diff --git a/src/robot_behaviour/config/assistive_actions_definition.xml b/src/robot_behaviour/config/assistive_actions_definition.xml
deleted file mode 100644
index fbf9e84e23ba0f45c5781df4d32c87069b8f6b7d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/assistive_actions_definition.xml
+++ /dev/null
@@ -1,57 +0,0 @@
-<data>
- <instruction name="no_gesture">This is a cognitive exercise, based on the SKT, to train your cognitive abilities.
- The goal is to sort numbered tokens in ascending order on the board.
- Please wait for my instructions to move a token.
- Ready???? Let's start</instruction>
-
-
- <LEV_0 name="no_gesture">"It's your turn, please move a token"</LEV_0>
-
- <LEV_1 name="no_gesture">"Dont be afraid to make a mistake...!!"</LEV_1>
- <LEV_1 name="no_gesture">"Remember, The numbers have to be sorted in ascending order"</LEV_1>
- <LEV_1 name="no_gesture">"Come on.... I know you can do it"</LEV_1>
- <LEV_1 name="no_gesture">"I believe in ... you!!"</LEV_1>
-
-
- <LEV_2 name="gesture">"I'm here to help you ... The solution can be one of those:"</LEV_2>
- <LEV_2 name="gesture">"Why do not try with one of those:"</LEV_2>
- <LEV_2 name="gesture">"Here is a tip ... The solution can be:" </LEV_2>
-
- <LEV_3 name="gesture">"The right token is this one..."</LEV_3>
- <LEV_3 name="gesture">"The right token to move is ..."</LEV_3>
- <LEV_3 name="gesture">"It's not so difficult.... the right token to move is.."</LEV_3>
- <LEV_3 name="gesture">"That's your lucky day ... the solution is..."</LEV_3>
-
- <LEV_4 name="gesture">"The token to move is this one..."</LEV_4>
- <LEV_4 name="gesture">"Take it ... and move in the right location"</LEV_4>
-
-
- <move_back name="gesture">"I will move the token back"</move_back>
- <correct_token name="gesture">"I will move the correct token for you"</correct_token>
-
- <time_out_pick name="no_gesture">"Time is passing, please move the token back and I will provide you assistance again"</time_out_pick>
- <time_out name="no_gesture">"Time is passing, I will provide you assistance again"</time_out>
-
- <max_attempt name="gesture">"You've reached the maximum number of attempts, I will move the token for you"</max_attempt>
-
- <unexpected_behviour name="no_gesture">"You're playing with your rules not mine"</unexpected_behviour>
- <unexpected_behviour name="no_gesture">"Undo whatever you did!!"</unexpected_behviour>
-
-
- <unexpected_beahviour name="no_gesture">"You should wait before moving ... please move the token back"</unexpected_beahviour>
-
- <compassion name="gesture">"People say lucky in love unlucky in gaming" </compassion>
- <compassion name="gesture">"Dont worry I'm sure you will get better"</compassion>
- <compassion name="gesture">"Dont worry sometimes happens"</compassion>
- <compassion name="gesture">"I know how you feel, I've been in this situation before"</compassion>
-
- <congratulation name="gesture">"You made a great move" </congratulation>
- <congratulation name="gesture">"Well done, you're playing as I expected"</congratulation>
- <congratulation name="gesture">"I really enjoying playing with you"</congratulation>
- <congratulation name="gesture">"That's what I was expecting from you... well done"</congratulation>
-
- <end_game name="gesture"> "It has been a pleasure playing with you, hope you've enjoyed too"</end_game>
-
- <play_again name="no_gesture">"Do you want to play again?"</play_again>
-
-</data>
\ No newline at end of file
diff --git a/src/robot_behaviour/config/assistive_actions_definition_esp.xml b/src/robot_behaviour/config/assistive_actions_definition_esp.xml
deleted file mode 100644
index 8fa9672b3d1b21382fdd808274b1f1d2229e1642..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/assistive_actions_definition_esp.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<data>
- <instruction name="no_gesture">Hola, mi nombre es Socrates, encantado de conocerte.
- Vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas.
- El objetivo es ordenar fichas numeradas en orden ascendente en el tablero.
- Por favor, espera mis instrucciones antes de mover una ficha.
- ¿Preparado? ¡Comencemos!</instruction>
-
-
- <LEV_0 name="no_gesture">"Es tu turno, por favor, mueve una ficha."</LEV_0>
-
- <LEV_1 name="no_gesture">"Recuerda, los números deben estar ordenados en orden ascendente."</LEV_1>
- <LEV_1 name="no_gesture">"¡¡¡No tengas miedo de comenter un error!!</LEV_1>
- <LEV_1 name="no_gesture">"¡Vamos! ¡Sé que puedes hacerlo!"</LEV_1>
- <LEV_1 name="no_gesture">"¡Creo en ti!"</LEV_1>
-
- <LEV_2 name="gesture">"Estoy aquà para ayudarte... La solución puede ser una de estas fichas:"</LEV_2>
- <LEV_2 name="gesture">"¿Por qué no pruebas con con una de estas fichas?</LEV_2>
- <LEV_2 name="gesture">"Una pista... La solución puede ser:" </LEV_2>
-
- <LEV_3 name="gesture">"La ficha correcta es:"</LEV_3>
- <LEV_3 name="gesture">"La ficha correcta que has de mover es ésta:"</LEV_3>
- <LEV_3 name="gesture">"No es tan difÃcil... La ficha correcta que has de mover es:"</LEV_3>
- <LEV_3 name="gesture">"Hoy es tu dÃa de suerte... La solución es...</LEV_3>
-
- <LEV_4 name="gesture">"La ficha que has de mover es ésta..."</LEV_4>
- <LEV_4 name="gesture">"Cógela... y muévela a la posición correcta."</LEV_4>
-
- <negative_feedback name="no_gesture">"¿Estas seguro?"</negative_feedback>
- <negative_feedback name="no_gesture">"No sé."</negative_feedback>
-
-
- <positive_feedback name="no_gesture">"¡Genial!"</positive_feedback>
- <positive_feedback name="no_gesture">"¡Perfecto!"</positive_feedback>
-
-
- <move_back name="gesture">"Voy a mover la ficha de vuelta.</move_back>
- <correct_token name="gesture">"Voy a mover la ficha correcta por ti."</correct_token>
-
- <time_out_pick name="no_gesture">"El tiempo corre, por favor, mueve la ficha de vuelta y te ofreceré ayuda de nuevo.</time_out_pick>
- <time_out name="no_gesture">"El tiempo corre, te ayudaré de nuevo.</time_out>
-
- <max_attempt name="gesture">"Has superado el número máximo de intentos. Voy a mover la ficha por ti."</max_attempt>
-
- <unexpected_behaviour name="no_gesture">"Estás jugando con tus reglas, no las mÃas."</unexpected_behaviour>
- <unexpected_behaviour name="no_gesture">"¡Deshaz lo que has hecho!</unexpected_behaviour>
-
-
- <unexpected_beahviour name="no_gesture">"DeberÃas esperar antes de mover... Por favor, mueve la ficha de vuelta."</unexpected_beahviour>
-
- <compassion name="no_gesture">"No te preocupes, estoy seguro de que mejorarás.</compassion>
- <compassion name="no_gesture">"El dicho dice: Afortunado en el amor, desafortunado en el juego." </compassion>
- <compassion name="no_gesture">"No te preocupes, todos nos equivocamos.</compassion>
- <compassion name="no_gesture">"Sé como te sientes, también he estado en esta situación antes."</compassion>
-
- <congratulation name="no_gesture">"Has hecho un buen movimiento." </congratulation>
- <congratulation name="no_gesture">"¡Bien hecho! Estás jugando según lo esperado."</congratulation>
- <congratulation name="no_gesture">"¡Me encanta jugar contigo!</congratulation>
- <congratulation name="no_gesture">"Eso es exactamente lo que esperaba de ti... ¡Bien hecho!</congratulation>
-
- <end_game name="no_gesture"> "Ha sido un placer jugar contigo, espero que te lo hayas pasado bien.</end_game>
-
- <play_again name="no_gesture">"¿Quieres jugar otra vez?"</play_again>
-
-</data>
diff --git a/src/robot_behaviour/config/assistive_actions_definition_esp_no_gesture.xml b/src/robot_behaviour/config/assistive_actions_definition_esp_no_gesture.xml
deleted file mode 100644
index ca29ec91c919f5cd249ee1df3565b0b9d1ce20b0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/assistive_actions_definition_esp_no_gesture.xml
+++ /dev/null
@@ -1,63 +0,0 @@
-<data>
- <instruction name="no_gesture">Éste es un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas.
- El objetivo es ordenar fichas numeradas en orden ascendente en el tablero.
- Por favor, espera mis instrucciones antes de mover una ficha.
- ¿Preparado? ¡Comencemos!</instruction>
-
-
- <LEV_0 name="no_gesture">"Es tu turno, por favor, mueve una ficha."</LEV_0>
-
- <LEV_1 name="no_gesture">"Recuerda, los números deben estar ordenados en orden ascendente!"</LEV_1>
- <LEV_1 name="no_gesture">"¡¡¡No tengas miedo de comenter un error!!</LEV_1>
- <LEV_1 name="no_gesture">"¡Vamos!... Sé que puedes hacerlo!"</LEV_1>
- <LEV_1 name="no_gesture">"Creo en... ¡ti!"</LEV_1>
-
- <LEV_2 name="no_gesture">"Estoy aquà para ayudarte... La solución puede ser una de estas fichas:"</LEV_2>
- <LEV_2 name="no_gesture">"¿Por qué no pruebas con con una de estas fichas?</LEV_2>
- <LEV_2 name="no_gesture">"Una pista... La solución puede ser:" </LEV_2>
-
- <LEV_3 name="no_gesture">"La ficha correcta es:"</LEV_3>
- <LEV_3 name="no_gesture">"La ficha correcta que has de mover es ésta: )"</LEV_3>
- <LEV_3 name="no_gesture">"No es tan difÃcil... La ficha correcta que has de mover es:)"</LEV_3>
- <LEV_3 name="no_gesture">"Hoy es tu dÃa de suerte... La solución es...</LEV_3>
-
- <LEV_4 name="no_gesture">"La ficha que has de mover es ésta..."</LEV_4>
- <LEV_4 name="no_gesture">"Cógela... y muévela a la posición correcta."</LEV_4>
-
- <negative_feedback name="no_gesture">"Estas seguro?"</negative_feedback>
- <negative_feedback name="no_gesture">"No se."</negative_feedback>
-
-
- <positive_feedback name="no_gesture">"Genial!"</positive_feedback>
- <positive_feedback name="no_gesture">"Perfecto!"</positive_feedback>
-
-
- <move_back name="no_gesture">"Voy a mover la ficha de vuelta.</move_back>
- <correct_token name="no_gesture">"Voy a mover la ficha correcta por ti."</correct_token>
-
- <time_out_pick name="no_gesture">"El tiempo corre, por favor, mueve la ficha de vuelta y te ofreceré ayuda de nuevo</time_out_pick>
- <time_out name="no_gesture">"El tiempo corre, te ayudaré de nuevo</time_out>
-
- <max_attempt name="no_gesture">"Has superado el número máximo de intentos. Voy a mover la ficha por ti"</max_attempt>
-
- <unexpected_behaviour name="no_gesture">"Estás jugando con tus reglas, no las mÃas"</unexpected_behaviour>
- <unexpected_behaviour name="no_gesture">"¡Deshaz lo que has hecho!</unexpected_behaviour>
-
-
- <unexpected_beahviour name="no_gesture">"DeberÃas esperar antes de mover... Por favor, mueve la ficha de vuelta"</unexpected_beahviour>
-
- <compassion name="no_gesture">"No te preocupes, estoy seguro de que mejorarás</compassion>
- <compassion name="no_gesture">"El dicho dice: Afortunado en el amor, desafortunado en el juego" </compassion>
- <compassion name="no_gesture">"No te preocupes, todos nos equivocamos</compassion>
- <compassion name="no_gesture">"Sé como te sientes, también he estado en esta situación antes"</compassion>
-
- <congratulation name="no_gesture">"Has hecho un buen movimiento" </congratulation>
- <congratulation name="no_gesture">"¡Bien hecho! Estás jugando según lo esperado"</congratulation>
- <congratulation name="no_gesture">"Me encanta jugar contigo</congratulation>
- <congratulation name="no_gesture">"Eso es exactamente lo que esperaba de ti... Bien hecho</congratulation>
-
- <end_game name="no_gesture"> "Ha sido un placer jugar contigo, espero que tu también lo hayas disfrutado (te lo hayas pasado bien)</end_game>
-
- <play_again name="no_gesture">"¿Quieres jugar otra vez?"</play_again>
-
-</data>
diff --git a/src/robot_behaviour/config/assistive_actions_definition_no_gesture.xml b/src/robot_behaviour/config/assistive_actions_definition_no_gesture.xml
deleted file mode 100644
index a68df686096bab5c1bb14a825281809cabeb082e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/assistive_actions_definition_no_gesture.xml
+++ /dev/null
@@ -1,53 +0,0 @@
-<data>
- <instruction name="no_gesture">This is a cognitive exercise, based on the SKT, to train your cognitive abilities.
