Revert deployment-specific configuration changes

Author: amalnanavati

ada_feeding/config/ada_feeding_action_servers_custom.yaml

@@ -1,111 +1,274 @@
 # This file is auto-generated by create_action_servers.py
 ada_feeding_action_servers:
   ros__parameters:
-    Stand:
+    bed_front_table_1:
+      AcquireFood.tree_kwargs.resting_joint_positions:
+      - -1.1717344206197549
+      - 3.8349623560423542
+      - 1.143531544675816
+      - -1.4583640571583674
+      - -1.8237450981853311
+      - 7.026948142726954
+      MoveAbovePlate.tree_kwargs.joint_positions:
+      - -0.19797034068
+      - 3.6562432079254257
+      - 1.6497725020792509
+      - -2.659056359891099
+      - 4.916644381246061
+      - 1.7380801275071338
       MoveFromMouth.tree_kwargs.staging_configuration_position:
-      - 0.28323
-      - 0.07289
-      - 0.69509
+      - -0.6014194269891053
+      - 0.08069224383248258
+      - 0.19766024762409728
       MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
-      - 0.00472
-      - 0.69757
-      - 0.71645
-      - -0.00811
+      - 0.062023235263225555
+      - -0.7245047876010136
+      - -0.6768258670154677
+      - 0.1146851200873633
+      MoveToRestingPosition.tree_kwargs.goal_configuration:
+      - -1.1717344206197549
+      - 3.8349623560423542
+      - 1.143531544675816
+      - -1.4583640571583674
+      - -1.8237450981853311
+      - 7.026948142726954
       MoveToStagingConfiguration.tree_kwargs.goal_configuration:
-      - -2.32526
-      - 4.456298
-      - 4.16769
-      - 1.53262
-      - -2.18359
-      - -2.19525
+      - -0.5394174198411514
+      - 4.294121954324551
+      - 2.108729300644438
+      - -1.0393311059687216
+      - -2.1827671763194583
+      - 1.6106314909061383
+      planning_scene_namespace_to_use: bedside
     bed_side_table_1:
       AcquireFood.tree_kwargs.resting_joint_positions:
-      - -1.9742708245801905
-      - 4.351335975603268
-      - 2.402486621524538
-      - -1.4118327739602847
-      - -1.3491792461550807
-      - 1.540612458474102
+      - -2.40341872791
+      - 3.9280238571740833
+      - 1.2793723345038692
+      - -1.2987086150725533
+      - -1.7135562754510847
+      - 0.77158428024418
       MoveAbovePlate.tree_kwargs.joint_positions:
-      - -1.7328340996338412
-      - 3.736167069083685
-      - 1.584764074080144
-      - -2.8533653867132425
-      - -1.1693061503378208
-      - 8.030768126088342
+      - -1.76876666747
+      - 3.6562432079254257
+      - 1.6497725020792509
+      - -2.659056359891099
+      - 4.916644381246061
+      - 1.7380801275071338
       MoveFromMouth.tree_kwargs.linear_speed_near_mouth: 0.08
       MoveFromMouth.tree_kwargs.max_linear_speed_to_staging_configuration: 0.15
       MoveFromMouth.tree_kwargs.staging_configuration_position:
-      - -0.6109420738668799
-      - -0.24799759167785157
-      - 0.0942584547149716
+      - -0.3418209608339783
+      - -0.19780925396905233
+      - 0.2413684489609259
       MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
-      - 0.2621832250631512
-      - -0.6907568951627083
-      - -0.5983303390024652
-      - 0.31002527914648387
+      - -0.14594094
+      - 0.63546216
+      - 0.691676
+      - -0.31060195
       MoveToMouth.tree_kwargs.linear_speed_near_mouth: 0.06
       MoveToMouth.tree_kwargs.max_linear_speed: 0.14
       MoveToMouth.tree_kwargs.plan_distance_from_mouth:
-      - 0.03
+      - 0.025
       - 0.0
       - -0.01
       MoveToRestingPosition.tree_kwargs.goal_configuration:
-      - -1.9742708245801905
-      - 4.351335975603268
-      - 2.402486621524538
-      - -1.4118327739602847
-      - -1.3491792461550807
-      - 1.540612458474102
+      - -2.40341872791
+      - 3.9280238571740833
+      - 1.2793723345038692
