I was thinking about simulating a robotic arm grasping an object and moving it on a path. The trick is that I would need to simulate the grasped object with center of mass far away from the grasping manipulator.
With regards to it I have few questions:
-Is the simulator a good choice for grasping simulation(I know some papers has used it)
-Can I manipulate the center of the mass of the objects and will physics engine take inertia into account when solving the simulation?
-Are models of any robotics arms available in the simulator?
-Does simulation include friction and slippage?
-Could I possibly access forces working on an object(adding dummy joints could be OK, but I’d rather avoid it)
I would love if anyone could give me an answer or a reference for any of these questions, it would really help me with containing my reaserch during COVID lockdown.
All the best!