Contributing — New Assets
This guide explains how to contribute new assets to the Space Robotics Bench.
Asset Types Overview
The Space Robotics Bench categorizes assets into three main types:
| Asset Type | Description |
|---|---|
| Scenery | Environmental elements like terrain and structures |
| Objects | Interactive objects, tools, and payloads |
| Robots | Systems that are intended to be controlled |
Static Assets
All static assets used by the Space Robotics Bench are separated into the srb_assets repository to encourage their reuse.
If you wish to contribute your asset, please follow these guidelines:
- Simplify the mesh for efficient simulation
- Aim for watertight meshes with clean topology
- Bake materials into PBR textures for compatibility
- Export meshes in the USD format (
.usd/.usda/.usdc/.usdz) - For articulated assets, add relevant joints and APIs (you can use Isaac Sim for this)
Afterward, you can add the asset to your fork of srb_assets and submit a pull request. We greatly appreciate your contributions!
Procedural Assets with SimForge
Reference: SimForge
SimForge is a framework for creating diverse virtual environments through procedural generation. SRB leverages SimForge to generate all procedural assets. Below are some examples:
Please refer to the SimForge documentation if you wish to contribute new procedural assets, particularly the following sections:
We look forward to seeing your fantastic contributions. Many thanks in advance!