From a751410c904deb38d9279ceb5c2c445fb71398b3 Mon Sep 17 00:00:00 2001 From: Marina Moreira Date: Wed, 26 Jun 2024 17:56:48 -0700 Subject: [PATCH 1/3] adding surveys --- .../isaac16/hatch_usl_aft_inspection.txt | 29 +++++++++++++++++++ .../isaac16/hatch_usl_fwd_inspection.txt | 29 +++++++++++++++++++ .../data/iss_survey_static.yaml | 14 ++++----- 3 files changed, 65 insertions(+), 7 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..f576ffc6 --- /dev/null +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt @@ -0,0 +1,29 @@ +# x y z roll pitch yaw + +11.56 -2.44 5.19 90 0 45 +11.56 -2.44 4.965 90 0 45 +11.56 -2.44 4.715 90 0 45 +11.56 -2.44 4.49 90 0 45 + +11.49 -2.44 4.29 135 30 45 + +11.29 -2.44 4.20 -180 45 90 +11.065 -2.44 4.20 -180 45 90 +10.814 -2.44 4.20 -180 45 90 +10.59 -2.44 4.20 -180 45 90 + +10.39 -2.44 4.29 -135 30 135 + +10.30 -2.44 4.49 -90 0 135 +10.30 -2.44 4.715 -90 0 135 +10.30 -2.44 4.965 -90 0 135 +10.30 -2.44 5.19 -90 0 135 + +10.39 -2.44 5.39 -45 -30 135 + +10.59 -2.44 5.47 0 -45 90 +10.814 -2.44 5.47 0 -45 90 +11.065 -2.44 5.47 0 -45 90 +11.29 -2.44 5.47 0 -45 90 + +11.49 -2.44 5.39 45 -30 45 \ No newline at end of file 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..f576ffc6 --- /dev/null +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt @@ -0,0 +1,29 @@ +# x y z roll pitch yaw + +11.56 -2.44 5.19 90 0 45 +11.56 -2.44 4.965 90 0 45 +11.56 -2.44 4.715 90 0 45 +11.56 -2.44 4.49 90 0 45 + +11.49 -2.44 4.29 135 30 45 + +11.29 -2.44 4.20 -180 45 90 +11.065 -2.44 4.20 -180 45 90 +10.814 -2.44 4.20 -180 45 90 +10.59 -2.44 4.20 -180 45 90 + +10.39 -2.44 4.29 -135 30 135 + +10.30 -2.44 4.49 -90 0 135 +10.30 -2.44 4.715 -90 0 135 +10.30 -2.44 4.965 -90 0 135 +10.30 -2.44 5.19 -90 0 135 + +10.39 -2.44 5.39 -45 -30 135 + +10.59 -2.44 5.47 0 -45 90 +10.814 -2.44 5.47 0 -45 90 +11.065 -2.44 5.47 0 -45 90 +11.29 -2.44 5.47 0 -45 90 + +11.49 -2.44 5.39 45 -30 45 \ No newline at end of file diff --git a/astrobee/survey/survey_manager/data/iss_survey_static.yaml b/astrobee/survey/survey_manager/data/iss_survey_static.yaml index 8627f075..1754d28e 100644 --- a/astrobee/survey/survey_manager/data/iss_survey_static.yaml +++ b/astrobee/survey/survey_manager/data/iss_survey_static.yaml @@ -64,13 +64,13 @@ bays_move: 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"] + usl_bay0: ["-pos", "5.3 0 4.8", "-att", "0 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", "1.5708 0 1 0"] + usl_bay5: ["-pos", "0.5 0 4.8", "-att", "1.5708 0 1 0"] + usl_bay6: ["-pos", "-0.5 0 4.8", "-att", "1.5708 0 1 0"] # 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"] From 552dd4526051f5684b4ac8971bd266ac61781904 Mon Sep 17 00:00:00 2001 From: Marina Moreira Date: Sun, 30 Jun 2024 17:44:41 -0700 Subject: [PATCH 2/3] hatch inspection poses tested --- .../isaac16/hatch_usl_aft_inspection.txt | 31 +++---------------- .../isaac16/hatch_usl_fwd_inspection.txt | 31 +++---------------- 2 files changed, 8 insertions(+), 54 deletions(-) diff --git a/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt index f576ffc6..466fdcc8 100644 --- a/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_aft_inspection.txt @@ -1,29 +1,6 @@ # x y z roll pitch yaw -11.56 -2.44 5.19 90 0 45 -11.56 -2.44 4.965 90 0 45 -11.56 -2.44 4.715 90 0 45 -11.56 -2.44 4.49 90 0 45 - -11.49 -2.44 4.29 135 30 45 - -11.29 -2.44 4.20 -180 45 90 -11.065 -2.44 4.20 -180 45 90 -10.814 -2.44 4.20 -180 45 90 -10.59 -2.44 4.20 -180 45 90 - -10.39 -2.44 4.29 -135 30 135 - -10.30 -2.44 4.49 -90 0 135 -10.30 -2.44 4.715 -90 0 135 -10.30 -2.44 4.965 -90 0 135 -10.30 -2.44 5.19 -90 0 135 - -10.39 -2.44 5.39 -45 -30 135 - -10.59 -2.44 5.47 0 -45 90 -10.814 -2.44 5.47 0 -45 90 -11.065 -2.44 5.47 0 -45 90 -11.29 -2.44 5.47 0 -45 90 - -11.49 -2.44 5.39 45 -30 45 \ No newline at end of file +-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 index f576ffc6..fea5028a 100644 --- a/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt +++ b/astrobee/behaviors/inspection/resources/isaac16/hatch_usl_fwd_inspection.txt @@ -1,29 +1,6 @@ # x y z roll pitch yaw -11.56 -2.44 5.19 90 0 45 -11.56 -2.44 4.965 90 0 45 -11.56 -2.44 4.715 90 0 45 -11.56 -2.44 4.49 90 0 45 - -11.49 -2.44 4.29 135 30 45 - -11.29 -2.44 4.20 -180 45 90 -11.065 -2.44 4.20 -180 45 90 -10.814 -2.44 4.20 -180 45 90 -10.59 -2.44 4.20 -180 45 90 - -10.39 -2.44 4.29 -135 30 135 - -10.30 -2.44 4.49 -90 0 135 -10.30 -2.44 4.715 -90 0 135 -10.30 -2.44 4.965 -90 0 135 -10.30 -2.44 5.19 -90 0 135 - -10.39 -2.44 5.39 -45 -30 135 - -10.59 -2.44 5.47 0 -45 90 -10.814 -2.44 5.47 0 -45 90 -11.065 -2.44 5.47 0 -45 90 -11.29 -2.44 5.47 0 -45 90 - -11.49 -2.44 5.39 45 -30 45 \ No newline at end of file +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 From 7156b38388ffd9ded6d6fe8df78a1ce1a776b6a4 Mon Sep 17 00:00:00 2001 From: Marina Moreira Date: Mon, 1 Jul 2024 18:28:55 -0700 Subject: [PATCH 3/3] making poses for isaac16 more likely to see features --- .../survey_manager/data/iss_survey_static.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/astrobee/survey/survey_manager/data/iss_survey_static.yaml b/astrobee/survey/survey_manager/data/iss_survey_static.yaml index 1754d28e..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 4.8", "-att", "0 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", "1.5708 0 1 0"] - usl_bay5: ["-pos", "0.5 0 4.8", "-att", "1.5708 0 1 0"] - usl_bay6: ["-pos", "-0.5 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"]