IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model
Chung Min Kim,Michael Danielczuk,Isabella Huang,Ken Goldberg,Chung Min Kim,Michael Danielczuk,Isabella Huang,Ken Goldberg
Accurately simulating whether an object will be lifted securely or dropped during grasping is a longstanding Sim2Real challenge. Soft compliant jaw tips are almost universally used with parallel-jaw robot grippers due to their ability to increase contact area and friction between the jaws and the object to be manipulated. However, interactions between the compliant surfaces and rigid objects are n...
