Added goal learning to dmp_skill_example.m
Added cylinder trial - does not work well
Added max value for Beta to be 89 degrees (avoids most self collisions
this way), ran a very tall square rod experiment, determined the covar
matrix shrank too quickly, will turn off covar updating and see the
results. Increased rod mass and height to make it tip when grasped too
low.
Ran several trials, changed update_distributions to allow for
distributions with different n_dims.
Samsung backup