Environment Configuration — Domain
The env.domain parameter configures the planetary or orbital environment for your simulation. This affects gravity, lighting conditions, terrain type, atmospheric properties, and visual appearance.
Available Domains
Space Robotics Bench currently supports the following domains:
| Domain | Description |
|---|---|
moon [default] | Lunar surface |
mars | Martian surface |
earth | Earth surface |
asteroid | Low-gravity body with irregular terrain |
orbit | Orbital microgravity environment |
Usage
You can specify the domain via the command line:
# Run a simulation on Mars
srb agent teleop --env sample_collection env.domain=mars
Domain-Specific Effects
Each domain affects various aspects of the simulation:
Physical Properties
- Gravity magnitude: Affects object dynamics, robot mobility and manipulation requirements
Visual Properties
- Lighting: Light intensity, color temperature, and angular diameter
- Skydome: Background appearance and intensity
- Atmosphere: Fog intensity and color gradient (if applicable)
Asset Selection
Some assets are domain-specific and will only appear for compatible domains. When an asset is registered, it can specify the domains it supports through the DOMAINS class attribute.