diff --git a/src/robot_behaviour/config/old_movements/c11.yaml b/src/robot_behaviour/config/old_movements/c11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bfa2b00ac4d18393692574aba6e0fe7e9f85a193 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.2786, 0.1091, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c12.yaml b/src/robot_behaviour/config/old_movements/c12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d2bda8a84926984cfc4a9d8ba4115c73e9f4235 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.1657, 0.1091, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c13.yaml b/src/robot_behaviour/config/old_movements/c13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..260914591cbd8a733956ddf4901a02c0e9027053 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.0791, 0.1331, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c14.yaml b/src/robot_behaviour/config/old_movements/c14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49f4258c267cdb28d07979d13fd62a69098a5ef9 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [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: 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c15.yaml b/src/robot_behaviour/config/old_movements/c15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31df470c15a7f70bf5d74ba7bebb44f59ff575c7 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.9676, 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: 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c21.yaml b/src/robot_behaviour/config/old_movements/c21.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77073c66b86010477119dd1d14ab6ad9b308ca9c --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.1209, 0.218, -1.1407, 1.0227, -1.5299, 0.5698, -1.5782] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c22.yaml b/src/robot_behaviour/config/old_movements/c22.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59432053d815b680c7c6595c3b2d7a9a88207cd0 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.011, 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: 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c23.yaml b/src/robot_behaviour/config/old_movements/c23.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6090b38b454151e96f5befde461af395b7e723ad --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.8865, 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: 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c24.yaml b/src/robot_behaviour/config/old_movements/c24.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b5e08efa8bf2d3ca642a6a2ab331a816fed0467 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.7781, 0.2187, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c25.yaml b/src/robot_behaviour/config/old_movements/c25.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca60c71c472b6b63d6d3b63bd96c514dce372897 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.7063, 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: 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 " \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c31.yaml b/src/robot_behaviour/config/old_movements/c31.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa10bb7fdeec54b3f050d54fbaa788d9b39e2d0d --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.9902, 0.2905, -1.2072, 1.3062, -1.6315, 0.5706, -1.5775] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c32.yaml b/src/robot_behaviour/config/old_movements/c32.yaml new file mode 100644 index 0000000000000000000000000000000000000000..384db40e15381ca500fb2edd07d8a804999e51e1 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.8871, 0.3781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775] + - 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/old_movements/c33.yaml b/src/robot_behaviour/config/old_movements/c33.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d3f88943be91cfd189eea6ca5c05bd3a561e917 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.7396, 0.3237, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c34.yaml b/src/robot_behaviour/config/old_movements/c34.yaml new file mode 100644 index 0000000000000000000000000000000000000000..003079a6983f41d98e3dd4bbc385f965930e3714 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.6274, 0.3213, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c35.yaml b/src/robot_behaviour/config/old_movements/c35.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e22b8a8a9be1040688093911045a223a41d3a5a3 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5418, 0.2894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c41.yaml b/src/robot_behaviour/config/old_movements/c41.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6310e4e58b448e1134bd5bb4c9296ac592ad498d --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.8286, 0.2517, -1.2764, 1.5771, -1.63, 0.53, -1.58] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c42.yaml b/src/robot_behaviour/config/old_movements/c42.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b226bbf92c5351135acb4ba13f69ff8264e37195 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.6754, 0.2423, -1.2884, 1.6038, -1.63, 0.53, -1.58] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c43.yaml b/src/robot_behaviour/config/old_movements/c43.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f133054c7e123f59dbf899f0c4533496dfd385e --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5, 0.3006, -1.34, 1.6001, -1.63, 0.57, -1.58] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c44.yaml b/src/robot_behaviour/config/old_movements/c44.