Non-actuated joints and additional DOF in grasp validation

[LerwinB]

Hi, thanks for your excellent work!

I have a question regarding the grasp validation process using IsaacValidator. In your MJCF ShadowHand model, there are 22 joints listed in joint_names, but only 18 of them are actuated.

During grasp validation, I noticed that joint positions are set for all 22 joints via gym.set_actor_dof_states() and set_actor_dof_position_targets().
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How are the non-actuated joints (e.g., FFJ0, MFJ0, etc.) treated in simulation? Are they fixed by default, ignored, or required to be included in the state vector for compatibility?

Additionally, as mentioned in your paper, this dataset provides one extra DOF at the finger base joints compared to DDG-Dataset. Can this extra DOF be validated in Isaac Gym?

Thanks!