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+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (servo_connector); not Atech CAD of this module (sha256 8206829fd52b6e0713a679a07a9b22295885b5cdff3b724a80e309b555a1ea09). -->
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diff --git a/atech_rotary_encoder/com.nvidia.simready.packaging.json b/atech_rotary_encoder/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b23c1d157ff14299ac84ed05db045669a3ad52
--- /dev/null
+++ b/atech_rotary_encoder/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_rotary_encoder",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "51a4df8dea4e1fda243d041f55e52c338ca43ff8010367ec876a8f1afeb6ff0d"
+      }
+    }
+  ]
+}
diff --git a/atech_rotary_encoder/mjcf/atech_rotary_encoder.xml b/atech_rotary_encoder/mjcf/atech_rotary_encoder.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa69cef15e30302c1c464eae98aee4fd24b64242
--- /dev/null
+++ b/atech_rotary_encoder/mjcf/atech_rotary_encoder.xml
@@ -0,0 +1,47 @@
+<mujoco model="atech_rotary_encoder">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="rotary_encoder"/>
+    <text name="atech:name" data="Rotary Encoder Knob"/>
+    <text name="atech:category" data="input"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb"/>
+    <text name="atech:visual:sha256" data="a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465"/>
+  </custom>
+  <asset>
+    <mesh name="atech_rotary_encoder_black_cad_mesh" file="meshes/atech_rotary_encoder/black.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_black_m_cad_mesh" file="meshes/atech_rotary_encoder/black_m.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_glass_cad_mesh" file="meshes/atech_rotary_encoder/glass.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_gold_cad_mesh" file="meshes/atech_rotary_encoder/gold.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_grey_cad_mesh" file="meshes/atech_rotary_encoder/grey.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_led_ring_cad_mesh" file="meshes/atech_rotary_encoder/led_ring.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_pcb_cad_mesh" file="meshes/atech_rotary_encoder/pcb.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_satin_cad_mesh" file="meshes/atech_rotary_encoder/satin.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_rotary_encoder" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module rotary_encoder (Rotary Encoder Knob); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_rotary_encoder_free"/>
+      <geom name="atech_rotary_encoder_black_cad" type="mesh" mesh="atech_rotary_encoder_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_black_m_cad" type="mesh" mesh="atech_rotary_encoder_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_glass_cad" type="mesh" mesh="atech_rotary_encoder_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_gold_cad" type="mesh" mesh="atech_rotary_encoder_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_grey_cad" type="mesh" mesh="atech_rotary_encoder_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_led_ring_cad" type="mesh" mesh="atech_rotary_encoder_led_ring_cad_mesh" rgba="0.9574 0.9445 0.918 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_pcb_cad" type="mesh" mesh="atech_rotary_encoder_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_satin_cad" type="mesh" mesh="atech_rotary_encoder_satin_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_rotary_encoder_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.00782211579" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_rotary_encoder_base_overhang" type="box" size="0.01975 0.01005 0.005" pos="0 0.0198 0.005" mass="0.00806279628" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_rotary_encoder_knob" type="box" size="0.006 0.006 0.01407" pos="-0.00015 0.0101 0.02407" mass="0.00411508792" rgba="0.03 0.03 0.03 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_rotary_encoder_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_rotary_encoder_sensor" pos="-0.00015 0.0101 0.03814" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+      <site name="atech_rotary_encoder_actuator" pos="-0.00015 0.01005 0.00498" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/atech_rotary_encoder/urdf/atech_rotary_encoder.urdf b/atech_rotary_encoder/urdf/atech_rotary_encoder.urdf
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--- /dev/null
+++ b/atech_rotary_encoder/urdf/atech_rotary_encoder.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb (sha256 a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465). -->
+<robot name="atech_rotary_encoder">
+  <!-- Atech module rotary_encoder (Rotary Encoder Knob); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame, actuator.frame. -->
+  <link name="atech_rotary_encoder">
+    <inertial>
+      <origin xyz="-3.08631594e-05 0.0100602877 0.00892373634" rpy="0 0 0"/>
+      <mass value="0.02"/>
+      <inertia ixx="3.71775036e-06" ixy="2.45129287e-11" ixz="9.34923101e-09" iyy="3.70734493e-06" iyz="-3.11641034e-09" izz="4.24005364e-06"/>
+    </inertial>
+    <visual name="atech_rotary_encoder_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/black.stl"/></geometry>
+      <material name="atech_rotary_encoder_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/black_m.stl"/></geometry>
+      <material name="atech_rotary_encoder_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/glass.stl"/></geometry>
+      <material name="atech_rotary_encoder_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/gold.stl"/></geometry>
