diff --git a/src/robot_behaviour/config/movements/o11.yaml b/src/robot_behaviour/config/movements/o11.yaml
index 7409501e81db723b4758e334e78934bd49aa8446..a305521aed6bd708be8aa85459dc0f48f5e45475 100644
--- a/src/robot_behaviour/config/movements/o11.yaml
+++ b/src/robot_behaviour/config/movements/o11.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o11
usage: o11
- description: offer token o11 to user right side
\ No newline at end of file
+ description: offer token o11 to user right side
diff --git a/src/robot_behaviour/config/movements/o12.yaml b/src/robot_behaviour/config/movements/o12.yaml
index 8dd829f7b8ff5cfc9e821cbe7b5fc3d399e2b301..7f4701b4485ddf9b7c96c97dc974d8b520d05a22 100644
--- a/src/robot_behaviour/config/movements/o12.yaml
+++ b/src/robot_behaviour/config/movements/o12.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o12
usage: o12
- description: offer token in position p12 to user
\ No newline at end of file
+ description: offer token in position p12 to user
diff --git a/src/robot_behaviour/config/movements/o13.yaml b/src/robot_behaviour/config/movements/o13.yaml
index 8a823310fb5dc426610a42f46a8341122fc9e9e2..e170691142de3940b03f94b50162106e4b1c5c30 100644
--- a/src/robot_behaviour/config/movements/o13.yaml
+++ b/src/robot_behaviour/config/movements/o13.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o13
usage: o13
- description: offer token in position p13 to user
\ No newline at end of file
+ description: offer token in position p13 to user
diff --git a/src/robot_behaviour/config/movements/o14.yaml b/src/robot_behaviour/config/movements/o14.yaml
index ceea6b8c7912f903cf73746fed17b4e014549894..b10564b6ced4bbad6e95b685c2554d07261f2222 100644
--- a/src/robot_behaviour/config/movements/o14.yaml
+++ b/src/robot_behaviour/config/movements/o14.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o14
usage: o14
- description: offer token in position p14 to user
\ No newline at end of file
+ description: offer token in position p14 to user
diff --git a/src/robot_behaviour/config/movements/o15.yaml b/src/robot_behaviour/config/movements/o15.yaml
index 6e25ec7313bbb75b34660a9f97892daad64966e6..d468692924bdaf4f6c5e20ef704e9a6638d19922 100644
--- a/src/robot_behaviour/config/movements/o15.yaml
+++ b/src/robot_behaviour/config/movements/o15.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o15
usage: o15
- description: offer token in position p15 to user
\ No newline at end of file
+ description: offer token in position p15 to user
diff --git a/src/robot_behaviour/config/movements/o21.yaml b/src/robot_behaviour/config/movements/o21.yaml
index d11ff2f279c8bc59d6252f5485bb49dad791fc3c..9d3170cf432013da423a312bdd32563fa8252784 100644
--- a/src/robot_behaviour/config/movements/o21.yaml
+++ b/src/robot_behaviour/config/movements/o21.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o21
usage: o21
- description: offer token in position p21 to user
\ No newline at end of file
+ description: offer token in position p21 to user
diff --git a/src/robot_behaviour/config/movements/o22.yaml b/src/robot_behaviour/config/movements/o22.yaml
index aa5faeba7ef521213a809f90d9506392c42bfef7..1d68995a279933d69aa2a5ab4b8d71e944a17014 100644
--- a/src/robot_behaviour/config/movements/o22.yaml
+++ b/src/robot_behaviour/config/movements/o22.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o22
usage: o22
- description: offer token p22 to user right side
\ No newline at end of file
+ description: offer token p22 to user right side
diff --git a/src/robot_behaviour/config/movements/o23.yaml b/src/robot_behaviour/config/movements/o23.yaml
index b87cafac99ea0d7aef50ce2efa3530a10228445b..33b511ecc7de1b128cc7a6adcaa55c148a65bca3 100644
--- a/src/robot_behaviour/config/movements/o23.yaml
+++ b/src/robot_behaviour/config/movements/o23.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o23
usage: o23
- description: offer token in location p23 to user
\ No newline at end of file
+ description: offer token in location p23 to user
diff --git a/src/robot_behaviour/config/movements/o24.yaml b/src/robot_behaviour/config/movements/o24.yaml
index 50480222b88a41579a5c16d5b31530fd3ea0d6ce..4ba6ca89cc65e02bff2986f3c3d4f438461de625 100644
--- a/src/robot_behaviour/config/movements/o24.yaml
+++ b/src/robot_behaviour/config/movements/o24.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o24
usage: o24
- description: offer token p14 to user left side
\ No newline at end of file
+ description: offer token p14 to user left side
diff --git a/src/robot_behaviour/config/movements/o25.yaml b/src/robot_behaviour/config/movements/o25.yaml
index f4e1555b4d69e113ce29dab5437306cbf1962daa..f670e83756f4cc76384e2f4ef9e1e17466e95e23 100644
--- a/src/robot_behaviour/config/movements/o25.yaml
+++ b/src/robot_behaviour/config/movements/o25.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o25
usage: o25
- description: offer token in position p15 to user
\ No newline at end of file
+ description: offer token in position p15 to user
diff --git a/src/robot_behaviour/config/movements/o31.yaml b/src/robot_behaviour/config/movements/o31.yaml
index 334d996dc494e6be9779594f70110f4d649d0e4e..bef84a8289db61fee55d24140af6f2daf0cb9089 100644
--- a/src/robot_behaviour/config/movements/o31.yaml
+++ b/src/robot_behaviour/config/movements/o31.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o31
usage: o31
- description: offer token in position p31 to user
\ No newline at end of file
+ description: offer token in position p31 to user
diff --git a/src/robot_behaviour/config/movements/o32.yaml b/src/robot_behaviour/config/movements/o32.yaml
index cb56dd0970ea3ec62e5c345d4adfc107d1712e44..39be01d1b0d33e04454dd4fefb0bb3167cd7b554 100644
--- a/src/robot_behaviour/config/movements/o32.yaml
+++ b/src/robot_behaviour/config/movements/o32.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o32
usage: o32
- description: offer token p32 to user right side
\ No newline at end of file
+ description: offer token p32 to user right side
diff --git a/src/robot_behaviour/config/movements/o33.yaml b/src/robot_behaviour/config/movements/o33.yaml
index 2a8b8ed4e0dedcc4b2d82db1104eebb6ed5b97f6..8836c846444495f2ce87a593e381bfd0640cd722 100644
--- a/src/robot_behaviour/config/movements/o33.yaml
+++ b/src/robot_behaviour/config/movements/o33.yaml
@@ -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]
points:
- 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
- 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
positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
meta:
name: o33
usage: o33
- description: offer token in location p33 to user
\ No newline at end of file
+ description: offer token in location p33 to user
diff --git a/src/robot_behaviour/config/movements/o34.yaml b/src/robot_behaviour/config/movements/o34.yaml
index a3ea52f6d639c04d5e03dbf95a113db3f7fad223..7a0bbf7df2ad36efa363760f0db6c30d49a8e29d 100644
--- a/src/robot_behaviour/config/movements/o34.yaml
+++ b/src/robot_behaviour/config/movements/o34.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o34
usage: o34
- description: offer token p34 to user left side
\ No newline at end of file
+ description: offer token p34 to user left side
diff --git a/src/robot_behaviour/config/movements/o35.yaml b/src/robot_behaviour/config/movements/o35.yaml
index 69dd0e564fb2b24296e8cf18df0b7e9b7f10c89f..5c2fd79b5016a8c640acee7efb1fdd78c95a56d7 100644
--- a/src/robot_behaviour/config/movements/o35.yaml
+++ b/src/robot_behaviour/config/movements/o35.yaml
@@ -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]
points:
- 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
- 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
positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
meta:
name: o35
usage: o35
- description: offer token in position p35 to user
\ No newline at end of file
+ description: offer token in position p35 to user
diff --git a/src/robot_behaviour/config/movements/s11.yaml b/src/robot_behaviour/config/movements/s11.yaml
index 7aa67561a0419b462a953d151c01c8ab600bd7e3..124baca51107840e17024240ff63061b67988092 100644
--- a/src/robot_behaviour/config/movements/s11.yaml
+++ b/src/robot_behaviour/config/movements/s11.yaml
@@ -7,15 +7,15 @@ play_motion:
positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- 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
- - time_from_start: 5
- positions: [1.3082094120173648, 0.1974848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ - time_from_start: 4
+ positions: [1.3082094120173648, 0.1674848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#go to step3
- - time_from_start: 7
- positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ - time_from_start: 5
+ positions: [1.3082094120173648, 0.2674848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#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]
diff --git a/src/robot_behaviour/config/movements/s12.yaml b/src/robot_behaviour/config/movements/s12.yaml
index 94f09124503a8bfa57ba402c43f3d313b3f9fee8..42dd7f0f4f23060bc5731ab592dc1975caa1d6c9 100644
--- a/src/robot_behaviour/config/movements/s12.yaml
+++ b/src/robot_behaviour/config/movements/s12.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#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]
#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]
#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]
meta:
name: s12
diff --git a/src/robot_behaviour/config/movements/s13.yaml b/src/robot_behaviour/config/movements/s13.yaml
index 0151ccdc6ab566b6a41cd72b5eb20d8c3c61c11b..9f5b8c0acc441db10cae4fe289508bdcca5ef479 100644
--- a/src/robot_behaviour/config/movements/s13.yaml
+++ b/src/robot_behaviour/config/movements/s13.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#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]
#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]
#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]
meta:
name: s13
diff --git a/src/robot_behaviour/config/movements/s14.yaml b/src/robot_behaviour/config/movements/s14.yaml
index ae34be520d17d25de757c5354e8f904bfc82bdf3..702d5ee033bbf85be8fc99554436683fd24a47a5 100644
--- a/src/robot_behaviour/config/movements/s14.yaml
+++ b/src/robot_behaviour/config/movements/s14.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#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]
#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]
#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]
meta:
name: s14
diff --git a/src/robot_behaviour/config/movements/s15.yaml b/src/robot_behaviour/config/movements/s15.yaml
