From 7ee9a07de6b787f3f8805c6042a461d421cab02b Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Tue, 10 Nov 2020 18:36:29 +0100
Subject: [PATCH] new recorded gestures
---
src/robot_behaviour/config/movements/c11.yaml | 4 ++--
src/robot_behaviour/config/movements/c12.yaml | 4 ++--
src/robot_behaviour/config/movements/c13.yaml | 4 ++--
src/robot_behaviour/config/movements/c14.yaml | 4 ++--
src/robot_behaviour/config/movements/c15.yaml | 4 ++--
src/robot_behaviour/config/movements/c21.yaml | 4 ++--
src/robot_behaviour/config/movements/c22.yaml | 4 ++--
src/robot_behaviour/config/movements/c23.yaml | 4 ++--
src/robot_behaviour/config/movements/c24.yaml | 4 ++--
src/robot_behaviour/config/movements/c25.yaml | 4 ++--
src/robot_behaviour/config/movements/c31.yaml | 4 ++--
src/robot_behaviour/config/movements/c32.yaml | 2 +-
src/robot_behaviour/config/movements/c33.yaml | 4 ++--
src/robot_behaviour/config/movements/c34.yaml | 4 ++--
src/robot_behaviour/config/movements/c35.yaml | 4 ++--
src/robot_behaviour/config/movements/c41.yaml | 4 ++--
src/robot_behaviour/config/movements/c42.yaml | 4 ++--
src/robot_behaviour/config/movements/c43.yaml | 4 ++--
src/robot_behaviour/config/movements/c44.yaml | 4 ++--
src/robot_behaviour/config/movements/c45.yaml | 4 ++--
src/robot_behaviour/config/movements/p11.yaml | 4 ++--
src/robot_behaviour/config/movements/p12.yaml | 4 ++--
src/robot_behaviour/config/movements/p13.yaml | 4 ++--
src/robot_behaviour/config/movements/p14.yaml | 4 ++--
src/robot_behaviour/config/movements/p15.yaml | 4 ++--
src/robot_behaviour/config/movements/p21.yaml | 8 +++-----
src/robot_behaviour/config/movements/p22.yaml | 8 +++-----
src/robot_behaviour/config/movements/p23.yaml | 8 +++-----
src/robot_behaviour/config/movements/p24.yaml | 8 +++-----
src/robot_behaviour/config/movements/p25.yaml | 8 +++-----
src/robot_behaviour/config/movements/p31.yaml | 4 ++--
src/robot_behaviour/config/movements/p32.yaml | 4 ++--
src/robot_behaviour/config/movements/p33.yaml | 4 ++--
src/robot_behaviour/config/movements/p34.yaml | 2 +-
src/robot_behaviour/config/movements/p35.yaml | 2 +-
src/robot_behaviour/config/movements/p41.yaml | 6 ++----
src/robot_behaviour/config/movements/p42.yaml | 6 ++----
src/robot_behaviour/config/movements/p43.yaml | 6 ++----
src/robot_behaviour/config/movements/p44.yaml | 6 ++----
src/robot_behaviour/config/movements/p45.yaml | 6 ++----
src/robot_behaviour/config/movements/s11.yaml | 8 ++++----
src/robot_behaviour/config/movements/s12.yaml | 8 ++++----
src/robot_behaviour/config/movements/s13.yaml | 8 ++++----
src/robot_behaviour/config/movements/s14.yaml | 8 ++++----
src/robot_behaviour/config/movements/s15.yaml | 8 ++++----
src/robot_behaviour/config/movements/s21.yaml | 8 ++++----
src/robot_behaviour/config/movements/s22.yaml | 12 ++++++------
src/robot_behaviour/config/movements/s23.yaml | 8 ++++----
src/robot_behaviour/config/movements/s24.yaml | 8 ++++----
src/robot_behaviour/config/movements/s25.yaml | 8 ++++----
src/robot_behaviour/config/movements/s31.yaml | 8 ++++----
src/robot_behaviour/config/movements/s32.yaml | 8 ++++----
src/robot_behaviour/config/movements/s33.yaml | 8 ++++----
src/robot_behaviour/config/movements/s34.yaml | 8 ++++----
src/robot_behaviour/config/movements/s35.yaml | 8 ++++----
src/robot_behaviour/config/movements/sr4.yaml | 2 +-
src/robot_behaviour/config/movements/ss31.yaml | 2 +-
src/robot_behaviour/config/movements/ss32.yaml | 2 +-
src/robot_behaviour/config/movements/ss33.yaml | 2 +-
src/robot_behaviour/config/movements/ss34.yaml | 2 +-
src/robot_behaviour/config/movements/ss35.yaml | 2 +-
61 files changed, 150 insertions(+), 170 deletions(-)
diff --git a/src/robot_behaviour/config/movements/c11.yaml b/src/robot_behaviour/config/movements/c11.yaml
index bfa2b00..6292ed5 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 4d2bda8..f2bceeb 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 2609145..b0776a3 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 49f4258..2f31270 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 31df470..128b740 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 77073c6..998d25b 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 5943205..cbf4744 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 6090b38..40041fa 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 9b5e08e..a708d30 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 ca60c71..388a84c 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 fa10bb7..4defb7c 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 384db40..eda78b4 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 9d3f889..f47f0d8 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 003079a..f25f437 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 e22b8a8..dfeea52 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 6310e4e..dcb7e77 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 b226bbf..2528d33 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 6f13305..a260092 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 65c50f3..95b6fcb 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 fb2b72f..3a4766c 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 13f574a..842b57b 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 795e40f..d17887a 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 6b52297..2ceb808 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 abb7c9f..f6e4fa7 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 651b216..bf5b2df 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 f0e1d95..d528f62 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 636585c..eadca4f 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 c07ff31..c446cc1 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 426948e..89b1bb7 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 7bc706a..9c079e0 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 43faedb..994ff17 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 74a74eb..66a385b 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 06c2ec1..8151ff0 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 5bad726..32a72ba 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 fd26e59..4b32659 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 0203029..1891916 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 e8aa19c..b6883b2 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 f4ac398..8aebb12 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 286d910..e04c919 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 1df0ee3..b20301e 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 f533cae..7aa6756 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 c275dfb..94f0912 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 4a4e00e..0151ccd 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 d26e0e4..ae34be5 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 3c063b5..a812abe 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 5f177e7..2d08efa 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 8c7b517..1042bdc 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 70cfeaa..81f9154 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 37b5d58..31d7f1c 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 f0e4821..32b8778 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 851fc78..2029337 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 0173dff..d7f4fe6 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 8d31abf..e29a31d 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 4f19f81..f5dc7c2 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 d3b0353..27583ed 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 4bdddaf..066b809 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 ce9a8d8..6685f97 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 4608a2f..c3d9ecf 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 ae9d643..39500b6 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 2c33af7..cecd09a 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 bd11003..2af23c5 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]
--
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