DMPs for top-down motions

[argenos]

No description provided.

[alex-mitrevski]

@abhishek098 We're having various reliability issues when we execute top-down DMPs (in some cases, joint limits are reached and the arm simply starts moving before reaching the goal, but oscillations are a more common problem, such that the arm tries goes up and down and often misses the goal).

We should look at this next week.

[minhnh]

As a reminder, we had queries about the choice of the forward gain and the equation of your controller for calculating velocities.