diff --git a/astrobee/behaviors/inspection/resources/vent_granite.txt b/astrobee/behaviors/inspection/resources/inspection_granite.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/vent_granite.txt
rename to astrobee/behaviors/inspection/resources/inspection_granite.txt
diff --git a/astrobee/behaviors/inspection/resources/vent_jpm.txt b/astrobee/behaviors/inspection/resources/inspection_iss.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/vent_jpm.txt
rename to astrobee/behaviors/inspection/resources/inspection_iss.txt
diff --git a/astrobee/behaviors/inspection/resources/survey_bay_5.txt b/astrobee/behaviors/inspection/resources/isaac3/survey_bay_5.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/survey_bay_5.txt
rename to astrobee/behaviors/inspection/resources/isaac3/survey_bay_5.txt
diff --git a/astrobee/behaviors/inspection/resources/survey_bay_5_limited.txt b/astrobee/behaviors/inspection/resources/isaac3/survey_bay_5_limited.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/survey_bay_5_limited.txt
rename to astrobee/behaviors/inspection/resources/isaac3/survey_bay_5_limited.txt
diff --git a/astrobee/behaviors/inspection/resources/survey_bay_6.txt b/astrobee/behaviors/inspection/resources/isaac3/survey_bay_6.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/survey_bay_6.txt
rename to astrobee/behaviors/inspection/resources/isaac3/survey_bay_6.txt
diff --git a/astrobee/behaviors/inspection/resources/survey_bay_7.txt b/astrobee/behaviors/inspection/resources/isaac3/survey_bay_7.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/survey_bay_7.txt
rename to astrobee/behaviors/inspection/resources/isaac3/survey_bay_7.txt
diff --git a/astrobee/behaviors/inspection/resources/isaac6/calibration_survey.txt b/astrobee/behaviors/inspection/resources/isaac6/calibration_survey.txt
new file mode 100644
index 00000000..ed824afe
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/calibration_survey.txt
@@ -0,0 +1,20 @@
+# Calibration survey
+11 -10.0 4.4 0.0 30.0 180.0
+11 -9.5 4.4 0.0 30.0 180.0
+11 -9.0 4.4 0.0 30.0 180.0
+11 -8.5 4.4 0.0 30.0 180.0
+11 -8.0 4.4 0.0 30.0 180.0
+11 -8.0 4.4 0.0 0.0 180.0
+11 -8.5 4.4 0.0 0.0 180.0
+11 -9.0 4.4 0.0 0.0 180.0
+11 -9.5 4.4 0.0 0.0 180.0
+11 -10.0 4.4 0.0 0.0 180.0
+11 -10.0 4.9 0.0 0.0 180.0
+11 -9.5 4.9 0.0 0.0 180.0
+11 -9.0 4.9 0.0 0.0 180.0
+11 -8.5 4.9 0.0 0.0 180.0
+11 -8.0 4.9 0.0 0.0 180.0
+11 -8.0 5.4 0.0 0.0 180.0
+11 -8.5 5.4 0.0 0.0 180.0
+11 -9.0 5.4 0.0 0.0 180.0
+11 -9.5 5.4 0.0 0.0 180.0
\ No newline at end of file
diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_agg_pano.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_agg_pano.txt
new file mode 100755
index 00000000..f2289308
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_agg_pano.txt
@@ -0,0 +1,29 @@
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+10.9221 -8.11466 4.896 0 0 0.617936 0.786229
+10.9422 -8.03747 4.94723 -0.196571 0.241641 0.599655 0.737146
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+11.1019 -8.00001 4.80751 0.311497 -1.44307e-05 0.950247 4.40219e-05
+11.068 -8.00001 4.896 0 0 1 4.63268e-05
+10.9883 -8 4.94723 -0.311497 1.44307e-05 0.950247 4.40219e-05
+10.9079 -8.03738 4.94131 -0.553445 -0.210143 0.753454 -0.286086
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+11.0229 -7.90724 4.896 0 0 0.899457 -0.43701
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+10.8776 -7.89575 4.71611 -0.274448 -0.524538 -0.373631 0.7141
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+10.9221 -7.88534 4.896 3.53047e-17 -3.5308e-17 -0.618008 0.786171
+10.9422 -7.96253 4.94723 0.196593 0.241623 -0.599723 0.73709
+10.9821 -8.04626 4.94131 0.274448 0.524538 -0.373631 0.7141
+10.916 -7.98239 4.94723 0.073765 0.302637 -0.225026 0.923219
+10.8426 -7.95105 4.896 0 0 -0.212262 0.977213
+10.8151 -7.93009 4.80751 -0.073765 -0.302637 -0.225026 0.923219
diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_std_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_std_panorama.txt
new file mode 100755
index 00000000..84a78674
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay5_std_panorama.txt
@@ -0,0 +1,54 @@
+10.9423 -8.00491 4.95184 -0.112849 0.386047 0.256882 0.878774
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+10.8436 -8.05098 4.896 0 0 0.221542 0.975151
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diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_agg_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_agg_panorama.txt
new file mode 100755
index 00000000..e8caa668
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_agg_panorama.txt
@@ -0,0 +1,29 @@
+10.916 -9.0176 4.94723 -0.073737 0.302644 0.224941 0.92324
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diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_std_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_std_panorama.txt
new file mode 100755
index 00000000..ab3664b0
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay6_std_panorama.txt
@@ -0,0 +1,54 @@
+10.9423 -9.00491 4.95184 -0.112849 0.386047 0.256882 0.878774
+10.8877 -9.03071 4.93535 -0.0466766 0.200115 0.222304 0.953077
+10.8436 -9.05098 4.896 0 0 0.221542 0.975151
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+11.0194 -9.00001 4.93535 -0.205487 9.51953e-06 0.97866 4.53382e-05
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+10.9585 -8.99672 4.95184 -0.395434 -0.0734772 0.900143 -0.167259
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+11.0235 -8.9077 4.896 3.08104e-17 -3.08133e-17 0.90085 -0.43413
+11.0649 -8.90885 4.84043 0.19404 0.0676262 0.924143 -0.32208
+11.0905 -8.94593 4.77804 0.395434 0.0734772 0.900143 -0.167259
+11.079 -9.00001 4.71935 0.581753 -2.69508e-05 0.813365 3.76806e-05
+11.0094 -8.8855 4.71935 0.497105 0.302198 0.695016 -0.422511
+11.0179 -8.86568 4.77804 0.342625 0.210654 0.779931 -0.479521
+10.9833 -8.85719 4.84043 -0.160969 -0.127725 -0.766637 0.608311
+10.9587 -8.88232 4.896 0 0 -0.732721 0.680529
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+10.8436 -8.949 4.896 0 0 -0.221632 0.97513
+10.8877 -8.96927 4.93535 0.0466951 0.200111 -0.222392 0.953057
+10.9423 -8.99509 4.95184 0.112885 0.386037 -0.256964 0.878751
diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_agg_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_agg_panorama.txt
new file mode 100755
index 00000000..ef8ee925
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_agg_panorama.txt
@@ -0,0 +1,29 @@
+10.916 -10.0176 4.94723 -0.073737 0.302644 0.224941 0.92324
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+10.8151 -10.0699 4.80751 0.073737 -0.302644 0.224941 0.92324
+10.8776 -10.1042 4.71611 0.2744 -0.524563 0.373565 0.714134
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+11.0229 -10.0928 4.896 0 0 0.899416 0.437093
+11.0459 -10.1179 4.80751 0.281299 -0.133796 0.858125 0.408156
+11.0449 -10.0842 4.71611 0.553426 -0.210194 0.753427 0.286156
+11.1019 -10 4.80751 0.311497 -1.44307e-05 0.950247 4.40219e-05
+11.068 -10 4.896 0 0 1 4.63268e-05
+10.9883 -10 4.94723 -0.311497 1.44307e-05 0.950247 4.40219e-05
+10.9079 -10.0374 4.94131 -0.553445 -0.210143 0.753454 -0.286086
+10.9742 -9.97032 4.94723 -0.281311 -0.13377 0.858163 -0.408076
+11.0229 -9.90724 4.896 0 0 0.899457 -0.43701
+11.0459 -9.88215 4.80751 0.281311 0.13377 0.858163 -0.408076
+11.0449 -9.91578 4.71611 0.553445 0.210143 0.753454 -0.286086
+10.8776 -9.89575 4.71611 -0.274448 -0.524538 -0.373631 0.7141
+10.9191 -9.85124 4.80751 -0.196593 -0.241623 -0.599723 0.73709
+10.9221 -9.88534 4.896 3.53047e-17 -3.5308e-17 -0.618008 0.786171
+10.9422 -9.96253 4.94723 0.196593 0.241623 -0.599723 0.73709
+10.9821 -10.0463 4.94131 0.274448 0.524538 -0.373631 0.7141
+10.916 -9.98239 4.94723 0.073765 0.302637 -0.225026 0.923219
+10.8426 -9.95105 4.896 0 0 -0.212262 0.977213
