diff --git a/.gitattributes b/.gitattributes
index 402d6384762374220808e19983438fd023ff6ebb..eda643b4056c2f5399360fd6165bf0b461bde4ca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -181,3 +181,19 @@ atech_load_cell/mjcf/meshes/atech_load_cell/gold.stl filter=lfs diff=lfs merge=l
 atech_load_cell/simready_usd/atech_load_cell.usd filter=lfs diff=lfs merge=lfs -text
 atech_load_cell/urdf/meshes/atech_load_cell/black.stl filter=lfs diff=lfs merge=lfs -text
 atech_load_cell/urdf/meshes/atech_load_cell/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/simready_usd/atech_micro_sd_card.usd filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_power_jack/mjcf/meshes/atech_power_jack/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_power_jack/mjcf/meshes/atech_power_jack/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_power_jack/simready_usd/atech_power_jack.usd filter=lfs diff=lfs merge=lfs -text
+atech_power_jack/urdf/meshes/atech_power_jack/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_power_jack/urdf/meshes/atech_power_jack/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_soil_sensor/mjcf/meshes/atech_soil_sensor/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_soil_sensor/mjcf/meshes/atech_soil_sensor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_soil_sensor/simready_usd/atech_soil_sensor.usd filter=lfs diff=lfs merge=lfs -text
+atech_soil_sensor/urdf/meshes/atech_soil_sensor/black.stl filter=lfs diff=lfs merge=lfs -text
diff --git a/atech_micro_sd_card/com.nvidia.simready.packaging.json b/atech_micro_sd_card/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba413b63f0988532d778f26e41a1a2200fd577e
--- /dev/null
+++ b/atech_micro_sd_card/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_micro_sd_card",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "da14c8ea47d01fa78fec289ccda76335d3f8c6537655919645018db9310a962f"
+      }
+    }
+  ]
+}
diff --git a/atech_micro_sd_card/mjcf/atech_micro_sd_card.xml b/atech_micro_sd_card/mjcf/atech_micro_sd_card.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8db904be64270cfecb41c1cf4b9cc15a4d0a7080
--- /dev/null
+++ b/atech_micro_sd_card/mjcf/atech_micro_sd_card.xml
@@ -0,0 +1,37 @@
+<mujoco model="atech_micro_sd_card">
+  <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="micro_sd_card"/>
+    <text name="atech:name" data="Micro-SD Card"/>
+    <text name="atech:category" data="storage"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material"/>
+    <text name="atech:interface" data="spi"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/micro-sd.glb"/>
+    <text name="atech:visual:sha256" data="02f2d6bb2e332748bab6bc5177fb93df2fe0d6dbce8bf6b87a3c4e3c7c48c0f8"/>
+  </custom>
+  <asset>
+    <mesh name="atech_micro_sd_card_black_cad_mesh" file="meshes/atech_micro_sd_card/black.stl" inertia="shell"/>
+    <mesh name="atech_micro_sd_card_glass_cad_mesh" file="meshes/atech_micro_sd_card/glass.stl" inertia="shell"/>
+    <mesh name="atech_micro_sd_card_grey_cad_mesh" file="meshes/atech_micro_sd_card/grey.stl" inertia="shell"/>
+    <mesh name="atech_micro_sd_card_pcb_cad_mesh" file="meshes/atech_micro_sd_card/pcb.stl" inertia="shell"/>
+    <mesh name="atech_micro_sd_card_satin_cad_mesh" file="meshes/atech_micro_sd_card/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_micro_sd_card" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module micro_sd_card (Micro-SD Card); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_micro_sd_card_free"/>
+      <geom name="atech_micro_sd_card_black_cad" type="mesh" mesh="atech_micro_sd_card_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_micro_sd_card_glass_cad" type="mesh" mesh="atech_micro_sd_card_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_micro_sd_card_grey_cad" type="mesh" mesh="atech_micro_sd_card_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_micro_sd_card_pcb_cad" type="mesh" mesh="atech_micro_sd_card_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_micro_sd_card_satin_cad" type="mesh" mesh="atech_micro_sd_card_satin_cad_mesh" rgba="0.2402 0.2402 0.269 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_micro_sd_card_body" type="box" size="0.01975 0.00985 0.00476" pos="0 0 0.00476" mass="0.009" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_micro_sd_card_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/black.stl b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/black.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4ad38963a972af78e2d04726ab1315192ec9d9d3
--- /dev/null
+++ b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abecea46277f73df02d2761fa499075c06dc9cf2247317533155444b60b3aa3b
+size 626984
diff --git a/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/glass.stl b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/glass.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1612feae5d5ee39c0061874a6643515805a39493
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diff --git a/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/grey.stl b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/grey.stl
new file mode 100644
index 0000000000000000000000000000000000000000..78724e1d6a3818a8235fac421e033af009f2aab2
--- /dev/null
+++ b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/grey.stl
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+size 489084
diff --git a/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/pcb.stl b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/pcb.stl
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diff --git a/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/satin.stl b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/satin.stl
new file mode 100644
