optimalmotionprimitives's Issues
Find realistic values for the mass and length parameters of 2DoF robot
Search for realistic values for the mass and length parameters of 2DoF robot
Possible error in function `compute_costate_rev.m`
Hi @demerdjieva, I suspect that we missed an minus sign here. Please also double-check this equation by checking (11) and (12) of our IFAC paper and also the computations that you wrote for the double pendulum.
Add CasADi as a subfolder to the repository
This way we can be sure that we are always using the same version and also it avoids setting it up in the configuration
Fix GH action
Will need to use a self-hosted MATLAB or make the repository public (will not do it for now)
[Adapt the code for mechanical systems] Create new function for computing sensitivity of value function
Create function to compute
Convert the live scripts to .m scripts
If we do this, it will be easier to review the code (we will be able to quickly see the visual diff in GitHub ๐)
Update load_OCP_config.m and load_OMF_config.m with data from experiments 2..8
Implement other DMP variants
See Table 1 of https://arxiv.org/pdf/2210.08060.pdf
Finish final submission for IFAC2023
To sort it out we will need to complete the following steps:
- Finish polishing the paper according to the reviews
- Add Anastasija as co-author of the paper
- Add Remark about mechanical systems. If there is sufficient space, add example in paper, otherwise we will only add a link pointing to the GitHub repository
- Create a public repository and add link to the paper to disseminate result
Implement DMP with kinematic constraints proposed in Antonis Sidiropoulos, Dimitrios Papageorgiou & Zoe Doulgeri
Test animation code by animating a simple trajectory for the double pendulum
Suggestion: create manually a trajectory where the second link do a circular motion while the first link is stationary
Implement scale invariant version of DMP
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