index a812abe8798b3077ed2c8fb28d0f38019fddb98b..e316f3e3a3b9e4f65f5f36059f68b29cd89227ae 100644
--- a/src/robot_behaviour/config/movements/s15.yaml
+++ b/src/robot_behaviour/config/movements/s15.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#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]
#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]
#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]
meta:
name: s15
diff --git a/src/robot_behaviour/config/movements/s21.yaml b/src/robot_behaviour/config/movements/s21.yaml
index 2d08efaca2ea79a1f4fd480f4f53bf8ca5b49cc0..44e652932466830a1a6c9189b734f767926aabc3 100644
--- a/src/robot_behaviour/config/movements/s21.yaml
+++ b/src/robot_behaviour/config/movements/s21.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
#go to p21
- - time_from_start: 5
+ - time_from_start: 4
positions: [1.1594266419181152, 0.2938865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
#go to p22
- - time_from_start: 7
+ - time_from_start: 5
positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
#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]
meta:
name: s21
diff --git a/src/robot_behaviour/config/movements/s22.yaml b/src/robot_behaviour/config/movements/s22.yaml
index 1042bdcf1be9a2bf2a42438860b94027abdcde67..280168dc50ac549300df2e0199447b3a4fc984a0 100644
--- a/src/robot_behaviour/config/movements/s22.yaml
+++ b/src/robot_behaviour/config/movements/s22.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
#go to second step
- - time_from_start: 5
+ - time_from_start: 4
positions: [1.0354179901517129, 0.316867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
#go to third step
- - time_from_start: 7
+ - time_from_start: 5
positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
#come back
- - time_from_start: 8
+ - time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
meta:
name: s22
diff --git a/src/robot_behaviour/config/movements/s23.yaml b/src/robot_behaviour/config/movements/s23.yaml
index 81f9154c86cc63e9851c13c322d6d39fdf06aaff..5058109676adc31aa0c05a88ff8722101c1fed24 100644
--- a/src/robot_behaviour/config/movements/s23.yaml
+++ b/src/robot_behaviour/config/movements/s23.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
#go to second step
- - time_from_start: 5
+ - time_from_start: 4
positions: [0.9264885695439415, 0.3352125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
#go to third step
- - time_from_start: 7
+ - time_from_start: 5
positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
#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]
meta:
name: s23
diff --git a/src/robot_behaviour/config/movements/s24.yaml b/src/robot_behaviour/config/movements/s24.yaml
index 31d7f1ce70d228632fa08ac16e4a0c3b4b420ff7..f0be37e1ece01884c3049378b518f56e32118ecd 100644
--- a/src/robot_behaviour/config/movements/s24.yaml
+++ b/src/robot_behaviour/config/movements/s24.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
#go to second step
- - time_from_start: 5
+ - time_from_start: 4
positions: [0.8198601506389116, 0.33124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
#go to third step
- - time_from_start: 7
+ - time_from_start: 5
positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
#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]
meta:
name: s24
diff --git a/src/robot_behaviour/config/movements/s25.yaml b/src/robot_behaviour/config/movements/s25.yaml
index 32b8778aca9a0c3cf77535e3850abc40fff84d0b..ea83ff91f96fc5481c55d1c4e256cb0e3a47626d 100644
--- a/src/robot_behaviour/config/movements/s25.yaml
+++ b/src/robot_behaviour/config/movements/s25.yaml
@@ -9,13 +9,13 @@ play_motion:
- time_from_start: 3
positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
#go to second step
- - time_from_start: 5
+ - time_from_start: 4
positions: [0.7607550869011643, 0.3709394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
#go to third step
- - time_from_start: 7
+ - time_from_start: 5
positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
#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]
meta:
name: s25
diff --git a/src/robot_behaviour/config/movements/sr4.yaml b/src/robot_behaviour/config/movements/sr4.yaml
index 2513a588a6c1e96f7008a2c84a747689d5b4a61b..27ccc20369d82ee0f58f405ef7687f9e9346f441 100644
--- a/src/robot_behaviour/config/movements/sr4.yaml
+++ b/src/robot_behaviour/config/movements/sr4.yaml
@@ -9,7 +9,7 @@ play_motion:
- time_from_start: 1.5
positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- time_from_start: 3
- positions: [0.9361527766954548, 0.21798248630903985, -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
- time_from_start: 6
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss31.yaml b/src/robot_behaviour/config/movements/ss31.yaml
index 6685f97ed230f1c8062a2f83eededdca10e6181a..07f042f4b4475ce4e4180d159475c2e2656c193c 100644
--- a/src/robot_behaviour/config/movements/ss31.yaml
+++ b/src/robot_behaviour/config/movements/ss31.yaml
@@ -4,16 +4,16 @@ play_motion:
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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 3
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p31
- time_from_start: 5
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 7
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#come back
- time_from_start: 10
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss32.yaml b/src/robot_behaviour/config/movements/ss32.yaml
index c3d9ecfc7204a3daf8aca3dd5869fec85a99f38a..8aea979f3accee306450039f18bf3d5851ad1efd 100644
--- a/src/robot_behaviour/config/movements/ss32.yaml
+++ b/src/robot_behaviour/config/movements/ss32.yaml
@@ -4,16 +4,16 @@ play_motion:
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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 3
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p31
- time_from_start: 5
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 7
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ positions: [0.9412610004755404, 0.3472015263311295, -1.3569009720965193, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#come back
- time_from_start: 10
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss33.yaml b/src/robot_behaviour/config/movements/ss33.yaml
index 39500b6d084ef5b2d6771f0e01c5e0413477b838..6a182b45bc4c183a22915e00fbfdfbd3dc299671 100644
--- a/src/robot_behaviour/config/movements/ss33.yaml
+++ b/src/robot_behaviour/config/movements/ss33.yaml
@@ -4,16 +4,16 @@ play_motion:
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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ positions: [0.8070972611943733, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p32
- time_from_start: 3
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ positions: [0.8070972611943733, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p34
- time_from_start: 5
- positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
+ positions: [0.5861550776971576, 0.3472015263311295, -1.3567475719830033, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p32
- time_from_start: 7
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ positions: [0.8070972611943733, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#come back
- time_from_start: 10
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss34.yaml b/src/robot_behaviour/config/movements/ss34.yaml
index cecd09a6488f3083087a64b5b418560318bec21b..9ddda41690acbd8b33cc05574838310a163e2a76 100644
--- a/src/robot_behaviour/config/movements/ss34.yaml
+++ b/src/robot_behaviour/config/movements/ss34.yaml
@@ -4,16 +4,16 @@ play_motion:
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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 3
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p35
- time_from_start: 5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ positions: [0.4896510662841891, 0.34703278620626177, -1.3267578497906087, 1.3040457837978798, -1.707872460149841, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 7
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#come back
- time_from_start: 10
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss35.yaml b/src/robot_behaviour/config/movements/ss35.yaml
index 2af23c5f78ab8c403b377954deb45f032d2dbc9d..e675713066fb7953ff401db596a4dde90e30aa8f 100644
--- a/src/robot_behaviour/config/movements/ss35.yaml
+++ b/src/robot_behaviour/config/movements/ss35.yaml
@@ -3,17 +3,17 @@ play_motion:
ss35:
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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to p33
- - time_from_start: 3
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 0
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p35
+ - time_from_start: 3
+ positions: [0.4896510662841891, 0.34703278620626177, -1.3267578497906087, 1.3040457837978798, -1.707872460149841, 0.5701055260369193, -1.5775679360915351]
- time_from_start: 5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ positions: [0.6821835487582262, 0.3472015263311295, -1.3568856320851677, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#go to p33
- time_from_start: 7
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ positions: [0.5861550776971576, 0.3472015263311295, -1.3567475719830033, 1.3454024544018162, -1.707813175859437, 0.5701055260369193, -1.5775679360915351]
#come back
- time_from_start: 10
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/new_movements/c11.yaml b/src/robot_behaviour/config/new_movements/c11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6292ed559899f858870409e3b6fae9d92d712d3e
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c11.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c11:
+ 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: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ - time_from_start: 2
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c11
+ usage: c11
+ description: come back to position p11 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c12.yaml b/src/robot_behaviour/config/new_movements/c12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f2bceeb62ab365ad2fdb363c1564a0f4d956cc6f
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c12.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c12:
+ 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: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
+ - time_from_start: 2
+ positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c12
+ usage: c12
+ description: come back from position p12 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c13.yaml b/src/robot_behaviour/config/new_movements/c13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b0776a3cabd8e3c480e03dd6e193bec91a57bda2
