Present yourself, make suggestions, tell what you think of the project, ask your general questions
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Sorry for the slow reply, gave it a try and it worked! Thanks a lot.
To summarize what the video suggested, when prompted to change discs for Policenauts/MGS/RE2/whatever, first you press Select + X to load the RetroArch menu, then scroll to the near bottom for the option "Disk Index". Then select "Disk Cycle Tray Status" to "eject" the emulated disk. Then, select "Disk Image Append", and locate the iso file for disk 2/3/etc. for the game you're playing. You'll find it under home-pi-RetroPie-roms-psx.