Scenery

Environmental scenery registered in the Space Robotics Bench includes terrains, facilities, and other scene elements.

Overview

Facilities

Iss Gateway Scenery (`iss_gateway_scenery`)

iss_gateway_scenery


Type	extravehicular
Variant	Dataset
Domains	orbit
Sub-assets	iss, gateway

Set station_template_usd_path on ISSGatewayScenery to use a single static station USD while retaining static collision geometry for stable benchmark scenes. Align segment handrails with benchmark waypoint paths using handrail_segment_specs; handrail_specs is shorthand for X-axis rails.

Kibou (`kibou`)

kibou


Type	intravehicular
Variant	Dataset
Domains	orbit
Sub-assets	lamp

Zeroglab (`zeroglab`)

zeroglab


Type	intravehicular
Variant	Dataset
Domains	orbit
Sub-assets	lamp

Terrain

Ground Plane (`ground_plane`)

ground_plane


Type	terrain
Variant	Primitive
Domains	asteroid, earth, mars, moon

Lunalab (`lunalab`)

lunalab


Type	subterrane
Variant	Dataset
Domains	asteroid, earth, mars, moon
Sub-assets	terrain, lamp, boulder

Lunar Site Apollo15 (`lunar_site_apollo15`)


Type	terrain
Domains	moon

Lunar Site Apollo17 (`lunar_site_apollo17`)


Type	terrain
Domains	moon

Mars Surface (`mars_surface`)

mars_surface


Type	terrain
Domains	mars

Martian Site Jezero (`martian_site_jezero`)


Type	terrain
Domains	mars

Martian Site Jezero V2 (`martian_site_jezero_v2`)


Type	terrain
Domains	mars

Moon Surface (`moon_surface`)

moon_surface


Type	terrain
Domains	moon

Oberpfaffenhofen (`oberpfaffenhofen`)

oberpfaffenhofen


Type	terrain
Variant	Dataset
Domains	asteroid, earth, mars, moon

Plane (`plane`)

plane


Type	terrain
Variant	Primitive
Domains	asteroid, earth, mars, moon
Sub-assets	obstacle

Terrain Generator (`terrain_generator`)


Type	terrain
Domains	asteroid, earth, mars, moon

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