A ROS demonstration package for our article in 2021, "Fast and Accurate Data-Driven Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly Tasks", IJRR (to be submitted).

Yoon, J., Lee. M., Son. D., and Lee, D. J. "Fast and Accurate Data-Driven
Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly
Tasks", International Journal of Robotics Research (To be submitted)

Please visit https://www.inrol.snu.ac.kr/journal for more information.

This program is built and tested in ubuntu 18.04 with ROS melodic. cudnn 11.0 and cuda 11.0 is required to be installed. Please refer to the linked pages.

From the above described environment, run following commands to build the package.

$ cd <your_catkin_ws>/src
$ git clone https://github.com/JM-SNU/inrol_sim_bolting
$ cd ..
$ catkin_make -DCMAKE_BUILD_TYPE=Release

$ roslaunch inrol_sim_bolting example.launch

The asset directory has the following structure.

./
|-  des/
    |-  pd.txt
    |-  Rd.txt
    |-  Rd_gripper.txt
|-  obj/
|-  shader/
|-  txt/

In the above, des directory contains a space-separated data text for the setpoint of the nut CoM. Users can modify them if they want to change the simulation trajectory.

Other directories are intended to be not mutated, and should be left unmodified.