Abstract—In this paper, a framework architecture that combines grasping with adaptive locomotion for modular snake robots is presented. The proposed framework allows for simulating a snake robot model with locomotion and prehensile capabilities in a virtual environment. The simulated robot can be equipped with different sensors. Tactile perception can be achieved by using contact sensors to retrieve forces, torques, contact positions and contact normals. A camera can be attached to the snake robot head for visual perception purposes. To demonstrate the potential of the proposed framework, a case study is outlined concerning the execution of operations that combine locomotion and grasping. Related simulation results are presented.