@ARTICLE{9954145,
  author={Ferro, Marco and Mirante, Alessandro and Ficuciello, Fanny and Vendittelli, Marilena},
  journal={IEEE Robotics and Automation Letters}, 
  title={A CoppeliaSim Dynamic Dimulator for the da Vinci Research Kit}, 
  year={2022},
  volume={},
  number={},
  pages={1-8},
  doi={10.1109/LRA.2022.3222994}}