Module 2: The Digital Twin (Gazebo & Unity)
Welcome to the second module of the Physical AI & Humanoid Robotics Textbook! This module focuses on simulation environments where you can safely test your robots before deploying to real hardware.
Overview
In this module, you'll learn:
- How to create simulation environments in Gazebo
- How to describe robots using both URDF and SDF formats
- How to implement physics simulation
- How to simulate various sensors
- How to use Unity for high-fidelity rendering
- How to create human-robot interaction scenarios in Unity
Prerequisites
- Completed Module 1 (ROS 2 fundamentals)
- Understanding of basic physics concepts
- Basic knowledge of 3D modeling concepts
Chapters
This module contains 6 chapters that will teach you to create and work with digital twins:
- Gazebo Simulation Environment
- URDF and SDF Robot Description
- Physics Simulation
- Sensor Simulation
- Unity for High-Fidelity Rendering
- Human-Robot Interaction in Unity
Each chapter includes hands-on exercises, code examples, and assessments to reinforce your learning.