diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..28eb73fb2eb0d0bbc8824535358a4110f6e034d0 100644
--- a/.gitattributes
+++ b/.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
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..67bcc19a50f7f1f8a4c8bfcf04b12b1e96c6f692
--- /dev/null
+++ b/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.
diff --git a/atech_aht20/.metadata/com.nvidia.simready.packaging.bom.json b/atech_aht20/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a011f7ae768b395081a9de65e8e7cf6a4fa0b9
--- /dev/null
+++ b/atech_aht20/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,145 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_aht20.xml",
+      "size": 3525,
+      "hash": {
+        "sha256": "131177821aa92cb9624ece6e5745feea4498b73f9495a2f54490c464e3354308"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "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": {
+        "sha256": "01aab3a60aa5498604e0c9079e2173f4673c69fd164b6008b304c737dba648ac"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_aht20/white.stl",
+      "size": 87534,
+      "hash": {
+        "sha256": "b74cebe717b7644626784aeca2a3a3f9cc668bcdbb51a5d46db5ff1842e5b7a9"
+      }
+    },
+    {
+      "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"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_aht20/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "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"
+      }
+    }
+  ]
+}
diff --git a/atech_aht20/.metadata/com.nvidia.simready.root_usds.json b/atech_aht20/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..827bb3d52f541eaa5d561e66dbbc79b5316c2a8c
--- /dev/null
+++ b/atech_aht20/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_aht20.usd"
+  ]
+}
diff --git a/atech_aht20/com.nvidia.simready.packaging.json b/atech_aht20/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3dcd8a72d647ee4225369b9aca28ddc02acb1af
--- /dev/null
+++ b/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"
+      }
+    }
+  ]
+}
diff --git a/atech_aht20/mjcf/atech_aht20.xml b/atech_aht20/mjcf/atech_aht20.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c0d974647648a3be69218d02d74b1d85ed8a3b2f
--- /dev/null
+++ b/atech_aht20/mjcf/atech_aht20.xml
@@ -0,0 +1,43 @@
+<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"/>
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+</mujoco>
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+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/temp-sensor.glb (sha256 69b50e4a16b2ba28c8f4a21132b88381521ef26d9d2d02907a4f2da38b0cd56c). -->
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+  <link name="atech_aht20">
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+      <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"/>
+      <geometry><mesh filename="meshes/atech_aht20/gold.stl"/></geometry>
+      <material name="atech_aht20_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_aht20_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/grey.stl"/></geometry>
+      <material name="atech_aht20_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_aht20_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/pcb.stl"/></geometry>
+      <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">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_aht20/white.stl"/></geometry>
+      <material name="atech_aht20_white_cad_material"><color rgba="0.9141 0.9063 0.8824 1"/></material>
+    </visual>
+    <collision name="atech_aht20_body_collision">
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+      <geometry><box size="0.0195 0.0195 0.00954"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_aht20_connector"/>
+  <joint name="atech_aht20_connector_joint" type="fixed">
+    <parent link="atech_aht20"/>
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+</robot>
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diff --git a/atech_board_10port/.metadata/com.nvidia.simready.root_usds.json b/atech_board_10port/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
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--- /dev/null
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diff --git a/atech_board_10port/com.nvidia.simready.packaging.json b/atech_board_10port/com.nvidia.simready.packaging.json
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--- /dev/null
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+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_board_10port",
+  "license": "CC-BY-4.0",
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diff --git a/atech_board_10port/mjcf/atech_board_10port.xml b/atech_board_10port/mjcf/atech_board_10port.xml
new file mode 100644
index 0000000000000000000000000000000000000000..011eb2cd9bebfb18b1b13194208b1bc65ee80b4f
--- /dev/null
+++ b/atech_board_10port/mjcf/atech_board_10port.xml
@@ -0,0 +1,54 @@
+<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"/>
