> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Create an Asset

> Upload your own URDF to create a custom Cyberwave asset, the 3D and kinematic definition behind every digital twin. Walk through the Package, Details, and Access steps.

An **asset** is the reusable definition of a piece of hardware: its 3D meshes and its kinematic model (URDF) that Cyberwave uses to spawn [digital twins](/use-cyberwave/architecture/key-concepts). Catalog devices like `the-robot-studio/so101` are assets that already exist. When your hardware **isn't in the [catalog](https://cyberwave.com/catalog)**, you create your own asset by uploading a URDF package.

This page walks through creating an asset from the dashboard. You can also upload programmatically, using the REST API or Python SDK methods described on the [Catalog](/feature-reference/catalog) page.

***

## Prepare your URDF package

Cyberwave accepts a single **ZIP archive** containing one main `.urdf` (or `.xacro`) file and every file it references, including meshes, textures, and materials.

```text theme={null}
my-robot/
  urdf/
    robot.urdf
  meshes/
    base_link.stl
    arm_visual.obj
  textures/
    arm_albedo.png
```

<Info>
  Use **relative paths** inside the URDF that match your ZIP structure. If the
  URDF references `meshes/arm_visual.obj`, that file must exist at that path
  inside the ZIP. Cyberwave processes (unpacks and validates) the archive after
  you create the asset.
</Info>

<Card title="Sample URDF: dji-mini-4-pro.zip" icon="file-zipper" href="/assets/dji-mini-4-pro.zip">
  A complete single-file example (a DJI Mini 4 Pro drone): one `base_link`, four
  propeller links, and four `continuous` joints. Use it as a reference for link,
  joint, material, and mesh-reference structure, then bundle your own URDF with
  its `meshes/` folder into a ZIP.
</Card>

***

## Create the asset

Open the **Upload URDF package** wizard from the dashboard, then complete its three steps.

<Steps>
  <Step title="Package: upload your ZIP">
    On the **Package** step, drag and drop your ZIP into the **URDF Package
    (ZIP)** drop zone, or click to select it. The archive should contain your
    URDF/Xacro plus all referenced meshes. Click **Continue**.

    <img src="https://mintcdn.com/cyberwave/2vm6pclQo7UwMVj5/images/create-asset-1.png?fit=max&auto=format&n=2vm6pclQo7UwMVj5&q=85&s=87d0bc35ee106d3232caa13b4733a2ed" alt="Upload URDF package step" width="1612" height="992" data-path="images/create-asset-1.png" />
  </Step>

  <Step title="Details: describe your asset">
    On the **Details** step, give the asset a clear **name** (for example,
    `SO-101 workcell`) and a short **description** of what the robot or prop is.

    <img src="https://mintcdn.com/cyberwave/2vm6pclQo7UwMVj5/images/create-asset-2.png?fit=max&auto=format&n=2vm6pclQo7UwMVj5&q=85&s=7277e4d8c6f0306fce7d60c6be8b2448" alt="Describe your asset step" width="1612" height="1074" data-path="images/create-asset-2.png" />

    Expand **Advanced** for two optional fields:

    * **Main URDF path**: the path to the main URDF inside the ZIP (for example,
      `urdf/robot.urdf`). Leave it blank to auto-detect the URDF inside the
      archive, and set it only when the ZIP contains more than one URDF.
    * **Thumbnail**: an optional preview image (PNG or JPG) for the asset card.

          <img src="https://mintcdn.com/cyberwave/2vm6pclQo7UwMVj5/images/create-asset-3.png?fit=max&auto=format&n=2vm6pclQo7UwMVj5&q=85&s=09a81e31e2e9fdb6531cdf389a14e2ed" alt="Advanced asset details" width="1612" height="1450" data-path="images/create-asset-3.png" />

    Click **Continue**.
  </Step>

  <Step title="Access: choose visibility and workspace">
    On the **Access** step, choose who can see and use the asset, then pick the
    **workspace** it belongs to.

    | Visibility       | Who can view                     |
    | ---------------- | -------------------------------- |
    | **Private**      | Only you                         |
    | **Organization** | All members of your organization |
    | **Public**       | Anyone on the platform           |

    <img src="https://mintcdn.com/cyberwave/2vm6pclQo7UwMVj5/images/create-asset-4.png?fit=max&auto=format&n=2vm6pclQo7UwMVj5&q=85&s=295d48b6d2399da8123db64d26ad4551" alt="Choose asset access step" width="1562" height="978" data-path="images/create-asset-4.png" />

    Click **Create Asset**. Cyberwave processes the archive, and once it's ready
    the asset is available to spawn twins from, in the dashboard, the
    [Python SDK](/tools/python-sdk), or the REST API.
  </Step>
</Steps>

<Tip>
  Start **Private** while you iterate on the URDF and driver, then switch the
  asset to **Organization** or **Public** when it's ready to share. Visibility
  can be changed after creation.
</Tip>

***

## Next steps

<CardGroup cols={2}>
  <Card title="Write a driver" icon="code" href="/feature-reference/edge/drivers/writing-compatible-drivers">
    Connect your hardware's native API to the new asset's twin so it streams and
    takes commands in real time.
  </Card>

  <Card title="Custom Integrations" icon="plug" href="/overview/connecting-hardware/custom-hardware">
    The full overview for bringing your own hardware online with Cyberwave.
  </Card>
</CardGroup>