IsaacSim Booster

Controllable Booster Robot in Isaac Sim 5.1 with RoboCup@Home Environment

Overview

This repository contains the development of a simulation environment for the Booster humanoid robot using NVIDIA Isaac Sim 5.1.

The project was completed during an internship with the goal of creating a simulation framework that allows testing robot functionality before deployment on the physical robot.

The simulation includes

• Booster humanoid robot
• ROS 2 integration
• Domestic RoboCup@Home environment
• Camera sensor support
• Collision handling
• Support for existing Booster control policies

Running the Simulation

• Download booster-runner-full-7dof_arms-0.0.4.run form https://booster.feishu.cn/wiki/XAS3wv4lwiSiXXkDbMrceE6UnHc#doxcndlVE80Kz5m6KSwh06GBexg at save it in the folder ./booster_stack

source /opt/ros/humble/setup.bash
source package_extract_51/booster_ros2/install/setup.bash

colcon build

Start the Booster Environment

./package_extract_51/start_ros2_local_isaac_sim.sh

Start the Booster Runner

./booster_stack/booster-runner-full-7dof_arms-0.0.4.run

Control the Robot

./booster_robotics_sdk/build/b1_loco_example_client 127.0.0.1

Example commands

• mw – ready for walking
• w – forward
• s – backward
• a – left
• e – right
• l – stop

RoboCup@Home Environment

The environment contains a simplified domestic scene including

• walls
• shelves
• indoor obstacles
• navigation space

allowing the Booster robot to perform navigation and interaction tasks in a realistic home environment.

Known Issues

• Performance depends heavily on GPU hardware.
• The environment is intended for research and development purposes.

Development Log

A complete week-by-week development history can be found in

DEVELOPMENT_LOG.md