🐛 Fix the bug in TP-GMM

rofunc/learning/ml/tpgmm.py

@@ -158,8 +158,9 @@ def poe(self, model: HMM, show_demo_idx: int) -> GMM:
 
  # get transformation for given demonstration.
  # We use the transformation of the first timestep as they are constant
- if len(self.task_params['frame_origins'][0]) == 1:
- A, b = self.demos_A_xdx[0][0], self.demos_b_xdx[0][0]
+ if len(self.task_params['frame_origins'][0]) == 1: # For new task parameters generation
+ A, b = self.demo_A_xdx[0][0], self.demo_b_xdx[0][0] # Attention: here we use self.demo_A_xdx not
+ # self.demos_A_xdx cause we just called get_A_b not get_related_matrix
  else:
  A, b = self.demos_A_xdx[show_demo_idx][0], self.demos_b_xdx[show_demo_idx][0]