+10.8151 -9.93009 4.80751 -0.073765 -0.302637 -0.225026 0.923219
diff --git a/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_std_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_std_panorama.txt
new file mode 100755
index 00000000..8430ef78
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/jem_bay7_std_panorama.txt
@@ -0,0 +1,54 @@
+10.9423 -10.0049 4.95184 -0.112849 0.386047 0.256882 0.878774
+10.8877 -10.0307 4.93535 -0.0466766 0.200115 0.222304 0.953077
+10.8436 -10.051 4.896 0 0 0.221542 0.975151
+10.8185 -10.0649 4.84043 0.0466766 -0.200115 0.222304 0.953077
+10.8232 -10.0811 4.77804 0.112849 -0.386047 0.256882 0.878774
+10.8757 -10.1054 4.71935 0.267721 -0.51649 0.374309 0.722119
+10.9103 -10.1452 4.77804 0.244024 -0.319718 0.555481 0.727787
+10.8873 -10.1326 4.84043 0.109943 -0.173601 0.523619 0.8268
+10.8908 -10.1021 4.896 -1.60189e-17 -1.60174e-17 0.499315 0.866421
+10.9203 -10.0628 4.93535 -0.109943 0.173601 0.523619 0.8268
+10.9476 -10.0088 4.95184 -0.244024 0.319718 0.555481 0.727787
+10.9804 -9.95692 4.94269 -0.267721 0.51649 0.374309 0.722119
+10.9257 -9.95319 4.94269 -0.497077 0.302244 0.694977 0.422576
+10.9541 -10.0081 4.95184 -0.342606 0.210686 0.779887 0.479593
+10.9658 -10.0676 4.93535 -0.160957 0.12774 0.766581 0.608382
+10.9587 -10.1177 4.896 5.35266e-17 -2.80409e-17 0.732658 0.680597
+10.9833 -10.1428 4.84043 0.160957 -0.12774 0.766581 0.608382
+11.0179 -10.1343 4.77804 0.342606 -0.210686 0.779887 0.479593
+11.0094 -10.1145 4.71935 0.497077 -0.302244 0.694977 0.422576
+11.0905 -10.0541 4.77804 0.395428 -0.0735139 0.900127 0.167343
+11.0649 -10.0912 4.84043 0.194033 -0.0676442 0.924113 0.322165
+11.0235 -10.0923 4.896 9.24325e-17 -1.54087e-17 0.90081 0.434213
+11.0044 -10.0432 4.93535 -0.194033 0.0676442 0.924113 0.322165
+10.9585 -10.0033 4.95184 -0.395428 0.0735139 0.900127 0.167343
+11.0194 -10 4.93535 -0.205487 9.51953e-06 0.97866 4.53382e-05
+11.0627 -10.0348 4.896 2.80697e-17 -2.80723e-17 0.988808 0.149193
+11.0966 -10 4.84043 0.205487 -9.51953e-06 0.97866 4.53382e-05
+11.0628 -9.96521 4.896 1.40347e-17 -1.4036e-17 0.988822 -0.149102
+10.8973 -10 4.94269 -0.581753 2.69508e-05 0.813365 3.76806e-05
+10.9585 -9.99672 4.95184 -0.395434 -0.0734772 0.900143 -0.167259
+11.0044 -9.95685 4.93535 -0.19404 -0.0676262 0.924143 -0.32208
+11.0235 -9.9077 4.896 3.08104e-17 -3.08133e-17 0.90085 -0.43413
+11.0649 -9.90885 4.84043 0.19404 0.0676262 0.924143 -0.32208
+11.0905 -9.94593 4.77804 0.395434 0.0734772 0.900143 -0.167259
+11.079 -10 4.71935 0.581753 -2.69508e-05 0.813365 3.76806e-05
+11.0094 -9.8855 4.71935 0.497105 0.302198 0.695016 -0.422511
+11.0179 -9.86568 4.77804 0.342625 0.210654 0.779931 -0.479521
+10.9833 -9.85719 4.84043 -0.160969 -0.127725 -0.766637 0.608311
+10.9587 -9.88232 4.896 0 0 -0.732721 0.680529
+10.9658 -9.93239 4.93535 0.160969 0.127725 -0.766637 0.608311
+10.9541 -9.99186 4.95184 -0.342625 -0.210654 0.779931 -0.479521
+10.9257 -10.0468 4.94269 -0.497105 -0.302198 0.695016 -0.422511
+10.9804 -10.0431 4.94269 0.267769 0.516465 -0.374376 0.722084
+10.9476 -9.9912 4.95184 0.244053 0.319696 -0.555548 0.727736
+10.9203 -9.93723 4.93535 0.109959 0.173591 -0.523696 0.826752
+10.8909 -9.89789 4.896 0 0 -0.499395 0.866374
+10.8873 -9.86742 4.84043 -0.109959 -0.173591 -0.523696 0.826752
+10.9103 -9.8548 4.77804 -0.244053 -0.319696 -0.555548 0.727736
+10.8757 -9.89459 4.71935 -0.267769 -0.516465 -0.374376 0.722084
+10.8232 -9.9189 4.77804 -0.112885 -0.386037 -0.256964 0.878751
+10.8185 -9.9351 4.84043 -0.0466951 -0.200111 -0.222392 0.953057
+10.8436 -9.949 4.896 0 0 -0.221632 0.97513
+10.8877 -9.96927 4.93535 0.0466951 0.200111 -0.222392 0.953057
+10.9423 -9.99509 4.95184 0.112885 0.386037 -0.256964 0.878751
diff --git a/astrobee/behaviors/inspection/resources/isaac6/node2_std_panorama.txt b/astrobee/behaviors/inspection/resources/isaac6/node2_std_panorama.txt
new file mode 100644
index 00000000..70213770
