srb list (alias srb ls) — List Assets and Environments
The srb list command — also reachable via the srb ls alias — lists all registered assets, action groups, hardware interfaces, and environments in the Space Robotics Bench. Every invocation launches headless Isaac Sim to enumerate the registries (and refreshes the offline cache used by shell completions and the GUI), so expect the usual Isaac Sim startup time.
Usage
srb list [options]
srb ls [options] # alias
Options
| Argument | Description | Default |
|---|---|---|
| *categories | Categories to list. Choices: all, action, asset, env, scenery, object, robot. Selecting asset is equivalent to scenery object robot. | [all] |
Note: Templates whose name starts with
_(e.g._aerial,_manipulation) are listed alongside concrete tasks. They are intended to be customised via Hydra overrides such asenv.robot=<name>.
Output
The command produces a tabular output with the requested registered entities. The action category (included in the default all) additionally prints a Hardware Interfaces table with the registered sim-to-real interface classes, and the Assets table includes an Action Modes column listing each robot’s selectable action modes (the default mode is marked with a leading *).
Hint: In VSCode, the table is interactive and provides clickable links to the source code.
Example Output (Truncated)
Assets of the Space Robotics Bench
┏━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ # ┃ Name ┃ Type ┃ Subtype ┃ Parent Class ┃ Asset Config ┃ Path ┃
┡━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ 1 │ mars_surface │ scenery │ terrain │ Terrain │ AssetBaseCfg │ terrain.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 2 │ cargo_bay │ object │ payload │ Payload │ AssetBaseCfg │ payload/cargo_bay.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 3 │ scoop │ object │ tool │ Tool │ RigidObjectCfg │ tool/scoop.py │
│ 4 │ shadow_hand │ object │ tool │ ActiveTool │ ArticulationCfg │ tool/shadow_hand.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 5 │ sample_tube │ object │ common │ Object │ RigidObjectCfg │ sample.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 6 │ franka │ robot │ manipulator │ SerialManipulator │ ArticulationCfg │ manipulation/franka.py │
│ 7 │ random_ur_manipulator │ robot │ manipulator │ SerialManipulator │ ArticulationCfg │ manipulation/universal_robots.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 8 │ random_unitree_quadruped │ robot │ mobile_robot │ LeggedRobot │ ArticulationCfg │ mobile/unitree.py │
├───┼─────────────────────────────┼─────────┼────────────────────┼───────────────────────┼─────────────────┼──────────────────────────────────┤
│ 9 │ unitree_g1 │ robot │ mobile_manipulator │ Humanoid │ ArticulationCfg │ mobile_manipulation/unitree.py │
│ . │ ... │ ... │ ... │ ... │ ... │ ... │
└───┴─────────────────────────────┴─────────┴────────────────────┴───────────────────────┴─────────────────┴──────────────────────────────────┘
Action Groups of the Space Robotics Bench
┏━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ # ┃ Name ┃ Path ┃
┡━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ 1 │ body_acceleration │ common/body.py │
│ 2 │ body_acceleration_relative │ common/body.py │
│ 3 │ joint_position │ common/joint.py │
│ 4 │ joint_position_relative │ common/joint.py │
│ 5 │ joint_position_binary │ common/joint.py │
│ 6 │ joint_velocity │ common/joint.py │
│ 7 │ joint_velocity_binary │ common/joint.py │
│ 8 │ joint_effort │ common/joint.py │
│ 9 │ inverse_kinematics │ manipulation/task_space.py │
│ . │ ... │ ... │
└───┴───────────────────────────────┴────────────────────────────┘
Environments of the Space Robotics Bench
┏━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┓
┃ # ┃ ID ┃ Entrypoint ┃ Config ┃ Path ┃
┡━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┩
│ 1 │ _manipulation <template> │ Task(ManipulationEnv) │ TaskCfg(ManipulationEnvCfg) │ manipulation/_manipulation │
│ 2 │ sample_collection │ Task(ManipulationEnv) │ TaskCfg(ManipulationEnvCfg) │ manipulation/sample_collection │
│ 3 │ _aerial <template> │ Task(AerialEnv) │ TaskCfg(AerialEnvCfg) │ mobile/_aerial │
│ 4 │ _ground <template> │ Task(GroundEnv) │ TaskCfg(GroundEnvCfg) │ mobile/_ground │
│ 5 │ _orbital <template> │ Task(OrbitalEnv) │ TaskCfg(OrbitalEnvCfg) │ mobile/_orbital │
│ 6 │ locomotion_velocity_tracking │ LocomotionTask(Task) │ LocomotionTaskCfg(TaskCfg) │ mobile/velocity_tracking │
│ 7 │ _aerial_manipulation <template> │ Task(AerialManipulationEnv) │ TaskCfg(AerialManipulationEnvCfg) │ mobile_manipulation/_aerial_manipulation │
│ 8 │ _ground_manipulation <template> │ Task(GroundManipulationEnv) │ TaskCfg(GroundManipulationEnvCfg) │ mobile_manipulation/_ground_manipulation │
│ 9 │ _orbital_manipulation <template> │ Task(OrbitalManipulationEnv) │ TaskCfg(OrbitalManipulationEnvCfg) │ mobile_manipulation/_orbital_manipulation │
│ . │ ... │ ... │ ... │ ... │
└───┴──────────────────────────────────┴──────────────────────────────┴────────────────────────────────────┴───────────────────────────────────────────┘