+      <geom name="atech_board_10port_grey_cad" type="mesh" mesh="atech_board_10port_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_10port_satin_cad" type="mesh" mesh="atech_board_10port_satin_cad_mesh" rgba="0.2402 0.2402 0.269 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_10port_socket_cad" type="mesh" mesh="atech_board_10port_socket_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_10port_body" type="box" size="0.02 0.03 0.003555" pos="0 0 0.003555" mass="0.0276210363" rgba="0.93 0.93 0.91 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_1_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_2_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 0 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_3_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 -0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_4_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 -0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_5_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 0 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_6_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_7_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.00892 0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_8_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.00892 0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_port_9_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.00892 -0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_10port_usb_c" type="box" size="0.0045 0.00175 0.0016" pos="-0.00892 -0.028 0.0016" mass="0.00016316224" rgba="0.75 0.75 0.78 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_board_10port_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_board_10port_port_1" pos="-0.0093 0.02 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_2" pos="-0.0093 0 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_3" pos="-0.0093 -0.02 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_4" pos="0.0093 -0.02 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_5" pos="0.0093 0 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_6" pos="0.0093 0.02 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_7" pos="-0.00892 0.0196 0.00261" quat="3.74939946e-33 6.123234e-17 1 6.123234e-17" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_8" pos="0.00892 0.0196 0.00261" quat="3.74939946e-33 6.123234e-17 1 6.123234e-17" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_9" pos="0.00892 -0.0196 0.00261" quat="6.123234e-17 1 0 0" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_10port_port_10" pos="-0.00892 -0.0196 0.00261" quat="6.123234e-17 1 0 0" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_board_10port/mjcf/meshes/atech_board_10port/board.stl b/atech_board_10port/mjcf/meshes/atech_board_10port/board.stl
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diff --git a/atech_board_10port/mjcf/meshes/atech_board_10port/grey.stl b/atech_board_10port/mjcf/meshes/atech_board_10port/grey.stl
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--- /dev/null
+++ b/atech_board_10port/mjcf/meshes/atech_board_10port/grey.stl
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--- /dev/null
+++ b/atech_board_10port/mjcf/meshes/atech_board_10port/satin.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_board_10port/mjcf/meshes/atech_board_10port/socket.stl b/atech_board_10port/mjcf/meshes/atech_board_10port/socket.stl
new file mode 100644
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--- /dev/null
+++ b/atech_board_10port/mjcf/meshes/atech_board_10port/socket.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_board_10port/simready_usd/.thumbs/256x256/atech_board_10port.usd.png b/atech_board_10port/simready_usd/.thumbs/256x256/atech_board_10port.usd.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_board_10port/simready_usd/.thumbs/256x256/atech_board_10port.usd_light.png b/atech_board_10port/simready_usd/.thumbs/256x256/atech_board_10port.usd_light.png
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diff --git a/atech_board_10port/simready_usd/atech_board_10port.usd b/atech_board_10port/simready_usd/atech_board_10port.usd
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--- /dev/null
+++ b/atech_board_10port/simready_usd/atech_board_10port.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_board_10port/urdf/atech_board_10port.urdf b/atech_board_10port/urdf/atech_board_10port.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f50cd6a1bbdd97a83859b6ef001a0c6b1eff805d
--- /dev/null
+++ b/atech_board_10port/urdf/atech_board_10port.urdf
@@ -0,0 +1,142 @@
+<?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>
+      <origin xyz="2.46899432e-05 8.56601758e-06 0.0036075176" rpy="0 0 0"/>
+      <mass value="0.03"/>
+      <inertia ixx="9.28538818e-06" ixy="2.29861114e-09" ixz="-2.91880566e-10" iyy="4.07673373e-06" iyz="-3.39278089e-09" izz="1.31158829e-05"/>
+    </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">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <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">
+      <origin xyz="-0.0093 0 0.00541" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_3_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_4_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_5_slot_collision">
+      <origin xyz="0.0093 0 0.00541" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_6_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_7_slot_collision">
+      <origin xyz="-0.00892 0.0196 0.00241" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_8_slot_collision">