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c13.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c13:
+ 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: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
+ - time_from_start: 2
+ positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c13
+ usage: c13
+ description: come back from position p13 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c14.yaml b/src/robot_behaviour/config/new_movements/c14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2f3127098278eee8ce5ede2c218a36378a03ffa4
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c14.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c14:
+ 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: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
+ - time_from_start: 2
+ positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c14
+ usage: c14
+ description: come back from position c14 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c15.yaml b/src/robot_behaviour/config/new_movements/c15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..128b74032398f7134cc9cecd33441a02136e114f
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c15.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c15:
+ 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: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+ - time_from_start: 2
+ positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c15
+ usage: c15
+ description: coming back a token in position c15 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c21.yaml b/src/robot_behaviour/config/new_movements/c21.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..998d25b26b44b8fdab00310ff5a42812aca63edd
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c21.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c21:
+ 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: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c21
+ usage: c21
+ description: coming back a token in position c21 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c22.yaml b/src/robot_behaviour/config/new_movements/c22.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cbf4744d00e7f4d62f6ff34b3be59479fbc318ca
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c22.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c22:
+ 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: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c22
+ usage: c22
+ description: coming back a token in position c22 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c23.yaml b/src/robot_behaviour/config/new_movements/c23.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..40041fa49a85b10321b3e3eaf6f7eeeed42c8258
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c23.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c23:
+ 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: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c23
+ usage: c23
+ description: coming back a token in position c24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c24.yaml b/src/robot_behaviour/config/new_movements/c24.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a708d30e538e1e9a38e207fcdd50bee6e2462d64
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c24.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c24:
+ 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: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c24
+ usage: c24
+ description: coming back a token in position c24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c25.yaml b/src/robot_behaviour/config/new_movements/c25.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..388a84ca011b8ef2be1f793a221ed826e9961ea0
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c25.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c25:
+ 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: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c25
+ usage: c25
+ description: "coming back a token in position p25 "
diff --git a/src/robot_behaviour/config/new_movements/c31.yaml b/src/robot_behaviour/config/new_movements/c31.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4defb7cf33312a52ad183b24e7ba88ad6dcd4530
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c31.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c31:
+ 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: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c31
+ usage: c31
+ description: place a token in position c31 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c32.yaml b/src/robot_behaviour/config/new_movements/c32.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eda78b45f644b2a26cc368c47537cca8ca7d750c
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c32.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c32:
+ 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: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c32
+ usage: c32
+ description: place a token in position c32 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c33.yaml b/src/robot_behaviour/config/new_movements/c33.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f47f0d81c26ada3e2f3d17451e68afa6a6efc440
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c33.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c33:
+ 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: [0.8443121287333754, 0.5196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c33
+ usage: c33
+ description: place a token in position c33 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c34.yaml b/src/robot_behaviour/config/new_movements/c34.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f25f437fab5217e494797c4ad264d976aa0e1550
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c34.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c34:
+ 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: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c34
+ usage: c34
+ description: place a token in position c34 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c35.yaml b/src/robot_behaviour/config/new_movements/c35.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dfeea52ef0dca9e95d939bec027332f370192359
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c35.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c35:
+ 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: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
+ - time_from_start: 2
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c35
+ usage: c35
+ description: place a token in position c35 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c41.yaml b/src/robot_behaviour/config/new_movements/c41.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dcb7e77f6e9f2227c03b7691c3a9e58e9a41091f
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c41.yaml
@@ -0,0 +1,16 @@
+play_motion:
+ motions:
+ c41:
+ 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: 2
+ positions: [0.87, 0.5943, -1.2749, 1.5802, -1.6308, 0.5703, -1.5778]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+
+ meta:
+ name: c41
+ usage: c41
+ description: coming back a token in position c41 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c42.yaml b/src/robot_behaviour/config/new_movements/c42.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2528d335a55b3b9f873f4c2f5d4f2e8eb4667351
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c42.yaml
@@ -0,0 +1,16 @@
+play_motion:
+ motions:
+ c42:
+ 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: 2
+ positions: [0.7796, 0.7522, -1.2092, 1.6385, -1.6313, 0.5704, -1.5777]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+
+ meta:
+ name: c42
+ usage: c42
+ description: coming back a token in position c42 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c43.yaml b/src/robot_behaviour/config/new_movements/c43.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a260092494b8e85873ae83c7719aa6ca83f0aa48
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c43.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c43:
+ 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: 2
+ positions: [0.5276, 0.453, -1.3407, 1.6121, -1.6313, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c43
+ usage: c43
+ description: coming back a token in position c43 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c44.yaml b/src/robot_behaviour/config/new_movements/c44.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..95b6fcb3c1f1f99d5559143d36980c6c205b26de
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c44.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c44:
+ 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: 3
+ positions: [0.4469, 0.6519, -1.2589, 1.6, -1.6314, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c44
+ usage: c44
+ description: coming back a token in position c44 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c45.yaml b/src/robot_behaviour/config/new_movements/c45.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3a4766c998f6e8f9cf97e2d2ce090afeff557a70
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/c45.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ c45:
+ 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: 2
+ positions: [0.3294, 0.5073, -1.299, 1.5193, -1.6312, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: c45
+ usage: c45
+ description: coming back a token in position c45 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/inter.yaml b/src/robot_behaviour/config/new_movements/inter.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2bdc70ccdbdb9c7781d67f596fda1604838be4e8
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/inter.yaml
@@ -0,0 +1,11 @@
+play_motion:
+ motions:
+ inter:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ meta:
+ name: inter
+ usage: inter
+ description: Intermediate point for avoid crash
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o11 b/src/robot_behaviour/config/new_movements/o11
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/robot_behaviour/config/new_movements/o11.yaml b/src/robot_behaviour/config/new_movements/o11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7409501e81db723b4758e334e78934bd49aa8446
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o11.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o11:
+ 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: [1.2786, 0.1091, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ - time_from_start: 5
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ - time_from_start: 10
+ positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o11
+ usage: o11
