# Bi-Directional Isaac Sim and MuJoCo Bridge for 3D Digital Twin Powered LHC Robotic Interventions

- Institution: CERN
- Speaker: Ogulcan Gurelli
- Year: 2026
- Language: English
- Source: [CERN](https://videos.cern.ch/record/3026713)
- Licence: [CERN](https://copyright.web.cern)
- Who can watch: Teens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

This project builds a live, bi-directional bridge between two robotics simulators, MuJoCo and NVIDIA Isaac Sim, to support robotic maintenance interventions inside a 3D digital twin of the LHC. MuJoCo acts as the single source of truth for physics, while Isaac Sim mirrors the simulation in real time, rendering it photorealistically inside CERN's actual accelerator geometry; control commands flow back the other way, so a robot can be driven through the tunnel live. The motivation is practical, maintenance in the LHC tunnels is slow, costly, and constrained by radiation limits on human access, so being able to test whether a robot can reach and operate on a target, without collisions before it ever enters the real tunnel is valuable. Alongside the bridge, the project implements collision detection against the tunnel's CAD geometry and demonstrates general applicability by driving a quadruped robot through the twin with a game controller. Furthermore there is VR-based control, allowing an operator to step inside the twin and rehearse an intervention before anyone, or any robot, enters the tunnel.:

**Supervisor**: Drew Mason-Laurence

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## Lectures

1. [Bi-Directional Isaac Sim and MuJoCo Bridge for 3D Digital Twin Powered LHC Robotic Interventions](https://invisiblenetwork.ai/learn/cern/3026713/902f8c7648bf), 7 min (CERN's player)