├── .gitignore ├── .vscode └── settings.json ├── README.assets ├── DMP_UR5_discrete.gif ├── DMP_UR5_rhythmic.gif ├── DMP_discrete.png ├── DMP_discrete_different_goals.png ├── DMP_discrete_different_initial_goals.png ├── DMP_rhythmic_1.png ├── DMP_rhythmic_2.png ├── Modified_DMP.png ├── UR5_rhythmic.png ├── cs.png ├── image-20230322222549918.png ├── image-20230322223318180.png ├── overcome_drawbacks_of_modified_DMP └── qrcode.jpg ├── README.md ├── code ├── .vscode │ └── settings.json ├── DMP │ ├── cs.py │ ├── dmp_discrete.py │ ├── dmp_discrete_original.py │ └── dmp_rhythmic.py ├── UR5 │ ├── UR5SimModel.py │ └── VREP_RemoteAPIs │ │ ├── complexCommandTest.py │ │ ├── depth_image_encoding.py │ │ ├── pController.py │ │ ├── pathPlanningTest.py │ │ ├── ply.py │ │ ├── readMe.txt │ │ ├── remoteApi.dll │ │ ├── remoteApi.so │ │ ├── sendMovementSequence-mov.py │ │ ├── sendMovementSequence-pts.py │ │ ├── sendSimultan2MovementSequences-mov.py │ │ ├── sim.py │ │ ├── simConst.py │ │ ├── simpleSynchronousTest.py │ │ ├── simpleTest.py │ │ ├── synchronousImageTransmission.py │ │ └── visualization.py ├── demo_discrete_DMP_UR5.py ├── demo_rhythmic_DMP_UR5.py ├── demo_trajectory │ └── demo_trajectory_for_discrete_dmp.csv ├── record_trajectory_from_CoppeliaSim.py └── test_modified_discrete_DMP.py ├── coppeliasim ├── Demo_control_UR5_with_discrete_DMP.ttt ├── Demo_control_UR5_with_rhythmic_DMP.ttt └── Demo_record_demonstrated_trajectory.ttt ├── paper ├── 2002-Dynamic Movement Primitives-A Framework for Motor Control in Humans and Humanoid Robotics.pdf ├── 2008-Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields.pdf ├── 2013-Dynamic Movement Primitives - Learning Attractor Models for Motor Behaviors.pdf └── 2021-Overcoming Drawbacks of DMP.pdf ├── qrcode.png └── solution for the drawbacks of modified DMP.md /.gitignore: -------------------------------------------------------------------------------- 1 | *__pycache__ 2 | 3 | *.pyc 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