2022/09/30 by Chen, Yunuo, Li, Minchen, Lu, Wenlong +2
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2210.00130
We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of our framework with experimental validations on high-precision tasks and through comparisons with Bullet physics. A reinforcement learning pipeline using Midas is also developed and tested to perform intersection-free peg-in-hole tasks.