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65c50f364941f8dc5b2df03f4429975f603cc444 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.3829, 0.2275, -1.29, 1.583, -1.63, 0.5, -1.58] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/c45.yaml b/src/robot_behaviour/config/old_movements/c45.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb2b72f1875c3665f5866398bbab008ad8c794ef --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.301, 0.3004, -1.2996, 1.4801, -1.63, 0.5701, -1.5801] + - 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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/inter.yaml b/src/robot_behaviour/config/old_movements/inter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2bdc70ccdbdb9c7781d67f596fda1604838be4e8 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o11 b/src/robot_behaviour/config/old_movements/o11 new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/src/robot_behaviour/config/old_movements/o11.yaml b/src/robot_behaviour/config/old_movements/o11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7409501e81db723b4758e334e78934bd49aa8446 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o12.yaml b/src/robot_behaviour/config/old_movements/o12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8dd829f7b8ff5cfc9e821cbe7b5fc3d399e2b301 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o13.yaml b/src/robot_behaviour/config/old_movements/o13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a823310fb5dc426610a42f46a8341122fc9e9e2 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o14.yaml b/src/robot_behaviour/config/old_movements/o14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ceea6b8c7912f903cf73746fed17b4e014549894 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o15.yaml b/src/robot_behaviour/config/old_movements/o15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e25ec7313bbb75b34660a9f97892daad64966e6 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o21.yaml b/src/robot_behaviour/config/old_movements/o21.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d11ff2f279c8bc59d6252f5485bb49dad791fc3c --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o22.yaml b/src/robot_behaviour/config/old_movements/o22.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa5faeba7ef521213a809f90d9506392c42bfef7 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o23.yaml b/src/robot_behaviour/config/old_movements/o23.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b87cafac99ea0d7aef50ce2efa3530a10228445b --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o24.yaml b/src/robot_behaviour/config/old_movements/o24.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50480222b88a41579a5c16d5b31530fd3ea0d6ce --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o25.yaml b/src/robot_behaviour/config/old_movements/o25.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4e1555b4d69e113ce29dab5437306cbf1962daa --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o31.yaml b/src/robot_behaviour/config/old_movements/o31.yaml new file mode 100644 index 0000000000000000000000000000000000000000..334d996dc494e6be9779594f70110f4d649d0e4e --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o32.yaml b/src/robot_behaviour/config/old_movements/o32.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb56dd0970ea3ec62e5c345d4adfc107d1712e44 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o33.yaml b/src/robot_behaviour/config/old_movements/o33.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a8b8ed4e0dedcc4b2d82db1104eebb6ed5b97f6 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o34.yaml b/src/robot_behaviour/config/old_movements/o34.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3ea52f6d639c04d5e03dbf95a113db3f7fad223 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/o35.yaml b/src/robot_behaviour/config/old_movements/o35.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69dd0e564fb2b24296e8cf18df0b7e9b7f10c89f --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/p11.yaml b/src/robot_behaviour/config/old_movements/p11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13f574a37fe6c30dc39b98e2dae3f27423a4742a --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.2786, 0.1091, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] + meta: + name: p11 + usage: p11 + description: pick a token in position p11 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p12.yaml b/src/robot_behaviour/config/old_movements/p12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..795e40f742fa176b3d642fd3715ef23267c169ad --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.1657, 0.1091, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] + meta: + name: p12 + usage: p12 + description: pick a token in position p12 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p13.yaml b/src/robot_behaviour/config/old_movements/p13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b52297e304253dd497870afbad4215e0cefcb89 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.0791, 0.1331, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] + meta: + name: p13 + usage: p13 + description: pick a token in position p13 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p14.yaml b/src/robot_behaviour/config/old_movements/p14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..abb7c9f2a63fa43a225e5e17692d9b27111157c6 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.0192, 0.1005, -1.1193, 0.5701, -1.5496, 0.57, -1.5801] + meta: + name: p14 + usage: p14 + description: pick a token in position p14 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p15.yaml b/src/robot_behaviour/config/old_movements/p15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..651b216943d3e5ecdd2cc4b263d55af122f80e35 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.9676, 0.0713, -1.1193, 0.4847, -1.5498, 0.57, -1.5801] + meta: + name: p15 + usage: p15 + description: pick a token in position p15 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p21.yaml b/src/robot_behaviour/config/old_movements/p21.