FrankaSim: A Dynamic Simulator for the Franka Emika Robot with Visual-Servoing Enabled Capabilities

We present in this paper a new open-source simulator based on CoppeliaSim and ROS for the popular Franka Emika Robot (FER) fully integrated in the ViSP ecosystem, a powerful library for Visual-Servoing. The simulator features a dynamic model that has been accurately identified from a real robot, leading to more realistic simulations. The C++ Api closely follows the ViSP class of the real robot allowing to narrow the gap between simulation code and real control software deployment. Conceived as a multipurpose research simulation platform, it is well suited for visual servoing applications as well as, in general, for any pedagogical purpose in robotics. All the software, models and CoppeliaSim scenes presented in this work are publicly available under free GPL-2.0 license.