We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee
Cite
@article{arxiv.2505.01630,
title = {Deformable Cargo Transport in Microgravity with Astrobee},
author = {Daniel Morton and Rika Antonova and Brian Coltin and Marco Pavone and Jeannette Bohg},
journal= {arXiv preprint arXiv:2505.01630},
year = {2025}
}