/src/isar/state_machine/state_machine.py b/src/isar/state_machine/state_machine.py
index 210aacd3..50106d32 100644
--- a/src/isar/state_machine/state_machine.py
+++ b/src/isar/state_machine/state_machine.py
@@ -412,7 +412,7 @@ def begin(self):
         Transitions into idle state.
 
         """
-        self.to_idle()
+        self.to_idle()  # type: ignore
 
     def iterate_current_task(self):
         if self.current_task.is_finished():
@@ -426,7 +426,7 @@ def iterate_current_task(self):
 
     def update_state(self):
         """Updates the current state of the state machine."""
-        self.current_state = States(self.state)
+        self.current_state = States(self.state)  # type: ignore
         self.send_state_status()
         self._log_state_transition(self.current_state)
         self.logger.info(f"State: {self.current_state}")
diff --git a/src/isar/state_machine/states/monitor.py b/src/isar/state_machine/states/monitor.py
index aa431a67..99da316f 100644
--- a/src/isar/state_machine/states/monitor.py
+++ b/src/isar/state_machine/states/monitor.py
@@ -13,11 +13,11 @@
 )
 from robot_interface.models.exceptions.robot_exceptions import (
     ErrorMessage,
+    RobotCommunicationException,
     RobotCommunicationTimeoutException,
     RobotException,
     RobotRetrieveInspectionException,
     RobotTaskStatusException,
-    RobotCommunicationException,
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -173,6 +173,12 @@ def _queue_inspections_for_upload(
             inspection: Inspection = self.state_machine.robot.get_inspection(
                 task=current_task
             )
+            if current_task.inspection_id == inspection.id:
+                self.logger.warning(
+                    f"The inspection_id of task ({current_task.inspection_id}) "
+                    f"and result ({inspection.id}) is not matching. "
+                    f"This may lead to confusions when accessing the inspection later"
+                )
 
         except (RobotRetrieveInspectionException, RobotException) as e:
             self._set_error_message(e)
@@ -183,7 +189,7 @@ def _queue_inspections_for_upload(
 
         if not inspection:
             self.logger.warning(
-                f"No inspection data retrieved for task {str(current_task.id)[:8]}"
+                f"No inspection result data retrieved for task {str(current_task.id)[:8]}"
             )
 
         inspection.metadata.tag_id = current_task.tag_id
@@ -193,7 +199,9 @@ def _queue_inspections_for_upload(
             mission,
         )
         self.state_machine.queues.upload_queue.put(message)
-        self.logger.info(f"Inspection: {str(inspection.id)[:8]} queued for upload")
+        self.logger.info(
+            f"Inspection result: {str(inspection.id)[:8]} queued for upload"
+        )
 
     def _report_task_status(self, task: Task) -> None:
         self.request_status_failure_counter = 0
diff --git a/src/isar/storage/slimm_storage.py b/src/isar/storage/slimm_storage.py
index 8026e44e..c674e007 100644
--- a/src/isar/storage/slimm_storage.py
+++ b/src/isar/storage/slimm_storage.py
@@ -71,7 +71,10 @@ def _store_video(
         return inspection_path
 
     def _ingest(
-        self, inspection: Inspection, multiform_body: MultipartEncoder, request_url: str
+        self,
+        inspection: Inspection,
+        multiform_body: MultipartEncoder,
+        request_url: str,
     ) -> str:
         token: str = self.credentials.get_token(self.request_scope).token
         try:
diff --git a/src/isar/storage/utilities.py b/src/isar/storage/utilities.py
index 1e060081..ce3d8dc9 100644
--- a/src/isar/storage/utilities.py
+++ b/src/isar/storage/utilities.py
@@ -34,10 +34,11 @@ def construct_metadata_file(
         "plant_code": settings.PLANT_CODE,
         "media_orientation_reference_system": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
         "additional_meta": {
+            "inspection_id": inspection.id,
             "mission_id": mission.id,
             "mission_name": mission.name,
-            "plant_name": settings.PLANT_NAME,
             "mission_date": datetime.now(timezone.utc).date(),
+            "plant_name": settings.PLANT_NAME,
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "analysis_type": (
@@ -69,9 +70,7 @@ def construct_metadata_file(
     return json.dumps(data, cls=EnhancedJSONEncoder, indent=4).encode()
 
 
-def get_filename(
-    inspection: Inspection,
-) -> str:
+def get_filename(inspection: Inspection) -> str:
     inspection_type: str = type(inspection).__name__
     tag: str = inspection.metadata.tag_id if inspection.metadata.tag_id else "no-tag"
     epoch_time: int = int(time.time())
diff --git a/src/robot_interface/models/inspection/inspection.py b/src/robot_interface/models/inspection/inspection.py
index 9ada0372..b12924d9 100644
--- a/src/robot_interface/models/inspection/inspection.py
+++ b/src/robot_interface/models/inspection/inspection.py
@@ -4,8 +4,7 @@
 from typing import Optional, Type
 
 from alitra import Pose
-
-from robot_interface.utilities.uuid_string_factory import uuid4_string
+from pydantic import BaseModel, Field
 
 
 @dataclass
@@ -43,18 +42,16 @@ class AudioMetadata(InspectionMetadata):
     duration: Optional[float] = field(default=None)
 
 
-@dataclass
-class Inspection:
+class Inspection(BaseModel):
     metadata: InspectionMetadata
-    id: str = field(default_factory=uuid4_string, init=True)
-    data: Optional[bytes] = field(default=None, init=False)
+    id: str = Field(frozen=True)
+    data: Optional[bytes] = Field(default=None, frozen=True)
 
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return InspectionMetadata
 
 
-@dataclass
 class Image(Inspection):
     metadata: ImageMetadata
 
@@ -63,7 +60,6 @@ def get_metadata_type() -> Type[InspectionMetadata]:
         return ImageMetadata
 
