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Gazebo & Unity Integration

Gazebo (conceptual)​

  • Use Gazebo for deterministic physics tests.
  • Document physics parameters that affect control (gravity, friction, time step).

Unity (conceptual)​

  • Use Unity for visual fidelity, user studies and human-in-the-loop experiments.
  • Document rendering settings and export paths for synthetic dataset generation.

Integration Pattern​

  • Keep physics engine and renderer decoupled.
  • Use a messaging bridge (describe message topics and synchronization strategy).
  • Produce a short checklist for syncing time steps and sensor timestamps between engines.