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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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Accessing DMP weights (Python) #9

Closed DanielMolina closed 6 years ago

DanielMolina commented 6 years ago

Hello,

I was wondering how I could extract the DMP weight parameters after learning from a demonstration? Currently, I tried resp.dmp_list[i].weights after getting a working DMP plan, but it simply returns "()". Is there a proper way to obtain these weights?

DanielMolina commented 6 years ago

Response from sniekum: "By default the dmps are just using linear interpolation between the f_target values so there are no weights because there are no basis functions. There are only weights if you use RBFs or Fourier basis approximations but you have to change he code to do that instead of instantiating he linear approximator. "