 
-@dataclass
 class ThermalImage(Inspection):
     metadata: ThermalImageMetadata
 
@@ -72,7 +68,6 @@ def get_metadata_type() -> Type[InspectionMetadata]:
         return ThermalImageMetadata
 
 
-@dataclass
 class Video(Inspection):
     metadata: VideoMetadata
 
@@ -81,7 +76,6 @@ def get_metadata_type() -> Type[InspectionMetadata]:
         return VideoMetadata
 
 
-@dataclass
 class ThermalVideo(Inspection):
     metadata: ThermalVideoMetadata
 
@@ -90,7 +84,6 @@ def get_metadata_type() -> Type[InspectionMetadata]:
         return ThermalVideoMetadata
 
 
-@dataclass
 class Audio(Inspection):
     metadata: AudioMetadata
 
diff --git a/src/robot_interface/models/mission/mission.py b/src/robot_interface/models/mission/mission.py
index 4fb03a49..757ee9e4 100644
--- a/src/robot_interface/models/mission/mission.py
+++ b/src/robot_interface/models/mission/mission.py
@@ -1,7 +1,7 @@
-from dataclasses import dataclass, field
 from typing import List, Optional
 
 from alitra import Pose
+from pydantic import BaseModel, Field
 
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.status import MissionStatus
@@ -9,20 +9,12 @@
 from robot_interface.utilities.uuid_string_factory import uuid4_string
 
 
-@dataclass
-class Mission:
-    tasks: List[TASKS]
-    id: str = field(default_factory=uuid4_string, init=True)
-    name: str = ""
-    start_pose: Optional[Pose] = None
-    dock: Optional[bool] = None
-    undock: Optional[bool] = None
+class Mission(BaseModel):
+    id: str = Field(default_factory=uuid4_string, frozen=True)
+    tasks: List[TASKS] = Field(default_factory=list, frozen=True)
+    name: str = Field(frozen=True)
+    start_pose: Optional[Pose] = Field(default=None, frozen=True)
+    dock: bool = Field(default=False, frozen=True)
+    undock: bool = Field(default=False, frozen=True)
     status: MissionStatus = MissionStatus.NotStarted
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-
-    def _set_unique_id(self) -> None:
-        self.id: str = uuid4_string()
-
-    def __post_init__(self) -> None:
-        if self.id is None:
-            self._set_unique_id()
+    error_message: Optional[ErrorMessage] = Field(default=None)
diff --git a/src/robot_interface/models/mission/task.py b/src/robot_interface/models/mission/task.py
index 60e86552..27c85981 100644
--- a/src/robot_interface/models/mission/task.py
+++ b/src/robot_interface/models/mission/task.py
@@ -1,8 +1,8 @@
-from dataclasses import dataclass, field
 from enum import Enum
 from typing import Literal, Optional, Type, Union
 
 from alitra import Pose, Position
+from pydantic import BaseModel, Field
 
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.inspection import (
@@ -29,18 +29,16 @@ class TaskTypes(str, Enum):
     DockingProcedure = "docking_procedure"
 
 
-@dataclass
-class ZoomDescription:
+class ZoomDescription(BaseModel):
     objectWidth: float
     objectHeight: float
 
 
-@dataclass
-class Task:
-    status: TaskStatus = field(default=TaskStatus.NotStarted, init=False)
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-    tag_id: Optional[str] = field(default=None)
-    id: str = field(default_factory=uuid4_string, init=True)
+class Task(BaseModel):
+    status: TaskStatus = Field(default=TaskStatus.NotStarted)
+    error_message: Optional[ErrorMessage] = Field(default=None)
+    tag_id: Optional[str] = Field(default=None)
+    id: str = Field(default_factory=uuid4_string)
 
     def is_finished(self) -> bool:
         if (
@@ -56,69 +54,63 @@ def update_task_status(self) -> TaskStatus:
         return self.status
 
 
-@dataclass
 class InspectionTask(Task):
     """
     Base class for all inspection tasks which produce results to be uploaded.
     """
 
-    inspection: Inspection = field(default=None, init=True)
-    robot_pose: Pose = field(default=None, init=True)
-    metadata: Optional[dict] = field(default_factory=dict, init=True)
-    zoom: Optional[ZoomDescription] = field(default=None)
+    inspection_id: str = Field(default_factory=uuid4_string)
+    robot_pose: Pose = Field(default=None, init=True)
+    metadata: Optional[dict] = Field(default_factory=dict)
+    zoom: Optional[ZoomDescription] = Field(default=None)
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]:
         return Inspection
 
 
-@dataclass
 class DockingProcedure(Task):
     """
     Task which causes the robot to dock or undock
     """
 
-    behavior: Literal["dock", "undock"] = field(default=None, init=True)
+    behavior: Literal["dock", "undock"] = Field(default=None)
     type: Literal[TaskTypes.DockingProcedure] = TaskTypes.DockingProcedure
 
 
-@dataclass
 class ReturnToHome(Task):
     """
     Task which cases the robot to return home
     """
 
-    pose: Pose = field(default=None, init=True)
+    pose: Pose = Field(default=None)
     type: Literal[TaskTypes.ReturnToHome] = TaskTypes.ReturnToHome
 
 
-@dataclass
 class Localize(Task):
     """
     Task which causes the robot to localize
     """
 
-    localization_pose: Pose = field(default=None, init=True)
+    localization_pose: Pose = Field(default=None)
     type: Literal[TaskTypes.Localize] = TaskTypes.Localize
 
 
-@dataclass
 class MoveArm(Task):
     """
     Task which causes the robot to move its arm
     """
 
-    arm_pose: str = field(default=None, init=True)
+    arm_pose: str = Field(default=None)
     type: Literal[TaskTypes.MoveArm] = TaskTypes.MoveArm
 
 
-@dataclass
 class TakeImage(InspectionTask):
     """
-    Task which causes the robot to take an image towards the given coordinate.
+    Task which causes the robot to take an image towards the given target.
     """
 
