How should I choose lower body joints?

[cjianli]

HOVER/neural_wbc/isaac_lab_wrapper/neural_wbc/isaac_lab_wrapper/rewards/rewards.py

Lines 360 to 361 in 3c473a7

	# Joints 0 - 10 are lower body joints in Isaac Gym.
	return torch.sum(torch.square(previous_actions[:, :11] - actions[:, :11]), dim=1)

Thank you very much for the wonderful work!
Two questions about the above codes:

1. Why do you mention Isaac Gym here? Do you use Isaac Gym or Isaac Sim? In the installation guide, you mentioned Isaac Lab which normally works with Isaac Sim. This makes me a little confused.

2. “Joints 0 - 10 are lower body joints”? But the lower body joint ids are set [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] here

   HOVER/neural_wbc/isaac_lab_wrapper/neural_wbc/isaac_lab_wrapper/neural_wbc_env_cfg_h1.py

   Line 170 in 3c473a7

   lower_body_joint_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] # hips, knees, ankles

   
   Should they keep consistent? If yes, which one should I choose?

[pulkitg01]

Thanks for pointing this out — really appreciate the careful reading! You’re right to notice the inconsistency between the comment and the actual joint indices. We’ll take a closer look and make sure things are aligned and consistent across the codebase.

Let me follow up once we’ve clarified and updated this. Thanks again!