The idea of putting a robot sim­u­la­tor inside a robot, well, it’s not a new idea but it’s tricky and very few peo­ple have pulled it off. In fact, it takes a bit of get­ting your head round. The robot needs to have, inside itself, a sim­u­la­tion of itself and its envi­ron­ment, and oth­ers in its envi­ron­ment. And run­ning in real-time as well.