Environments – Mobile Robotics

Mobile robot navigation and locomotion tasks for Isaac Sim 6.1.0 with Isaac Lab 3.0.0.

Aerial (`_aerial`)

Template environment for aerial mobile robots. Configure via env.robot=<aerial_robot>.

_aerial

Simulation only; no trained policy ships.


Episode Length	10.0s (250 steps)
Reward Terms	1
Default Robot	Ingenuity

Robots

Crazyflie | Ingenuity

Rewards

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–

Ground (`_ground`)

Template environment for ground mobile robots. Configure via env.robot=<ground_robot>.

_ground


Episode Length	10.0s (250 steps)
Reward Terms	1
Default Robot	Cadre

Robots

Rewards

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–

Orbital (`_orbital`)

Template environment for orbital mobile robots. Configure via env.robot=<orbital_robot>.

_orbital


Episode Length	10.0s (250 steps)
Reward Terms	2
Default Robot	Cubesat

Robots

Rewards

Term	Type	Weight	Scale	Notes
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-1	–

Camera clipping. Set env.camera_clipping_range=[near,far] to override the render far plane and uint8 depth quantization; depth beyond far saturates and geometry is omitted from RGB.

Environment	Far plane	Reason or limit
Orbital default	100 m (`(0.01, 100.0) m`)	Orbital robots define no clipping range.
`rendezvous`	50 m	`max_target_distance`; about 20 cm per uint8 depth step, versus 39 cm at 100 m.
`orbital_evasion`	150 m	100 m bounds radius plus obstacle field.
`landing`, `moonfall`	400 m	Nadir camera reaches 200–220 m above terrain, tilted up to 30°.

Aerial navigation to a dynamic waypoint with terrain-clearance tracking

aerial_navigation

Simulation only; no trained policy ships.


Episode Length	60.0s (1500 steps)
Reward Terms	7
Default Robot	Ingenuity

Robots

Crazyflie | Ingenuity

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
reward_altitude_tracking	HyperbolicTracking	4	1
reward_waypoint_approach	Hyperbolic	16	2
penalty_tilt_angle	OffsetLinear	-2	–
reward_terrain_clearance	HyperbolicBarrier	8	0.5
penalty_energy	Linear	-0.5	–
reward_waypoint_reached	Threshold	32	–

Bounded evaluation. Aerial Navigation and linked tasks omit success; bounded evaluation reports return only.

Beam Transport (`beam_transport`)

Two-robot collaborative transport of a rigid beam payload to a target point

beam_transport

Two Spot quadrupeds carry a rigid beam to a target on procedural MoonSurface. One shared policy observes robots in fixed order and splits one joint action across them, as in formation following.

`beam_kinematic_mount_enabled`	Behavior
`true` (default)	Mount beam at pair midpoint and heading, level at fixed height. Reward shapes support-slot alignment and gentle transport; no grasp/contact dynamics, tilt/drop penalties, or tilt success gate.
`false`	Free-beam ablation; restores tilt/drop penalties and tilt success gate.

No trained policy ships. Train and evaluate with:

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

Rollouts report min_beam_distance_to_target (m), success-hold streak, and success_rate. At zero success, minimum distance shows partial progress.


Episode Length	30.0s (750 steps)
Reward Terms	15
Default Robot	Spot

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
reward_beam_position	Gaussian	16	1.5
reward_beam_midpoint_alignment	Gaussian	10	0.25
reward_robot_support_slots	Gaussian	12	0.2
reward_beam_progress	Scaled	8	–
reward_attachment_balance	Gaussian	4	0.15
reward_success	Linear	24	–
penalty_beam_tilt	Linear	-4	–
penalty_beam_drop	Linear	-16	–
penalty_beam_speed	Linear	-2	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.00000025	–
penalty_undesired_lin_vel_z	Linear	-0.5	–
penalty_undesired_ang_vel_xy	Linear	-0.1	–
penalty_gravity_rotation_alignment	Linear	-2	–