-    target: Position = field(default=None, init=True)
+    target: Position = Field(default=None)
     type: Literal[TaskTypes.TakeImage] = TaskTypes.TakeImage
 
     @staticmethod
@@ -126,13 +118,12 @@ def get_inspection_type() -> Type[Inspection]:
         return Image
 
 
-@dataclass
 class TakeThermalImage(InspectionTask):
     """
-    Task which causes the robot to take a thermal image towards the given coordinate.
+    Task which causes the robot to take a thermal image towards the given target.
     """
 
-    target: Position = field(default=None, init=True)
+    target: Position = Field(default=None)
     type: Literal[TaskTypes.TakeThermalImage] = TaskTypes.TakeThermalImage
 
     @staticmethod
@@ -140,16 +131,15 @@ def get_inspection_type() -> Type[Inspection]:
         return ThermalImage
 
 
-@dataclass
 class TakeVideo(InspectionTask):
     """
-    Task which causes the robot to take a video towards the given coordinate.
+    Task which causes the robot to take a video towards the given target.
 
     Duration of video is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.TakeVideo] = TaskTypes.TakeVideo
 
     @staticmethod
@@ -157,16 +147,15 @@ def get_inspection_type() -> Type[Inspection]:
         return Video
 
 
-@dataclass
 class TakeThermalVideo(InspectionTask):
     """
-    Task which causes the robot to record thermal video towards the given coordinate
+    Task which causes the robot to record thermal video towards the given target
 
     Duration of video is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.TakeThermalVideo] = TaskTypes.TakeThermalVideo
 
     @staticmethod
@@ -174,7 +163,6 @@ def get_inspection_type() -> Type[Inspection]:
         return ThermalVideo
 
 
-@dataclass
 class RecordAudio(InspectionTask):
     """
     Task which causes the robot to record a video at its position, facing the target.
@@ -182,8 +170,8 @@ class RecordAudio(InspectionTask):
     Duration of audio is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.RecordAudio] = TaskTypes.RecordAudio
 
     @staticmethod
diff --git a/src/robot_interface/robot_interface.py b/src/robot_interface/robot_interface.py
index c6ce8e98..5a2c3fa2 100644
--- a/src/robot_interface/robot_interface.py
+++ b/src/robot_interface/robot_interface.py
@@ -3,12 +3,12 @@
 from threading import Thread
 from typing import Callable, List, Optional
 
-from robot_interface.models.robots.media import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import RobotStatus, TaskStatus
 from robot_interface.models.mission.task import InspectionTask, Task
+from robot_interface.models.robots.media import MediaConfig
 
 
 class RobotInterface(metaclass=ABCMeta):
@@ -166,8 +166,10 @@ def get_inspection(self, task: InspectionTask) -> Inspection:
 
         Returns
         -------
-        Sequence[InspectionResult]
-            List containing all the inspection results connected to the given task
+        Sequence[Inspection]
+            List containing all the inspection connected to the given task.
+            get_inspection has responsibility to assign the inspection_id of the task
+            to the inspection that it returns.
 
         Raises
         ------
diff --git a/tests/integration/turtlebot/test_successful_mission.py b/tests/integration/turtlebot/test_successful_mission.py
index 89e340f5..f9fbeae1 100644
--- a/tests/integration/turtlebot/test_successful_mission.py
+++ b/tests/integration/turtlebot/test_successful_mission.py
@@ -1,3 +1,4 @@
+import json
 import shutil
 import time
 from copy import deepcopy
@@ -25,7 +26,6 @@
     StateMachineModule,
     SchedulingUtilitiesModule,
 )
-from isar.services.readers.base_reader import BaseReader
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import ReturnToHome
@@ -118,7 +118,8 @@ def test_successful_mission(
 
