Atech module and board SimReady packages (USD, MJCF, URDF)

.gitattributes

@@ -58,3 +58,72 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+atech_aht20/mjcf/meshes/atech_aht20/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_aht20/mjcf/meshes/atech_aht20/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_aht20/simready_usd/atech_aht20.usd filter=lfs diff=lfs merge=lfs -text
+atech_aht20/urdf/meshes/atech_aht20/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_aht20/urdf/meshes/atech_aht20/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/mjcf/meshes/atech_board_10port/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/mjcf/meshes/atech_board_10port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/mjcf/meshes/atech_board_10port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/simready_usd/atech_board_10port.usd filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/urdf/meshes/atech_board_10port/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/urdf/meshes/atech_board_10port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_10port/urdf/meshes/atech_board_10port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/mjcf/meshes/atech_board_14port/frame.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/mjcf/meshes/atech_board_14port/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/mjcf/meshes/atech_board_14port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/mjcf/meshes/atech_board_14port/silk.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/mjcf/meshes/atech_board_14port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/simready_usd/atech_board_14port.usd filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/urdf/meshes/atech_board_14port/frame.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/urdf/meshes/atech_board_14port/grey.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/urdf/meshes/atech_board_14port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/urdf/meshes/atech_board_14port/silk.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_14port/urdf/meshes/atech_board_14port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/mjcf/meshes/atech_board_8port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/simready_usd/atech_board_8port.usd filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/urdf/meshes/atech_board_8port/socket.stl filter=lfs diff=lfs merge=lfs -text
+atech_button/mjcf/meshes/atech_button/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_button/mjcf/meshes/atech_button/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_button/simready_usd/atech_button.usd filter=lfs diff=lfs merge=lfs -text
+atech_button/urdf/meshes/atech_button/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_button/urdf/meshes/atech_button/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/mjcf/meshes/atech_dc_motor/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/mjcf/meshes/atech_dc_motor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/simready_usd/atech_dc_motor.usd filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/urdf/meshes/atech_dc_motor/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_dc_motor/urdf/meshes/atech_dc_motor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/mjcf/meshes/atech_distance_sensor/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/mjcf/meshes/atech_distance_sensor/black_matte.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/mjcf/meshes/atech_distance_sensor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/simready_usd/atech_distance_sensor.usd filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/urdf/meshes/atech_distance_sensor/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/urdf/meshes/atech_distance_sensor/black_matte.stl filter=lfs diff=lfs merge=lfs -text
+atech_distance_sensor/urdf/meshes/atech_distance_sensor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/mjcf/meshes/atech_icm40608/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/mjcf/meshes/atech_icm40608/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/simready_usd/atech_icm40608.usd filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/urdf/meshes/atech_icm40608/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_icm40608/urdf/meshes/atech_icm40608/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_microphone/mjcf/meshes/atech_microphone/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_microphone/mjcf/meshes/atech_microphone/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_microphone/simready_usd/atech_microphone.usd filter=lfs diff=lfs merge=lfs -text
+atech_microphone/urdf/meshes/atech_microphone/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_microphone/urdf/meshes/atech_microphone/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/mjcf/meshes/atech_neopixel/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/mjcf/meshes/atech_neopixel/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/mjcf/meshes/atech_neopixel/led_or.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/mjcf/meshes/atech_neopixel/led_warm.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/simready_usd/atech_neopixel.usd filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/urdf/meshes/atech_neopixel/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/urdf/meshes/atech_neopixel/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/urdf/meshes/atech_neopixel/led_or.stl filter=lfs diff=lfs merge=lfs -text
+atech_neopixel/urdf/meshes/atech_neopixel/led_warm.stl filter=lfs diff=lfs merge=lfs -text
+atech_pir/mjcf/meshes/atech_pir/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_pir/mjcf/meshes/atech_pir/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_pir/simready_usd/atech_pir.usd filter=lfs diff=lfs merge=lfs -text
+atech_pir/urdf/meshes/atech_pir/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_pir/urdf/meshes/atech_pir/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_robot_arm/mjcf/meshes/atech_robot_arm/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_robot_arm/mjcf/meshes/atech_robot_arm/gold.stl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,51 @@
+---
+license: cc-by-4.0
+pretty_name: Atech module SimReady assets
+tags:
+  - simulation
+  - robotics
+  - usd
+  - simready
+  - isaac-sim
+  - mujoco
+  - urdf
+  - 3d
+---
+
+# Atech SimReady modules and boards
+
+3-D simulation assets for every module in the [Atech SDK](https://pypi.org/project/atech/)
+catalog and for the 8-, 10- and 14-port boards. Each top-level folder is one
+SimReady asset package, in three formats:
+
+```
+atech_<asset>/
+├── com.nvidia.simready.packaging.json         package marker (license, BOM hash)
+├── .metadata/                                 root USD list, bill of materials (sha256 per file)
+├── simready_usd/<asset>.usd                   USD (crate), following NVIDIA SimReady: Isaac Sim / Omniverse
+│   └── .thumbs/256x256/<asset>.usd{,_light,_transparent}.png
+├── mjcf/<asset>.xml + mjcf/meshes/<asset>/*.stl    MuJoCo
+└── urdf/<asset>.urdf + urdf/meshes/<asset>/*.stl   ROS / Gazebo
+```
+
+Asset names are `atech_<module id>` (e.g. `atech_distance_sensor`) and
+`atech_board_<board id>` (e.g. `atech_board_14port`).
+
+Generated with `atech sim-assets --all --board 8port,10port,14port --fetch`
+(`pip install "atech[sim]"`), then repackaged one folder per asset. The thumbnails
+are MuJoCo renders of the MJCF, so they show the CAD's flat material colours, not
+the USD's PBR shading or the display's screen texture.
+
+## What is real and what is not
+
+- **Visuals** are Atech's production CAD (module-renders release v1.7), with the
+  GLB's own PBR materials. **Colliders are boxes**: the bounds of that CAD.
+- **Derived models.** The PIR, CO₂ (SCD40), robot-arm and stepper modules and the
+  8-port board have no model in the CAD release. Theirs are built from the CAD that
+  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.
+- **Masses and inertias are placeholders.** Atech has not published them.
+- With real CAD, NVIDIA's SimReady validator reports VG.007 warnings: the CAD
+  tessellation has non-manifold vertices.
+
+`atech guide sim` (in the SDK) documents every attribute and the full layout.

