Environments

• Manipulation - Stationary manipulation skills and sequences in various contexts
• Mobile Robotics - Traversal and navigation under extraterrestrial conditions
• Mobile Manipulation - Complex combination of mobility and manipulation
• Digital Twins - Facility-inspired simulation environments; fidelity and validation vary by environment

Namespaces and what the listings count

Every environment on the pages above is registered in Gymnasium under the srb/ namespace, and that namespace is the only one the tooling counts. srb ls env, srb doc docgen and the offline cache builder resolve environments through get_srb_tasks() in srb/utils/registry.py, whose namespace argument defaults to "srb". Bare srb doc serves the documentation; it does not introspect tasks.

A second namespace, srb_real/, exists but is deliberately absent from those listings. It holds generated RealEnv interfaces for ROS 2 robot deployments, created by srb real_agent gen and designed not to depend on Isaac Sim. Their existence does not establish physical-robot validation or readiness. They model no simulated scenario, have no reward curve, episode length or compatible-robot matrix to document, and are selected by the srb real_agent commands rather than by srb agent. The repository currently defines five:

• srb_real/excavation
• srb_real/formation_following
• srb_real/terrain_landscaping
• srb_real/terrain_landscaping_crater
• srb_real/waypoint_navigation

Their registration is deferred, not eager. Importing srb, or even importing the srb.interfaces.sim_to_real.env package itself, registers none of them; the ids appear only once srb.interfaces.sim_to_real.env.register_all() is called. The runtime path calls it to register generated environments and may generate a missing one when a deployment profile exists; srb real_agent gen generates a module from a registered simulation task; and srb real_agent validate registers generated real environments before resolving the validation target. A normal simulation session therefore never sees an srb_real/ id, which is why the counts on these pages cover the srb/ namespace alone.

See Sim-to-Real Transfer and the srb real_agent gen reference for how these environments are generated and run.