index 0000000000000000000000000000000000000000..05b08328033f57b1a124a0f298e46263c6479bec
--- /dev/null
+++ b/atech_micro_sd_card/mjcf/meshes/atech_micro_sd_card/satin.stl
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diff --git a/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd.png b/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce79ac3246f7790cee4b4324628bf72bbb1d3bbd
--- /dev/null
+++ b/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd_light.png b/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd_light.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a4e32315fb63ab8ca7b7bf112e5a4be13e3c503
--- /dev/null
+++ b/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd_light.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd_transparent.png b/atech_micro_sd_card/simready_usd/.thumbs/256x256/atech_micro_sd_card.usd_transparent.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4dec68480c6919266c86c045fc74a36e83483f7
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_micro_sd_card/simready_usd/atech_micro_sd_card.usd b/atech_micro_sd_card/simready_usd/atech_micro_sd_card.usd
new file mode 100644
index 0000000000000000000000000000000000000000..daeb2567719c88060e1b3aeac0d9639c3da727f9
--- /dev/null
+++ b/atech_micro_sd_card/simready_usd/atech_micro_sd_card.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_micro_sd_card/urdf/atech_micro_sd_card.urdf b/atech_micro_sd_card/urdf/atech_micro_sd_card.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5c2221a30f60f073b7691bf1f185649ad181b69
--- /dev/null
+++ b/atech_micro_sd_card/urdf/atech_micro_sd_card.urdf
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/micro-sd.glb (sha256 02f2d6bb2e332748bab6bc5177fb93df2fe0d6dbce8bf6b87a3c4e3c7c48c0f8). -->
+<robot name="atech_micro_sd_card">
+  <!-- Atech module micro_sd_card (Micro-SD Card); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material. -->
+  <link name="atech_micro_sd_card">
+    <inertial>
+      <origin xyz="0 0 0.00476" rpy="0 0 0"/>
+      <mass value="0.009"/>
+      <inertia ixx="3.590403e-07" ixy="0" ixz="0" iyy="1.2381603e-06" iyz="0" izz="1.461255e-06"/>
+    </inertial>
+    <visual name="atech_micro_sd_card_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_micro_sd_card/black.stl"/></geometry>
+      <material name="atech_micro_sd_card_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_micro_sd_card_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_micro_sd_card/glass.stl"/></geometry>
+      <material name="atech_micro_sd_card_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_micro_sd_card_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_micro_sd_card/grey.stl"/></geometry>
+      <material name="atech_micro_sd_card_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_micro_sd_card_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_micro_sd_card/pcb.stl"/></geometry>
+      <material name="atech_micro_sd_card_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_micro_sd_card_satin_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_micro_sd_card/satin.stl"/></geometry>
+      <material name="atech_micro_sd_card_satin_cad_material"><color rgba="0.2402 0.2402 0.269 1"/></material>
+    </visual>
+    <collision name="atech_micro_sd_card_body_collision">
+      <origin xyz="0 0 0.00476" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0197 0.00952"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_micro_sd_card_connector"/>
+  <joint name="atech_micro_sd_card_connector_joint" type="fixed">
+    <parent link="atech_micro_sd_card"/>
+    <child link="atech_micro_sd_card_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/black.stl b/atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/black.stl
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 626984
diff --git a/atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/glass.stl b/atech_micro_sd_card/urdf/meshes/atech_micro_sd_card/glass.stl
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new file mode 100644
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diff --git a/atech_power_jack/.metadata/com.nvidia.simready.packaging.bom.json b/atech_power_jack/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e1e97a6c03c523355f16bbcc44ef1c547974757
--- /dev/null
+++ b/atech_power_jack/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,229 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_power_jack.xml",
+      "size": 7193,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_power_jack/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7f32753a15fcc9959083d8d182f81be994d8162154207eb3dee42702e14a34d7"
+      }
+    },
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+      "size": 684,
+      "hash": {
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+    },
+    {
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+      "size": 9484,
+      "hash": {
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+    {
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+      "hash": {
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+      "hash": {
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+      "hash": {
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+}
diff --git a/atech_power_jack/.metadata/com.nvidia.simready.root_usds.json b/atech_power_jack/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..1446fd416c5e3e58e42a82435462f50931bcd258
--- /dev/null
+++ b/atech_power_jack/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_power_jack.usd"
+  ]
+}
diff --git a/atech_power_jack/com.nvidia.simready.packaging.json b/atech_power_jack/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..642fdce368e4be088b0c7de993cec26bf0778acf
--- /dev/null
