diff --git a/src/robot_behaviour/config/movements/c11.yaml b/src/robot_behaviour/config/movements/c11.yaml
index bfa2b00ac4d18393692574aba6e0fe7e9f85a193..6292ed559899f858870409e3b6fae9d92d712d3e 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c12.yaml b/src/robot_behaviour/config/movements/c12.yaml
index 4d2bda8a84926984cfc4a9d8ba4115c73e9f4235..f2bceeb62ab365ad2fdb363c1564a0f4d956cc6f 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c13.yaml b/src/robot_behaviour/config/movements/c13.yaml
index 260914591cbd8a733956ddf4901a02c0e9027053..b0776a3cabd8e3c480e03dd6e193bec91a57bda2 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c14.yaml b/src/robot_behaviour/config/movements/c14.yaml
index 49f4258c267cdb28d07979d13fd62a69098a5ef9..2f3127098278eee8ce5ede2c218a36378a03ffa4 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c15.yaml b/src/robot_behaviour/config/movements/c15.yaml
index 31df470c15a7f70bf5d74ba7bebb44f59ff575c7..128b74032398f7134cc9cecd33441a02136e114f 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c21.yaml b/src/robot_behaviour/config/movements/c21.yaml
index 77073c66b86010477119dd1d14ab6ad9b308ca9c..998d25b26b44b8fdab00310ff5a42812aca63edd 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c22.yaml b/src/robot_behaviour/config/movements/c22.yaml
index 59432053d815b680c7c6595c3b2d7a9a88207cd0..cbf4744d00e7f4d62f6ff34b3be59479fbc318ca 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c23.yaml b/src/robot_behaviour/config/movements/c23.yaml
index 6090b38b454151e96f5befde461af395b7e723ad..40041fa49a85b10321b3e3eaf6f7eeeed42c8258 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c24.yaml b/src/robot_behaviour/config/movements/c24.yaml
index 9b5e08efa8bf2d3ca642a6a2ab331a816fed0467..a708d30e538e1e9a38e207fcdd50bee6e2462d64 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c25.yaml b/src/robot_behaviour/config/movements/c25.yaml
index ca60c71c472b6b63d6d3b63bd96c514dce372897..388a84ca011b8ef2be1f793a221ed826e9961ea0 100644
--- 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 "
diff --git a/src/robot_behaviour/config/movements/c31.yaml b/src/robot_behaviour/config/movements/c31.yaml
index fa10bb7fdeec54b3f050d54fbaa788d9b39e2d0d..4defb7cf33312a52ad183b24e7ba88ad6dcd4530 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c32.yaml b/src/robot_behaviour/config/movements/c32.yaml
index 384db40e15381ca500fb2edd07d8a804999e51e1..eda78b45f644b2a26cc368c47537cca8ca7d750c 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c33.yaml b/src/robot_behaviour/config/movements/c33.yaml
index 9d3f88943be91cfd189eea6ca5c05bd3a561e917..f47f0d81c26ada3e2f3d17451e68afa6a6efc440 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c34.yaml b/src/robot_behaviour/config/movements/c34.yaml
index 003079a6983f41d98e3dd4bbc385f965930e3714..f25f437fab5217e494797c4ad264d976aa0e1550 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c35.yaml b/src/robot_behaviour/config/movements/c35.yaml
index e22b8a8a9be1040688093911045a223a41d3a5a3..dfeea52ef0dca9e95d939bec027332f370192359 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c41.yaml b/src/robot_behaviour/config/movements/c41.yaml
index 6310e4e58b448e1134bd5bb4c9296ac592ad498d..dcb7e77f6e9f2227c03b7691c3a9e58e9a41091f 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c42.yaml b/src/robot_behaviour/config/movements/c42.yaml
index b226bbf92c5351135acb4ba13f69ff8264e37195..2528d335a55b3b9f873f4c2f5d4f2e8eb4667351 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c43.yaml b/src/robot_behaviour/config/movements/c43.yaml
index 6f133054c7e123f59dbf899f0c4533496dfd385e..a260092494b8e85873ae83c7719aa6ca83f0aa48 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c44.yaml b/src/robot_behaviour/config/movements/c44.yaml