+ description: offer token o11 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o12.yaml b/src/robot_behaviour/config/new_movements/o12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8dd829f7b8ff5cfc9e821cbe7b5fc3d399e2b301
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o12.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o12:
+ 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: [1.1657, 0.1091, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 10
+ positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o12
+ usage: o12
+ description: offer token in position p12 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o13.yaml b/src/robot_behaviour/config/new_movements/o13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8a823310fb5dc426610a42f46a8341122fc9e9e2
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o13.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o13:
+ 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: [1.0791, 0.1331, -1.1193, 0.6565, -1.5498, 0.57, -1.5801]
+ - time_from_start: 5
+ positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 10
+ positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o13
+ usage: o13
+ description: offer token in position p13 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o14.yaml b/src/robot_behaviour/config/new_movements/o14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ceea6b8c7912f903cf73746fed17b4e014549894
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o14.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o14:
+ 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: [1.0192, 0.1005, -1.1193, 0.5701, -1.5496, 0.57, -1.5801]
+ - time_from_start: 2
+ positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o14
+ usage: o14
+ description: offer token in position p14 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o15.yaml b/src/robot_behaviour/config/new_movements/o15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6e25ec7313bbb75b34660a9f97892daad64966e6
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o15.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o15:
+ 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: [0.9676, 0.0713, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
+ - time_from_start: 2
+ positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o15
+ usage: o15
+ description: offer token in position p15 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o21.yaml b/src/robot_behaviour/config/new_movements/o21.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d11ff2f279c8bc59d6252f5485bb49dad791fc3c
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o21.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o21:
+ 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: [1.1209, 0.218, -1.1407, 1.0227, -1.5299, 0.5698, -1.5782]
+ - time_from_start: 3
+ positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o21
+ usage: o21
+ description: offer token in position p21 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o22.yaml b/src/robot_behaviour/config/new_movements/o22.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aa5faeba7ef521213a809f90d9506392c42bfef7
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o22.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o22:
+ 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: [1.011, 0.2148, -1.1407, 1.0227, -1.5298, 0.5698, -1.5782]
+ - time_from_start: 2
+ positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o22
+ usage: o22
+ description: offer token p22 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o23.yaml b/src/robot_behaviour/config/new_movements/o23.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b87cafac99ea0d7aef50ce2efa3530a10228445b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o23.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o23:
+ 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: [0.8865, 0.218, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782]
+ - time_from_start: 2
+ positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o23
+ usage: o23
+ description: offer token in location p23 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o24.yaml b/src/robot_behaviour/config/new_movements/o24.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..50480222b88a41579a5c16d5b31530fd3ea0d6ce
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o24.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o24:
+ 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: [0.7781, 0.2187, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782]
+ - time_from_start: 5
+ positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o24
+ usage: o24
+ description: offer token p14 to user left side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o25.yaml b/src/robot_behaviour/config/new_movements/o25.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f4e1555b4d69e113ce29dab5437306cbf1962daa
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o25.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o25:
+ 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: [0.7063, 0.1887, -1.1412, 0.9305, -1.5298, 0.5698, -1.5782]
+ - time_from_start: 2
+ positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o25
+ usage: o25
+ description: offer token in position p15 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o31.yaml b/src/robot_behaviour/config/new_movements/o31.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..334d996dc494e6be9779594f70110f4d649d0e4e
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o31.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o31:
+ 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: [0.9902, 0.2905, -1.2072, 1.3062, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o31
+ usage: o31
+ description: offer token in position p31 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o32.yaml b/src/robot_behaviour/config/new_movements/o32.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cb56dd0970ea3ec62e5c345d4adfc107d1712e44
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o32.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o32:
+ 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: [0.8871, 0.3781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o32
+ usage: o32
+ description: offer token p32 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o33.yaml b/src/robot_behaviour/config/new_movements/o33.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2a8b8ed4e0dedcc4b2d82db1104eebb6ed5b97f6
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o33.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o33:
+ 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: [0.7396, 0.3237, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
+ meta:
+ name: o33
+ usage: o33
+ description: offer token in location p33 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o34.yaml b/src/robot_behaviour/config/new_movements/o34.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3ea52f6d639c04d5e03dbf95a113db3f7fad223
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o34.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o34:
+ 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: [0.6274, 0.3213, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776]
+ - time_from_start: 5
+ positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o34
+ usage: o34
+ description: offer token p34 to user left side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o35.yaml b/src/robot_behaviour/config/new_movements/o35.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..69dd0e564fb2b24296e8cf18df0b7e9b7f10c89f
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/o35.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ o35:
+ 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: [0.5418, 0.2894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776]
+ - time_from_start: 5
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 10
+ positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
+ meta:
+ name: o35
+ usage: o35
+ description: offer token in position p35 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/p11.yaml b/src/robot_behaviour/config/new_movements/p11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..842b57b9a1f03516e7af30199550042656635f02
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p11.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p11:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ - time_from_start: 5
+ positions: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ meta:
+ name: p11
+ usage: p11
+ description: pick a token in position p11 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p12.yaml b/src/robot_behaviour/config/new_movements/p12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d17887a18d601795a19ffd860e002f4e83e78312
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p12.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p12:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
+ meta:
+ name: p12
+ usage: p12
+ description: pick a token in position p12 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p13.yaml b/src/robot_behaviour/config/new_movements/p13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ceb808c800fe56fd0aa3b087133f9e882efbe99
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p13.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p13:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
+ meta:
+ name: p13
+ usage: p13
+ description: pick a token in position p13 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p14.yaml b/src/robot_behaviour/config/new_movements/p14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f6e4fa7cb9c1adb6d66516b85e3ead997cea5118
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p14.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p14:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
+ meta:
+ name: p14
+ usage: p14
+ description: pick a token in position p14 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p15.yaml b/src/robot_behaviour/config/new_movements/p15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b2df16c834f64345960a4ddc53672f03396bf
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p15.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p15:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
+ - time_from_start: 5
+ positions: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+ meta:
+ name: p15
+ usage: p15