+      <origin xyz="0.00892 0.0196 0.00241" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_10port_port_9_slot_collision">
+      <origin xyz="0.00892 -0.0196 0.00241" rpy="0 0 0"/>
+      <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"/>
+  </joint>
+  <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"/>
+  </joint>
+  <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"/>
+  </joint>
+  <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">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_6"/>
+    <origin xyz="0.0093 0.02 0.00521" rpy="0 0 -1.57079633"/>
+  </joint>
+  <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"/>
+  </joint>
+  <link name="atech_board_10port_port_8"/>
+  <joint name="atech_board_10port_port_8_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_8"/>
+    <origin xyz="0.00892 0.0196 0.00261" rpy="3.14159265 0 3.14159265"/>
+  </joint>
+  <link name="atech_board_10port_port_9"/>
+  <joint name="atech_board_10port_port_9_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_9"/>
+    <origin xyz="0.00892 -0.0196 0.00261" rpy="3.14159265 0 0"/>
+  </joint>
+  <link name="atech_board_10port_port_10"/>
+  <joint name="atech_board_10port_port_10_joint" type="fixed">
+    <parent link="atech_board_10port"/>
+    <child link="atech_board_10port_port_10"/>
+    <origin xyz="-0.00892 -0.0196 0.00261" rpy="3.14159265 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_board_10port/urdf/meshes/atech_board_10port/board.stl b/atech_board_10port/urdf/meshes/atech_board_10port/board.stl
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--- /dev/null
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diff --git a/atech_board_10port/urdf/meshes/atech_board_10port/socket.stl b/atech_board_10port/urdf/meshes/atech_board_10port/socket.stl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/atech_board_14port/.metadata/com.nvidia.simready.packaging.bom.json b/atech_board_14port/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc3a7ffc3229aaa11b9f9f3259fe127429441123
--- /dev/null
+++ b/atech_board_14port/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,131 @@
+{
+  "format_version": "1.0",
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+      "size": 5249384,
+      "hash": {
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+}
diff --git a/atech_board_14port/.metadata/com.nvidia.simready.root_usds.json b/atech_board_14port/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..69dd71d10cae8e6a38072d459864d4319289e25c
--- /dev/null
+++ b/atech_board_14port/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_board_14port.usd"
+  ]
+}
diff --git a/atech_board_14port/com.nvidia.simready.packaging.json b/atech_board_14port/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f75e42e92a290111b73f561396e9a48c79a8db
--- /dev/null
+++ b/atech_board_14port/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_board_14port",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "1dc7bbae858da7459fef392f56b624635624c152430f6cd11ad724bb481854ba"
+      }
+    }
+  ]
+}
diff --git a/atech_board_14port/mjcf/atech_board_14port.xml b/atech_board_14port/mjcf/atech_board_14port.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a4357f9d3306c1309b38b25d0326ee684373672b
--- /dev/null
+++ b/atech_board_14port/mjcf/atech_board_14port.xml
@@ -0,0 +1,66 @@
+<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>
+  <asset>
+    <mesh name="atech_board_14port_board_cad_mesh" file="meshes/atech_board_14port/board.stl" inertia="shell"/>
+    <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"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <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"/>
+      <geom name="atech_board_14port_frame_cad" type="mesh" mesh="atech_board_14port_frame_cad_mesh" rgba="0.0498 0.0498 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_14port_grey_cad" type="mesh" mesh="atech_board_14port_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_14port_satin_cad" type="mesh" mesh="atech_board_14port_satin_cad_mesh" rgba="0.2402 0.2402 0.269 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <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"/>
+      <geom name="atech_board_14port_socket_cad" type="mesh" mesh="atech_board_14port_socket_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_14port_body" type="box" size="0.03 0.06 0.0035" pos="0 0 0.0035" mass="0.0577121264" rgba="0.93 0.93 0.91 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_1_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 0.05 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_2_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 0.03 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_3_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 0.01 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_4_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 -0.01 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_5_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 -0.03 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_6_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0195 -0.05 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_7_slot" type="box" size="0.00975 