Success limits. Hold target pose for success_hold_steps=8 steps (0.32 s); target distance ≤ target_zone_radius_xy=0.20 m; beam-to-midpoint and support-slot alignment ≤ beam_attachment_radius_xy=0.30 m; planar speed ≤ target_speed_threshold_xy=0.35 m/s. Free-beam mode also requires 1 - |cos θ| ≤ beam_tilt_tolerance=0.20 (θ ≲ 37° from vertical). Holding success terminates the episode; otherwise it truncates at 30 s. Resets preserve robot spacing with a shared planar offset within ±1.5 m and shared yaw over the full circle; the mounted beam follows the transformed pair.

Policy spaces. Observations: per-robot planar position, velocity, and beam offset; beam position and 6D rotation; beam-target offset and distance; assignment-invariant support-slot error; beam planar/angular velocity; pair midpoint. Positions are environment-relative; inter-body offsets are unchanged. Actions drive both Spot quadrupeds. The reward table includes per-robot penalties for joint torque/acceleration, vertical velocity, roll/pitch rate, and projected-gravity alignment.

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

Flight (`flight`)

Generic powered aerial flight profile with takeoff, transfer, and final landing

flight

Flight: 90 s Martian mission—ascend to cruise altitude, transfer to landing pad, guarded touchdown approach. Mars is default because rotorcraft need atmosphere; see Modelling envelope. Aerial configuration’s domain-selected scenery owns default Mars spawn and clearance.

Set env.landing_only=true to start in final descent phase 2, skipping ascent and transfer. This is the aerial Flight variant; orbital landing is separate.


Episode Length	90.0s (2250 steps)
Reward Terms	8
Default Robot	Ingenuity

Robots

Crazyflie | Ingenuity

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
reward_waypoint_approach	Hyperbolic	12	4
reward_altitude_tracking	HyperbolicTracking	6	1
reward_waypoint_reached	Threshold	20	–
penalty_tilt_angle	OffsetLinear	-2	–
reward_terrain_clearance	HyperbolicBarrier	6	0.8
penalty_energy	Linear	-0.6	–
reward_mission_progress	Linear	60	–

Termination/success. Crash terminates below termination_min_clearance or above termination_max_tilt. Pad arrival latches success in episode_outcome_info (crashed, on_pad, mission_phase), but episode runs to the limit. Success requires reaching the pad without crashing on the final step. At default weights, reward_mission_progress pays 60 per completed phase each step, more than other terms combined per step.

Formation Following (`formation_following`)

Multi-robot formation tracking behind a moving formation center

formation_following

Three Cadre-class rovers follow a drifting center in triangular slots (1.5, 0), (-0.75, 1.3), (-0.75, -1.3) m. Center follows a smooth random walk or ROS formation_center TF.

One shared policy: concatenate observations in fixed rover order, split one joint action across rovers, return one team reward per environment. Observation/action sizes scale linearly with team size. Small teams avoid decentralized communication and role assignment while keeping checkpoints reproducible. Companion centralized surface task: beam transport.

No trained policy ships.

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

Rollouts report mean per-rover slot-distance error (formation_distance_error, m), mean heading error (formation_orientation_error, rad), success-hold streak, and success_rate. At zero success, errors show partial progress.


Episode Length	60.0s (1500 steps)
Reward Terms	9
Default Robot	Cadre

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_formation_tracking	Linear	-1	–
reward_formation_progress	Scaled	4	–
reward_formation_velocity	Linear	2	–
reward_point_towards_target	Linear	0.5	–
reward_formation_precision	Linear	4	–
reward_in_zone	Linear	0	–
reward_formation_orientation	Linear	4	–
reward_action_rate_in_formation	Linear	32	–

Success limits. All rovers stay within formation_success_position_tolerance_xy=0.20 m of their slots and formation_success_yaw_tolerance≈0.349 rad (20°) in heading for success_hold_steps=8 (0.32 s). Holding success terminates the episode (terminate_on_success=true; formation_following_decentralized keeps running); otherwise it truncates at 60 s. Infinite-horizon (is_finite_horizon=false).

