Introduction
Overview
1.
Environments
1.1.
Mobile
1.1.1.
Wheeled
1.1.2.
Aerial
1.1.3.
Spacecraft
1.2.
Manipulation
1.3.
Mobile Manipulation
1.3.1.
Planetary
1.3.2.
Orbital
2.
Integrations
2.1.
Reinforcement Learning
2.2.
Imitation Learning & Offline RL
2.3.
ROS 2
Getting Started
3.
System Requirements
4.
Installation
4.1.
Local
4.2.
Docker
4.3.
Apptainer/Singularity
5.
Basic Usage
Instructions
6.
Benchmark
6.1.
Parallel Environments
6.2.
Random and Zero Agents
6.3.
Visual Observations
6.4.
Graphical User Interface
6.5.
Configuration
7.
Workflows
7.1.
ROS 2
7.2.
Stable Baselines3
7.3.
DreamerV3
7.4.
Robomimic
7.5.
Sim-to-Real
8.
Utilities
8.1.
Clean the Assets Cache
Development
9.
Development Environment
9.1.
IDE Configuration
9.2.
Docker
9.3.
Dev Container
10.
New Assets
10.1.
Datasets
10.2.
Procedural Assets with Blender
11.
New Environments
Troubleshooting
Attributions
Contributors
Light
Rust
Coal
Navy
Ayu
Space Robotics Bench
Instructions for the Benchmark
This section covers instructions for specific aspects of the Space Robotics Bench.
Simulating Parallel Environments
Random and Zero Agents
Enabling Visual Observations
Graphical User Interface
Benchmark Configuration