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/isaac6/node2_std_panorama.txt
@@ -0,0 +1,2 @@
+# Panorama Node2
+10.0 0.0 4.8 0.0 0.0 0.0
\ No newline at end of file
diff --git a/astrobee/behaviors/inspection/resources/panorama_iss.txt b/astrobee/behaviors/inspection/resources/panorama_iss.txt
new file mode 100644
index 00000000..71e3eb8f
--- /dev/null
+++ b/astrobee/behaviors/inspection/resources/panorama_iss.txt
@@ -0,0 +1,2 @@
+# Panorama
+10.9 -9 5.0 0 0 180
\ No newline at end of file
diff --git a/astrobee/behaviors/inspection/resources/scicam_panorama.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/scicam_panorama.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/scicam_panorama.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/scicam_panorama.txt
diff --git a/astrobee/behaviors/inspection/resources/scicam_panorama_geometry.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/scicam_panorama_geometry.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/scicam_panorama_geometry.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/scicam_panorama_geometry.txt
diff --git a/astrobee/behaviors/inspection/resources/soundsee_background_noise.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_background_noise.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/soundsee_background_noise.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_background_noise.txt
diff --git a/astrobee/behaviors/inspection/resources/soundsee_data3_bay6_deck.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_data3_bay6_deck.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/soundsee_data3_bay6_deck.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_data3_bay6_deck.txt
diff --git a/astrobee/behaviors/inspection/resources/soundsee_panorama.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_panorama.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/soundsee_panorama.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_panorama.txt
diff --git a/astrobee/behaviors/inspection/resources/soundsee_panorama_geometry.txt b/astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_panorama_geometry.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/soundsee_panorama_geometry.txt
rename to astrobee/behaviors/inspection/resources/soundsee_data3/soundsee_panorama_geometry.txt
diff --git a/astrobee/behaviors/inspection/resources/vent_jpm_all.txt b/astrobee/behaviors/inspection/resources/vent_jpm_all.txt
deleted file mode 100644
index 22940374..00000000
--- a/astrobee/behaviors/inspection/resources/vent_jpm_all.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-# x y z roll pitch yaw
-10.2067169189 -3.1288216114 4.82276105881 90 0.000000 0.000000
-11.971072 -9.193897 3.963823 0.000000 -40 0.000000
-11.921994 -8.174384 3.923862 0.000000 -40 0.000000
-11.921994 -7.197721 3.923862 0.000000 -40 0.000000
-11.921994 -6.196085 3.923862 0.000000 -40 0.000000
-11.921994 -5.182941 3.923862 0.000000 -40 0.000000
-11.921994 -4.200116 3.923862 0.000000 -40 0.000000
-11.921994 -3.201995 3.923862 0.000000 -40 0.000000
-9.942000 -9.189370 3.910500 0.000000 40 0.000000
-9.942000 -8.189623 3.910500 0.000000 40 0.000000
-9.942000 -7.145759 3.910500 0.000000 40 0.000000
-9.942000 -6.190303 3.910500 0.000000 40 0.000000
-9.942000 -5.215301 3.910500 0.000000 40 0.000000
-9.942000 -4.210000 3.910500 0.000000 40 0.000000
\ No newline at end of file
diff --git a/astrobee/behaviors/inspection/resources/wifi_granite.txt b/astrobee/behaviors/inspection/resources/volumetric_granite.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/wifi_granite.txt
rename to astrobee/behaviors/inspection/resources/volumetric_granite.txt
diff --git a/astrobee/behaviors/inspection/resources/wifi_jpm.txt b/astrobee/behaviors/inspection/resources/volumetric_iss.txt
similarity index 100%
rename from astrobee/behaviors/inspection/resources/wifi_jpm.txt
rename to astrobee/behaviors/inspection/resources/volumetric_iss.txt