Rename atech_robot_arm to atech_robot_arm_integrator, its product name

.gitattributes

@@ -167,3 +167,4 @@ atech_board_8port/mjcf/meshes/atech_board_8port/pins.stl filter=lfs diff=lfs mer
 atech_board_8port/mjcf/meshes/atech_board_8port/satin.stl filter=lfs diff=lfs merge=lfs -text
 atech_board_8port/urdf/meshes/atech_board_8port/pins.stl filter=lfs diff=lfs merge=lfs -text
 atech_board_8port/urdf/meshes/atech_board_8port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_robot_arm_integrator/mjcf/meshes/atech_robot_arm_integrator/black.stl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -47,7 +47,7 @@ the USD's PBR shading or the display's screen texture.
   exists plus placeholder parts, and say `derived:` in every format
   (`atech:visual:source` in USD, the MJCF text, the URDF comment). They are not Atech CAD.
   The CO₂ and robot-arm modules follow Atech's product renders; the PIR is drawn as its
-  AM312 sensor. The robot-arm module plugs into one port, but its housing is two cells
+  AM312 sensor. The Robot Arm Integrator (`atech_robot_arm_integrator`, catalog id `robot_arm`) plugs into one port, but its housing is two cells
   long: its `connector` frame is the centre of the -x cell.
 - **Masses and inertias are placeholders.** Atech has not published them.
 - With real CAD, NVIDIA's SimReady validator reports VG.007 warnings: the CAD

atech_robot_arm/mjcf/atech_robot_arm.xml

@@ -1,71 +0,0 @@
-<mujoco model="atech_robot_arm">
-  <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="robot_arm"/>
-    <text name="atech:name" data="SO-101 / SO-ARM100 6-Axis Robot Arm"/>
-    <text name="atech:category" data="robotics"/>
-    <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="uart"/>
-    <text name="atech:visual:source" data="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"/>
-    <text name="atech:visual:sha256" data="9e641ecce22278214df0115081ba67e733824419aeeac367464d10051bae6040"/>
-  </custom>
-  <asset>
-    <mesh name="atech_robot_arm_black_cad_mesh" file="meshes/atech_robot_arm/black.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_black_m_cad_mesh" file="meshes/atech_robot_arm/black_m.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_glass_cad_mesh" file="meshes/atech_robot_arm/glass.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_gold_cad_mesh" file="meshes/atech_robot_arm/gold.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_pcb_cad_mesh" file="meshes/atech_robot_arm/pcb.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_capacitor_base_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor_base.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_capacitor_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_connector_base_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_base.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_connector_back_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_back.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_a.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_b.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_pin_1_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_1.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_pin_2_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_2.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_servo_pin_3_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_3.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_passive_1_cad_mesh" file="meshes/atech_robot_arm/derived_passive_1.stl" inertia="shell"/>
-    <mesh name="atech_robot_arm_derived_passive_2_cad_mesh" file="meshes/atech_robot_arm/derived_passive_2.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_robot_arm" pos="0 0 0.05" quat="1 0 0 0">
-      <!-- Atech module robot_arm (SO-101 / SO-ARM100 6-Axis Robot Arm); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
-      <freejoint name="atech_robot_arm_free"/>
-      <geom name="atech_robot_arm_black_cad" type="mesh" mesh="atech_robot_arm_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_black_m_cad" type="mesh" mesh="atech_robot_arm_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_glass_cad" type="mesh" mesh="atech_robot_arm_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_gold_cad" type="mesh" mesh="atech_robot_arm_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_pcb_cad" type="mesh" mesh="atech_robot_arm_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_capacitor_base_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_base_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_capacitor_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_connector_base_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_base_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_connector_back_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_back_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_connector_side_a_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_connector_side_b_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_pin_1_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_1_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_pin_2_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_2_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_servo_pin_3_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_3_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_passive_1_cad" type="mesh" mesh="atech_robot_arm_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_derived_passive_2_cad" type="mesh" mesh="atech_robot_arm_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_robot_arm_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0086613824" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_capacitor_base" type="box" size="0.00425 0.00425 0.0004" pos="-0.002 0 0.00454" mass="6.49955083e-05" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_capacitor" type="box" size="0.0039 0.0039 0.00075" pos="-0.002 0 0.00569" mass="0.000102620936" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_connector_base" type="box" size="0.00275 0.00475 0.0006" pos="0.0145 0 0.00474" mass="7.05055081e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_connector_back" type="box" size="0.0005 0.00475 0.00275" pos="0.01675 0 0.00689" mass="5.87545901e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_connector_side_a" type="box" size="0.00225 0.0004 0.00225" pos="0.014 -0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_connector_side_b" type="box" size="0.00225 0.0004 0.00225" pos="0.014 0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_pin_1" type="box" size="0.0003 0.0003 0.002" pos="0.0145 -0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_pin_2" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_servo_pin_3" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.006 0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_robot_arm_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.008 -0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
-      <site name="atech_robot_arm_connector" pos="-0.01 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
-      <site name="atech_robot_arm_sensor" pos="0.0145 0 0.00939" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
-    </body>
-  </worldbody>
-</mujoco>

atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:56d1c8e6629a25211099e849c2a9dfcfa811d1cf7e62cd8ed1d2830bd94862a5
-size 119484

atech_robot_arm/simready_usd/atech_robot_arm.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2f4403c2bc71011d864979fd0f2bb0926de47e066648e75a148c42866b3515d6
-size 385445

atech_robot_arm/urdf/atech_robot_arm.urdf

@@ -1,152 +0,0 @@
-<?xml version="1.0"?>
-<!-- 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 9e641ecce22278214df0115081ba67e733824419aeeac367464d10051bae6040). -->
-<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="0.000250543503 0 0.00502170424" rpy="0 0 0"/>
-      <mass value="0.009"/>
-      <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"/>
-      <geometry><mesh filename="meshes/atech_robot_arm/black.stl"/></geometry>
-      <material name="atech_robot_arm_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
-    </visual>
-    <visual name="atech_robot_arm_black_m_cad_visual">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry><mesh filename="meshes/atech_robot_arm/black_m.stl"/></geometry>
-      <material name="atech_robot_arm_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
-    </visual>
-    <visual name="atech_robot_arm_glass_cad_visual">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry><mesh filename="meshes/atech_robot_arm/glass.stl"/></geometry>
-      <material name="atech_robot_arm_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
-    </visual>
-    <visual name="atech_robot_arm_gold_cad_visual">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <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_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_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_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="0.0395 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_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="-0.01 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="0.0145 0 0.00939" rpy="0 0 0"/>
-  </joint>
-</robot>

atech_robot_arm/urdf/meshes/atech_robot_arm/black.stl

@@ -1,3 +0,0 @@
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-oid sha256:a52426929780ccf9c5796d3ba119e90f0d9ad3b308522e94cc2adaf1655cfc2e
-size 256134

atech_robot_arm/urdf/meshes/atech_robot_arm/gold.stl

@@ -1,3 +0,0 @@
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-oid sha256:56d1c8e6629a25211099e849c2a9dfcfa811d1cf7e62cd8ed1d2830bd94862a5
-size 119484

{atech_robot_arm → atech_robot_arm_integrator}/.metadata/com.nvidia.simready.packaging.bom.json

@@ -2,266 +2,266 @@
   "format_version": "1.0",
   "items": [
     {
-      "relative_path": "mjcf/atech_robot_arm.xml",
-      "size": 9291,
+      "relative_path": "mjcf/atech_robot_arm_integrator.xml",
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       "size": 9484,
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       "size": 9484,
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-      "relative_path": "urdf/meshes/atech_robot_arm/glass.stl",
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-      "relative_path": "urdf/meshes/atech_robot_arm/gold.stl",
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-      "relative_path": "urdf/meshes/atech_robot_arm/pcb.stl",
+      "relative_path": "urdf/meshes/atech_robot_arm_integrator/pcb.stl",
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{atech_robot_arm → atech_robot_arm_integrator}/.metadata/com.nvidia.simready.root_usds.json

@@ -1,6 +1,6 @@
 {
   "format_version": "1.0",
   "entries": [
-    "simready_usd/atech_robot_arm.usd"
+    "simready_usd/atech_robot_arm_integrator.usd"
   ]
 }

{atech_robot_arm → atech_robot_arm_integrator}/com.nvidia.simready.packaging.json