- The goal is to sort numbered tokens in ascending order on the board.
- Please wait for my instructions to move a token.
- Ready???? Let's start</instruction>
-
-
- <LEV_0 name="no_gesture">"It's your turn, please move a token"</LEV_0>
-
- <LEV_1 name="no_gesture">"Come on.... I know you can do it"</LEV_1>
- <LEV_1 name="no_gesture">"Remember, The numbers have to be sorted in ascending order"</LEV_1>
- <LEV_1 name="no_gesture">"I believe in you!!"</LEV_1>
- <LEV_1 name="no_gesture">"Dont be afraid to make a mistake... Do it!!"</LEV_1>
-
-
- <LEV_2 name="no_gesture">"I'm here to help you ... The solution can be one of those:"</LEV_2>
- <LEV_2 name="no_gesture">"Why do not try with one of those:"</LEV_2>
- <!--<LEV_2 name="no_gesture">"The right token is smaller than..."</LEV_2>
- <LEV_2 name="no_gesture">"The right token is bigger than..."</LEV_2>
- <LEV_2 name="no_gesture">"The right token is between "</LEV_2>-->
-
- <LEV_3 name="no_gesture">"The right token is this one..."</LEV_3>
- <LEV_3 name="no_gesture">"The right token to move is ..."</LEV_3>
- <LEV_3 name="no_gesture">"It's not so difficult.... the right token to move is.."</LEV_3>
-
- <LEV_4 name="no_gesture">"The token to move is this one..."</LEV_4>
- <LEV_4 name="no_gesture">"Take it ... and move in the right location"</LEV_4>
-
- <help name="no_gesture">"Do you need help? Say YES or NO" </help>
- <help_attempt name="no_gesture">"Can you repeat please"</help_attempt>
- <help_timeout name="no_gesture">"No worries, I will do something for you"</help_timeout>
-
- <move_back name="no_gesture">"I will move the token back"</move_back>
-
- <time_out name="no_gesture">"Time is passing I will provide you assistance again"</time_out>
-
- <max_attempt name="no_gesture">"You've reached the maximum number of attempts, I will move the token for you"</max_attempt>
-
-
- <compassion name="no_gesture">"People say lucky in love unlucky in gaming" </compassion>
- <compassion name="no_gesture">"Dont worry sometimes happens"</compassion>
- <compassion name="no_gesture">"Dont worry I'm sure you will get better"</compassion>
- <compassion name="no_gesture">"I know how you feel, I've been in this situation before"</compassion>
-
- <congratulation name="no_gesture">"You made a great move" </congratulation>
- <congratulation name="no_gesture">"Well done, you're playing as I expected"</congratulation>
- <congratulation name="no_gesture">"I really enjoying playing with you"</congratulation>
-
- <end_game name="no_gesture"> "It has been a pleasure playing with you, hope you've enjoyed too"</end_game>
-
- <play_again name="no_gesture">"Do you want to play again?"</play_again>
-
-</data>
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/c11.yaml b/src/robot_behaviour/config/new_movements/c11.yaml
deleted file mode 100644
index 6292ed559899f858870409e3b6fae9d92d712d3e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- - time_from_start: 2
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c11
- usage: c11
- description: come back to position p11 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c12.yaml b/src/robot_behaviour/config/new_movements/c12.yaml
deleted file mode 100644
index f2bceeb62ab365ad2fdb363c1564a0f4d956cc6f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- - time_from_start: 2
- positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c12
- usage: c12
- description: come back from position p12 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c13.yaml b/src/robot_behaviour/config/new_movements/c13.yaml
deleted file mode 100644
index b0776a3cabd8e3c480e03dd6e193bec91a57bda2..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- - time_from_start: 2
- positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c13
- usage: c13
- description: come back from position p13 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c14.yaml b/src/robot_behaviour/config/new_movements/c14.yaml
deleted file mode 100644
index 2f3127098278eee8ce5ede2c218a36378a03ffa4..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- - time_from_start: 2
- positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c14
- usage: c14
- description: come back from position c14 to intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c15.yaml b/src/robot_behaviour/config/new_movements/c15.yaml
deleted file mode 100644
index 128b74032398f7134cc9cecd33441a02136e114f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- - time_from_start: 2
- positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c15
- usage: c15
- description: coming back a token in position c15 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c21.yaml b/src/robot_behaviour/config/new_movements/c21.yaml
deleted file mode 100644
index 998d25b26b44b8fdab00310ff5a42812aca63edd..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c21.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c21
- usage: c21
- description: coming back a token in position c21 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c22.yaml b/src/robot_behaviour/config/new_movements/c22.yaml
deleted file mode 100644
index cbf4744d00e7f4d62f6ff34b3be59479fbc318ca..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c22.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c22
- usage: c22
- description: coming back a token in position c22 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c23.yaml b/src/robot_behaviour/config/new_movements/c23.yaml
deleted file mode 100644
index 40041fa49a85b10321b3e3eaf6f7eeeed42c8258..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c23.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c23
- usage: c23
- description: coming back a token in position c24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c24.yaml b/src/robot_behaviour/config/new_movements/c24.yaml
deleted file mode 100644
index a708d30e538e1e9a38e207fcdd50bee6e2462d64..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c24.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c24
- usage: c24
- description: coming back a token in position c24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c25.yaml b/src/robot_behaviour/config/new_movements/c25.yaml
deleted file mode 100644
index 388a84ca011b8ef2be1f793a221ed826e9961ea0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c25.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c25
- usage: c25
- description: "coming back a token in position p25 "
diff --git a/src/robot_behaviour/config/new_movements/c31.yaml b/src/robot_behaviour/config/new_movements/c31.yaml
deleted file mode 100644
index 4defb7cf33312a52ad183b24e7ba88ad6dcd4530..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c31:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c31
- usage: c31
- description: place a token in position c31 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c32.yaml b/src/robot_behaviour/config/new_movements/c32.yaml
deleted file mode 100644
index eda78b45f644b2a26cc368c47537cca8ca7d750c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c32:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c32
- usage: c32
- description: place a token in position c32 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c33.yaml b/src/robot_behaviour/config/new_movements/c33.yaml
deleted file mode 100644
index f47f0d81c26ada3e2f3d17451e68afa6a6efc440..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c33:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.8443121287333754, 0.5196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c33
- usage: c33
- description: place a token in position c33 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c34.yaml b/src/robot_behaviour/config/new_movements/c34.yaml
deleted file mode 100644
index f25f437fab5217e494797c4ad264d976aa0e1550..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c34:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c34
- usage: c34
- description: place a token in position c34 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c35.yaml b/src/robot_behaviour/config/new_movements/c35.yaml
deleted file mode 100644
index dfeea52ef0dca9e95d939bec027332f370192359..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c35:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- - time_from_start: 2
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c35
- usage: c35
- description: place a token in position c35 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c41.yaml b/src/robot_behaviour/config/new_movements/c41.yaml
deleted file mode 100644
index dcb7e77f6e9f2227c03b7691c3a9e58e9a41091f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c41.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-play_motion:
- motions:
- c41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.8731360100630475, 0.30831459755480217, -1.2643700236236175, 1.5496700455598336, -1.677018692262659, 0.5303943146365504, -1.5797077284483079]
- - time_from_start: 2
- positions: [0.87, 0.5943, -1.2749, 1.5802, -1.6308, 0.5703, -1.5778]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
-
- meta:
- name: c41
- usage: c41
- description: coming back a token in position c41 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c42.yaml b/src/robot_behaviour/config/new_movements/c42.yaml
deleted file mode 100644
index 2528d335a55b3b9f873f4c2f5d4f2e8eb4667351..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c42.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-play_motion:
- motions:
- c42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7300443841752443, 0.40210342695853596, -1.2570528382089003, 1.626324082283821, -1.726424737778173, 0.5304350725862031, -1.5796669704986552]
- - time_from_start: 2
- positions: [0.7796, 0.7522, -1.2092, 1.6385, -1.6313, 0.5704, -1.5777]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
-
- meta:
- name: c42
- usage: c42
- description: coming back a token in position c42 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c43.yaml b/src/robot_behaviour/config/new_movements/c43.yaml
deleted file mode 100644
index a260092494b8e85873ae83c7719aa6ca83f0aa48..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c43.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.6190747420577092, 0.47516790102624673, -1.2336439808863457, 1.64672629738146, -1.7621657543555427, 0.5304647147314052, -1.579637328353453]
- - time_from_start: 2
- positions: [0.5276, 0.453, -1.3407, 1.6121, -1.6313, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c43
- usage: c43
- description: coming back a token in position c43 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c44.yaml b/src/robot_behaviour/config/new_movements/c44.yaml
deleted file mode 100644
index 95b6fcb3c1f1f99d5559143d36980c6c205b26de..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c44.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.5187050477841355, 0.5480022749236835, -1.202028217490681, 1.648521078709598, -1.7967396114655818, 0.53053511482626, -1.5795669282585982]
- - time_from_start: 3
- positions: [0.4469, 0.6519, -1.2589, 1.6, -1.6314, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c44
- usage: c44
- description: coming back a token in position c44 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/c45.yaml b/src/robot_behaviour/config/new_movements/c45.yaml
deleted file mode 100644
index 3a4766c998f6e8f9cf97e2d2ce090afeff557a70..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/c45.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- c45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.43849212842657503, 0.5666097086931844, -1.1658871507462916, 1.6040043657672305, -1.7967914852196853, 0.5305666096055373, -1.579535433479321]
- - time_from_start: 2
- positions: [0.3294, 0.5073, -1.299, 1.5193, -1.6312, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: c45
- usage: c45
- description: coming back a token in position c45 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/inter.yaml b/src/robot_behaviour/config/new_movements/inter.yaml
deleted file mode 100644
index 2bdc70ccdbdb9c7781d67f596fda1604838be4e8..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/inter.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-play_motion:
- motions:
- inter:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- meta:
- name: inter
- usage: inter
- description: Intermediate point for avoid crash
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o11 b/src/robot_behaviour/config/new_movements/o11
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/robot_behaviour/config/new_movements/o11.yaml b/src/robot_behaviour/config/new_movements/o11.yaml
deleted file mode 100644
index 7409501e81db723b4758e334e78934bd49aa8446..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.2786, 0.1091, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- - time_from_start: 5
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- - time_from_start: 10
- positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o11
- usage: o11
- description: offer token o11 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o12.yaml b/src/robot_behaviour/config/new_movements/o12.yaml
deleted file mode 100644
index 8dd829f7b8ff5cfc9e821cbe7b5fc3d399e2b301..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.1657, 0.1091, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
- - time_from_start: 10
- positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o12
- usage: o12
- description: offer token in position p12 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o13.yaml b/src/robot_behaviour/config/new_movements/o13.yaml
deleted file mode 100644
index 8a823310fb5dc426610a42f46a8341122fc9e9e2..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.0791, 0.1331, -1.1193, 0.6565, -1.5498, 0.57, -1.5801]
- - time_from_start: 5
- positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 10
- positions: [1.4505, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o13
- usage: o13
- description: offer token in position p13 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o14.yaml b/src/robot_behaviour/config/new_movements/o14.yaml
deleted file mode 100644
index ceea6b8c7912f903cf73746fed17b4e014549894..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.0192, 0.1005, -1.1193, 0.5701, -1.5496, 0.57, -1.5801]
- - time_from_start: 2
- positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o14
- usage: o14
- description: offer token in position p14 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o15.yaml b/src/robot_behaviour/config/new_movements/o15.yaml
deleted file mode 100644
index 6e25ec7313bbb75b34660a9f97892daad64966e6..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9676, 0.0713, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
- - time_from_start: 2
- positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o15
- usage: o15
- description: offer token in position p15 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o21.yaml b/src/robot_behaviour/config/new_movements/o21.yaml
deleted file mode 100644
index d11ff2f279c8bc59d6252f5485bb49dad791fc3c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o21.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.1209, 0.218, -1.1407, 1.0227, -1.5299, 0.5698, -1.5782]
- - time_from_start: 3
- positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o21
- usage: o21
- description: offer token in position p21 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o22.yaml b/src/robot_behaviour/config/new_movements/o22.yaml
deleted file mode 100644
index aa5faeba7ef521213a809f90d9506392c42bfef7..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o22.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [1.011, 0.2148, -1.1407, 1.0227, -1.5298, 0.5698, -1.5782]
- - time_from_start: 2
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o22
- usage: o22
- description: offer token p22 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o23.yaml b/src/robot_behaviour/config/new_movements/o23.yaml
deleted file mode 100644
index b87cafac99ea0d7aef50ce2efa3530a10228445b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o23.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.8865, 0.218, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782]
- - time_from_start: 2
- positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o23
- usage: o23
- description: offer token in location p23 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o24.yaml b/src/robot_behaviour/config/new_movements/o24.yaml
deleted file mode 100644
index 50480222b88a41579a5c16d5b31530fd3ea0d6ce..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o24.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7781, 0.2187, -1.1412, 1.0227, -1.5298, 0.5698, -1.5782]
- - time_from_start: 5
- positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o24
- usage: o24
- description: offer token p14 to user left side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o25.yaml b/src/robot_behaviour/config/new_movements/o25.yaml
deleted file mode 100644
index f4e1555b4d69e113ce29dab5437306cbf1962daa..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o25.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7063, 0.1887, -1.1412, 0.9305, -1.5298, 0.5698, -1.5782]
