In-hand object pose tracking

A system comprising:

• one or more processors;
• and
• computer-readable memory storing executable instructions that, as a result of being executed by the one or more processors, cause the system to:
• obtain data describing forces on a robotic appendage that is grasping an object;
• generate simulations of the robotic appendage grasping the object, individual simulations of the simulations having different poses for the object;
• determine a plurality of values where each value of the plurality of values corresponds to a respective simulation of the plurality of simulations, and each value of the plurality of values is based at least in part on differences between the forces and simulated tactile simulated forces generated by the respective simulation of the plurality of simulations;
• identify an individual simulation of the simulations based at least in part on the value;
• and
• determine a pose of the object in the real world based at least in part on a pose of the object in the identified individual simulation.

Computer-readable media storing instructions that, as a result of being executed by one or more processors of a computer system, cause the computer system to:

• obtain data describing forces on a robotic appendage that is grasping an object;
• perform simulations of the robotic appendage grasping the object, individual simulations of the simulations having different poses for the object;
• determine a plurality of values where each value of the plurality of values corresponds to a respective simulation of the plurality of simulations, and each value of the plurality of values is based at least in part on differences between the forces and simulated tactile simulated forces generated by the respective simulation of the plurality of simulations;
• identify an individual simulation of the simulations based at least in part on the value;
• and
• determine a pose of the object in the real world based at least in part on a pose of the object in the identified individual simulation.