Space Robotics Bench

Space Robotics Bench (SRB) provides parallel, procedurally generated and domain-randomized simulation environments and tasks built on Isaac Sim and Isaac Lab, with a Gymnasium API and ROS 2 (including Space ROS) interfaces.

Documentation

Start with the SRB documentation: System Requirements → Installation → Basic Usage

License

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

Repository-contributor assets and assets generated by SimForge pipelines are licensed under CC0 1.0 Universal. See attributions for third-party resources.

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.

[0.1.0] - 2026-10-14

Added

• Docs: Add CLI and operational references (b9acd52) by @AndrejOrsula
• Docker: Add provenance and release workflow (d16f095) by @AndrejOrsula
• Add sim-to-real validation profiles (9407cda) by @AndrejOrsula
• CLI: Add docs, GUI, and maintenance commands (0db991b) by @AndrejOrsula
• CLI: Add dataset, model, sensor, and ephemeris commands (f7e4ba1) by @AndrejOrsula
• CLI: Add asset, cache, and catalog commands (7402b72) by @AndrejOrsula
• CLI: Add lazy command registry and bootstrap (a126014) by @AndrejOrsula
• Add sim-to-real validation and reporting (7abc7c6) by @AndrejOrsula
• Add sim-to-real deployment and hardware interfaces (03a3ac5) by @AndrejOrsula
• Add Optuna studies and search spaces (c2fae0b) by @AndrejOrsula
• Add experiment policy and artifact workflows (77dc8d2) by @AndrejOrsula
• Add event camera dataset export and validation (c4b725b) by @AndrejOrsula
• Add canonical dataset recording and conversion (86f5c16) by @AndrejOrsula
• Add RL framework adapters and policies (cd4ab46) by @AndrejOrsula
• Add Robomimic offline learning (6c45d4a) by @AndrejOrsula
• Add TD-MPC2 training and evaluation (a83e7ef) by @AndrejOrsula
• Add Dreamer training and replay support (ba5f4ea) by @AndrejOrsula
• Add wrapper composition and application bindings (49dd05a) by @AndrejOrsula
• Add Hydra configuration resolution (c2bca30) by @AndrejOrsula
• Add spacewalk task (b118574) by @AndrejOrsula
• Add moonfall task and onboard event camera wiring (f03286d) by @AndrejOrsula
• Add terrain landscaping tasks and manifests (2864d3d) by @AndrejOrsula
• Add ground and orbital formation following (704201d) by @AndrejOrsula
• Add beam transport and traversal tasks (ad931a2) by @AndrejOrsula
• Add aerial navigation and flight tasks (014927c) by @AndrejOrsula
• Excavation: Add demo task and sensor support (9040878) by @AndrejOrsula
• Add lunalab and zerog_lab digital twin tasks (05ed11e) by @AndrejOrsula
• Add terrain landscaping runtime contracts (61a8eda) by @AndrejOrsula
• Add terrain materials, rocks, lighting, and scenes (40124ac) by @AndrejOrsula
• Add terrain fusion, meshes, and augmentation (7f3797c) by @AndrejOrsula
• Add terrain sources, catalogs, and ingestion (71c2859) by @AndrejOrsula
• Add real terrain scenery assets (1c91da7) by @AndrejOrsula
• Add environment specs and structured spaces (9e86332) by @AndrejOrsula
• Add reward and randomization runtime (dfe4c6e) by @AndrejOrsula
• Add event camera and sensor recording support (c6cfcbb) by @AndrejOrsula
• Add ephemeris providers and observation products (6b1ff62) by @AndrejOrsula
• Add action groups, filters, and command mappings (12309b5) by @AndrejOrsula
• Add process supervision and validation utilities (2d9022b) by @AndrejOrsula
• Add artifact, dataset, and model publication utilities (2f0c3ac) by @AndrejOrsula
• Add shared configuration and simulator utilities (8e6bcf7) by @AndrejOrsula
• Add typed configuration and observation contracts (d7e52b3) by @AndrejOrsula

