Comparative Study of Digital Twin Developed in Unity and Gazebo

Digital twin (DT) technology has become a cornerstone in the simulation and analysis of real-world systems, offering unparalleled insights into the lifecycle management of physical assets. By providing a real-time synchronized replica of the physical entity, DTs enable predictive maintenance, performance optimization, and lifecycle extension, which are pivotal for industries aiming for digital transformation. This paper presents a comprehensive comparative study of DT development of a robotic arm using two prominent simulation platforms: Unity and Gazebo. Unity, with its roots in the gaming industry, offers robust real-time rendering and a user-friendly interface, making it a versatile choice for various industries. Gazebo, traditionally used in robotics, provides detailed physics simulations and sensor data emulation, which is ideal for precise engineering applications. We explored the performance of both platforms in creating accurate and dynamic digital replicas. Through qualitative and quantitative analyses, this study evaluates each platform’s strengths and limitations. The study assesses these platforms across key performance metrics such as accuracy, latency, graphic quality, and integration with the Robot Operating System (ROS). The DTs were developed using a consistent physical setup and communication layer to ensure fair comparisons. The results indicate that Unity performed better in terms of accurately mimicking the robotic arm with lower latency, making it ideal for applications requiring high-fidelity visualizations and real-time responsiveness. However, Gazebo excels in its ease of ROS integration and cost-effectiveness, making it a suitable choice for smaller robotics and automation projects. This study conducts an empirical comparison of these platforms in terms of their performance in creating DTs of robotic arms which is not readily available. This paper aims to guide developers and organizations in selecting the appropriate platform for their DT initiatives, ensuring efficient resource utilization and optimal outcomes.