Name		Name	Last commit message	Last commit date
parent directory ..
example_data		example_data
README.md		README.md
__init__.py		__init__.py
cs.py		cs.py
dmp_discrete.py		dmp_discrete.py
dmp_discrete_original.py		dmp_discrete_original.py
dmp_rhythmic.py		dmp_rhythmic.py
record_trajectory_xyzrxryrz.py		record_trajectory_xyzrxryrz.py
requirements.txt		requirements.txt

README.md

DMPs Python Package

It is the DMPs (Dynamic Motion Primitives) python package for control the robotic arm moving following the reference manner.

pip install -r requirements.txt

Specifically, you should run record_trajectory_xyzrxryrz.py to generate a reference trajectory (record position(xyz) and orientation(rpy) of the end-effector for each time step). It can be the generated trajectory by human interaction or pre-defined trajectory.
Then, you can reproduce a new trajectory by providing the starting point and ending point. The starting point can be the current position of the end-effector, and the ending point can be the desired position of the end-effector. The new trajectory is trying to learn the pattern of the reference trajectory like some ups and downs.
And then you can let the robot move along the new trajectory by position-control.

You can check the details in open_door/dmp.py

Thank Chaobin Zou for providing the initial code.