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0e1d958b461a7c3177c93a94bb5fa535d08e98b --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p21.yaml @@ -0,0 +1,17 @@ +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 + positions: [1.0698, 0.1197, -1.2999, 1.01, -1.6298, 0.5703, -1.5803] + - time_from_start: 6.5 + positions: [1.1209, 0.218, -1.1407, 1.0227, -1.5299, 0.5698, -1.5782] + meta: + name: p21 + usage: p21 + description: pick a token in position p21 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p22.yaml b/src/robot_behaviour/config/old_movements/p22.yaml new file mode 100644 index 0000000000000000000000000000000000000000..636585cbfc1fb99dec14c0682682376543227a2f --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p22.yaml @@ -0,0 +1,17 @@ +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 + positions: [0.95, 0.1153, -1.3, 1.0301, -1.6296, 0.5696, -1.5801] + - time_from_start: 6.5 + positions: [1.011, 0.2148, -1.1407, 1.0227, -1.5298, 0.5698, -1.5782] + meta: + name: p22 + usage: p22 + description: pick a token in position p22 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p23.yaml b/src/robot_behaviour/config/old_movements/p23.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c07ff3132c51c115be7b367be42489d3a333ef7d --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p23.yaml @@ -0,0 +1,17 @@ +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 + positions: [0.8203, 0.1101, -1.3099, 1.05, -1.6297, 0.5302, -1.5802] + - time_from_start: 6.5 + positions: [0.8865, 0.218, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782] + meta: + name: p23 + usage: p23 + description: pick a token in position p23 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p24.yaml b/src/robot_behaviour/config/old_movements/p24.yaml new file mode 100644 index 0000000000000000000000000000000000000000..426948e686cd988e84f7581bc3457598281a9888 --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p24.yaml @@ -0,0 +1,17 @@ +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 + positions: [0.7502, 0.1102, -1.3099, 0.98, -1.6596, 0.57, -1.5802] + - time_from_start: 6.5 + positions: [0.7781, 0.2187, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782] + meta: + name: p24 + usage: p24 + description: pick a token in position p24 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p25.yaml b/src/robot_behaviour/config/old_movements/p25.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7bc706aeb579ecdd53bc0bd9f632dea948fd39ec --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p25.yaml @@ -0,0 +1,17 @@ +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 + positions: [0.6999, 0.1201, -1.25, 0.8897, -1.5998, 0.5403, -1.5503] + - time_from_start: 6.5 + positions: [0.7063, 0.1887, -1.1412, 0.9305, -1.5298, 0.5698, -1.5782] + meta: + name: p25 + usage: p25 + description: pick a token in position p25 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p31.yaml b/src/robot_behaviour/config/old_movements/p31.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43faedbadb53640ca4fb34ec90ee5f07c80d6027 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.982, 0.2805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775] + meta: + name: p31 + usage: p31 + description: pick a token in position p31 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p32.yaml b/src/robot_behaviour/config/old_movements/p32.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74a74eb37e320fd8c02fa5ee69d5b3c5fd44aa10 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.8871, 0.3781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775] + meta: + name: p32 + usage: p32 + description: pick a token in position p32 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p33.yaml b/src/robot_behaviour/config/old_movements/p33.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06c2ec1a6ad2c8b721fa0c3ac2dfc48dcaf318f0 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.7396, 0.3237, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775] + meta: + name: p33 + usage: p33 + description: pick a token in position p33 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p34.yaml b/src/robot_behaviour/config/old_movements/p34.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bad726184cad0fe48cbb68a387fbf7aca63af18 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.6274, 0.3213, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] + meta: + name: p34 + usage: p34 + description: pick a token in position p34 with intermediate point diff --git a/src/robot_behaviour/config/old_movements/p35.yaml b/src/robot_behaviour/config/old_movements/p35.