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Simulation Environment for Autonomous Excavation Robotics

A Unity3D/AGX-based simulation environment (TERA) for developing end-to-end excavator autonomy. Beyond the high-fidelity joint and soil-tool dynamics of traditional excavator simulators, it also renders perception sensors and supports planning and control, lets users configure excavator and terrain, and adds a time-varying dynamics model so responses vary realistically, enabling scalable data generation for methods such as reinforcement-learning controllers.