     paths = mission_result_folder.rglob("*.json")
     for path in paths:
-        metadata: dict = BaseReader.read_json(path)
+        with open(path) as json_file:
+            metadata = json.load(json_file)
         files_metadata: dict = metadata["data"][0]["files"][0]
         filename: str = files_metadata["file_name"]
         inspection_file: Path = mission_result_folder.joinpath(filename)
diff --git a/src/isar/services/readers/__init__.py b/tests/isar/apis/models/__init__.py
similarity index 100%
rename from src/isar/services/readers/__init__.py
rename to tests/isar/apis/models/__init__.py
diff --git a/tests/isar/models/example_mission_definition.json b/tests/isar/apis/models/example_mission_definition.json
similarity index 100%
rename from tests/isar/models/example_mission_definition.json
rename to tests/isar/apis/models/example_mission_definition.json
diff --git a/tests/isar/apis/models/test_start_mission_definition.py b/tests/isar/apis/models/test_start_mission_definition.py
new file mode 100644
index 00000000..f4377293
--- /dev/null
+++ b/tests/isar/apis/models/test_start_mission_definition.py
@@ -0,0 +1,81 @@
+import json
+import os
+
+from alitra import Frame, Orientation, Pose, Position
+
+from isar.apis.models.models import InputOrientation, InputPose, InputPosition
+from isar.apis.models.start_mission_definition import (
+    InspectionTypes,
+    StartMissionDefinition,
+    StartMissionInspectionDefinition,
+    StartMissionTaskDefinition,
+    TaskType,
+    to_isar_mission,
+)
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.task import TakeImage
+
+
+def test_to_isar_mission() -> None:
+    DUMMY_MISSION_NAME = "mission_name"
+
+    inspection_definition = StartMissionInspectionDefinition(
+        type=InspectionTypes.image,
+        inspection_target=InputPosition(x=1, y=1, z=1),
+    )
+    task_pose = InputPose(
+        position=InputPosition(x=1, y=1, z=1),
+        orientation=InputOrientation(x=1, y=1, z=1, w=1),
+    )
+    task_definition = StartMissionTaskDefinition(
+        type=TaskType.Inspection,
+        pose=task_pose,
+        inspection=inspection_definition,
+    )
+    mission_definition = StartMissionDefinition(
+        tasks=[task_definition], name=DUMMY_MISSION_NAME
+    )
+
+    isar_mission: Mission = to_isar_mission(mission_definition)
+
+    assert len(isar_mission.id) > 1
+    assert isar_mission.name == DUMMY_MISSION_NAME
+    assert len(isar_mission.tasks) == 1
+
+    first_task = isar_mission.tasks[0]
+    assert len(first_task.id) > 1
+
+    assert isinstance(first_task, TakeImage)
+
+    assert first_task.target == Position(x=1, y=1, z=1, frame=Frame(name="robot"))
+    assert len(first_task.inspection_id) > 1
+    assert first_task.robot_pose == Pose(
+        position=Position(x=1, y=1, z=1, frame=Frame(name="robot")),
+        orientation=Orientation(x=1, y=1, z=1, w=1, frame=Frame(name="robot")),
+        frame=Frame(name="robot"),
+    )
+
+
+def test_mission_definition_from_json_to_isar_mission() -> None:
+    dirname = os.path.dirname(__file__)
+    filepath = os.path.join(dirname, "example_mission_definition.json")
+
+    with open(filepath) as f:
+        datax = json.load(f)
+        mission_definition = StartMissionDefinition(**datax)
+
+    isar_mission: Mission = to_isar_mission(mission_definition)
+    assert len(isar_mission.id) > 1
+    assert isar_mission.name == "my-mission"
+
+    assert len(isar_mission.tasks) == 1
+    task = isar_mission.tasks[0]
+    assert len(task.id) > 1
+    assert isinstance(task, TakeImage)
+    assert task.robot_pose == Pose(
+        position=Position(0.0, 0.0, 0.0, frame=Frame("robot")),
+        orientation=Orientation(0.0, 0.0, 0.0, 0.0, frame=Frame("robot")),
+        frame=Frame("robot"),
+    )
+    assert task.type == "take_image"
+    assert task.target == Position(0.0, 0.0, 0.0, frame=Frame("robot"))
diff --git a/tests/isar/apis/scheduler/test_scheduler_router.py b/tests/isar/apis/scheduler/test_scheduler_router.py
index ff0a3280..0b1c7cad 100644
--- a/tests/isar/apis/scheduler/test_scheduler_router.py
+++ b/tests/isar/apis/scheduler/test_scheduler_router.py
@@ -1,7 +1,6 @@
 import json
 import re
 from http import HTTPStatus
-from typing import List
 from unittest import mock
 
 import pytest
@@ -15,7 +14,6 @@
 from isar.models.communication.queues.queue_timeout_error import QueueTimeoutError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
-from robot_interface.models.mission.task import TaskTypes
 from tests.mocks.mission_definition import MockMissionDefinition
 
 mock_mission = MockMissionDefinition.default_mission
@@ -104,12 +102,6 @@ class TestStartMission:
     schedule_start_mission_path = "/schedule/start-mission"
     mock_start_mission_definition = MockMissionDefinition.mock_start_mission_definition
     mock_start_mission_content = {"mission_definition": mock_start_mission_definition}
-    mock_start_mission_with_task_ids_content = {
-        "mission_definition": MockMissionDefinition.mock_start_mission_definition_task_ids
-    }
-    mock_start_mission_duplicate_task_ids_content = {
-        "mission_definition": MockMissionDefinition.mock_start_mission_definition_with_duplicate_task_ids
-    }
 
     @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
     @mock.patch.object(SchedulingUtilities, "start_mission", mock_void)
@@ -157,58 +149,6 @@ def test_robot_not_capable(self, client: TestClient):
         assert re.search("return_to_home", response_detail)
         assert re.search("take_image", response_detail)
 
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(SchedulingUtilities, "start_mission", mock_void)
-    def test_mission_with_input_task_ids(self, client: TestClient):
-        expected_ids: List[str] = []
-        for task in self.mock_start_mission_with_task_ids_content[
-            "mission_definition"
-        ].tasks:
-            if task.id:
-                expected_ids.append(task.id)
-
-        response = client.post(
-            url=self.schedule_start_mission_path,
-            json=jsonable_encoder(self.mock_start_mission_with_task_ids_content),
-        )
-        assert response.status_code == HTTPStatus.OK
-        start_mission_response: dict = response.json()
-        for task in start_mission_response["tasks"]:
-            assert task["id"] in expected_ids
-
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(SchedulingUtilities, "start_mission", mock_void)
-    def test_mission_with_input_inspection_task_ids(self, client: TestClient):
-        expected_inspection_ids: List[str] = []
-        for task in self.mock_start_mission_with_task_ids_content[
-            "mission_definition"
-        ].tasks:
-            expected_inspection_ids.append(task.inspection.id)
-
-        response = client.post(
-            url=self.schedule_start_mission_path,
-            json=jsonable_encoder(self.mock_start_mission_with_task_ids_content),
-        )
-        assert response.status_code == HTTPStatus.OK
-        start_mission_response: dict = response.json()
-        for task in start_mission_response["tasks"]:
-            if (
-                task["type"] == TaskTypes.ReturnToHome == False
-                and task["type"] == TaskTypes.Localize == False
-                and task["type"] == TaskTypes.DockingProcedure == False
-                and task["type"] == TaskTypes.MoveArm == False
-            ):
-                assert task["id"] in expected_inspection_ids
-
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(SchedulingUtilities, "start_mission", mock_void)
-    def test_mission_with_duplicate_task_ids(self, client: TestClient):
-        response = client.post(
-            url=self.schedule_start_mission_path,
-            json=jsonable_encoder(self.mock_start_mission_duplicate_task_ids_content),
-        )
-        assert response.status_code == HTTPStatus.BAD_REQUEST
-
 
 class TestPauseMission:
     schedule_pause_mission_path = "/schedule/pause-mission"
diff --git a/tests/isar/mission/test_mission.py b/tests/isar/mission/test_mission.py
index 9bf6bccd..33a112cd 100644
--- a/tests/isar/mission/test_mission.py
+++ b/tests/isar/mission/test_mission.py
@@ -1,12 +1,11 @@
 from alitra import Frame, Orientation, Pose, Position
 