+++ b/atech_power_jack/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_power_jack",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "ec9cc70cfc6c17e4a5cd18c0e23618af2db02ff1719c9541d5bce4630e8a1f7a"
+      }
+    }
+  ]
+}
diff --git a/atech_power_jack/mjcf/atech_power_jack.xml b/atech_power_jack/mjcf/atech_power_jack.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0572cd6d0f157302378852f7c97913f7622310af
--- /dev/null
+++ b/atech_power_jack/mjcf/atech_power_jack.xml
@@ -0,0 +1,60 @@
+<mujoco model="atech_power_jack">
+  <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="power_jack"/>
+    <text name="atech:name" data="Power Jack"/>
+    <text name="atech:category" data="power"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material"/>
+    <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (jack_body, jack_barrel, jack_socket, regulator, controller, passive_1, passive_2, passive_3); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="f94042bad2da4d3fb627ed46b0df5a25550abffaccd27517969c2998d7efa859"/>
+  </custom>
+  <asset>
+    <mesh name="atech_power_jack_black_cad_mesh" file="meshes/atech_power_jack/black.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_black_m_cad_mesh" file="meshes/atech_power_jack/black_m.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_glass_cad_mesh" file="meshes/atech_power_jack/glass.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_gold_cad_mesh" file="meshes/atech_power_jack/gold.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_pcb_cad_mesh" file="meshes/atech_power_jack/pcb.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_jack_body_cad_mesh" file="meshes/atech_power_jack/derived_jack_body.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_jack_barrel_cad_mesh" file="meshes/atech_power_jack/derived_jack_barrel.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_jack_socket_cad_mesh" file="meshes/atech_power_jack/derived_jack_socket.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_regulator_cad_mesh" file="meshes/atech_power_jack/derived_regulator.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_controller_cad_mesh" file="meshes/atech_power_jack/derived_controller.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_passive_1_cad_mesh" file="meshes/atech_power_jack/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_passive_2_cad_mesh" file="meshes/atech_power_jack/derived_passive_2.stl" inertia="shell"/>
+    <mesh name="atech_power_jack_derived_passive_3_cad_mesh" file="meshes/atech_power_jack/derived_passive_3.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_power_jack" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module power_jack (Power Jack); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_power_jack_free"/>
+      <geom name="atech_power_jack_black_cad" type="mesh" mesh="atech_power_jack_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_black_m_cad" type="mesh" mesh="atech_power_jack_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_glass_cad" type="mesh" mesh="atech_power_jack_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_gold_cad" type="mesh" mesh="atech_power_jack_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_pcb_cad" type="mesh" mesh="atech_power_jack_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_jack_body_cad" type="mesh" mesh="atech_power_jack_derived_jack_body_cad_mesh" rgba="0.2 0.2 0.21 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_jack_barrel_cad" type="mesh" mesh="atech_power_jack_derived_jack_barrel_cad_mesh" rgba="0.2 0.2 0.21 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_jack_socket_cad" type="mesh" mesh="atech_power_jack_derived_jack_socket_cad_mesh" rgba="0.02 0.02 0.02 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_regulator_cad" type="mesh" mesh="atech_power_jack_derived_regulator_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_controller_cad" type="mesh" mesh="atech_power_jack_derived_controller_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_passive_1_cad" type="mesh" mesh="atech_power_jack_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_passive_2_cad" type="mesh" mesh="atech_power_jack_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_derived_passive_3_cad" type="mesh" mesh="atech_power_jack_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_power_jack_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0109630473" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_jack_body" type="box" size="0.0045 0.005 0.0031" pos="0.0145 0 0.00724" mass="0.000794207127" rgba="0.2 0.2 0.21 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_jack_barrel" type="box" size="0.0011 0.00375 0.00375" pos="0.0201 0 0.00724" mass="0.000176134645" rgba="0.2 0.2 0.21 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_jack_socket" type="box" size="0.0002 0.00225 0.00225" pos="0.0214 0 0.00724" mass="1.15288131e-05" rgba="0.02 0.02 0.02 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_regulator" type="box" size="0.0025 0.002 0.00075" pos="0.004 -0.004 0.00489" mass="4.26993079e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_controller" type="box" size="0.0015 0.0015 0.00045" pos="-0.008 0.004 0.00459" mass="1.15288131e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.002 -0.004 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0 0.002 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_power_jack_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.008 0.005 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_power_jack_connector" pos="-0.01 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_power_jack/mjcf/meshes/atech_power_jack/black.stl b/atech_power_jack/mjcf/meshes/atech_power_jack/black.stl