index 65c50f364941f8dc5b2df03f4429975f603cc444..95b6fcb3c1f1f99d5559143d36980c6c205b26de 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/c45.yaml b/src/robot_behaviour/config/movements/c45.yaml
index fb2b72f1875c3665f5866398bbab008ad8c794ef..3a4766c998f6e8f9cf97e2d2ce090afeff557a70 100644
--- 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
diff --git a/src/robot_behaviour/config/movements/p11.yaml b/src/robot_behaviour/config/movements/p11.yaml
index 13f574a37fe6c30dc39b98e2dae3f27423a4742a..842b57b9a1f03516e7af30199550042656635f02 100644
--- a/src/robot_behaviour/config/movements/p11.yaml
+++ b/src/robot_behaviour/config/movements/p11.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p11 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p12.yaml b/src/robot_behaviour/config/movements/p12.yaml
index 795e40f742fa176b3d642fd3715ef23267c169ad..d17887a18d601795a19ffd860e002f4e83e78312 100644
--- a/src/robot_behaviour/config/movements/p12.yaml
+++ b/src/robot_behaviour/config/movements/p12.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p12 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p13.yaml b/src/robot_behaviour/config/movements/p13.yaml
index 6b52297e304253dd497870afbad4215e0cefcb89..2ceb808c800fe56fd0aa3b087133f9e882efbe99 100644
--- a/src/robot_behaviour/config/movements/p13.yaml
+++ b/src/robot_behaviour/config/movements/p13.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p13 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p14.yaml b/src/robot_behaviour/config/movements/p14.yaml
index abb7c9f2a63fa43a225e5e17692d9b27111157c6..f6e4fa7cb9c1adb6d66516b85e3ead997cea5118 100644
--- a/src/robot_behaviour/config/movements/p14.yaml
+++ b/src/robot_behaviour/config/movements/p14.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p14 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p15.yaml b/src/robot_behaviour/config/movements/p15.yaml
index 651b216943d3e5ecdd2cc4b263d55af122f80e35..bf5b2df16c834f64345960a4ddc53672f03396bf 100644
--- a/src/robot_behaviour/config/movements/p15.yaml
+++ b/src/robot_behaviour/config/movements/p15.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p15 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p21.yaml b/src/robot_behaviour/config/movements/p21.yaml
index f0e1d958b461a7c3177c93a94bb5fa535d08e98b..d528f62896a69817103902836f713c8a7c29524d 100644
--- a/src/robot_behaviour/config/movements/p21.yaml
+++ b/src/robot_behaviour/config/movements/p21.yaml
@@ -7,11 +7,9 @@ play_motion:
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]
+ - 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
\ No newline at end of file
+ description: pick a token in position p21 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p22.yaml b/src/robot_behaviour/config/movements/p22.yaml
index 636585cbfc1fb99dec14c0682682376543227a2f..eadca4f6afa73288f6db234168577dfea7183e2c 100644
--- a/src/robot_behaviour/config/movements/p22.yaml
+++ b/src/robot_behaviour/config/movements/p22.yaml
@@ -7,11 +7,9 @@ play_motion:
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]
+ - 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
\ No newline at end of file
+ description: pick a token in position p22 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p23.yaml b/src/robot_behaviour/config/movements/p23.yaml
index c07ff3132c51c115be7b367be42489d3a333ef7d..c446cc13f806e44efbe0bd9bc8a7abda6022855d 100644
--- a/src/robot_behaviour/config/movements/p23.yaml
+++ b/src/robot_behaviour/config/movements/p23.yaml
@@ -7,11 +7,9 @@ play_motion:
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]
+ - 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
\ No newline at end of file
+ description: pick a token in position p23 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p24.yaml b/src/robot_behaviour/config/movements/p24.yaml
