Don't plot surf
More informative learning curve
Split into writing dmp parameters and trajectories
Split into writing dmp parameters and trajectories
Split tasks into cost functions and task solvers
Minor plotting tweaks
Adapted petanque task to new task/task_solver structure
Merge branch 'master' into proximodistalmaturation_merge
Adapted proximo task to new task/task_solver structure
Merge branch 'proximodistalmaturation_merge' into proximodistalmaturation