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.

[0.0.6] - 2025-10-29

Added

• Add support for deformable objects (0e04efe) by @AndrejOrsula
• Docs: Add citation file (7b0ace5) by @AndrejOrsula
• Add support for recording all camera streams across all envs (17c2319) by @AndrejOrsula
• Orbital_waypoint_navigation: Add task (8aeead6) by @AndrejOrsula
• Vscode: Add SimForge and SimForge Foundry to extra analysis paths (343aae8) by @AndrejOrsula
• Add pymoveit2 hardware interfaces (37c0b47) by @AndrejOrsula
• Add dummy hardware interface (5a5df7e) by @AndrejOrsula
• Add support for using mobile robots as sceneries (b384a77) by @AndrejOrsula
• Add performance metrics to RealEnv (53511c5) by @AndrejOrsula

Changed

• Bump to 0.0.6 (8b76796) by @AndrejOrsula
• Waypoint_navigation: Reduce maximum waypoint velocity (de1edef) by @AndrejOrsula
• Update assets (89ca3de) by @AndrejOrsula
• Change kinematic rigid objects to static objects (b5dc6f5) by @AndrejOrsula
• Docs: Ensure Blender installation symlink is possible (03b1d78) by @AndrejOrsula
• Build(deps): bump home from 0.5.11 to 0.5.12 (b8ef26c) by @dependabot[bot] in #106
• Build(deps): bump astral-sh/setup-uv from 6 to 7 (fb87c3e) by @dependabot[bot] in #103
• Docker: Skip building ROS 2 examples/demos/tutorials (a38e021) by @AndrejOrsula
• CLI: Make –env argparse choices permissive (3d410fd) by @AndrejOrsula
• Install: Ensure vendored Python of Isaac Sim has pip (b5f1d19) by @AndrejOrsula
• Docs: Update to Blender 4.5 (15977a8) by @AndrejOrsula
• Update tasks (723e1f6) by @AndrejOrsula
• Update assets (79ed399) by @AndrejOrsula
• Update natural trajectory generation event (e91da20) by @AndrejOrsula
• Update particle settling event (3dfc5d5) by @AndrejOrsula
• Update default onboard camera for orbital envs (a3704f9) by @AndrejOrsula
• Update debug vis marker scaling for thrusters (3c8392a) by @AndrejOrsula
• Replace deprecated quat ops with alternatives (383bca5) by @AndrejOrsula
• Dreamer: Set XLA performance flags (5c15826) by @AndrejOrsula
• CLI: Update config handling (1320a04) by @AndrejOrsula
• Decrease default history of Savitzky-Golay action smoothing filter (4352726) by @AndrejOrsula
• Docker: Update for Isaac Sim 5.0 (cd17e3f) by @AndrejOrsula
• Update dependencies (c1ad14b) by @AndrejOrsula
• Disable ambient light intensity from rendering modes (29604d2) by @AndrejOrsula
• Update to Isaac Sim 5.0 (0bd8c16) by @AndrejOrsula
• Build(deps): bump const_format from 0.2.34 to 0.2.35 (c3f0908) by @dependabot[bot] in #97
• Build(deps): bump sysinfo from 0.37.1 to 0.37.2 (f98657c) by @dependabot[bot] in #98
• Build(deps): bump sysinfo from 0.37.0 to 0.37.1 (bf9e15d) by @dependabot[bot] in #96
• Build(deps): bump serde from 1.0.226 to 1.0.228 (65d278b) by @dependabot[bot] in #95
• Build(deps): bump serde from 1.0.223 to 1.0.226 (4ec9329) by @dependabot[bot] in #93
• Build(deps): bump eframe from 0.32.2 to 0.32.3 (97b7e18) by @dependabot[bot] in #94
• Build(deps): bump serde_json from 1.0.143 to 1.0.145 (8f514e5) by @dependabot[bot] in #92
• Build(deps): bump egui from 0.32.2 to 0.32.3 (48d4d4d) by @dependabot[bot] in #91
• Build(deps): bump typed-builder from 0.21.2 to 0.22.0 (4385e57) by @dependabot[bot] in #90
• Build(deps): bump serde from 1.0.219 to 1.0.223 (135ca1b) by @dependabot[bot] in #89
• Build(deps): bump egui_extras from 0.32.2 to 0.32.3 (d6e53b8) by @dependabot[bot] in #88
• Build(deps): bump eframe from 0.32.1 to 0.32.2 (98123ae) by @dependabot[bot] in #82
• Build(deps): bump tracing-subscriber from 0.3.19 to 0.3.20 (c6715f3) by @dependabot[bot] in #84
• Build(deps): bump image from 0.25.6 to 0.25.8 (79a4563) by @dependabot[bot] in #81
• Build(deps): bump egui_extras from 0.32.1 to 0.32.2 (95bd32e) by @dependabot[bot] in #83
• Build(deps): bump chrono from 0.4.41 to 0.4.42 (401217f) by @dependabot[bot] in #80
• Build(deps): bump actions/setup-python from 5 to 6 (00fa7a3) by @dependabot[bot] in #79
• Build(deps): bump typed-builder from 0.21.1 to 0.21.2 (237eadf) by @dependabot[bot] in #77
• Build(deps): bump serde_json from 1.0.142 to 1.0.143 (0be3e8c) by @dependabot[bot] in #78
• Build(deps): bump actions/upload-pages-artifact from 3 to 4 (99b3450) by @dependabot[bot] in #76
• Docker: Make xauth unique for each user (0c62ab4) by @AndrejOrsula
• Build(deps): bump actions/checkout from 4 to 5 (53c95de) by @dependabot[bot] in #75

