I. Introduction
Robotics simulators have grown with the field of robotics in general. Since the beginning of the robotics revolution there has been a need to simulate the motions and reactions to stimuli of different machines. Simulations are conducted in many cases to test safety protocols, to determine calibration techniques, and to test new sensors or equipment among other things. Robotics simulators in the past were generally written specifically for a own line of robots or for a specific purpose. In recent years, however, the improvement of physics engines and video game engines as well as computer processing speed has helped spur a new breed of simulators that combine physics calculations and accurate graphical representations of a robot in a simulation. These simulators have the potential flexibility to simulate any type of robot. As the simulation algorithms and graphical capabilities the game engines become better and more efficient, simulations step out of the computer and become more real-world. Such engines can be applied to the creation of a simulator, and in the words of Craighead et al. “. it is no longer necessary to build a robotic simulator from the ground up.” [1].