glTF (.glb) for every asset: Unity, three.js, Blender; card sections for engines

.gitattributes

@@ -203,3 +203,14 @@ atech_usb_c/mjcf/meshes/atech_usb_c/gold.stl filter=lfs diff=lfs merge=lfs -text
 atech_usb_c/simready_usd/atech_usb_c.usd filter=lfs diff=lfs merge=lfs -text
 atech_usb_c/urdf/meshes/atech_usb_c/black.stl filter=lfs diff=lfs merge=lfs -text
 atech_usb_c/urdf/meshes/atech_usb_c/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_aht20/gltf/atech_aht20.glb filter=lfs diff=lfs merge=lfs -text
+atech_big_screen/gltf/atech_big_screen.glb filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/gltf/atech_board_10port.glb filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/gltf/atech_board_14port.glb filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/gltf/atech_board_8port.glb filter=lfs diff=lfs merge=lfs -text
+atech_button/gltf/atech_button.glb filter=lfs diff=lfs merge=lfs -text
+atech_camera/gltf/atech_camera.glb filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/gltf/atech_dc_motor.glb filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/gltf/atech_distance_sensor.glb filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/gltf/atech_icm40608.glb filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/gltf/atech_load_cell.glb filter=lfs diff=lfs merge=lfs -text

README.md

@@ -9,6 +9,10 @@ tags:
   - isaac-sim
   - mujoco
   - urdf
+  - gltf
+  - glb
+  - unity
+  - threejs
   - 3d
 ---
 
@@ -19,6 +23,15 @@ every module in the [Atech SDK](https://pypi.org/project/atech/) catalog, the pr
 the SDK has no firmware for yet (USB-C, Power Jack, Micro-SD Card, Big Screen, Camera,
 Soil Sensor, Load Cell), and the 8-, 10- and 14-port boards.
 
+Every asset comes in four formats: **USD** (Isaac Sim / Omniverse), **MJCF** (MuJoCo),
+**URDF** (ROS / Gazebo) and **glTF** (`.glb`: Unity, three.js, Blender, Unreal, Godot,
+Babylon.js, any web page).
+
+![A 14-port Atech board with nine modules, rendered in three.js from the .glb files](images/threejs_14port.png)
+
+*Rendered in three.js straight from the `.glb` files: each module seated on its port
+with the frames inside the files.*
+
 ## License: free to use, credit Atech
 
 These assets are open under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/):
@@ -54,19 +67,73 @@ atech_<asset>/
 ├── simready_usd/<asset>.usd                   USD (crate), following NVIDIA SimReady: Isaac Sim / Omniverse
 │   └── .thumbs/256x256/<asset>.usd{,_light,_transparent}.png
 ├── mjcf/<asset>.xml + mjcf/meshes/<asset>/*.stl    MuJoCo
-└── urdf/<asset>.urdf + urdf/meshes/<asset>/*.stl   ROS / Gazebo
+├── urdf/<asset>.urdf + urdf/meshes/<asset>/*.stl   ROS / Gazebo
+└── gltf/<asset>.glb                           Unity, three.js, Blender, Unreal, Godot (one file)
 ```
 
 Asset names are `atech_<module id>` (e.g. `atech_distance_sensor`) and
 `atech_board_<board id>` (e.g. `atech_board_14port`); the robot-arm module is
 `atech_robot_arm_integrator`, its product name.
 
-Generated with `atech sim-assets --all --board 8port,10port,14port`
+Generated with `atech sim-assets --all --board 8port,10port,14port` (USD, MJCF, URDF, glTF)
 (`pip install "atech[sim]"`) on the SDK's development version, then repackaged one
 folder per asset. The thumbnails
 are MuJoCo renders of the MJCF, so they show the CAD's flat material colours, not
 the USD's PBR shading or the display's screen texture.
 
+## Unity, three.js and other engines: `gltf/<asset>.glb`
+
+One self-contained file per asset, glTF 2.0 binary. It passes the Khronos glTF validator
+with no errors or warnings. It keeps the CAD's own materials (metallic-roughness, the
+clear glass lids through `KHR_materials_transmission` and `_ior`, emissive strength,
+unlit silkscreen, and the textures embedded), which STL cannot carry. Nodes:
+
+```
+atech_<asset>                 root: turns the asset's +z up into glTF +y up
+├── atech_<asset>_visual      the mesh, one primitive per material
+├── atech_<asset>_connector   where a module meets a board port
+├── atech_<asset>_sensor | _actuator
+└── atech_<asset>_port_<n>    boards: one empty node per port
+```
+
+**Put a module on a board:** module root = `port node (world)` x `inverse(connector node
+(world))`. glTF has no colliders or mass, so the root's `extras.atech` (`userData.atech`
+in three.js) holds the collision boxes, the mass, the centre of mass and the friction.
+
+**three.js:**
+
+```js
+import { GLTFLoader } from 'three/addons/loaders/GLTFLoader.js';
+const url = (a) => `https://huggingface.co/datasets/atechdev/simready-assets/resolve/main/${a}/gltf/${a}.glb`;
+const loader = new GLTFLoader();
+const board = (await loader.loadAsync(url('atech_board_14port'))).scene;
+const button = (await loader.loadAsync(url('atech_button'))).scene;
+scene.add(board, button);
+board.updateMatrixWorld(true); button.updateMatrixWorld(true);
+const port = board.getObjectByName('atech_board_14port_port_1');
+const conn = button.getObjectByName('atech_button_connector');
+port.matrixWorld.clone().multiply(conn.matrixWorld.clone().invert())
+  .decompose(button.position, button.quaternion, button.scale);
+```
+
+Give the scene an environment map (`RoomEnvironment`, or any HDRI) so the metals and
+glass look right.
+
+**Unity:** install glTFast (`com.unity.cloud.gltfast`, Package Manager) and drop the
+`.glb` into `Assets/`. It imports as a prefab with the same node names, already
+converted to Unity's frame. To seat a module:
+
+```csharp
+var m = port.localToWorldMatrix * connector.worldToLocalMatrix * module.localToWorldMatrix;
+module.SetPositionAndRotation(m.GetPosition(), m.rotation);
+```
+
+glTFast does not import `extras`. Add a `BoxCollider` by hand, or read the boxes from
+the file's JSON. Unity's URDF Importer also reads `urdf/` (STL meshes, URDF colours,
+box colliders, mass).
+
+**Blender, Unreal, Godot, Babylon.js, `<model-viewer>`:** open or import the `.glb` as is.
+
 ## What is real and what is not
 
 - **Visuals** are Atech's production CAD (module-renders release v1.7), with the
@@ -82,6 +149,8 @@ the USD's PBR shading or the display's screen texture.
   AM312 sensor. The Robot Arm Integrator (`atech_robot_arm_integrator`, catalog id `robot_arm`) plugs into one port, but its housing is two cells
   long: its `connector` frame is the centre of the -x cell.
 - **Masses and inertias are placeholders.** Atech has not published them.
+- **Tested:** the `.glb` files pass the Khronos glTF validator and render in three.js
+  (r170), as in the image above. They have not been opened in Unity here.
 - With real CAD, NVIDIA's SimReady validator reports VG.007 warnings: the CAD
   tessellation has non-manifold vertices.
 

atech_aht20/.metadata/com.nvidia.simready.packaging.bom.json

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atech_big_screen/.metadata/com.nvidia.simready.packaging.bom.json

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atech_icm40608/gltf/atech_icm40608.glb

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atech_load_cell/.metadata/com.nvidia.simready.packaging.bom.json

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atech_load_cell/com.nvidia.simready.packaging.json

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