Module 15 · Phase 5: Deployment engineering
Simulation-to-Real Integration
Make a robot model and simulated sensors match the hardware, and find out why something that works in simulation fails on the robot.
This overview is open. 5 of 5 guides are written; the others show Coming soon until they are complete and tested.
Questions this module answers
- How do I prepare and validate a robot model (URDF/SDF)?
- How do I configure and match simulated sensors to real ones?
- Why does it work in simulation but fail on hardware?
- How do I validate controller and sensor models and use software/hardware-in-the-loop and bag replay?
What it covers
- URDF and SDF validation
- Gazebo, Isaac Sim
- Physics, sensor and actuator models, noise
- Fidelity gaps
- SIL, HIL, ROS bag replay
Guides and design decisions
A. Engineering Guides (4)
B. Design & Selection (1)
Diagnostics, tools and challenges
C. Troubleshooting (1)
- Robot works in simulation but not in realityThe same software passes in simulation and fails on hardware.
E. Design challenges (1)
- Challenge 5: Humanoid Locomotion IntegrationSimulated humanoid: model, actuators, IMU and joint sensing, state estimation, gait, whole-body control, MPC and validation.
Practical deliverables
- Model validation checklist
- Sensor-matching worksheet
Read first: existing FixTheRobot lessons and labs
This module builds on these instead of repeating them.
- The Reality Gap Robot Learning · Lesson
- System Identification for Transfer Robot Learning · Lesson
- Frames, Timing and Simulation Navigation · Lesson