goaly = -120.0 startx = 30.0 starty = 80.0 K = 1000.0 D = 40.0 xseq = np.linspace(startx, goalx, num=100) yseq = np.linspace(starty, goaly, num=100) step = 0 step_change = -1 thetas1, thetas2 = [], [] for i in range(len(xseq)): theta1, theta2 = arm.inverse_kinematics(xseq[i], yseq[i]) thetas1.append(theta1) thetas2.append(theta2) demonstration, velocities, accelerations, times = diff_demonstration(thetas1, tau) dmp1 = DMP(basis, K, D, demonstration[0], demonstration[-1]) #dmp1.learn_dmp(times, demonstration, velocities, accelerations) demonstration, velocities, accelerations, times = diff_demonstration(thetas2, tau) dmp2 = DMP(basis, K, D, demonstration[0], demonstration[-1]) #dmp2.learn_dmp(times, demonstration, velocities, accelerations) dmps.append( dmp1 ) dmps.append( dmp2 )