- - time_from_start: 2
- positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o25
- usage: o25
- description: offer token in position p15 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o31.yaml b/src/robot_behaviour/config/new_movements/o31.yaml
deleted file mode 100644
index 334d996dc494e6be9779594f70110f4d649d0e4e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o31:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.9902, 0.2905, -1.2072, 1.3062, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o31
- usage: o31
- description: offer token in position p31 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o32.yaml b/src/robot_behaviour/config/new_movements/o32.yaml
deleted file mode 100644
index cb56dd0970ea3ec62e5c345d4adfc107d1712e44..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o32:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.8871, 0.3781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o32
- usage: o32
- description: offer token p32 to user right side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o33.yaml b/src/robot_behaviour/config/new_movements/o33.yaml
deleted file mode 100644
index 2a8b8ed4e0dedcc4b2d82db1104eebb6ed5b97f6..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o33:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.7396, 0.3237, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [1.4105, 0.2109, -1.1399, 0.6501, -1.5298, 0.57, -1.58]
- meta:
- name: o33
- usage: o33
- description: offer token in location p33 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o34.yaml b/src/robot_behaviour/config/new_movements/o34.yaml
deleted file mode 100644
index a3ea52f6d639c04d5e03dbf95a113db3f7fad223..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o34:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.6274, 0.3213, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776]
- - time_from_start: 5
- positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o34
- usage: o34
- description: offer token p34 to user left side
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/o35.yaml b/src/robot_behaviour/config/new_movements/o35.yaml
deleted file mode 100644
index 69dd0e564fb2b24296e8cf18df0b7e9b7f10c89f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/o35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- o35:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.5418, 0.2894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776]
- - time_from_start: 5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- - time_from_start: 10
- positions: [0.6997, 0.2705, -1.1202, 0.6501, -1.5499, 0.5702, -1.5802]
- meta:
- name: o35
- usage: o35
- description: offer token in position p35 to user
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/p11.yaml b/src/robot_behaviour/config/new_movements/p11.yaml
deleted file mode 100644
index 842b57b9a1f03516e7af30199550042656635f02..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- - time_from_start: 5
- positions: [1.3082094120173648, 0.1174848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- meta:
- name: p11
- usage: p11
- description: pick a token in position p11 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p12.yaml b/src/robot_behaviour/config/new_movements/p12.yaml
deleted file mode 100644
index d17887a18d601795a19ffd860e002f4e83e78312..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [1.2031763542929022, 0.14058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- meta:
- name: p12
- usage: p12
- description: pick a token in position p12 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p13.yaml b/src/robot_behaviour/config/new_movements/p13.yaml
deleted file mode 100644
index 2ceb808c800fe56fd0aa3b087133f9e882efbe99..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [1.0323, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [1.087113828406633, 0.1648241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- meta:
- name: p13
- usage: p13
- description: pick a token in position p13 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p14.yaml b/src/robot_behaviour/config/new_movements/p14.yaml
deleted file mode 100644
index f6e4fa7cb9c1adb6d66516b85e3ead997cea5118..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.9346, 0.1891, -1.1414, 0.6464, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.9962856211937597, 0.1644713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- meta:
- name: p14
- usage: p14
- description: pick a token in position p14 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p15.yaml b/src/robot_behaviour/config/new_movements/p15.yaml
deleted file mode 100644
index bf5b2df16c834f64345960a4ddc53672f03396bf..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.879, 0.18, -1.1413, 0.5973, -1.5298, 0.5699, -1.5782]
- - time_from_start: 5
- positions: [0.9361527766954548, 0.15798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- meta:
- name: p15
- usage: p15
- description: pick a token in position p15 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p21.yaml b/src/robot_behaviour/config/new_movements/p21.yaml
deleted file mode 100644
index d528f62896a69817103902836f713c8a7c29524d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p21.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [1.0608, 0.182, -1.3074, 1.034, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5.5
- positions: [1.1594266419181152, 0.2438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p21
- usage: p21
- description: pick a token in position p21 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p22.yaml b/src/robot_behaviour/config/new_movements/p22.yaml
deleted file mode 100644
index eadca4f6afa73288f6db234168577dfea7183e2c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p22.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5.5
- positions: [1.0354179901517129, 0.276867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p22
- usage: p22
- description: pick a token in position p22 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p23.yaml b/src/robot_behaviour/config/new_movements/p23.yaml
deleted file mode 100644
index c446cc13f806e44efbe0bd9bc8a7abda6022855d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p23.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.8251, 0.18, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5.5
- positions: [0.9264885695439415, 0.2852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p23
- usage: p23
- description: pick a token in position p23 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p24.yaml b/src/robot_behaviour/config/new_movements/p24.yaml
deleted file mode 100644
index 89b1bb736f922fe31b9ede8211c09ab5d42a23d0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p24.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.7189, 0.183, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- - time_from_start: 5.5
- positions: [0.8198601506389116, 0.29124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p24
- usage: p24
- description: pick a token in position p24 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p25.yaml b/src/robot_behaviour/config/new_movements/p25.yaml
deleted file mode 100644
index 9c079e04243484b54eba8fcfd7ec3a858c4648b8..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p25.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.64, 0.2, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- - time_from_start: 5.5
- positions: [0.7607550869011643, 0.3209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p25
- usage: p25
- description: pick a token in position p25 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p31.yaml b/src/robot_behaviour/config/new_movements/p31.yaml
deleted file mode 100644
index 994ff177d62c03c451bead4b7f3ce5d7bd6c4f1a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p31:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [1.0974683360689688, 0.46300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p31
- usage: p31
- description: pick a token in position p31 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p32.yaml b/src/robot_behaviour/config/new_movements/p32.yaml
deleted file mode 100644
index 66a385b7962354286e2190381456166a1ac1cf32..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p32:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.9701002218165642, 0.49922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p32
- usage: p32
- description: pick a token in position p32 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p33.yaml b/src/robot_behaviour/config/new_movements/p33.yaml
deleted file mode 100644
index 8151ff0ab7e02e58c072b9e9e9c1fcd97200528d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p33:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.8443121287333754, 0.5196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p33
- usage: p33
- description: pick a token in position p33 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p34.yaml b/src/robot_behaviour/config/new_movements/p34.yaml
deleted file mode 100644
index 32a72ba538064f3b40807a09bcbc0e8367d2f8df..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p34:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p34
- usage: p34
- description: pick a token in position p34 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p35.yaml b/src/robot_behaviour/config/new_movements/p35.yaml
deleted file mode 100644
index 4b32659d936503734befa956b2324f013fc43441..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p35:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- - time_from_start: 5
- positions: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- meta:
- name: p35
- usage: p35
- description: pick a token in position p35 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p41.yaml b/src/robot_behaviour/config/new_movements/p41.yaml
deleted file mode 100644
index 1891916b59bfacde1b5433dfb4f766c3f51e721b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p41.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.87, 0.5943, -1.2749, 1.5802, -1.6308, 0.5703, -1.5778]
- - time_from_start: 5
- positions: [0.8731360100630475, 0.30831459755480217, -1.2643700236236175, 1.5496700455598336, -1.677018692262659, 0.5303943146365504, -1.5797077284483079]
- meta:
- name: p41
- usage: p41
- description: pick a token in position p41 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p42.yaml b/src/robot_behaviour/config/new_movements/p42.yaml
deleted file mode 100644
index b6883b2bdc1f657fd1d7085b8dfa447bee9e501d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p42.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.7796, 0.7522, -1.2092, 1.6385, -1.6313, 0.5704, -1.5777]
- - time_from_start: 5
- positions: [0.7300443841752443, 0.40210342695853596, -1.2570528382089003, 1.626324082283821, -1.726424737778173, 0.5304350725862031, -1.5796669704986552]
- meta:
- name: p42
- usage: p42
- description: pick a token in position p42 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p43.yaml b/src/robot_behaviour/config/new_movements/p43.yaml
deleted file mode 100644
index 8aebb126deb0881a9790d84f7f679b768ae02a5d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p43.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.5276, 0.453, -1.3407, 1.6121, -1.6313, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.6190747420577092, 0.47516790102624673, -1.2336439808863457, 1.64672629738146, -1.7621657543555427, 0.5304647147314052, -1.579637328353453]
- meta:
- name: p43
- usage: p43
- description: pick a token in position p43 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p44.yaml b/src/robot_behaviour/config/new_movements/p44.yaml
deleted file mode 100644
index e04c9195b312da0e1eb5b23319225d3fad93df20..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p44.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.4469, 0.6519, -1.2589, 1.6, -1.6314, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.5187050477841355, 0.5480022749236835, -1.202028217490681, 1.648521078709598, -1.7967396114655818, 0.53053511482626, -1.5795669282585982]
- meta:
- name: p44
- usage: p44
- description: pick a token in position p44 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/p45.yaml b/src/robot_behaviour/config/new_movements/p45.yaml
deleted file mode 100644
index b20301e3ee19591e59f2de4d30aaa90b438aa431..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/p45.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-play_motion:
- motions:
- p45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- - time_from_start: 3
- positions: [0.3294, 0.5073, -1.299, 1.5193, -1.6312, 0.5705, -1.5776]
- - time_from_start: 5
- positions: [0.43849212842657503, 0.5666097086931844, -1.1658871507462916, 1.6040043657672305, -1.7967914852196853, 0.5305666096055373, -1.579535433479321]
- meta:
- name: p45
- usage: p45
- description: pick a token in position p45 with intermediate point
diff --git a/src/robot_behaviour/config/new_movements/rest.yaml b/src/robot_behaviour/config/new_movements/rest.yaml
deleted file mode 100644
index 23e3ab943cd5d74996b4e4cf5316b8445c663b8b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/rest.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-play_motion:
- motions:
- rest:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 5
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: rest
- usage: rest
- description: rest point for the robot
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml b/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml
deleted file mode 100644
index 6312c1149e08e5aa40f491cce8c8320274c626b3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/robot_actions_pal.yaml
+++ /dev/null
@@ -1,157 +0,0 @@
-play_motion:
- motions:
- #Initial position
- rest:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- meta:
- name: rest
- usage: rest
- description: rest point for the robot
-
- inter:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- meta:
- name: inter
- usage: inter
- description: Intermediate point for avoid crash
-
- #####################################################################################################
- ########################################PICK A TOKEN ################################################
- #####################################################################################################
-
- #pick at location (1,1)
- p11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 6
- positions: [1.3652, -0.0746, -0.9904, 0.7188, -1.6312, 0.5702, -1.5771]
- meta:
- name: p11
- usage: p11
- description: pick a token in position p11 with intermediate point
- #pick at location (1,2)
- p12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 6
- positions: [1.251, -0.0698, -0.9907, 0.7456, -1.6311, 0.5702, -1.5771]
- meta:
- name: p12
- usage: p12
- description: pick a token in position p12 with intermediate point
-
-
- #####################################################################################################
- ######################################LEVEL OF ASSISTANCE 2##########################################
- #####################################################################################################
- ss11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 5
- positions: [1.37, -0.0776, -1.1768, 0.7206, -1.6308, 0.5701, -1.58]
- - time_from_start: 6
- positions: [1.13, -0.0676, -1.1674, 0.7606, -1.6308, 0.5701, -1.58]
- - time_from_start: 7
- positions: [1.37, -0.0776, -1.1768, 0.7206, -1.6308, 0.5701, -1.58]
- - time_from_start: 9
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 11
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- meta:
- name: ss11
- usage: ss11
- description: suggest subset of tokens in position s11-s13 with intermediate point
-
-
- #####################################################################################################
- ######################################LEVEL OF ASSISTANCE 3##########################################
- #####################################################################################################
- #suggest solution location(1,1)
- s11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 5
- positions: [1.37, -0.108, -1.3354, 0.7203, -1.631, 0.57, -1.58]
- - time_from_start: 7
- positions: [1.37, -0.0883, -1.2355, 0.7205, -1.6309, 0.5701, -1.58]
- - time_from_start: 8
- positions: [1.37, -0.108, -1.3354, 0.7203, -1.631, 0.57, -1.58]
- - time_from_start: 9
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 11
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- meta:
- name: s11
- usage: s11
- description: point a token in position s11 with intermediate point
-
-
-
- s12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 5
- positions: [1.251, -0.0698, -0.9907, 0.7456, -1.6311, 0.5702, -1.5771]
- - time_from_start: 6
- positions: [1.25, -0.0875, -1.2349, 0.7505, -1.6309, 0.5701, -1.58]
- - time_from_start: 7
- positions: [1.25, -0.0876, -1.3261, 0.7503, -1.6309, 0.57, -1.58]
- - time_from_start: 8
- positions: [1.25, -0.0875, -1.2349, 0.7505, -1.6309, 0.5701, -1.58]
- - time_from_start: 9
- positions: [1.25, -0.0876, -1.3261, 0.7503, -1.6309, 0.57, -1.58]
- - time_from_start: 12
