Environments – Mobile Manipulation

Environments combining mobility and manipulation.

Aerial Manipulation (_aerial_manipulation)

Template environment for aerial mobile manipulators. Configure via env.robot.mobile_base=<aerial_robot> and env.robot.manipulator=<manipulator>.

Simulation only; no trained policy ships.

Robots

Generic Aerial Manipulator

Ground Manipulation (_ground_manipulation)

Template environment for ground mobile manipulators. Configure via env.robot.mobile_base=<ground_robot> and env.robot.manipulator=<manipulator>.

Robots

Generic Ground Manipulator

Orbital Manipulation (_orbital_manipulation)

Template environment for orbital mobile manipulators. Configure via env.robot.mobile_base=<orbital_robot> and env.robot.manipulator=<manipulator>.

Robots

Generic Orbital Manipulator

Mobile Debris Capture (mobile_debris_capture)

Capture of floating debris in microgravity with a floating-base mobile manipulator

Robots

Generic Orbital Manipulator

distance_debris_too_far activates penalty_debris_too_far; it does not terminate the episode. The finite horizon reports truncated. Episode info has no success, so bounded evaluation reports return only.

Spacewalk (spacewalk)

Humanoid spacewalk: rail-aligned waypoint traversal near spacecraft structure

Simulation only; no trained policy ships. Thruster-less humanoid traverses waypoints and station-keeps by pushing off spacecraft structure.

Aliases spacewalk_eva / spacewalk_iva make benchmark/launch configuration explicit. Built-in EVA waypoints clear the station; custom paths must too, or humanoid, rails, and cameras can enter station meshes. Set env.use_waypoint_path=false for one random target within ±target_pos_range m of spacecraft origin, a simpler reaching ablation.

Train and evaluate.

The task checks only the current waypoint each control step and advances at most one waypoint. Passing through an intermediate waypoint between samples does not count as reaching it.

srb agent train --algo dreamer --env spacewalk_eva
srb agent eval --algo dreamer --env spacewalk_eva --model <path/to/checkpoint>

No task-specific DreamerV3 profile exists; the global preset (deter = 8192, train_ratio = 32) is not tuned for contact locomotion. Evaluation reports:

Diagnose near-zero success. Read min_distance_to_target with waypoint_progress:

• Low progress + large distance: never nears first waypoint.
• Low progress + small distance: nears a waypoint, cannot advance reliably.
• Progress near 1 + zero success: inspect min_distance_to_final_target; above success_radius means goal region not reached, at/below means required hold failed.

EVA scenery. ISSGatewayScenery:

Success: final waypoint within success_radius (0.5 m) for success_stability_steps (10 control steps). Episode-sticky flag records reaching and briefly holding, not ending there. Resets randomize position in a ±0.5 m box at EVA path start or Kibou origin, orientation fully, linear velocity ±0.1 m/s, angular velocity ±5°/s.

Observation/action. DreamerV3 vector fields: tf_rot6d_robot (6D orientation), body-frame target vector tf_pos_robot_to_target, path-mean dist_to_spacecraft, nearest-rail distance, normalized progress, body-frame linear/angular velocity, joint positions/velocities, IMU linear acceleration/ angular velocity. No contact state; infer contact from IMU acceleration. Actions: per-joint position targets; dimension follows actuated USD articulation joints at runtime. JointPositionToLimits bounds physical limits. Raw observations: metre-scale distances, [0,1] progress, [-1,1] rot6d. DreamerV3 symlog handles this range; normalize for other algorithms. No real-hardware validation spec, real environment generation, or joint-position actuation adapter.

Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1

Waypoints reach ~6 m from work-volume centre, within the drift penalty’s 9 m knee, barely penalizing traversal. Leaving structure is effectively unrecoverable without a push surface; the penalty discourages escape without pulling to origin. Reward favors reaching/holding the goal.

Shaping. Distance/reaching rewards follow the current waypoint, advancing immediately on arrival. No advance bonus: observe/report waypoint_progress, never reward it. Intermediate advances transiently drop per-step reward by about that leg’s distance/reaching rewards. Final goal stays optimal; agents must cross the local dip instead of camping outside each radius.

Horizon/contact. Truncate at 20 s / 500 steps; no failure termination and termination always false. Finite horizon (is_finite_horizon=true), so RSL-RL does not bootstrap at the time limit. Rewards cover traversal/station-keeping only; rigid station, Gateway, and handrail contact are neither rewarded nor penalized. No grasp reward or penalty for brushing structure.

Locomotion/routes. Without thrusters/ground, internal joint motion cannot change centre-of-mass velocity; translation needs station/rail push-offs. Randomized initial drift (±0.1 m/s) covers only part of a multi-metre leg. Rails cue distance and provide propulsion; at EVA endpoint, brace to arrest velocity. Rewards measure approach velocity/progress/distance, not contact; infer push-offs from downstream effects. EVA: ~12.5 m exterior rail route with lateral turn; 20 s needs ~0.6 m/s average and efficient push-off chaining. IVA: short, confined Kibou; waypoint spacing comparable to shared 0.5 m success_radius, favoring final acquisition/station-keeping over long-range traversal.

Spacewalk Eva (spacewalk_eva)

Humanoid EVA traversal along exterior spacecraft handrails

Simulation only; no trained policy ships. See Spacewalk for training and evaluation.

Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1

Evaluation. Episode-end info publishes success; bounded evaluation reports success rate and return.

Spacewalk Iva (spacewalk_iva)

Humanoid IVA traversal inside the Kibou module

Simulation only; no trained policy ships. See Spacewalk for training and evaluation.

Robots

Humanoid21 | Humanoid28 | Unitree H1 | Unitree G1