Environment Configuration — Domain

Set env.domain to choose a planetary or orbital domain. Each domain provides default gravity and lighting. Scenery provides terrain. Domains have no atmospheric model.

Available Domains

Choose one of five domains. No shipped task defaults to earth or asteroid:

Set the domain on the command line:

# Run a simulation on Mars
srb agent teleop --env sample_collection env.domain=mars

Gravity affects free bodies and mobile bases. Shipped manipulators disable gravity. To use gravity from another domain, set env.gravity=<domain>. This also uses that domain’s gravity randomization. modular_assembly defaults to earth gravity.

Lighting sets intensity, color temperature, angular diameter, and skydome. To set fog, use env.visuals.fog. Rendered irradiance is not calibrated atmospheric lighting.

Variant resolution excludes candidates whose nonempty DOMAINS omits the selected domain; an empty list permits all. This rule applies only to variants.