szahlner / shadowhand-gym

Shadowhand-Gym

OpenaAI Gym Shadow Dexterous Hand robot environment based on PyBullet.
Successor of the old Shadow Dexterous Hand robot gym environment.

Installation

From source

git clone https://github.com/szahlner/shadowhand-gym.git
pip install -e shadowhand-gym

Usage

import gym
import shadowhand_gym

env = gym.make('ShadowHandReach-v1', render=True)

obs = env.reset()
done = False
while not done:
    # Random action
    action = env.action_space.sample()
    obs, reward, done, info = env.step(action)

env.close()

Environments

ShadowHandReach-v1 easy	ShadowHandReach-v1 hard
ShadowHandBlock-v1 orientation only

Baseline results

Baseline results trained with rl-baselines3-zoo.

ShadowHandReach-v1 easy	ShadowHandReach-v1 hard
ShadowHandBlock-v1 orientation only
Work in progress...

Credits

Environments are widely inspired from OpenAI ShadowHand environments.
Code is inspired from qgallouedec's panda-gym.
Robot base URDF file from Tadinu's my_arm.