This letter presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantee, and frictional contact modeling, with acceptable runtime suitable for learning tasks. Current simulators often satisfy only a subset of these needs, primarily focusing on distinct rigid-rigid or soft-soft interactions. The proposed ZeMa prioritizes physical accuracy and integrates the incremental potential contact method, offering unified dynamics simulation for both soft and rigid objects. It efficiently manages soft-rigid contact, operating 75x faster than baseline tools with similar methodologies like IPC-GraspSim. We have conducted extensive experiments to prove the accuracy, especially on the frictional contact. To demonstrate its applicability, we employ it for parallel grasp generation and penetrated grasp repair.

中文翻译：

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软-刚耦合增量电位接触的无相交机器人操纵

这封信介绍了一种新颖的模拟平台 ZeMa，专为涉及软物体的机器人操作任务而设计。理想情况下，这种模拟需要三个属性：双向软刚耦合、无相交保证和摩擦接触建模，以及适合学习任务的可接受的运行时间。当前的模拟器通常只能满足这些需求的一部分，主要关注不同的刚性-刚性或软-软相互作用。所提出的 ZeMa 优先考虑物理精度并集成增量电位接触方法，为软体和刚性物体提供统一的动力学模拟。它可有效管理软刚性接触，运行速度比采用 IPC-GraspSim 等类似方法的基准工具快 75 倍。我们进行了大量的实验来证明准确性，特别是在摩擦接触方面。为了证明其适用性，我们将其用于并行抓取生成和穿透抓取修复。