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Module 2: Simulation & Digital Twins

Simulation is the bridge between design and reality. In this module you'll:

  • Set up Gazebo and create SDF/URDF-based robots conceptually.
  • Use Unity for high-fidelity rendering and interactive HRI testing.
  • Simulate sensors: cameras, LiDAR, IMU, contact sensors.
  • Plan datasets for synthetic data generation to train perception models.

Learning Activities (static)​

  • Design a simulated environment checklist (lighting, textures, physics parameters).
  • Create a dataset plan: object types, poses, lighting variations, annotation schema.
  • Define sim-to-real transfer steps: domain randomization list, system ID parameters to record.