SpaceData/int-ball2_data_on_iss

Int-Ball2 Simulator (Isaac Sim)

This repository contains a simulator for "Int-Ball2," an on-orbit robot operating in the "Kibo" Japanese Experiment Module on the International Space Station (ISS). Built on NVIDIA Isaac Sim, this simulator faithfully reproduces the behavior of Int-Ball2 via ROS 2, allowing users to test their own programs.

Overview

Int-Ball2 is a camera robot that photographs and supports astronaut activities onboard, operated remotely from the ground. This simulator aims to provide a detailed simulation of the actual robot's behavior, enabling researchers and developers to test space robotics technology on the ground.

In collaboration with JAXA, SpaceData Inc. has released actual operational data (in ROSBag format) from Int-Ball2, available free of charge. Using this data, you can replicate the robot's actual movements within the simulator for analysis and application from various perspectives.

Usage

For detailed instructions on how to use this simulator, please refer to the following GitHub repository:

• GitHub Repository: Int-Ball2 Isaac Sim

Setup Overview

1. Clone the repository:

   git clone https://github.com/sd-robotics/int-ball2_isaac_sim.git
   

2. Install dependencies and build: Follow the instructions in the repository's README.md to install dependencies, download assets, and build the project.

3. Launch the simulator:

   ros2 launch ib2_isaac_sim int-ball2_isaac_sim.launch.py usd_file:="KIBOU.usd"
   

   Once Isaac Sim launches, press the '▶' (Play) button on the left side of the screen to start the simulation.

Replaying Real ISS Operational Data

You can also download the ROSBag data released on HuggingFace and replay it in the simulator. For detailed procedures, please check the repository's documentation.

License

This project is licensed under the Apache-2.0 License.

Acknowledgements

This simulator was developed by SpaceData Inc. in collaboration with JAXA as part of the JAXA Space Innovation through Partnership and Co-creation (J-SPARC) program. The robot data was collected using the "Kibo" Paid Utilization Program (*1).

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(*1) "Kibo" Paid Utilization Program (Non-standard service): A program offered by the JAXA Human Spaceflight Technology Directorate for the use of the "Kibo" module, allowing missions to be carried out for a fee in response to individual requests.