index 426948e686cd988e84f7581bc3457598281a9888..89b1bb736f922fe31b9ede8211c09ab5d42a23d0 100644
--- a/src/robot_behaviour/config/movements/p24.yaml
+++ b/src/robot_behaviour/config/movements/p24.yaml
@@ -7,11 +7,9 @@ play_motion:
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]
+ - 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
\ No newline at end of file
+ description: pick a token in position p24 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p25.yaml b/src/robot_behaviour/config/movements/p25.yaml
index 7bc706aeb579ecdd53bc0bd9f632dea948fd39ec..9c079e04243484b54eba8fcfd7ec3a858c4648b8 100644
--- a/src/robot_behaviour/config/movements/p25.yaml
+++ b/src/robot_behaviour/config/movements/p25.yaml
@@ -7,11 +7,9 @@ play_motion:
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]
+ - 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
\ No newline at end of file
+ description: pick a token in position p25 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p31.yaml b/src/robot_behaviour/config/movements/p31.yaml
index 43faedbadb53640ca4fb34ec90ee5f07c80d6027..994ff177d62c03c451bead4b7f3ce5d7bd6c4f1a 100644
--- a/src/robot_behaviour/config/movements/p31.yaml
+++ b/src/robot_behaviour/config/movements/p31.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p31 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p32.yaml b/src/robot_behaviour/config/movements/p32.yaml
index 74a74eb37e320fd8c02fa5ee69d5b3c5fd44aa10..66a385b7962354286e2190381456166a1ac1cf32 100644
--- a/src/robot_behaviour/config/movements/p32.yaml
+++ b/src/robot_behaviour/config/movements/p32.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p32 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p33.yaml b/src/robot_behaviour/config/movements/p33.yaml
index 06c2ec1a6ad2c8b721fa0c3ac2dfc48dcaf318f0..8151ff0ab7e02e58c072b9e9e9c1fcd97200528d 100644
--- a/src/robot_behaviour/config/movements/p33.yaml
+++ b/src/robot_behaviour/config/movements/p33.yaml
@@ -8,8 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p33 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p34.yaml b/src/robot_behaviour/config/movements/p34.yaml
index 5bad726184cad0fe48cbb68a387fbf7aca63af18..32a72ba538064f3b40807a09bcbc0e8367d2f8df 100644
--- a/src/robot_behaviour/config/movements/p34.yaml
+++ b/src/robot_behaviour/config/movements/p34.yaml
@@ -8,7 +8,7 @@ play_motion:
- 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]
+ positions: [0.7366099090337328, 0.5201908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
meta:
name: p34
usage: p34
diff --git a/src/robot_behaviour/config/movements/p35.yaml b/src/robot_behaviour/config/movements/p35.yaml
index fd26e59249932617e853a02074fe1a9c27c272e0..4b32659d936503734befa956b2324f013fc43441 100644
--- a/src/robot_behaviour/config/movements/p35.yaml
+++ b/src/robot_behaviour/config/movements/p35.yaml
@@ -8,7 +8,7 @@ play_motion:
- 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]
+ positions: [0.6693286192455783, 0.558832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
meta:
name: p35
usage: p35
diff --git a/src/robot_behaviour/config/movements/p41.yaml b/src/robot_behaviour/config/movements/p41.yaml
index 02030290c4c5ba7b6bc3194703c3a7ee2d46a31c..1891916b59bfacde1b5433dfb4f766c3f51e721b 100644
--- a/src/robot_behaviour/config/movements/p41.yaml
+++ b/src/robot_behaviour/config/movements/p41.yaml
@@ -8,10 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p41 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p42.yaml b/src/robot_behaviour/config/movements/p42.yaml
index e8aa19cacd6d00b77af55576aaa78f14ff1cef1c..b6883b2bdc1f657fd1d7085b8dfa447bee9e501d 100644
--- a/src/robot_behaviour/config/movements/p42.yaml
+++ b/src/robot_behaviour/config/movements/p42.yaml