+      - -1.2987086150725533
+      - -1.7135562754510847
+      - 0.77158428024418
       MoveToStagingConfiguration.tree_kwargs.goal_configuration:
-      - -1.0047984287458824
-      - 4.508188973273992
-      - 2.2923571872826005
-      - -1.1029737318027815
-      - -1.9923925705337435
-      - 1.4542831622619845
+      - -1.41958843169
+      - 4.259094195455066
+      - 1.72927358641446
+      - -0.6739427412487604
+      - -3.0701456341812565
+      - 1.8009590918986131
       planning_scene_namespace_to_use: bedside_90
     custom_namespaces:
     - bed_side_table_1
+    - bed_front_table_1
     - wheelchair_side_table_1
-    - Stand
-    namespace_to_use: Stand
+    - side_staging_1
+    - side_staging_2
+    - side_staging_3
+    namespace_to_use: wheelchair_side_table_1
+    side_staging_1:
+      AcquireFood.tree_kwargs.resting_joint_positions:
+      - -0.8849039817349507
+      - 4.195202297742974
+      - 5.419129615722212
+      - 1.598314237706468
+      - -2.0289974534007733
+      - -3.1847696853949206
+      MoveAbovePlate.tree_kwargs.joint_positions:
+      - 6.794832881070045
+      - 3.031285852819256
+      - 4.479355460783922
+      - 7.187106922258792
+      - -1.9369287787234262
+      - -3.5496749526931417
+      MoveFromMouth.tree_kwargs.staging_configuration_position:
+      - -0.6081959669757366
+      - 0.07835060871598665
+      - 0.20003578660416194
+      MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
+      - 0.7144799976612057
+      - 0.07058338991982127
+      - -0.17428652585921275
+      - 0.6739143305446146
+      MoveToRestingPosition.tree_kwargs.goal_configuration:
+      - -0.8849039817349507
+      - 4.195202297742974
+      - 5.419129615722212
+      - 1.598314237706468
+      - -2.0289974534007733
+      - -3.1847696853949206
+      MoveToStagingConfiguration.tree_kwargs.goal_configuration:
+      - 5.434125875820449
+      - 4.617459538064379
+      - 5.06524397638252
+      - 6.7890666046778065
+      - -1.2377163671553406
+      - -2.845521578354632
+      MoveToStowLocation.tree_kwargs.joint_positions:
+      - -4.710004519102688
+      - 3.99497173223704
+      - 5.821128455947493
+      - -6.180243112219014
+      - -0.03213529960954986
+      - 3.09639028777566
+      planning_scene_namespace_to_use: seated
+    side_staging_2:
+      AcquireFood.tree_kwargs.resting_joint_positions:
+      - -0.9352339979119222
+      - 4.019241119250932
+      - 5.701138667769537
+      - 1.8144095201421138
+      - -1.8424579327428283
+      - -4.013874849654423
+      MoveAbovePlate.tree_kwargs.joint_positions:
+      - 0.7081435885997758
+      - 3.1719859795303225
+      - 4.640036219889417
+      - 0.7550125606240812
+      - -1.8810567243180003
+      - -3.3398213209043153
+      MoveFromMouth.tree_kwargs.staging_configuration_position:
+      - 0.037235594565912356
+      - 0.02990399812200957
+      - 0.6018725039553878
+      MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
+      - 0.28902081948066843
+      - 0.6695647320569339
+      - 0.6328510472783302
+      - 0.2600953430013116
+      MoveToRestingPosition.tree_kwargs.goal_configuration:
+      - -0.9352339979119222
+      - 4.019241119250932
+      - 5.701138667769537
+      - 1.8144095201421138
+      - -1.8424579327428283
+      - -4.013874849654423
+      MoveToStagingConfiguration.tree_kwargs.goal_configuration:
+      - -0.9312115594014667
+      - 4.543584514690017
+      - 4.655251924461476
+      - 0.7394639609157636
+      - -1.8431887041459447
+      - -2.598331227031222
+      MoveToStowLocation.tree_kwargs.joint_positions:
+      - -4.75874755758608
+      - 4.016084474410861
+      - 5.719014337638367
+      - -4.805756745041778
+      - 0.15785301466004853
