diff --git a/src/robot_behaviour/config/1.txt b/src/robot_behaviour/config/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27a412b12a2568819bfc47b44c1ebd4028cae35a
--- /dev/null
+++ b/src/robot_behaviour/config/1.txt
@@ -0,0 +1,2 @@
+[1.3424946110540121, -0.1176468376566599, -0.9975455981837427, 0.7485647047093834, -1.730327434759583, 0.5699978964188535, -1.5770329991416936]
+---
diff --git a/src/robot_behaviour/config/12.txt b/src/robot_behaviour/config/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..620c7cef3e80549721da466f683ce3641dfc38cc
--- /dev/null
+++ b/src/robot_behaviour/config/12.txt
@@ -0,0 +1,2 @@
+[1.2094660326128641, -0.10304314684992866, -0.9949224562426177, 0.8143733534077835, -1.7303730893551745, 0.5700207237166492, -1.5770558264394894]
+---
diff --git a/src/robot_behaviour/config/13.txt b/src/robot_behaviour/config/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0961239573784ca56c81c6e804c552b1a080a1c7
--- /dev/null
+++ b/src/robot_behaviour/config/13.txt
@@ -0,0 +1,2 @@
+[1.0788151559312154, -0.09653898203684669, -0.9940327355842243, 0.8402366125465952, -1.7304096130316478, 0.5700207237166492, -1.5770558264394894]
+---
diff --git a/src/robot_behaviour/config/14.txt b/src/robot_behaviour/config/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a64f81fe629ab1c1ac211dea5640ff14bbca4f2
--- /dev/null
+++ b/src/robot_behaviour/config/14.txt
@@ -0,0 +1,2 @@
+[0.9900271702281059, -0.09052569758701623, -0.9771740631088067, 0.8089429893893141, -1.730391351193411, 0.5700207237166492, -1.5770558264394894]
+---
diff --git a/src/robot_behaviour/config/15.txt b/src/robot_behaviour/config/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb7045e1824d3a8af16acd7cad6fcc6fd1a253f2
--- /dev/null
+++ b/src/robot_behaviour/config/15.txt
@@ -0,0 +1,2 @@
+[0.918419997238798, -0.1010949654082744, -0.9751952016444492, 0.751755427070518, -1.7302635183257546, 0.5700207237166492, -1.5770558264394894]
+---
diff --git a/src/robot_behaviour/config/21.txt b/src/robot_behaviour/config/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a78f5b7f0d949b87f0dec682bb4e5bcc3f31c51
--- /dev/null
+++ b/src/robot_behaviour/config/21.txt
@@ -0,0 +1,2 @@
+[1.2368939729095398, -0.03017809292978879, -0.935679332402706, 1.036542737813128, -1.7302269946492814, 0.6698216696798701, -1.8400810825617708]
+---
diff --git a/src/robot_behaviour/config/22.txt b/src/robot_behaviour/config/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9cb44a6a3974b99efe8b64a34c085c9819df2483
--- /dev/null
+++ b/src/robot_behaviour/config/22.txt
@@ -0,0 +1,2 @@
+[1.0567255395848991, -0.06214667658654066, -0.9736612005092884, 1.0884533362269708, -1.7302635183257546, 0.6698308005989884, -1.8400719516426525]
+---
diff --git a/src/robot_behaviour/config/23.txt b/src/robot_behaviour/config/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e299ba6cdcfbfff3c933798c5f9475cc851d9a23
--- /dev/null
+++ b/src/robot_behaviour/config/23.txt
@@ -0,0 +1,2 @@
+[0.968244354108822, -0.024686368865912967, -0.9438095384190585, 1.086842635035052, -1.7302817801639914, 0.6698216696798701, -1.8400810825617708]
+---
diff --git a/src/robot_behaviour/config/24.txt b/src/robot_behaviour/config/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79dbc296ecc8d874cc99fffef95786480a003451
--- /dev/null
+++ b/src/robot_behaviour/config/24.txt
@@ -0,0 +1,2 @@
+[0.855740710856126, -0.026910670511896162, -0.9443924588504196, 1.0624059969519397, -1.7302543874066363, 0.6698353660585475, -1.8400673861830934]
+---
diff --git a/src/robot_behaviour/config/25.txt b/src/robot_behaviour/config/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1f194dd0e2746ba4ce21766e0578cb12c06db4e
