Space Robotics Bench

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

• Parallelized Simulation: Highly parallelized simulation instances for accelerated workflows
• Procedural Generation: On-demand generation of diverse simulation assets and scenes
• Domain Randomization: Extensive randomization for robustness and generalization
• Gymnasium API: Compatibility with standard API and frameworks for robot learning
• ROS 2 Interface: Seamless interoperability with ROS 2 and Space ROS ecosystems
• Abstract Architecture: Flexibility across different robots and space domains

Documentation

SRB documentation with detailed installation instructions, usage guides, and development resources is available online.

License

This project is dual-licensed under either the MIT or Apache 2.0 licenses.

All assets created by contributors of this repository and those generated from SimForge procedural pipelines are licensed under the CC0 1.0 Universal license. Resources from third-party sources are listed under attributions.

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.0.3] - 2025-04-01

Added

• Add landing task (59f87a9) by @AndrejOrsula
• Add thrust action term and group (3e98a74) by @AndrejOrsula
• Add support for OSC action term (152973b) by @AndrejOrsula
• Git-cliff: Add commits to the changelog (6521a4a) by @AndrejOrsula

Changed

• Bump to 0.0.3 (a1afc29) by @AndrejOrsula
• Docs: Update envs, robots, attributes (73b6462) by @AndrejOrsula
• Improve default hyperparameters of Dreamer (7a97996) by @AndrejOrsula
• Update assets (7988615) by @AndrejOrsula
• Tune peg_in_hole rewards (5144243) by @AndrejOrsula
• Update environment and agent rates in base environments (cde5eb5) by @AndrejOrsula
• Update skydome asset directory path (5c1efee) by @AndrejOrsula
• Tests: Skip CLI agent train test (b523ef4) by @AndrejOrsula
• Standardize teleop device sensitivity (288f8eb) by @AndrejOrsula
• Docker: Update development script with DEBUG_VIS environ (3b46457) by @AndrejOrsula
• Update base events and skydomes (d8172d2) by @AndrejOrsula
• Autoreset environment instances that explode due to physics (ed88f2a) by @AndrejOrsula
• GiGeneralize action term for all wheeled robots (c5b38e8) by @AndrejOrsula
• Docker: Mount Omniverse data volume (502d5b3) by @AndrejOrsula
• Build(deps): bump image from 0.25.5 to 0.25.6 (eab74fc) by @dependabot[bot] in #55
• Build(deps): bump sysinfo from 0.33.1 to 0.34.1 (8db4e77) by @dependabot[bot] in #54
• Build(deps): bump typed-builder from 0.20.1 to 0.21.0 (a2d90a7) by @dependabot[bot] in #53

Fixed

• Fix naming of IMU visualization marker (4558a28) by @AndrejOrsula
• Fix contact sensor (4e3cd28) by @AndrejOrsula

[0.0.2] - 2025-03-20

Added

• Add git-cliff configuration (ed79c90) by @AndrejOrsula
• Add templates for mobile manipulation tasks (6dcf11a) by @AndrejOrsula
• Docker: Add option to ensure Docker and NVIDIA toolkit are installed (4f0ce88) by @AndrejOrsula
• Devcontainer: Add default extensions (6b2bc4d) by @AndrejOrsula

