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.

翻译：本文评估了时间步长频率与组件尺度对机器人操作仿真精度的影响。研究表明，针对小尺度物体提高时间步长频率可提升仿真精度。该仿真通过两种几何构型的预装配零件拾取案例，为探讨如何改进机器人装配过程中的Sim2Real迁移奠定了基础。