How to set up mpcnet to mobile manipulator?

[Knight-xiao]

I tried to set up mpcnet to mobile manipulator(kinova j2n7). And I followed steps of https://leggedrobotics.github.io/ocs2/mpcnet.html. Referring to the mpcnet programs of legged_robot and ballbot, I finished the main documents: MpcnetDefinition, MpcnetInterface, yaml, mpcnet.py and train.py. The main changes I made are shown in the following pictures, except for changing the function name from legged_robot to mobile_manipulator. However, when I run the train.py, the incurred_hamiltonian is too high that the result of generated policy is not good: mobile manipulator is always shaking and can not move to the position of the object. So could anyone give me some suggestions, thank you!