mdp_cfg.yaml
is necessary for defining the MDP component settings. This includes parameters related to the high level commands given to the agent (like base velocity commands or end-effector commands), lower level actions provided to each of the DOFs (like relative change pose and binary gripper control), the set of observations fed to the policy network, termination conditions for each episode, reward design, and curriculum utilized in the training methodology.
The following example depicts the MDP settings for training a Unitree Go2 that receives velocities commands and executes them based on a locomotion policy.