We constructed a controller for Shadow-Hand model in Mujoco environment using Deep Learning & Deep Reinforcement Learning. The controller allows the hand to perform sign-language gestures.
Shadow-Hand is a 3D Robotic hand provided by mujoco_menagerie repository, for academic and research purposes. It can be found here: https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand
Shadow-Hand uses 20 Positional Motors as actuators to enable movement on its fingers and its wrist. It's actuator has a limited control range defined by the manufacturer. The control range of this hand are provided below:
| id | ctrl_limit_left | ctrl_limit_right |
|---|---|---|
| 0 | -0.523599 | 0.174533 |
| 1 | -0.698132 | 0.488692 |
| 2 | -1.0472 | 1.0472 |
| 3 | 0 | 1.22173 |
| 4 | -0.20944 | 0.20944 |
| 5 | -0.698132 | 0.698132 |
| 6 | -0.261799 | 1.5708 |
| 7 | -0.349066 | 0.349066 |
| 8 | -0.261799 | 1.5708 |
| 9 | 0 | 3.1415 |
| 10 | -0.349066 | 0.349066 |
| 11 | -0.261799 | 1.5708 |
| 12 | 0 | 3.1415 |
| 13 | -0.349066 | 0.349066 |
| 14 | -0.261799 | 1.5708 |
| 15 | 0 | 3.1415 |
| 16 | 0 | 0.785398 |
| 17 | -0.349066 | 0.349066 |
| 18 | -0.261799 | 1.5708 |
| 19 | 0 | 3.1415 |
- python==3.9 https://www.python.org/downloads/release/python-390/
- mujoco=2.3.7 https://github.com/deepmind/mujoco
- tensorflow==2.9.1 https://www.tensorflow.org/install
- ray[rllib]==2.3.1 https://docs.ray.io/en/latest/rllib/index.html
- gymnasium==0.26.1 https://gymnasium.farama.org/
- matplotlib==3.7.2 https://matplotlib.org/