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dmp_imitation

This package is based heavily on Travis DeWolf's blog and repo, but modified for use with the PR2 and moveit/ros. Scott Niekum has a nice dmp package, which might also suit your needs better than this one.

Functionality

Imitation

  • fit_dmp_joints.py fits a set of dmps to raw joint position, velocity and acceleration motion. The node fits a dmp to each continuous moving segment in a demonstration sequence.
  • fit_dmp_pose.py fits a set of dmps to end effector postion and orientation demonstrations. The node fits a dmp to each continuous moving segment in a demonstration sequence.

Playback

  • play_dmp_joints.py plays back the set of recorded joint angle space dmps (unsafe).
  • play_dmp_pose.py plays back the set of recorded end-effector dmps, going through a moveit planner (safer, but lose original motion dynamics).
  • play_shifted_dmp.py plays back the set of recorded end-effector dmps, going through a moveit planner, at an offset position in 3D space chosen by using rviz clicked_point functionality.