Honu glTF Asset Framework Logo
  • Profile
    • Introduction
      • Scope
    • Document conventions
      • Audience
      • Normative terminology
      • Informative language
      • Open issues
    • Terminology
    • Delivery
      • File
        • File naming
        • File format
        • glTF structure
        • The manifest
      • Asset header
    • Coordinate systems and units
      • Units
      • Axes
      • Forward axis
      • Origin - datum coordinate system location
      • Scenes and nodes
      • Datum specification
        • The datum point
        • A base part
        • A component part
    • Geometry
      • UV sets
      • Budgets
      • Primitives
    • Materials
    • Textures
    • Transparency
    • Prohibited content
    • Authoring toolchain
    • Conformance testing
    • Open questions (Informative)
      • Open: the to-do list for this draft
      • Open: Future, not blocking this draft
    • References (Informative)
    • Closely related work (Informative)
  • Workflow
    • Roles
    • Outline
    • Step 1: Commission [Integrator]
      • Commission YAML file
    • Step 2: Author 3D asset [Modeler]
      • Build to the Honu Asset Profile and export
    • Step 3: Fill the .glb manifest from the commission YAML [Integrator]
    • Step 4: Verify [Integrator]
      • Valid? Test with Khronos CLI gltf_validator
      • Intended? Visual check with Khronos sample viewer in browser
      • Compliant? Custom gltf-check to enforce [profile]
      • What the integrator checks
      • When the checks run
      • Who answers what
    • After acceptance
    • Not settled here
  • Walkthroughs
    • Coordinate system orientation demonstration
      • The overarching structure
      • Minimum monkey mesh
        • Create in Blender
        • Export Blender -> glTF
        • View in gltF Sample Viewer
          • glTF to Gazebo
          • glTF to RVIZ
        • Summary
    • Exporting from Blender
      • The export dialog
      • Author in Blender’s own convention, and let the exporter convert
      • Clear location and rotation, apply scale, before exporting
      • Where the origin goes is not yours to choose
      • Name the object, not the mesh
      • Metalness is the defect that keeps recurring
      • Texture format is decided by the source image
      • Transparency is per material, not per pixel
      • Turn on Apply Modifiers
      • Keep the authoring source, outside the simulation repository
      • Versions
      • Importing the Gazebo Material in Blender
      • Using the Gazebo Material
        • Assign the material to the mesh
        • Assign textures to the material
        • Creating a simple ORM map
    • Checking a delivery
      • Running the checker
      • Reading the output
      • What a clean run does not mean
    • BlueBoat gltf Walkthrough
      • Step 1: Commission
      • Step 2: Author 3D asset
      • Step 3: Fill the manifest from the commission
      • Step 4: Verify
        • Valid? Test with Khronos CLI gltf_validator
          • Why two (not one) errors for the prop files?
        • Intended? Visual check with Khronos sample viewer in browser
        • Compliant? Custom gltf-check to enforce [profile]
  • Assessments
    • Community exemplars: who else ships glTF to Gazebo and RViz
      • Method
      • The cohort
        • gazebosim/jetty_demo — the closest thing to an upstream reference
        • open-rmf/rmf_site — glTF generated rather than authored
        • husarion/rosbot_ros — a commercial product doing it per-link
        • RobotLocomotion — the informed dissent on packaging
        • usnistgov/ARIAC — a migration caught in the middle
        • vanttec/vanttec_usv — the nearest maritime peer, inverted
      • The people, and the two organizations that turned out not to be doing this
      • What this changes for us
      • Where the argument is being had
  • Reference
    • Glossary
      • Terms
        • assembly
        • asset
        • asset coordinate system
        • base part
        • commission
        • component part
        • consumer
        • coordinate system
        • datasheet
        • datum
        • datum coordinate system
        • datum point
        • delivery
        • integrator
        • manifest
        • modeler
        • origin
        • part
        • part coordinate system
        • submesh
        • visual model
    • Coordinate Systems: glTF, Gazebo and ROS
      • Objective
        • Central Issue
      • How claims in this document are marked
      • Coordinate Conventions and Typical Practices
      • Vocabulary / Nomenclature / Glossary
        • Our formal default
        • Terms by stage of the flow
        • Coordinate system, origin, and reference point
        • The O - X - Y - Z notation
        • Specifying a coordinate system: datums and what “referenced to” means
        • Assumptions
        • Standards Summary
          • ISO 9787:2013
        • Robotics
          • Categorizing links by their place in the tree
          • Manipulation-centric (robots with static base)
          • Mobile-centric
          • Other conventions worth knowing
        • 3D Graphics
          • What survives into glTF, and what does not
          • Standards for 3D assets
      • Reconciling the standards
        • Where they agree, and it is most of it
        • The disagreement is one cyclic relabeling
        • Our coordinate system names
        • The full reconciliation
        • Adopt, narrow, or invent
      • One body, one mesh: who rotates what
        • The chain, and where a rotation can be inserted
        • Gazebo, from source
        • RViz, from source
        • Blender’s exporter, from source
        • The probe, measured
        • The decision, and what it costs
      • Next increment
      • References
    • Gazebo and RViz loader behavior
      • The consumers
      • The Gazebo path, step by step
      • What the loader reads from a glTF material
        • Rendered observations, 2026-10-05
      • The RViz path
    • PBR, and why glTF is inseparable from it
      • The shift in one sentence
      • What we had before: Collada plus an image
      • What PBR replaces it with
        • The four terms in that table (reference)
      • The differences that actually bite
      • Why glTF and PBR cannot be separated
      • Where to go next
    • glTF Background
      • References
        • Khronos.org
        • glTF 2.0 Specification
          • https://github.com/KhronosGroup/glTF-Tutorials
          • glTF Quickstart
        • Video: Discussing Vulkan, Neural Rendering, SLANG, AI & More - Neil Trevett & Khronos Group Interview
        • glTF 2.0 Quickstart and tools
        • OpenUSD Conventions for Simulation Asset Interoperability in Open Source Robotics
      • Closely Related Work and Examples
        • Community standards, documents, discussion, etc.
          • Gazebo community and developers
          • Examples
            • Fuel
            • Repos
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