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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_passive_1.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_passive_1.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_back.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_back.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_side_a.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_side_a.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_side_b.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_connector_side_b.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_1.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_1.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_2.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_2.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_3.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/derived_servo_pin_3.stl
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/glass.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/glass.stl
index 8d165d23bf6b140e2ded305bd5a1c2e92bba64ec..1a9a3fd302c573a82e1184803f9f116d500893f8 100644
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diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl
index 77b77bd0c6041c45cff2c226e5e533a41d5fef45..fb98ad8a6dfcb65e7d505fec698b32200c4b7839 100644
--- a/atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl
+++ b/atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl
@@ -1,3 +1,3 @@
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+size 119484
diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/pcb.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/pcb.stl
index 220e17cbaf325b78d5c81018b106eb96c92581cd..08949dc5998a92936584dd8817b51818ef38b331 100644
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diff --git a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd.png b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd.png
index 3be3520f1282ef18300561be2876c5592a2bca3d..b19e5aa4ce2de11883c5ef4fb7d97e242032a720 100644
--- a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd.png
+++ b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd.png
@@ -1,3 +1,3 @@
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diff --git a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_light.png b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_light.png
index d410aad20fac4de21896a63238c8f9453f58317a..31ba2f1d47b49d22590b13b8a82a6b6fe5cfd2e4 100644
--- a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_light.png
+++ b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_light.png
@@ -1,3 +1,3 @@
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diff --git a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_transparent.png b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_transparent.png
index 27d10e09c7c2d956a5aa2d73116b871a2a21e0b6..c5b434936d24f996eaea3bafd49aad8c5d889fea 100644
--- a/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_transparent.png
+++ b/atech_robot_arm/simready_usd/.thumbs/256x256/atech_robot_arm.usd_transparent.png
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diff --git a/atech_robot_arm/simready_usd/atech_robot_arm.usd b/atech_robot_arm/simready_usd/atech_robot_arm.usd
index 03c0afbf44e28e82abad8d2b4b8e87c17e38fec9..93ae0f7cd1017d6d3deb263c098eb8acf0854bf7 100644
--- a/atech_robot_arm/simready_usd/atech_robot_arm.usd
+++ b/atech_robot_arm/simready_usd/atech_robot_arm.usd
@@ -1,3 +1,3 @@
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+size 385446
diff --git a/atech_robot_arm/urdf/atech_robot_arm.urdf b/atech_robot_arm/urdf/atech_robot_arm.urdf
index 5399f3c0f61aafc521e2904447b1bcae4009fd74..a186888b5b51008f06e23ecd7dab0b7b2b536160 100644
--- a/atech_robot_arm/urdf/atech_robot_arm.urdf
+++ b/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>
diff --git a/atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl b/atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl
index 942253a8814ee49a8a28f47ad08376f50d59edf7..843f1b5235f1caa8a0ab4ecff4f5c70d197d1f45 100644
--- a/atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl
+++ b/atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
-size 152184
+oid sha256:a52426929780ccf9c5796d3ba119e90f0d9ad3b308522e94cc2adaf1655cfc2e
