code: def __init__(
      self,
      actor_critic,
      clip_param,
      ppo_epoch,
      num_mini_batch,
      value_loss_coef,
      entropy_coef,
      lr=None,
      eps=None,
      max_grad_norm=None,
  ):
      self.actor_critic = actor_critic
  
      self.clip_param = clip_param
      self.ppo_epoch = ppo_epoch
      self.num_mini_batch = num_mini_batch
  
      self.value_loss_coef = value_loss_coef
      self.entropy_coef = entropy_coef
  
      self.max_grad_norm = max_grad_norm
  
      self.optimizer = torch.optim.Adam(
          actor_critic.parameters(), lr=lr, eps=eps
      )
  
label_desc: Use image node_id 1 to create a new PPO object  with example: obj = PPO(actor_critic, clip_param, ppo_epoch, num_mini_batch, value_loss_coef, entropy_coef, lr, eps, max_grad_norm)