OpenGRASP

OpenGRASP is a simulation toolkit for grasping and dexterous manipulation. It is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely used technologies and standards.

Features

Developed a robot editor to create and modify new robot models.
Developed new plugins for OpenRAVE
integrated Physics Abstraction Layer (PAL) to allow the interchange of physics engines within the simulator.
Chosen COLLADA as the file format for specifying object and robot models used by the simulator.

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