From 15c5ba8c5d74e93a6f2b0eea10c346cafd7eff97 Mon Sep 17 00:00:00 2001 From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Date: Tue, 2 Jul 2024 11:01:07 -0700 Subject: [PATCH] Isaac16 prep (#171) * adding surveys * hatch inspection poses tested * making poses for isaac16 more likely to see features --- .../isaac16/hatch_usl_aft_inspection.txt | 6 +++++ .../isaac16/hatch_usl_fwd_inspection.txt | 6 +++++ .../data/iss_survey_static.yaml | 24 +++++++++---------- 3 files changed, 24 insertions(+), 12 deletions(-) create mode 100644 astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt create mode 100644 astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt diff --git a/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt new file mode 100644 index 00000000..466fdcc8 --- /dev/null +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt @@ -0,0 +1,6 @@ +# x y z roll pitch yaw + +-1.98 -0.45 5.47 0 -45 180 +-1.98 -0.15 5.47 0 -45 180 +-1.98 0.15 5.47 0 -45 180 +-1.98 0.45 5.47 0 -45 180 diff --git a/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt new file mode 100644 index 00000000..fea5028a --- /dev/null +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt @@ -0,0 +1,6 @@ +# x y z roll pitch yaw + +6.2 -0.45 5.47 0 -45 0 +6.2 -0.15 5.47 0 -45 0 +6.2 0.15 5.47 0 -45 0 +6.2 0.45 5.47 0 -45 0 diff --git a/astrobee/survey/survey_manager/data/iss_survey_static.yaml b/astrobee/survey/survey_manager/data/iss_survey_static.yaml index 8627f075..7da65a00 100644 --- a/astrobee/survey/survey_manager/data/iss_survey_static.yaml +++ b/astrobee/survey/survey_manager/data/iss_survey_static.yaml @@ -59,18 +59,18 @@ bays_move: jem_bay6: ["-pos", "11 -9 4.8", "-att", "-1.5708 0 0 1"] jem_bay7: ["-pos", "11 -9.7 4.8", "-att", "-1.5708 0 0 1"] jem_bay0: ["-pos", "11 -3.5 4.8", "-att", "-1.5708 0 0 1"] - nod2_bay1: ["-pos", "11 -1.0 4.8", "-att", "-1.5708 0 0 1"] - nod2_bay2: ["-pos", "11 0 4.8", "-att", "0 0 0 1"] - nod2_bay3: ["-pos", "10 0 4.8", "-att", "0 0 0 1"] - nod2_bay4: ["-pos", "9 0 4.8", "-att", "0 0 0 1"] - nod2_bay5: ["-pos", "7.8 0.0 4.8", "-att", "0 0 0 1"] - usl_bay0: ["-pos", "5.3 0.0 4.8", "-att", "0 0 0 1"] - usl_bay1: ["-pos", "4.7 0 4.8", "-att", "0 0 0 1"] - usl_bay2: ["-pos", "3.65 0 4.8", "-att", "0 0 0 1"] - usl_bay3: ["-pos", "2.6 0 4.8", "-att", "0 0 0 1"] - usl_bay4: ["-pos", "1.55 0 4.8", "-att", "3.14 0 0 1"] - usl_bay5: ["-pos", "0.5 0 4.8", "-att", "3.14 0 0 1"] - usl_bay6: ["-pos", "-0.5 0 4.8", "-att", "3.14 0 0 1"] + nod2_bay1: ["-pos", "11 -1.0 4.8", "-att", "1.5708 0 0 1"] + nod2_bay2: ["-pos", "11 0 4.8", "-att", "3.1415927 0 0 1"] + nod2_bay3: ["-pos", "10 0 4.8", "-att", "3.1415927 0 0 1"] + nod2_bay4: ["-pos", "9 0 4.8", "-att", "3.1415927 0 0 1"] + nod2_bay5: ["-pos", "7.8 0.0 4.8", "-att", "3.1415927 0 0 1"] + usl_bay0: ["-pos", "5.3 0 4.8", "-att", "3.1415927 0 0 1"] + usl_bay1: ["-pos", "4.7 0 4.8", "-att", "1.5708 0 1 0"] + usl_bay2: ["-pos", "3.65 0 4.8", "-att", "1.5708 0 1 0"] + usl_bay3: ["-pos", "2.6 0 4.8", "-att", "1.5708 0 1 0"] + usl_bay4: ["-pos", "1.55 0 4.8", "-att", "3.1415927 -0.7071068 0 0.7071068"] + usl_bay5: ["-pos", "0.5 0 4.8", "-att", "3.1415927 -0.7071068 0 0.7071068"] + usl_bay6: ["-pos", "-0.5 0 4.8", "-att", "3.1415927 -0.7071068 0 0.7071068"] # berth approach points from gds_configs/IssWorld/BookmarksList.json berth1: ["-pos", "10.5 -9.25 4.5", "-att", "0 0 0 1"] berth2: ["-pos", "10.5 -9.75 4.5", "-att", "3.14 1 0 0"]