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 14
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- meta:
- name: s12
- usage: s12
- description: point a token in position s12 with intermediate point
-
- #####################################################################################################
- ######################################LEVEL OF ASSISTANCE 4##########################################
- #####################################################################################################
- o11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.33, 0.1367, -1.4914, 2.132, -1.7313, 1.0201, -1.5792]
- - time_from_start: 3
- positions: [0.33, -0.0753, -1.4874, 1.7104, -1.7315, 1.02, -1.58]
- - time_from_start: 6
- positions: [1.3652, -0.0746, -0.9904, 0.7188, -1.6312, 0.5702, -1.5771]
- - time_from_start: 8
- positions: [1.28, -0.0875, -1.3578, 0.7803, -1.6407, 0.6001, -1.58]
- - time_from_start: 10
- positions: [1.3484, -0.0875, -1.3664, 0.7802, -1.6407, 0.6001, -1.58]
- meta:
- name: o11
- usage: o11
- description: pick a token in position p11 and offer to user with intermediate point
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/s11.yaml b/src/robot_behaviour/config/new_movements/s11.yaml
deleted file mode 100644
index 7aa67561a0419b462a953d151c01c8ab600bd7e3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s11.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- #go to step2
- - time_from_start: 5
- positions: [1.3082094120173648, 0.1974848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- #go to step3
- - time_from_start: 7
- positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s11
- usage: s11
- description: suggest the solution for p11
diff --git a/src/robot_behaviour/config/new_movements/s12.yaml b/src/robot_behaviour/config/new_movements/s12.yaml
deleted file mode 100644
index 94f09124503a8bfa57ba402c43f3d313b3f9fee8..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s12.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- #go to step2
- - time_from_start: 5
- positions: [1.2031763542929022, 0.19058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- #go to step3
- - time_from_start: 7
- positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s12
- usage: s12
- description: suggest the solution for p12
diff --git a/src/robot_behaviour/config/new_movements/s13.yaml b/src/robot_behaviour/config/new_movements/s13.yaml
deleted file mode 100644
index 0151ccdc6ab566b6a41cd72b5eb20d8c3c61c11b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s13.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- #go to step2
- - time_from_start: 5
- positions: [1.087113828406633, 0.1948241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- #go to step3
- - time_from_start: 7
- positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s13
- usage: s13
- description: suggest the solution for p13
diff --git a/src/robot_behaviour/config/new_movements/s14.yaml b/src/robot_behaviour/config/new_movements/s14.yaml
deleted file mode 100644
index ae34be520d17d25de757c5354e8f904bfc82bdf3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s14.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p14
- - time_from_start: 3
- positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- #go to p13
- - time_from_start: 5
- positions: [0.9962856211937597, 0.1944713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- #go to p12
- - time_from_start: 7
- positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s14
- usage: s14
- description: suggest the solution for p14
diff --git a/src/robot_behaviour/config/new_movements/s15.yaml b/src/robot_behaviour/config/new_movements/s15.yaml
deleted file mode 100644
index a812abe8798b3077ed2c8fb28d0f38019fddb98b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s15.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to 1ststep
- - time_from_start: 3
- positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- #go to 2ndstep
- - time_from_start: 5
- positions: [0.9361527766954548, 0.19798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- #go to 3rdstep
- - time_from_start: 7
- positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s15
- usage: s15
- description: suggest the solution for p15
diff --git a/src/robot_behaviour/config/new_movements/s21.yaml b/src/robot_behaviour/config/new_movements/s21.yaml
deleted file mode 100644
index 2d08efaca2ea79a1f4fd480f4f53bf8ca5b49cc0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s21.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p23
- - time_from_start: 3
- positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- #go to p21
- - time_from_start: 5
- positions: [1.1594266419181152, 0.2938865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- #go to p22
- - time_from_start: 7
- positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s21
- usage: s21
- description: suggest the solution fpr p21
diff --git a/src/robot_behaviour/config/new_movements/s22.yaml b/src/robot_behaviour/config/new_movements/s22.yaml
deleted file mode 100644
index 1042bdcf1be9a2bf2a42438860b94027abdcde67..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s22.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to first step
- - time_from_start: 3
- positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- #go to second step
- - time_from_start: 5
- positions: [1.0354179901517129, 0.316867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- #go to third step
- - time_from_start: 7
- positions: [1.0354179901517129, 0.386867574284005, -1.1319550456365337, 1.0499384957584867, -1.7023256737289076, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 8
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s22
- usage: s22
- description: suggest the solution for p22
diff --git a/src/robot_behaviour/config/new_movements/s23.yaml b/src/robot_behaviour/config/new_movements/s23.yaml
deleted file mode 100644
index 81f9154c86cc63e9851c13c322d6d39fdf06aaff..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s23.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to first step
- - time_from_start: 3
- positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- #go to second step
- - time_from_start: 5
- positions: [0.9264885695439415, 0.3352125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- #go to third step
- - time_from_start: 7
- positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s23
- usage: s23
- description: suggest the solution for p23
diff --git a/src/robot_behaviour/config/new_movements/s24.yaml b/src/robot_behaviour/config/new_movements/s24.yaml
deleted file mode 100644
index 31d7f1ce70d228632fa08ac16e4a0c3b4b420ff7..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s24.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to first step
- - time_from_start: 3
- positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- #go to second step
- - time_from_start: 5
- positions: [0.8198601506389116, 0.33124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- #go to third step
- - time_from_start: 7
- positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s24
- usage: s24
- description: suggest the solution for p24
diff --git a/src/robot_behaviour/config/new_movements/s25.yaml b/src/robot_behaviour/config/new_movements/s25.yaml
deleted file mode 100644
index 32b8778aca9a0c3cf77535e3850abc40fff84d0b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s25.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- s25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to first step
- - time_from_start: 3
- positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- #go to second step
- - time_from_start: 5
- positions: [0.7607550869011643, 0.3709394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- #go to third step
- - time_from_start: 7
- positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: s25
- usage: s25
- description: suggest the solution for p25
diff --git a/src/robot_behaviour/config/new_movements/s31.yaml b/src/robot_behaviour/config/new_movements/s31.yaml
deleted file mode 100644
index 20293375d2d8ab05d093aaab18d4505ae3e4d097..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s31.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s31:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [1.0974683360689688, 0.56300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- #go to step2
- - time_from_start: 4
- positions: [1.0974683360689688, 0.52300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- #go to step3
- - time_from_start: 5
- positions: [1.0974683360689688, 0.60300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s31
- usage: s31
- description: suggest the solution for p31
diff --git a/src/robot_behaviour/config/new_movements/s32.yaml b/src/robot_behaviour/config/new_movements/s32.yaml
deleted file mode 100644
index d7f4fe62219f1dee865e72f80aaea8137d8d65c3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s32.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s32:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [0.9701002218165642, 0.61922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- #go to step2
- - time_from_start: 4
- positions: [0.9701002218165642, 0.54922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- #go to step3
- - time_from_start: 5
- positions: [0.9701002218165642, 0.66922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s32
- usage: s32
- description: suggest the solution for p32
diff --git a/src/robot_behaviour/config/new_movements/s33.yaml b/src/robot_behaviour/config/new_movements/s33.yaml
deleted file mode 100644
index e29a31df9287df540a7c2fea0876667200522c38..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s33.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s33:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [0.8443121287333754, 0.6196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- #go to step2
- - time_from_start: 4
- positions: [0.8443121287333754, 0.5696692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- #go to step3
- - time_from_start: 5
- positions: [0.8443121287333754, 0.6696692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s33
- usage: s33
- description: suggest the solution for p33
diff --git a/src/robot_behaviour/config/new_movements/s34.yaml b/src/robot_behaviour/config/new_movements/s34.yaml
deleted file mode 100644
index f5dc7c2581cf2d47f286150879bfe854819591c4..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s34.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s34:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [0.7366099090337328, 0.6301908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- #go to step2
- - time_from_start: 4
- positions: [0.7366099090337328, 0.5701908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- #go to step3
- - time_from_start: 5
- positions: [0.7366099090337328, 0.6601908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s34
- usage: s34
- description: suggest the solution for p34
diff --git a/src/robot_behaviour/config/new_movements/s35.yaml b/src/robot_behaviour/config/new_movements/s35.yaml
deleted file mode 100644
index 27583edbfaa4b28bca9dfb99cd764582ca33394c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/s35.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-play_motion:
- motions:
- s35:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to step1
- - time_from_start: 3
- positions: [0.6693286192455783, 0.668832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- #go to step2
- - time_from_start: 4
- positions: [0.6693286192455783, 0.618832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- #go to step3
- - time_from_start: 5
- positions: [0.6693286192455783, 0.698832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
-
-
- meta:
- name: s35
- usage: s35
- description: suggest the solution for p35
diff --git a/src/robot_behaviour/config/new_movements/sr2.yaml b/src/robot_behaviour/config/new_movements/sr2.yaml
deleted file mode 100644
index e60fcb64578a53d7be22e3a50b28a68348e1ae63..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/sr2.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-play_motion:
- motions:
- sr2:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 2
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- - time_from_start: 4.5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: sr2
- usage: sr2
- description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/sr3.yaml b/src/robot_behaviour/config/new_movements/sr3.yaml
deleted file mode 100644
index 74ba7cbb7ecac84ab56c2316aee1cdd28c8c0210..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/sr3.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-play_motion:
- motions:
- sr3:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 2
- positions: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
- - time_from_start: 4.5
- positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: sr3
- usage: sr3
- description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/sr4.yaml b/src/robot_behaviour/config/new_movements/sr4.yaml
deleted file mode 100644
index 4bdddaf2c8723def3ebe8e12f0d3883dcd86837e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/sr4.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-play_motion:
- motions:
- sr4:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 2
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- - time_from_start: 4.5
- positions: [0.9676, 0.1, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
- #come back
- - time_from_start: 7
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: sr4
- usage: sr4
- description: suggest a row
diff --git a/src/robot_behaviour/config/new_movements/ss11.yaml b/src/robot_behaviour/config/new_movements/ss11.yaml
deleted file mode 100644
index e87e7ab24067d73e8c5d84630f8dba4a7714a339..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss11.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 3
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #go to p11
- - time_from_start: 5
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- #go to p13
- - time_from_start: 7
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss11
- usage: ss11
- description: suggest a subset of solution from p11
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss12.yaml b/src/robot_behaviour/config/new_movements/ss12.yaml
deleted file mode 100644
index bec7f7dd6fa24efcccf408b7d7f8dba6a2796ede..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss12.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 3
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #go to p11
- - time_from_start: 5
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
- #go to p13
- - time_from_start: 7
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss12
- usage: ss12
- description: suggest a subset of solution from p12
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss13.yaml b/src/robot_behaviour/config/new_movements/ss13.yaml
deleted file mode 100644
index 017e70600705864485cc06bf0c525c3a82e180ac..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss13.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p14
- - time_from_start: 3
- positions: [0.9346, 0.227, -1.1412, 0.7327, -1.55, 0.5702, -1.5802]
- #go to p13
- - time_from_start: 5
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #go to p12
- - time_from_start: 7
- positions: [1.1757, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss13
- usage: ss13
- description: suggest a subset of solution from p13
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss14.yaml b/src/robot_behaviour/config/new_movements/ss14.yaml
deleted file mode 100644
index 0586670f52fe12812cf26ced8a2c996d83d10188..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss14.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p13
- - time_from_start: 3
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #go to p15
- - time_from_start: 5
- positions: [0.879, 0.2224, -1.1163, 0.6545, -1.55, 0.5702, -1.5802]
- #go to p13
- - time_from_start: 7
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss14
- usage: ss14
- description: suggest a subset of solution from p14
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss15.yaml b/src/robot_behaviour/config/new_movements/ss15.yaml
deleted file mode 100644
index aa91aabc0574b57f7832c250ba8f0687ae3e1d47..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss15.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p15
- - time_from_start: 3
- positions: [0.879, 0.2224, -1.1163, 0.6545, -1.55, 0.5702, -1.5802]
- #go to p13
- - time_from_start: 5
- positions: [1.0323, 0.226, -1.1412, 0.7324, -1.55, 0.5702, -1.5802]
- #go to p14
- - time_from_start: 7
- positions: [0.9346, 0.227, -1.1412, 0.7327, -1.55, 0.5702, -1.5802]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss15
- usage: ss15
- description: suggest a subset of solution from p15
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss21.yaml b/src/robot_behaviour/config/new_movements/ss21.yaml
deleted file mode 100644
index f37a975a01d11032f8350241637768a72779c2e0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss21.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p23
