As Industry 4.0 continues to develop the more advanced and sophisticated traditional factory systems to have more intelligent and interconnected networks, the digital twin has emerged as a primary and inevitable foundation for ensuring operational success in such environments. The concept of a digital twin involves the synchronization of a physical machine with a computer-based 3D model of the machine, that provides the ability to observe and simulate machine behavior without requiring production to cease. This is really important in robotics, as being able to observe a machine’s perception in real time can make a significant difference in terms of safety and efficiency.