+ description: pick a token in position p15 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p21.yaml b/src/robot_behaviour/config/new_movements/p21.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d528f62896a69817103902836f713c8a7c29524d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p21.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p21:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5.5
+ positions: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p21
+ usage: p21
+ description: pick a token in position p21 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p22.yaml b/src/robot_behaviour/config/new_movements/p22.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eadca4f6afa73288f6db234168577dfea7183e2c
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p22.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p22:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5.5
+ positions: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p22
+ usage: p22
+ description: pick a token in position p22 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p23.yaml b/src/robot_behaviour/config/new_movements/p23.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c446cc13f806e44efbe0bd9bc8a7abda6022855d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p23.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p23:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5.5
+ positions: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p23
+ usage: p23
+ description: pick a token in position p23 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p24.yaml b/src/robot_behaviour/config/new_movements/p24.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..89b1bb736f922fe31b9ede8211c09ab5d42a23d0
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p24.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p24:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ - time_from_start: 5.5
+ positions: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p24
+ usage: p24
+ description: pick a token in position p24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p25.yaml b/src/robot_behaviour/config/new_movements/p25.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9c079e04243484b54eba8fcfd7ec3a858c4648b8
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p25.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p25:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ - time_from_start: 5.5
+ positions: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p25
+ usage: p25
+ description: pick a token in position p25 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p31.yaml b/src/robot_behaviour/config/new_movements/p31.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..994ff177d62c03c451bead4b7f3ce5d7bd6c4f1a
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p31.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p31:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p31
+ usage: p31
+ description: pick a token in position p31 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p32.yaml b/src/robot_behaviour/config/new_movements/p32.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..66a385b7962354286e2190381456166a1ac1cf32
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p32.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p32:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p32
+ usage: p32
+ description: pick a token in position p32 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p33.yaml b/src/robot_behaviour/config/new_movements/p33.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8151ff0ab7e02e58c072b9e9e9c1fcd97200528d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p33.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p33:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.8443121287333754, 0.5196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p33
+ usage: p33
+ description: pick a token in position p33 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p34.yaml b/src/robot_behaviour/config/new_movements/p34.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..32a72ba538064f3b40807a09bcbc0e8367d2f8df
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p34.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p34:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p34
+ usage: p34
+ description: pick a token in position p34 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p35.yaml b/src/robot_behaviour/config/new_movements/p35.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4b32659d936503734befa956b2324f013fc43441
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p35.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p35:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 5
+ positions: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
+ meta:
+ name: p35
+ usage: p35
+ description: pick a token in position p35 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p41.yaml b/src/robot_behaviour/config/new_movements/p41.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1891916b59bfacde1b5433dfb4f766c3f51e721b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p41.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p41:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.87, 0.5943, -1.2749, 1.5802, -1.6308, 0.5703, -1.5778]
+ - time_from_start: 5
+ positions: [0.8731360100630475, 0.30831459755480217, -1.2643700236236175, 1.5496700455598336, -1.677018692262659, 0.5303943146365504, -1.5797077284483079]
+ meta:
+ name: p41
+ usage: p41
+ description: pick a token in position p41 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p42.yaml b/src/robot_behaviour/config/new_movements/p42.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b6883b2bdc1f657fd1d7085b8dfa447bee9e501d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p42.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p42:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.7796, 0.7522, -1.2092, 1.6385, -1.6313, 0.5704, -1.5777]
+ - time_from_start: 5
+ positions: [0.7300443841752443, 0.40210342695853596, -1.2570528382089003, 1.626324082283821, -1.726424737778173, 0.5304350725862031, -1.5796669704986552]
+ meta:
+ name: p42
+ usage: p42
+ description: pick a token in position p42 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p43.yaml b/src/robot_behaviour/config/new_movements/p43.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8aebb126deb0881a9790d84f7f679b768ae02a5d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p43.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p43:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.5276, 0.453, -1.3407, 1.6121, -1.6313, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.6190747420577092, 0.47516790102624673, -1.2336439808863457, 1.64672629738146, -1.7621657543555427, 0.5304647147314052, -1.579637328353453]
+ meta:
+ name: p43
+ usage: p43
+ description: pick a token in position p43 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p44.yaml b/src/robot_behaviour/config/new_movements/p44.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e04c9195b312da0e1eb5b23319225d3fad93df20
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p44.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p44:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.4469, 0.6519, -1.2589, 1.6, -1.6314, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.5187050477841355, 0.5480022749236835, -1.202028217490681, 1.648521078709598, -1.7967396114655818, 0.53053511482626, -1.5795669282585982]
+ meta:
+ name: p44
+ usage: p44
+ description: pick a token in position p44 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p45.yaml b/src/robot_behaviour/config/new_movements/p45.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b20301e3ee19591e59f2de4d30aaa90b438aa431
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/p45.yaml
@@ -0,0 +1,15 @@
+play_motion:
+ motions:
+ p45:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ - time_from_start: 3
+ positions: [0.3294, 0.5073, -1.299, 1.5193, -1.6312, 0.5705, -1.5776]
+ - time_from_start: 5
+ positions: [0.43849212842657503, 0.5666097086931844, -1.1658871507462916, 1.6040043657672305, -1.7967914852196853, 0.5305666096055373, -1.579535433479321]
+ meta:
+ name: p45
+ usage: p45
+ description: pick a token in position p45 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/rest.yaml b/src/robot_behaviour/config/new_movements/rest.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..23e3ab943cd5d74996b4e4cf5316b8445c663b8b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/rest.yaml
@@ -0,0 +1,11 @@
+play_motion:
+ motions:
+ rest:
+ 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: 5
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: rest
+ usage: rest
+ description: rest point for the robot
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml b/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6312c1149e08e5aa40f491cce8c8320274c626b3
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml
@@ -0,0 +1,157 @@
+play_motion:
+ motions:
+ #Initial position
+ rest:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ meta:
+ name: rest
+ usage: rest
+ description: rest point for the robot
+
+ inter:
+ 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: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ meta:
+ name: inter
+ usage: inter
+ description: Intermediate point for avoid crash
+
+ #####################################################################################################
+ ########################################PICK A TOKEN ################################################
+ #####################################################################################################
+
+ #pick at location (1,1)
+ p11:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 6
+ positions: [1.3652, -0.0746, -0.9904, 0.7188, -1.6312, 0.5702, -1.5771]
+ meta:
+ name: p11
+ usage: p11
+ description: pick a token in position p11 with intermediate point
+ #pick at location (1,2)
+ p12:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 6
+ positions: [1.251, -0.0698, -0.9907, 0.7456, -1.6311, 0.5702, -1.5771]
+ meta:
+ name: p12
+ usage: p12
+ description: pick a token in position p12 with intermediate point
+
+
+ #####################################################################################################
+ ######################################LEVEL OF ASSISTANCE 2##########################################
+ #####################################################################################################
+ ss11:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 5
+ positions: [1.37, -0.0776, -1.1768, 0.7206, -1.6308, 0.5701, -1.58]
+ - time_from_start: 6
