| --- |
| license: apache-2.0 |
| tags: |
| - ros |
| - space |
| - robotics |
| - rosbag |
| --- |
| |
| # 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:** |
| ```bash |
| 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:** |
| ```bash |
| 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 |
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| 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](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. |
| The robot data was collected using the "Kibo" Paid Utilization Program (*1). |
| |
| --- |
| (*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. |
