Add analyze data script that fits gaussians to warped trajectories
Fix the warp of torques
Add script to combine force file into the demonstration file
Vectorize flipped_angle_axis for speed improvement
Use downsampled trajectory for DTW only but use complete trajectory for everything else. Compute data for both arms. Keep track of timesteps.
Add position and rotation velocities. Change plotting to plot each arm data side-by-side
Do better interpolation for dilated segments of the trajectory when the trajectory is downsampled
Change definition of velocity to be current minus previous
Do trajectory optimization for the learned demonstrations. Add initial implementation of MultipleDemosPoseTrajectoryTransferer
Add code to get analytical mass matrix and add fwd/bwd algorithm to compute costs
Keep track of time penalty in dtw
Fix rotation alignment bug. Fix using jacobian at unwarped position. Fix timestep mismatch. Put force and torque together in aug_traj.
Add external forces. Remove duplicated rot differentiation. Make dt a global var.
Use upsampled open/close, force, force_ext instead of resampled ones
Bug fix of AugmentedTrajectory when open/close is None
Fix mass inverse
Minor bug fix
Replace boxify by function initialization in bij. Implement rpm. Choose better hyperparameters for bij in analyze_data.
Improve rotation averaging
Use Kalman smoother to smooth the observed values and fix exponential map flipping.