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd26e59249932617e853a02074fe1a9c27c272e0 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5418, 0.2894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] + meta: + name: p35 + usage: p35 + description: pick a token in position p35 with intermediate point diff --git a/src/robot_behaviour/config/old_movements/p41.yaml b/src/robot_behaviour/config/old_movements/p41.yaml new file mode 100644 index 0000000000000000000000000000000000000000..02030290c4c5ba7b6bc3194703c3a7ee2d46a31c --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p41.yaml @@ -0,0 +1,17 @@ +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: [0.86, 0.4201, -1.2799, 1.58, -1.63, 0.57, -1.58] + - time_from_start: 7 + positions: [0.8286, 0.2517, -1.2764, 1.5771, -1.63, 0.53, -1.58] + meta: + name: p41 + usage: p41 + description: pick a token in position p41 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p42.yaml b/src/robot_behaviour/config/old_movements/p42.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e8aa19cacd6d00b77af55576aaa78f14ff1cef1c --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p42.yaml @@ -0,0 +1,17 @@ +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: [0.7501, 0.5998, -1.2099, 1.6399, -1.63, 0.5699, -1.5803] + - time_from_start: 7 + positions: [0.6754, 0.2423, -1.2884, 1.6038, -1.63, 0.53, -1.58] + meta: + name: p42 + usage: p42 + description: pick a token in position p42 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p43.yaml b/src/robot_behaviour/config/old_movements/p43.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4ac3985dcb72d4d08e243fef096d495085eaf84 --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p43.yaml @@ -0,0 +1,17 @@ +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: [0.5, 0.3006, -1.34, 1.6001, -1.63, 0.57, -1.58] + - time_from_start: 7 + positions: [0.5255, 0.2298, -1.2883, 1.5815, -1.63, 0.57, -1.58] + meta: + name: p43 + usage: p43 + description: pick a token in position p43 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p44.yaml b/src/robot_behaviour/config/old_movements/p44.yaml new file mode 100644 index 0000000000000000000000000000000000000000..286d910ce6a455a94341f966eea280ba864224d5 --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p44.yaml @@ -0,0 +1,17 @@ +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: [0.44, 0.45, -1.2601, 1.57, -1.63, 0.5701, -1.5801] + - time_from_start: 7 + positions: [0.3829, 0.2275, -1.29, 1.583, -1.63, 0.5, -1.58] + meta: + name: p44 + usage: p44 + description: pick a token in position p44 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/p45.yaml b/src/robot_behaviour/config/old_movements/p45.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1df0ee3cac8326dc885cc18416cb0bc53f8393aa --- /dev/null +++ b/src/robot_behaviour/config/old_movements/p45.yaml @@ -0,0 +1,17 @@ +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: [0.301, 0.3004, -1.2996, 1.4801, -1.63, 0.5701, -1.5801] + - time_from_start: 7 + positions: [0.2987, 0.1959, -1.2914, 1.474, -1.63, 0.57, -1.58] + meta: + name: p45 + usage: p45 + description: pick a token in position p45 with intermediate point \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/rest.yaml b/src/robot_behaviour/config/old_movements/rest.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23e3ab943cd5d74996b4e4cf5316b8445c663b8b --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/robot_actions_pal.yaml b/src/robot_behaviour/config/old_movements/robot_actions_pal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6312c1149e08e5aa40f491cce8c8320274c626b3 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/s11.yaml b/src/robot_behaviour/config/old_movements/s11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f533cae555a6f9724242fea63b45004f60b90c0a --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] + #go to step2 + - time_from_start: 5 + positions: [1.2786, 0.1391, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] + #go to step3 + - time_from_start: 7 + positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781] + #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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s12.yaml b/src/robot_behaviour/config/old_movements/s12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c275dfbb6f0d93116ce668a1f74b36cbfd4a24c0 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] + #go to step2 + - time_from_start: 5 + positions: [1.1657, 0.1391, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782] + #go to step3 + - time_from_start: 7 + positions: [1.1657, 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: s12 + usage: s12 + description: suggest the solution for p12 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s13.yaml b/src/robot_behaviour/config/old_movements/s13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4e00e276b8d45d059d55b750d1aa308b1307bd --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.0791, 0.225, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] + #go to step2 + - time_from_start: 5 + positions: [1.0791, 0.1631, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] + #go to step3 + - time_from_start: 7 + positions: [1.0791, 0.225, -1.1193, 0.6565, -1.5498, 0.57, -1.5801] + #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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s14.yaml b/src/robot_behaviour/config/old_movements/s14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d26e0e4b8bd9ae05606a5c84c3566de525b432df --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.0192, 0.22, -1.1193, 0.5701, -1.5496, 0.57, -1.5801] + #go to p13 + - time_from_start: 5 + positions: [1.0192, 0.1607, -1.1193, 0.5701, -1.5496, 0.57, -1.5801] + #go to p12 + - time_from_start: 7 + positions: [1.0192, 0.22, -1.1193, 0.5701, -1.5496, 0.57, -1.5801] + #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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s15.yaml b/src/robot_behaviour/config/old_movements/s15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c063b55436cb657a339f4b33c24970eda0de321 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.9676, 0.16, -1.1193, 0.4847, -1.5498, 0.57, -1.5801] + #go to 2ndstep + - time_from_start: 5 + positions: [0.9676, 0.1, -1.1193, 0.4847, -1.5498, 0.57, -1.5801] + #go to 3rdstep + - time_from_start: 7 + positions: [0.9676, 0.16, -1.1193, 0.4847, -1.5498, 0.57, -1.5801] + #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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s21.yaml b/src/robot_behaviour/config/old_movements/s21.