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index 77b77bd0c6041c45cff2c226e5e533a41d5fef45..fb98ad8a6dfcb65e7d505fec698b32200c4b7839 100644
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+++ b/atech_robot_arm/urdf/meshes/atech_robot_arm/gold.stl
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index 220e17cbaf325b78d5c81018b106eb96c92581cd..08949dc5998a92936584dd8817b51818ef38b331 100644
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diff --git a/atech_scd40_air_quality/.metadata/com.nvidia.simready.packaging.bom.json b/atech_scd40_air_quality/.metadata/com.nvidia.simready.packaging.bom.json
index 9773b4579c73f007577aa8819179b0737fd61668..2e502be4e7dcaae0b84e73124fc99a9138730ed0 100644
--- a/atech_scd40_air_quality/.metadata/com.nvidia.simready.packaging.bom.json
+++ b/atech_scd40_air_quality/.metadata/com.nvidia.simready.packaging.bom.json
@@ -3,9 +3,9 @@
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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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diff --git a/atech_scd40_air_quality/com.nvidia.simready.packaging.json b/atech_scd40_air_quality/com.nvidia.simready.packaging.json
index 1d56d2d2c2fcc08810e1ad94d70b84710a06a78f..65efa4a7cdd8b8c518ae77e0bf5814855ad2f70c 100644
--- a/atech_scd40_air_quality/com.nvidia.simready.packaging.json
+++ b/atech_scd40_air_quality/com.nvidia.simready.packaging.json
@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "41ff28a2c7042e84079b9c27eca93f460b8014e6f72a99c738048ba0b576c13d"
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diff --git a/atech_scd40_air_quality/mjcf/atech_scd40_air_quality.xml b/atech_scd40_air_quality/mjcf/atech_scd40_air_quality.xml
index e602d830e45d35b7e29ef6181975cbe213a441a3..341f0dd5c2d1a3a04701e5bbd2850220e309b1ca 100644
--- a/atech_scd40_air_quality/mjcf/atech_scd40_air_quality.xml
+++ b/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>
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     <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 @@
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       <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"/>
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+      <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>
diff --git a/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/derived_passive_1.stl b/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/derived_passive_1.stl
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diff --git a/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/glass.stl b/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/glass.stl
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diff --git a/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/gold.stl b/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/gold.stl
index 77b77bd0c6041c45cff2c226e5e533a41d5fef45..3bf1ad395b2f2bc5e81c831b7795b1d76cf09455 100644
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+++ b/atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/gold.stl
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+size 119484
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diff --git a/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd.png b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd.png
index 7fab31624c7e145c7b4594d26ff1f0fd492e4881..b8d0491ec9d5eb565958585af5316eaeedc392e9 100644
--- a/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd.png
+++ b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd.png
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+size 11563
diff --git a/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_light.png b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_light.png
index 1fec1b2b1b77b4bdaf201c0d0b7070f7760a0217..b4ec33eac12280129318c13af26ed9b34331eee5 100644
--- a/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_light.png
+++ b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_light.png
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diff --git a/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_transparent.png b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_transparent.png
index c045968441acd9fad18a80be02721257456bb142..112ac98970c906b38b2b2b9244848d0b68cd31bb 100644
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+++ b/atech_scd40_air_quality/simready_usd/.thumbs/256x256/atech_scd40_air_quality.usd_transparent.png