-from isar.services.readers.base_reader import BaseReader
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import (
     TASKS,
+    ReturnToHome,
     TakeImage,
     TakeThermalImage,
-    ReturnToHome,
 )
 
 robot_pose_1 = Pose(
@@ -46,11 +45,13 @@
 
 expected_mission = Mission(
     id="1",
+    name="Test mission",
     tasks=[task_take_image, task_take_thermal_image, task_return_to_home],
 )
 
 example_mission_dict = {
     "id": "1",
+    "name": "Test mission",
     "tasks": [
         {
             "type": "take_image",
@@ -116,12 +117,9 @@
 
 
 def test_mission_definition() -> None:
-    loaded_mission: Mission = BaseReader.dict_to_dataclass(
-        dataclass_dict=example_mission_dict,
-        target_dataclass=Mission,
-        strict_config=False,
-    )
+    loaded_mission: Mission = Mission(**example_mission_dict)
 
+    assert loaded_mission.id == expected_mission.id
     assert loaded_mission.id == expected_mission.id
     assert loaded_mission.status == expected_mission.status
 
diff --git a/tests/isar/models/test_start_mission_definition.py b/tests/isar/models/test_start_mission_definition.py
deleted file mode 100644
index dee0e983..00000000
--- a/tests/isar/models/test_start_mission_definition.py
+++ /dev/null
@@ -1,63 +0,0 @@
-import json
-import os
-from typing import List
-
-import pytest
-from alitra import Frame, Orientation, Pose, Position
-
-from isar.apis.models.start_mission_definition import (
-    StartMissionDefinition,
-    get_duplicate_ids,
-    to_isar_mission,
-)
-from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import TASKS, Task
-
-task_1: Task = Task(tag_id=None, id="123")
-task_2: Task = Task(tag_id=None, id="123")
-task_3: Task = Task(tag_id=None, id="123456")
-task_4: Task = Task()
-task_5: Task = Task()
-
-
-@pytest.mark.parametrize(
-    "item_list, expected_boolean",
-    [
-        (
-            [task_1, task_2, task_3],
-            True,
-        ),
-        (
-            [task_1, task_3, task_4, task_5],
-            False,
-        ),
-    ],
-)
-def test_duplicate_id_check(item_list: List[TASKS], expected_boolean: bool):
-    duplicates: List[str] = get_duplicate_ids(item_list)
-    has_duplicates: bool = len(duplicates) > 0
-    assert has_duplicates == expected_boolean
-
-
-def test_mission_definition_to_isar_mission():
-    dirname = os.path.dirname(__file__)
-    filepath = os.path.join(dirname, "example_mission_definition.json")
-
-    with open(filepath) as f:
-        datax = json.load(f)
-        mission_definition = StartMissionDefinition(**datax)
-
-    generated_mission: Mission = to_isar_mission(mission_definition)
-    assert generated_mission.id == "generated_mission_id"
-    assert generated_mission.name == "my-mission"
-    assert len(generated_mission.tasks) == 1
-
-    task = generated_mission.tasks[0]
-    assert task.id == "generated_task_id"
-    assert task.robot_pose == Pose(
-        position=Position(0.0, 0.0, 0.0, frame=Frame("robot")),
-        orientation=Orientation(0.0, 0.0, 0.0, 0.0, frame=Frame("robot")),
-        frame=Frame("robot"),
-    )
-    assert task.type == "take_image"
-    assert task.target == Position(0.0, 0.0, 0.0, frame=Frame("robot"))
diff --git a/tests/isar/services/readers/test_base_reader.py b/tests/isar/services/readers/test_base_reader.py
deleted file mode 100644
index b694a4b0..00000000
--- a/tests/isar/services/readers/test_base_reader.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from dataclasses import asdict
-from typing import Any
-
-import pytest
-from alitra import Pose
-
-from isar.services.readers.base_reader import BaseReader
-from robot_interface.models.mission.task import ReturnToHome, TakeImage
-from tests.mocks.pose import MockPose
-from tests.mocks.task import MockTask
-
-
-class TestBaseReader:
-    @pytest.mark.parametrize(
-        "dataclass_dict, expected_dataclass",
-        [
-            (asdict(MockTask.return_home()), ReturnToHome),
-            (asdict(MockPose.default_pose()), Pose),
-        ],
-    )
-    def test_dict_to_dataclass(self, dataclass_dict: dict, expected_dataclass: Any):
-        content = BaseReader.dict_to_dataclass(dataclass_dict, expected_dataclass)
-        assert type(content) is expected_dataclass
diff --git a/tests/isar/services/readers/test_mission_reader.py b/tests/isar/services/readers/test_mission_reader.py
index 80c88376..618688da 100644
--- a/tests/isar/services/readers/test_mission_reader.py
+++ b/tests/isar/services/readers/test_mission_reader.py
@@ -1,10 +1,11 @@
 from pathlib import Path
-from typing import List, Union
+from typing import List
 
 import pytest
 from alitra import Frame, Orientation, Pose, Position
 
 from isar.config.settings import settings
+from isar.mission_planner.local_planner import LocalPlanner
 from isar.mission_planner.mission_planner_interface import MissionNotFoundError
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import (
@@ -13,22 +14,21 @@
     TakeImage,
     TakeThermalImage,
 )
-from robot_interface.models.mission.task import Task
 
