Space Robotics Bench (SRB) is a comprehensive collection of environments and tasks for robotics research in the challenging domain of space. It provides a unified framework for developing and validating autonomous systems under diverse extraterrestrial scenarios. At the same time, its design is flexible and extensible to accommodate a variety of development workflows and research directions beyond Earth.

Key Features

  • Highly Parallelized Simulation via NVIDIA Isaac Sim: SRB supports thousands of parallel simulation instances to accelerate workflows such as online learning, synthetic dataset generation, parameter tuning, and validation.

  • On-Demand Procedural Generation with SimForge: Automated procedural generation of simulation assets is leveraged to provide a unique scenario for each simulation instance, with the ultimate goal of developing autonomous systems that are both robust and adaptable to the unpredictable domain of space.

  • Extensive Domain Randomization: All simulation instances can be further randomized to enhance the generalization of autonomous agents towards variable environment dynamics, visual appearance, illumination conditions, as well as sensor and actuation noise.

  • Compatibility with Gymnasium API: All tasks are compatible with a standardized API to ensure seamless integration with a broad ecosystem of libraries and frameworks for robot learning research.

  • Seamless Interface with ROS 2 & Space ROS: Simulation states, sensory outputs and actions of autonomous systems are available through ROS 2 middleware interface, enabling direct interoperability with the vast (Space) ROS ecosystem.

  • Abstract Architecture: The architecture of SRB is designed to be modular and extensible, allowing for easy integration of new assets, robots, tasks and workflows

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Table of Contents (available in the left sidebar)

Overview

  1. Environments
  2. Robots
  3. Integrations & Interfaces

Getting Started

  1. System Requirements
  2. Installation
  3. Basic Usage
  4. Workflows

Configuration

  1. Environment Configuration
  2. Agent Configuration

Reference

  1. Command Line Interface (CLI)
  2. Graphical User Interface (GUI)

Development

  1. IDE Configuration
  2. Dev Container
  3. Testing
  4. Documentation
  5. Utilities

Contributing

  1. New Assets
  2. New Tasks

Miscellaneous