- - time_from_start: 3
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- #go to p21
- - time_from_start: 5
- positions: [1.07, 0.1806, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
- #go to p22
- - time_from_start: 7
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss21
- usage: ss21
- description: suggest a subset of solution from p21
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss22.yaml b/src/robot_behaviour/config/new_movements/ss22.yaml
deleted file mode 100644
index 7edd8849c0a6ce4d3dbedcc6e360f1b6a0e22029..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss22.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p23
- - time_from_start: 3
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- #go to p21
- - time_from_start: 5
- positions: [1.07, 0.1806, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
- #go to p23
- - time_from_start: 7
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss22
- usage: ss22
- description: suggest a subset of solution from p22
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss23.yaml b/src/robot_behaviour/config/new_movements/ss23.yaml
deleted file mode 100644
index a05807963a962ff325d027fb2a8dd8667b2a9f12..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss23.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p24
- - time_from_start: 3
- positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- #go to p22
- - time_from_start: 5
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
- #go to p24
- - time_from_start: 7
- positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss23
- usage: ss23
- description: suggest a subset of solution from p23
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss24.yaml b/src/robot_behaviour/config/new_movements/ss24.yaml
deleted file mode 100644
index ed2877e6429e5c18b0be13af26c0d172f1896e2c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss24.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p25
- - time_from_start: 3
- positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- #go to p23
- - time_from_start: 5
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- #go to p25
- - time_from_start: 7
- positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss24
- usage: ss24
- description: suggest a subset of solution from p24
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss25.yaml b/src/robot_behaviour/config/new_movements/ss25.yaml
deleted file mode 100644
index 1d51d0dcf08aa3b892732195aada539570513d4a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss25.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-play_motion:
- motions:
- ss25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p23
- - time_from_start: 3
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
- #go to p25
- - time_from_start: 5
- positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
- #go to p24
- - time_from_start: 7
- positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss25
- usage: ss25
- description: suggest a subset of solution from p25
\ No newline at end of file
diff --git a/src/robot_behaviour/config/new_movements/ss31.yaml b/src/robot_behaviour/config/new_movements/ss31.yaml
deleted file mode 100644
index 6685f97ed230f1c8062a2f83eededdca10e6181a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss31.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-play_motion:
- motions:
- ss31:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p33
- - time_from_start: 3
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
- #go to p31
- - time_from_start: 5
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- #go to p33
- - time_from_start: 7
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss31
- usage: ss31
- description: suggest a subset of solution from p31
-
diff --git a/src/robot_behaviour/config/new_movements/ss32.yaml b/src/robot_behaviour/config/new_movements/ss32.yaml
deleted file mode 100644
index c3d9ecfc7204a3daf8aca3dd5869fec85a99f38a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss32.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-play_motion:
- motions:
- ss32:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p33
- - time_from_start: 3
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
- #go to p31
- - time_from_start: 5
- positions: [0.9706, 0.3627, -1.269, 1.3155, -1.6315, 0.5706, -1.5775]
- #go to p33
- - time_from_start: 7
- positions: [0.6256, 0.3918, -1.4047, 1.4211, -1.7882, 0.5703, -1.5774]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss32
- usage: ss32
- description: suggest a subset of solution from p32
-
diff --git a/src/robot_behaviour/config/new_movements/ss33.yaml b/src/robot_behaviour/config/new_movements/ss33.yaml
deleted file mode 100644
index 39500b6d084ef5b2d6771f0e01c5e0413477b838..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss33.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-play_motion:
- motions:
- ss33:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p32
- - time_from_start: 3
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
- #go to p34
- - time_from_start: 5
- positions: [0.6386, 0.543, -1.1834, 1.3668, -1.6315, 0.5706, -1.5775]
- #go to p32
- - time_from_start: 7
- positions: [0.8808, 0.5741, -1.1959, 1.3947, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss33
- usage: ss33
- description: suggest a subset of solution from p33
-
diff --git a/src/robot_behaviour/config/new_movements/ss34.yaml b/src/robot_behaviour/config/new_movements/ss34.yaml
deleted file mode 100644
index cecd09a6488f3083087a64b5b418560318bec21b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss34.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-play_motion:
- motions:
- ss34:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p33
- - time_from_start: 3
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- #go to p35
- - time_from_start: 5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- #go to p33
- - time_from_start: 7
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss34
- usage: ss34
- description: suggest a subset of solution from p34
-
diff --git a/src/robot_behaviour/config/new_movements/ss35.yaml b/src/robot_behaviour/config/new_movements/ss35.yaml
deleted file mode 100644
index 2af23c5f78ab8c403b377954deb45f032d2dbc9d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/new_movements/ss35.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-play_motion:
- motions:
- ss35:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - time_from_start: 0
- positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
- #go to p33
- - time_from_start: 3
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- #go to p35
- - time_from_start: 5
- positions: [0.5399, 0.4803, -1.1818, 1.298, -1.6315, 0.5706, -1.5775]
- #go to p33
- - time_from_start: 7
- positions: [0.7119, 0.4834, -1.2491, 1.3931, -1.6315, 0.5706, -1.5775]
- #come back
- - time_from_start: 10
- positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
- meta:
- name: ss35
- usage: ss35
- description: suggest a subset of solution from p35
-
diff --git a/src/robot_behaviour/config/old_movements/c11.yaml b/src/robot_behaviour/config/old_movements/c11.yaml
deleted file mode 100644
index bfa2b00ac4d18393692574aba6e0fe7e9f85a193..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 4d2bda8a84926984cfc4a9d8ba4115c73e9f4235..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 260914591cbd8a733956ddf4901a02c0e9027053..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 49f4258c267cdb28d07979d13fd62a69098a5ef9..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 31df470c15a7f70bf5d74ba7bebb44f59ff575c7..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 77073c66b86010477119dd1d14ab6ad9b308ca9c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c21.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 59432053d815b680c7c6595c3b2d7a9a88207cd0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c22.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 6090b38b454151e96f5befde461af395b7e723ad..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c23.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 9b5e08efa8bf2d3ca642a6a2ab331a816fed0467..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c24.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index ca60c71c472b6b63d6d3b63bd96c514dce372897..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c25.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index fa10bb7fdeec54b3f050d54fbaa788d9b39e2d0d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 384db40e15381ca500fb2edd07d8a804999e51e1..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 9d3f88943be91cfd189eea6ca5c05bd3a561e917..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 003079a6983f41d98e3dd4bbc385f965930e3714..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index e22b8a8a9be1040688093911045a223a41d3a5a3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 6310e4e58b448e1134bd5bb4c9296ac592ad498d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c41.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-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
deleted file mode 100644
index b226bbf92c5351135acb4ba13f69ff8264e37195..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c42.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-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
deleted file mode 100644
index 6f133054c7e123f59dbf899f0c4533496dfd385e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c43.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 65c50f364941f8dc5b2df03f4429975f603cc444..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c44.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index fb2b72f1875c3665f5866398bbab008ad8c794ef..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/c45.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 2bdc70ccdbdb9c7781d67f596fda1604838be4e8..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/inter.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-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
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/robot_behaviour/config/old_movements/o11.yaml b/src/robot_behaviour/config/old_movements/o11.yaml
deleted file mode 100644
index 7409501e81db723b4758e334e78934bd49aa8446..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 8dd829f7b8ff5cfc9e821cbe7b5fc3d399e2b301..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 8a823310fb5dc426610a42f46a8341122fc9e9e2..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index ceea6b8c7912f903cf73746fed17b4e014549894..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 6e25ec7313bbb75b34660a9f97892daad64966e6..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index d11ff2f279c8bc59d6252f5485bb49dad791fc3c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o21.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index aa5faeba7ef521213a809f90d9506392c42bfef7..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o22.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index b87cafac99ea0d7aef50ce2efa3530a10228445b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o23.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 50480222b88a41579a5c16d5b31530fd3ea0d6ce..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o24.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index f4e1555b4d69e113ce29dab5437306cbf1962daa..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o25.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 334d996dc494e6be9779594f70110f4d649d0e4e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index cb56dd0970ea3ec62e5c345d4adfc107d1712e44..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 2a8b8ed4e0dedcc4b2d82db1104eebb6ed5b97f6..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index a3ea52f6d639c04d5e03dbf95a113db3f7fad223..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 69dd0e564fb2b24296e8cf18df0b7e9b7f10c89f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/o35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 13f574a37fe6c30dc39b98e2dae3f27423a4742a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p11.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 795e40f742fa176b3d642fd3715ef23267c169ad..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p12.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 6b52297e304253dd497870afbad4215e0cefcb89..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p13.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index abb7c9f2a63fa43a225e5e17692d9b27111157c6..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p14.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 651b216943d3e5ecdd2cc4b263d55af122f80e35..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p15.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index f0e1d958b461a7c3177c93a94bb5fa535d08e98b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p21.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 636585cbfc1fb99dec14c0682682376543227a2f..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p22.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index c07ff3132c51c115be7b367be42489d3a333ef7d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p23.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 426948e686cd988e84f7581bc3457598281a9888..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p24.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 7bc706aeb579ecdd53bc0bd9f632dea948fd39ec..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p25.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 43faedbadb53640ca4fb34ec90ee5f07c80d6027..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p31.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 74a74eb37e320fd8c02fa5ee69d5b3c5fd44aa10..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p32.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 06c2ec1a6ad2c8b721fa0c3ac2dfc48dcaf318f0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p33.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 5bad726184cad0fe48cbb68a387fbf7aca63af18..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p34.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index fd26e59249932617e853a02074fe1a9c27c272e0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p35.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 02030290c4c5ba7b6bc3194703c3a7ee2d46a31c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p41.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index e8aa19cacd6d00b77af55576aaa78f14ff1cef1c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p42.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index f4ac3985dcb72d4d08e243fef096d495085eaf84..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p43.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 286d910ce6a455a94341f966eea280ba864224d5..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p44.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 1df0ee3cac8326dc885cc18416cb0bc53f8393aa..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/p45.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-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
deleted file mode 100644
index 23e3ab943cd5d74996b4e4cf5316b8445c663b8b..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/rest.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-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
deleted file mode 100644
index 6312c1149e08e5aa40f491cce8c8320274c626b3..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/robot_actions_pal.yaml
+++ /dev/null
@@ -1,157 +0,0 @@
-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
deleted file mode 100644
index f533cae555a6f9724242fea63b45004f60b90c0a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s11.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index c275dfbb6f0d93116ce668a1f74b36cbfd4a24c0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s12.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 4a4e00e276b8d45d059d55b750d1aa308b1307bd..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s13.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index d26e0e4b8bd9ae05606a5c84c3566de525b432df..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s14.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 3c063b55436cb657a339f4b33c24970eda0de321..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s15.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 5f177e7f44b82c7011a499267f9ce4fea9727cc0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s21.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 8c7b5173c39cb52751d9ea167e2324eb7dd77c1e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s22.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 70cfeaac704420330dd5f8ab0421af3bc6d13958..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s23.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 37b5d580365d2fa18fcee87e702e7e55ba5e792a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s24.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index f0e4821a759b6bce4825ad517aaa7e44eccdd67a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s25.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 851fc78cf745495d87417400a9eb6d38e3679a0d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s31.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index 0173dff579a9735b5a5d493751118bdc9599ec47..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s32.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index 8d31abfd7b158d8911a808a5888132cf947eec40..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s33.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index 4f19f81ea43b5fe167281984abfd7f5bc8fc9cbc..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s34.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index d3b0353bad00f9ac834c9e2eb764c62bad1f2e5e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/s35.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-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
