ROOct 12, 2023
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different ScalesMinh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid et al.
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.