movements refinement

src/robot_behaviour/config/new_movements/c25.yaml

+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 "

src/robot_behaviour/config/new_movements/c31.yaml

+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

src/robot_behaviour/config/new_movements/c32.yaml

+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

src/robot_behaviour/config/new_movements/c33.yaml

+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

src/robot_behaviour/config/new_movements/c34.yaml

+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

src/robot_behaviour/config/new_movements/c35.yaml

+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

src/robot_behaviour/config/new_movements/c41.yaml

+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

src/robot_behaviour/config/new_movements/c42.yaml

+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

src/robot_behaviour/config/new_movements/c43.yaml

+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

src/robot_behaviour/config/new_movements/c44.yaml

+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

src/robot_behaviour/config/new_movements/c45.yaml

+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

src/robot_behaviour/config/new_movements/inter.yaml

+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

src/robot_behaviour/config/new_movements/o11.yaml

+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

src/robot_behaviour/config/new_movements/o12.yaml

+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

src/robot_behaviour/config/new_movements/o13.yaml

+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

src/robot_behaviour/config/new_movements/o14.yaml

+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

src/robot_behaviour/config/new_movements/o15.yaml

+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

src/robot_behaviour/config/new_movements/o21.yaml

+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

src/robot_behaviour/config/new_movements/o22.yaml

+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