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atech-module-simready / README.md
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metadata 
license: cc-by-4.0
pretty_name: Atech module SimReady assets
tags:
  - simulation
  - robotics
  - usd
  - simready
  - isaac-sim
  - mujoco
  - urdf
  - 3d

Atech SimReady modules and boards

3-D simulation assets for every module in the Atech SDK catalog and for the 8-, 10- and 14-port boards.

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.
  • Building on the Atech platform: 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 three formats:

atech_<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

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 (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.

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 and stepper 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 and robot-arm 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.
  • 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.