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Home Page: www.ros.org/wiki/dmp
This ROS package is a general, robot-agnostic implementation of dynamic movement primitives (DMPs).
Home Page: www.ros.org/wiki/dmp
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?
It looks like you moved this to catkin recently, but when I try to build it with catkin on my machine, I get the following error:
...
[ 98%] Built target dmp
[100%] Building CXX object dmp/CMakeFiles/dmp_server.dir/nodes/dmp_server.cpp.o
Linking CXX executable /home/rboy/catkin_ws/devel/lib/dmp/dmp_server
/home/rboy/catkin_ws/devel/lib/libdmp.so: undefined reference to dmp::LinearApprox::LinearApprox()' /home/rboy/catkin_ws/devel/lib/libdmp.so: undefined reference to
dmp::LinearApprox::LinearApprox(std::vector<double, std::allocator >, std::vector<double, std::allocator >)'
collect2: ld returned 1 exit status
make[2]: *** [/home/rboy/catkin_ws/devel/lib/dmp/dmp_server] Error 1
make[1]: *** [dmp/CMakeFiles/dmp_server.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
(I ended up rolling back to before you catkinized it and usign rosbuild)
When i catkin_make the package, i found the error is that in the dmp/include folder i cannot find these two .h files
#include "dmp/LearnDMPFromDemo.h"
#include "dmp/GetDMPPlan.h"
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.
Dear sniekum,
Thank you so much for providing us such a nice code. I was wondering if I want to use other approximators like RadialApprox or FunctionApprox, what should I change? I tried to change the function FunctionApprox *f_approx = new RadialApprox(num_bases,2,1.0);
And the figure I plotted seems very strange. Can you give me some advice about how to change the code? thankyou!
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