+      <material name="atech_rotary_encoder_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/grey.stl"/></geometry>
+      <material name="atech_rotary_encoder_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_led_ring_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/led_ring.stl"/></geometry>
+      <material name="atech_rotary_encoder_led_ring_cad_material"><color rgba="0.9574 0.9445 0.918 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/pcb.stl"/></geometry>
+      <material name="atech_rotary_encoder_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_rotary_encoder_satin_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_rotary_encoder/satin.stl"/></geometry>
+      <material name="atech_rotary_encoder_satin_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <collision name="atech_rotary_encoder_body_collision">
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0195 0.01"/></geometry>
+    </collision>
+    <collision name="atech_rotary_encoder_base_overhang_collision">
+      <origin xyz="0 0.0198 0.005" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0201 0.01"/></geometry>
+    </collision>
+    <collision name="atech_rotary_encoder_knob_collision">
+      <origin xyz="-0.00015 0.0101 0.02407" rpy="0 0 0"/>
+      <geometry><box size="0.012 0.012 0.02814"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_rotary_encoder_connector"/>
+  <joint name="atech_rotary_encoder_connector_joint" type="fixed">
+    <parent link="atech_rotary_encoder"/>
+    <child link="atech_rotary_encoder_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_rotary_encoder_sensor"/>
+  <joint name="atech_rotary_encoder_sensor_joint" type="fixed">
+    <parent link="atech_rotary_encoder"/>
+    <child link="atech_rotary_encoder_sensor"/>
+    <origin xyz="-0.00015 0.0101 0.03814" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_rotary_encoder_actuator"/>
+  <joint name="atech_rotary_encoder_actuator_joint" type="fixed">
+    <parent link="atech_rotary_encoder"/>
+    <child link="atech_rotary_encoder_actuator"/>
+    <origin xyz="-0.00015 0.01005 0.00498" rpy="0 0 0"/>
+  </joint>
+</robot>
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+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="scd40_air_quality"/>
+    <text name="atech:name" data="SCD40 Air Quality Sensor (CO2)"/>
+    <text name="atech:category" data="sensor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,sensor.frame"/>
+    <text name="atech:interface" data="i2c"/>
+    <text name="atech:i2c_address" data="98"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (sensor_can); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="cc6719b02efc847eb4f397952f2b82ce732d925c2aee80e898161f4234d0b618"/>
+  </custom>
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+    <mesh name="atech_scd40_air_quality_pcb_cad_mesh" file="meshes/atech_scd40_air_quality/pcb.stl" inertia="shell"/>
+    <mesh name="atech_scd40_air_quality_derived_sensor_can_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_can.stl" inertia="shell"/>
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+    <body name="atech_scd40_air_quality" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_scd40_air_quality_free"/>
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+      <geom name="atech_scd40_air_quality_derived_sensor_can_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_can_cad_mesh" rgba="0.18 0.18 0.18 1" contype="0" conaffinity="0" group="2" mass="0"/>
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+  </worldbody>
+</mujoco>
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+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (sensor_can); not Atech CAD of this module (sha256 cc6719b02efc847eb4f397952f2b82ce732d925c2aee80e898161f4234d0b618). -->
+<robot name="atech_scd40_air_quality">
+  <!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. -->
+  <link name="atech_scd40_air_quality">
+    <inertial>
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+      <material name="atech_scd40_air_quality_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
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+      <material name="atech_scd40_air_quality_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/glass.stl"/></geometry>
+      <material name="atech_scd40_air_quality_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/gold.stl"/></geometry>
+      <material name="atech_scd40_air_quality_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/grey.stl"/></geometry>
+      <material name="atech_scd40_air_quality_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
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+      <geometry><mesh filename="meshes/atech_scd40_air_quality/pcb.stl"/></geometry>
+      <material name="atech_scd40_air_quality_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_derived_sensor_can_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_sensor_can.stl"/></geometry>
+      <material name="atech_scd40_air_quality_derived_sensor_can_cad_material"><color rgba="0.18 0.18 0.18 1"/></material>
+    </visual>
+    <collision name="atech_scd40_air_quality_body_collision">
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.01"/></geometry>
+    </collision>
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+      <geometry><box size="0.0102 0.0101 0.0065"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_scd40_air_quality_connector"/>
