Dynamic motion primitives

The robotblockset.dmp module provides tools for encoding demonstrated motions as dynamic motion primitives (DMPs) and reproducing them with temporal scaling. It supports ordinary vector-valued signals, quaternion orientations, and Cartesian pose trajectories.

The main encoding and decoding functions are:

• robotblockset.dmp.encodeDMP() and robotblockset.dmp.decodeDMP() for vector-valued trajectories

• robotblockset.dmp.encodeQuaternionDMP() and robotblockset.dmp.decodeQuaternionDMP() for orientations

• robotblockset.dmp.encodeCartesianDMP() and robotblockset.dmp.decodeCartesianDMP() for Cartesian poses

For time-parameterized paths, robotblockset.dmp.Path2DMP() and robotblockset.dmp.DMP2Path() provide convenient conversions. The integrateStep*DMP functions expose individual integration steps for custom execution loops.

See the tutorial_dmp notebook for a complete workflow and the robotblockset.dmp API reference for all functions and parameter details.