Realistic Model Parameter Optimization: Shadow Robot Dexterous Hand Use-Case

The notable expansion of technologies related to automated processes has been observed in recent years, largely driven by the significant advantages they provide across diverse industries. Concurrently, there has been a rise in simulation technologies aimed at replicating these complex systems. Nevertheless, in order to fully leverage the potential of these technologies, it is crucial to ensure the highest possible resemblance of simulations to real-world scenarios. In brief, this work consists of the development of a data acquisition and processing pipeline allowing a posterior search for the optimal physical parameters in MuJoCo simulator to obtain a more accurate simulation of a dexterous robotic hand. In the end, a Random Search optimization algorithm was used to validate this same pipeline.