+  <joint name="atech_scd40_air_quality_connector_joint" type="fixed">
+    <parent link="atech_scd40_air_quality"/>
+    <child link="atech_scd40_air_quality_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <link name="atech_scd40_air_quality_sensor"/>
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+    <child link="atech_scd40_air_quality_sensor"/>
+    <origin xyz="0 0 0.01325" rpy="0 0 0"/>
+  </joint>
+</robot>
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+{
+  "format_version": "1.0",
+  "items": [
+    {
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+      "hash": {
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+      "hash": {
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+      }
+    },
+    {
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+      "size": 8158,
+      "hash": {
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+      "hash": {
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+      "hash": {
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+  ]
+}
diff --git a/atech_speaker/.metadata/com.nvidia.simready.root_usds.json b/atech_speaker/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a58dbf6e5c6f5aa03b50cf9187d62531edf42e
--- /dev/null
+++ b/atech_speaker/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_speaker.usd"
+  ]
+}
diff --git a/atech_speaker/com.nvidia.simready.packaging.json b/atech_speaker/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..4744bf5d6585a32c5cc722f0b06a9dc04b9d29be
--- /dev/null
+++ b/atech_speaker/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_speaker",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
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+  ]
+}
diff --git a/atech_speaker/mjcf/atech_speaker.xml b/atech_speaker/mjcf/atech_speaker.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83bfd2eec91e18b01e6014a32a1804b238a5f16a
--- /dev/null
+++ b/atech_speaker/mjcf/atech_speaker.xml
@@ -0,0 +1,37 @@
+<mujoco model="atech_speaker">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="speaker"/>
+    <text name="atech:name" data="I2S Speaker (MAX98357A)"/>
+    <text name="atech:category" data="audio"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/speaker.glb"/>
+    <text name="atech:visual:sha256" data="ed97612474860e9671b7a2dfff6f6bc6b43f208d8c82344dde986d15310b3f16"/>
+  </custom>
+  <asset>
+    <mesh name="atech_speaker_black_cad_mesh" file="meshes/atech_speaker/black.stl" inertia="shell"/>
+    <mesh name="atech_speaker_black_m_cad_mesh" file="meshes/atech_speaker/black_m.stl" inertia="shell"/>
+    <mesh name="atech_speaker_gold_cad_mesh" file="meshes/atech_speaker/gold.stl" inertia="shell"/>
+    <mesh name="atech_speaker_pcb_cad_mesh" file="meshes/atech_speaker/pcb.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_speaker" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module speaker (I2S Speaker (MAX98357A)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_speaker_free"/>
+      <geom name="atech_speaker_black_cad" type="mesh" mesh="atech_speaker_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_speaker_black_m_cad" type="mesh" mesh="atech_speaker_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_speaker_gold_cad" type="mesh" mesh="atech_speaker_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_speaker_pcb_cad" type="mesh" mesh="atech_speaker_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_speaker_body" type="box" size="0.02 0.00975 0.0101" pos="0 0 0.0101" mass="0.00978670013" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_speaker_enclosure_overhang" type="box" size="0.02 0.010175 0.0101" pos="0 0.019925 0.0101" mass="0.0102132999" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_speaker_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_speaker_actuator" pos="0 0.0101 0.0202" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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--- /dev/null
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/speaker.glb (sha256 ed97612474860e9671b7a2dfff6f6bc6b43f208d8c82344dde986d15310b3f16). -->
+<robot name="atech_speaker">
+  <!-- Atech module speaker (I2S Speaker (MAX98357A)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_speaker">
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+    <visual name="atech_speaker_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_speaker/black.stl"/></geometry>
+      <material name="atech_speaker_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
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+      <material name="atech_speaker_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
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+      <material name="atech_speaker_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_speaker_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_speaker/pcb.stl"/></geometry>
+      <material name="atech_speaker_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
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+      <geometry><box size="0.04 0.0195 0.0202"/></geometry>
+    </collision>
+    <collision name="atech_speaker_enclosure_overhang_collision">
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+      <geometry><box size="0.04 0.02035 0.0202"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_speaker_connector"/>
+  <joint name="atech_speaker_connector_joint" type="fixed">
+    <parent link="atech_speaker"/>
+    <child link="atech_speaker_connector"/>
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+    <child link="atech_speaker_actuator"/>