Changed

• Docs: Explain task completion in Docker (ed5ad91) by @AndrejOrsula
• Keep pyspacemouse on 1.x (b88a412) by @AndrejOrsula
• Merge pull request #148 from AndrejOrsula/dependabot/uv/filelock-4.0.12 (483068d) by @AndrejOrsula in #148
• Build(deps): bump filelock from 3.20.3 to 4.0.12 (f06d86d) by @dependabot[bot]
• Merge pull request #149 from AndrejOrsula/dependabot/uv/pyspacemouse-2.1.0 (0ebb277) by @AndrejOrsula in #149
• Build(deps): bump pyspacemouse from 1.1.5 to 2.1.0 (4ac841f) by @dependabot[bot]
• Align opencv-python with opencv-python-headless 5.0 (ca7e0ac) by @AndrejOrsula
• Pin tf/jax and fix Dreamer worker startup (1029255) by @AndrejOrsula
• Merge pull request #146 from AndrejOrsula/dependabot/uv/rich-15.0.0 (a89f7f3) by @AndrejOrsula in #146
• Build(deps): bump rich from 14.2.0 to 15.0.0 (6860ddf) by @dependabot[bot]
• Merge pull request #147 from AndrejOrsula/dependabot/uv/logfire-5.1.1 (1422ba4) by @AndrejOrsula in #147
• Build(deps): bump logfire from 4.41.0 to 5.1.1 (ea1999b) by @dependabot[bot]
• Merge pull request #145 from AndrejOrsula/dependabot/uv/mypy-2.4.0 (64ccd68) by @AndrejOrsula in #145
• Build(deps): bump mypy from 1.19.1 to 2.4.0 (175615e) by @dependabot[bot]
• Merge pull request #144 from AndrejOrsula/dependabot/uv/opencv-python-headless-5.0.0.93 (4c467c2) by @AndrejOrsula in #144
• Build(deps): bump opencv-python-headless from 4.13.0.92 to 5.0.0.93 (08e89d2) by @dependabot[bot]
• Merge pull request #143 from AndrejOrsula/dependabot/uv/trimesh-5.1.1 (e91c140) by @AndrejOrsula in #143
• Build(deps): bump trimesh from 4.12.2 to 5.1.1 (9ab4809) by @dependabot[bot]
• Merge pull request #142 from AndrejOrsula/dependabot/uv/pyarrow-25.0.1 (30cceea) by @AndrejOrsula in #142
• Build(deps): bump pyarrow from 24.0.0 to 25.0.1 (402a065) by @dependabot[bot]
• Build(deps): bump types-pyyaml from 6.0.12.20250915 to 6.0.12.20260906 (b6f019c) by @dependabot[bot] in #140
• Build(deps): bump types-requests from 2.33.0.20260408 to 2.33.0.20261006 (4b03a17) by @dependabot[bot] in #141
• Build(deps): bump the minor-and-patch group with 3 updates (a8b3cd5) by @dependabot[bot] in #139
• Pin jax, optuna, scipy, and matplotlib to versions that work with Isaac Sim (67d0b84) by @AndrejOrsula
• Merge pull request #138 from AndrejOrsula/dependabot/uv/hdf5plugin-7.1.0 (20a8dac) by @AndrejOrsula in #138
• Build(deps): bump hdf5plugin from 6.0.0 to 7.1.0 (fd00593) by @dependabot[bot]
• Merge pull request #135 from AndrejOrsula/dependabot/uv/optuna-5.0.0 (d9985c8) by @AndrejOrsula in #135
• Build(deps): bump optuna from 4.6.0 to 5.0.0 (e292029) by @dependabot[bot]
• Build(deps): bump the minor-and-patch group across 1 directory with 34 updates (59919b9) by @dependabot[bot] in #134
• Build(deps): bump the minor-and-patch group across 1 directory with 3 updates (59a6271) by @dependabot[bot] in #133
• Build(deps): bump hydra-core from 1.4.0.dev1 to 1.4.0.dev10 (f9c8423) by @dependabot[bot] in #137
• Update changelog for version 0.1.0 (c94e59d) by @AndrejOrsula
• CI: Name jobs and group Dependabot updates (f9651e0) by @AndrejOrsula
• CI: Build and publish the Docker image with standard actions (6dab938) by @AndrejOrsula
• CI: Simplify workflows and publish via trusted publishing (721cbb8) by @AndrejOrsula
• CI: Use GitHub-hosted runners for all but the Docker workflow (c3d6976) by @AndrejOrsula
• Bump to 0.1.0 (773ef76) by @AndrejOrsula
• Update license year (1e4901c) by @AndrejOrsula
• Docs: Regenerate asset and task pages (a147f8e) by @AndrejOrsula
• Docs: Update sensor and misc pages (e702d49) by @AndrejOrsula
• Docs: Expand integration and workflow guides (802a7ab) by @AndrejOrsula
• Docs: Expand configuration and contributor guides (a0b420b) by @AndrejOrsula
• Docs: Update installation, usage, and robot pages (7cb0935) by @AndrejOrsula
• Update devcontainer, editor settings, and pre-commit hooks (24fabf4) by @AndrejOrsula
• Update Kit applications and rendering modes (52d813e) by @AndrejOrsula
• Update dependencies and require Python 3.12 (dd09ac4) by @AndrejOrsula
• CI: Update workflows and dependency automation (e1696d2) by @AndrejOrsula

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