+      - 1.831326452018514
+      planning_scene_namespace_to_use: seated
+    side_staging_3:
+      AcquireFood.tree_kwargs.resting_joint_positions:
+      - -0.6599792550212555
+      - 3.1739410060865496
+      - 5.865487664960506
+      - -3.8708726864970906
+      - 4.406298027864214
+      - -5.1482973181377325
+      MoveAbovePlate.tree_kwargs.joint_positions:
+      - 0.7081435885997758
+      - 3.1719859795303225
+      - 4.640036219889417
+      - 0.7550125606240812
+      - -1.8810567243180003
+      - -3.3398213209043153
+      MoveFromMouth.tree_kwargs.staging_configuration_position:
+      - 0.037235594565912356
+      - 0.02990399812200957
+      - 0.6018725039553878
+      MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
+      - 0.28902081948066843
+      - 0.6695647320569339
+      - 0.6328510472783302
+      - 0.2600953430013116
+      MoveToRestingPosition.tree_kwargs.goal_configuration:
+      - -0.6599792550212555
+      - 3.1739410060865496
+      - 5.865487664960506
+      - -3.8708726864970906
+      - 4.406298027864214
+      - -5.1482973181377325
+      MoveToStagingConfiguration.tree_kwargs.goal_configuration:
+      - -0.9312115594014667
+      - 4.543584514690017
+      - 4.655251924461476
+      - 0.7394639609157636
+      - -1.8431887041459447
+      - -2.598331227031222
+      MoveToStowLocation.tree_kwargs.joint_positions:
+      - 1.4888151736945519
+      - 4.067945009266301
+      - 5.718849221650782
+      - 0.41718325265453116
+      - 5.824282703942583
+      - 2.9376642889102835
+      planning_scene_namespace_to_use: seated
     wheelchair_side_table_1:
       AcquireFood.tree_kwargs.resting_joint_positions:
-      - -0.8280291806000825
-      - 4.496595700416659
-      - 4.380693065563648
-      - -5.540779085891504
-      - -2.0505759824492493
-      - -2.372504753972425
+      - -1.0417226246276128
+      - 4.404614643739175
+      - 5.699745834519425
+      - -6.704937345842203
+      - 4.10020174902156
+      - 5.1406561763380765
       MoveAbovePlate.tree_kwargs.joint_positions:
-      - 6.287224789921019
-      - 3.2078419814988224
-      - 1.7965574192489302
-      - -2.434146813195618
-      - -2.044120213650788
-      - -3.4778364486043634
+      - 0.02532932512774355
+      - 3.1431881533988597
+      - 1.732171105680466
+      - -2.3604859079728984
+      - 4.162401474177013
+      - 4.090987211649885
       MoveFromMouth.tree_kwargs.staging_configuration_position:
-      - -0.04176333829204201
-      - -0.013361840990676293
-      - 0.6550329967835355
+      - -0.011402569359730129
+      - 0.029461197720583806
+      - 0.6578790735619884
       MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
-      - 0.20371659964371583
-      - 0.5466933816006899
-      - 0.7438886692841525
-      - 0.32596862004533184
+      - 0.3333477503344343
+      - 0.6602177768810074
+      - 0.5795891150204631
+      - 0.3421523376904928
       MoveToRestingPosition.tree_kwargs.goal_configuration:
-      - -0.8280291806000825
-      - 4.496595700416659
-      - 4.380693065563648
-      - -5.540779085891504
-      - -2.0505759824492493
-      - -2.372504753972425
+      - -1.0417226246276128
+      - 4.404614643739175
+      - 5.699745834519425
+      - -6.704937345842203
+      - 4.10020174902156
+      - 5.1406561763380765
       MoveToStagingConfiguration.tree_kwargs.goal_configuration:
-      - -0.8868827104248798
-      - 4.783664758535134
-      - 4.740997722078757
-      - -5.73581635411373
-      - -1.5646135320081687
-      - -2.6207236181088254
+      - -0.6009865084504753
+      - 4.406308680508575
+      - 4.342634895689761
+      - -5.48339275809026
+      - 4.099009718117641
+      - 3.976385530989377
       planning_scene_namespace_to_use: seated_90