deleted file mode 100644
index e60fcb64578a53d7be22e3a50b28a68348e1ae63..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/sr2.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-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
deleted file mode 100644
index 74ba7cbb7ecac84ab56c2316aee1cdd28c8c0210..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/sr3.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-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
deleted file mode 100644
index 4bdddaf2c8723def3ebe8e12f0d3883dcd86837e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/sr4.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-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
deleted file mode 100644
index e87e7ab24067d73e8c5d84630f8dba4a7714a339..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss11.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index bec7f7dd6fa24efcccf408b7d7f8dba6a2796ede..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss12.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 017e70600705864485cc06bf0c525c3a82e180ac..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss13.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 0586670f52fe12812cf26ced8a2c996d83d10188..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss14.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index aa91aabc0574b57f7832c250ba8f0687ae3e1d47..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss15.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index f37a975a01d11032f8350241637768a72779c2e0..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss21.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 7edd8849c0a6ce4d3dbedcc6e360f1b6a0e22029..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss22.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index a05807963a962ff325d027fb2a8dd8667b2a9f12..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss23.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index ed2877e6429e5c18b0be13af26c0d172f1896e2c..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss24.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index 1d51d0dcf08aa3b892732195aada539570513d4a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss25.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-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
deleted file mode 100644
index ce9a8d889c1402eb69fd450ab74b0f06b342c7ca..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss31.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-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
deleted file mode 100644
index 4608a2f0d0fd82c30fd4da19c0bb03b806609c30..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss32.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-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
deleted file mode 100644
index ae9d64361e82d3627741741c31b19ec2c0c38b1a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss33.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-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
deleted file mode 100644
index 2c33af7973768a782389643d8fd8a50daa9c784e..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss34.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-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
deleted file mode 100644
index bd11003b15907ac4d788f6361d8092b7d9effb55..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/old_movements/ss35.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-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
-
diff --git a/src/robot_behaviour/config/predefined_actions.yaml b/src/robot_behaviour/config/predefined_actions.yaml
deleted file mode 100644
index 75d99a771afb0b8197c256c38d882d78f10c936d..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/predefined_actions.yaml
+++ /dev/null
@@ -1,931 +0,0 @@
-play_motion:
- motions:
-#INITIAL MOTIONS
- #Initial position
- init:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: init, name: init, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- wave:
- joints: [arm_1_joint,
- arm_2_joint, arm_3_joint, arm_4_joint,
- arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0]
- time_from_start: 0.0
- - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
- time_from_start: 1.0
- - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04]
- time_from_start: 2.0
- - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
- time_from_start: 3.0
- meta:
- name: Wave
- usage: demo
- description: 'wave'
-
- #Calibration motion
- cali:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: calibration, name: calibration, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 3.0
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 14.0
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 19.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 22.0
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.000114136488979]
- time_from_start: 24.5
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.000114136488979]
- time_from_start: 29.5
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 32.0
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 34.5
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 39.5
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 42.0
- #Grasping movement
- grasp_in_11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint, gripper_left_finger_joint, gripper_right_finger_joint]
- meta: {description: grasp_in_11, name: grasp_in_11, usage: demo}
- points:
- - positions: [1.3576352022580496, -0.19400941416496648, -1.0912270475080152, 0.5522125594087959, -1.7302269946492814, 0.570020453258825, -1.5769782136269836, 0.030, 0.03]
- time_from_start: 0.0
-
- #End offer
- endoffer:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: endoffer, name: endoffer, usage: demo}
- points:
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
-
-
-#FIRST ROW
- g11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g11, name: g11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.3651671478316894, -0.06613507953795889, -0.992007854085812, 0.7178079819494086, -1.6303712631713507, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 3.0
-
- c11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c11, name: c11, usage: demo}
- points:
- - positions: [1.3651671478316894, -0.06613507953795889, -0.992007854085812, 0.7178079819494086, -1.6303712631713507, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o11, name: o11, usage: demo}
- points:
- - positions: [1.3651671478316894, -0.06613507953795889, -0.992007854085812, 0.7178079819494086, -1.6303712631713507, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
- g12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g12, name: g12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2510528033870745, -0.062284736688705156, -0.992007854085812, 0.7446530018147233, -1.6303256085757591, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 3.0
- c12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c12, name: c12, usage: demo}
- points:
- - positions: [1.2510528033870745, -0.062284736688705156, -0.992007854085812, 0.7446530018147233, -1.6303256085757591, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o12, name: o12, usage: demo}
- points:
- - positions: [1.2510528033870745, -0.062284736688705156, -0.992007854085812, 0.7446530018147233, -1.6303256085757591, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g13, name: g13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.1323671355596803, -0.05699243277240024, -0.992007854085812, 0.76045321350688, -1.6304717032816523, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 3.0
- c13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c13, name: c13, usage: demo}
- points:
- - positions: [1.1323671355596803, -0.05699243277240024, -0.992007854085812, 0.76045321350688, -1.6304717032816523, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o13, name: o13, usage: demo}
- points:
- - positions: [1.1323671355596803, -0.05699243277240024, -0.992007854085812, 0.76045321350688, -1.6304717032816523, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g14, name: g14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.0459875316387732, -0.06900366166070965, -0.992007854085812, 0.7148320197471966, -1.6303347394948775, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 3.0
- c14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c14, name: c14, usage: demo}
- points:
- - positions: [1.0459875316387732, -0.06900366166070965, -0.992007854085812, 0.7148320197471966, -1.6303347394948775, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o14, name: o14, usage: demo}
- points:
- - positions: [1.0459875316387732, -0.06900366166070965, -0.992007854085812, 0.7148320197471966, -1.6303347394948775, 0.5699978964188536, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g15, name: g15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.9715884765834727, -0.08584699412477564, -0.992007854085812, 0.6352787208777554, -1.6302982158184043, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 3.0
- c15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c15, name: c15, usage: demo}
- points:
- - positions: [0.9715884765834727, -0.08584699412477564, -0.992007854085812, 0.6352787208777554, -1.6302982158184043, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o15, name: o15, usage: demo}
- points:
- - positions: [0.9715884765834727, -0.08584699412477564, -0.992007854085812, 0.6352787208777554, -1.6302982158184043, 0.5700024618784127, -1.5770832191968445]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
-#SECOND ROW
- g21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g21, name: g21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2321692494132446, -0.007014675788860114, -0.9876512908619552, 1.041666301604565, -1.6304443105242974, 0.5700435510144449, -1.5770877846564035]
- time_from_start: 3.0
- c21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c21, name: c21, usage: demo}
- points:
- - positions: [1.2321692494132446, -0.007014675788860114, -0.9876512908619552, 1.041666301604565, -1.6304443105242974, 0.5700435510144449, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o21, name: o21, usage: demo}
- points:
- - positions: [1.2321692494132446, -0.007014675788860114, -0.9876512908619552, 1.041666301604565, -1.6304443105242974, 0.5700435510144449, -1.5770877846564035]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
- g22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g22, name: g22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.079183316203654, 0.008294655540045104, -0.9863013698630136, 1.094512640710856, -1.6304534414434158, 0.570011592797531, -1.577110611954199]
- time_from_start: 3.0
- c22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c22, name: c22, usage: demo}
- points:
- - positions: [1.079183316203654, 0.008294655540045104, -0.9863013698630136, 1.094512640710856, -1.6304534414434158, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o22, name: o22, usage: demo}
- points:
- - positions: [1.079183316203654, 0.008294655540045104, -0.9863013698630136, 1.094512640710856, -1.6304534414434158, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g23, name: g23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.9957489944622558, 0.06943994078755616, -0.9303870284864011, 1.0990379440595806, -1.630380394090469, 0.570011592797531, -1.577110611954199]
- time_from_start: 3.0
- c23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c23, name: c23, usage: demo}
- points:
- - positions: [0.9957489944622558, 0.06943994078755616, -0.9303870284864011, 1.0990379440595806, -1.630380394090469, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o23, name: o23, usage: demo}
- points:
- - positions: [0.9957489944622558, 0.06943994078755616, -0.9303870284864011, 1.0990379440595806, -1.630380394090469, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g24, name: g24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.8852088726625658, 0.06160119498688427, -0.9300188682139625, 1.0692323020034054, -1.6303712631713507, 0.570011592797531, -1.577110611954199]
- time_from_start: 3.0
- c24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c24, name: c24, usage: demo}
- points:
- - positions: [0.8852088726625658, 0.06160119498688427, -0.9300188682139625, 1.0692323020034054, -1.6303712631713507, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o24, name: o24, usage: demo}
- points:
- - positions: [0.8852088726625658, 0.06160119498688427, -0.9300188682139625, 1.0692323020034054, -1.6303712631713507, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g25, name: g25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.7968964273113562, 0.045923703385540526, -0.9300035282026109, 1.002104412328767, -1.6304169177669425, 0.570011592797531, -1.577110611954199]
- time_from_start: 3.0
- c25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c25, name: c25, usage: demo}
- points:
- - positions: [0.7968964273113562, 0.045923703385540526, -0.9300035282026109, 1.002104412328767, -1.6304169177669425, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o25, name: o25, usage: demo}
- points:
- - positions: [0.7968964273113562, 0.045923703385540526, -0.9300035282026109, 1.002104412328767, -1.6304169177669425, 0.570011592797531, -1.577110611954199]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
-#FOURTH ROW
- g41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g41, name: g41, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.1250652901563147, 0.23644664437251683, -0.8539477519213364, 1.567567910771756, -1.630006026406618, 0.5693998212166037, -2.0000730473529464]
- time_from_start: 2.5
- c41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c41, name: c41, usage: demo}
- points:
- - positions: [1.1250652901563147, 0.23644664437251683, -0.8539477519213364, 1.567567910771756, -1.630006026406618, 0.5693998212166037, -2.0000730473529464]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
- g42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g42, name: g42, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.9394971728359078, 0.245527931092669, -0.84730552700609, 1.6275626951678963, -1.6299603718110265, 0.569408952135722, -2.0000730473529464]
- time_from_start: 2.5
- c42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c42, name: c42, usage: demo}
- points:
- - positions: [0.9394971728359078, 0.245527931092669, -0.84730552700609, 1.6275626951678963, -1.6299603718110265, 0.569408952135722, -2.0000730473529464]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
- g43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g43, name: g43, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.7765862522818267, 0.2595640414793907, -0.8452039454509196, 1.6313516779717436, -1.6299329790536716, 0.5693998212166037, -2.0000730473529464]
- time_from_start: 2.5
- c43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c43, name: c43, usage: demo}
- points:
- - positions: [0.7765862522818267, 0.2595640414793907, -0.8452039454509196, 1.6313516779717436, -1.6299329790536716, 0.5693998212166037, -2.0000730473529464]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
- g44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g44, name: g44, usage: demo}
- points:
- - positions: [0.1954974305480977, -0.0005411909984813223, -1.349031278283146, 1.7665125179907653, -1.7291312843550832, 1.5193895067477492, -1.5758825033327855]
- time_from_start: 0.0
- - positions: [0.6243826596511681, 0.25088159505438035, -0.8528125910813174, 1.6016687560063814, -1.6299329790536716, 0.5693952557570444, -2.000068481893387]
- time_from_start: 2.5
- c44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c44, name: c44, usage: demo}
- points:
- - positions: [0.6243826596511681, 0.25088159505438035, -0.8528125910813174, 1.6016687560063814, -1.6299329790536716, 0.5693952557570444, -2.000068481893387]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
- g45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g45, name: g45, usage: demo}
- points:
- - positions: [0.1954974305480977, -0.0005411909984813223, -1.349031278283146, 1.7665125179907653, -1.7291312843550832, 1.5193895067477492, -1.5758825033327855]
