This is a robot simulator for the ARCOS-LAB's robot . It simulates its two KUKA LWR4+ arms and two DLR HIT II hands, force and torque sensing; and the torso DFG by the lead screw. It also simulates friction between an object, a table and robot fingers.

It simulates multiple arms set-ups and scores the manipulation capabilities of each set-up tested from touching a sphere. The robot is defined by its kinematics descriptions and its tested in one-single hand manipulation, two-hand manipulation and collaborative manipulation tasks.

First, you need to install the simulator:

• You can install this directly on your system if you have Debian Jessie stable.

• Configure xstow for local installations Using xstow for local installations

• Install software needed:

 sudo apt-get install python-numpy python-scipy python-opengl python-pygame python-matplotlib python-sip python-sip-dev python-qt4-dev python-qt4 python-gtk2 python-gtk2-dev python-vtk python-pyvtk python-gtkglext1 libeigen3-dev python-yaml

• Install Yarp Installing YARP in debian
• Install orocos-kdl Installing orocos kdl in debian

• Download the following installation script. Before executing you have to read the script

install_sim.tar.gz