From 2ba93fb8fe1e3223ef0224a02bbb0d143321d808 Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Mon, 16 Nov 2020 19:49:53 +0100
Subject: [PATCH] movements refinement
---
src/robot_behaviour/config/movements/o11.yaml | 6 +-
src/robot_behaviour/config/movements/o12.yaml | 6 +-
src/robot_behaviour/config/movements/o13.yaml | 6 +-
src/robot_behaviour/config/movements/o14.yaml | 6 +-
src/robot_behaviour/config/movements/o15.yaml | 6 +-
src/robot_behaviour/config/movements/o21.yaml | 6 +-
src/robot_behaviour/config/movements/o22.yaml | 6 +-
src/robot_behaviour/config/movements/o23.yaml | 6 +-
src/robot_behaviour/config/movements/o24.yaml | 6 +-
src/robot_behaviour/config/movements/o25.yaml | 6 +-
src/robot_behaviour/config/movements/o31.yaml | 6 +-
src/robot_behaviour/config/movements/o32.yaml | 6 +-
src/robot_behaviour/config/movements/o33.yaml | 6 +-
src/robot_behaviour/config/movements/o34.yaml | 6 +-
src/robot_behaviour/config/movements/o35.yaml | 6 +-
src/robot_behaviour/config/movements/s11.yaml | 12 +-
src/robot_behaviour/config/movements/s12.yaml | 6 +-
src/robot_behaviour/config/movements/s13.yaml | 6 +-
src/robot_behaviour/config/movements/s14.yaml | 6 +-
src/robot_behaviour/config/movements/s15.yaml | 6 +-
src/robot_behaviour/config/movements/s21.yaml | 6 +-
src/robot_behaviour/config/movements/s22.yaml | 6 +-
src/robot_behaviour/config/movements/s23.yaml | 6 +-
src/robot_behaviour/config/movements/s24.yaml | 6 +-
src/robot_behaviour/config/movements/s25.yaml | 6 +-
src/robot_behaviour/config/movements/sr4.yaml | 2 +-
.../config/movements/ss31.yaml | 8 +-
.../config/movements/ss32.yaml | 8 +-
.../config/movements/ss33.yaml | 8 +-
.../config/movements/ss34.yaml | 8 +-
.../config/movements/ss35.yaml | 12 +-
.../config/new_movements/c11.yaml | 15 ++
.../config/new_movements/c12.yaml | 15 ++
.../config/new_movements/c13.yaml | 15 ++
.../config/new_movements/c14.yaml | 15 ++
.../config/new_movements/c15.yaml | 15 ++
.../config/new_movements/c21.yaml | 15 ++
.../config/new_movements/c22.yaml | 15 ++
.../config/new_movements/c23.yaml | 15 ++
.../config/new_movements/c24.yaml | 15 ++
.../config/new_movements/c25.yaml | 15 ++
.../config/new_movements/c31.yaml | 15 ++
.../config/new_movements/c32.yaml | 15 ++
.../config/new_movements/c33.yaml | 15 ++
.../config/new_movements/c34.yaml | 15 ++
.../config/new_movements/c35.yaml | 15 ++
.../config/new_movements/c41.yaml | 16 ++
.../config/new_movements/c42.yaml | 16 ++
.../config/new_movements/c43.yaml | 15 ++
.../config/new_movements/c44.yaml | 15 ++
.../config/new_movements/c45.yaml | 15 ++
.../config/new_movements/inter.yaml | 11 ++
src/robot_behaviour/config/new_movements/o11 | 0
.../config/new_movements/o11.yaml | 15 ++
.../config/new_movements/o12.yaml | 15 ++
.../config/new_movements/o13.yaml | 15 ++
.../config/new_movements/o14.yaml | 15 ++
.../config/new_movements/o15.yaml | 15 ++
.../config/new_movements/o21.yaml | 15 ++
.../config/new_movements/o22.yaml | 15 ++
.../config/new_movements/o23.yaml | 15 ++
.../config/new_movements/o24.yaml | 15 ++
.../config/new_movements/o25.yaml | 15 ++
.../config/new_movements/o31.yaml | 15 ++
.../config/new_movements/o32.yaml | 15 ++
.../config/new_movements/o33.yaml | 15 ++
.../config/new_movements/o34.yaml | 15 ++
.../config/new_movements/o35.yaml | 15 ++
.../config/new_movements/p11.yaml | 15 ++
.../config/new_movements/p12.yaml | 15 ++
.../config/new_movements/p13.yaml | 15 ++
.../config/new_movements/p14.yaml | 15 ++
.../config/new_movements/p15.yaml | 15 ++
.../config/new_movements/p21.yaml | 15 ++
.../config/new_movements/p22.yaml | 15 ++
.../config/new_movements/p23.yaml | 15 ++
.../config/new_movements/p24.yaml | 15 ++
.../config/new_movements/p25.yaml | 15 ++
.../config/new_movements/p31.yaml | 15 ++
.../config/new_movements/p32.yaml | 15 ++
.../config/new_movements/p33.yaml | 15 ++
.../config/new_movements/p34.yaml | 15 ++
.../config/new_movements/p35.yaml | 15 ++
.../config/new_movements/p41.yaml | 15 ++
.../config/new_movements/p42.yaml | 15 ++
.../config/new_movements/p43.yaml | 15 ++
.../config/new_movements/p44.yaml | 15 ++
.../config/new_movements/p45.yaml | 15 ++
.../config/new_movements/rest.yaml | 11 ++
.../new_movements/robot_actions_pal.yaml | 157 ++++++++++++++++++
.../config/new_movements/s11.yaml | 25 +++
.../config/new_movements/s12.yaml | 23 +++
.../config/new_movements/s13.yaml | 23 +++
.../config/new_movements/s14.yaml | 23 +++
.../config/new_movements/s15.yaml | 23 +++
.../config/new_movements/s21.yaml | 23 +++
.../config/new_movements/s22.yaml | 23 +++
.../config/new_movements/s23.yaml | 23 +++
.../config/new_movements/s24.yaml | 23 +++
.../config/new_movements/s25.yaml | 23 +++
.../config/new_movements/s31.yaml | 25 +++
.../config/new_movements/s32.yaml | 25 +++
.../config/new_movements/s33.yaml | 25 +++
.../config/new_movements/s34.yaml | 25 +++
.../config/new_movements/s35.yaml | 25 +++
.../config/new_movements/sr2.yaml | 19 +++
.../config/new_movements/sr3.yaml | 19 +++
.../config/new_movements/sr4.yaml | 19 +++
.../config/new_movements/ss11.yaml | 23 +++
.../config/new_movements/ss12.yaml | 23 +++
.../config/new_movements/ss13.yaml | 23 +++
.../config/new_movements/ss14.yaml | 23 +++
.../config/new_movements/ss15.yaml | 23 +++
.../config/new_movements/ss21.yaml | 23 +++
.../config/new_movements/ss22.yaml | 23 +++
.../config/new_movements/ss23.yaml | 23 +++
.../config/new_movements/ss24.yaml | 23 +++
.../config/new_movements/ss25.yaml | 23 +++
.../config/new_movements/ss31.yaml | 24 +++
.../config/new_movements/ss32.yaml | 24 +++
.../config/new_movements/ss33.yaml | 24 +++
.../config/new_movements/ss34.yaml | 24 +++
.../config/new_movements/ss35.yaml | 24 +++
.../config/sentences/sentences_ca_ES | 4 +-
.../config/sentences/sentences_en_GB | 2 +-
.../config/sentences/sentences_es_ES | 16 +-
126 files changed, 1882 insertions(+), 112 deletions(-)
create mode 100644 src/robot_behaviour/config/new_movements/c11.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c12.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c13.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c14.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c15.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c21.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c22.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c23.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c24.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c25.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c31.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c32.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c33.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c34.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c35.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c41.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c42.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c43.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c44.yaml
