Scenery

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

Overview

Facilities

Iss Gateway Scenery (`iss_gateway_scenery`)


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

The ISSGatewayScenery entity can be switched to a single static station USD through station_template_usd_path while keeping static collision geometry for stable benchmark scenes. Segment handrails can be aligned with benchmark waypoint paths through handrail_segment_specs; handrail_specs remains available as a legacy shorthand for X-axis rails.

Kibou (`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 lunalab


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

Lunar Site Apollo15 (`lunar_site_apollo15`)


Type	terrain
Variant	–
Domains	moon

Lunar Site Apollo17 (`lunar_site_apollo17`)


Type	terrain
Variant	–
Domains	moon

Lunar Site Lunar Default (`lunar_site_lunar_default`)


Type	terrain
Variant	–
Domains	moon

Lunar Site Shackleton Rim (`lunar_site_shackleton_rim`)


Type	terrain
Variant	–
Domains	moon

Lunar Site Tycho Central Peak (`lunar_site_tycho_central_peak`)


Type	terrain
Variant	–
Domains	moon

Mars Surface (`mars_surface`)

mars_surface


Type	terrain
Variant	–
Domains	mars

Martian Site Gale (`martian_site_gale`)


Type	terrain
Variant	–
Domains	mars

Martian Site Jezero (`martian_site_jezero`)


Type	terrain
Variant	–
Domains	mars

Martian Site Mars Default (`martian_site_mars_default`)


Type	terrain
Variant	–
Domains	mars

Martian Site Olympus Mons Flank (`martian_site_olympus_mons_flank`)


Type	terrain
Variant	–
Domains	mars

Martian Site Oxia Planum (`martian_site_oxia_planum`)


Type	terrain
Variant	–
Domains	mars

Moon Surface (`moon_surface`)

moon_surface


Type	terrain
Variant	–
Domains	moon

Oberpfaffenhofen (`oberpfaffenhofen`)

oberpfaffenhofen


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

Plane (`plane`)

plane plane


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

Terrain Generator (`terrain_generator`)


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

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