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Hi,
I try to use a variation of your code for one my project, Unfortunately the PyrDMP library do not posses an "obstacle avoidance" parameter nor a functional implementation, but you use it here :
position_dmp = DMP(arg.gain, arg.num_gaussians, arg.stabilization, arg.obstacle_avoidance, arg.obstacle_gain)
Do you have a specific fork of the PyrDMP with a obstacle avoidance implementation ? because in the original implementation from Heracleia I can't found any trace :

class DynamicMovementPrimitive:
    def __init__(self, _a, _ng, _stb):

Best regards,

Quentin.