This package requires the installation of raisim, an efficient physical simulator. To install this dependency, visit its website and download the correct version from its Github page. Running the code also requires an activation key which can be obtained for academic purposes. The license can be requested using the form available at raisim.com.
catkin build mppi_manipulation
In the demo the mobile robot is controlled to open a door. After launching the reference is set in a automated way according to the timestamps and reference vector parse from the experiments.yaml file.
roslaunch mppi_manipulation control.launch