- time_from_start: 0.0
- - positions: [0.5505358450045252, 0.28283483869978066, -0.8347727377318259, 1.5344028062295787, -1.6299968954874997, 0.5693861248379262, -2.000095874650742]
- time_from_start: 2.5
- c45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c45, name: c45, usage: demo}
- points:
- - positions: [0.5505358450045252, 0.28283483869978066, -0.8347727377318259, 1.5344028062295787, -1.6299968954874997, 0.5693861248379262, -2.000095874650742]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
-
-
-
-#SUGGEST TOKEN
- sug_setup:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: sug_setup, name: sug_setup, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 4.0
- s11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s11, name: s11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 4.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s12, name: s12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7957766064826888, 0.19798923591403458, 0.06384512724539416, 0.41587053851570044, -1.649701418944831, 1.0000687523512117, -1.3501798791066308]
- time_from_start: 4.0
- - positions: [1.7957766064826888, 0.19798923591403458, 0.06384512724539416, 0.41587053851570044, -1.649701418944831, 1.0000687523512117, -1.3501798791066308]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s13, name: s13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 4.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
-
-
- s14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s14, name: s14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.5791603061866266, 0.19798923591403458, 0.06301676663240731, 0.4020491882879013, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 4.0
- - positions: [1.5791603061866266, 0.19798923591403458, 0.06301676663240731, 0.4020491882879013, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s15, name: s15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 4.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s21, name: s21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s22, name: s22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.791036542975042, 0.44264707696083694, 0.0231940971636319, 0.858966766406909, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.791036542975042, 0.44264707696083694, 0.0231940971636319, 0.858966766406909, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s23, name: s23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s24, name: s24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.5442464403503657, 0.44284649710840784, 0.02322477718633512, 0.8363555896746383, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.5442464403503657, 0.44284649710840784, 0.02322477718633512, 0.8363555896746383, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s25, name: s25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
-#SUGGEST SUBSET
-
- h11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h11, name: h11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 4.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 6.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 8.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
-
- h12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h12, name: h12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 4.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 6.0
- - positions: [1.9057491478623694, 0.18645354737762504, 0.06384512724539416, 0.37862499095399527, -1.649701418944831, 1.0000870141894482, -1.3501981409448673]
- time_from_start: 8.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h13, name: h13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7957766064826888, 0.19798923591403458, 0.06384512724539416, 0.41587053851570044, -1.649701418944831, 1.0000687523512117, -1.3501798791066308]
- time_from_start: 4.0
- - positions: [1.5791603061866266, 0.19798923591403458, 0.06301676663240731, 0.4020491882879013, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 6.0
- - positions: [1.7957766064826888, 0.19798923591403458, 0.06384512724539416, 0.41587053851570044, -1.649701418944831, 1.0000687523512117, -1.3501798791066308]
- time_from_start: 8.0
- - positions: [1.5791603061866266, 0.19798923591403458, 0.06301676663240731, 0.4020491882879013, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
-
- h14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h14, name: h14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 4.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 6.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 8.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h15, name: h15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 4.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 6.0
- - positions: [1.6906208286674131, 0.19798923591403458, 0.06301676663240731, 0.4020952083219561, -1.6496922880257128, 1.0000687523512117, -1.350189010025749]
- time_from_start: 8.0
- - positions: [1.4701388455107456, 0.18493488625381582, 0.0630014266210557, 0.3732406469695807, -1.6496922880257128, 1.0000733178107708, -1.35018444456619]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
-
-
-#busca
-
- h21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h21, name: h21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 8.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
-
- h22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h22, name: h22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.6583301047722776, 0.4428158170857046, 0.0231940971636319, 0.8297287047707435, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 8.0
- - positions: [1.932793587875255, 0.4428925171424627, 0.023178757152280294, 0.8302349251453466, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h23, name: h23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.791036542975042, 0.44264707696083694, 0.0231940971636319, 0.858966766406909, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.5442464403503657, 0.44284649710840784, 0.02322477718633512, 0.8363555896746383, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.791036542975042, 0.44264707696083694, 0.0231940971636319, 0.858966766406909, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 8.0
- - positions: [1.5442464403503657, 0.44284649710840784, 0.02322477718633512, 0.8363555896746383, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 10.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
- h24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h24, name: h24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.6654325300280721, 0.44284649710840784, 0.02320943717498351, 0.859442306758809, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 8.0
- - positions: [1.6654325300280721, 0.44284649710840784, 0.02320943717498351, 0.859442306758809, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 10.0
- - positions: [1.3110664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h25, name: h25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.6654325300280721, 0.44284649710840784, 0.02320943717498351, 0.859442306758809, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 4.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 6.0
- - positions: [1.6654325300280721, 0.44284649710840784, 0.02320943717498351, 0.859442306758809, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 8.0
- - positions: [1.4357925600944945, 0.4430919372900336, 0.02320943717498351, 0.8217365588565555, -1.6496922880257128, 1.0000641868916527, -1.3501753136470718]
- time_from_start: 10.0
- - positions: [1.3110664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
-
- head_no:
- joints: [head_1_joint, head_2_joint]
- meta: {description: 'head_no', name: 'head_no', usage: 'demo'}
- points:
- - positions: [0, 0]
- time_from_start: 0.1
- - positions: [0.7, 0]
- time_from_start: 2.0
- - positions: [-0.7, 0.0]
- time_from_start: 4.0
- - positions: [0, 0]
- time_from_start: 6.0
-
-
- head_yes:
- joints: [head_1_joint, head_2_joint]
- meta: {description: 'head_yes', name: 'head_yes', usage: 'demo'}
- points:
- - positions: [0, 0]
- time_from_start: 0.1
- - positions: [0.0, 0.7]
- time_from_start: 2.0
- - positions: [0.0, -0.7]
- time_from_start: 4.0
- - positions: [0, 0]
- time_from_start: 6.0
-
diff --git a/src/robot_behaviour/config/predefined_actions_backup.yaml b/src/robot_behaviour/config/predefined_actions_backup.yaml
deleted file mode 100644
index bf8f97e6a00899ae2f67136843ee47677f2f463a..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/predefined_actions_backup.yaml
+++ /dev/null
@@ -1,1041 +0,0 @@
-play_motion:
- motions:
-#INITIAL MOTIONS
- #Initial position
- init:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: init, name: init, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- wave:
- joints: [arm_1_joint,
- arm_2_joint, arm_3_joint, arm_4_joint,
- arm_5_joint, arm_6_joint, arm_7_joint]
- points:
- - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0]
- time_from_start: 0.0
- - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
- time_from_start: 1.0
- - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04]
- time_from_start: 2.0
- - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0]
- time_from_start: 3.0
- meta:
- name: Wave
- usage: demo
- description: 'wave'
-
- #Calibration motion
- cali:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: calibration, name: calibration, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 3.0
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 14.0
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 19.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 22.0
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.000114136488979]
- time_from_start: 24.5
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.000114136488979]
- time_from_start: 29.5
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 32.0
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 34.5
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 39.5
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 42.0
- #Grasping movement
- grasp_in_11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint, gripper_left_finger_joint, gripper_right_finger_joint]
- meta: {description: grasp_in_11, name: grasp_in_11, usage: demo}
- points:
- - positions: [1.3576352022580496, -0.19400941416496648, -1.0912270475080152, 0.5522125594087959, -1.7302269946492814, 0.570020453258825, -1.5769782136269836, 0.030, 0.03]
- time_from_start: 0.0
-
- #End offer
- endoffer:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: endoffer, name: endoffer, usage: demo}
- points:
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
-
-
-#FIRST ROW
- g11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g11, name: g11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 3.0
-
- c11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c11, name: c11, usage: demo}
- points:
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o11, name: o11, usage: demo}
- points:
- - positions: [1.357696562303456, -0.19453097455092122, -1.0912117074966636, 0.5521972193974443, -1.7302817801639914, 0.5699793641227926, -1.5769553863291879]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
- g12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g12, name: g12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2182711991286874, -0.12431974259460948, -0.9967785976161623, 0.6551286955667367, -1.7301630782154531, 0.5703263390492888, -1.5771380047115544]
- time_from_start: 3.0
- c12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c12, name: c12, usage: demo}
- points:
- - positions: [1.2182711991286874, -0.12431974259460948, -0.9967785976161623, 0.6551286955667367, -1.7301630782154531, 0.5703263390492888, -1.5771380047115544]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o12, name: o12, usage: demo}
- points:
- - positions: [1.2182711991286874, -0.12431974259460948, -0.9967785976161623, 0.6551286955667367, -1.7301630782154531, 0.5703263390492888, -1.5771380047115544]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g13, name: g13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.062846204114191, -0.12408964242433546, -1.0231634171409287, 0.7024219505637453, -1.7303183038404646, 0.5699976259610292, -1.576982779086543]
- time_from_start: 3.0
- c13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c13, name: c13, usage: demo}
- points:
- - positions: [1.062846204114191, -0.12408964242433546, -1.0231634171409287, 0.7024219505637453, -1.7303183038404646, 0.5699976259610292, -1.576982779086543]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o13, name: o13, usage: demo}
- points:
- - positions: [1.062846204114191, -0.12408964242433546, -1.0231634171409287, 0.7024219505637453, -1.7303183038404646, 0.5699976259610292, -1.576982779086543]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g14, name: g14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.9538400834496618, -0.1012943855558453, -0.9960882971053399, 0.7086346551611468, -1.7301904709728082, 0.5701026315308899, -1.576987344546102]
- time_from_start: 3.0
- c14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c14, name: c14, usage: demo}
- points:
- - positions: [0.9538400834496618, -0.1012943855558453, -0.9960882971053399, 0.7086346551611468, -1.7301904709728082, 0.5701026315308899, -1.576987344546102]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o14, name: o14, usage: demo}
- points:
- - positions: [0.9538400834496618, -0.1012943855558453, -0.9960882971053399, 0.7086346551611468, -1.7301904709728082, 0.5701026315308899, -1.576987344546102]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g15, name: g15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 3.0
- c15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c15, name: c15, usage: demo}
- points:
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o15, name: o15, usage: demo}
- points:
- - positions: [0.8526727085858044, -0.1713675574099925, -1.0765466566445259, 0.613281144599549, -1.7302269946492814, 0.5702943808323746, -1.5771151774137584]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
-#SECOND ROW
- g21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g21, name: g21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.1858730951540903, -0.13234256853150067, -1.0535366396171133, 0.908484323049901, -1.7301539472963348, 0.6698442265198414, -1.8400262970470607]
- time_from_start: 3.0
- c21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c21, name: c21, usage: demo}
- points:
- - positions: [1.1858730951540903, -0.13234256853150067, -1.0535366396171133, 0.908484323049901, -1.7301539472963348, 0.6698442265198414, -1.8400262970470607]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o21, name: o21, usage: demo}
- points:
- - positions: [1.1858730951540903, -0.13234256853150067, -1.0535366396171133, 0.908484323049901, -1.7301539472963348, 0.6698442265198414, -1.8400262970470607]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
- g22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g22, name: g22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.037151685100247, -0.09311815950543806, -1.0163524521008145, 0.966853066242771, -1.7301539472963348, 0.669830530141164, -1.8400126006683832]
- time_from_start: 3.0
- c22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c22, name: c22, usage: demo}
- points:
- - positions: [1.037151685100247, -0.09311815950543806, -1.0163524521008145, 0.966853066242771, -1.7301539472963348, 0.669830530141164, -1.8400126006683832]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o22, name: o22, usage: demo}
- points:
- - positions: [1.037151685100247, -0.09311815950543806, -1.0163524521008145, 0.966853066242771, -1.7301539472963348, 0.669830530141164, -1.8400126006683832]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g23, name: g23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.869807501265551, -0.09305679946003159, -1.0222736964825354, 1.0264950303778244, -1.73012655453898, 0.6698396610602823, -1.84003086250662]
- time_from_start: 3.0
- c23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c23, name: c23, usage: demo}
- points:
- - positions: [0.869807501265551, -0.09305679946003159, -1.0222736964825354, 1.0264950303778244, -1.73012655453898, 0.6698396610602823, -1.84003086250662]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o23, name: o23, usage: demo}
- points:
- - positions: [0.869807501265551, -0.09305679946003159, -1.0222736964825354, 1.0264950303778244, -1.73012655453898, 0.6698396610602823, -1.84003086250662]
- time_from_start: 0.0
- - positions: [0.7992434490481523, 0.17499455889797358, -1.0980226725367777, 1.1988247179017932, -1.7291221534359649, 0.4800672035647108, -1.5746452637922532]
- time_from_start: 1.5
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g24, name: g24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.7293543573302244, -0.09506634094709232, -1.0313243031799844, 1.0153581821365567, -1.7299804598330868, 0.6698807501963147, -1.8400810825617706]
- time_from_start: 3.0
- c24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c24, name: c24, usage: demo}
- points:
