RobWorkSim - an Open Simulator for Sensor based Grasping

In this paper we present a new open-source grasp simulator RobWorkSim, which provides support for full 6D rigid body dynamics as well as simulation of kinematics. It furthermore includes simulation of a rich set of sensors including tactile arrays, cameras, range scanners as well as a range of tools useful for grasp analysis and generation. In the paper we will outline and motivate our specification of a unified physics engine interface, describe how a generally available physics engine can be wrapped to support the interface and introduce a selected set of tools and features in RobWorkSim.