1f2ec65
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yuezhezhang
Frankie
- Refactor the whole structure, write a issacgym_wrapper, to make it elegant. (similar to mppi-isaac)
- Use zerorpc to communicate between client and server files. (similar to mppi-isaac)
- Use hydra to manage all the configs. (similar to mppi-isaac)
- Send discrete gripper commands to mppi instead of sampling, this is more robust. (different from RAL paper)
- Rely on the simulator to predict the position of dynamic obstacles instead of relying on a constant velocity model. (different from RAL paper)