Isaac16 prep (#171)

* adding surveys

* hatch inspection poses tested

* making poses for isaac16 more likely to see features

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

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

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"]