atech_aht20/.metadata/com.nvidia.simready.packaging.bom.json

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+{
+  "format_version": "1.0",
+  "items": [
+    {
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+      "size": 3525,
+      "hash": {
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+      }
+    },
+    {
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+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/black_m.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/glass.stl",
+      "size": 52884,
+      "hash": {
+        "sha256": "c7c90533ea7f5ae4faab91dfaae6d97f3a5c237541fa4c555d365008c99fce49"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/gold.stl",
+      "size": 120684,
+      "hash": {
+        "sha256": "a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/grey.stl",
+      "size": 65384,
+      "hash": {
+        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/pcb.stl",
+      "size": 26284,
+      "hash": {
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+      }
+    },
+    {
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_aht20.usd.png",
+      "size": 12656,
+      "hash": {
+        "sha256": "2c3c00469792e2495c8b5c98243253f0cbc5994f69f85ae62d1493b66338be71"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_aht20.usd_light.png",
+      "size": 12728,
+      "hash": {
+        "sha256": "ce19badb6a1a562b39ee3dca5139a72f55fedc6bf44f1a4597be2ec3d27a8247"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_aht20.usd_transparent.png",
+      "size": 13236,
+      "hash": {
+        "sha256": "a145cb2cc169480d39d073e5a968fe4fee1aa0d25d06cb2b23d4e42275488f4b"
+      }
+    },
+    {
+      "relative_path": "simready_usd/atech_aht20.usd",
+      "size": 458706,
+      "hash": {
+        "sha256": "b59746a31316938e812cdcd06ded93884e4ca11d71573d951b1fcf0f9cf10e27"
+      }
+    },
+    {
+      "relative_path": "urdf/atech_aht20.urdf",
+      "size": 3216,
+      "hash": {
+        "sha256": "913f0679f0e8f8d5aa4e7ef5e1821bf17702d6f62dcefb77e49d6f03d3791b15"
+      }
+    },
+    {
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+      "size": 152184,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/glass.stl",
+      "size": 52884,
+      "hash": {
+        "sha256": "c7c90533ea7f5ae4faab91dfaae6d97f3a5c237541fa4c555d365008c99fce49"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/gold.stl",
+      "size": 120684,
+      "hash": {
+        "sha256": "a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/grey.stl",
+      "size": 65384,
+      "hash": {
+        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/pcb.stl",
+      "size": 26284,
+      "hash": {
+        "sha256": "01aab3a60aa5498604e0c9079e2173f4673c69fd164b6008b304c737dba648ac"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/white.stl",
+      "size": 87534,
+      "hash": {
+        "sha256": "b74cebe717b7644626784aeca2a3a3f9cc668bcdbb51a5d46db5ff1842e5b7a9"
+      }
+    }
+  ]
+}

