Command Line Interface (CLI)
The Space Robotics Bench provides a comprehensive command-line interface that allows you to interact with most aspects of the framework through a unified interface. The CLI is structured as a set of subcommands, each with its own set of options.
srb <subcommand> [options]
If you need help with a specific subcommand, you can use the -h/--help flag:
srb --help
srb <subcommand> -h
You can also TAB your way through the available subcommands and options via autocompletion:
srb <TAB> <TAB>
Subcommands
The following subcommands are available in the CLI:
| Subcommand | Description |
|---|---|
agent | Agent subcommands (listed below) |
ls | List registered assets, action groups and environments |
repl | Enter Python REPL with Isaac Sim initialized |
test | Run automated tests |
docs | Build documentation |
gui | Launch the Graphical User Interface |
Agent Subcommands
The agent subcommand is further separated into agent-specific subcommands:
srb agent <agent_subcommand> [options]
| Agent Subcommand | Description |
|---|---|
zero | Run agent with zero-valued actions |
rand | Run agent with random actions |
teleop | Manually teleoperate the agent |
ros | Interface with ROS 2 or Space ROS |
train | Train Reinforcement Learning (RL) agents |
eval | Evaluate trained RL agents |
Shared Agent Options
The following options are shared across all agent subcommands:
| Argument | Description | Default |
|---|---|---|
-e/--env/--task ENV | ID of the environment | REQUIRED |
--headless | Run simulation without display | False |
--hide_ui | Disable simulation UI | False |
--interface [IFACE ...] | Interfaces to enable | [] |
--logdir/--logs PATH | Path to logging directory | SRB_LOGS_DIR |
--video | Enable video recording | False |
--video_length | Duration of recorded videos | 1000 steps |
--video_interval | Interval of video recordings | 10000 steps |