The full documentation can be accessed here
The "helpful notes" pages can be found on the sidebar of this site, as well as in this readme. For the code documentation, expand the Reference section in the sidebar and explore each module in the drop-down menus. Alternatively, search for a specific keyword with the searchbar above.
We use Portray to build the documentation. Note: if you'd like a local copy of the documentation with the most up-to-date information, run portray in_browser in the main repo folder.
Getting Started: Setting up the repository
Additional Installs: Additional installs important for working with the project
Loading ISS Meshes: Dealing with complex meshes and textures in Pybullet
Re-texturing: How to modify Astrobee meshes to load the URDF with a single texture file
Meshing: Tips on creating new (triangular) meshes to load into Pybullet
Tetrahedral Meshing: How to generate and modify tetrahedral meshes for soft bodies
Bag Dynamics: Some notes on defining mass/inertia values of the cargo bag
Using NASA's simulator: Helpful commands and installation debugging (optional)
Assorted Pybullet tips: Important notes that might not be clear from the quickstart guide
References: Links to hepful resources
If this repo was helpful in your research, please consider citing the following paper:
@article{morton2025astrobee,
author = {Morton, Daniel and Antonova, Rika and Coltin, Brian and Pavone, Marco and Bohg, Jeannette},
title = {Deformable Cargo Transport in Microgravity with Astrobee},
year = {2025},
journal = {arXiv preprint arXiv:2505.01630},
note = {Submitted to RSS Space Robotics Workshop, 2025},
}