Adding sr2, sr3, sr3 actions

src/robot_behaviour/config/movements/sr2.yaml

@@ -7,10 +7,10 @@ play_motion:
           positions: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
         #go to p13
         - time_from_start: 2
-          positions: [0.951109287763273, 0.28416941968737053, -1.3292736116522725, 1.2947190568961022, -1.7102920002519582, 0.5699461995064582, -1.5800282341433047]
+          positions: [0.42416455782417284, 0.2838626194603384, -1.3873355546181103, 1.403387697310896, -1.8606147291078454, 0.5701833366680747, -1.5774160200973744]
 
         - time_from_start: 4
-          positions: [0.4639258672475419, 0.28418475969872214, -1.3286906912209115, 1.280345466259645, -1.711462864987439, 0.5699461995064582, -1.5800282341433047]
+          positions: [0.9421353811225821, 0.28427679976683184, -1.3725171036524566, 1.3559410422003713, -1.8608370451968608, 0.5701833366680747, -1.5774160200973744]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]

src/robot_behaviour/config/movements/sr3.yaml

@@ -4,12 +4,12 @@ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+          positions: [0.8157950476307353, 0.27536425317154734, -1.3526671289634753, 1.152639871757505, -1.947495856695049, 0.5703296947600097, -1.5773400621002942]
         #go to p13
         - time_from_start: 2
-          positions: [1.1633230048014236, 0.4051407492061544, -1.1345628475663072, 1.0410259491632023, -1.7016994834115144, 0.5641826548987351, -1.5766323558835955]
+          positions: [0.6515648861004157, 0.2893850235469174, -1.263403602908466, 1.0918627467824327, -1.7825891923997539, 0.5704427054385927, -1.5772492830306128]
         - time_from_start: 4
-          positions: [0.709181968737057, 0.4045885087974965, -1.1345628475663072, 1.0409799291291475, -1.701881041550877, 0.5641900654350356, -1.576624945347295]
+          positions: [1.1073473033794046, 0.28323367899492247, -1.257098858242955, 1.0574244212980717, -1.795005545971262, 0.5704427054385927, -1.5772492830306128]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]

src/robot_behaviour/config/movements/sr4.yaml

@@ -4,12 +4,12 @@ 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: [0.68, 0.2706, -1.3499, 1.3701, -1.6295, 0.5699, -1.5799]
+          positions: [0.9797030689226711, 0.14831827915752657, -1.3880718751629877, 0.8090389574928285, -1.8288642863283016, 0.5700369785761394, -1.5775586729211593]
         #go to p13
         - time_from_start: 2.0
-          positions: [1.2929461007225145, 0.24532851094509808, -1.1413277925723664, 0.6946484928438847, -1.6892794245718563, 0.5102839717510357, -1.5764193029649556]
+          positions: [0.87335077022197, 0.09548728006258722, -1.3880258551289328, 0.6292080044179232, -1.8288791074009025, 0.5700369785761394, -1.5775586729211593]
         - time_from_start: 4.0
-          positions: [0.902926312107871, 0.24528249091104326, -1.1413277925723664, 0.6940042123671172, -1.6895647302194259, 0.5102932349214113, -1.57641003979458]
+          positions: [1.2340251171209866, 0.09550262007393884, -1.3880258551289328, 0.6953234533433554, -1.8288791074009025, 0.5700369785761394, -1.5775586729211593]
         #come back
         - time_from_start: 6
           positions: [0.2269, 0.3316, -1.6138, 2.2556, -1.6316, 0.5703, -1.5773]