Skip to main content

Digital Twins

A digital twin is a virtual replica of a robot and its environment. Use digital twins to:

  • Simulate edge cases safely.
  • Generate synthetic datasets.
  • Validate deployment before flashing to edge devices.

Digital Twin Workflow (static)​

  1. Model the robot geometry and mass properties (URDF/Xacro).
  2. Validate dynamics in the simulator using a checklist.
  3. Add virtual sensors and verify data formats and timing.
  4. Create synthetic datasets with labels and metadata.
  5. Plan sim-to-real transfer: domain randomization parameters and weight export process.

Documentation Tips​

  • Keep a versioned record of the digital twin model.
  • Store configuration parameters with clear comments for reproducibility.