I am trying to freeze some of the joints of the provided shadowhand asset (so that only the fingers can move) to make RL more tractable in Isaac Lab. What is the best way of going about this? As I see it you can:
(1) make a custom USD asset in Isaac Sim with some of the joints deleted, and then import it into the Isaac Lab script.
(2) change the actual SHADOW_HAND_CFG asset code.
(3) under-specify the joints in the code of ShadowHandEnvCfg(DirectRLEnvCfg).
(4) under-specify the available actions in the actual RL process.
To someone with minimal Isaac Sim/Isaac Lab experience these all seem like feasible ways of solving the problem. Any advice?