create mode 100644 src/robot_behaviour/config/new_movements/c45.yaml
create mode 100644 src/robot_behaviour/config/new_movements/inter.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o11
create mode 100644 src/robot_behaviour/config/new_movements/o11.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o12.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o13.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o14.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o15.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o21.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o22.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o23.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o24.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o25.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o31.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o32.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o33.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o34.yaml
create mode 100644 src/robot_behaviour/config/new_movements/o35.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p11.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p12.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p13.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p14.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p15.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p21.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p22.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p23.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p24.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p25.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p31.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p32.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p33.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p34.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p35.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p41.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p42.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p43.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p44.yaml
create mode 100644 src/robot_behaviour/config/new_movements/p45.yaml
create mode 100644 src/robot_behaviour/config/new_movements/rest.yaml
create mode 100644 src/robot_behaviour/config/new_movements/robot_actions_pal.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s11.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s12.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s13.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s14.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s15.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s21.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s22.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s23.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s24.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s25.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s31.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s32.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s33.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s34.yaml
create mode 100644 src/robot_behaviour/config/new_movements/s35.yaml
create mode 100644 src/robot_behaviour/config/new_movements/sr2.yaml
create mode 100644 src/robot_behaviour/config/new_movements/sr3.yaml
create mode 100644 src/robot_behaviour/config/new_movements/sr4.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss11.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss12.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss13.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss14.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss15.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss21.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss22.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss23.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss24.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss25.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss31.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss32.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss33.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss34.yaml
create mode 100644 src/robot_behaviour/config/new_movements/ss35.yaml
diff --git a/src/robot_behaviour/config/movements/o11.yaml b/src/robot_behaviour/config/movements/o11.yaml
index 7409501..a305521 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 8dd829f..7f4701b 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 8a82331..e170691 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 ceea6b8..b10564b 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 6e25ec7..d468692 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 d11ff2f..9d3170c 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 aa5faeb..1d68995 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 b87cafa..33b511e 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 5048022..4ba6ca8 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 f4e1555..f670e83 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 334d996..bef84a8 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 cb56dd0..39be01d 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 2a8b8ed..8836c84 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 a3ea52f..7a0bbf7 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 69dd0e5..5c2fd79 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 7aa6756..124baca 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 94f0912..42dd7f0 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 0151ccd..9f5b8c0 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 ae34be5..702d5ee 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 a812abe..e316f3e 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 2d08efa..44e6529 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 1042bdc..280168d 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 81f9154..5058109 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 31d7f1c..f0be37e 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 32b8778..ea83ff9 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 2513a58..27ccc20 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 6685f97..07f042f 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 c3d9ecf..8aea979 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 39500b6..6a182b4 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 cecd09a..9ddda41 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 2af23c5..e675713 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 0000000..6292ed5
--- /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 0000000..f2bceeb
--- /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 0000000..b0776a3
--- /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 0000000..2f31270
--- /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 0000000..128b740
