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This work evaluates the impact of time step frequency and component scale onrobotic manipulation simulation accuracy. Increasing the time step frequencyfor small-scale objects is shown to improve simulation accuracy. Thissimulation, demonstrating pre-assembly part picking for two object geometries,serves as a starting point for discussing how to improve Sim2Real transfer inrobotic assembly processes.

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales