Module 2: The Digital Twin (Gazebo & Unity)
Focus: Physics Simulation and Environment Building
Welcome to Module 2 of Chapter 3, where we immerse ourselves in the practical aspects of creating and manipulating digital twins using industry-standard simulation platforms: Gazebo and Unity. This module is dedicated to equipping you with the skills to build realistic virtual environments and simulate the complex physics that govern humanoid robot interaction with the physical world.
The ability to accurately simulate physics – including gravity, collisions, and various material properties – is paramount for effective robotics development. It allows for rigorous testing of control algorithms, generation of diverse training data for machine learning, and safe exploration of behaviors before deployment on expensive and delicate physical hardware. We will cover how to define robot kinematics and dynamics, integrate sophisticated sensor models, and render visually compelling virtual worlds that enhance both development and human-robot interaction.
Lessons in this Module:
The following lessons will guide you through the essential aspects of physics simulation and environment building:
- Lesson 1: Simulating Physics, Gravity, Collisions in Gazebo
- Detailing Heading: Gazebo Simulation Environment Setup
- Lesson 2: High-fidelity Rendering and HRI in Unity
- Detailing Heading: URDF and SDF Robot Description Formats
- Lesson 3: Simulating Sensors (LiDAR, Depth Cameras, IMUs)
- Detailing Heading: Physics Simulation and Sensor Simulation
- Lesson 4: Integrated Visualization
- Detailing Heading: Introduction to Unity for Robot Visualization (Weeks 6-7 Heaviness)
By the end of this module, you will be proficient in leveraging Gazebo and Unity to create powerful digital twins, accelerating your journey in physical AI development.