+ positions: [1.13, -0.0676, -1.1674, 0.7606, -1.6308, 0.5701, -1.58]
+ - time_from_start: 7
+ positions: [1.37, -0.0776, -1.1768, 0.7206, -1.6308, 0.5701, -1.58]
+ - time_from_start: 9
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 11
+ positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ meta:
+ name: ss11
+ usage: ss11
+ description: suggest subset of tokens in position s11-s13 with intermediate point
+
+
+ #####################################################################################################
+ ######################################LEVEL OF ASSISTANCE 3##########################################
+ #####################################################################################################
+ #suggest solution location(1,1)
+ s11:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 5
+ positions: [1.37, -0.108, -1.3354, 0.7203, -1.631, 0.57, -1.58]
+ - time_from_start: 7
+ positions: [1.37, -0.0883, -1.2355, 0.7205, -1.6309, 0.5701, -1.58]
+ - time_from_start: 8
+ positions: [1.37, -0.108, -1.3354, 0.7203, -1.631, 0.57, -1.58]
+ - time_from_start: 9
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 11
+ positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ meta:
+ name: s11
+ usage: s11
+ description: point a token in position s11 with intermediate point
+
+
+
+ s12:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 5
+ positions: [1.251, -0.0698, -0.9907, 0.7456, -1.6311, 0.5702, -1.5771]
+ - time_from_start: 6
+ positions: [1.25, -0.0875, -1.2349, 0.7505, -1.6309, 0.5701, -1.58]
+ - time_from_start: 7
+ positions: [1.25, -0.0876, -1.3261, 0.7503, -1.6309, 0.57, -1.58]
+ - time_from_start: 8
+ positions: [1.25, -0.0875, -1.2349, 0.7505, -1.6309, 0.5701, -1.58]
+ - time_from_start: 9
+ positions: [1.25, -0.0876, -1.3261, 0.7503, -1.6309, 0.57, -1.58]
+ - time_from_start: 12
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 14
+ positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ meta:
+ name: s12
+ usage: s12
+ description: point a token in position s12 with intermediate point
+
+ #####################################################################################################
+ ######################################LEVEL OF ASSISTANCE 4##########################################
+ #####################################################################################################
+ o11:
+ 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: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
+ - time_from_start: 3
+ positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
+ - time_from_start: 6
+ positions: [1.3652, -0.0746, -0.9904, 0.7188, -1.6312, 0.5702, -1.5771]
+ - time_from_start: 8
+ positions: [1.28, -0.0875, -1.3578, 0.7803, -1.6407, 0.6001, -1.58]
+ - time_from_start: 10
+ positions: [1.3484, -0.0875, -1.3664, 0.7802, -1.6407, 0.6001, -1.58]
+ meta:
+ name: o11
+ usage: o11
+ description: pick a token in position p11 and offer to user with intermediate point
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/s11.yaml b/src/robot_behaviour/config/new_movements/s11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7aa67561a0419b462a953d151c01c8ab600bd7e3
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s11.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s11:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ #go to step2
+ - time_from_start: 5
+ positions: [1.3082094120173648, 0.1974848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ #go to step3
+ - time_from_start: 7
+ positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s11
+ usage: s11
+ description: suggest the solution for p11
diff --git a/src/robot_behaviour/config/new_movements/s12.yaml b/src/robot_behaviour/config/new_movements/s12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..94f09124503a8bfa57ba402c43f3d313b3f9fee8
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s12.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s12:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
+ #go to step2
+ - time_from_start: 5
+ positions: [1.2031763542929022, 0.19058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
+ #go to step3
+ - time_from_start: 7
+ positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s12
+ usage: s12
+ description: suggest the solution for p12
diff --git a/src/robot_behaviour/config/new_movements/s13.yaml b/src/robot_behaviour/config/new_movements/s13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0151ccdc6ab566b6a41cd72b5eb20d8c3c61c11b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s13.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s13:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
+ #go to step2
+ - time_from_start: 5
+ positions: [1.087113828406633, 0.1948241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
+ #go to step3
+ - time_from_start: 7
+ positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s13
+ usage: s13
+ description: suggest the solution for p13
diff --git a/src/robot_behaviour/config/new_movements/s14.yaml b/src/robot_behaviour/config/new_movements/s14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ae34be520d17d25de757c5354e8f904bfc82bdf3
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s14.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s14:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p14
+ - time_from_start: 3
+ positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
+ #go to p13
+ - time_from_start: 5
+ positions: [0.9962856211937597, 0.1944713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
+ #go to p12
+ - time_from_start: 7
+ positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s14
+ usage: s14
+ description: suggest the solution for p14
diff --git a/src/robot_behaviour/config/new_movements/s15.yaml b/src/robot_behaviour/config/new_movements/s15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a812abe8798b3077ed2c8fb28d0f38019fddb98b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s15.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s15:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to 1ststep
+ - time_from_start: 3
+ positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+ #go to 2ndstep
+ - time_from_start: 5
+ positions: [0.9361527766954548, 0.19798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+ #go to 3rdstep
+ - time_from_start: 7
+ positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s15
+ usage: s15
+ description: suggest the solution for p15
diff --git a/src/robot_behaviour/config/new_movements/s21.yaml b/src/robot_behaviour/config/new_movements/s21.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2d08efaca2ea79a1f4fd480f4f53bf8ca5b49cc0
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s21.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s21:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p23
+ - time_from_start: 3
+ positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
+ #go to p21
+ - time_from_start: 5
+ positions: [1.1594266419181152, 0.2938865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
+ #go to p22
+ - time_from_start: 7
+ positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s21
+ usage: s21
+ description: suggest the solution fpr p21
diff --git a/src/robot_behaviour/config/new_movements/s22.yaml b/src/robot_behaviour/config/new_movements/s22.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1042bdcf1be9a2bf2a42438860b94027abdcde67
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s22.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s22:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to first step
+ - time_from_start: 3
+ positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
+ #go to second step
+ - time_from_start: 5
+ positions: [1.0354179901517129, 0.316867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
+ #go to third step
+ - time_from_start: 7
+ positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 8
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s22
+ usage: s22
+ description: suggest the solution for p22
diff --git a/src/robot_behaviour/config/new_movements/s23.yaml b/src/robot_behaviour/config/new_movements/s23.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..81f9154c86cc63e9851c13c322d6d39fdf06aaff
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s23.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s23:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to first step
+ - time_from_start: 3
+ positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
+ #go to second step
+ - time_from_start: 5
+ positions: [0.9264885695439415, 0.3352125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
+ #go to third step
+ - time_from_start: 7
+ positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s23
+ usage: s23
+ description: suggest the solution for p23
diff --git a/src/robot_behaviour/config/new_movements/s24.yaml b/src/robot_behaviour/config/new_movements/s24.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..31d7f1ce70d228632fa08ac16e4a0c3b4b420ff7
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s24.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s24:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to first step
+ - time_from_start: 3
+ positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
+ #go to second step
+ - time_from_start: 5
+ positions: [0.8198601506389116, 0.33124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
+ #go to third step
+ - time_from_start: 7
+ positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s24
+ usage: s24
+ description: suggest the solution for p24
diff --git a/src/robot_behaviour/config/new_movements/s25.yaml b/src/robot_behaviour/config/new_movements/s25.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..32b8778aca9a0c3cf77535e3850abc40fff84d0b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s25.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ s25:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to first step
+ - time_from_start: 3
+ positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
+ #go to second step
+ - time_from_start: 5
+ positions: [0.7607550869011643, 0.3709394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
+ #go to third step
+ - time_from_start: 7
+ positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: s25
+ usage: s25
+ description: suggest the solution for p25
diff --git a/src/robot_behaviour/config/new_movements/s31.yaml b/src/robot_behaviour/config/new_movements/s31.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..20293375d2d8ab05d093aaab18d4505ae3e4d097
