Shadow-Gym - template used to create a Gym environment for the Shadow Hand.
urdfs - files describing the shape, inertia and mass of various components of the hand
Shadow-Gym/shadow_gym/envs/shadow_env.py - main gymnasium model that interacts with Pybullet. You will mainly modify this file alongside cube.py and hand.py.
logs - each folder in logs contains the tensorboard logs for each run.
models - each folder containes a trained model named according to number of timesteps used e.g. 30000.zip was trained for 30000 timesteps.
train.py - script used to train a model. Automatically generates logs to logs and saves model to models
visualise_model.py - script used to open Pybullet window and view the AI model in action
evaluate_model.py - runs a model 100 times and counts number of times it successfully rotates the cube to the target orientation
Shadow-Gym/shadow-gym/resources/cube_colour_visualiser.py - utility script to view the hand environment with gravity turned off
(Recommended) Create a virtual environment with conda or venv
Enter the Shadow-Gym folder (folder with setup.py)
Run pip install -e . to install other required packages for the hand model
For the AI modules run
pip install stable_baselines3 tensorboard
Try following this training loop
- Modify environment and training code
- Train model
- Visualise and evalute model
- Commit all files (model, logs and environment code) to git
- ONLY AFTER COMMITTING, modify environment/training code