Changed

• Bump to 0.0.2 (b0a8a4b) by @AndrejOrsula
• Docs: Update towards 0.0.2 (bf4fdb6) by @AndrejOrsula
• Bump MSRV to 1.84 (bdceba6) by @AndrejOrsula
• Update dependencies (Python & Rust) (9eea79d) by @AndrejOrsula
• Deny: Ignore RUSTSEC-2024-0436 (22ee4b3) by @AndrejOrsula
• Docker: Update commits of dev dependencies (3b69be8) by @AndrejOrsula
• Tests: Update to match CLI changes (02e1c56) by @AndrejOrsula
• CLI: Streamline usage for readable documentation (1265f8d) by @AndrejOrsula
• Locomotion_velocity_tracking: Adjust reward (4755ec8) by @AndrejOrsula
• Mobile_debris_capture: Use default robot of the base environment class (7b00c2e) by @AndrejOrsula
• Orbital_evasion: Update observation and reward (578407a) by @AndrejOrsula
• Excavation: Default to Spot robot mobile base (a96a135) by @AndrejOrsula
• Refactor environment classes to improve naming consistency across manipulation tasks (f7176f2) by @AndrejOrsula
• Simplify base parameter naming in environment config (1e996e5) by @AndrejOrsula
• CLI: Improve command-line overrides for environment config (1f1895f) by @AndrejOrsula
• Improve asset configuration consistency (71746aa) by @AndrejOrsula
• Docker: Update the default development volumes (7acd717) by @AndrejOrsula
• Docker: Ensure assets are initialized when building the image (dbd70fe) by @AndrejOrsula
• Update installation scripts (69b6227) by @AndrejOrsula
• CI: Checkout submodules recursively to build Docker with assets (3b351d7) by @AndrejOrsula
• Build(deps): bump typed-builder from 0.20.0 to 0.20.1 (f91220d) by @dependabot[bot] in #52
• Build(deps): bump egui_extras from 0.31.0 to 0.31.1 (a7691b9) by @dependabot[bot] in #51
• Build(deps): bump eframe from 0.31.0 to 0.31.1 (03615af) by @dependabot[bot] in #48
• Build(deps): bump serde from 1.0.218 to 1.0.219 (0b80920) by @dependabot[bot] in #49

Fixed

• Correct action term/group naming (7b30546) by @AndrejOrsula

Removed

• Remove redundant event (92e4f7d) by @AndrejOrsula

[0.0.1] - 2025-03-04

Added

• Add barebones mobile_debris_capture task (a387421) by @AndrejOrsula
• Add barebones excavation task (9438761) by @AndrejOrsula
• Add orbital_evasion task (fab2b5c) by @AndrejOrsula
• Add locomotion_velocity_tracking task (1665201) by @AndrejOrsula
• Add solar_panel_assembly task (4867c6b) by @AndrejOrsula
• Add peg_in_hole_assembly task (bdb4113) by @AndrejOrsula
• Add sample_collection task (21e09d1) by @AndrejOrsula
• Add debris_capture task (b73a09c) by @AndrejOrsula
• Add basic tests (764fbb8) by @AndrejOrsula
• Add unified entrypoint script (ab35b1b) by @AndrejOrsula
• Add config and hyparparam utils (444c99f) by @AndrejOrsula
• Add mobile manipulation base envs (13d37ca) by @AndrejOrsula
• Add mobile manipulation base envs (5eac2a8) by @AndrejOrsula
• Add manipulation base env and task template (486da35) by @AndrejOrsula
• Add ROS 2 interface (7028fc7) by @AndrejOrsula
• Add skrl integration (52cde70) by @AndrejOrsula
• Add SB3 and SBX integrations (7cf19a3) by @AndrejOrsula
• Add Dreamer integration (56a1ccf) by @AndrejOrsula
• Add shape and ground plane assets (1294149) by @AndrejOrsula
• Add object/scenery assets from srb_assets (1cb3933) by @AndrejOrsula
• Add initial procedural SimForge assets (8a42593) by @AndrejOrsula
• Add initial tools (end-effectors) (a1b686a) by @AndrejOrsula
• Add initial robot assets (2669fd1) by @AndrejOrsula
• Add custom Franka arm and FrankaHand tool (separate) (594cab1) by @AndrejOrsula
• Add AnyEnv/AnyEnvCfg type aliases (c5f7098) by @AndrejOrsula
• Add GUI interface (e5739f3) by @AndrejOrsula
• Add teleop interfaces (bf803d9) by @AndrejOrsula
• Add visual environment extension (87d5c30) by @AndrejOrsula
• Add common environment base classes (7564e4b) by @AndrejOrsula
• Add oxidasim sampling utils (7875e52) by @AndrejOrsula
• Add mobile robot action terms/groups (7de74a9) by @AndrejOrsula
• Add task space manipulation action terms/groups (96c3433) by @AndrejOrsula
• Add ParticleSpawner (53b53d9) by @AndrejOrsula
• Add common action terms and groups (c6e657f) by @AndrejOrsula
• Add custom events (3bd0866) by @AndrejOrsula
• Add custom visualization markers (06d2ec2) by @AndrejOrsula
• Add custom RobotAssembler (71cf4cb) by @AndrejOrsula
• Add extra shape spawners (119fb84) by @AndrejOrsula
• Add Domain enum with utils (474fcd0) by @AndrejOrsula
• Add config for RTX visuals and post-processing (20bbc67) by @AndrejOrsula
• Add logging and tracing utils (6173aa3) by @AndrejOrsula
• Add common utils (31ba454) by @AndrejOrsula
• Docs: Add button for suggesting edits (360a8bf) by @AndrejOrsula
• Docs: Add link to Discord (d351948) by @AndrejOrsula
• Docker: Add option to install Space ROS (a788d05) by @AndrejOrsula
• CLI: Add short args and update environ for extension module update (a30cfe0) by @AndrejOrsula

