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Set cat_x and ref_free_traj to true to avoid mismatch between pluto_model.yaml and pluto_planner.yaml, which will cause loading locally trained weights fails during simulation.
Fix another mismatch param in pluto_model and pluto_planner yaml
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Set
cat_xandref_free_trajto true to avoid mismatch between pluto_model.yaml and pluto_planner.yaml, which will cause loading locally trained weights fails during simulation as mentioned in #12.Specifically, the pluto_model.yaml does not set
cat_xandref_free_traj, which will use default setting defined in pluto_model.py, which are both false. However, the pluto_planner.yaml requirescat_xandref_free_trajto be true, which also works with provided weights.Another way is to modify the default value to true in model definition, I am not sure which one is better, maybe you can help : )