--- /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 0000000..998d25b
--- /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 0000000..cbf4744
--- /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 0000000..40041fa
--- /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 0000000..a708d30
--- /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 0000000..388a84c
--- /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 0000000..4defb7c
--- /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 0000000..eda78b4
--- /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 0000000..f47f0d8
--- /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 0000000..f25f437
--- /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 0000000..dfeea52
--- /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 0000000..dcb7e77
--- /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 0000000..2528d33
--- /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 0000000..a260092
--- /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 0000000..95b6fcb
--- /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 0000000..3a4766c
--- /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 0000000..2bdc70c
--- /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 0000000..e69de29
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 0000000..7409501
--- /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 0000000..8dd829f
--- /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 0000000..8a82331
--- /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 0000000..ceea6b8
--- /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 0000000..6e25ec7
--- /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 0000000..d11ff2f
--- /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 0000000..aa5faeb
--- /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 0000000..b87cafa
--- /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 0000000..5048022
--- /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 0000000..f4e1555
--- /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 0000000..334d996
--- /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 0000000..cb56dd0
--- /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 0000000..2a8b8ed
--- /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 0000000..a3ea52f
--- /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 0000000..69dd0e5
--- /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 0000000..842b57b
--- /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 0000000..d17887a
--- /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 0000000..2ceb808
--- /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 0000000..f6e4fa7
--- /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 0000000..bf5b2df
--- /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 0000000..d528f62
--- /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 0000000..eadca4f
--- /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 0000000..c446cc1
--- /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 0000000..89b1bb7
--- /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 0000000..9c079e0
--- /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 0000000..994ff17
--- /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 0000000..66a385b
--- /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 0000000..8151ff0
--- /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 0000000..32a72ba
--- /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 0000000..4b32659
--- /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 0000000..1891916
--- /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 0000000..b6883b2
--- /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 0000000..8aebb12
--- /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 0000000..e04c919
--- /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 0000000..b20301e
--- /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 0000000..23e3ab9
--- /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 0000000..6312c11
--- /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 0000000..7aa6756
--- /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 0000000..94f0912
--- /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 0000000..0151ccd
--- /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 0000000..ae34be5
--- /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 0000000..a812abe
--- /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 0000000..2d08efa
--- /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 0000000..1042bdc
--- /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 0000000..81f9154
--- /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 0000000..31d7f1c
--- /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 0000000..32b8778
--- /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 0000000..2029337
--- /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 0000000..d7f4fe6
--- /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 0000000..e29a31d
--- /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 0000000..f5dc7c2
--- /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 0000000..27583ed
--- /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 0000000..e60fcb6
--- /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 0000000..74ba7cb
--- /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 0000000..4bdddaf
--- /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 0000000..e87e7ab
--- /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 0000000..bec7f7d
--- /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 0000000..017e706
--- /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 0000000..0586670
--- /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 0000000..aa91aab
--- /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 0000000..f37a975
--- /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 0000000..7edd884
--- /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 0000000..a058079
--- /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 0000000..ed2877e
--- /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 0000000..1d51d0d
--- /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 0000000..6685f97
--- /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 0000000..c3d9ecf
--- /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 0000000..39500b6
--- /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 0000000..cecd09a
--- /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 0000000..2af23c5
--- /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 e1caa84..034a014 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 8238ab3..03f957c 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 cb7b844..a46eb21 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... "],
--
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