@@ -8,10 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p42 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p43.yaml b/src/robot_behaviour/config/movements/p43.yaml
index f4ac3985dcb72d4d08e243fef096d495085eaf84..8aebb126deb0881a9790d84f7f679b768ae02a5d 100644
--- a/src/robot_behaviour/config/movements/p43.yaml
+++ b/src/robot_behaviour/config/movements/p43.yaml
@@ -8,10 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p43 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p44.yaml b/src/robot_behaviour/config/movements/p44.yaml
index 286d910ce6a455a94341f966eea280ba864224d5..e04c9195b312da0e1eb5b23319225d3fad93df20 100644
--- a/src/robot_behaviour/config/movements/p44.yaml
+++ b/src/robot_behaviour/config/movements/p44.yaml
@@ -8,10 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p44 with intermediate point
diff --git a/src/robot_behaviour/config/movements/p45.yaml b/src/robot_behaviour/config/movements/p45.yaml
index 1df0ee3cac8326dc885cc18416cb0bc53f8393aa..b20301e3ee19591e59f2de4d30aaa90b438aa431 100644
--- a/src/robot_behaviour/config/movements/p45.yaml
+++ b/src/robot_behaviour/config/movements/p45.yaml
@@ -8,10 +8,8 @@ play_motion:
- 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]
+ 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
\ No newline at end of file
+ description: pick a token in position p45 with intermediate point
diff --git a/src/robot_behaviour/config/movements/s11.yaml b/src/robot_behaviour/config/movements/s11.yaml
index f533cae555a6f9724242fea63b45004f60b90c0a..7aa67561a0419b462a953d151c01c8ab600bd7e3 100644
--- a/src/robot_behaviour/config/movements/s11.yaml
+++ b/src/robot_behaviour/config/movements/s11.yaml
@@ -7,13 +7,13 @@ play_motion:
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]
+ positions: [1.3082094120173648, 0.2474848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#go to step2
- time_from_start: 5
- positions: [1.2786, 0.1391, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ positions: [1.3082094120173648, 0.1974848563407937, -1.141419832640476, 0.6464194971544279, -1.6435415945250957, 0.5091094017474045, -1.5757523546979095]
#go to step3
- time_from_start: 7
- positions: [1.2786, 0.1891, -1.1414, 0.6463, -1.5298, 0.5698, -1.5781]
+ 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]
@@ -22,4 +22,4 @@ play_motion:
meta:
name: s11
usage: s11
- description: suggest the solution for p11
\ No newline at end of file
+ description: suggest the solution for p11
diff --git a/src/robot_behaviour/config/movements/s12.yaml b/src/robot_behaviour/config/movements/s12.yaml
index c275dfbb6f0d93116ce668a1f74b36cbfd4a24c0..94f09124503a8bfa57ba402c43f3d313b3f9fee8 100644
--- a/src/robot_behaviour/config/movements/s12.yaml
+++ b/src/robot_behaviour/config/movements/s12.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [1.2031763542929022, 0.24058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#go to step2
- time_from_start: 5
- positions: [1.1657, 0.1391, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ positions: [1.2031763542929022, 0.19058691343631596, -1.141419832640476, 0.6876227676448481, -1.6893868773482137, 0.5091112543814796, -1.5757505020638343]
#go to step3
- time_from_start: 7
- positions: [1.1657, 0.1891, -1.1414, 0.6463, -1.5298, 0.5699, -1.5782]
+ 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
\ No newline at end of file
+ description: suggest the solution for p12
diff --git a/src/robot_behaviour/config/movements/s13.yaml b/src/robot_behaviour/config/movements/s13.yaml
index 4a4e00e276b8d45d059d55b750d1aa308b1307bd..0151ccdc6ab566b6a41cd72b5eb20d8c3c61c11b 100644
--- a/src/robot_behaviour/config/movements/s13.yaml
+++ b/src/robot_behaviour/config/movements/s13.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [1.087113828406633, 0.2448241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#go to step2