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f177e7f44b82c7011a499267f9ce4fea9727cc0 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803] + #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: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803] + #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 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s22.yaml b/src/robot_behaviour/config/old_movements/s22.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8c7b5173c39cb52751d9ea167e2324eb7dd77c1e --- /dev/null +++ b/src/robot_behaviour/config/old_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: 2 + positions: [0.939, 0.223, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775] + #go to second step + - time_from_start: 4 + positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775] + #go to third step + - time_from_start: 6 + positions: [0.939, 0.223, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775] + #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/old_movements/s23.yaml b/src/robot_behaviour/config/old_movements/s23.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70cfeaac704420330dd5f8ab0421af3bc6d13958 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775] + #go to second step + - time_from_start: 5 + positions: [0.8251, 0.183, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775] + #go to third step + - 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: s23 + usage: s23 + description: suggest the solution for p23 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s24.yaml b/src/robot_behaviour/config/old_movements/s24.yaml new file mode 100644 index 0000000000000000000000000000000000000000..37b5d580365d2fa18fcee87e702e7e55ba5e792a --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775] + #go to second step + - time_from_start: 5 + positions: [0.7189, 0.1834, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775] + #go to third step + - 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: s24 + usage: s24 + description: suggest the solution for p24 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s25.yaml b/src/robot_behaviour/config/old_movements/s25.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0e4821a759b6bce4825ad517aaa7e44eccdd67a --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499] + #go to second step + - time_from_start: 5 + positions: [0.64, 0.18, -1.2499, 1.0199, -1.6, 0.5399, -1.5499] + #go to third step + - 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: s25 + usage: s25 + description: suggest the solution for p25 \ No newline at end of file diff --git a/src/robot_behaviour/config/old_movements/s31.yaml b/src/robot_behaviour/config/old_movements/s31.yaml new file mode 100644 index 0000000000000000000000000000000000000000..851fc78cf745495d87417400a9eb6d38e3679a0d --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #go to step1 + - time_from_start: 3 + positions: [0.982, 0.4805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775] + #go to step2 + - time_from_start: 4 + positions: [0.982, 0.3805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775] + #go to step3 + - time_from_start: 5 + positions: [0.982, 0.4805, -1.2072, 1.3062, -1.6315, 0.5606, -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: s31 + usage: s31 + description: suggest the solution for p31 diff --git a/src/robot_behaviour/config/old_movements/s32.yaml b/src/robot_behaviour/config/old_movements/s32.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0173dff579a9735b5a5d493751118bdc9599ec47 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #go to step1 + - time_from_start: 3 + positions: [0.8871, 0.5781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775] + #go to step2 + - time_from_start: 4 + positions: [0.8871, 0.4781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775] + #go to step3 + - time_from_start: 5 + positions: [0.8871, 0.5781, -1.1497, 1.3456, -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: s32 + usage: s32 + description: suggest the solution for p32 diff --git a/src/robot_behaviour/config/old_movements/s33.yaml b/src/robot_behaviour/config/old_movements/s33.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d31abfd7b158d8911a808a5888132cf947eec40 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #go to step1 + - time_from_start: 3 + positions: [0.7396, 0.4637, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775] + #go to step2 + - time_from_start: 4 + positions: [0.7396, 0.3637, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775] + #go to step3 + - time_from_start: 5 + positions: [0.7396, 0.4637, -1.1922, 1.3392, -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: s33 + usage: s33 + description: suggest the solution for p33 diff --git a/src/robot_behaviour/config/old_movements/s34.yaml b/src/robot_behaviour/config/old_movements/s34.