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.
Cite
@article{arxiv.2210.00130,
title = {Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact},
author = {Yunuo Chen and Minchen Li and Wenlong Lu and Chuyuan Fu and Chenfanfu Jiang},
journal= {arXiv preprint arXiv:2210.00130},
year = {2022}
}