├── .coveragerc ├── .github └── workflows │ └── python-package.yml ├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── benchmarks ├── benchmark_cartesian_dmp.py ├── benchmark_dmp.py ├── benchmark_dmp_phase.py └── benchmark_dual_dmp.py ├── citation.cff ├── doc ├── Makefile ├── make.bat └── source │ ├── _static │ ├── 241-logo-bmwi-jpg.jpg │ ├── DFKI_Logo.jpg │ ├── cart_dmp_ur5.png │ ├── conditional_promps.png │ ├── contextual_promps_kuka_panel_width_open3d.png │ ├── contextual_promps_kuka_panel_width_open3d2.png │ ├── coupled_dual_cart_dmps_gripper_open3d.png │ ├── coupled_dual_cart_dmps_rh5_pybullet.png │ ├── dmp_potential_field.png │ ├── dmp_state_space_distribution_kuka_peginhole_matplotlib.png │ ├── dmp_state_space_distribution_kuka_peginhole_open3d.png │ ├── dmp_ur5_minimum_jerk.gif │ ├── dmp_with_final_velocity.png │ ├── dual_cart_dmp_rh5_with_panel.gif │ ├── dual_cart_dmps_rh5_open3d.png │ ├── dual_cart_dmps_rh5_pybullet.png │ ├── promp_lasa.png │ ├── summary.png │ └── summary.svg │ ├── _templates │ └── class.rst │ ├── api.rst │ ├── conf.py │ └── index.md ├── docker └── Dockerfile ├── examples ├── data │ ├── meshes │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ └── urdf │ │ └── ur5.urdf ├── external_dependencies │ ├── plot_contextual_promp_distribution.py │ ├── plot_imitate_panel_rh5.py │ ├── plot_relative_trajectories_kuka.py │ ├── sim_cartesian_dual_dmp.py │ ├── sim_solar_panel.py │ ├── sim_solar_panel_rh5v2.py │ ├── vis_cartesian_dual_dmp.py │ ├── vis_contextual_dmp_distribution.py │ ├── vis_contextual_promp_distribution.py │ ├── vis_contextual_promp_distribution_screws.py │ ├── vis_dmp_to_state_variance.py │ ├── vis_kuka_ik.py │ ├── vis_sample_dmp_distribution_kuka.py │ ├── vis_sample_promp_distribution_kuka.py │ ├── vis_solar_panel.py │ └── vis_solar_panel_from_exported_dmp.py ├── plot_cartesian_pose_coupling_dual_dmp.py ├── plot_conditional_promp.py ├── plot_coupling_1d_to_1d.py ├── plot_coupling_3d_to_3d.py ├── plot_critical_damping.py ├── plot_dmp_1d_frequencies.py ├── plot_dmp_2d_gain.py ├── plot_dmp_potential_field.py ├── plot_dmp_scaling.py ├── plot_dmp_stepwise_execution.py ├── plot_dmp_with_final_velocity.py ├── plot_kinematics.py ├── plot_minimum_jerk.py ├── plot_obstacle_avoidance_2d.py ├── plot_obstacle_avoidance_3d.py ├── plot_promp_lasa.py ├── plot_promp_multiple_viapoints.py ├── plot_promp_velocities.py ├── plot_state_following_dmp.py ├── sim_cartesian_dmp.py ├── sim_cartesian_orientation_dmp.py ├── sim_spring_damper.py └── vis_cartesian_dmp.py ├── manifest.xml ├── movement_primitives ├── __init__.py ├── _version.py ├── base.py ├── data │ ├── __init__.py │ ├── _lasa.py │ ├── _minimum_jerk.py │ └── _toy_1d.py ├── dmp │ ├── __init__.py │ ├── _base.py │ ├── _canonical_system.py │ ├── _cartesian_dmp.py │ ├── _coupling_terms.py │ ├── _dmp.py │ ├── _dmp_with_final_velocity.py │ ├── _dual_cartesian_dmp.py │ ├── _forcing_term.py │ └── _state_following_dmp.py ├── dmp_fast.pyx ├── dmp_potential_field.py ├── dmp_to_state_space_distribution.py ├── io.py ├── kinematics.py ├── minimum_jerk_trajectory.py ├── plot.py ├── promp.py ├── spring_damper.py ├── testing │ ├── __init__.py │ └── simulation.py ├── utils.py └── visualization.py ├── pyproject.toml ├── requirements.txt ├── setup.cfg ├── setup.py └── test ├── test_canonical_system.py ├── test_cartesian_dmp.py ├── test_cartesian_pose_coupling_dual_dmp.py ├── test_conditional_promps.py ├── test_contextual_promps.py ├── test_coupling.py ├── test_dataset.py ├── test_dmp.py ├── test_dmp_canonical_system.py ├── test_dmp_fast.py ├── test_dmp_forcing_term.py ├── test_dmp_potential_field.py ├── test_dmp_smooth_spatial_scaling.py ├── 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