- time_from_start: 5
- positions: [1.0791, 0.1631, -1.1193, 0.6565, -1.5498, 0.57, -1.5801]
+ positions: [1.087113828406633, 0.1948241313718572, -1.1414044926291245, 0.7375545045943334, -1.7338093372016332, 0.526396330302424, -1.5740646050554679]
#go to step3
- time_from_start: 7
- positions: [1.0791, 0.225, -1.1193, 0.6565, -1.5498, 0.57, -1.5801]
+ 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
\ No newline at end of file
+ description: suggest the solution for p13
diff --git a/src/robot_behaviour/config/movements/s14.yaml b/src/robot_behaviour/config/movements/s14.yaml
index d26e0e4b8bd9ae05606a5c84c3566de525b432df..ae34be520d17d25de757c5354e8f904bfc82bdf3 100644
--- a/src/robot_behaviour/config/movements/s14.yaml
+++ b/src/robot_behaviour/config/movements/s14.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [0.9962856211937597, 0.2444713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#go to p13
- time_from_start: 5
- positions: [1.0192, 0.1607, -1.1193, 0.5701, -1.5496, 0.57, -1.5801]
+ positions: [0.9962856211937597, 0.1944713111107702, -1.1414044926291245, 0.7384135452300234, -1.7575601060447745, 0.4956703941664258, -1.5727696138369534]
#go to p12
- time_from_start: 7
- positions: [1.0192, 0.22, -1.1193, 0.5701, -1.5496, 0.57, -1.5801]
+ 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
\ No newline at end of file
+ description: suggest the solution for p14
diff --git a/src/robot_behaviour/config/movements/s15.yaml b/src/robot_behaviour/config/movements/s15.yaml
index 3c063b55436cb657a339f4b33c24970eda0de321..a812abe8798b3077ed2c8fb28d0f38019fddb98b 100644
--- a/src/robot_behaviour/config/movements/s15.yaml
+++ b/src/robot_behaviour/config/movements/s15.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [0.9361527766954548, 0.24798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#go to 2ndstep
- time_from_start: 5
- positions: [0.9676, 0.1, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
+ positions: [0.9361527766954548, 0.19798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#go to 3rdstep
- time_from_start: 7
- positions: [0.9676, 0.16, -1.1193, 0.4847, -1.5498, 0.57, -1.5801]
+ 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
\ No newline at end of file
+ description: suggest the solution for p15
diff --git a/src/robot_behaviour/config/movements/s21.yaml b/src/robot_behaviour/config/movements/s21.yaml
index 5f177e7f44b82c7011a499267f9ce4fea9727cc0..2d08efaca2ea79a1f4fd480f4f53bf8ca5b49cc0 100644
--- a/src/robot_behaviour/config/movements/s21.yaml
+++ b/src/robot_behaviour/config/movements/s21.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [1.1594266419181152, 0.3438865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
#go to p21
- time_from_start: 5
- positions: [1.07, 0.1806, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
+ positions: [1.1594266419181152, 0.2938865498780469, -1.1346242076117137, 0.9898363312828852, -1.6819281725617483, 0.5630266112358551, -1.5764433872079322]
#go to p22
- time_from_start: 7
- positions: [1.07, 0.2206, -1.2998, 1.0401, -1.6298, 0.5703, -1.5803]
+ 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
\ No newline at end of file
+ description: suggest the solution fpr p21
diff --git a/src/robot_behaviour/config/movements/s22.yaml b/src/robot_behaviour/config/movements/s22.yaml
index 8c7b5173c39cb52751d9ea167e2324eb7dd77c1e..1042bdcf1be9a2bf2a42438860b94027abdcde67 100644
--- a/src/robot_behaviour/config/movements/s22.yaml
+++ b/src/robot_behaviour/config/movements/s22.yaml
@@ -6,14 +6,14 @@ play_motion:
- 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]
+ - 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: 4
- positions: [0.939, 0.183, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ - 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: 6