atech_aht20/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_aht20.usd"
+  ]
+}

atech_aht20/com.nvidia.simready.packaging.json

@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_aht20",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "ade7ed501efed0c887374a2f68d4c99a6064ea0067dc6ca9f8b26a8a90eed08d"
+      }
+    }
+  ]
+}

atech_aht20/mjcf/atech_aht20.xml

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+<mujoco model="atech_aht20">
+  <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="aht20"/>
+    <text name="atech:name" data="AHT20 Temperature &amp; Humidity Sensor"/>
+    <text name="atech:category" data="sensor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame"/>
+    <text name="atech:interface" data="i2c"/>
+    <text name="atech:i2c_address" data="56"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/temp-sensor.glb"/>
+    <text name="atech:visual:sha256" data="69b50e4a16b2ba28c8f4a21132b88381521ef26d9d2d02907a4f2da38b0cd56c"/>
+  </custom>
+  <asset>
+    <mesh name="atech_aht20_black_cad_mesh" file="meshes/atech_aht20/black.stl" inertia="shell"/>
+    <mesh name="atech_aht20_black_m_cad_mesh" file="meshes/atech_aht20/black_m.stl" inertia="shell"/>
+    <mesh name="atech_aht20_glass_cad_mesh" file="meshes/atech_aht20/glass.stl" inertia="shell"/>
+    <mesh name="atech_aht20_gold_cad_mesh" file="meshes/atech_aht20/gold.stl" inertia="shell"/>
+    <mesh name="atech_aht20_grey_cad_mesh" file="meshes/atech_aht20/grey.stl" inertia="shell"/>
+    <mesh name="atech_aht20_pcb_cad_mesh" file="meshes/atech_aht20/pcb.stl" inertia="shell"/>
+    <mesh name="atech_aht20_white_cad_mesh" file="meshes/atech_aht20/white.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_aht20" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module aht20 (AHT20 Temperature &amp; Humidity Sensor); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_aht20_free"/>
+      <geom name="atech_aht20_black_cad" type="mesh" mesh="atech_aht20_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_black_m_cad" type="mesh" mesh="atech_aht20_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_glass_cad" type="mesh" mesh="atech_aht20_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_gold_cad" type="mesh" mesh="atech_aht20_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_grey_cad" type="mesh" mesh="atech_aht20_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_pcb_cad" type="mesh" mesh="atech_aht20_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_white_cad" type="mesh" mesh="atech_aht20_white_cad_mesh" rgba="0.9141 0.9063 0.8824 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_aht20_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.006" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_aht20_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_aht20_sensor" pos="0 0 0.00954" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>

atech_aht20/mjcf/meshes/atech_aht20/black.stl

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+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184

atech_aht20/mjcf/meshes/atech_aht20/gold.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225
+size 120684

atech_aht20/simready_usd/atech_aht20.usd

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atech_aht20/urdf/atech_aht20.urdf

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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/temp-sensor.glb (sha256 69b50e4a16b2ba28c8f4a21132b88381521ef26d9d2d02907a4f2da38b0cd56c). -->
+<robot name="atech_aht20">
+  <!-- Atech module aht20 (AHT20 Temperature &amp; Humidity Sensor); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_aht20">
+    <inertial>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/black.stl"/></geometry>
+      <material name="atech_aht20_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_aht20_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/black_m.stl"/></geometry>
+      <material name="atech_aht20_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_aht20_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/glass.stl"/></geometry>
+      <material name="atech_aht20_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_aht20_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <material name="atech_aht20_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
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+      <material name="atech_aht20_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
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+      <material name="atech_aht20_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_aht20_white_cad_visual">
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+      <material name="atech_aht20_white_cad_material"><color rgba="0.9141 0.9063 0.8824 1"/></material>
+    </visual>
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+    </collision>
+  </link>
+  <link name="atech_aht20_connector"/>
+  <joint name="atech_aht20_connector_joint" type="fixed">
+    <parent link="atech_aht20"/>
+    <child link="atech_aht20_connector"/>
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atech_board_10port/.metadata/com.nvidia.simready.packaging.bom.json

