isaac 15 in usl + fixes to command_astrobee + allowing for exposure a…

…nd map changes

astrobee/survey/survey_manager/data/jem_survey_static.yaml → astrobee/survey/survey_manager/data/iss_survey_static.yaml

@@ -36,6 +36,19 @@ bays:
   jem_bay5: [11.0, -8.0, 4.8]
   jem_bay6: [11.0, -9.0, 4.8]
   jem_bay7: [11.0, -9.7, 4.8]
+  jem_bay0: [11.0, -9.7, 4.8]
+  nod2_bay1: [11.0, -9.7, 4.8]
+  nod2_bay2: [11.0, -9.7, 4.8]
+  nod2_bay3: [11.0, -9.7, 4.8]
+  nod2_bay4: [11.0, -9.7, 4.8]
+  nod2_bay5: [11.0, -9.7, 4.8]
+  usl_bay0: [11.0, -9.7, 4.8]
+  usl_bay1: [11.0, -9.7, 4.8]
+  usl_bay2: [11.0, -9.7, 4.8]
+  usl_bay3: [11.0, -9.7, 4.8]
+  usl_bay4: [11.0, -9.7, 4.8]
+  usl_bay5: [11.0, -9.7, 4.8]
+  usl_bay6: [11.0, -9.7, 4.8]
 
 bays_move:
   jem_bay1: ["-pos", "11 -4 4.8", "-att", "1.5708 0 0 1"]
@@ -45,23 +58,19 @@ bays_move:
   jem_bay5: ["-pos", "11 -8 4.8", "-att", "-1.5708 0 0 1"]
   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_hatch_to_nod2: ["-pos", "11 -3.5 4.8", "-att", "1.5708 0 0 1"]
-  jem_hatch_from_nod2: ["-pos", "11 -3.5 4.8", "-att", "-1.5708 0 0 1"]
-  nod2_hatch_from_jem: ["-pos", "11 -1.0 4.8", "-att", "1.5708 0 0 1"]
-  nod2_hatch_to_jem: ["-pos", "11 -1.0 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_hatch_to_usl: ["-pos", "7.8 -3.5 4.8", "-att", "3.14 0 0 1"]
-  nod2_hatch_from_usl: ["-pos", "7.8 -3.5 4.8", "-att", "0 0 0 1"]
-  usl_hatch_from_nod2: ["-pos", "5.3 -1.0 4.8", "-att", "3.14 0 0 1"]
-  usl_hatch_to_nod2: ["-pos", "5.3 -1.0 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", "0 0 0 1"]
-  usl_bay5: ["-pos", "0.5 0 4.8", "-att", "0 0 0 1"]
-  usl_bay6: ["-pos", "-0.5 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"]
   # 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"]
@@ -97,7 +106,7 @@ berth:
   berth1: "1"
   berth2: "2"
 
-bogus_bays: [jem_bay0, jem_bay8]
+bogus_bays: [jem_bay0, jem_bay8, nod2_bay1, nod2_bay5, usl_bay0, usl_bay7]
 berths: [berth1, berth2]
 robots: [bumble, honey]
 
@@ -116,3 +125,15 @@ stereo:
     fplan: "ISAAC/jem_stereo_mapping_bay7_to_bay4"
     base_location: jem_bay7
     bound_location: jem_bay4
+  usl_bay1_to_bay3:
+    fplan: "ISAAC/usl_stereo_mapping_bay1_to_bay3"
+    base_location: usl_bay1
+    bound_location: usl_bay3
+  usl_bay6_to_bay4:
+    fplan: "ISAAC/usl_stereo_mapping_bay6_to_bay4"
+    base_location: usl_bay6
+    bound_location: usl_bay4
+  usl_bay1_to_bay6:
+    fplan: "ISAAC/usl_stereo_mapping_start_bay1"
+    base_location: usl_bay1
+    bound_location: usl_bay6

astrobee/survey/survey_manager/data/jem_survey_dynamic.yaml

@@ -31,7 +31,7 @@ goals:
 - {type: stereo, robot: bumble, order: 4, trajectory: jem_bay1_to_bay3}
 # This is one of the goals we previously had to comment out for POPF to return a halfway decent
 # plan. Adding a let_other_robot_reach goal mostly fixed the problem.
-- {type: robot_at, robot: bumble, location: berth1_g}
+- {type: robot_at, robot: bumble, location: berth1}
 
 # This let_other_robot_reach goal is effectively a very specific kind of between-robot ordering
 # constraint. It tells honey to let bumble get to bay 5 before taking its first panorama. Without
@@ -45,10 +45,10 @@ goals:
 - {type: panorama, robot: honey, order: 3, location: jem_bay5}
 # This is the other objective we previously had to comment out for POPF to return a decent plan.
 - {type: stereo, robot: honey, order: 4, trajectory: jem_bay7_to_bay4}
-- {type: robot_at, robot: honey, location: berth2_g}
+- {type: robot_at, robot: honey, location: berth2}
 
 init:
   bumble:
-    location: berth1_g
+    location: berth1
   honey:
-    location: berth2_g
+    location: berth2

astrobee/survey/survey_manager/data/usl_survey_dynamic.yaml

@@ -0,0 +1,53 @@
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+# Example dynamic configuration info used when generating a PDDL problem.  For now, this is goal
+# conditions and initial state. A likely conops is that the initial version of this file for a
+# specific activity would be hand-generated, but it might later be automatically regenerated by the
+# survey manager when a replan is needed (remove completed/failed goals, add retry goals, update
+# initial state to match actual current state, etc.)  See also jem_survey_static.yaml.
+
+goals:
+
+- {type: panorama, robot: bumble, order: 1, location: usl_bay3}
+- {type: panorama, robot: bumble, order: 2, location: usl_bay2}
+- {type: panorama, robot: bumble, order: 3, location: usl_bay1}
+# - {type: stereo, robot: bumble, order: 4, trajectory: usl_bay1_to_bay3}
+# This is one of the goals we previously had to comment out for POPF to return a halfway decent
+# plan. Adding a let_other_robot_reach goal mostly fixed the problem.
+- {type: robot_at, robot: bumble, location: berth1}
+
+# This let_other_robot_reach goal is effectively a very specific kind of between-robot ordering
+# constraint. It tells honey to let bumble get to bay 5 before taking its first panorama. Without
+# this constraint, POPF produces a very inefficient plan where bumble never leaves the dock until
+# after honey finishes all its tasks and returns to dock. (It's safe to comment this out if the
+# planner doesn't need the hint.)
+# - {type: let_other_robot_reach, robot: honey, order: 0, location: jem_bay5}
+
+- {type: panorama, robot: honey, order: 1, location: usl_bay6}
+- {type: panorama, robot: honey, order: 2, location: usl_bay5}
+- {type: panorama, robot: honey, order: 3, location: usl_bay4}
+# This is the other objective we previously had to comment out for POPF to return a decent plan.
+- {type: stereo, robot: honey, order: 4, trajectory: usl_bay1_to_bay6}
+- {type: robot_at, robot: honey, location: berth2}
+
+init:
+  bumble:
+    location: usl_bay1
+  honey:
+    location: usl_bay6