Fixed

• Fix keyboard teleop interface for Isaac Lab 2.2 (4d79702) by @AndrejOrsula
• Fix RobotAssembler for Isaac Sim 5.0 (28a5770) by @AndrejOrsula
• Fix using mobile robots as static pedestals (207156e) by @AndrejOrsula
• Fix support for most camera streams (254ea44) by @AndrejOrsula
• Dreamer: Fix wrapper for inference with multi-dim obs (f7dfdf8) by @AndrejOrsula
• Devcontainer: Fix XAUTHORITY on systems with multiple users (b1f8bdc) by @AndrejOrsula

[0.0.5] - 2025-08-17

Added

• Docs: Add sim-to-real workflow (f1f9f00) by @AndrejOrsula
• Waypoint_navigation: Add sim-to-real utils (1e3a1de) by @AndrejOrsula
• Add sim-to-real support for all RL integrations (9f650ef) by @AndrejOrsula
• Add sim-to-real interface (b003dc3) by @AndrejOrsula
• Add action/observation delays (51f4272) by @AndrejOrsula
• Add asset type casting (4e58acd) by @AndrejOrsula
• Add action smoothing wrapper (8bf600c) by @AndrejOrsula
• Add XR support and option to select rendering modes (099e2ec) by @AndrejOrsula
• Dreamer: Add “debug” model size (8551535) by @AndrejOrsula
• Docs: Add missing videos for RL workflow (75de328) by @AndrejOrsula

Changed

• Bump to 0.0.5 (a06c086) by @AndrejOrsula
• Bump MSRV to 1.88 (cea6f7d) by @AndrejOrsula
• Docs: Enhance troubleshooting (8789a23) by @AndrejOrsula
• CLI: Update with sim-to-real workflows (fd0d9a2) by @AndrejOrsula
• Screwdriving: Refactor Ingenuity decor handling (404b517) by @AndrejOrsula
• Waypoint_navigation: Update task for dynamic pose tracking (78deed9) by @AndrejOrsula
• Standardize particle handling (b669bad) by @AndrejOrsula
• Update utils to support real robot workflows (58288a9) by @AndrejOrsula

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