extensions_for_fun.md



easy to use DMPs


1.1. cartesian space dmp.
the current one unnecessarily assumes joint space,
but if you rewrite the code it could do either based on an argument.
as far as the dmp is concerned only the dimensions are different,
and you can just ik the cartesian reference into joint space

1.2. using multiple trajectories for a fit
the fitting is already there, it just assumes a single trajectory (indirectly,
the math is the same either way).
adding more should literally just amount to verifying the dimensions
in the math.