search

stulp / dmpbbo

Python/C++ library for Dynamical Movement Primitives and Black-Box Optimization
GNU Lesser General Public License v2.1
224 stars 90 forks source link

Change goal state V2 #84

Closed Ferdinand50 closed 1 year ago

Ferdinand50 commented 1 year ago

Hello,

thank you for providing this package.

I am interested in the changing of a goal state, both in python and c++ for version 2. Are there any plans for implementation?

stulp commented 1 year ago

This is possible with the set_y_attr function. In the context of DMPs, the goal state is equivalent to the attractor state.

https://github.com/stulp/dmpbbo/blob/8c28a7ca173ac39176a25a54bffd00031f193323/dmpbbo/dmps/Dmp.py#L520

https://github.com/stulp/dmpbbo/blob/8c28a7ca173ac39176a25a54bffd00031f193323/src/dmp/Dmp.cpp#L534