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+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (jack_body, jack_barrel, jack_socket, regulator, controller, passive_1, passive_2, passive_3); not Atech CAD of this module (sha256 f94042bad2da4d3fb627ed46b0df5a25550abffaccd27517969c2998d7efa859). -->
+<robot name="atech_power_jack">
+  <!-- Atech module power_jack (Power Jack); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
+  <link name="atech_power_jack">
+    <inertial>
+      <origin xyz="0.00128194175 -1.03189994e-05 0.00518245023" rpy="0 0 0"/>
+      <mass value="0.012"/>
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+    </inertial>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/black.stl"/></geometry>
+      <material name="atech_power_jack_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/black_m.stl"/></geometry>
+      <material name="atech_power_jack_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/glass.stl"/></geometry>
+      <material name="atech_power_jack_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_power_jack_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/gold.stl"/></geometry>
+      <material name="atech_power_jack_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_power_jack_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/pcb.stl"/></geometry>
+      <material name="atech_power_jack_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_power_jack_derived_jack_body_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_jack_body.stl"/></geometry>
+      <material name="atech_power_jack_derived_jack_body_cad_material"><color rgba="0.2 0.2 0.21 1"/></material>
+    </visual>
+    <visual name="atech_power_jack_derived_jack_barrel_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_jack_barrel.stl"/></geometry>
+      <material name="atech_power_jack_derived_jack_barrel_cad_material"><color rgba="0.2 0.2 0.21 1"/></material>
+    </visual>
+    <visual name="atech_power_jack_derived_jack_socket_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_jack_socket.stl"/></geometry>
+      <material name="atech_power_jack_derived_jack_socket_cad_material"><color rgba="0.02 0.02 0.02 1"/></material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_regulator.stl"/></geometry>
+      <material name="atech_power_jack_derived_regulator_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
+    </visual>
+    <visual name="atech_power_jack_derived_controller_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_controller.stl"/></geometry>
+      <material name="atech_power_jack_derived_controller_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
+    </visual>
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+      <material name="atech_power_jack_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
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+      <geometry><mesh filename="meshes/atech_power_jack/derived_passive_2.stl"/></geometry>
+      <material name="atech_power_jack_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_power_jack/derived_passive_3.stl"/></geometry>
+      <material name="atech_power_jack_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <collision name="atech_power_jack_body_collision">
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+      <geometry><box size="0.0395 0.0195 0.01"/></geometry>
+    </collision>
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+    </collision>
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+    </collision>
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+    </collision>
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+    <collision name="atech_power_jack_passive_3_collision">
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+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_power_jack_connector"/>
+  <joint name="atech_power_jack_connector_joint" type="fixed">
+    <parent link="atech_power_jack"/>
+    <child link="atech_power_jack_connector"/>
+    <origin xyz="-0.01 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
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+    },
+    {
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+        "sha256": "d7ef7b823ccd60f6df941738163bfa87a0d780df634f72c6092b15432da35a36"
+      }
+    },
+    {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_pad_right.stl",
+      "size": 5484,
+      "hash": {
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+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_passive_1.stl",
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+      "hash": {
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+      }
+    },
+    {
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+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
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+    {
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+    },
+    {
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+      "size": 65384,
+      "hash": {
+        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/pcb.stl",
+      "size": 26284,
+      "hash": {
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+  ]
+}
diff --git a/atech_soil_sensor/.metadata/com.nvidia.simready.root_usds.json b/atech_soil_sensor/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..72161ba2a077591545024d60292771b09d0e371b
--- /dev/null
+++ b/atech_soil_sensor/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_soil_sensor.usd"
+  ]
+}
diff --git a/atech_soil_sensor/com.nvidia.simready.packaging.json b/atech_soil_sensor/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..887a42e61875bf78cc5d6914e826eb32641d4e80
--- /dev/null
