The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales
This work addresses simulation realism for robotic assembly, but it is incremental as it serves as a starting point for improving Sim2Real transfer.
The study investigated how time step frequency affects simulation accuracy in robotic manipulation, finding that higher frequencies improve accuracy for small-scale objects, with the simulation demonstrating pre-assembly part picking for two geometries.
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.