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diff --git a/atech_scd40_air_quality/simready_usd/atech_scd40_air_quality.usd b/atech_scd40_air_quality/simready_usd/atech_scd40_air_quality.usd
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--- a/atech_scd40_air_quality/simready_usd/atech_scd40_air_quality.usd
+++ b/atech_scd40_air_quality/simready_usd/atech_scd40_air_quality.usd
@@ -1,3 +1,3 @@
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+size 384112
diff --git a/atech_scd40_air_quality/urdf/atech_scd40_air_quality.urdf b/atech_scd40_air_quality/urdf/atech_scd40_air_quality.urdf
index 634184a57c41525118be7f3264589db9d78592a2..4719c616f0f776c57afa10e5fda3f1d662d2377e 100644
--- a/atech_scd40_air_quality/urdf/atech_scd40_air_quality.urdf
+++ b/atech_scd40_air_quality/urdf/atech_scd40_air_quality.urdf
@@ -1,12 +1,12 @@
 <?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). -->
+<!-- Visual meshes: 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 (sha256 511e034be096e0c5cb54c0301b6cac2684751c5fd4cce4cf406dd0cf6c991819). -->
 <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>
-      <origin xyz="0 0 0.00623530566" rpy="0 0 0"/>
+      <origin xyz="-3.21399335e-07 9.45292161e-08 0.00521968657" rpy="0 0 0"/>
       <mass value="0.008"/>
-      <inertia ixx="3.55949578e-07" ixy="0" ixz="0" iyy="3.56152218e-07" iyz="0" izz="4.51653315e-07"/>
+      <inertia ixx="2.98880797e-07" ixy="1.28557303e-11" ixz="-2.26184543e-12" iyy="2.98929727e-07" iyz="6.65248655e-13" izz="4.64926912e-07"/>
     </inertial>
     <visual name="atech_scd40_air_quality_black_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -38,18 +38,54 @@
       <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_base_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_sensor_base.stl"/></geometry>
+      <material name="atech_scd40_air_quality_derived_sensor_base_cad_material"><color rgba="0.78 0.79 0.8 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>
+      <material name="atech_scd40_air_quality_derived_sensor_can_cad_material"><color rgba="0.93 0.93 0.92 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_derived_passive_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_1.stl"/></geometry>
+      <material name="atech_scd40_air_quality_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_derived_passive_2_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_2.stl"/></geometry>
+      <material name="atech_scd40_air_quality_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_scd40_air_quality_derived_passive_3_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_3.stl"/></geometry>
+      <material name="atech_scd40_air_quality_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 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>
+    <collision name="atech_scd40_air_quality_sensor_base_collision">
+      <origin xyz="0 0 0.00454" rpy="0 0 0"/>
+      <geometry><box size="0.0101 0.0101 0.0008"/></geometry>
+    </collision>
     <collision name="atech_scd40_air_quality_sensor_can_collision">
-      <origin xyz="0 0 0.01325" rpy="0 0 0"/>
-      <geometry><box size="0.0102 0.0101 0.0065"/></geometry>
+      <origin xyz="0 0 0.00779" rpy="0 0 0"/>
+      <geometry><box size="0.0078 0.0078 0.0057"/></geometry>
+    </collision>
+    <collision name="atech_scd40_air_quality_passive_1_collision">
+      <origin xyz="-0.0068 0.0025 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_scd40_air_quality_passive_2_collision">
+      <origin xyz="-0.0068 0.001 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_scd40_air_quality_passive_3_collision">
+      <origin xyz="0.0068 -0.0015 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
   </link>
   <link name="atech_scd40_air_quality_connector"/>
@@ -62,6 +98,6 @@
   <joint name="atech_scd40_air_quality_sensor_joint" type="fixed">
     <parent link="atech_scd40_air_quality"/>
     <child link="atech_scd40_air_quality_sensor"/>
-    <origin xyz="0 0 0.01325" rpy="0 0 0"/>
+    <origin xyz="0 0 0.01064" rpy="0 0 0"/>
   </joint>
 </robot>
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diff --git a/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/gold.stl b/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/gold.stl
