Inquiry regarding simulator usage for displacement (u) in real-world setup

[MinjiK11]

Hi, thank you for the interesting work!

I have a question regarding the use of the simulator.
It seems that the contact points and displacement (u) are determined using the simulator.
When conducting real-world experiments, are these values still obtained via the simulator (e.g., running in parallel), or are they derived from real-world sensors?

Thank you.

[ShaoxiongYao]

Hi,

Thank you for your questions. The displacements (u) of the volumetric stiffness field are determined by the rest point locations and the kinematic trajectories of the geometries in contact. In real-world applications, after the VSF rest points are instantiated, the displacements are still determined from the trajectories of the moved objects (e.g. robot geometries computed using forward kinematics), not using the real-world sensors.

Using the real-world perception data has the potential to improves deformation simulation, and we have been working in this direction. We will keep you updated on any progress.