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f19f81ea43b5fe167281984abfd7f5bc8fc9cbc --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #go to step1 + - time_from_start: 3 + positions: [0.6274, 0.4813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] + #go to step2 + - time_from_start: 4 + positions: [0.6274, 0.3813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] + #go to step3 + - time_from_start: 5 + positions: [0.6274, 0.4813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776] + #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/old_movements/s35.yaml b/src/robot_behaviour/config/old_movements/s35.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3b0353bad00f9ac834c9e2eb764c62bad1f2e5e --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #go to step1 + - time_from_start: 3 + positions: [0.5418, 0.4894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] + #go to step2 + - time_from_start: 4 + positions: [0.5418, 0.3894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] + #go to step3 + - time_from_start: 5 + positions: [0.5418, 0.4894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776] + #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/old_movements/sr2.yaml b/src/robot_behaviour/config/old_movements/sr2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e60fcb64578a53d7be22e3a50b28a68348e1ae63 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/sr3.yaml b/src/robot_behaviour/config/old_movements/sr3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74ba7cbb7ecac84ab56c2316aee1cdd28c8c0210 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/sr4.yaml b/src/robot_behaviour/config/old_movements/sr4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bdddaf2c8723def3ebe8e12f0d3883dcd86837e --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss11.yaml b/src/robot_behaviour/config/old_movements/ss11.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e87e7ab24067d73e8c5d84630f8dba4a7714a339 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss12.yaml b/src/robot_behaviour/config/old_movements/ss12.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bec7f7dd6fa24efcccf408b7d7f8dba6a2796ede --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss13.yaml b/src/robot_behaviour/config/old_movements/ss13.yaml new file mode 100644 index 0000000000000000000000000000000000000000..017e70600705864485cc06bf0c525c3a82e180ac --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss14.yaml b/src/robot_behaviour/config/old_movements/ss14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0586670f52fe12812cf26ced8a2c996d83d10188 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss15.yaml b/src/robot_behaviour/config/old_movements/ss15.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa91aabc0574b57f7832c250ba8f0687ae3e1d47 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss21.yaml b/src/robot_behaviour/config/old_movements/ss21.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f37a975a01d11032f8350241637768a72779c2e0 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss22.yaml b/src/robot_behaviour/config/old_movements/ss22.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7edd8849c0a6ce4d3dbedcc6e360f1b6a0e22029 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss23.yaml b/src/robot_behaviour/config/old_movements/ss23.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a05807963a962ff325d027fb2a8dd8667b2a9f12 --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss24.yaml b/src/robot_behaviour/config/old_movements/ss24.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed2877e6429e5c18b0be13af26c0d172f1896e2c --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss25.yaml b/src/robot_behaviour/config/old_movements/ss25.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d51d0dcf08aa3b892732195aada539570513d4a --- /dev/null +++ b/src/robot_behaviour/config/old_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/old_movements/ss31.yaml b/src/robot_behaviour/config/old_movements/ss31.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce9a8d889c1402eb69fd450ab74b0f06b342c7ca --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #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/old_movements/ss32.yaml b/src/robot_behaviour/config/old_movements/ss32.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4608a2f0d0fd82c30fd4da19c0bb03b806609c30 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #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/old_movements/ss33.yaml b/src/robot_behaviour/config/old_movements/ss33.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae9d64361e82d3627741741c31b19ec2c0c38b1a --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #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/old_movements/ss34.yaml b/src/robot_behaviour/config/old_movements/ss34.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c33af7973768a782389643d8fd8a50daa9c784e --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #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/old_movements/ss35.yaml b/src/robot_behaviour/config/old_movements/ss35.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd11003b15907ac4d788f6361d8092b7d9effb55 --- /dev/null +++ b/src/robot_behaviour/config/old_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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773] + #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 +