0.00975 0.0002" pos="0 0.05 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_9_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0195 0.05 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_10_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0195 0.03 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_11_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0195 0.01 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_13_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0195 -0.03 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_port_14_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0195 -0.05 0.0032" mass="0.000174166953" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_usb_c" type="box" size="0.0045 0.00175 0.0016" pos="0 -0.05 0.0046" mass="0.000115424253" rgba="0.75 0.75 0.78 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_14port_reset_button" type="box" size="0.003 0.003 0.001" pos="0.0195 -0.01 0.004" mass="8.24458949e-05" rgba="0.95 0.45 0.1 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_board_14port_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_board_14port_port_1" pos="-0.0195 0.05 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_14port_port_2" pos="-0.0195 0.03 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_14port_port_3" pos="-0.0195 0.01 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
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+    </body>
+  </worldbody>
+</mujoco>
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new file mode 100644
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new file mode 100644
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--- /dev/null
+++ b/atech_board_14port/mjcf/meshes/atech_board_14port/frame.stl
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/frame-2.glb (sha256 1652e383f760170aa0c4303a2f28f6df42e108063d32e54eb916f7877eb557e5). -->
+<robot name="atech_board_14port">
+  <!-- Atech board 14port (Atech 14-Port Board); atech 1.0.0a11. Placeholder fields: mass_kg, colors, parts, connector, physics_material, ports. -->
+  <link name="atech_board_14port">
+    <inertial>
+      <origin xyz="-2.98093439e-05 6.42390931e-05 0.00349235314" rpy="0 0 0"/>
+      <mass value="0.06"/>
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+    </inertial>
+    <visual name="atech_board_14port_board_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/board.stl"/></geometry>
+      <material name="atech_board_14port_board_cad_material"><color rgba="0.1318 0.1318 0.15 1"/></material>
+    </visual>
+    <visual name="atech_board_14port_frame_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/frame.stl"/></geometry>
+      <material name="atech_board_14port_frame_cad_material"><color rgba="0.0498 0.0498 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_board_14port_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/grey.stl"/></geometry>
+      <material name="atech_board_14port_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_board_14port_satin_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/satin.stl"/></geometry>
+      <material name="atech_board_14port_satin_cad_material"><color rgba="0.2402 0.2402 0.269 1"/></material>
+    </visual>
+    <visual name="atech_board_14port_silk_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/silk.stl"/></geometry>
+      <material name="atech_board_14port_silk_cad_material"><color rgba="0.8511 0.8511 0.87 1"/></material>
+    </visual>
+    <visual name="atech_board_14port_socket_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_14port/socket.stl"/></geometry>
+      <material name="atech_board_14port_socket_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <collision name="atech_board_14port_body_collision">
+      <origin xyz="0 0 0.0035" rpy="0 0 0"/>
+      <geometry><box size="0.06 0.12 0.007"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_1_slot_collision">
+      <origin xyz="-0.0195 0.05 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_2_slot_collision">
+      <origin xyz="-0.0195 0.03 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_3_slot_collision">
+      <origin xyz="-0.0195 0.01 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_4_slot_collision">
+      <origin xyz="-0.0195 -0.01 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_5_slot_collision">
+      <origin xyz="-0.0195 -0.03 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_6_slot_collision">
+      <origin xyz="-0.0195 -0.05 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_7_slot_collision">
+      <origin xyz="0 0.05 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_9_slot_collision">
+      <origin xyz="0.0195 0.05 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_10_slot_collision">
+      <origin xyz="0.0195 0.03 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_11_slot_collision">
+      <origin xyz="0.0195 0.01 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_13_slot_collision">
+      <origin xyz="0.0195 -0.03 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_port_14_slot_collision">
+      <origin xyz="0.0195 -0.05 0.0032" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_usb_c_collision">
