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dfki-ric / movement_primitives

Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.
https://dfki-ric.github.io/movement_primitives
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coupling terms not matching the equation in article #40

Open One-and-Done2022 opened 3 months ago

One-and-Done2022 commented 3 months ago

屏幕截图 2024-03-04 125111 屏幕截图 2024-03-04 125208 why F12 = self.k * (-self.desired_distance - da),should it be (self.desired_distance-da)

AlexanderFabisch commented 2 months ago

I am not entirely sure about this. It is working in this example though: https://github.com/dfki-ric/movement_primitives/blob/main/examples/plot_coupling_1d_to_1d.py