- positions: [0.939, 0.223, -1.3074, 1.0479, -1.6315, 0.5706, -1.5775]
+ - 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]
diff --git a/src/robot_behaviour/config/movements/s23.yaml b/src/robot_behaviour/config/movements/s23.yaml
index 70cfeaac704420330dd5f8ab0421af3bc6d13958..81f9154c86cc63e9851c13c322d6d39fdf06aaff 100644
--- a/src/robot_behaviour/config/movements/s23.yaml
+++ b/src/robot_behaviour/config/movements/s23.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [0.9264885695439415, 0.3852125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
#go to second step
- time_from_start: 5
- positions: [0.8251, 0.183, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ positions: [0.9264885695439415, 0.3352125404592799, -1.1305591046035375, 1.0619497246467962, -1.7067682902410648, 0.5630266112358551, -1.5764433872079322]
#go to third step
- time_from_start: 7
- positions: [0.8251, 0.223, -1.3074, 1.0541, -1.6315, 0.5706, -1.5775]
+ 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
\ No newline at end of file
+ description: suggest the solution for p23
diff --git a/src/robot_behaviour/config/movements/s24.yaml b/src/robot_behaviour/config/movements/s24.yaml
index 37b5d580365d2fa18fcee87e702e7e55ba5e792a..31d7f1ce70d228632fa08ac16e4a0c3b4b420ff7 100644
--- a/src/robot_behaviour/config/movements/s24.yaml
+++ b/src/robot_behaviour/config/movements/s24.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [0.8198601506389116, 0.40124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
#go to second step
- time_from_start: 5
- positions: [0.7189, 0.1834, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ positions: [0.8198601506389116, 0.33124116492046204, -1.1264173015386032, 1.060737863750019, -1.71625007143757, 0.5630266112358551, -1.5764433872079322]
#go to third step
- time_from_start: 7
- positions: [0.7189, 0.2234, -1.3074, 1.0541, -1.6314, 0.5706, -1.5775]
+ 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
\ No newline at end of file
+ description: suggest the solution for p24
diff --git a/src/robot_behaviour/config/movements/s25.yaml b/src/robot_behaviour/config/movements/s25.yaml
index f0e4821a759b6bce4825ad517aaa7e44eccdd67a..32b8778aca9a0c3cf77535e3850abc40fff84d0b 100644
--- a/src/robot_behaviour/config/movements/s25.yaml
+++ b/src/robot_behaviour/config/movements/s25.yaml
@@ -7,17 +7,17 @@ play_motion:
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]
+ positions: [0.7607550869011643, 0.4209394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
#go to second step
- time_from_start: 5
- positions: [0.64, 0.18, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ positions: [0.7607550869011643, 0.3709394268971759, -1.0731261021031155, 1.0204703339520471, -1.7175913785079626, 0.5630266112358551, -1.5764433872079322]
#go to third step
- time_from_start: 7
- positions: [0.64, 0.22, -1.2499, 1.0199, -1.6, 0.5399, -1.5499]
+ 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
\ No newline at end of file
+ description: suggest the solution for p25
diff --git a/src/robot_behaviour/config/movements/s31.yaml b/src/robot_behaviour/config/movements/s31.yaml
index 851fc78cf745495d87417400a9eb6d38e3679a0d..20293375d2d8ab05d093aaab18d4505ae3e4d097 100644
--- a/src/robot_behaviour/config/movements/s31.yaml
+++ b/src/robot_behaviour/config/movements/s31.yaml
@@ -4,16 +4,16 @@ 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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- time_from_start: 3
- positions: [0.982, 0.4805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775]
+ positions: [1.0974683360689688, 0.56300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
#go to step2
- time_from_start: 4
- positions: [0.982, 0.3805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775]
