pyrdmp

Python Library for Dynamic Movement Primitives with Reinforcement Learning

Dependencies

Python package requirements can be installed via pip with: pip install -r requirements.txt

Additionally, you will need the python3-tk package which can be installed on Ubuntu with: sudo apt install python3-tk

Running

Install the pyrdmp package locally with: pip install -e . if developing the library. Otherwise, releases can be install with pip install pyrdmp or by cloning the repository and: pip install .

Examples

You can run examples by navigating to examples/ and running ./ex_dmp_adaptation.py

ex_dmp_adaptation.py includes an argparser. A description of the available commands can be found with: python ex_dmp_adaptation.py --help

Notes

Tested on Ubuntu 16.04, 14.04, and 12.04

Citing

@misc{Theofanidis2019,
  author = {Theofanidis, Michail and Cloud, Joe and Brady, James},
  title = {pyrdmp: python library for dynamic movement primitives with reinforcement learning},
  year = {2019},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/heracleia/pyrdmp}},
  commit = {cfaeae5d0634e98433c1121ed2f69ca69483e0b1}
}