diff --git a/src/isar/script.py b/src/isar/script.py
index a1e2f85a..85f768bc 100644
--- a/src/isar/script.py
+++ b/src/isar/script.py
@@ -66,7 +66,7 @@ def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
     print_setting(fillchar="-")
     print_setting("Robot package", settings.ROBOT_PACKAGE)
     print_setting("Robot name", settings.ROBOT_NAME)
-    print_setting("Run mission stepwise", settings.RUN_MISSION_BY_TASK)
+    print_setting("Run mission taskwise", settings.RUN_MISSION_BY_TASK)
     print_setting("Running on port", settings.API_PORT)
     print_setting("Mission planner", settings.MISSION_PLANNER)
     print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
diff --git a/src/robot_interface/models/exceptions/robot_exceptions.py b/src/robot_interface/models/exceptions/robot_exceptions.py
index e2cc3e2b..64bda17c 100644
--- a/src/robot_interface/models/exceptions/robot_exceptions.py
+++ b/src/robot_interface/models/exceptions/robot_exceptions.py
@@ -6,7 +6,7 @@
 class ErrorReason(str, Enum):
     RobotCommunicationException: str = "robot_communication_exception"
     RobotCommunicationTimeoutException: str = "robot_communication_timeout_exception"
-    RobotInfeasibleTaskException: str = "robot_infeasible_step_exception"
+    RobotInfeasibleTaskException: str = "robot_infeasible_task_exception"
     RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
     RobotMissionStatusException: str = "robot_mission_status_exception"
     RobotTaskStatusException: str = "robot_task_status_exception"
diff --git a/tests/integration/turtlebot/config/missions/default.json b/tests/integration/turtlebot/config/missions/default.json
index 842e04ac..5e1c4bd2 100644
--- a/tests/integration/turtlebot/config/missions/default.json
+++ b/tests/integration/turtlebot/config/missions/default.json
@@ -2,103 +2,88 @@
     "id": "2",
     "tasks": [
         {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": -3.6,
-                            "y": 4,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": -0.7286672256879113,
-                            "w": -0.6848660759820616,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
+            "type": "drive_to_pose",
+            "pose": {
+                "position": {
+                    "x": -3.6,
+                    "y": 4,
+                    "z": 0,
+                    "frame": "asset"
                 },
-                {
-                    "type": "take_image",
-                    "target": {
-                        "x": -4.7,
-                        "y": 4.9,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
+                "orientation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": -0.7286672256879113,
+                    "w": -0.6848660759820616,
+                    "frame": "asset"
+                },
+                "frame": "asset"
+            }
+        },
+        {
+            "type": "take_image",
+            "target": {
+                "x": -4.7,
+                "y": 4.9,
+                "z": 0,
+                "frame": "robot"
+            }
         },
         {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": 4.7,
-                            "y": 3,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0.5769585,
-                            "w": 0.8167734,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
+            "type": "drive_to_pose",
+            "pose": {
+                "position": {
+                    "x": 4.7,
+                    "y": 3,
+                    "z": 0,
+                    "frame": "asset"
+                },
+                "orientation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0.5769585,
+                    "w": 0.8167734,
+                    "frame": "asset"
                 },
-                {
-                    "type": "take_image",
-                    "target": {
-                        "x": 5.6,
-                        "y": 5.2,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
+                "frame": "asset"
+            }
         },
         {
-            "steps": []
+            "type": "take_image",
+            "target": {
+                "x": 5.6,
+                "y": 5.2,
+                "z": 0,
+                "frame": "robot"
+            }
         },
         {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": 0.95,
-                            "y": 2.6,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": -0.6992469,
-                            "w": 0.7148802,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
+            "type": "drive_to_pose",
+            "pose": {
+                "position": {
+                    "x": 0.95,
+                    "y": 2.6,
+                    "z": 0,
+                    "frame": "asset"
                 },
-                {
-                    "type": "take_thermal_image",
-                    "target": {
-                        "x": 1.9,
-                        "y": 1.9,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
+                "orientation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": -0.6992469,
+                    "w": 0.7148802,
+                    "frame": "asset"
+                },
+                "frame": "asset"
+            }
+        },
+        {
+            "type": "take_thermal_image",
+            "target": {
+                "x": 1.9,
+                "y": 1.9,
+                "z": 0,
+                "frame": "robot"
+            }
         }
     ]
 }
diff --git a/tests/test_data/test_mission_not_working.json b/tests/test_data/test_mission_not_working.json
index 2e89ad07..3b6ec0c7 100644
--- a/tests/test_data/test_mission_not_working.json
+++ b/tests/test_data/test_mission_not_working.json
@@ -2,60 +2,44 @@
   "id": "1",
   "tasks": [
     {
-      "steps": [
-        {
-          "action_type": "drive_to",
-          "action_message": {
-            "xypsi_pose": {
-              "x": -2,
-              "y": -2,
-              "yaw": 1
-            }
-          }
+      "action_type": "return_to_home",
+      "action_message": {
+        "xypsi_pose": {
+          "x": -2,
+          "y": -2,
+          "yaw": 1
         }
-      ]
+      }
     },
     {
-      "steps": [
-        {
-          "action_type": "drive_three",
-          "action_message": {
-            "xypsi_pose": {
-              "x": -2,
-              "y": 2,
-              "psi": 1
-            }
+        "action_type": "drive_three",
+        "action_message": {
+          "xypsi_pose": {
+            "x": -2,
+            "y": 2,
+            "psi": 1
           }
         }
-      ]
     },
     {
-      "steps": [
-        {
-          "action_type": "drive_to",
-          "action_message": {
-            "xypsi_pose": {
-              "x": 2,
-              "y": 2,
-              "phi": 1
-            }
-          }
+      "action_type": "drive_to",
+      "action_message": {
+        "xypsi_pose": {
+          "x": 2,
+          "y": 2,
+          "phi": 1
         }
-      ]
+      }
     },
     {
-      "steps": [
-        {
-          "action_type": "drive_to",
-          "action_message": {
-            "uups": {
-              "x": 0,
-              "y": 0,
-              "psi": 1
-            }
-          }
+      "action_type": "drive_to",
+      "action_message": {
+        "uups": {
+          "x": 0,
+          "y": 0,
+          "psi": 1
         }
-      ]
+      }
     }
   ]
 }