Beyond simulation: Unlocking the frontiers of humanoid robot capability and intelligence with Pepper's open-source...

This research paper presents a high-fidelity, open-source digital-twin of the Pepper robot developed within the framework of the Robot Operating System 2 (ROS 2) for better simulation realism in complex tasks of machine learning. We developed a dedicated, custom ROS 2 package with modern simulation tools, such as Gazebo Sim, MoveIt 2, Rviz2, that brings complete, realistic environments in line with the exact behaviors and interactions of robots in reality. Better accuracy of the physical movement of Pepper robot's simulation was shown on the digital twin, validated by the Choregraphe software and real robot performance, to be a strong platform of collaboration and further research by the community. This development greatly pushes the envelope of human-like humanoid robotics further by offering a scaled, flexible, and plausible training environment conducive to integrating complex algorithms of robot learning and interaction capabilities.