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+++ b/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/gold.stl
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+oid sha256:4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5
+size 119484
diff --git a/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/grey.stl b/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/grey.stl
index b4454014765c1c7a141c796015613f380edaf4bd..8f6754fe03def5c8b4f32423075ccb6e60888ac4 100644
Binary files a/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/grey.stl and b/atech_scd40_air_quality/urdf/meshes/atech_scd40_air_quality/grey.stl differ
diff --git a/atech_stepper_motor/.metadata/com.nvidia.simready.packaging.bom.json b/atech_stepper_motor/.metadata/com.nvidia.simready.packaging.bom.json
index dfe76080fbf65e75f63dea1e67398698754c4ff3..5eb5e4a4706434bea13d008d062799e33dee579f 100644
--- a/atech_stepper_motor/.metadata/com.nvidia.simready.packaging.bom.json
+++ b/atech_stepper_motor/.metadata/com.nvidia.simready.packaging.bom.json
@@ -5,7 +5,7 @@
       "relative_path": "mjcf/atech_stepper_motor.xml",
       "size": 4345,
       "hash": {
-        "sha256": "a42dafc913f25474b5aff76561d29ee84136a367421396d20c87858af653dde7"
+        "sha256": "cf566d365ce5aa6d98e331b1e573d9285395e3d3545c11c886d76e635f0b2bf8"
       }
     },
     {
@@ -82,14 +82,14 @@
       "relative_path": "simready_usd/atech_stepper_motor.usd",
       "size": 491704,
       "hash": {
-        "sha256": "aa8cacfdbf0627b4a6748b0a9d586fa3d9ba8ea851518e8f91a50159afc4a47b"
+        "sha256": "45af3699a1d2d42ae7ae1e520a8e9325ffe325ac04a9b4a7eb8de86bba25a948"
       }
     },
     {
       "relative_path": "urdf/atech_stepper_motor.urdf",
       "size": 4053,
       "hash": {
-        "sha256": "e24a3301741d95df7dafc2ca4499c6112d3f910720605bbc34ec0e031eb87b06"
+        "sha256": "62cffb856cff2ac22137c09fe9b7f5fee04aa67302181bbcaa3073fde70bce2a"
       }
     },
     {
diff --git a/atech_stepper_motor/com.nvidia.simready.packaging.json b/atech_stepper_motor/com.nvidia.simready.packaging.json
index 1250d7ed86a8098085084b9fadb28ca9f99d915c..9e4f802829be4ce94936e0b76c597ae83746973a 100644
--- a/atech_stepper_motor/com.nvidia.simready.packaging.json
+++ b/atech_stepper_motor/com.nvidia.simready.packaging.json
@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "11c5e812f2f68ce0f434c9a9c6b674b139a40f6c9dba72e496296dbab33db9d8"
+        "sha256": "2743d61218918f4781a18f9665130347661a148a873b453eed3928555226a755"
       }
     }
   ]
diff --git a/atech_stepper_motor/mjcf/atech_stepper_motor.xml b/atech_stepper_motor/mjcf/atech_stepper_motor.xml
index d70f608f89770c5e8dc969ab9f02857b450c1b98..1411740a383ad6a90764f2f067d00c59796070f8 100644
--- a/atech_stepper_motor/mjcf/atech_stepper_motor.xml
+++ b/atech_stepper_motor/mjcf/atech_stepper_motor.xml
@@ -10,7 +10,7 @@
     <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"/>
+    <text name="atech:visual:sha256" data="c8d0c672de45a6033d1b8c037ca5ea26c141f31425e4091271925bf2718f5234"/>
   </custom>
   <asset>
     <mesh name="atech_stepper_motor_black_cad_mesh" file="meshes/atech_stepper_motor/black.stl" inertia="shell"/>
diff --git a/atech_stepper_motor/simready_usd/atech_stepper_motor.usd b/atech_stepper_motor/simready_usd/atech_stepper_motor.usd
index 4d9e9e9e66c75450e7b830b3507baec0299f092c..7a008f5958f75c5933d456186d6cdb828252985f 100644
--- a/atech_stepper_motor/simready_usd/atech_stepper_motor.usd
+++ b/atech_stepper_motor/simready_usd/atech_stepper_motor.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:aa8cacfdbf0627b4a6748b0a9d586fa3d9ba8ea851518e8f91a50159afc4a47b
+oid sha256:45af3699a1d2d42ae7ae1e520a8e9325ffe325ac04a9b4a7eb8de86bba25a948
 size 491704
diff --git a/atech_stepper_motor/urdf/atech_stepper_motor.urdf b/atech_stepper_motor/urdf/atech_stepper_motor.urdf
index b8638cbb8c4fcccf4c1162bb1a9863a4fc701dc6..ec8430683383c90441d21761f402e11eee14dd23 100644
--- a/atech_stepper_motor/urdf/atech_stepper_motor.urdf
+++ b/atech_stepper_motor/urdf/atech_stepper_motor.urdf
@@ -1,5 +1,5 @@
 <?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). -->
+<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module (sha256 c8d0c672de45a6033d1b8c037ca5ea26c141f31425e4091271925bf2718f5234). -->
 <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">