NASA Challenge_[@AndrejOrsula]_[Parallel ProcGen Environments]

[AndrejOrsula]

Hello there!

This PR adds a spaceros_procgen_envs package that offers a collection of procedurally generated environments designed to bridge the gap between simulated robotics and the vast unpredictability of space.

Key Features:

• On-Demand Procedural Generation with Blender
• Highly-Parallelized Simulation with NVIDIA Isaac Sim
• Compatibility with Gymnasium API
• Integration with Space ROS
• Agnostic Interfaces
• Diverse Demonstrations

Video Examples (click to expand)

spaceros_procgen_envs_perseverance.mp4

spaceros_procgen_envs_ingenuity.mp4

spaceros_procgen_envs_gateway.mp4

spaceros_procgen_envs_sample_collection_moon.mp4

spaceros_procgen_envs_sample_collection_mars.mp4

spaceros_procgen_envs_debris_capture.mp4

spaceros_procgen_envs_parallel_envs.mp4

---

Challenge Name:   NASA Space ROS Sim Summer Sprint Challenge
Freelancer Name:  AndrejOrsula
Submission Title: Parallel ProcGen Environments

[AndrejOrsula]

Closes #71

[AndrejOrsula]

Hello everyone!

After the conclusion of the challenge, I have been working on a spiritual continuation of this work through an initiative called Space Robotics Bench. The goal of this project is to offer a comprehensive collection of environments and tasks specifically geared toward robotics research and development in the challenging domain of space. While it is still in its pre-release phase (version 0.0.3), I thought now would be a good time to share an update related to this PR.

The Space Robotics Bench builds upon the same principles and ideas introduced in this PR — but with several new features and enhancements, including support for particle physics and configurable mobile manipulators. Additionally, the ROS interface has been reworked to dynamically create interfaces for all simulation entities in the scene across all tasks and workflows.

Below are some video examples showcasing the interface in action (sim render on the left, RViz2 on the right):

srb_ground_manipulation_visual_ros.mp4

srb_peg_in_hole_moon_dreamerv3_eval_ros.mp4

srb_sample_collection_multi_mars_ros.mp4

I will leave this comment open-ended for now, but I would love to hear your thoughts about potential interest in integrating the Space Robotics Bench with Space ROS in some capacity. I’m also open to any feedback or suggestions you might have regarding the project. Thank you!