+++ b/atech_soil_sensor/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_soil_sensor",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "ee13d9cafbff23e63fd44fd0cd048c94f291beca4308ff4266006cef06a6b3f0"
+      }
+    }
+  ]
+}
diff --git a/atech_soil_sensor/mjcf/atech_soil_sensor.xml b/atech_soil_sensor/mjcf/atech_soil_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8351c743ac334288e2659c174719081e5d308efd
--- /dev/null
+++ b/atech_soil_sensor/mjcf/atech_soil_sensor.xml
@@ -0,0 +1,61 @@
+<mujoco model="atech_soil_sensor">
+  <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="soil_sensor"/>
+    <text name="atech:name" data="Soil Sensor"/>
+    <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"/>
+    <text name="atech:interface" data="i2c"/>
+    <text name="atech:i2c_address" data="55"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_left, probe_right, pad_left, pad_right, coprocessor, passive_1, passive_2); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="ecde2c5f8c26f34f8ac946e662e872952e55a946c442697263efbd444683f24d"/>
+  </custom>
+  <asset>
+    <mesh name="atech_soil_sensor_black_cad_mesh" file="meshes/atech_soil_sensor/black.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_black_m_cad_mesh" file="meshes/atech_soil_sensor/black_m.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_glass_cad_mesh" file="meshes/atech_soil_sensor/glass.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_gold_cad_mesh" file="meshes/atech_soil_sensor/gold.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_grey_cad_mesh" file="meshes/atech_soil_sensor/grey.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_pcb_cad_mesh" file="meshes/atech_soil_sensor/pcb.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_probe_left_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_left.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_probe_right_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_right.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_pad_left_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_left.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_pad_right_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_right.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_coprocessor_cad_mesh" file="meshes/atech_soil_sensor/derived_coprocessor.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_passive_1_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_passive_2_cad_mesh" file="meshes/atech_soil_sensor/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_soil_sensor" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module soil_sensor (Soil Sensor); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_soil_sensor_free"/>
+      <geom name="atech_soil_sensor_black_cad" type="mesh" mesh="atech_soil_sensor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_black_m_cad" type="mesh" mesh="atech_soil_sensor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_glass_cad" type="mesh" mesh="atech_soil_sensor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_gold_cad" type="mesh" mesh="atech_soil_sensor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_grey_cad" type="mesh" mesh="atech_soil_sensor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_pcb_cad" type="mesh" mesh="atech_soil_sensor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_probe_left_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_left_cad_mesh" rgba="0.12 0.12 0.13 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_probe_right_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_right_cad_mesh" rgba="0.12 0.12 0.13 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_pad_left_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_left_cad_mesh" rgba="0.78 0.7 0.55 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_pad_right_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_right_cad_mesh" rgba="0.78 0.7 0.55 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_coprocessor_cad" type="mesh" mesh="atech_soil_sensor_derived_coprocessor_cad_mesh" rgba="0.1 0.1 0.1 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_passive_1_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_passive_2_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00639895365" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_probe_left" type="box" size="0.0047 0.025 0.0008" pos="-0.0064 0.033 0.00334" mass="0.00126548669" rgba="0.12 0.12 0.13 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_probe_right" type="box" size="0.0047 0.025 0.0008" pos="0.0064 0.033 0.00334" mass="0.00126548669" rgba="0.12 0.12 0.13 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_pad_left" type="box" size="0.0037 0.023 2.5e-05" pos="-0.0064 0.0345 0.004165" mass="2.86417334e-05" rgba="0.78 0.7 0.55 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_pad_right" type="box" size="0.0037 0.023 2.5e-05" pos="0.0064 0.0345 0.004165" mass="2.86417334e-05" rgba="0.78 0.7 0.55 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_coprocessor" type="box" size="0.0015 0.0015 0.0004" pos="-0.004 -0.003 0.00454" mass="1.2116362e-05" rgba="0.1 0.1 0.1 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.002 -0.004 0.00434" mass="3.3656561e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.005 0.001 0.00434" mass="3.3656561e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_soil_sensor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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--- /dev/null
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@@ -0,0 +1,115 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_left, probe_right, pad_left, pad_right, coprocessor, passive_1, passive_2); not Atech CAD of this module (sha256 ecde2c5f8c26f34f8ac946e662e872952e55a946c442697263efbd444683f24d). -->
