Apply dial-mpc to the manipulation task #19
Description
Hey, I'm very interested in this algorithm, it's a really good algorithm that use the thoughts of annealing to the MPC/MPPI baseliness.
Now we want to use it to the xarm7 robot for a manipulation task. However, when we trying to create a robot arm environment and do the dial-mpc-sim and dial-mpc-plan, there is still error releted to the dimension of joint/control sequence missmatch. After I checked your code, I found that the code is designed for the leg-robot and didn't consider the robot arm with fixed base.
Could you please give me some valuable suggestion? Really appreciate.
UCSD @ Existential Robotics Lab
Chenbin Yu