+ positions: [1.0974683360689688, 0.52300327202442126, -1.0730800820690607, 1.31110218901962, -1.7182546215068584, 0.5630266112358551, -1.5764433872079322]
#go to step3
- time_from_start: 5
- positions: [0.982, 0.4805, -1.2072, 1.3062, -1.6315, 0.5606, -1.5775]
+ 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]
diff --git a/src/robot_behaviour/config/movements/s32.yaml b/src/robot_behaviour/config/movements/s32.yaml
index 0173dff579a9735b5a5d493751118bdc9599ec47..d7f4fe62219f1dee865e72f80aaea8137d8d65c3 100644
--- a/src/robot_behaviour/config/movements/s32.yaml
+++ b/src/robot_behaviour/config/movements/s32.yaml
@@ -4,16 +4,16 @@ 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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- time_from_start: 3
- positions: [0.8871, 0.5781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775]
+ positions: [0.9701002218165642, 0.61922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
#go to step2
- time_from_start: 4
- positions: [0.8871, 0.4781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775]
+ positions: [0.9701002218165642, 0.54922103882556873, -1.0709785005138903, 1.364332028409701, -1.7307858383910244, 0.5630266112358551, -1.5764433872079322]
#go to step3
- time_from_start: 5
- positions: [0.8871, 0.5781, -1.1497, 1.3456, -1.6315, 0.5706, -1.5775]
+ 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]
diff --git a/src/robot_behaviour/config/movements/s33.yaml b/src/robot_behaviour/config/movements/s33.yaml
index 8d31abfd7b158d8911a808a5888132cf947eec40..e29a31df9287df540a7c2fea0876667200522c38 100644
--- a/src/robot_behaviour/config/movements/s33.yaml
+++ b/src/robot_behaviour/config/movements/s33.yaml
@@ -4,16 +4,16 @@ 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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- time_from_start: 3
- positions: [0.7396, 0.4637, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775]
+ positions: [0.8443121287333754, 0.6196692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
#go to step2
- time_from_start: 4
- positions: [0.7396, 0.3637, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775]
+ positions: [0.8443121287333754, 0.5696692739572627, -1.0709785005138903, 1.3876948656982004, -1.7549367761943933, 0.5630266112358551, -1.5764433872079322]
#go to step3
- time_from_start: 5
- positions: [0.7396, 0.4637, -1.1922, 1.3392, -1.6315, 0.5706, -1.5775]
+ 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]
diff --git a/src/robot_behaviour/config/movements/s34.yaml b/src/robot_behaviour/config/movements/s34.yaml
index 4f19f81ea43b5fe167281984abfd7f5bc8fc9cbc..f5dc7c2581cf2d47f286150879bfe854819591c4 100644
--- a/src/robot_behaviour/config/movements/s34.yaml
+++ b/src/robot_behaviour/config/movements/s34.yaml
@@ -4,16 +4,16 @@ 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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- time_from_start: 3
- positions: [0.6274, 0.4813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776]
+ positions: [0.7366099090337328, 0.6301908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
#go to step2
- time_from_start: 4
- positions: [0.6274, 0.3813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776]
+ positions: [0.7366099090337328, 0.5701908343432174, -1.0709785005138903, 1.3788896991823774, -1.7852940381494409, 0.5630266112358551, -1.5764433872079322]
#go to step3
- time_from_start: 5
- positions: [0.6274, 0.4813, -1.1835, 1.3082, -1.6314, 0.5706, -1.5776]
+ 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]
diff --git a/src/robot_behaviour/config/movements/s35.yaml b/src/robot_behaviour/config/movements/s35.yaml
index d3b0353bad00f9ac834c9e2eb764c62bad1f2e5e..27583edbfaa4b28bca9dfb99cd764582ca33394c 100644
--- a/src/robot_behaviour/config/movements/s35.yaml
