Environment Configuration

The Space Robotics Bench provides a flexible configuration system for environments through Hydra. This document explains how to customize environment parameters across different domains and tasks.

How Does It Work?

Each SRB environment is registered alongside its Python configuration class, which defines the default parameters for that specific environment. All environment configuration classes are organized in a hierarchical structure via inheritance, where BaseEnvCfg does most of the heavy lifting. This design supports a modular and extensible configuration system that allows for easy customization of environment parameters.

Modifying Configurations

You can modify environment configurations in several ways:

1. Command-Line Overrides

The most direct way to modify environment parameters is through command-line overrides:

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

2. Configuration Files

Key Parameters

Below are the most important configuration parameters organized by category (several parameters have their own detailed documentation pages):

Scenario/Environment

• env.domain - Domain
• env.robot - Robot
• env.scene.num_envs, env.stack - Parallelism
• env._particles - Particles

Simulation

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

Debugging

• env.debug_vis - Enables debug visualization features