Changed

• CI: Build Python package with uv (b23724e) by @AndrejOrsula
• CI: Disable llvm-cov in Rust workflow (8f68f99) by @AndrejOrsula
• Pre-commit: Downgrade mdformat (c1c8c6c) by @AndrejOrsula
• GUI: Replace missing image (a64b316) by @AndrejOrsula
• CI: Update Python/Rust workflows (aa83406) by @AndrejOrsula
• Update badges in README (6fa634f) by @AndrejOrsula
• Patch ActionManager to improve compatibility with ActionGroup (e882776) by @AndrejOrsula
• Wrap around Isaac Lab core modules (38455a1) by @AndrejOrsula
• Define ActionGroup model (d7095a6) by @AndrejOrsula
• Define the full asset hierarchy model (f3511a7) by @AndrejOrsula
• Integrate uv (950ef53) by @AndrejOrsula
• Update Docker setup (866287d) by @AndrejOrsula
• Integrate SimForge (64c9bb6) by @AndrejOrsula
• Update srb_assets (b2a3757) by @AndrejOrsula
• Update pre-commit hooks (a2a4d69) by @AndrejOrsula
• Update copyright year to 2025 (2c379dc) by @AndrejOrsula
• Update to Isaac Sim 4.5 (3b0ff36) by @AndrejOrsula
• Update module name from space_robotics_bench to srb (803703b) by @AndrejOrsula
• Build(deps): bump chrono from 0.4.39 to 0.4.40 (2dce970) by @dependabot[bot] in #46
• Build(deps): bump serde from 1.0.217 to 1.0.218 (2c33aaf) by @dependabot[bot] in #45
• Build(deps): bump AdityaGarg8/remove-unwanted-software from 4 to 5 (c25adbf) by @dependabot[bot] in #44
• Build(deps): bump winit from 0.30.8 to 0.30.9 (f3013a0) by @dependabot[bot] in #43
• Build(deps): bump serde_json from 1.0.137 to 1.0.138 (e90c8a2) by @dependabot[bot] in #38
• CI: Exclude GUI from llvm-cov (eb925d7) by @AndrejOrsula
• Bump MSRV to 1.82 (ed6a5d7) by @AndrejOrsula
• Docker: Skip GUI build (4dfb4de) by @AndrejOrsula
• Build(deps): bump serde_json from 1.0.135 to 1.0.137 (8bcc239) by @dependabot[bot] in #36
• Build(deps): bump thiserror from 2.0.9 to 2.0.11 (651785c) by @dependabot[bot] in #34
• Build(deps): bump pyo3 from 0.23.3 to 0.23.4 (422adb7) by @dependabot[bot] in #35
• Build(deps): bump serde_json from 1.0.134 to 1.0.135 (6bc337d) by @dependabot[bot] in #33
• Build(deps): bump home from 0.5.9 to 0.5.11 (0f115c9) by @dependabot[bot] in #31
• Build(deps): bump egui from 0.29.1 to 0.30.0 (a712228) by @dependabot[bot] in #29
• Build(deps): bump serde from 1.0.216 to 1.0.217 (c68f4a1) by @dependabot[bot] in #32
• Build(deps): bump sysinfo from 0.33.0 to 0.33.1 (e21bca9) by @dependabot[bot] in #30
• Build(deps): bump egui_commonmark from 0.18.0 to 0.19.0 (883d29a) by @dependabot[bot] in #27
• Build(deps): bump eframe from 0.29.1 to 0.30.0 (d3151dd) by @dependabot[bot] in #28
• Build(deps): bump egui_extras from 0.29.1 to 0.30.0 (964a35e) by @dependabot[bot] in #25
• Build(deps): bump serde_json from 1.0.133 to 1.0.134 (7e80f2d) by @dependabot[bot] in #26
• Build(deps): bump thiserror from 2.0.7 to 2.0.9 (fe1dfb0) by @dependabot[bot] in #24
• Docs: Update Discord invite link (1674cd9) by @AndrejOrsula
