Building a Robot Digital Twin in Isaac Sim: A Step-by-Step Example

Accurate robotic simulation allows one to design advanced control algorithms. But capturing all the robot parameters need for simulation precisely is extremely complicated (especially in the case of agile robots). We'll describe (1) how to make a digital twin starting from the CAD model of robot; (2) how to adjust all necessary robot parameters; and (3) how to synchronize the digital twin with the physical robot in real time. As an example, we'll use the robot arm controlled with the Jetson AGX Orin.