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+}

atech_board_10port/.metadata/com.nvidia.simready.root_usds.json

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+{
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+  "entries": [
+    "simready_usd/atech_board_10port.usd"
+  ]
+}

atech_board_10port/com.nvidia.simready.packaging.json

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+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_board_10port",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
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+}

atech_board_10port/mjcf/atech_board_10port.xml

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+<mujoco model="atech_board_10port">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="board"/>
+    <text name="atech:id" data="10port"/>
+    <text name="atech:name" data="Atech 10-Port Board"/>
+    <text name="atech:category" data="board"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,parts,connector,physics_material,ports"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/motherboard-10port.glb"/>
+    <text name="atech:visual:sha256" data="3cbcf0e801e772ab2d6e4d7d124f96e575aca79a037a99f8bdf0a10ebdd3cde6"/>
+  </custom>
+  <asset>
+    <mesh name="atech_board_10port_board_cad_mesh" file="meshes/atech_board_10port/board.stl" inertia="shell"/>
+    <mesh name="atech_board_10port_grey_cad_mesh" file="meshes/atech_board_10port/grey.stl" inertia="shell"/>
+    <mesh name="atech_board_10port_satin_cad_mesh" file="meshes/atech_board_10port/satin.stl" inertia="shell"/>
+    <mesh name="atech_board_10port_socket_cad_mesh" file="meshes/atech_board_10port/socket.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_board_10port" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech board 10port (Atech 10-Port Board); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_board_10port_free"/>
+      <geom name="atech_board_10port_board_cad" type="mesh" mesh="atech_board_10port_board_cad_mesh" rgba="0.1318 0.1318 0.15 1" contype="0" conaffinity="0" group="2" mass="0"/>
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+  </worldbody>
+</mujoco>

atech_board_10port/mjcf/meshes/atech_board_10port/grey.stl

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atech_board_10port/mjcf/meshes/atech_board_10port/socket.stl

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atech_board_10port/simready_usd/atech_board_10port.usd

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atech_board_10port/urdf/atech_board_10port.urdf

