Robot Simulation¶
This module covers robot simulation frameworks and best practices.
Topics¶
- Gazebo - ROS-native robot simulation
- Drake - Advanced manipulation simulation
- MuJoCo - Physics engine for locomotion
- PyBullet - Quick prototyping simulator
Why Simulate?¶
- Safe testing without hardware damage
- Rapid iteration and debugging
- Parallel training for reinforcement learning
- Reproducible experiments
Sim-to-Real Transfer¶
Bridging the gap between simulation and reality: - Domain randomization - System identification - Progressive fine-tuning
