I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally
- allow me to try out various actuators, and also possibly a tactile sensor (like a pressure sensitive resistor or a pressure sensitive conductive sheet).
- simulate different environments and tasks like gripping various shapes, sizes, weights etc.
- be able to talk to an external learning/inference programs for the adaptive part (which, I think, goes under the name 'Dexterous Manipulation Planning' tasks), with sensory feedback from tactile sensors within the simulator and also camera input from a separate module.
What are my options for such a simulator, including those that only partially address my requirements above?
A bit about my background: I dont have any recent experience in building electronics hardware projects, although I have experienced it as part of my labs during electronics engineering under-graduation, a field that I have left a long time back. I am just a wannabe hobbyist now.