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--- |
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license: apache-2.0 |
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tags: |
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- ros |
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- space |
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- robotics |
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- rosbag |
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--- |
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# Int-Ball2 Simulator (Isaac Sim) |
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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. |
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## Overview |
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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. |
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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. |
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## Usage |
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For detailed instructions on how to use this simulator, please refer to the following GitHub repository: |
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* **GitHub Repository:** [Int-Ball2 Isaac Sim](https://github.com/sd-robotics/int-ball2_isaac_sim) |
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### Setup Overview |
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1. **Clone the repository:** |
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```bash |
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git clone https://github.com/sd-robotics/int-ball2_isaac_sim.git |
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``` |
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2. **Install dependencies and build:** |
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Follow the instructions in the repository's `README.md` to install dependencies, download assets, and build the project. |
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3. **Launch the simulator:** |
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```bash |
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ros2 launch ib2_isaac_sim int-ball2_isaac_sim.launch.py usd_file:="KIBOU.usd" |
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``` |
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Once Isaac Sim launches, press the '▶' (Play) button on the left side of the screen to start the simulation. |
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### Replaying Real ISS Operational Data |
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You can also download the ROSBag data released on HuggingFace and replay it in the simulator. |
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For detailed procedures, please check the [repository's documentation](https://github.com/sd-robotics/int-ball2_isaac_sim#iss-robot-real-data-replaying). |
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## License |
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This project is licensed under the **Apache-2.0 License**. |
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## Acknowledgements |
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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. |
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The robot data was collected using the "Kibo" Paid Utilization Program (*1). |
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--- |
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(*1) ["Kibo" Paid Utilization Program (Non-standard service)](https://humans-in-space.jaxa.jp/kibouser/subject/invitation/charge/73964.html): 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. |
