srb real_agent gen — Sim-to-Real Bridge
The srb real_agent gen command inspects a simulated Gymnasium environment from the Space Robotics Bench and automatically generates its lightweight, real-world counterpart. This new environment is registered in the srb_real/ namespace and does not depend on Isaac Sim, allowing it to run directly on hardware.
Usage
srb real_agent gen --env ENV_ID [options]
Options
| Option | Description | Default |
|---|---|---|
-e/--env/--task ENV_ID | Name of the simulated environment to generate the real-world counterpart for. Can be ALL to generate for every registered environment. | REQUIRED |
--hardware/--hw [HW ...] | Sequence of default hardware interfaces to link with the generated environment. | [] |
Examples
The following command generates a real-world environment for the waypoint_navigation task, configured for the leo_rover and linked to specific hardware interfaces for control, sensing, and middleware services.
srb real_agent gen --env waypoint_navigation env.robot=leo_rover --hardware ros_cmd_vel ros_tf ros_mw
This will create a new Python file and register the srb_real/waypoint_navigation environment, making it available to other srb real_agent subcommands.
See the Sim-to-Real Transfer guide for more detailed examples and context.