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s31.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s31:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [1.0974683360689688, 0.56300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
+ #go to step2
+ - time_from_start: 4
+ positions: [1.0974683360689688, 0.52300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
+ #go to step3
+ - time_from_start: 5
+ positions: [1.0974683360689688, 0.60300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s31
+ usage: s31
+ description: suggest the solution for p31
diff --git a/src/robot_behaviour/config/new_movements/s32.yaml b/src/robot_behaviour/config/new_movements/s32.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d7f4fe62219f1dee865e72f80aaea8137d8d65c3
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s32.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s32:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [0.9701002218165642, 0.61922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
+ #go to step2
+ - time_from_start: 4
+ positions: [0.9701002218165642, 0.54922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
+ #go to step3
+ - time_from_start: 5
+ positions: [0.9701002218165642, 0.66922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s32
+ usage: s32
+ description: suggest the solution for p32
diff --git a/src/robot_behaviour/config/new_movements/s33.yaml b/src/robot_behaviour/config/new_movements/s33.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e29a31df9287df540a7c2fea0876667200522c38
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s33.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s33:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [0.8443121287333754, 0.6196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
+ #go to step2
+ - time_from_start: 4
+ positions: [0.8443121287333754, 0.5696692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
+ #go to step3
+ - time_from_start: 5
+ positions: [0.8443121287333754, 0.6696692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s33
+ usage: s33
+ description: suggest the solution for p33
diff --git a/src/robot_behaviour/config/new_movements/s34.yaml b/src/robot_behaviour/config/new_movements/s34.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f5dc7c2581cf2d47f286150879bfe854819591c4
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s34.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s34:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [0.7366099090337328, 0.6301908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
+ #go to step2
+ - time_from_start: 4
+ positions: [0.7366099090337328, 0.5701908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
+ #go to step3
+ - time_from_start: 5
+ positions: [0.7366099090337328, 0.6601908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s34
+ usage: s34
+ description: suggest the solution for p34
diff --git a/src/robot_behaviour/config/new_movements/s35.yaml b/src/robot_behaviour/config/new_movements/s35.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..27583edbfaa4b28bca9dfb99cd764582ca33394c
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/s35.yaml
@@ -0,0 +1,25 @@
+play_motion:
+ motions:
+ s35:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to step1
+ - time_from_start: 3
+ positions: [0.6693286192455783, 0.668832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
+ #go to step2
+ - time_from_start: 4
+ positions: [0.6693286192455783, 0.618832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
+ #go to step3
+ - time_from_start: 5
+ positions: [0.6693286192455783, 0.698832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+
+
+ meta:
+ name: s35
+ usage: s35
+ description: suggest the solution for p35
diff --git a/src/robot_behaviour/config/new_movements/sr2.yaml b/src/robot_behaviour/config/new_movements/sr2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e60fcb64578a53d7be22e3a50b28a68348e1ae63
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/sr2.yaml
@@ -0,0 +1,19 @@
+play_motion:
+ motions:
+ sr2:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 2
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ - time_from_start: 4.5
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: sr2
+ usage: sr2
+ description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/sr3.yaml b/src/robot_behaviour/config/new_movements/sr3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..74ba7cbb7ecac84ab56c2316aee1cdd28c8c0210
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/sr3.yaml
@@ -0,0 +1,19 @@
+play_motion:
+ motions:
+ sr3:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 2
+ positions: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
+ - time_from_start: 4.5
+ positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: sr3
+ usage: sr3
+ description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/sr4.yaml b/src/robot_behaviour/config/new_movements/sr4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4bdddaf2c8723def3ebe8e12f0d3883dcd86837e
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/sr4.yaml
@@ -0,0 +1,19 @@
+play_motion:
+ motions:
+ sr4:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 2
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ - time_from_start: 4.5
+ positions: [0.9676, 0.1, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
+ #come back
+ - time_from_start: 7
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: sr4
+ usage: sr4
+ description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/ss11.yaml b/src/robot_behaviour/config/new_movements/ss11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e87e7ab24067d73e8c5d84630f8dba4a7714a339
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss11.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss11:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 3
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #go to p11
+ - time_from_start: 5
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ #go to p13
+ - time_from_start: 7
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss11
+ usage: ss11
+ description: suggest a subset of solution from p11
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss12.yaml b/src/robot_behaviour/config/new_movements/ss12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bec7f7dd6fa24efcccf408b7d7f8dba6a2796ede
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss12.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss12:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 3
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #go to p11
+ - time_from_start: 5
+ positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ #go to p13
+ - time_from_start: 7
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss12
+ usage: ss12
+ description: suggest a subset of solution from p12
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss13.yaml b/src/robot_behaviour/config/new_movements/ss13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..017e70600705864485cc06bf0c525c3a82e180ac
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss13.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss13:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p14
+ - time_from_start: 3
+ positions: [0.9346, 0.227, -1.1412, 0.7327, -1.55, 0.5702, -1.5802]
+ #go to p13
+ - time_from_start: 5
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #go to p12
+ - time_from_start: 7
+ positions: [1.1757, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss13
+ usage: ss13
+ description: suggest a subset of solution from p13
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss14.yaml b/src/robot_behaviour/config/new_movements/ss14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0586670f52fe12812cf26ced8a2c996d83d10188
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss14.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss14:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p13
+ - time_from_start: 3
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #go to p15
+ - time_from_start: 5
+ positions: [0.879, 0.2224, -1.1163, 0.6545, -1.55, 0.5702, -1.5802]
+ #go to p13
+ - time_from_start: 7
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss14
+ usage: ss14
+ description: suggest a subset of solution from p14
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss15.yaml b/src/robot_behaviour/config/new_movements/ss15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aa91aabc0574b57f7832c250ba8f0687ae3e1d47
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss15.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss15:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p15
+ - time_from_start: 3
+ positions: [0.879, 0.2224, -1.1163, 0.6545, -1.55, 0.5702, -1.5802]
+ #go to p13
+ - time_from_start: 5
+ positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
+ #go to p14
+ - time_from_start: 7
+ positions: [0.9346, 0.227, -1.1412, 0.7327, -1.55, 0.5702, -1.5802]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss15
+ usage: ss15
+ description: suggest a subset of solution from p15
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss21.yaml b/src/robot_behaviour/config/new_movements/ss21.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f37a975a01d11032f8350241637768a72779c2e0
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss21.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss21:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p23
+ - time_from_start: 3
+ positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ #go to p21
+ - time_from_start: 5
+ positions: [1.07, 0.1806, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
+ #go to p22
+ - time_from_start: 7
+ positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss21
+ usage: ss21
+ description: suggest a subset of solution from p21
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss22.yaml b/src/robot_behaviour/config/new_movements/ss22.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7edd8849c0a6ce4d3dbedcc6e360f1b6a0e22029
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss22.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss22:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p23
+ - time_from_start: 3
+ positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ #go to p21
+ - time_from_start: 5
+ positions: [1.07, 0.1806, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
+ #go to p23
+ - time_from_start: 7
+ positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss22
+ usage: ss22
+ description: suggest a subset of solution from p22
