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sniekum / dmp

This ROS package is a general, robot-agnostic implementation of dynamic movement primitives (DMPs).
www.ros.org/wiki/dmp
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Whether obstacle-avoidance and online-adaptation is available in this DMP code? #6

Open chenlx92 opened 7 years ago

chenlx92 commented 7 years ago

As the paper Learning and Generalization of Motor Skills by Learning from Demonstration said, in new DMP version obstacle-avoidance and online-adaptation is available. However I can not find the corresponding code here. I will be appreciated for your reply.

sniekum commented 7 years ago

There is no code for that in there currently, but it would be trivial to add — it is just an extra term in the main equation for reproducing motion. If you end up adding it cleanly in a modular way that can be turned on/off, feel free to submit a pull request.

—Scott

On Dec 22, 2016, at 8:37 AM, chenlx92 notifications@github.com wrote:

As the paper Learning and Generalization of Motor Skills by Learning from Demonstration said, in new DMP version obstacle-avoidance and online-adaptation is available. However I can not find the corresponding code here. I will be appreciated for your reply.

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gutsy-robot commented 5 years ago

Just wondering if anyone has implemented this now?