CO2, PIR and robot-arm modules: sensors on the PCB through the lid, after Atech's renders; the robot arm's two-cell housing (part 2)

atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl

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atech_robot_arm/simready_usd/atech_robot_arm.usd

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atech_robot_arm/urdf/atech_robot_arm.urdf

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (servo_connector); not Atech CAD of this module (sha256 8206829fd52b6e0713a679a07a9b22295885b5cdff3b724a80e309b555a1ea09). -->
+<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (capacitor_base, capacitor, servo_connector_base, servo_connector_back, servo_connector_side_a, servo_connector_side_b, servo_pin_1, servo_pin_2, servo_pin_3, passive_1, passive_2); not Atech CAD of this module (sha256 dd00350a4463707e80b2afa6c76d81cc1753d8c8b4cde40c9d6c9c3789f79bee). -->
 <robot name="atech_robot_arm">
   <!-- Atech module robot_arm (SO-101 / SO-ARM100 6-Axis Robot Arm); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. -->
   <link name="atech_robot_arm">
     <inertial>
-      <origin xyz="0.000560420315 0 0.0058966725" rpy="0 0 0"/>
+      <origin xyz="0.000250543503 0 0.00502170424" rpy="0 0 0"/>
       <mass value="0.009"/>
-      <inertia ixx="3.88573022e-07" ixy="0" ixz="-3.58276413e-08" iyy="4.07939028e-07" iyz="0" izz="5.42623668e-07"/>
+      <inertia ixx="3.49855895e-07" ixy="1.79918362e-12" ixz="-2.33519819e-09" iyy="1.23971014e-06" iyz="0" izz="1.44397476e-06"/>
     </inertial>
     <visual name="atech_robot_arm_black_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -28,40 +28,125 @@
       <geometry><mesh filename="meshes/atech_robot_arm/gold.stl"/></geometry>
       <material name="atech_robot_arm_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
     </visual>
-    <visual name="atech_robot_arm_grey_cad_visual">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry><mesh filename="meshes/atech_robot_arm/grey.stl"/></geometry>
-      <material name="atech_robot_arm_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
-    </visual>
     <visual name="atech_robot_arm_pcb_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_robot_arm/pcb.stl"/></geometry>
       <material name="atech_robot_arm_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
     </visual>
-    <visual name="atech_robot_arm_derived_servo_connector_cad_visual">
+    <visual name="atech_robot_arm_derived_capacitor_base_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_capacitor_base.stl"/></geometry>
+      <material name="atech_robot_arm_derived_capacitor_base_cad_material"><color rgba="0.08 0.08 0.09 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_capacitor_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_capacitor.stl"/></geometry>
+      <material name="atech_robot_arm_derived_capacitor_cad_material"><color rgba="0.08 0.08 0.09 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_connector_base_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector_base.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_connector_base_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_connector_back_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector_back.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_connector_back_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_connector_side_a_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector_side_a.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_connector_side_a_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_connector_side_b_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector_side_b.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_connector_side_b_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_pin_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_pin_1.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_pin_1_cad_material"><color rgba="0.83 0.69 0.22 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_pin_2_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector.stl"/></geometry>
-      <material name="atech_robot_arm_derived_servo_connector_cad_material"><color rgba="0.85 0.85 0.8 1"/></material>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_pin_2.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_pin_2_cad_material"><color rgba="0.83 0.69 0.22 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_pin_3_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_pin_3.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_pin_3_cad_material"><color rgba="0.83 0.69 0.22 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_passive_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_passive_1.stl"/></geometry>
+      <material name="atech_robot_arm_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_passive_2_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_passive_2.stl"/></geometry>
+      <material name="atech_robot_arm_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
     </visual>
     <collision name="atech_robot_arm_body_collision">
       <origin xyz="0 0 0.005" rpy="0 0 0"/>
-      <geometry><box size="0.0195 0.0195 0.01"/></geometry>
+      <geometry><box size="0.0395 0.0195 0.01"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_capacitor_base_collision">
+      <origin xyz="-0.002 0 0.00454" rpy="0 0 0"/>
+      <geometry><box size="0.0085 0.0085 0.0008"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_capacitor_collision">
+      <origin xyz="-0.002 0 0.00569" rpy="0 0 0"/>
+      <geometry><box size="0.0078 0.0078 0.0015"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_connector_base_collision">
+      <origin xyz="0.0145 0 0.00474" rpy="0 0 0"/>
+      <geometry><box size="0.0055 0.0095 0.0012"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_connector_back_collision">
+      <origin xyz="0.01675 0 0.00689" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0095 0.0055"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_connector_side_a_collision">
+      <origin xyz="0.014 -0.00435 0.00639" rpy="0 0 0"/>
+      <geometry><box size="0.0045 0.0008 0.0045"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_connector_side_b_collision">
+      <origin xyz="0.014 0.00435 0.00639" rpy="0 0 0"/>
+      <geometry><box size="0.0045 0.0008 0.0045"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_pin_1_collision">
+      <origin xyz="0.0145 -0.0025 0.00734" rpy="0 0 0"/>
+      <geometry><box size="0.0006 0.0006 0.004"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_pin_2_collision">
+      <origin xyz="0.0145 0 0.00734" rpy="0 0 0"/>
+      <geometry><box size="0.0006 0.0006 0.004"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_servo_pin_3_collision">
+      <origin xyz="0.0145 0.0025 0.00734" rpy="0 0 0"/>
+      <geometry><box size="0.0006 0.0006 0.004"/></geometry>
+    </collision>
+    <collision name="atech_robot_arm_passive_1_collision">
+      <origin xyz="0.006 0.004 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
-    <collision name="atech_robot_arm_servo_connector_collision">
-      <origin xyz="0.005 0 0.013" rpy="0 0 0"/>
-      <geometry><box size="0.008 0.01 0.006"/></geometry>
+    <collision name="atech_robot_arm_passive_2_collision">
+      <origin xyz="0.008 -0.004 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
   </link>
   <link name="atech_robot_arm_connector"/>
   <joint name="atech_robot_arm_connector_joint" type="fixed">
     <parent link="atech_robot_arm"/>
     <child link="atech_robot_arm_connector"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <origin xyz="-0.01 0 0" rpy="0 0 0"/>
   </joint>
   <link name="atech_robot_arm_sensor"/>
   <joint name="atech_robot_arm_sensor_joint" type="fixed">
     <parent link="atech_robot_arm"/>
     <child link="atech_robot_arm_sensor"/>
-    <origin xyz="0.005 0 0.013" rpy="0 0 0"/>
+    <origin xyz="0.0145 0 0.00939" rpy="0 0 0"/>
   </joint>
 </robot>

atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl

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atech_robot_arm/urdf/meshes/atech_robot_arm/gold.stl

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atech_scd40_air_quality/.metadata/com.nvidia.simready.packaging.bom.json

@@ -3,9 +3,9 @@
   "items": [
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@@ -23,31 +23,59 @@
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@@ -59,37 +87,37 @@
     },
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@@ -107,31 +135,59 @@
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atech_scd40_air_quality/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "41ff28a2c7042e84079b9c27eca93f460b8014e6f72a99c738048ba0b576c13d"
+        "sha256": "e2a8c1c4bb924ebd413dc9c2f55f1ae17fd3b6aeca1e3403d944967c9a7e1e86"
       }
     }
   ]

atech_scd40_air_quality/mjcf/atech_scd40_air_quality.xml

@@ -10,8 +10,8 @@
     <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"/>
+    <text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (sensor_base, sensor_can, passive_1, passive_2, passive_3); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="511e034be096e0c5cb54c0301b6cac2684751c5fd4cce4cf406dd0cf6c991819"/>
   </custom>
   <asset>
     <mesh name="atech_scd40_air_quality_black_cad_mesh" file="meshes/atech_scd40_air_quality/black.stl" inertia="shell"/>
@@ -20,7 +20,11 @@
     <mesh name="atech_scd40_air_quality_gold_cad_mesh" file="meshes/atech_scd40_air_quality/gold.stl" inertia="shell"/>
     <mesh name="atech_scd40_air_quality_grey_cad_mesh" file="meshes/atech_scd40_air_quality/grey.stl" inertia="shell"/>
     <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_base_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_base.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"/>
+    <mesh name="atech_scd40_air_quality_derived_passive_1_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_scd40_air_quality_derived_passive_2_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_2.stl" inertia="shell"/>
+    <mesh name="atech_scd40_air_quality_derived_passive_3_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_3.stl" inertia="shell"/>
   </asset>
   <worldbody>
     <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
@@ -34,11 +38,19 @@
       <geom name="atech_scd40_air_quality_gold_cad" type="mesh" mesh="atech_scd40_air_quality_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_scd40_air_quality_grey_cad" type="mesh" mesh="atech_scd40_air_quality_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_scd40_air_quality_pcb_cad" type="mesh" mesh="atech_scd40_air_quality_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <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"/>
-      <geom name="atech_scd40_air_quality_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00680212785" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_scd40_air_quality_sensor_can" type="box" size="0.0051 0.00505 0.00325" pos="0 0 0.01325" mass="0.00119787215" rgba="0.18 0.18 0.18 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_derived_sensor_base_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_base_cad_mesh" rgba="0.78 0.79 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_scd40_air_quality_derived_sensor_can_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_can_cad_mesh" rgba="0.93 0.93 0.92 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_scd40_air_quality_derived_passive_1_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_scd40_air_quality_derived_passive_2_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_scd40_air_quality_derived_passive_3_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_scd40_air_quality_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00718894689" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_sensor_base" type="box" size="0.00505 0.00505 0.0004" pos="0 0 0.00454" mass="0.000154286805" rgba="0.78 0.79 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_sensor_can" type="box" size="0.0039 0.0039 0.00285" pos="0 0 0.00779" mass="0.000655631956" rgba="0.93 0.93 0.92 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.001 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_scd40_air_quality_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
       <site name="atech_scd40_air_quality_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
-      <site name="atech_scd40_air_quality_sensor" pos="0 0 0.01325" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+      <site name="atech_scd40_air_quality_sensor" pos="0 0 0.01064" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
     </body>
   </worldbody>
 </mujoco>

atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/gold.stl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225
-size 120684
+oid sha256:4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5
+size 119484

atech_scd40_air_quality/simready_usd/atech_scd40_air_quality.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72e741195f4b4f785a1f717f769f97c30787423c3e2e32295a16ea68818a57ad
-size 380568
+oid sha256:5cc7fac05d0bf2a941a6f322060d28aa16efbb9cfffce435cf61a7af4868a7b1
+size 384112