Environment Configuration — Robot

The env.robot parameter allows you to specify which robot to use in your simulation. This is one of the most powerful configuration options, enabling you to change not just the robot model but also its components, payloads, and end effectors.

Robot Selection

The simplest way to select a robot is by specifying its name:

srb agent rand -e _manipulation env.robot=ur10

srb agent rand -e _ground env.robot=unitree_go1

srb agent rand -e _aerial env.robot=crazyflie

End Effector for Manipulators

You can attach specific end effectors to manipulators using the + syntax:

srb agent rand -e _manipulation env.robot=ur10+shadow_hand

To keep the default end effector while changing the base manipulator:

srb agent rand -e _manipulation env.robot=unitree_z1+

To only change the end effector:

srb agent rand -e _manipulation env.robot=+shadow_hand

Payload for Mobile Robots

Similarly, you can attach payloads to mobile robots:

srb agent rand -e _ground env.robot=spot+cargo_bay

To keep the default payload while changing the base mobile robot:

srb agent rand -e _ground env.robot=anymal_d+

To only change the payload:

srb agent rand -e _ground env.robot=+cargo_bay

Combine Mobile Manipulators

SRB supports combining any mobile robot with any manipulator for mobile manipulation environments via the env.robot.mobile_base and env.robot.manipulator parameters:

srb agent rand -e _ground_manipulation env.robot.mobile_base=unitree_a1 env.robot.manipulator=unitree_z1

Similarly, you can attach payloads to the mobile base and end effectors to the manipulator:

srb agent rand -e _ground_manipulation env.robot.mobile_base=anymal_d+cargo_bay env.robot.manipulator=ur10+shadow_hand

Change Action Groups

Each robot and active tool (end-effector) has its associated action group that is automatically manifested in the action space of the whole system. You can change the action group of the robot or active tool using the env.robot.actions parameter:

srb agent rand -e _manipulation env.robot.actions=joint_position_relative