clean up config folder

src/robot_behaviour/config/new_movements/p45.yaml

-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

src/robot_behaviour/config/new_movements/rest.yaml

-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

src/robot_behaviour/config/new_movements/robot_actions_pal.yaml

-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

src/robot_behaviour/config/new_movements/s11.yaml

-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

src/robot_behaviour/config/new_movements/s12.yaml

-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

src/robot_behaviour/config/new_movements/s13.yaml

-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

src/robot_behaviour/config/new_movements/s14.yaml

-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

src/robot_behaviour/config/new_movements/s15.yaml

-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

src/robot_behaviour/config/new_movements/s21.yaml

-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

src/robot_behaviour/config/new_movements/s22.yaml

-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

src/robot_behaviour/config/new_movements/s23.yaml

-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

src/robot_behaviour/config/new_movements/s24.yaml

-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

src/robot_behaviour/config/new_movements/s25.yaml

-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

src/robot_behaviour/config/new_movements/s31.yaml

-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

src/robot_behaviour/config/new_movements/s32.yaml

-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

src/robot_behaviour/config/new_movements/s33.yaml

-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

src/robot_behaviour/config/new_movements/s34.yaml

-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

src/robot_behaviour/config/new_movements/s35.yaml

-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

src/robot_behaviour/config/new_movements/sr2.yaml

-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

src/robot_behaviour/config/new_movements/sr3.yaml

-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