+++ b/src/robot_behaviour/config/movements/s35.yaml
@@ -4,16 +4,16 @@ 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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
#go to step1
- time_from_start: 3
- positions: [0.5418, 0.4894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776]
+ positions: [0.6693286192455783, 0.668832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
#go to step2
- time_from_start: 4
- positions: [0.5418, 0.3894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776]
+ positions: [0.6693286192455783, 0.618832322937919, -1.0160919398978356, 1.3573369832333677, -1.7966062218121726, 0.5630266112358551, -1.5764433872079322]
#go to step3
- time_from_start: 5
- positions: [0.5418, 0.4894, -1.1826, 1.2352, -1.6314, 0.5706, -1.5776]
+ 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]
diff --git a/src/robot_behaviour/config/movements/sr4.yaml b/src/robot_behaviour/config/movements/sr4.yaml
index 4bdddaf2c8723def3ebe8e12f0d3883dcd86837e..066b809385f95e9d36120dc9489df9d106d3663c 100644
--- a/src/robot_behaviour/config/movements/sr4.yaml
+++ b/src/robot_behaviour/config/movements/sr4.yaml
@@ -9,7 +9,7 @@ play_motion:
- 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]
+ positions: [0.9361527766954548, 0.21798248630903985, -1.1344401274754943, 0.7013213977818343, -1.7946053770110342, 0.46875717895704105,-1.5704964318267713]
#come back
- time_from_start: 7
positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]
diff --git a/src/robot_behaviour/config/movements/ss31.yaml b/src/robot_behaviour/config/movements/ss31.yaml
index ce9a8d889c1402eb69fd450ab74b0f06b342c7ca..6685f97ed230f1c8062a2f83eededdca10e6181a 100644
--- a/src/robot_behaviour/config/movements/ss31.yaml
+++ b/src/robot_behaviour/config/movements/ss31.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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ 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]
diff --git a/src/robot_behaviour/config/movements/ss32.yaml b/src/robot_behaviour/config/movements/ss32.yaml
index 4608a2f0d0fd82c30fd4da19c0bb03b806609c30..c3d9ecfc7204a3daf8aca3dd5869fec85a99f38a 100644
--- a/src/robot_behaviour/config/movements/ss32.yaml
+++ b/src/robot_behaviour/config/movements/ss32.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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ 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]
diff --git a/src/robot_behaviour/config/movements/ss33.yaml b/src/robot_behaviour/config/movements/ss33.yaml
index ae9d64361e82d3627741741c31b19ec2c0c38b1a..39500b6d084ef5b2d6771f0e01c5e0413477b838 100644
--- a/src/robot_behaviour/config/movements/ss33.yaml
+++ b/src/robot_behaviour/config/movements/ss33.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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ 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]
diff --git a/src/robot_behaviour/config/movements/ss34.yaml b/src/robot_behaviour/config/movements/ss34.yaml
index 2c33af7973768a782389643d8fd8a50daa9c784e..cecd09a6488f3083087a64b5b418560318bec21b 100644
--- a/src/robot_behaviour/config/movements/ss34.yaml
+++ b/src/robot_behaviour/config/movements/ss34.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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ 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]
diff --git a/src/robot_behaviour/config/movements/ss35.yaml b/src/robot_behaviour/config/movements/ss35.yaml
index bd11003b15907ac4d788f6361d8092b7d9effb55..2af23c5f78ab8c403b377954deb45f032d2dbc9d 100644
--- a/src/robot_behaviour/config/movements/ss35.yaml
+++ b/src/robot_behaviour/config/movements/ss35.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: [0.5516, 0.3872, -1.4816, 1.4506, -1.7999, 0.5705, -1.5773]
+ 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]