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss23.yaml b/src/robot_behaviour/config/new_movements/ss23.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a05807963a962ff325d027fb2a8dd8667b2a9f12
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss23.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss23:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p24
+ - time_from_start: 3
+ positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ #go to p22
+ - time_from_start: 5
+ positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ #go to p24
+ - time_from_start: 7
+ positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss23
+ usage: ss23
+ description: suggest a subset of solution from p23
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss24.yaml b/src/robot_behaviour/config/new_movements/ss24.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ed2877e6429e5c18b0be13af26c0d172f1896e2c
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss24.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss24:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p25
+ - time_from_start: 3
+ positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ #go to p23
+ - time_from_start: 5
+ positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ #go to p25
+ - time_from_start: 7
+ positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss24
+ usage: ss24
+ description: suggest a subset of solution from p24
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss25.yaml b/src/robot_behaviour/config/new_movements/ss25.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d51d0dcf08aa3b892732195aada539570513d4a
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss25.yaml
@@ -0,0 +1,23 @@
+play_motion:
+ motions:
+ ss25:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p23
+ - time_from_start: 3
+ positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ #go to p25
+ - time_from_start: 5
+ positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ #go to p24
+ - time_from_start: 7
+ positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss25
+ usage: ss25
+ description: suggest a subset of solution from p25
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss31.yaml b/src/robot_behaviour/config/new_movements/ss31.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6685f97ed230f1c8062a2f83eededdca10e6181a
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss31.yaml
@@ -0,0 +1,24 @@
+play_motion:
+ motions:
+ ss31:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p33
+ - time_from_start: 3
+ positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ #go to p31
+ - time_from_start: 5
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ #go to p33
+ - time_from_start: 7
+ positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss31
+ usage: ss31
+ description: suggest a subset of solution from p31
+
diff --git a/src/robot_behaviour/config/new_movements/ss32.yaml b/src/robot_behaviour/config/new_movements/ss32.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c3d9ecfc7204a3daf8aca3dd5869fec85a99f38a
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss32.yaml
@@ -0,0 +1,24 @@
+play_motion:
+ motions:
+ ss32:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p33
+ - time_from_start: 3
+ positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ #go to p31
+ - time_from_start: 5
+ positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
+ #go to p33
+ - time_from_start: 7
+ positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss32
+ usage: ss32
+ description: suggest a subset of solution from p32
+
diff --git a/src/robot_behaviour/config/new_movements/ss33.yaml b/src/robot_behaviour/config/new_movements/ss33.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..39500b6d084ef5b2d6771f0e01c5e0413477b838
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss33.yaml
@@ -0,0 +1,24 @@
+play_motion:
+ motions:
+ ss33:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p32
+ - time_from_start: 3
+ positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ #go to p34
+ - time_from_start: 5
+ positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
+ #go to p32
+ - time_from_start: 7
+ positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss33
+ usage: ss33
+ description: suggest a subset of solution from p33
+
diff --git a/src/robot_behaviour/config/new_movements/ss34.yaml b/src/robot_behaviour/config/new_movements/ss34.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cecd09a6488f3083087a64b5b418560318bec21b
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss34.yaml
@@ -0,0 +1,24 @@
+play_motion:
+ motions:
+ ss34:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p33
+ - time_from_start: 3
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ #go to p35
+ - time_from_start: 5
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ #go to p33
+ - time_from_start: 7
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss34
+ usage: ss34
+ description: suggest a subset of solution from p34
+
diff --git a/src/robot_behaviour/config/new_movements/ss35.yaml b/src/robot_behaviour/config/new_movements/ss35.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2af23c5f78ab8c403b377954deb45f032d2dbc9d
--- /dev/null
+++ b/src/robot_behaviour/config/new_movements/ss35.yaml
@@ -0,0 +1,24 @@
+play_motion:
+ motions:
+ ss35:
+ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+ #go to p33
+ - time_from_start: 3
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ #go to p35
+ - time_from_start: 5
+ positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
+ #go to p33
+ - time_from_start: 7
+ positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
+ #come back
+ - time_from_start: 10
+ positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
+ meta:
+ name: ss35
+ usage: ss35
+ description: suggest a subset of solution from p35
+
diff --git a/src/robot_behaviour/config/sentences/sentences_ca_ES b/src/robot_behaviour/config/sentences/sentences_ca_ES
index e1caa84c22d61d6fc97d67482757c9affc9d02b5..034a014d7a0585157c1f6ecbbbb4304e0a0855d0 100644
--- a/src/robot_behaviour/config/sentences/sentences_ca_ES
+++ b/src/robot_behaviour/config/sentences/sentences_ca_ES
@@ -25,8 +25,8 @@
'lev_0':["Es el teu torn. Si us plau, mou una fitxa."],
'lev_1':["Vinga! Se que ho pots fer!",
- "Recorda, els números han d'estar ordenats en ordre ascendent. ",
- "Crec en tu!",
+ "Recorda, estem ordenant els números imparells del més gran al més petit. ",
+ "Recorda, estem ordenant els números imparells del més gran al més petit.",
"No tinguis por de cometre un error!!"],
'lev_2':["La resposta està en aquesta lÃnia! ",
"Mira en aquesta lÃnia... "],
diff --git a/src/robot_behaviour/config/sentences/sentences_en_GB b/src/robot_behaviour/config/sentences/sentences_en_GB
index 8238ab37c1be5469cacd2b02acf1bf5a3cd51ab9..03f957cab9a5cefc512d6df098e3b5c06cd73dd4 100644
--- a/src/robot_behaviour/config/sentences/sentences_en_GB
+++ b/src/robot_behaviour/config/sentences/sentences_en_GB
@@ -22,7 +22,7 @@
'lev_4':["The right token is this one ; ; ; :",
"The right token to move is ; ; ; :",
"It's not so difficult. the right token to move is ; ; ; :"],
-'lev_5':["I will give you the token to move:","The token to move is this one.",
+'lev_5':["The token to move is this one.",
"Take it . and move in the right location"],
'pick_ok':["Yep", "Ok", "Great"],
'pick_no':["Really???", "Are you sure?", "No"],
diff --git a/src/robot_behaviour/config/sentences/sentences_es_ES b/src/robot_behaviour/config/sentences/sentences_es_ES
index cb7b844b638b54ae8d4cc78810508287357c0d4e..a46eb21c4b82604276fc0dde79de7c14697bd9ea 100644
--- a/src/robot_behaviour/config/sentences/sentences_es_ES
+++ b/src/robot_behaviour/config/sentences/sentences_es_ES
@@ -1,9 +1,9 @@
-{'instruction_ascending_odd':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan. Hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar las fichas impares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
-'instruction_ascending_even':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan,y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar las fichas pares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
-'instruction_descending_odd':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden descendiente, del numero mas grande al numero mas pequeño. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
-'instruction_descending_even':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
-'instruction_ascending':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas numeradas en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
-'instruction_descending':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas numeradas en orden descendiente, del numero mas grande al numero mas pequeño. Por favor, espera mis instrucciones antes de mover una ficha. ¿Preparado? ¡Comencemos!"],
+{'instruction_ascending_odd':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan. Hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar las fichas impares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
+'instruction_ascending_even':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan,y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar las fichas pares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
+'instruction_descending_odd':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden descendiente, del numero mas grande al numero mas pequeño. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
+'instruction_descending_even':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
+'instruction_ascending':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas numeradas en orden ascendente, del numero mas pequeño al numero mas grande. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
+'instruction_descending':["Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas numeradas en orden descendiente, del numero mas grande al numero mas pequeño. Por favor, espera mis instrucciones antes de mover una ficha. Preparado? Comencemos!"],
'compassion':["No te preocupes, estoy seguro de que mejorarás",
"No te preocupes, todos nos equivocamos.",
@@ -25,8 +25,8 @@
'lev_0':["Es tu turno, por favor, mueve una ficha."],
'lev_1':["Vamos! Sé que puedes hacerlo!",
- "Recuerda, los números deben estar ordenados en orden ascendente. ",
- "Creo en tÃ! ",
+ "Recuerda, Estamos ordenando los numeros impares desde el mas grande al mas pequeño. ",
+ "Recuerda, Estamos ordenando los numeros impares desde el mas grande al mas pequeño. ",
"No tengas miedo de comenter un error!! "],
'lev_2':["La respuesta está aquÃ! ",
"Mira en esta linea... "],