Policy spaces. Each rover observes planar slot offset and heading-to-slot (sin, cos); policy observes center and rover planar velocities. Fixed episodic reset noise: 1 cm position, 2.5° heading. Actions: planar linear/angular velocity.

ROS center. ROS replaces random walk with formation_center TF. First post-reset pose re-anchors center; reset jump is not velocity. Not hardware-validated.

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

Formation Following Decentralized (`formation_following_decentralized`)

Single-rover policy view for decentralized formation following

formation_following_decentralized


Episode Length	60.0s (1500 steps)
Reward Terms	9
Default Robot	Cadre

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_formation_tracking	Linear	-1	–
reward_formation_progress	Scaled	4	–
reward_formation_velocity	Linear	2	–
reward_point_towards_target	Linear	0.5	–
reward_formation_precision	Linear	4	–
reward_in_zone	Linear	0	–
reward_formation_orientation	Linear	4	–
reward_action_rate_in_formation	Linear	32	–

Formation Following Orbital (`formation_following_orbital`)

Orbital formation tracking in microgravity

formation_following_orbital


Episode Length	60.0s (600 steps)
Reward Terms	7
Default Robot	Cubesat

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-8	–
penalty_fuel_consumption	Linear	0	–
penalty_action_magnitude	Linear	-8	–
penalty_formation_tracking	Linear	-2	–
reward_formation_precision	Linear	16	–
reward_formation_orientation	Linear	48	–
reward_action_rate_in_formation	Linear	48	–

Slot assignment. randomize_formation_assignment=false assigns environment i to slot i % N (N formation positions), including partial resets. When true (default), each reset draws a random slot.

Landing (`landing`)

Landing of spacecraft on planetary surfaces with varying terrain and obstacles


Episode Length	40.0s (1000 steps)
Reward Terms	11
Default Robot	Peregrine Lander

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-1	–
penalty_angular_velocity	Linear	-0.25	–
penalty_gravity_rotation_alignment	Linear	-1	–
penalty_horizontal_linear_velocity	Linear	-0.1	–
reward_vertical_linear_velocity	Hyperbolic	8	1
reward_landing_angle	Linear	8	–
reward_landing_velocity	Linear	16	–
reward_landing_fuel	Linear	4	–
penalty_crash	Linear	-32	–
penalty_below_target	Linear	-16	–

See evaluation note.

Event cameras. Add events to env.active_sensors for the onboard (landing, moonfall) or front (velocity_tracking, waypoint_navigation) event camera.

Locomotion Velocity Tracking (`locomotion_velocity_tracking`)

Locomotion with legged robots and humanoids while tracking desired velocity commands

Simulation only; no trained policy ships.


Episode Length	20.0s (500 steps)
Reward Terms	12
Default Robot	Spot

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
reward_cmd_lin_vel_xy	Linear	4	–
reward_cmd_ang_vel_z	Linear	2	–
penalty_undesired_lin_vel_z	Linear	-0.5	–
penalty_undesired_ang_vel_xy	Linear	-0.1	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.00000025	–
penalty_undesired_robot_contacts	Threshold	-2	–
penalty_gravity_rotation_alignment	Linear	-2	–
reward_feet_air_time	Linear	0.75	–
reward_quadruped_trot	Linear	1	–
penalty_foot_slip	Linear	-0.5	–

Termination matches Locomotion Waypoint Navigation: undesired non-foot contact, fall (planar projected gravity above 0.85), or non-finite state. Time limits truncate.

See evaluation note.

Navigation to a dynamic waypoint with legged robots and humanoids

Simulation only; no trained policy ships.