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new file mode 100644
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--- /dev/null
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+}
diff --git a/atech_st7735_tft/com.nvidia.simready.packaging.json b/atech_st7735_tft/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf20d23f2b1acc134a470eb05311a0170cc1de8
--- /dev/null
+++ b/atech_st7735_tft/com.nvidia.simready.packaging.json
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+{
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diff --git a/atech_st7735_tft/mjcf/atech_st7735_tft.xml b/atech_st7735_tft/mjcf/atech_st7735_tft.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6be25ed131296392d0bbeff55040adcc97b22a69
--- /dev/null
+++ b/atech_st7735_tft/mjcf/atech_st7735_tft.xml
@@ -0,0 +1,42 @@
+<mujoco model="atech_st7735_tft">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="st7735_tft"/>
+    <text name="atech:name" data="ST7735 TFT Color Display (160x80)"/>
+    <text name="atech:category" data="display"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/screen.glb"/>
+    <text name="atech:visual:sha256" data="3367736208e89cfb758b657b02c47242efb4a487c07937e94b6ebdefa1446f02"/>
+  </custom>
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+    <mesh name="atech_st7735_tft_gloss_cad_mesh" file="meshes/atech_st7735_tft/gloss.stl" inertia="shell"/>
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+    <mesh name="atech_st7735_tft_pcb_cad_mesh" file="meshes/atech_st7735_tft/pcb.stl" inertia="shell"/>
+    <mesh name="atech_st7735_tft_screen_art_cad_mesh" file="meshes/atech_st7735_tft/screen_art.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_st7735_tft" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module st7735_tft (ST7735 TFT Color Display (160x80)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_st7735_tft_free"/>
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+    </body>
+  </worldbody>
+</mujoco>
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--- /dev/null
+++ b/atech_st7735_tft/urdf/atech_st7735_tft.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/screen.glb (sha256 3367736208e89cfb758b657b02c47242efb4a487c07937e94b6ebdefa1446f02). -->
+<robot name="atech_st7735_tft">
+  <!-- Atech module st7735_tft (ST7735 TFT Color Display (160x80)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_st7735_tft">
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+      <material name="atech_st7735_tft_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
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+    </visual>
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+      <geometry><mesh filename="meshes/atech_st7735_tft/glass.stl"/></geometry>
+      <material name="atech_st7735_tft_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
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+      <geometry><mesh filename="meshes/atech_st7735_tft/gloss.stl"/></geometry>
+      <material name="atech_st7735_tft_gloss_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
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+      <geometry><mesh filename="meshes/atech_st7735_tft/gold.stl"/></geometry>
+      <material name="atech_st7735_tft_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <material name="atech_st7735_tft_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_screen_art_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <material name="atech_st7735_tft_screen_art_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
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+    </collision>
+  </link>
+  <link name="atech_st7735_tft_connector"/>
+  <joint name="atech_st7735_tft_connector_joint" type="fixed">
+    <parent link="atech_st7735_tft"/>
+    <child link="atech_st7735_tft_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_st7735_tft_actuator"/>
+  <joint name="atech_st7735_tft_actuator_joint" type="fixed">
+    <parent link="atech_st7735_tft"/>
+    <child link="atech_st7735_tft_actuator"/>
+    <origin xyz="0 0 0.00964" rpy="0 0 0"/>
+  </joint>
+</robot>
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+}
diff --git a/atech_stepper_motor/.metadata/com.nvidia.simready.root_usds.json b/atech_stepper_motor/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d6a4faab099f81c41045fe6091558bc506f1ce2
--- /dev/null
+++ b/atech_stepper_motor/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_stepper_motor.usd"
+  ]
+}
diff --git a/atech_stepper_motor/com.nvidia.simready.packaging.json b/atech_stepper_motor/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..1250d7ed86a8098085084b9fadb28ca9f99d915c
--- /dev/null
+++ b/atech_stepper_motor/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_stepper_motor",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
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+      }
+    }
+  ]
+}
diff --git a/atech_stepper_motor/mjcf/atech_stepper_motor.xml b/atech_stepper_motor/mjcf/atech_stepper_motor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d70f608f89770c5e8dc969ab9f02857b450c1b98
--- /dev/null
+++ b/atech_stepper_motor/mjcf/atech_stepper_motor.xml
@@ -0,0 +1,44 @@
+<mujoco model="atech_stepper_motor">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="stepper_motor"/>
+    <text name="atech:name" data="Stepper Motor Driver (NEMA 17 / TMC2209)"/>
+    <text name="atech:category" data="motor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="55f092000bd0a9320a9e64652eb2a2a29d674d6a9e1d1d4793cb8024803c3bb9"/>
