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Commit 2ba93fb8 authored by Antonio Andriella's avatar Antonio Andriella
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movements refinement

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src/robot_behaviour/config/movements/o11.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.2786, 0.1091, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] positions: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- time_from_start: 5 - time_from_start: 5
positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] positions: [1.3082094120173648, 0.2074848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- time_from_start: 10 - time_from_start: 10
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o11 name: o11
usage: o11 usage: o11
description: offer token o11 to user right side description: offer token o11 to user right side
\ No newline at end of file
src/robot_behaviour/config/movements/o12.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.1657, 0.1091, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] positions: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- time_from_start: 5 - time_from_start: 5
positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- time_from_start: 10 - time_from_start: 10
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o12 name: o12
usage: o12 usage: o12
description: offer token in position p12 to user description: offer token in position p12 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o13.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.0791, 0.1331, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] positions: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- time_from_start: 5 - time_from_start: 5
positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782] positions: [1.087113828406633, 0.2648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- time_from_start: 10 - time_from_start: 10
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o13 name: o13
usage: o13 usage: o13
description: offer token in position p13 to user description: offer token in position p13 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o14.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.0192, 0.1005, -1.1193, 0.5701, -1.5496, 0.57, -1.5801] positions: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- time_from_start: 2 - time_from_start: 2
positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782] positions: [0.9962856211937597, 0.2644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o14 name: o14
usage: o14 usage: o14
description: offer token in position p14 to user description: offer token in position p14 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o15.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.9676, 0.0713, -1.1193, 0.4847, -1.5498, 0.57, -1.5801] positions: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- time_from_start: 2 - time_from_start: 2
positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782] positions: [0.9361527766954548, 0.25798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o15 name: o15
usage: o15 usage: o15
description: offer token in position p15 to user description: offer token in position p15 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o21.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.1209, 0.218, -1.1407, 1.0227, -1.5299, 0.5698, -1.5782] positions: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 3 - time_from_start: 3
positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775] positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o21 name: o21
usage: o21 usage: o21
description: offer token in position p21 to user description: offer token in position p21 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o22.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [1.011, 0.2148, -1.1407, 1.0227, -1.5298, 0.5698, -1.5782] positions: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 2 - time_from_start: 2
positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775] positions: [1.0354179901517129, 0.376867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o22 name: o22
usage: o22 usage: o22
description: offer token p22 to user right side description: offer token p22 to user right side
\ No newline at end of file
src/robot_behaviour/config/movements/o23.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.8865, 0.218, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782] positions: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 2 - time_from_start: 2
positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775] positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o23 name: o23
usage: o23 usage: o23
description: offer token in location p23 to user description: offer token in location p23 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o24.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.7781, 0.2187, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782] positions: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775] positions: [0.8198601506389116, 0.39124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o24 name: o24
usage: o24 usage: o24
description: offer token p14 to user left side description: offer token p14 to user left side
\ No newline at end of file
src/robot_behaviour/config/movements/o25.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.7063, 0.1887, -1.1412, 0.9305, -1.5298, 0.5698, -1.5782] positions: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 2 - time_from_start: 2
positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499] positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o25 name: o25
usage: o25 usage: o25
description: offer token in position p15 to user description: offer token in position p15 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o31.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.9902, 0.2905, -1.2072, 1.3062, -1.6315, 0.5706, -1.5775] positions: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775] positions: [1.0974683360689688, 0.56300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o31 name: o31
usage: o31 usage: o31
description: offer token in position p31 to user description: offer token in position p31 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o32.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.8871, 0.3781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775] positions: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775] positions: [0.9701002218165642, 0.59922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o32 name: o32
usage: o32 usage: o32
description: offer token p32 to user right side description: offer token p32 to user right side
\ No newline at end of file
