├── LICENSE ├── README.md ├── checkpoints ├── nn │ ├── keras_metadata.pb │ ├── saved_model.pb │ └── variables │ │ ├── variables.data-00000-of-00001 │ │ └── variables.index └── ppo │ └── checkpoint_001000 │ ├── algorithm_state.pkl │ ├── policies │ └── default_policy │ │ ├── policy_state.pkl │ │ └── rllib_checkpoint.json │ └── rllib_checkpoint.json ├── controllers ├── __pycache__ │ ├── controller.cpython-39.pyc │ ├── expert.cpython-39.pyc │ └── model.cpython-39.pyc ├── controller.py ├── expert.py └── model.py ├── data ├── ctrl_limits.csv ├── expert_dataset.csv └── signs.json ├── environments ├── __pycache__ │ └── shadowhand.cpython-39.pyc └── shadowhand.py ├── figures ├── nn_performance.png └── ppo_performance.png ├── generate_expert_dataset.py ├── models ├── __pycache__ │ └── model.cpython-39.pyc ├── model.py ├── rllib │ ├── __pycache__ │ │ └── ppo.cpython-39.pyc │ └── ppo.py └── tf │ ├── __pycache__ │ └── nn.cpython-39.pyc │ └── nn.py ├── objects └── shadow_hand │ ├── LICENSE │ ├── README.md │ ├── assets │ ├── f_distal_pst.obj │ ├── f_knuckle.obj │ ├── f_middle.obj │ ├── f_proximal.obj │ ├── forearm_0.obj │ ├── forearm_1.obj │ ├── forearm_collision.obj │ ├── lf_metacarpal.obj │ ├── mounting_plate.obj │ ├── palm.obj │ ├── th_distal_pst.obj │ ├── th_middle.obj │ ├── th_proximal.obj │ └── wrist.obj │ ├── left_hand.xml │ ├── right_hand.xml │ ├── scene_left.xml │ ├── scene_right.xml │ └── shadow_hand.png ├── shadow-hand-joints.png ├── simulate_neural_network_controller.py ├── simulate_ppo_controller.py ├── simulator ├── __pycache__ │ └── pyopengl.cpython-39.pyc └── pyopengl.py ├── train_nn.py ├── train_ppo.py ├── utils ├── __pycache__ │ ├── control.cpython-39.pyc │ └── dataset.cpython-39.pyc ├── control.py └── dataset.py └── videos └── Shadow Hand Simulation 2023-08-15 11-59-59.mp4 /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kochlisGit/Shadow-Hand-Controller/HEAD/LICENSE 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