+  </custom>
+  <asset>
+    <mesh name="atech_stepper_motor_black_cad_mesh" file="meshes/atech_stepper_motor/black.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_black_m_cad_mesh" file="meshes/atech_stepper_motor/black_m.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_glass_cad_mesh" file="meshes/atech_stepper_motor/glass.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_gold_cad_mesh" file="meshes/atech_stepper_motor/gold.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_pcb_cad_mesh" file="meshes/atech_stepper_motor/pcb.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_derived_driver_chip_cad_mesh" file="meshes/atech_stepper_motor/derived_driver_chip.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_derived_motor_terminal_cad_mesh" file="meshes/atech_stepper_motor/derived_motor_terminal.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_stepper_motor" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_stepper_motor_free"/>
+      <geom name="atech_stepper_motor_black_cad" type="mesh" mesh="atech_stepper_motor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_black_m_cad" type="mesh" mesh="atech_stepper_motor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_glass_cad" type="mesh" mesh="atech_stepper_motor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_gold_cad" type="mesh" mesh="atech_stepper_motor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_pcb_cad" type="mesh" mesh="atech_stepper_motor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_derived_driver_chip_cad" type="mesh" mesh="atech_stepper_motor_derived_driver_chip_cad_mesh" rgba="0.18 0.18 0.18 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_derived_motor_terminal_cad" type="mesh" mesh="atech_stepper_motor_derived_motor_terminal_cad_mesh" rgba="0.85 0.85 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_stepper_motor_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0172712551" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_stepper_motor_driver_chip" type="box" size="0.0025 0.0025 0.0005" pos="0 0 0.0105" mass="5.6057303e-05" rgba="0.18 0.18 0.18 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_stepper_motor_motor_terminal" type="box" size="0.005 0.003 0.0025" pos="0.013 0 0.0125" mass="0.000672687636" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_stepper_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_stepper_motor_actuator" pos="0 0 0.0105" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/atech_stepper_motor/urdf/atech_stepper_motor.urdf b/atech_stepper_motor/urdf/atech_stepper_motor.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module (sha256 55f092000bd0a9320a9e64652eb2a2a29d674d6a9e1d1d4793cb8024803c3bb9). -->
+<robot name="atech_stepper_motor">
+  <!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, actuator.frame. -->
+  <link name="atech_stepper_motor">
+    <inertial>
+      <origin xyz="0.00048582996 0 0.00529741514" rpy="0 0 0"/>
+      <mass value="0.018"/>
+      <inertia ixx="7.32693182e-07" ixy="0" ixz="-6.29861672e-08" iyy="2.54405659e-06" iyz="0" izz="2.91019889e-06"/>
+    </inertial>
+    <visual name="atech_stepper_motor_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/black.stl"/></geometry>
+      <material name="atech_stepper_motor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/black_m.stl"/></geometry>
+      <material name="atech_stepper_motor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/glass.stl"/></geometry>
+      <material name="atech_stepper_motor_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/gold.stl"/></geometry>
+      <material name="atech_stepper_motor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/pcb.stl"/></geometry>
+      <material name="atech_stepper_motor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_derived_driver_chip_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/derived_driver_chip.stl"/></geometry>
+      <material name="atech_stepper_motor_derived_driver_chip_cad_material"><color rgba="0.18 0.18 0.18 1"/></material>
+    </visual>
+    <visual name="atech_stepper_motor_derived_motor_terminal_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_stepper_motor/derived_motor_terminal.stl"/></geometry>
+      <material name="atech_stepper_motor_derived_motor_terminal_cad_material"><color rgba="0.85 0.85 0.8 1"/></material>
+    </visual>
+    <collision name="atech_stepper_motor_body_collision">
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0195 0.01"/></geometry>
+    </collision>
+    <collision name="atech_stepper_motor_driver_chip_collision">
+      <origin xyz="0 0 0.0105" rpy="0 0 0"/>
+      <geometry><box size="0.005 0.005 0.001"/></geometry>
+    </collision>
+    <collision name="atech_stepper_motor_motor_terminal_collision">
+      <origin xyz="0.013 0 0.0125" rpy="0 0 0"/>
+      <geometry><box size="0.01 0.006 0.005"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_stepper_motor_connector"/>
+  <joint name="atech_stepper_motor_connector_joint" type="fixed">
+    <parent link="atech_stepper_motor"/>
+    <child link="atech_stepper_motor_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_stepper_motor_actuator"/>
+  <joint name="atech_stepper_motor_actuator_joint" type="fixed">
+    <parent link="atech_stepper_motor"/>
+    <child link="atech_stepper_motor_actuator"/>
+    <origin xyz="0 0 0.0105" rpy="0 0 0"/>
+  </joint>
+</robot>
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