Add movements for noddling and offer

src/robot_behaviour/config/movements/cb41.yaml

+play_motion:
+  motions:
+    cb41:
+      joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.8731360100630475, 0.30831459755480217, -1.2643700236236175, 1.5496700455598336, -1.677018692262659, 0.5303943146365504, -1.5797077284483079]
+        - time_from_start: 1
+          positions: [0.87, 0.5943, -1.2749, 1.5802, -1.6308, 0.5703, -1.5778]
+        - time_from_start: 2.5
+          positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+        
+      meta:
+        name: cb41
+        usage: cb41
+        description: coming back a token in position c41 with intermediate point

src/robot_behaviour/config/movements/cb42.yaml

+play_motion:
+  motions:
+    cb42:
+      joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.7300443841752443, 0.40210342695853596, -1.2570528382089003, 1.626324082283821, -1.726424737778173, 0.5304350725862031, -1.5796669704986552]
+        - time_from_start: 1
+          positions: [0.7796, 0.7522, -1.2092, 1.6385, -1.6313, 0.5704, -1.5777]
+        - time_from_start: 2.5
+          positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+        
+      meta:
+        name: cb42
+        usage: cb42
+        description: coming back a token in position c42 with intermediate point

src/robot_behaviour/config/movements/cb43.yaml

+play_motion:
+  motions:
+    cb43:
+      joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.6190747420577092, 0.47516790102624673, -1.2336439808863457, 1.64672629738146, -1.7621657543555427, 0.5304647147314052, -1.579637328353453]
+        - time_from_start: 1
+          positions: [0.5276, 0.453, -1.3407, 1.6121, -1.6313, 0.5705, -1.5776]
+        - time_from_start: 2.5
+          positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+      meta:
+        name: cb43
+        usage: cb43
+        description: coming back a token in position c43 with intermediate point

src/robot_behaviour/config/movements/cb44.yaml

+play_motion:
+  motions:
+    cb44:
+      joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.5187050477841355, 0.5480022749236835, -1.202028217490681, 1.648521078709598, -1.7967396114655818, 0.53053511482626, -1.5795669282585982]
+        - time_from_start: 1
+          positions: [0.4469, 0.6519, -1.2589, 1.6, -1.6314, 0.5705, -1.5776]
+        - time_from_start: 2.5
+          positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+      meta:
+        name: cb44
+        usage: cb44
+        description: coming back a token in position c44 with intermediate point

src/robot_behaviour/config/movements/cb45.yaml

+play_motion:
+  motions:
+    cb45:
+      joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.43849212842657503, 0.5666097086931844, -1.1658871507462916, 1.6040043657672305, -1.7967914852196853, 0.5305666096055373, -1.579535433479321]
+        - time_from_start: 1
+          positions: [0.3294, 0.5073, -1.299, 1.5193, -1.6312, 0.5705, -1.5776]
+        - time_from_start: 2.5
+          positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ 
+      meta:
+        name: cb45
+        usage: cb45
+        description: coming back a token in position c45 with intermediate point

src/robot_behaviour/config/movements/head_rest.yaml

+play_motion:
+  motions:
+    rest_head:
+      joints: [head_1_joint, head_2_joint]
+      points:
+        - time_from_start: 1
+          positions: [0.002366301372505042, -0.8148519747609053]
+      meta:
+        name: rest_head
+        usage: rest_head
+        description: rest point for the robot's head

src/robot_behaviour/config/movements/noddling_no.yaml

+play_motion:
+  motions:
+    noddling_no:
+      joints: [head_1_joint, head_2_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.002366301372505042, -0.8148519747609053]
+        #go to p13
+        - time_from_start: 0.3
+          positions: [ 0.195721242047712, -0.8240673132114353]
+        - time_from_start: 0.7
+          positions: [-0.1879168598191919, -0.8240673132114353]
+        - time_from_start: 1.3
+          positions: [0.002366301372505042, -0.8148519747609053]
+
+        #come back
+      meta:
+        name: noddling_no
+        usage: noddling_no
+        description: head noddling

src/robot_behaviour/config/movements/noddling_yes.yaml

+play_motion:
+  motions:
+    noddling_yes:
+      joints: [head_1_joint, head_2_joint]
+      points:
+        - time_from_start: 0
+          positions: [0.002366301372505042, -0.9148519747609053]
+        #go to p13
+        - time_from_start: 0.4
+          positions: [0.002366301372505042, -0.6566553313601391]
+        - time_from_start: 1.0
+          positions: [0.002366301372505042, -0.8148519747609053]
+        #come back
+      meta:
+        name: noddling_yes
+        usage: noddling_yes
+        description: head noddling

src/robot_behaviour/config/movements/o11.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [1.3082094120173648, 0.2074848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o11

src/robot_behaviour/config/movements/o12.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o12

src/robot_behaviour/config/movements/o13.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [1.087113828406633, 0.2648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o13

src/robot_behaviour/config/movements/o14.yaml

@@ -7,7 +7,7 @@ play_motion:
           positions: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
         - time_from_start: 2
           positions: [0.9962856211937597, 0.2644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
       meta:
         name: o14

src/robot_behaviour/config/movements/o15.yaml

@@ -7,7 +7,7 @@ play_motion:
           positions: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
         - time_from_start: 2
           positions: [0.9361527766954548, 0.25798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
       meta:
         name: o15

src/robot_behaviour/config/movements/o21.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 3
+        - time_from_start: 2
           positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o21

src/robot_behaviour/config/movements/o22.yaml

@@ -7,7 +7,7 @@ play_motion:
           positions: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
         - time_from_start: 2
           positions: [1.0354179901517129, 0.376867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o22

src/robot_behaviour/config/movements/o23.yaml

@@ -7,7 +7,7 @@ play_motion:
           positions: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
         - time_from_start: 2
           positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 5
           positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o23

src/robot_behaviour/config/movements/o24.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [0.8198601506389116, 0.39124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
       meta:
         name: o24

src/robot_behaviour/config/movements/o25.yaml

@@ -7,7 +7,7 @@ play_motion:
           positions: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
         - time_from_start: 2
           positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322] 
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
       meta:
         name: o25

src/robot_behaviour/config/movements/o31.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [1.0974683360689688, 0.56300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o31

src/robot_behaviour/config/movements/o32.yaml

@@ -5,9 +5,9 @@ play_motion:
       points:
         - time_from_start: 0
           positions: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 5
+        - time_from_start: 2
           positions: [0.9701002218165642, 0.59922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
-        - time_from_start: 10
+        - time_from_start: 4
           positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
       meta:
         name: o32