Raw Message Definition
# Provide a demonstration traj
# Provide a k gain and d gain for each DOF. Should match number of DOFs in the demo.
# Set number of basis functions to use to approx the DMP forcing function
# Returns a DMP for each DOF, intended to be linked together with a single phase variable
# A time constant (in seconds) that will cause the DMPs to replay at the same speed they were demonstrated.
Compact Message Definition