Number the package folders: boards, then soil, DC motor, sensors, robot arm, audio, LED, knob, ... (part 3)
d0d4832 verified | license: cc-by-4.0 | |
| pretty_name: Atech module SimReady assets | |
| tags: | |
| - simulation | |
| - robotics | |
| - usd | |
| - simready | |
| - isaac-sim | |
| - mujoco | |
| - urdf | |
| - gltf | |
| - glb | |
| - unity | |
| - threejs | |
| - 3d | |
| # Atech SimReady modules and boards | |
| 3-D simulation assets for the Atech boards and modules on [atech.dev](https://atech.dev): | |
| every module in the [Atech SDK](https://pypi.org/project/atech/) catalog, the products | |
| 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). | |
|  | |
| *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/): | |
| use, change and redistribute them, in research, teaching and commercial products, | |
| as long as you **credit Atech**. In anything you publish or ship with them (a paper, | |
| a video, a game, a product, a modified copy), say so, for example: | |
| > 3D models: Atech SimReady assets by Atech ([atech.dev](https://atech.dev)), CC BY 4.0, | |
| > https://huggingface.co/datasets/atechdev/simready-assets | |
| Note if you changed them. CC BY 4.0 covers these 3-D files. It gives no rights to the | |
| Atech name or logo beyond that credit, and it does not suggest Atech endorses your work. | |
| ## Build with the real hardware | |
| - **Firmware and drivers: the `atech` Python library.** `pip install atech` gives you | |
| the module catalog, Atech's module drivers, and the commands that turn a small | |
| `project.yaml` into firmware, build it, flash the board and talk to it from your | |
| laptop (`atech new`, `atech build`, `atech upload`, `atech monitor`). It can also | |
| run that firmware on an emulated board (`atech emulate`) and export these assets | |
| (`atech sim-assets`). Source: [github.com/atechdotdev/python-sdk](https://github.com/atechdotdev/python-sdk). | |
| - **Building on the Atech platform: [atech.dev](https://atech.dev).** The boards and | |
| modules these assets model, and the platform to build projects with them. | |
| ## Layout | |
| Each top-level folder is one SimReady asset package, in four formats: | |
| ``` | |
| NN_<asset>/ | |
| ├── com.nvidia.simready.packaging.json package marker (license, BOM hash) | |
| ├── .metadata/ root USD list, bill of materials (sha256 per file) | |
| ├── 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 | |
| └── gltf/<asset>.glb Unity, three.js, Blender, Unreal, Godot (one file) | |
| ``` | |
| Folders are numbered (`01_atech_board_14port`, `02_atech_board_10port`, ...) only to set | |
| the order the Hub lists them in; the files inside carry the plain asset name. | |
| 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` (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 = (folder) => `https://huggingface.co/datasets/atechdev/simready-assets/resolve/main/${folder}/gltf/${folder.slice(3)}.glb`; | |
| const loader = new GLTFLoader(); | |
| const board = (await loader.loadAsync(url('01_atech_board_14port'))).scene; | |
| const button = (await loader.loadAsync(url('15_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 | |
| GLB's own PBR materials. **Colliders are boxes**: the bounds of that CAD. | |
| - **The 8-port board** is Atech's CAD of it ("Node 8 Position Motherboard", from | |
| Atech's website models), not yet in the module-renders release; its source says so. | |
| - **Derived models.** The PIR, CO₂ (SCD40), robot-arm, stepper, power-jack, soil-sensor | |
| and load-cell modules have no model in the CAD release. Theirs are built from the CAD that | |
| exists plus placeholder parts, and say `derived:` in every format | |
| (`atech:visual:source` in USD, the MJCF text, the URDF comment). They are not Atech CAD. | |
| The CO₂, robot-arm, power-jack, soil-sensor and load-cell modules follow Atech's | |
| product renders; the PIR is drawn as its | |
| 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 guide sim` (in the SDK) documents every attribute and the full layout. | |