--- /dev/null
+++ b/src/robot_behaviour/config/25.txt
@@ -0,0 +1,2 @@
+[0.7575799782171838, -0.02414946846860666, -0.9379803341054472, 1.0246082089815767, -1.7302269946492814, 0.6698353660585475, -1.8400673861830934]
+---
diff --git a/src/robot_behaviour/config/demo_actions.yaml b/src/robot_behaviour/config/demo_actions.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..397e2de780daba32cc50dd9f91aafee63ce0e52c
--- /dev/null
+++ b/src/robot_behaviour/config/demo_actions.yaml
@@ -0,0 +1,257 @@
+play_motion:
+ motions:
+#INITIAL MOTIONS
+ #Initial position
+ init:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: init, name: init, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ wave:
+ joints: [arm_1_joint,
+ arm_2_joint, arm_3_joint, arm_4_joint,
+ arm_5_joint, arm_6_joint, arm_7_joint]
+ points:
+ - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0]
+ time_from_start: 0.0
+ - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
+ time_from_start: 1.0
+ - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04]
+ time_from_start: 2.0
+ - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
+ time_from_start: 3.0
+ meta:
+ name: Wave
+ usage: demo
+ description: 'wave'
+
+
+
+#FIRST ROW
+ g23:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: g23, name: g23, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.2327214898219023, 1.0976348816518124, -0.3350258479191275, 1.6030340170166746, -1.6304717032816523, 0.5700481164740043, -1.577156266549791]
+ time_from_start: 2.0
+ - positions: [1.2326294497537928, 0.8421623326021261, -0.3349338078510178, 1.604460638072374, -1.6304717032816523, 0.5699842000401761, -1.5771653974689093]
+ time_from_start: 4.0
+
+
+ g14:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: g14, name: g14, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.1844924941324457, 0.8793311801070733, -0.3198699167037384, 1.2836089606421328, -1.6306999762596104, 0.5700481164740043, -1.577156266549791]
+ time_from_start: 2.0
+ - positions: [1.18329597324702, 0.6610581585850374, -0.30594118639647794, 1.30103521353756, -1.630544750634599, 0.5700070273379717, -1.5771882247667048]
+ time_from_start: 4.0
+
+
+ o14:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: o14, name: o14, usage: demo}
+ points:
+ - positions: [1.18329597324702, 0.6610581585850374, -0.30594118639647794, 1.30103521353756, -1.630544750634599, 0.5700070273379717, -1.5771882247667048]
+ time_from_start: 0.0
+ - positions: [1.1839862737578426, 0.8762324978140483, -0.30649342680513586, 1.2990563520732024, -1.6305173578772438, 0.5700755092313592, -1.5772019211453825]
+ time_from_start: 2.0
+ - positions: [0.918573397352314, 0.8761711377686419, -0.3061866265781037, 1.2990563520732024, -1.6305082269581257, 0.5700663783122409, -1.577183659307146]
+ time_from_start: 4.0
+
+
+ c23:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: c23, name: c23, usage: demo}
+ points:
+ - positions: [1.2326294497537928, 0.8421623326021261, -0.3349338078510178, 1.604460638072374, -1.6304717032816523, 0.5699842000401761, -1.5771653974689093]
+ time_from_start: 0.0
+ - positions: [1.2327214898219023, 1.0976348816518124, -0.3350258479191275, 1.6030340170166746, -1.6304717032816523, 0.5700481164740043, -1.577156266549791]
+ time_from_start: 2.0
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 4.5
+
+ o23:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: o23, name: o23, usage: demo}
+ points:
+ - positions: [1.2326294497537928, 0.8421623326021261, -0.3349338078510178, 1.604460638072374, -1.6304717032816523, 0.5699842000401761, -1.5771653974689093]