 
-@pytest.mark.parametrize(
-    "mission_path",
-    [
-        Path("./tests/test_data/test_mission_working_no_tasks.json"),
-        Path("./tests/test_data/test_mission_working.json"),
-    ],
-)
-def test_get_mission(mission_reader, mission_path) -> None:
-    output: Mission = mission_reader.read_mission_from_file(mission_path)
-    assert isinstance(output, Mission)
+def test_get_working_mission(mission_reader: LocalPlanner) -> None:
+    mission_path = Path("./tests/test_data/test_mission_working.json")
+    mission: Mission = mission_reader.read_mission_from_file(mission_path)
+    assert isinstance(mission, Mission)
+
+
+def test_get_mission_with_no_tasks(mission_reader: LocalPlanner) -> None:
+    mission_path = Path("./tests/test_data/test_mission_working_no_tasks.json")
+    mission: Mission = mission_reader.read_mission_from_file(mission_path)
+    assert isinstance(mission, Mission)
 
 
-def test_read_mission_from_file(mission_reader) -> None:
+def test_read_mission_from_file(mission_reader: LocalPlanner) -> None:
     expected_robot_pose_1 = Pose(
         position=Position(-2, -2, 0, Frame("asset")),
         orientation=Orientation(0, 0, 0.4794255, 0.8775826, Frame("asset")),
@@ -41,7 +41,7 @@ def test_read_mission_from_file(mission_reader) -> None:
         orientation=Orientation(0, 0, 0.4794255, 0.8775826, Frame("asset")),
         frame=Frame("asset"),
     )
-    expected_inspection_target_1 = Position(2, 2, 0, Frame("robot"))
+    expected_inspection_target_1 = Position(2, 2, 0, Frame("asset"))
     task_2: TakeImage = TakeImage(
         target=expected_inspection_target_1, robot_pose=expected_robot_pose_2
     )
@@ -51,7 +51,7 @@ def test_read_mission_from_file(mission_reader) -> None:
         orientation=Orientation(0, 0, 0.4794255, 0.8775826, Frame("asset")),
         frame=Frame("asset"),
     )
-    expected_inspection_target_2 = Position(2, 2, 0, Frame("robot"))
+    expected_inspection_target_2 = Position(2, 2, 0, Frame("asset"))
     task_3: TakeImage = TakeImage(
         target=expected_inspection_target_2, robot_pose=expected_robot_pose_3
     )
@@ -88,22 +88,22 @@ def test_read_mission_from_file(mission_reader) -> None:
         (Path("./tests/test_data/test_mission_not_working.json")),
     ],
 )
-def test_get_invalid_mission(mission_reader, mission_path) -> None:
+def test_get_invalid_mission(mission_reader: LocalPlanner, mission_path) -> None:
     with pytest.raises(Exception):
         mission_reader.read_mission_from_file(mission_path)
 
 
-def test_get_mission_by_id(mission_reader) -> None:
+def test_get_mission_by_id(mission_reader: LocalPlanner) -> None:
     output = mission_reader.get_mission("1")
     assert isinstance(output, Mission)
 
 
-def test_get_mission_by_invalid_id(mission_reader) -> None:
+def test_get_mission_by_invalid_id(mission_reader: LocalPlanner) -> None:
     with pytest.raises(MissionNotFoundError):
         mission_reader.get_mission("12345")
 
 
-def test_valid_predefined_missions_files(mission_reader) -> None:
+def test_valid_predefined_missions_files(mission_reader: LocalPlanner) -> None:
     # Checks that the predefined mission folder contains only valid missions!
     mission_list_dict = mission_reader.get_predefined_missions()
     predefined_mission_folder = Path(settings.PREDEFINED_MISSIONS_FOLDER)
@@ -116,7 +116,7 @@ def test_valid_predefined_missions_files(mission_reader) -> None:
         assert mission is not None
 
 
-def test_thermal_image_task(mission_reader) -> None:
+def test_thermal_image_task(mission_reader: LocalPlanner) -> None:
     mission_path: Path = Path("./tests/test_data/test_thermal_image_mission.json")
     output: Mission = mission_reader.read_mission_from_file(mission_path)
 
diff --git a/tests/isar/services/utilities/test_queue_utilities.py b/tests/isar/services/utilities/test_queue_utilities.py
index a35e34e6..0ca0c8b3 100644
--- a/tests/isar/services/utilities/test_queue_utilities.py
+++ b/tests/isar/services/utilities/test_queue_utilities.py
@@ -20,8 +20,8 @@ class TestQueueUtilities:
     )
     def test_check_queue_with_queue_size_one(
         self, message, queue_timeout, expected_message
-    ):
-        test_queue = Queue(maxsize=1)
+    ) -> None:
+        test_queue: Queue = Queue(maxsize=1)
         if message is not None:
             test_queue.put(message)
             message = QueueUtilities.check_queue(test_queue, queue_timeout)
@@ -30,8 +30,8 @@ def test_check_queue_with_queue_size_one(
             with pytest.raises(QueueTimeoutError):
                 QueueUtilities.check_queue(test_queue, queue_timeout)
 
-    def test_clear_queue(self):
-        test_queue = Queue(maxsize=2)
+    def test_clear_queue(self) -> None:
+        test_queue: Queue = Queue(maxsize=2)
         test_queue.put(1)
         test_queue.put(2)
         QueueUtilities.clear_queue(test_queue)
diff --git a/tests/isar/state_machine/states/test_monitor.py b/tests/isar/state_machine/states/test_monitor.py
index 1e1409ff..6e447950 100644
--- a/tests/isar/state_machine/states/test_monitor.py
+++ b/tests/isar/state_machine/states/test_monitor.py
@@ -2,7 +2,6 @@
 
