Encode Task Impedance from Demonstration

Project in Advanced Robotics course project at SDU 21/22. Implementation of learning method for skills for arm robots based on GMM with Rieamannian Manifolds

Initializing each node

To execute the real_robot_interface_py command the following command should be used.

ros2 run real_robot_interface_py interface --ros-args -p dt:=<sampling_time> -p ip:=<robot/ip>

To use the controller_py node the command to be run is:

ros2 run controller_py controller --ros-args -p dt:=<sampling_time> -p trajectory:=<trajectory npy> -p mode:=<p(position)/v(velocity)> -p model:=<path to model>