Environment Configuration

Configure environments with Hydra.

Command-Line Overrides

srb agent <WORKFLOW> --env <ENV> \
    env.domain=moon \
    env.robot=ur10 \
    env.num_envs=4 \
    env.stack=false \
    ...

Configuration Files

Each environment’s @configclass extends BaseEnvCfg. Hydra loads task Python defaults, merges CLI overrides, and writes the resolved config to <logdir>/.hydra/config.yaml unless the command disables its output directory.

Save overrides in YAML and pass them with --cfg:

srb agent zero --env peg_in_hole --cfg ./my_overrides.yaml

For example, my_overrides.yaml can contain:

env:
  domain: mars
  num_envs: 8
  robot: ur10

Note: --cfg default uses the environment default; --cfg ignore, none, or null disables the config file.

Tip: Dict-form asset shortcuts expand automatically: env.robot=franka becomes env.robot.name=franka.

Key Parameters

Scenario/Environment

• env.domain - Domain
• env.ephemeris - Ephemeris
• env.robot - Robot
• env.scenery - Set a registry asset name, such as env.scenery=moon_surface.
  • For asset-instance scenery, set fields such as env.scenery.flat_area_size=3.0 or env.scenery.boulder_count=0.
  • If the task accepts a scenery variant (Scenery | AssetVariant), you can also set body, lat_deg, lon_deg, and size_m. Set lat_deg, lon_deg, and size_m to construct RealTerrain. The default body is env.domain (moon, mars, or earth).
  • Fixed-type scenery, such as terrain_landscaping’s Plane, accepts only that asset’s fields.
• env.robot_spawn_height_range - Ground tasks only: root height offset range in metres above the robot’s default spawn height, applied on reset, e.g. env.robot_spawn_height_range=[0.3,0.5]. If unset, the task’s randomize_robot_state range applies.
• env.num_envs, env.stack - Parallelism
• env.particles - Particles
• env.reward - Reward & Normalization

Simulation

• env.sim - Low-level simulation parameters (physics, rendering, etc.)
• env.visuals - Visual appearance settings

Debugging

• env.debug_vis - Enables debug visualization features