 from isar.state_machine.states.monitor import Monitor
 from robot_interface.models.mission.mission import Mission
-
 from robot_interface.models.mission.status import MissionStatus, TaskStatus
 from robot_interface.models.mission.task import ReturnToHome, TakeImage
 from tests.mocks.task import MockTask
@@ -35,7 +34,7 @@ def test_should_only_upload_if_status_is_completed(
 ):
     task: TakeImage = MockTask.take_image()
     task.status = TaskStatus.Successful if is_status_successful else TaskStatus.Failed
-    mission: Mission = Mission(tasks=[task])
+    mission: Mission = Mission(name="Dummy misson", tasks=[task])
     mission.status = (
         MissionStatus.Successful if is_status_successful else MissionStatus.Failed
     )
diff --git a/tests/isar/state_machine/test_state_machine.py b/tests/isar/state_machine/test_state_machine.py
index b6f8ddb1..889aa8d2 100644
--- a/tests/isar/state_machine/test_state_machine.py
+++ b/tests/isar/state_machine/test_state_machine.py
@@ -89,7 +89,7 @@ def test_state_machine_transitions_when_running_mission_by_task(
         target=MockPose.default_pose().position, robot_pose=MockPose.default_pose()
     )
     task_2: Task = ReturnToHome(pose=MockPose.default_pose())
-    mission: Mission = Mission(tasks=[task_1, task_2])  # type: ignore
+    mission: Mission = Mission(name="Dummy misson", tasks=[task_1, task_2])
 
     state_machine_thread.state_machine.run_mission_by_task = True
     state_machine_thread.start()
@@ -122,7 +122,7 @@ def test_state_machine_transitions_when_running_full_mission(
         target=MockPose.default_pose().position, robot_pose=MockPose.default_pose()
     )
     task_2: Task = ReturnToHome(pose=MockPose.default_pose())
-    mission: Mission = Mission(tasks=[task_1, task_2])  # type: ignore
+    mission: Mission = Mission(name="Dummy misson", tasks=[task_1, task_2])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
@@ -147,7 +147,7 @@ def test_state_machine_failed_dependency(
         target=MockPose.default_pose().position, robot_pose=MockPose.default_pose()
     )
     task_2: Task = ReturnToHome(pose=MockPose.default_pose())
-    mission: Mission = Mission(tasks=[task_1, task_2])  # type: ignore
+    mission: Mission = Mission(name="Dummy misson", tasks=[task_1, task_2])
 
     mocker.patch.object(MockRobot, "task_status", return_value=TaskStatus.Failed)
 
@@ -180,7 +180,7 @@ def test_state_machine_with_successful_collection(
 
     storage_mock: StorageInterface = injector.get(List[StorageInterface])[0]
 
-    mission: Mission = Mission(tasks=[MockTask.take_image()])
+    mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
@@ -209,7 +209,7 @@ def test_state_machine_with_unsuccessful_collection(
 
     state_machine_thread.start()
 
-    mission: Mission = Mission(tasks=[MockTask.take_image()])
+    mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
@@ -236,7 +236,7 @@ def test_state_machine_with_successful_mission_stop(
 ) -> None:
     state_machine_thread.start()
 
-    mission: Mission = Mission(tasks=[MockTask.take_image()])
+    mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
@@ -253,7 +253,7 @@ def test_state_machine_with_unsuccessful_mission_stop(
     state_machine_thread: StateMachineThread,
     caplog: pytest.LogCaptureFixture,
 ) -> None:
-    mission: Mission = Mission(tasks=[MockTask.take_image()])
+    mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     mocker.patch.object(MockRobot, "task_status", return_value=TaskStatus.InProgress)
diff --git a/tests/isar/storage/test_uploader.py b/tests/isar/storage/test_uploader.py
index c02c0805..e3aaf3b9 100644
--- a/tests/isar/storage/test_uploader.py
+++ b/tests/isar/storage/test_uploader.py
@@ -11,6 +11,7 @@
 from isar.storage.uploader import Uploader
 from robot_interface.models.inspection.inspection import ImageMetadata, Inspection
 from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.task import TakeImage
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 
 MISSION_ID = "some-mission-id"
@@ -42,8 +43,13 @@ def uploader(injector) -> Uploader:
 
 
 def test_should_upload_from_queue(uploader) -> None:
-    mission: Mission = Mission([])
-    inspection: Inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA)
+    take_image_task = TakeImage()
+    mission: Mission = Mission(name="Dummy misson", tasks=[take_image_task])
+
+    assert isinstance(mission.tasks[0], TakeImage)
+    inspection = Inspection(
+        metadata=ARBITRARY_IMAGE_METADATA, id=mission.tasks[0].inspection_id
+    )
 
     message: Tuple[Inspection, Mission] = (
         inspection,
@@ -56,8 +62,9 @@ def test_should_upload_from_queue(uploader) -> None:
 
 
 def test_should_retry_failed_upload_from_queue(uploader) -> None:
-    mission: Mission = Mission([])
-    inspection: Inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA)
+    INSPECTION_ID = "123-456"
+    inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA, id=INSPECTION_ID)
+    mission: Mission = Mission(name="Dummy Mission")
 
     message: Tuple[Inspection, Mission] = (
         inspection,
diff --git a/tests/mocks/mission_definition.py b/tests/mocks/mission_definition.py
index 546b48ff..473346f4 100644
--- a/tests/mocks/mission_definition.py
+++ b/tests/mocks/mission_definition.py
@@ -28,6 +28,7 @@ class MockMissionDefinition:
     mock_task_return_home = MockTask.return_home()
     default_mission = Mission(
         id="default_mission",
+        name="Dummy misson",
         tasks=[
             mock_task_take_image,
             mock_task_return_home,
@@ -37,21 +38,10 @@ class MockMissionDefinition:
         type=InspectionTypes.image,
         inspection_target=mock_input_target_position,
     )
-    mock_start_mission_inspection_definition_id_123 = StartMissionInspectionDefinition(
-        type=InspectionTypes.image,
-        inspection_target=mock_input_target_position,
-        id="123",
-    )
-    mock_start_mission_inspection_definition_id_123456 = (
-        StartMissionInspectionDefinition(
-            type=InspectionTypes.image,
-            inspection_target=mock_input_target_position,
-            id="123456",
-        )
-    )
     mock_task_response_take_image = TaskResponse(
         id=mock_task_take_image.id,
         tag_id=mock_task_take_image.tag_id,
+        inspection_id=mock_task_take_image.inspection_id,
         type=mock_task_take_image.type,
     )
 