- - positions: [0.7293543573302244, -0.09506634094709232, -1.0313243031799844, 1.0153581821365567, -1.7299804598330868, 0.6698807501963147, -1.8400810825617706]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o24, name: o24, usage: demo}
- points:
- - positions: [0.7293543573302244, -0.09506634094709232, -1.0313243031799844, 1.0153581821365567, -1.7299804598330868, 0.6698807501963147, -1.8400810825617706]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
- g25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g25, name: g25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.6382653699243738, -0.10948595161760416, -1.0394545091963368, 0.9309114196459525, -1.7300808999433883, 0.6698487919794007, -1.84003086250662]
- time_from_start: 3.0
- c25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c25, name: c25, usage: demo}
- points:
- - positions: [0.6382653699243738, -0.10948595161760416, -1.0394545091963368, 0.9309114196459525, -1.7300808999433883, 0.6698487919794007, -1.84003086250662]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 3.0
- o25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: o25, name: o25, usage: demo}
- points:
- - positions: [0.6382653699243738, -0.10948595161760416, -1.0394545091963368, 0.9309114196459525, -1.7300808999433883, 0.6698487919794007, -1.84003086250662]
- time_from_start: 0.0
- - positions: [0.5542634677629661, -0.06374203776710796, -1.3071990673273097, 0.8032211651551642, -1.7291038915977281, 0.48003067988823744, -1.5746178710348984]
- time_from_start: 3.0
-
-#FOURTH ROW
- g41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g41, name: g41, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 2.5
- c41:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c41, name: c41, usage: demo}
- points:
- - positions: [1.0510343953734527, 0.049237145837487895, -0.9067020509595177, 1.5097667479988954, -1.7299895907522052, 0.5693812889205428, -2.000059350974269]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
- g42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g42, name: g42, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.8451407630121646, 0.07292212336437126, -0.8850572949423983, 1.583076662248232, -1.7299713289139684, 0.5693858543801019, -2.000063916433828]
- time_from_start: 2.5
- c42:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c42, name: c42, usage: demo}
- points:
- - positions: [0.8451407630121646, 0.07292212336437126, -0.8850572949423983, 1.583076662248232, -1.7299713289139684, 0.5693858543801019, -2.000063916433828]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
- g43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g43, name: g43, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [0.6246894598782002, 0.07967172835907899, -0.8852720551013208, 1.6341435600377365, -1.7299804598330868, 0.5693401997845103, -2.0000639164338283]
- time_from_start: 2.5
- c43:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c43, name: c43, usage: demo}
- points:
- - positions: [0.6246894598782002, 0.07967172835907899, -0.8852720551013208, 1.6341435600377365, -1.7299804598330868, 0.5693401997845103, -2.0000639164338283]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
- g44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g44, name: g44, usage: demo}
- points:
- - positions: [0.1954974305480977, -0.0005411909984813223, -1.349031278283146, 1.7665125179907653, -1.7291312843550832, 1.5193895067477492, -1.5758825033327855]
- time_from_start: 0.0
- - positions: [0.4480645691757812, 0.0955639801193453, -0.8793661507309516, 1.6235742922164782, -1.7300808999433883, 0.5693219379462736, -2.0001369637867747]
- time_from_start: 2.5
- c44:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c44, name: c44, usage: demo}
- points:
- - positions: [0.4480645691757812, 0.0955639801193453, -0.8793661507309516, 1.6235742922164782, -1.7300808999433883, 0.5693219379462736, -2.0001369637867747]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
- g45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: g45, name: g45, usage: demo}
- points:
- - positions: [0.1954974305480977, -0.0005411909984813223, -1.349031278283146, 1.7665125179907653, -1.7291312843550832, 1.5193895067477492, -1.5758825033327855]
- time_from_start: 0.0
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.000114136488979]
- time_from_start: 2.5
- c45:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: c45, name: c45, usage: demo}
- points:
- - positions: [0.3137167497583948, 0.11713203607970668, -0.878169629845526, 1.5714029136096581, -1.7301082927007432, 0.5693538961631878, -2.0001141364889797]
- time_from_start: 0.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 2.5
-
-
-
-
-#SUGGEST TOKEN
- s11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s11, name: s11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s12, name: s12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s13, name: s13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 4.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s14, name: s14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 4.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s15, name: s15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 4.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s21, name: s21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 4.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s22, name: s22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 4.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s23, name: s23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 4.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 6.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
- s24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s24, name: s24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 4.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
- s25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: s25, name: s25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 4.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 6.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 8.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 10.0
-
-#SUGGEST SUBSET
-
- h11:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h11, name: h11, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 5.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 6.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 7.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 9.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
-
- h12:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h12, name: h12, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 6.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 8.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
- h13:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h13, name: h13, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 6.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 8.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 9.5
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 10.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
- h14:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h14, name: h14, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 4.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 6.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 8.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 10.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h15:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h15, name: h15, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 4.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 5.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 6.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 7.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 9.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
-
-
-
-
-#busca
-
- h21:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h21, name: h21, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 4.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 5.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 6.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 7.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 9.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
-
- h22:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h22, name: h22, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 4.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 6.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 8.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 10.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
- h23:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h23, name: h23, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 4.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 6.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 8.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 10.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
- h24:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h24, name: h24, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 4.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 6.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 8.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 10.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 12.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 14.0
-
-
- h25:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: h25, name: h25, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 4.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 5.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 6.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 7.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 9.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 11.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
-
-
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-
-
-
- sA:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: sA, name: sA, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 5.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 6.0
- - positions: [1.8606495144886406, 0.4190081194680084, 0.06048566475939192, 0.8436881151007072, -1.6494000986139266, 0.9498895158786684, -1.3500155225625012]
- time_from_start: 7.0
- - positions: [1.834862955406587, 0.12613662274310083, 0.06390648729080059, 0.3122487618355857, -1.6497379426213044, 0.9999908690808816, -1.350125093591921]
- time_from_start: 8.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 10.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 12.0
- sB:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: sB, name: sB, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 2.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 4.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 5.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 6.0
- - positions: [1.7446176686250747, 0.40142846645906516, 0.06410590743837151, 0.8502689799705472, -1.6495096696433462, 0.9499853905294108, -1.3500566116985335]
- time_from_start: 7.0
- - positions: [1.7208406510300818, 0.12072159873598304, 0.06364570709782326, 0.3180626261378453, -1.6497105498639493, 1.000027392757355, -1.350125093591921]
- time_from_start: 8.0
- - positions: [1.5278172881927932, 0.8022629630765927, -0.040359569866081704, 1.1389986736305204, -1.7292317244653848, 1.519352983071276, -1.575900765171022]
- time_from_start: 10.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 12.0
- sC:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: sC, name: sC, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 4.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 5.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 6.0
- - positions: [1.616820034054825, 0.41874733927503105, 0.06442804767675528, 0.8851521657841046, -1.649500538724228, 0.9498210339852811, -1.7500091309191184]
- time_from_start: 7.0
- - positions: [1.5859099111813342, 0.14259645492337664, 0.06409056742701989, 0.32137606858979273, -1.6609050567030077, 1.0400208184955897, -1.5594331525411347]
- time_from_start: 8.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 10.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 12.0
- sD:
- joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint,
- arm_7_joint]
- meta: {description: sD, name: sD, usage: demo}
- points:
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 0.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 2.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 4.0
- - positions: [1.3578499624169722, 0.13346914816916966, 0.0637224071545813, 0.29299704758931716, -1.6606037363721031, 1.0397879800580725, -1.7000082178272065]
- time_from_start: 5.0
- - positions: [1.3296243415300126, 0.40834681157864056, 0.06346162696160396, 0.8504837401294697, -1.649500538724228, 0.9494101426249566, -1.9100102266294123]
- time_from_start: 6.0
- - positions: [1.4765969902897729, 0.4044044286612772, 0.06358434705241682, 0.8918250707220543, -1.6495096696433462, 0.9498301649043992, -1.7500182618382365]
- time_from_start: 7.0
- - positions: [1.47647427019896, 0.13475770912270474, 0.06370706714322968, 0.32231180928224085, -1.6606037363721031, 1.0398199382749866, -1.7000127832867657]
- time_from_start: 8.0
- - positions: [1.2410664559971774, 0.761197752688337, -0.10440411725904677, 1.161349070169814, -1.729158677112438, 1.5467822641027045, -1.5675185814204058]
- time_from_start: 10.0
- - positions: [0.3300998818819125, 0.1419828544693123, -1.4939483655217904, 2.131758188272561, -1.7298526269654304, 1.0200012783286765, -1.5793157289212731]
- time_from_start: 12.0
-
-
-
-
-
- head_yes:
- joints: [head_1_joint, head_2_joint]
- meta: {description: 'head_yes', name: 'head_yes', usage: 'demo'}
- points:
- - positions: [0, 0]
- time_from_start: 0.1
- - positions: [0.7, 0]
- time_from_start: 2.0
- - positions: [-0.7, 0.0]
- time_from_start: 4.0
- - positions: [0, 0]
- time_from_start: 6.0
-
-
- head_no:
- joints: [head_1_joint, head_2_joint]
- meta: {description: 'head_no', name: 'head_no', usage: 'demo'}
- points:
- - positions: [0, 0]
- time_from_start: 0.1
- - positions: [0.0, 0.7]
- time_from_start: 2.0
- - positions: [0.0, -0.7]
- time_from_start: 4.0
- - positions: [0, 0]
- time_from_start: 6.0
-
diff --git a/src/robot_behaviour/config/puzzle_actions_definition.xml b/src/robot_behaviour/config/puzzle_actions_definition.xml
deleted file mode 100644
index 8cfc7fc2d5aa97b05c87b6f81265a3c360966696..0000000000000000000000000000000000000000
--- a/src/robot_behaviour/config/puzzle_actions_definition.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<data>
- <instruction name="1">Good morning. This is a puzzle game</instruction>
- <instruction name="2">The goal is compose the name of a Nobel Prize</instruction>
- <instruction name="3">Using the tokens on the board, you have to compose the world in the first row</instruction>
- <instruction name="4">During the game I might provide you assistance</instruction>
- <instruction name="5">Please, move the token only when I say ...... It's your turn</instruction>
-
- <LEV_0 name="no_gesture">"It's your turn,please move a token"</LEV_0>
-
- <LEV_1 name="no_gesture">"Come on, I know you can do it"</LEV_1>
- <LEV_1 name="no_gesture">"Take into account the rules of the game"</LEV_1>
- <LEV_1 name="no_gesture">"Remember you have to compose the name of a nobel prize of 5 letters"</LEV_1>
-
- <LEV_2 name="1">"The solution can be one of those:"</LEV_2>
- <LEV_2 name="1">"Try one of those tokens..."</LEV_2>
-
-
- <LEV_3 name="1">"The right token is this one..."</LEV_3>
- <LEV_3 name="1">"The right token to move is ..."</LEV_3>
- <LEV_3 name="1">"That's easy.... the right token to move is.."</LEV_3>
-
- <LEV_4 name="1">"The token to move is this one..."</LEV_4>
- <LEV_4 name="1">"Take it ... and move in the right location"</LEV_4>
-
- <help name="no_gesture">"Do you need help? Say YES or NO" </help>
- <help_attempt name="no_gesture">"Can you repeat please"</help_attempt>
- <help_timeout name="no_gesture">"No worries, I will do something for you"</help_timeout>
-
- <move_back name="1">"I will move the token back"</move_back>
-
- <time_out name="no_gesture">"Time is passing I will provide you assistance again"</time_out>
- <max_attempt name="1">"You've reached the maximum number of attempts, I will move the token for you"</max_attempt>
-
-
- <compassion name="1">"People say lucky in love unlucky in gaming" </compassion>
- <compassion name="2">"Dont worry sometimes happens"</compassion>
- <compassion name="3">"Dont worry I'm sure you will get better"</compassion>
- <compassion name="3">"I know how you feel, I've been in this situation before"</compassion>
-
- <congratulation name="1">"You made a great move" </congratulation>
- <congratulation name="2">"Well done, you're playing as I expected"</congratulation>
- <congratulation name="3">"I really enjoying playing with you"</congratulation>
-
- <end_game name="1"> "It has been a pleasure playing with you, hope you've enjoyed too"</end_game>
- <play_again name="no_gesture">"Do you want to play again?"</play_again>
-</data>