+ time_from_start: 0.0
+ - positions: [1.2395324548620166, 1.0928181180874075, -0.3354093482029177, 1.600978455495559, -1.6304990960390073, 0.5700344200953268, -1.5771973556858234]
+ time_from_start: 2.0
+ - positions: [1.6623185077236957, 0.9988912285815092, -0.349890318918836, 1.6063321194572704, -1.6306269289066637, 0.5700755092313593, -1.577220182983619]
+ time_from_start: 4.0
+ - positions: [1.6630241482458696, 1.0975581815950544, -0.349890318918836, 1.599490474394453, -1.6305904052301905, 0.5700983365291551, -1.5772338793622969]
+ time_from_start: 5.0
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 7.0
+
+
+
+
+ g45:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: g45, name: g45, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [0.6989811348540398, 1.097450801515593, -0.643022595836721, 1.7297885308150147, -1.6305995361493089, 0.5700344200953268, -1.5771699629284686]
+ time_from_start: 2.0
+ - positions: [0.6112362699228397, 1.0116541180260474, -0.6078172697847797, 2.0075654563699397, -1.6305264887963622, 0.5700298546357677, -1.5771745283880274]
+ time_from_start: 4.0
+
+
+
+ c45:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: c45, name: c45, usage: demo}
+ points:
+ - positions: [0.6112362699228397, 1.0116541180260474, -0.6078172697847797, 2.0075654563699397, -1.6305264887963622, 0.5700298546357677, -1.5771745283880274]
+ time_from_start: 0.0
+ - positions: [0.6989811348540398, 1.097450801515593, -0.643022595836721, 1.7297885308150147, -1.6305995361493089, 0.5700344200953268, -1.5771699629284686]
+ time_from_start: 2.0
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 4.5
+
+
+
+
+
+#SUGGEST TOKEN
+ sug_setup:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: sug_setup, name: sug_setup, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
+ time_from_start: 2.0
+ - positions: [0.9139407139241282, 0.8876761462823483, -0.4592799398671555, 1.5528108198515085, -1.6305721433919538, 0.5699796345806168, -1.57716083200935]
+ time_from_start: 4.0
+ h23:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: h23, name: h23, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.1997864854499993, 1.0937078387458006, -0.1634324809400359, 1.4116060153599532, -1.729870888803667, 1.0199832869482641, -1.579338556219069]
+ time_from_start: 2.0
+ - positions: [0.9139407139241282, 0.8876761462823483, -0.4592799398671555, 1.5528108198515085, -1.6305721433919538, 0.5699796345806168, -1.57716083200935]
+ time_from_start: 3.5
+ - positions: [1.136923118931108, 0.906329600085904, -0.46978784764300724, 1.6290199962462992, -1.6305995361493089, 0.5700207237166494, -1.577183659307146]
+ time_from_start: 5.0
+ - positions: [0.9139407139241282, 0.8876761462823483, -0.4592799398671555, 1.5528108198515085, -1.6305721433919538, 0.5699796345806168, -1.57716083200935]
+ time_from_start: 6.5
+ - positions: [0.9921747718173312, 1.0930328782463299, -0.46228658209207074, 1.642933386542208, -1.6305904052301905, 0.5700663783122409, -1.577183659307146]
+ time_from_start: 7.5
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 9.0
+
+
+ h12:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: h12, name: h12, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.234853751399776, 1.097650221663164, -0.3341514672720858, 1.5948424509549155, -1.6305173578772438, 0.5700024618784129, -1.5772110520645009]
+ time_from_start: 2.0
+ - positions: [1.261806151344552, 0.8555848425347834, -0.3344275874764147, 1.414750717687033, -1.6304808342007706, 0.5700207237166494, -1.5772293139027376]
+ time_from_start: 4.0
