new recorded gestures

7ee9a07d · Antonio Andriella · c1394d45 · 7ee9a07d · 7ee9a07d · 7ee9a07d
Commit 7ee9a07d authored 4 years ago by Antonio Andriella
--- a/src/robot_behaviour/config/movements/c11.yaml
+++ b/src/robot_behaviour/config/movements/c11.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c11
        usage: c11
-        description: come back to position p11 with intermediate point
\ No newline at end of file
+        description: come back to position p11 with intermediate point
--- a/src/robot_behaviour/config/movements/c12.yaml
+++ b/src/robot_behaviour/config/movements/c12.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c12
        usage: c12
-        description: come back from position p12 to intermediate point
\ No newline at end of file
+        description: come back from position p12 to intermediate point
--- a/src/robot_behaviour/config/movements/c13.yaml
+++ b/src/robot_behaviour/config/movements/c13.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c13
        usage: c13
-        description: come back from position p13 to intermediate point
\ No newline at end of file
+        description: come back from position p13 to intermediate point
--- a/src/robot_behaviour/config/movements/c14.yaml
+++ b/src/robot_behaviour/config/movements/c14.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c14
        usage: c14
-        description: come back from position c14 to intermediate point
\ No newline at end of file
+        description: come back from position c14 to intermediate point
--- a/src/robot_behaviour/config/movements/c15.yaml
+++ b/src/robot_behaviour/config/movements/c15.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c15
        usage: c15
-        description: coming back a token in position c15 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c15 with intermediate point
--- a/src/robot_behaviour/config/movements/c21.yaml
+++ b/src/robot_behaviour/config/movements/c21.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c21
        usage: c21
-        description: coming back a token in position c21 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c21 with intermediate point
--- a/src/robot_behaviour/config/movements/c22.yaml
+++ b/src/robot_behaviour/config/movements/c22.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, 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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c22
        usage: c22
-        description: coming back a token in position c22 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c22 with intermediate point
--- a/src/robot_behaviour/config/movements/c23.yaml
+++ b/src/robot_behaviour/config/movements/c23.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c23
        usage: c23
-        description: coming back a token in position c24 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c24 with intermediate point
--- a/src/robot_behaviour/config/movements/c24.yaml
+++ b/src/robot_behaviour/config/movements/c24.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c24
        usage: c24
-        description: coming back a token in position c24 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c24 with intermediate point
--- a/src/robot_behaviour/config/movements/c25.yaml
+++ b/src/robot_behaviour/config/movements/c25.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c25
        usage: c25
-        description: "coming back a token in position p25 "
\ No newline at end of file
+        description: "coming back a token in position p25 "
--- a/src/robot_behaviour/config/movements/c31.yaml
+++ b/src/robot_behaviour/config/movements/c31.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c31
        usage: c31
-        description: place a token in position c31 with intermediate point
\ No newline at end of file
+        description: place a token in position c31 with intermediate point
--- a/src/robot_behaviour/config/movements/c32.yaml
+++ b/src/robot_behaviour/config/movements/c32.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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

--- a/src/robot_behaviour/config/movements/c33.yaml
+++ b/src/robot_behaviour/config/movements/c33.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c33
        usage: c33
-        description: place a token in position c33 with intermediate point
\ No newline at end of file
+        description: place a token in position c33 with intermediate point
--- a/src/robot_behaviour/config/movements/c34.yaml
+++ b/src/robot_behaviour/config/movements/c34.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c34
        usage: c34
-        description: place a token in position c34 with intermediate point
\ No newline at end of file
+        description: place a token in position c34 with intermediate point
--- a/src/robot_behaviour/config/movements/c35.yaml
+++ b/src/robot_behaviour/config/movements/c35.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c35
        usage: c35
-        description: place a token in position c35 with intermediate point
\ No newline at end of file
+        description: place a token in position c35 with intermediate point
--- a/src/robot_behaviour/config/movements/c41.yaml
+++ b/src/robot_behaviour/config/movements/c41.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -13,4 +13,4 @@ play_motion:
      meta:
        name: c41
        usage: c41
-        description: coming back a token in position c41 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c41 with intermediate point
--- a/src/robot_behaviour/config/movements/c42.yaml
+++ b/src/robot_behaviour/config/movements/c42.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -13,4 +13,4 @@ play_motion:
      meta:
        name: c42
        usage: c42
-        description: coming back a token in position c42 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c42 with intermediate point
--- a/src/robot_behaviour/config/movements/c43.yaml
+++ b/src/robot_behaviour/config/movements/c43.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c43
        usage: c43
-        description: coming back a token in position c43 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c43 with intermediate point
--- a/src/robot_behaviour/config/movements/c44.yaml
+++ b/src/robot_behaviour/config/movements/c44.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c44
        usage: c44
-        description: coming back a token in position c44 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c44 with intermediate point
--- a/src/robot_behaviour/config/movements/c45.yaml
+++ b/src/robot_behaviour/config/movements/c45.yaml
@@ -4,7 +4,7 @@ play_motion:
      joints: [arm_1_joint, arm_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]
+          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
@@ -12,4 +12,4 @@ play_motion:
      meta:
        name: c45
        usage: c45
-        description: coming back a token in position c45 with intermediate point
\ No newline at end of file
+        description: coming back a token in position c45 with intermediate point