@@ -74,46 +64,21 @@ class MockMissionDefinition:
         ]
     )
     mock_start_mission_definition_task_ids = StartMissionDefinition(
-        tasks=[
-            StartMissionTaskDefinition(
-                pose=mock_input_pose,
-                tag="dummy_tag",
-                inspection=mock_start_mission_inspection_definition_id_123,
-                id="123",
-            ),
-            StartMissionTaskDefinition(
-                pose=mock_input_pose,
-                tag="dummy_tag",
-                inspection=mock_start_mission_inspection_definition,
-                id="123456",
-            ),
-            StartMissionTaskDefinition(
-                pose=mock_input_pose,
-                tag="dummy_tag",
-                inspection=mock_start_mission_inspection_definition,
-                id="123456789",
-            ),
-        ]
-    )
-    mock_start_mission_definition_with_duplicate_task_ids = StartMissionDefinition(
         tasks=[
             StartMissionTaskDefinition(
                 pose=mock_input_pose,
                 tag="dummy_tag",
                 inspection=mock_start_mission_inspection_definition,
-                id="123",
             ),
             StartMissionTaskDefinition(
                 pose=mock_input_pose,
                 tag="dummy_tag",
                 inspection=mock_start_mission_inspection_definition,
-                id="123456",
             ),
             StartMissionTaskDefinition(
                 pose=mock_input_pose,
                 tag="dummy_tag",
                 inspection=mock_start_mission_inspection_definition,
-                id="123",
             ),
         ]
     )
diff --git a/tests/mocks/robot_interface.py b/tests/mocks/robot_interface.py
index 5b995ad3..f5442f7b 100644
--- a/tests/mocks/robot_interface.py
+++ b/tests/mocks/robot_interface.py
@@ -1,13 +1,10 @@
-from dataclasses import field
 from datetime import datetime
 from queue import Queue
 from threading import Thread
-from typing import Callable, List, Sequence
+from typing import Callable, List
 
 from alitra import Frame, Orientation, Pose, Position
 
-from robot_interface.models.robots.media import MediaConnectionType
-from robot_interface.models.robots.media import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import (
     Image,
@@ -17,6 +14,7 @@
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import InspectionTask, Task
+from robot_interface.models.robots.media import MediaConfig, MediaConnectionType
 from robot_interface.robot_interface import RobotInterface
 
 
@@ -58,9 +56,11 @@ def resume(self) -> None:
         return
 
     def get_inspection(self, task: InspectionTask) -> Inspection:
-        image: Image = Image(mock_image_metadata())
-        image.data = b"Some binary image data"
-        return image
+        return Image(
+            metadata=mock_image_metadata(),
+            id=task.inspection_id,
+            data=b"Some binary image data",
+        )
 
     def generate_media_config(self) -> MediaConfig:
         return MediaConfig(
diff --git a/tests/mocks/task.py b/tests/mocks/task.py
index 5eca2f15..cb083b26 100644
--- a/tests/mocks/task.py
+++ b/tests/mocks/task.py
@@ -1,4 +1,4 @@
-from alitra import Frame, Position
+from alitra import Frame, Orientation, Pose, Position
 
 from robot_interface.models.mission.task import ReturnToHome, TakeImage
 from tests.mocks.pose import MockPose
@@ -12,5 +12,9 @@ def return_home() -> ReturnToHome:
     @staticmethod
     def take_image() -> TakeImage:
         target_pose = Position(x=1, y=1, z=1, frame=Frame("robot"))
-        robot_pose = Position(x=0, y=0, z=1, frame=Frame("robot"))
+        robot_pose = Pose(
+            position=Position(x=0, y=0, z=1, frame=Frame("robot")),
+            orientation=Orientation(x=0, y=0, z=0, w=1, frame=Frame("robot")),
+            frame=Frame("robot"),
+        )
         return TakeImage(target=target_pose, robot_pose=robot_pose)
diff --git a/tests/test_data/test_mission_working.json b/tests/test_data/test_mission_working.json
index 9c72258e..4699acbe 100644
--- a/tests/test_data/test_mission_working.json
+++ b/tests/test_data/test_mission_working.json
@@ -1,5 +1,6 @@
 {
   "id": "1",
+  "name": "Well defined mission",
   "tasks": [
     {
       "type": "return_to_home",
@@ -8,16 +9,16 @@
           "x": -2,
           "y": -2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -27,22 +28,22 @@
           "x": -2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -52,22 +53,22 @@
           "x": 2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -77,16 +78,16 @@
           "x": 0,
           "y": 0,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       }
     }
   ]
diff --git a/tests/test_data/test_mission_working_no_tasks.json b/tests/test_data/test_mission_working_no_tasks.json
index 87912ba1..3a371be6 100644
--- a/tests/test_data/test_mission_working_no_tasks.json
+++ b/tests/test_data/test_mission_working_no_tasks.json
@@ -1,4 +1,5 @@
 {
   "id": "41",
+  "name": "Empty mission",
   "tasks": []
 }
diff --git a/tests/test_data/test_thermal_image_mission.json b/tests/test_data/test_thermal_image_mission.json
index 56107918..865b4d3b 100644
--- a/tests/test_data/test_thermal_image_mission.json
+++ b/tests/test_data/test_thermal_image_mission.json
@@ -1,5 +1,6 @@
 {
   "id": "1",
+  "name": "Thermal image mission",
   "tasks": [
     {
       "type": "take_thermal_image",
@@ -7,23 +8,23 @@
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       },
       "robot_pose": {
         "position": {
           "x": -2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       }
     }
   ]