SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations

Abstract

Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications spanning in-space assembly and manufacturing (ISAM), orbital debris remediation, and small body exploration. Microgravity environments present unique challenges for robotic control and planning algorithms for new agile RPO mission scenarios like free-floating manipulation, planning under failure, and estimating high-fidelity dynamics of tumbling bodies. To facilitate the development and testing of novel RPO algorithms, we introduce SmallSatSim, a high-fidelity simulation toolkit that leverages the MuJoCo physics engine to accurately model small satellite RPO dynamics in local microgravity robotic free-flight settings, including under model disturbances and perturbations. The framework includes cutting edge out-of-the-box free-flyer control techniques. A GPU-accelerated pipeline using MuJoCo MJX and JAX is implemented for sampling- and learning-based simulation uses cases. SmallSatSim also supports configurable failure models, enabling the evaluation of safe control strategies under adversarial conditions. Visualization, logging, and GPU-enabled parallelization further enhance SmallSatSim's capability for RPO testing. We outline SmallSatSim's features and intended use cases, and demonstrate its use for robotic RPO planning and control. The open-sourced toolkit aims to accelerate research in autonomous, agile robotic small satellite operations.