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Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact

2022-09-30 23:08:28
Yunuo Chen, Minchen Li, Wenlong Lu, Chuyuan Fu, Chenfanfu Jiang

Abstract

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.

Abstract (translated)

URL

https://arxiv.org/abs/2210.00130

PDF

https://arxiv.org/pdf/2210.00130.pdf


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