Specs for creating sample set?
SoundFont 2.0 (SF2) sampled sound banks can be used in any digital audio workstation (DAW) software either natively or via a plug-in virtual instrument. It is an old format from the 16-bit Sound Blaster days but still widely supported, and satisfies your requirements of having key and velocity ranges. More recently there is the SFZ file format that is manually editable as a text file. You tell in the SFZ file which WAV files are to be used and how. There are also SF2 and SFZ editors and SF2→SFZ converters available.