Swapping the arm in an RL task

[fl1ps1de5]

I currently have written an RL algorithm that is effectively training a policy to complete the Isaac-Reach-Franka-v0 task/environment (for example).

I want to now switch to using a Franka arm for the same task. I was wondering the easiest way to go about doing this? Is it as simple as changing the USD that is loaded, or is there a lot of custom code to be written for the task itself?

I have spent much time working on the algorithmic side of things, and less so working with IsaacLab in this capacity, so I would be very grateful for any guidance or advice.

Thanks.

[fl1ps1de5]

I suppose what I am looking for is something similar to this tutorial (modifying a direct RL environment) but for a manager based RL environment instead

[zinzuvadiadev]

Did this work?