src/robot_behaviour/config/movements/o33.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.7396, 0.3237, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775] positions: [0.8443121287333754, 0.5196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775] positions: [0.8443121287333754, 0.6196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58] positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta: meta:
name: o33 name: o33
usage: o33 usage: o33
description: offer token in location p33 to user description: offer token in location p33 to user
\ No newline at end of file
src/robot_behaviour/config/movements/o34.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.6274, 0.3213, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] positions: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775] positions: [0.7366099090337328, 0.6201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o34 name: o34
usage: o34 usage: o34
description: offer token p34 to user left side description: offer token p34 to user left side
\ No newline at end of file
src/robot_behaviour/config/movements/o35.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -4,12 +4,12 @@ play_motion: ...@@ -4,12 +4,12 @@ play_motion:
joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points: points:
- time_from_start: 0 - time_from_start: 0
positions: [0.5418, 0.2894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] positions: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 5 - time_from_start: 5
positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775] positions: [0.6693286192455783, 0.658832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- time_from_start: 10 - time_from_start: 10
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802] positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta: meta:
name: o35 name: o35
usage: o35 usage: o35
description: offer token in position p35 to user description: offer token in position p35 to user
\ No newline at end of file
src/robot_behaviour/config/movements/s11.yaml
+ 6
− 6
View file @ 2ba93fb8
...@@ -7,15 +7,15 @@ play_motion: ...@@ -7,15 +7,15 @@ play_motion:
positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799] positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1 #go to step1
- time_from_start: 3 - time_from_start: 3
positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095] positions: [1.3082094120173648, 0.2674848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#go to step2 #go to step2
- time_from_start: 5 - time_from_start: 4
positions: [1.3082094120173648, 0.1974848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095] positions: [1.3082094120173648, 0.1674848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#go to step3 #go to step3
- time_from_start: 7 - time_from_start: 5
positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095] positions: [1.3082094120173648, 0.2674848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#come back #come back
- time_from_start: 10 - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773] positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
......
src/robot_behaviour/config/movements/s12.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -9,13 +9,13 @@ play_motion: ...@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3 - time_from_start: 3
positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343] positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#go to step2 #go to step2
- time_from_start: 5 - time_from_start: 4
positions: [1.2031763542929022, 0.19058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343] positions: [1.2031763542929022, 0.19058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#go to step3 #go to step3
- time_from_start: 7 - time_from_start: 5
positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343] positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#come back #come back
- time_from_start: 10 - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773] positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
meta: meta:
name: s12 name: s12
......
src/robot_behaviour/config/movements/s13.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -9,13 +9,13 @@ play_motion: ...@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3 - time_from_start: 3
positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679] positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#go to step2 #go to step2
- time_from_start: 5 - time_from_start: 4
positions: [1.087113828406633, 0.1948241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679] positions: [1.087113828406633, 0.1948241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#go to step3 #go to step3
- time_from_start: 7 - time_from_start: 5
positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679] positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#come back #come back
- time_from_start: 10 - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773] positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
meta: meta:
name: s13 name: s13
......
src/robot_behaviour/config/movements/s14.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -9,13 +9,13 @@ play_motion: ...@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3 - time_from_start: 3
positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534] positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#go to p13 #go to p13
- time_from_start: 5 - time_from_start: 4
positions: [0.9962856211937597, 0.1944713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534] positions: [0.9962856211937597, 0.1944713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#go to p12 #go to p12
- time_from_start: 7 - time_from_start: 5
positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534] positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#come back #come back
- time_from_start: 10 - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773] positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
meta: meta:
name: s14 name: s14
......
src/robot_behaviour/config/movements/s15.yaml
+ 3
− 3
View file @ 2ba93fb8
...@@ -9,13 +9,13 @@ play_motion: ...@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3 - time_from_start: 3
positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713] positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#go to 2ndstep #go to 2ndstep
- time_from_start: 5 - time_from_start: 4
positions: [0.9361527766954548, 0.19798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713] positions: [0.9361527766954548, 0.19798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#go to 3rdstep #go to 3rdstep
- time_from_start: 7 - time_from_start: 5
positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713] positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#come back #come back
- time_from_start: 10 - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773] positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
meta: meta:
name: s15 name: s15
......
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