A Grasp Controller in Mujoco

This project serves as the final project of the "Introduction to Human Grasping" course, wherein we've developed a grasp controller capable of robustly securing and stabilizing rotating objects of various shapes in Mujoco. The controller is based on position control. Demo video illustrates the application of this controller on the Shadow Hand, successfully grasping a cylindrical, a spherical, and an ellipsoidal object, respectively.