PrendoSim

PrendoSim is a robot gripper simulator that allows scientists working on robotics to do generate and test viable grasps using a proxy-hand method and a novel grasp stability metric based on the amount of weight that can be withstand.

This simulator takes advantage of Unity's latest NVIDIA PhysX 4.1 integration to create physically realistic grasp simulations and outputs joint pose data of the grippers digits (json format), grasped object's position, and images of the grasp from a specified point of view in png format.

Prerequisites

Before you begin, ensure that the following requirements are met:

• You have installed Unity version 2020.1.9f1 or higher.
• You have a <Windows/Linux/Mac> machine.
• You have read changed Unity's Project Settings and Build Settings as stated here:

1. From Unity Hub 2.4 or higher create a new Unity project with the standard 3D renderer template:

New Unity Project

2. Under Unity menu bar press File >> Build Settings:

Build Setting

2. Under Unity menu bar press Edit >> Project Settings change the following:

Physics

player

Importing

To use , follow these steps:

1. Download the attached PrendoSim Unity package and save it:

Linux and macOS:

2. In Unity top menu bar go to `Assets` >> `Import Package` >> `Custom Package` and go to where you have downloaded the `PrendoSim.unitypackage` to.
3. Make sure you import everything. 

Windows:

2. In Unity top menu bar go to `Assets` >> `Import Package` >> `Custom Package` and go to where you have downloaded the `PrendoSim.unitypackage` to.
3. Make sure you import everything. 

Using

To use , follow these steps:

1. Make sure you are in the PoseGen2 scene located in the Scenes folder. 
2. Then press the Unity `play` button at the top. 
3. You should now be able to select simulation parameter options in the user interface shown on the `Game` window.

Contributing to

To contribute to , follow these steps:

1. Fork this repository.
2. Create a branch: git checkout -b <branch_name>.
3. Make your changes and commit them: git commit -m '<commit_message>'
4. Push to the original branch: git push origin <project_name>/<location>
5. Create the pull request.

Alternatively see the GitHub documentation on creating a pull request.

You ontributors.org/docs/en/emoji-key).

Contact

If you want to contact me, you can reach me at diarkarim@gmail.com.

License

This project uses the following license: MIT License .