  In this paper, a digital twinning framework for indoor integrated sensing,
communications, and robotics is proposed, designed, and implemented. Besides
leveraging powerful robotics and ray-tracing technologies, the framework also
enables integration with real-world sensors and reactive updates triggered by
changes in the environment. The framework is designed with commercial,
off-the-shelf components in mind, thus facilitating experimentation in the
different areas of communication, sensing, and robotics. Experimental results
showcase the feasibility and accuracy of indoor localization using digital
twins and validate our implementation both qualitatively and quantitatively.
