Contributing — New Assets

Asset Types Overview

The Space Robotics Bench categorizes assets into three main types:

Static Assets

Contribute SRB-owned static payloads through the srb_assets repository; SRB also uses Isaac Lab assets. Before submission:

• Identify its family and required interface (for example, robot joints and sensors, terrain source metadata, or object spawn configuration).
• Record source, author, and license attribution in the applicable metadata catalog; for assets listed in SRB’s asset catalog, use docs/data/assets.toml.
• Follow the family’s format and validation requirements. For example, terrain rocks are checksum-verified, decoded, bounded, and cleaned by the rock pipeline; robot and scenery checks differ.
• Check that dependencies, payload paths, and references follow the family conventions before submission.

Add the asset to your srb_assets fork and submit a pull request.

Procedural Assets with SimForge

SimForge provides procedural environments and assets. SRB also includes procedural USD generators, including robot structures. Examples:

See the SimForge documentation, especially:

• New Assets
  • Blender Generator: New Assets