I have attempted to modify the cube that needs to be lifted in the Isaac-Lift-Cube-Franka-v0 task to a beaker USD model. I made the change in the joint_pos_env_cfg.py file located at IsaacLab\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\manager_based\manipulation\lift\config\franka
by setting：

However, I also need to modify the "asset_cfg" in the lift_env_cfg.py file found at IsaacLab\source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\manager_based\manipulation\lift
changed like below:

for it to work. But I encountered some other issues still.

My main question is, are there more detailed documents related to RL (Reinforcement Learning) that I can study to learn how to use it, as the method I used was discovered through a long period of examining the code and continuous debugging? The existing Isaac Lab documentation on the RL part is quite scarce. Additionally, I have another question: Is there an Isaac Lab communication forum or Discord? The link for the Isaac Sim Discord seems to be broken. I look forward to your reply, thank you!