@@ -1,12 +1,12 @@
 {
   "format_version": "1.0",
-  "package_id": "atech.atech_robot_arm",
+  "package_id": "atech.atech_robot_arm_integrator",
   "license": "CC-BY-4.0",
   "metadata": [
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "7118c16615dbf38b422d2299c336f83cbf42b26983d6180d955bc925e56cd44c"
+        "sha256": "61c6113cdafb23f0f9432b0d26d565689de035262348547625d76fe80f695e60"
       }
     }
   ]

atech_robot_arm_integrator/mjcf/atech_robot_arm_integrator.xml

@@ -0,0 +1,71 @@
+<mujoco model="atech_robot_arm_integrator">
+  <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="robot_arm"/>
+    <text name="atech:name" data="SO-101 / SO-ARM100 6-Axis Robot Arm"/>
+    <text name="atech:category" data="robotics"/>
+    <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="uart"/>
+    <text name="atech:visual:source" data="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"/>
+    <text name="atech:visual:sha256" data="9e641ecce22278214df0115081ba67e733824419aeeac367464d10051bae6040"/>
+  </custom>
+  <asset>
+    <mesh name="atech_robot_arm_integrator_black_cad_mesh" file="meshes/atech_robot_arm_integrator/black.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_black_m_cad_mesh" file="meshes/atech_robot_arm_integrator/black_m.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_glass_cad_mesh" file="meshes/atech_robot_arm_integrator/glass.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_gold_cad_mesh" file="meshes/atech_robot_arm_integrator/gold.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_pcb_cad_mesh" file="meshes/atech_robot_arm_integrator/pcb.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_capacitor_base_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_capacitor_base.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_capacitor_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_capacitor.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_connector_base_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_connector_base.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_connector_back_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_connector_back.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_connector_side_a_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_connector_side_a.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_connector_side_b_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_connector_side_b.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_pin_1_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_pin_1.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_pin_2_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_pin_2.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_servo_pin_3_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_servo_pin_3.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_passive_1_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_integrator_derived_passive_2_cad_mesh" file="meshes/atech_robot_arm_integrator/derived_passive_2.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_robot_arm_integrator" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module robot_arm (SO-101 / SO-ARM100 6-Axis Robot Arm); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_robot_arm_integrator_free"/>
+      <geom name="atech_robot_arm_integrator_black_cad" type="mesh" mesh="atech_robot_arm_integrator_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_black_m_cad" type="mesh" mesh="atech_robot_arm_integrator_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_glass_cad" type="mesh" mesh="atech_robot_arm_integrator_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_gold_cad" type="mesh" mesh="atech_robot_arm_integrator_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_pcb_cad" type="mesh" mesh="atech_robot_arm_integrator_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_capacitor_base_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_capacitor_base_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_capacitor_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_capacitor_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_connector_base_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_connector_base_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_connector_back_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_connector_back_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_connector_side_a_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_connector_side_a_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_connector_side_b_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_connector_side_b_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_pin_1_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_pin_1_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_pin_2_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_pin_2_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_servo_pin_3_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_servo_pin_3_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_passive_1_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_derived_passive_2_cad" type="mesh" mesh="atech_robot_arm_integrator_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_integrator_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0086613824" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_capacitor_base" type="box" size="0.00425 0.00425 0.0004" pos="-0.002 0 0.00454" mass="6.49955083e-05" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_capacitor" type="box" size="0.0039 0.0039 0.00075" pos="-0.002 0 0.00569" mass="0.000102620936" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_connector_base" type="box" size="0.00275 0.00475 0.0006" pos="0.0145 0 0.00474" mass="7.05055081e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_connector_back" type="box" size="0.0005 0.00475 0.00275" pos="0.01675 0 0.00689" mass="5.87545901e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_connector_side_a" type="box" size="0.00225 0.0004 0.00225" pos="0.014 -0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_connector_side_b" type="box" size="0.00225 0.0004 0.00225" pos="0.014 0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_pin_1" type="box" size="0.0003 0.0003 0.002" pos="0.0145 -0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_pin_2" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_servo_pin_3" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.006 0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_integrator_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.008 -0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_robot_arm_integrator_connector" pos="-0.01 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_robot_arm_integrator_sensor" pos="0.0145 0 0.00939" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>