The MDP is presented in loop_1_MAIN_RL and the code can be trained by PPO agent using the code train_charging_pod_rl. The results of the training can be evaluated using evaluate_charging_pod_rl. The ...

If you want to train policy using IsaacLab(IsaacSim), please use robot_lab project. The order of joints in robot_lab cfg file joint_names is the same as that defined ...