Comment by lelag

The SMPL-x body model, a standard in this academic field does model fingers https://smpl-x.is.tue.mpg.de/

The issue is that there are much less dataset available for it than for the simplier SMPL model.

Regarding fingers, you already have "dumb" models like https://github.com/google-deepmind/mujoco_mpc which can control finger mouvement to achieve specific task.

Look at this video to see it action: https://www.youtube.com/watch?v=2xVN-qY78P4&t=387s

Pretty cool stuff.