+ - positions: [1.486383917532099, 0.841226591909678, -0.3344275874764147, 1.3995794464602924, -1.630489965119889, 0.5700526819335633, -1.5772338793622964]
+ time_from_start: 5.5
+ - positions: [1.261806151344552, 0.8555848425347834, -0.3344275874764147, 1.414750717687033, -1.6304808342007706, 0.5700207237166494, -1.5772293139027376]
+ time_from_start: 7.0
+ - positions: [1.486383917532099, 0.841226591909678, -0.3344275874764147, 1.3995794464602924, -1.630489965119889, 0.5700526819335633, -1.5772338793622964]
+ time_from_start: 8
+ - positions: [1.486813437849944, 1.0977269217199221, -0.3344275874764147, 1.3940877223964165, -1.6305356197154806, 0.5700526819335634, -1.5772247484431783]
+ time_from_start: 8.5
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 10
+
+
+ s23:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: s23, name: s23, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.1997864854499993, 1.0937078387458006, -0.1634324809400359, 1.4116060153599532, -1.729870888803667, 1.0199832869482641, -1.579338556219069]
+ time_from_start: 2.0
+ - positions: [1.2580785285861111, 0.8289852628510945, -0.16352452100814555, 1.2822436996318398, -1.7298526269654304, 1.0199604596504686, -1.5793522525977464]
+ time_from_start: 4.0
+ - positions: [1.2580785285861111, 0.9235104127997054, -0.16352452100814555, 1.2822436996318398, -1.7298526269654304, 1.0199969833269416, -1.579370514435983]
+ time_from_start: 5.0
+ - positions: [1.2580785285861111, 0.8289852628510945, -0.16352452100814555, 1.2822436996318398, -1.7298526269654304, 1.0199604596504686, -1.5793522525977464]
+ time_from_start: 6.0
+ - positions: [1.2580785285861111, 1.097650221663164, -0.16352452100814555, 1.2813846589961497, -1.7298526269654304, 1.0200152451651783, -1.579361383516865]
+ time_from_start: 7.0
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 8.5
+
+ s21:
+ joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
+ arm_7_joint]
+ meta: {description: s21, name: s21, usage: demo}
+ points:
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 0.0
+ - positions: [1.3833757413060486, 1.0975428415837027, -0.45645737777845957, 1.5570753430072557, -1.6307821545316752, 0.570011592797531, -1.577220182983619]
+ time_from_start: 2.0
+ - positions: [1.4289662550430287, 0.8624571676203041, -0.4396754053598, 1.4995042804046694, -1.6306177979875454, 0.5699978964188536, -1.5772064866049416]
+ time_from_start: 4.0
+ - positions: [1.4285674147478868, 0.8104085091042967, -0.43106965899154764, 1.5140466111659943, -1.6306543216640188, 0.569984200040176, -1.5772201829836192]
+ time_from_start: 5.0
+ - positions: [1.42859809477059, 0.9231575925386184, -0.43106965899154764, 1.5143073913589715, -1.6308278091272668, 0.569984200040176, -1.5772201829836192]
+ time_from_start: 6.0
+ - positions: [1.4283373145776128, 1.0976809016858673, -0.4315145193207443, 1.5039682237079877, -1.630608667068427, 0.5700161582570902, -1.5772521412005334]
+ time_from_start: 7.0
+ - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
+ time_from_start: 8.5
+
+
+
+ head_no:
+ joints: [head_1_joint, head_2_joint]
+ meta: {description: 'head_no', name: 'head_no', usage: 'demo'}
+ points:
+ - positions: [0, 0]
+ time_from_start: 0.1
+ - positions: [0.7, 0]
+ time_from_start: 2.0
+ - positions: [-0.7, 0.0]
+ time_from_start: 4.0
+ - positions: [0, 0]
+ time_from_start: 6.0
+
+
+ head_yes:
+ joints: [head_1_joint, head_2_joint]
+ meta: {description: 'head_yes', name: 'head_yes', usage: 'demo'}
+ points:
+ - positions: [0, 0]
+ time_from_start: 0.1
+ - positions: [0.0, 0.7]
+ time_from_start: 2.0
+ - positions: [0.0, -0.7]
+ time_from_start: 4.0
+ - positions: [0, 0]
+ time_from_start: 6.0
+