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Module 2: The Digital Twin (Gazebo & Unity)

Introduction​

Simulation is crucial for developing and testing robotic systems before deploying them in the real world. This module introduces you to Gazebo for physics simulation and Unity for high-fidelity rendering and human-robot interaction.

Learning Objectives​

By the end of this module, you will be able to:

  • Set up and configure Gazebo simulation environments
  • Create and modify URDF/SDF robot models
  • Simulate physics, gravity, and collisions
  • Use Unity for high-fidelity robot visualization
  • Simulate sensors: LiDAR, Depth Cameras, and IMUs

Why Simulation?​

  • Safety: Test dangerous scenarios without risk
  • Cost-Effective: No need for expensive hardware during development
  • Reproducibility: Repeat experiments with exact conditions
  • Speed: Run simulations faster than real-time

Module Structure​

  1. Gazebo Basics - Environment setup and configuration
  2. URDF and SDF - Robot description formats
  3. Physics Simulation - Gravity, collisions, and dynamics
  4. Sensor Simulation - LiDAR, cameras, IMUs
  5. Unity Integration - High-fidelity rendering

Let's start with Gazebo!