The goal is to create Components and classes to support simulation of robot manipulators.
This task should include the following items:

• Domain research and analysis of simulation of manipulators in other simulators.
• Design of components and classes. How would a developer use the feature?

Outcomes:

• Document capturing useful knowledge of how this feature is designed in existing solutions, comparison of major advantages and weaknesses.
• First design document
• Accepted design document, after a review.
• Finally, a set of issues capturing implementation of the proposed design (some issues can be outside of MS2).