The Readme says terminal_state_cost is only a function of the full state: "terminal state cost- function(state (K x T x nx)) -> cost (K x 1)"
But in file src/mppi.py, line 276: "c = self.terminal_state_cost(states, actions)" gives two inputs to the function
The Readme says terminal_state_cost is only a function of the full state: "terminal state cost- function(state (K x T x nx)) -> cost (K x 1)"
But in file src/mppi.py, line 276: "c = self.terminal_state_cost(states, actions)" gives two inputs to the function