Online DMP Trajectory Generation #231
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af-a
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alex-mitrevski,
argenos and
PatrickNa
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argenos
approved these changes
Apr 28, 2020
alex-mitrevski
requested changes
Apr 28, 2020
.../mdr_actions/mdr_manipulation_actions/mdr_move_arm_action/ros/src/mdr_move_arm_action/dmp.py
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alex-mitrevski
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Summary of changes
This PR addresses the first item in #230.
It introduces a change in the way in which a trajectory is stepped though in the DMPExecutor. Instead of rolling out the whole trajectory, storing the end-effector coordinates, and then sending velocity commands in the control loop, individual trajectory steps are generated within the control loop.
Tests To Verify Changes
pickup actionand verifying that the generated trajectory matches the one produced by the original, offline trajectory generation strategy.