Dynamic Movement Primitives Implementation #526

SchwartzCode · 2021-07-08T16:25:33Z

What does this implement/fix?

Implements Dynamic Movement Primitives, which is a way of 'learning' a path and being able to stretch or squeeze it in space or time as the user sees fit. The path is learned as a weighted sums of gaussian distributions.

Additional information

I made a file and a few unit tests, but let me know if there is anything else you'd like me to add to this!

…tion - relative to the points before and after it- when change in x or change in y along path is 0

…visCI

…o appease CI

…/PythonRobotics into dubins_bug_fix

…eights

SchwartzCode

Looks good to me (but I also wrote this lol so of course it looks good to me). Only thing I didn't add was an entry to the table of contents in the README, but I figured I'd wait on that to see if this PR is approved :)

SchwartzCode · 2021-07-08T23:55:17Z

Also, all commits before #d5b4361 were merged in with the two length=0 fixes I pushed for dubins planner and reeds shepp planners last week, not really sure why they are showing in this PR too

AtsushiSakai · 2021-07-09T12:13:20Z

Thank you for your PR again. Is it possible to add an arm navigation simulation using this technique?

SchwartzCode · 2021-07-09T13:50:48Z

I think so, do you want me to add those changes to this PR or should I close and re-make it once I've finished adding things?

AtsushiSakai · 2021-07-09T14:07:48Z

It is ok to add it in this PR.

lgtm-com · 2021-10-08T04:39:44Z

This pull request introduces 4 alerts when merging 4d92252 into ee729d6 - view on LGTM.com

new alerts:

3 for Unused import
1 for Variable defined multiple times

AtsushiSakai · 2021-10-14T14:01:33Z

@SchwartzCode Thank you for your hard work. I like the animation and the figure, please fix all CI failures and add tests, then I will review it and merge it.

lgtm-com · 2021-10-25T03:26:34Z

This pull request introduces 4 alerts when merging ae50183 into 90c6cfa - view on LGTM.com

new alerts:

3 for Unused import
1 for Variable defined multiple times

lgtm-com · 2021-10-25T05:10:59Z

This pull request introduces 4 alerts when merging 9fefe20 into 90c6cfa - view on LGTM.com

new alerts:

3 for Unused import
1 for Variable defined multiple times

lgtm-com · 2021-10-25T07:29:55Z

This pull request introduces 4 alerts when merging 342dc25 into 90c6cfa - view on LGTM.com

new alerts:

3 for Unused import
1 for Variable defined multiple times

SchwartzCode · 2021-10-30T23:58:55Z

@AtsushiSakai passing everything except CodeFactor, which is mad about some for loops in ArmNavigation\n_joint_arm_3d\NLinkArm3d.py, let me know if there's any other changes to this you'd like!

AtsushiSakai

Thank you for your work. I have some comments. PTAL.

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

tests/test_dynamic_movement_primitives.py

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

AtsushiSakai · 2021-10-31T08:17:52Z

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

@@ -0,0 +1,260 @@
+"""


Please add a one-line comment to describe this example here.

Added one to the example_DMP() function toward the bottom of the file

Can you add a one-line comment to describe this file here? Like: "Dynamic Movement Primitives examples for robotics".

lgtm-com · 2021-11-03T21:27:33Z

This pull request introduces 1 alert when merging 342eb03 into 187b6aa - view on LGTM.com

new alerts:

1 for Unused local variable

SchwartzCode · 2021-11-03T22:47:49Z

@AtsushiSakai addressed most of your comments (resolved ones where I just did what was suggested, left ones open that I maybe didn't do exactly what was asked), let me know if there are more changes you'd like to see :)

AtsushiSakai

Thank you. This is the last review. After, addressed these, I will merge it.

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

AtsushiSakai · 2021-11-11T13:43:45Z

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

@@ -0,0 +1,260 @@
+"""


Can you add a one-line comment to describe this file here? Like: "Dynamic Movement Primitives examples for robotics".

SchwartzCode · 2021-11-11T16:21:18Z

@AtsushiSakai made the changes you requested, thanks for making this repo! It helped me a ton this summer while prototyping path planners :)

AtsushiSakai

LGTM. I will merge it. Thank you for your work!! @SchwartzCode

SchwartzCode and others added 24 commits June 29, 2021 11:19

Without equals sign, sometimes get points that are in the wrong direc…

fc56a30

…tion - relative to the points before and after it- when change in x or change in y along path is 0

Created test script for dubins path generator

64ca35e

Made len == 0 it's own case, also changed 'l' to 'len' to appease tra…

e02ec7d

…visCI

Merge branch 'AtsushiSakai:master' into dubins_path_bug_fix

1f179f0

More variable renaming to appease CI

80991d0

Broke == 0 into its own case in dubins planner, also Renaming files t…

f6b99fd

…o appease CI

Merge branch 'dubins_path_bug_fix' of https://github.com/SchwartzCode…

f0b8fda

…/PythonRobotics into dubins_bug_fix

Reverting some naming changes

eddba93

Turns out theres already a test for dubins.. not sure how I missed that

30df7e8

Note to self: run the test cases on your own before throwing them at CI

5977869

Merged commits incorrectly

b5405b7

Added handling of length=0 case in generate_local_course()

ba86afd

Silly merge conflict

3765bb1

Merge branch 'AtsushiSakai-master'

1c7038a

Missed reverting 'mode' back to 'm' in one spot

c0d3d36

Addressing style issues (line length)

831c2aa

Mostly works, now just need to setup linear regression to solve for w…

d5b4361

…eights

Re-arranged class

e3f9a9d

Wrote DMP program and added tests file

dd94aaf

Merge branch 'AtsushiSakai:master' into master

00319b3

Styling fixes

732560b

Merge branch 'master' of https://github.com/SchwartzCode/PythonRobotics

a366216

More styling

a7b5e25

Missed one indent

c2ca3f0

SchwartzCode commented Jul 8, 2021

View reviewed changes

Multi-dimension path learning (e.g. in x and y instead of just x)

4372e74

Jonathan Schwartz and others added 5 commits October 25, 2021 00:15

Merge branch 'AtsushiSakai:master' into master

6848da5

Merge branch 'master' of github.com:SchwartzCode/PythonRobotics

300ff13

demo now scales with data

3fab1d9

CI errors

c18242e

CI errors

9fefe20

SchwartzCode added 3 commits October 25, 2021 03:03

Fixing code style issues

ae50183

more styling

c61b9b0

fixing CI errors

342dc25

SchwartzCode added 4 commits October 25, 2021 12:27

formatting

fc6f5b0

Removed dead code

4b1eca4

removed unused imports

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removed uneccesary initialization

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AtsushiSakai requested changes Oct 31, 2021

View reviewed changes

Applying PR feedback

342eb03

fixing CI errors

70a495d

Merge branch 'AtsushiSakai:master' into master

63333d3

AtsushiSakai requested changes Nov 11, 2021

View reviewed changes

SchwartzCode added 2 commits November 11, 2021 11:20

added description to header and removed unused variable

c2ac3ab

Merge branch 'master' of github.com:SchwartzCode/PythonRobotics

1a22999

AtsushiSakai approved these changes Nov 12, 2021

View reviewed changes

AtsushiSakai merged commit 0df55e9 into AtsushiSakai:master Nov 12, 2021

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Dynamic Movement Primitives Implementation #526

Dynamic Movement Primitives Implementation #526

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SchwartzCode commented Jul 8, 2021

What does this implement/fix?

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