arXiv:2310.08233
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales
著者: Minh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid, Yangfei Dai, Jessica Myers, Tan Chen, Junyi Geng, Timothy Bretl
分類: cs.RO, cs.AI
原文アブストラクト
This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy. Increasing the time step frequency for small-scale objects is shown to improve simulation accuracy. This simulation, demonstrating pre-assembly part picking for two object geometries, serves as a starting point for discussing how to improve Sim2Real transfer in robotic assembly processes.