Episode Length	60.0s (1500 steps)
Reward Terms	13
Default Robot	Spot

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_position_tracking	Linear	-1	–
reward_point_towards_target	Linear	1	–
reward_position_tracking_precision	Linear	4	–
reward_orientation_tracking	Linear	8	–
reward_action_rate_at_target	Linear	16	–
penalty_joint_torque	Linear	-0.000025	–
penalty_joint_acceleration	Linear	-0.00000025	–
penalty_undesired_robot_contacts	Threshold	-2	–
penalty_undesired_lin_vel_z	Linear	-0.5	–
penalty_undesired_ang_vel_xy	Linear	-0.1	–
penalty_gravity_rotation_alignment	Linear	-2	–
reward_feet_air_time	Linear	0.5	–

Episodes terminate if non-foot contact exceeds its configured undesired-contact threshold, projected gravity’s planar norm exceeds 0.85 (fall), or contact/gravity state is non-finite (fail-closed). Time limits truncate, not terminate.

See evaluation note.

Moonfall (`moonfall`)

Heavy-weight lunar descent with deployment stage and multi-stage landing phases

moonfall


Episode Length	70.0s (1750 steps)
Reward Terms	12
Default Robot	Peregrine Lander

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-1	–
penalty_angular_velocity	Linear	-0.25	–
penalty_gravity_rotation_alignment	Linear	-1	–
penalty_horizontal_linear_velocity	Linear	-0.1	–
reward_waypoint_progress	Hyperbolic	4	4
reward_vertical_linear_velocity	Hyperbolic	8	1
reward_landing_angle	Linear	8	–
reward_landing_velocity	Linear	16	–
reward_landing_fuel	Linear	4	–
penalty_crash	Linear	-32	–
penalty_below_target	Linear	-16	–

See event camera options.

See evaluation note.

Orbital Evasion (`orbital_evasion`)

Navigation of spacecraft in microgravity while avoiding obstacles


Episode Length	30.0s (750 steps)
Reward Terms	7
Default Robot	Cubesat

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-1	–
penalty_angular_velocity	Linear	-0.25	–
reward_obstacle_clearance	HyperbolicBarrier	4	2
penalty_distance_robot_to_target	Linear	-0.32	–
penalty_out_of_bounds	Linear	-16	–
reward_target_approach	Hyperbolic	8	5

Termination. max_target_distance affects penalty_out_of_bounds, not terminated. Collision terminates when robot center of mass enters an obstacle keep-out sphere (0.5 * obstacle_scale * 1.4; 3.5 m for default 5 m asteroids), i.e. clearance falls below termination_min_obstacle_distance (0 m). Robot is a point: large robots may touch obstacles without termination, and about 7% of asteroids extend beyond the sphere on one axis. Obstacle centers spawn at z ∈ [-43, -7] m, at least 7 m from robot spawn and target. Time limits set truncated.

See evaluation note.

Navigation to a dynamic waypoint in orbital microgravity

orbital_waypoint_navigation


Episode Length	30.0s (300 steps)
Reward Terms	9
Default Robot	Satellite Mockup

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	LogCosh	-4	–
penalty_fuel_consumption	Linear	0	–
penalty_action_magnitude	LogCosh	-1	–
penalty_angular_velocity	LogCosh	-2	–
penalty_position_distance	Linear	-1	–
penalty_velocity_at_target	LogCosh	-4	–
reward_position_approach	Hyperbolic	4	2
reward_position_precision	Scaled	8	–
reward_smooth_station_keeping	Scaled	8	–

See evaluation note.

Rendezvous (`rendezvous`)

Maneuvering of spacecraft in microgravity to rendezvous with an uncooperative target


Episode Length	25.0s (625 steps)
Reward Terms	7
Default Robot	Cubesat

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_fuel_consumption	Linear	-8	–
penalty_angular_velocity	Linear	-0.05	–
penalty_distance_robot_to_target	Linear	-16	–
penalty_too_far	Linear	-16	–
reward_precision_position	Gaussian	128	0.025
reward_precision_orientation	Linear	128	–

Termination. Exceeding max_target_distance incurs penalty_too_far but leaves terminated false so the agent can recover. Only the time limit sets truncated.

