Ind kwf first week

Keyframes

1. Of keyframes Definition ： The key frame is defined as the complete description of the joint angle , It can be absolute , It can also be relative to the previous key frame , The proportion of each joint represents the percentage of the maximum torque of the motor allowed to reach the target angle .
2. under these circumstances , The robot observes the action effect of another object , And try your best to reproduce these effects .
3. Of keyframes describe ：

among ： among n Is the number of joints ,0 Indicates absolute angle ,1 Indicates the relative angle . first n The vector gives the target angle of each joint , And the second one. n Vectors give their proportions .

keyframe-time pairs（ Key frame time is right ）

1. The key frame time is right describe ：

among ：m Is the number of keyframes in the skill , Every m（k,t） Pairs represent keyframes k It should be the next t Second target .

1. Pseudo code

among ： We are 16.67Hz（ Every time 3 Server cycles ） Apply keyframe sampling under

Optimize

1. First , Any joint that does not change significantly between two keyframes can be fused between frames . secondly , Start and end keyframes can sometimes be completely deleted .
2. Reward and punishment methods ：