+<robot name="atech_soil_sensor">
+  <!-- Atech module soil_sensor (Soil Sensor); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
+  <link name="atech_soil_sensor">
+    <inertial>
+      <origin xyz="-5.1232765e-06 0.00949567139 0.00452719274" rpy="0 0 0"/>
+      <mass value="0.009"/>
+      <inertia ixx="2.81204996e-06" ixy="-5.82227198e-10" ixz="1.06172789e-12" iyy="3.86762627e-07" iyz="9.98729275e-08" izz="3.08107168e-06"/>
+    </inertial>
+    <visual name="atech_soil_sensor_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/black.stl"/></geometry>
+      <material name="atech_soil_sensor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/black_m.stl"/></geometry>
+      <material name="atech_soil_sensor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/glass.stl"/></geometry>
+      <material name="atech_soil_sensor_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/gold.stl"/></geometry>
+      <material name="atech_soil_sensor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/grey.stl"/></geometry>
+      <material name="atech_soil_sensor_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/pcb.stl"/></geometry>
+      <material name="atech_soil_sensor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_probe_left_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_left.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_probe_left_cad_material"><color rgba="0.12 0.12 0.13 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_probe_right_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_right.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_probe_right_cad_material"><color rgba="0.12 0.12 0.13 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_pad_left_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_left.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_pad_left_cad_material"><color rgba="0.78 0.7 0.55 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_pad_right_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_right.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_pad_right_cad_material"><color rgba="0.78 0.7 0.55 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_coprocessor_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_coprocessor.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_coprocessor_cad_material"><color rgba="0.1 0.1 0.1 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_passive_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_1.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_passive_2_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_2.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <collision name="atech_soil_sensor_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_soil_sensor_probe_left_collision">
+      <origin xyz="-0.0064 0.033 0.00334" rpy="0 0 0"/>
+      <geometry><box size="0.0094 0.05 0.0016"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_probe_right_collision">
+      <origin xyz="0.0064 0.033 0.00334" rpy="0 0 0"/>
+      <geometry><box size="0.0094 0.05 0.0016"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_pad_left_collision">
+      <origin xyz="-0.0064 0.0345 0.004165" rpy="0 0 0"/>
+      <geometry><box size="0.0074 0.046 5e-05"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_pad_right_collision">
+      <origin xyz="0.0064 0.0345 0.004165" rpy="0 0 0"/>
+      <geometry><box size="0.0074 0.046 5e-05"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_coprocessor_collision">
+      <origin xyz="-0.004 -0.003 0.00454" rpy="0 0 0"/>
+      <geometry><box size="0.003 0.003 0.0008"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_passive_1_collision">
+      <origin xyz="0.002 -0.004 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_passive_2_collision">
+      <origin xyz="0.005 0.001 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_soil_sensor_connector"/>
+  <joint name="atech_soil_sensor_connector_joint" type="fixed">
+    <parent link="atech_soil_sensor"/>
+    <child link="atech_soil_sensor_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/black.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/black.stl
new file mode 100644
index 0000000000000000000000000000000000000000..942253a8814ee49a8a28f47ad08376f50d59edf7
--- /dev/null
+++ b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184
diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/black_m.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/black_m.stl
new file mode 100644
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_coprocessor.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_coprocessor.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_pad_left.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_pad_left.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_pad_right.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_pad_right.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_passive_1.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_passive_1.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_passive_2.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_passive_2.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_probe_left.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_probe_left.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_probe_right.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/derived_probe_right.stl
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diff --git a/atech_soil_sensor/urdf/meshes/atech_soil_sensor/glass.stl b/atech_soil_sensor/urdf/meshes/atech_soil_sensor/glass.stl
new file mode 100644
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