See evaluation note.

Terrain Landscaping (`terrain_landscaping`)

Terrain landscaping with a ground mobile robot reshaping a particle bed

terrain_landscaping

No trained policy ships. Dreamer requires env.num_envs=1; TD-MPC2 is unsupported; Raph hardware validation is incomplete. See Terrain Landscaping Training.

Setup: RaphRover + articulated RaphShovel (env.robot=raph_rover+raph_shovel). Filtered actions, in order: rover linear, rover angular, shovel extension velocity (terms robot/cmd_vel = linear, angular; payload/joint_vel = prismatic). Shovel resets raised at its 0.2 m joint limit; zero velocity holds position via actuator damping, keeping blade above settled particles until policy lowers it.

Reset: rover within ±1.1 m of bed center, random yaw. Blade reaches about 0.53 m from rover origin and starts clear of ±2.0 m walls. Rear-axle Ackermann steering limits yaw rate; full C/V turn gives about half the command.

Teleoperate (one environment):

srb agent teleop -e terrain_landscaping env.num_envs=1

Input	Action
`W`/`S`, `C`/`V`	Forward/reverse; turn.
`Q`/`E`	Raise/lower shovel. Release sends zero velocity; damping resists drift, no auto-retract.
SpaceMouse forward/back, vertical	Same channels; rover ignores lateral translation.

Each episode deforms the flat reset bed with a hashed, mass-balanced mission: cut/fill balance within 1e-4 m³; cuts stay above available material, fills below containment ceiling, significant deformation in reachable zone. Seed (env.general_mission_seed, env_id, episode_index) reproduces missions across processes. Manifest records generator version, seed, frame, geometry, physical bounds, target-map, reset-layout, and manifest hashes. Infeasible missions redraw; exhausted attempts raise. Configure env.general_mission_profile.*.

This task shares only reward implementation and observation contract with terrain_landscaping_crater; targets, manifests, and curriculum stages are separate.


Episode Length	60.0s (600 steps)
Default Robot	Raph Rover

Robots

Raph Rover

Observation contract. Actor uses external heightmaps, not depth; PhysX particles cannot be raycast. Each policy step publishes one accepted-or-held 10 Hz live-regolith frame. Seven ordered leaves: global current/target (16×16), rover-frame local current/target (24×16), mission pose (x,y,yaw), body velocity (vx,vy,wz), frame age; flattened to 1287 float32. Elevations use mission-frame +z, matching deployment adapters. No validity mask: all 146×146 source cells finite; incomplete/out-of-envelope frames rejected whole. Unobserved: shovel extension, previous action, particle positions, simulator world pose, privileged current-minus-target maps. env.external_heightmap.profile: ideal, randomized, failure_stale.

Reward/episode. Sole reward 1 / (1 + mae / 0.02) on fixed mission grading cells, shared with crater. MDP continues (is_finite_horizon=false); time limit truncates. Success is evaluation-only, never termination or bonus.

Canonical tasks require RaphRover and RaphShovel; other robots or payloads fail before scene binding. Actor observations and canonical deployment profile omit shovel state.

Frame validity. Map, pose, and velocity share a timestamp; local crop uses that pose. Simulation resets capture one synchronous frame; deployment resets wait up to 2.0 s. A missing frame raises (no zero substitute). Frames older than 0.5 s stale-abort outside MDP. Dropped updates repeat the last complete map and increase frame age.

TD-MPC2 is unsupported because shovel extension is unobserved; it fails with an actionable error before creating logs, config, replay, or model. See Terrain Landscaping Training.

Terrain Landscaping Crater (`terrain_landscaping_crater`)

Separate deterministic baseline: fill one shallow crater from a nearby regolith pile

terrain_landscaping_crater

No trained policy ships; Dreamer supports only env.num_envs=1; TD-MPC2 is unsupported; the task is not validated on Raph hardware. See Terrain Landscaping Training.

