OptimalMotionPrimitives Dependencies CasADi for MATLAB Attribution DMP implementation from https://github.com/epfl-lasa/SAHR_bifurcation/tree/master/MATLAB/evaluation/DMP/koda Pendulum animation from https://gitlab.lrz.de/darko_project/bsa-yunt/-/blob/main/helper_functions/plot_pendulum.m