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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/motherboard-10port.glb (sha256 3cbcf0e801e772ab2d6e4d7d124f96e575aca79a037a99f8bdf0a10ebdd3cde6). -->
+<robot name="atech_board_10port">
+  <!-- Atech board 10port (Atech 10-Port Board); atech 1.0.0a11. Placeholder fields: mass_kg, colors, parts, connector, physics_material, ports. -->
+  <link name="atech_board_10port">
+    <inertial>
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+    </inertial>
+    <visual name="atech_board_10port_board_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_10port/board.stl"/></geometry>
+      <material name="atech_board_10port_board_cad_material"><color rgba="0.1318 0.1318 0.15 1"/></material>
+    </visual>
+    <visual name="atech_board_10port_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_10port/grey.stl"/></geometry>
+      <material name="atech_board_10port_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_board_10port_satin_cad_visual">
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+      <geometry><mesh filename="meshes/atech_board_10port/satin.stl"/></geometry>
+      <material name="atech_board_10port_satin_cad_material"><color rgba="0.2402 0.2402 0.269 1"/></material>
+    </visual>
+    <visual name="atech_board_10port_socket_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_10port/socket.stl"/></geometry>
+      <material name="atech_board_10port_socket_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <collision name="atech_board_10port_body_collision">
+      <origin xyz="0 0 0.003555" rpy="0 0 0"/>
+      <geometry><box size="0.04 0.06 0.00711"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_1_slot_collision">
+      <origin xyz="-0.0093 0.02 0.00541" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_2_slot_collision">
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+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
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+    </collision>
+    <collision name="atech_board_10port_port_4_slot_collision">
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+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
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+    </collision>
+    <collision name="atech_board_10port_port_6_slot_collision">
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+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_7_slot_collision">
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+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
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+    <collision name="atech_board_10port_port_9_slot_collision">
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+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_usb_c_collision">
+      <origin xyz="-0.00892 -0.028 0.0016" rpy="0 0 0"/>
+      <geometry><box size="0.009 0.0035 0.0032"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_board_10port_connector"/>
+  <joint name="atech_board_10port_connector_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_board_10port_port_1"/>
+  <joint name="atech_board_10port_port_1_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_1"/>
+    <origin xyz="-0.0093 0.02 0.00521" rpy="0 0 1.57079633"/>
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+  <link name="atech_board_10port_port_2"/>
+  <joint name="atech_board_10port_port_2_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_2"/>
+    <origin xyz="-0.0093 0 0.00521" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_10port_port_3"/>
+  <joint name="atech_board_10port_port_3_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_3"/>
+    <origin xyz="-0.0093 -0.02 0.00521" rpy="0 0 1.57079633"/>
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+  <link name="atech_board_10port_port_4"/>
+  <joint name="atech_board_10port_port_4_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_4"/>
+    <origin xyz="0.0093 -0.02 0.00521" rpy="0 0 -1.57079633"/>
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+  <link name="atech_board_10port_port_5"/>
+  <joint name="atech_board_10port_port_5_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_5"/>
+    <origin xyz="0.0093 0 0.00521" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_10port_port_6"/>
+  <joint name="atech_board_10port_port_6_joint" type="fixed">
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+    <child link="atech_board_10port_port_6"/>
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+  <link name="atech_board_10port_port_7"/>
+  <joint name="atech_board_10port_port_7_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_7"/>
+    <origin xyz="-0.00892 0.0196 0.00261" rpy="3.14159265 0 3.14159265"/>
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+  <link name="atech_board_10port_port_8"/>
+  <joint name="atech_board_10port_port_8_joint" type="fixed">
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+    <child link="atech_board_10port_port_8"/>
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+  <joint name="atech_board_10port_port_9_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_9"/>
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+  <link name="atech_board_10port_port_10"/>
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+    <child link="atech_board_10port_port_10"/>
+    <origin xyz="-0.00892 -0.0196 0.00261" rpy="3.14159265 0 0"/>
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+</robot>

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atech_board_14port/.metadata/com.nvidia.simready.root_usds.json

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+}

atech_board_14port/com.nvidia.simready.packaging.json

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+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_board_14port",
+  "license": "CC-BY-4.0",
+  "metadata": [
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+}

atech_board_14port/mjcf/atech_board_14port.xml

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+<mujoco model="atech_board_14port">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="board"/>
+    <text name="atech:id" data="14port"/>
+    <text name="atech:name" data="Atech 14-Port Board"/>
+    <text name="atech:category" data="board"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,parts,connector,physics_material,ports"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/frame-2.glb"/>
+    <text name="atech:visual:sha256" data="1652e383f760170aa0c4303a2f28f6df42e108063d32e54eb916f7877eb557e5"/>
+  </custom>
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+    <mesh name="atech_board_14port_frame_cad_mesh" file="meshes/atech_board_14port/frame.stl" inertia="shell"/>
+    <mesh name="atech_board_14port_grey_cad_mesh" file="meshes/atech_board_14port/grey.stl" inertia="shell"/>
+    <mesh name="atech_board_14port_satin_cad_mesh" file="meshes/atech_board_14port/satin.stl" inertia="shell"/>
+    <mesh name="atech_board_14port_silk_cad_mesh" file="meshes/atech_board_14port/silk.stl" inertia="shell"/>
+    <mesh name="atech_board_14port_socket_cad_mesh" file="meshes/atech_board_14port/socket.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
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+    <body name="atech_board_14port" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech board 14port (Atech 14-Port Board); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_board_14port_free"/>
+      <geom name="atech_board_14port_board_cad" type="mesh" mesh="atech_board_14port_board_cad_mesh" rgba="0.1318 0.1318 0.15 1" contype="0" conaffinity="0" group="2" mass="0"/>
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+      <geom name="atech_board_14port_silk_cad" type="mesh" mesh="atech_board_14port_silk_cad_mesh" rgba="0.8511 0.8511 0.87 1" contype="0" conaffinity="0" group="2" mass="0"/>
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