fixing static poses + optimizing change exposure and map changes

astrobee/survey/survey_manager/data/iss_survey_static.yaml

@@ -38,17 +38,17 @@ bays:
   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]
+  nod2_bay2: [11.0, -1.0, 4.8]
+  nod2_bay3: [10.0, 0.0, 4.8]
+  nod2_bay4: [9.0, 0.0, 4.8]
+  nod2_bay5: [7.8, 0.0, 4.8]
+  usl_bay0: [5.3, 0.0, 4.8]
+  usl_bay1: [4.7, 0.0, 4.8]
+  usl_bay2: [3.65, 0.0, 4.8]
+  usl_bay3: [2.6, 0.0, 4.8]
+  usl_bay4: [1.55, 0.0, 4.8]
+  usl_bay5: [0.5, 0.0, 4.8]
+  usl_bay6: [-0.5, 0.0, 4.8]
 
 bays_move:
   jem_bay1: ["-pos", "11 -4 4.8", "-att", "1.5708 0 0 1"]

astrobee/survey/survey_manager/src/survey_manager/command_astrobee.py

@@ -70,45 +70,23 @@ def first_non_zero(a: int, b: int) -> int:
 
 
 def exposure_change(config_static, bay_origin, bay_destination):
-    # Going to JEM
-    if bay_origin == "nod2_bay1" and bay_destination == "jem_bay0":
-        loginfo("CHANGING EXPOSURE TO JEM")
-        return config_static["exposure"]["jem"]
-
-    # Going  to NOD2
-    if (
-        bay_origin == "jem_bay0"
-        and bay_destination == "nod2_bay1"
-        or bay_origin == "usl_bay0"
-        and bay_destination == "nod2_bay5"
-    ):
-        loginfo("CHANGING EXPOSURE TO NOD2")
-        return config_static["exposure"]["nod2"]
-
-    # Going to USL
-    if bay_origin == "nod2_bay5" and bay_destination == "usl_bay0":
-        return config_static["exposure"]["usl"]
+    origin_prefix = bay_origin.split("_")[0]
+    destination_prefix = bay_destination.split("_")[0]
+
+    if origin_prefix != destination_prefix:
+        loginfo(f"CHANGING EXPOSURE TO {destination_prefix.upper()}")
+        return config_static["exposure"][destination_prefix]
 
     return 0
 
 
 def map_change(config_static, bay_origin, bay_destination):
-    # Going to JEM
-    if bay_origin == "nod2_bay1" and bay_destination == "jem_bay0":
-        loginfo("CHANGING MAP TO JEM")
-        return config_static["maps"]["jem"]
-    # Going  to NOD2
-    if (
-        bay_origin == "jem_bay0"
-        and bay_destination == "nod2_bay1"
-        or bay_origin == "usl_bay0"
-        and bay_destination == "nod2_bay5"
-    ):
-        loginfo("CHANGING MAP TO NOD2")
-        return config_static["maps"]["nod2"]
-    # Going to USL
-    if bay_origin == "nod2_bay5" and bay_destination == "usl_bay0":
-        return config_static["maps"]["usl"]
+    origin_prefix = bay_origin.split("_")[0]
+    destination_prefix = bay_destination.split("_")[0]
+
+    if origin_prefix != destination_prefix:
+        loginfo(f"CHANGING MAP TO {destination_prefix.upper()}")
+        return config_static["maps"][destination_prefix]
     return ""