Separate deterministic task from terrain_landscaping: no curriculum, scheduler, or automatic switching. Layered bed: one shallow bowl crater and one loose pile; crater particles reused, preserving particle count/mass. RaphRover starts fixed with both forward. Visible 4 m slab below physical ground, dark neutral terrain, and light regolith keep the bed readable against lunar skydome in viewport/headless captures.

Static analytic flat-bed target: crater_target_manifest.json; config fails if crater, pile, or spawner settings cannot reproduce hashed reset layout. Reward: 1 / (1 + mae / 0.02) on fixed manifest grading cells using oracle particle truth. Success: 90% of cells within tolerance for 20 consecutive newly accepted mapper frames; report at time-limit truncation, never termination/bonus. Continuing MDP (is_finite_horizon=false): the time limit truncates; leaving the rover pose/velocity envelope terminates. Physics perturbations/lighting randomization disabled. Action/observation schemas match terrain_landscaping.

Inspect by teleoperation:

srb agent teleop -e terrain_landscaping_crater env.num_envs=1


Episode Length	30.0s (300 steps)
Default Robot	Raph Rover

Robots

Raph Rover

Feature	Defaults
Crater	Center `(0.45 m, 0.20 m)`, radius `0.36 m`, depth `0.11 m`.
Pile	Center `(-0.25 m, -0.20 m)`, radius `0.32 m`, height `0.28 m`.

Override under env.*. Out-of-bed, overlapping, or under-capacity layouts fail before particle spawn.

Observation contract. Same heightmap and frame contract as terrain_landscaping; schema flattens to 1287 float32.

TD-MPC2 has the same unsupported setup and fails before logs, config, replay, or model. PhysX PBD particles require a CUDA-capable NVIDIA GPU; particle state uses CPU readback (sim.device = "cpu") for heightmap, reward, and rendering. See Terrain Landscaping Training.

Terrain Landscaping Mound (`terrain_landscaping_mound`)

Separate deterministic baseline: level one regolith mound on a flat bed, graded by excess volume

terrain_landscaping_mound

No trained policy ships, Dreamer runs with env.num_envs=1 only, TD-MPC2 is not supported, and the task is not validated on Raph hardware. See Terrain Landscaping Training.


Episode Length	30.0s (300 steps)
Default Robot	Raph Rover

Robots

Raph Rover

Traversal (`traversal`)

Straight-line path following at a target velocity

traversal


Episode Length	120.0s (3000 steps)
Reward Terms	5
Default Robot	Nifty

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.05	–
penalty_lateral_pos_deviation	Linear	-1	–
reward_vel_progress	Linear	8	–
reward_action_rate_at_target	Linear	32	–
penalty_rollover	Linear	-16	–

Termination. Exceeding max_tilt_rad incurs penalty_rollover but leaves terminated false so the rover can recover. The time limit sets truncated.

See evaluation note.

Velocity Tracking (`velocity_tracking`)

Basic tracking of desired velocity commands


Episode Length	20.0s (500 steps)
Reward Terms	5
Default Robot	Cadre

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
reward_cmd_lin_vel_xy	Linear	4	–
reward_cmd_ang_vel_z	Linear	2	–
penalty_undesired_lin_vel_z	Linear	-0.5	–
penalty_undesired_ang_vel_xy	Linear	-0.1	–

Commands (vx, vy, wz) are sampled uniformly in ±1 m/s and rad/s. Wheeled drives use their own limits instead and get no lateral command.

See evaluation note.

See event camera options.

Navigation to a dynamic waypoint


Episode Length	60.0s (1500 steps)
Reward Terms	6
Default Robot	Cadre

Robots

Rewards

Term	Type	Weight	Scale
penalty_action_rate	Linear	-0.1	–
penalty_position_tracking	Linear	-1	–
reward_point_towards_target	Linear	1	–
reward_position_tracking_precision	Linear	4	–
reward_orientation_tracking	Linear	8	–
reward_action_rate_at_target	Linear	16	–

See evaluation note.

See event camera options.

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Space Robotics Bench