• Build(deps): bump thiserror from 2.0.6 to 2.0.7 (c3aaa47) by @dependabot[bot] in #23
• Build(deps): bump serde from 1.0.215 to 1.0.216 (e30ccc9) by @dependabot[bot] in #22
• Build(deps): bump chrono from 0.4.38 to 0.4.39 (18c91aa) by @dependabot[bot] in #21
• Build(deps): bump thiserror from 2.0.4 to 2.0.6 (a5801fc) by @dependabot[bot] in #20
• Build(deps): bump const_format from 0.2.33 to 0.2.34 (3aa9ab2) by @dependabot[bot] in #19
• Refactor: Improve organization (12d8179) by @AndrejOrsula
• Update dependencies (Blender 4.3.0, Isaac Lab 1.3.0, …) (4432d7c) by @AndrejOrsula
• Docker: Improve handling of DDS config for ROS 2 and Space ROS (476d4bf) by @AndrejOrsula
• Build(deps): bump sysinfo from 0.32.0 to 0.32.1 (735c1bc) by @dependabot[bot] in #17
• Build(deps): bump tracing-subscriber from 0.3.18 to 0.3.19 (585fd11) by @dependabot[bot] in #18
• Build(deps): bump tracing from 0.1.40 to 0.1.41 (1a54067) by @dependabot[bot] in #16
• Build(deps): bump r2r from 0.9.3 to 0.9.4 (d4e2f29) by @dependabot[bot] in #15
• Build(deps): bump serde from 1.0.214 to 1.0.215 (1b309d3) by @dependabot[bot] in #11
• Build(deps): bump serde_json from 1.0.132 to 1.0.133 (a16c951) by @dependabot[bot] in #10
• Build(deps): bump codecov/codecov-action from 4 to 5 (b5636d7) by @dependabot[bot] in #9
• Build(deps): bump r2r from 0.9.2 to 0.9.3 (b37a42d) by @dependabot[bot] in #8
• Build(deps): bump image from 0.25.4 to 0.25.5 (f3ab525) by @dependabot[bot] in #7
• Build(deps): bump pyo3 from 0.22.5 to 0.22.6 (4d642ed) by @dependabot[bot] in #6
• Update rendering settings (62dbeb6) by @AndrejOrsula
• Build(deps): bump serde from 1.0.210 to 1.0.214 (90ccbbe) by @dependabot[bot] in #5
• Bump thiserror from 1.0.64 to 1.0.65 (c4800c0) by @dependabot[bot] in #3
• Bump EmbarkStudios/cargo-deny-action from 1 to 2 (d497810) by @dependabot[bot] in #2
• Transfer script for automated procgen with Blender to srb_assets submodule (137e61a) by @AndrejOrsula
• CI: Disable docker job for Dependabot PRs (1a70c2d) by @AndrejOrsula
• Docker: Use local Rust extension module if the project is mounted as a volume (be00d09) by @AndrejOrsula
• Big Bang (c8528ce) by @AndrejOrsula

Fixed

• CI: Fix Rust workflow (2b98866) by @AndrejOrsula
• GUI: Fix winit initialization (d9a3ddd) by @AndrejOrsula

Removed

• Remove direct reference dependencies (7fb8e73) by @AndrejOrsula
• Docs: Remove instructions about NGC Docker login (9347214) by @AndrejOrsula
• Cargo-deny: Remove deprecated keys (bd0d5da) by @AndrejOrsula
• Pre-commit: Remove redundant excludes (cf6bf40) by @AndrejOrsula

New Contributors

• @AndrejOrsula made their first contribution
• @dependabot[bot] made their first contribution in #46 [0.0.3]: https://github.com/AndrejOrsula/space_robotics_bench/compare/0.0.2..0.0.3 [0.0.2]: https://github.com/AndrejOrsula/space_robotics_bench/compare/0.0.1..0.0.2