+      <origin xyz="0 -0.05 0.0046" rpy="0 0 0"/>
+      <geometry><box size="0.009 0.0035 0.0032"/></geometry>
+    </collision>
+    <collision name="atech_board_14port_reset_button_collision">
+      <origin xyz="0.0195 -0.01 0.004" rpy="0 0 0"/>
+      <geometry><box size="0.006 0.006 0.002"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_board_14port_connector"/>
+  <joint name="atech_board_14port_connector_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_board_14port_port_1"/>
+  <joint name="atech_board_14port_port_1_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_1"/>
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+  </joint>
+  <link name="atech_board_14port_port_2"/>
+  <joint name="atech_board_14port_port_2_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_2"/>
+    <origin xyz="-0.0195 0.03 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_3"/>
+  <joint name="atech_board_14port_port_3_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_3"/>
+    <origin xyz="-0.0195 0.01 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_4"/>
+  <joint name="atech_board_14port_port_4_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_4"/>
+    <origin xyz="-0.0195 -0.01 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_5"/>
+  <joint name="atech_board_14port_port_5_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_5"/>
+    <origin xyz="-0.0195 -0.03 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_6"/>
+  <joint name="atech_board_14port_port_6_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_6"/>
+    <origin xyz="-0.0195 -0.05 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_7"/>
+  <joint name="atech_board_14port_port_7_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_7"/>
+    <origin xyz="0 0.05 0.003" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_board_14port_port_8"/>
+  <joint name="atech_board_14port_port_8_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_8"/>
+    <origin xyz="0 -0.05 0.003" rpy="0 0 3.14159265"/>
+  </joint>
+  <link name="atech_board_14port_port_9"/>
+  <joint name="atech_board_14port_port_9_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_9"/>
+    <origin xyz="0.0195 0.05 0.003" rpy="0 0 -1.57079633"/>
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+  <link name="atech_board_14port_port_10"/>
+  <joint name="atech_board_14port_port_10_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_10"/>
+    <origin xyz="0.0195 0.03 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_11"/>
+  <joint name="atech_board_14port_port_11_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_11"/>
+    <origin xyz="0.0195 0.01 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_12"/>
+  <joint name="atech_board_14port_port_12_joint" type="fixed">
+    <parent link="atech_board_14port"/>
+    <child link="atech_board_14port_port_12"/>
+    <origin xyz="0.0195 -0.01 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_14port_port_13"/>
+  <joint name="atech_board_14port_port_13_joint" type="fixed">
+    <parent link="atech_board_14port"/>
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+  <link name="atech_board_14port_port_14"/>
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+    <origin xyz="0.0195 -0.05 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+</robot>
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+    {
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+      "size": 684,
+      "hash": {
+        "sha256": "93b9d1b3d8b65349af2421bf0475a4b384a65d3c9f985e7e6cab02b7c7541d5c"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_port_3_slot.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "624e636fdd1b3fa428e000c7974dac030a4b361895e875b8a7865b9ed5b3abfa"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_port_4_slot.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "dd237a02f02f2ac45196031ef8744bff5e81d253d709b4cec7e2cee996f19610"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_port_5_slot.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "a907937017da00cc83e8c3c5e7468c9a2d643dd93fbb67796602c21b37c14f33"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_port_7_slot.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "c758e8029d43c83abcd3ef650d09e9a1934d707d521ffe0d9263312fd1ae8ee5"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_reset_button.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "06fcfbf1d958faeab04f6e84451b817219cb35628fc8fa7b7f9225ae418224ec"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/derived_usb_c.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "4176f8aad071db324b8abe7c78ae6425a65bfb2beec47b5d1cd55af988b451ad"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_board_8port/socket.stl",
+      "size": 2126484,
+      "hash": {
+        "sha256": "3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a"
+      }
+    }
+  ]
+}
diff --git a/atech_board_8port/.metadata/com.nvidia.simready.root_usds.json b/atech_board_8port/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c4c7b6f5fd5420e24c0c31e9cddf0530983811
--- /dev/null
+++ b/atech_board_8port/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_board_8port.usd"
+  ]
+}
diff --git a/atech_board_8port/com.nvidia.simready.packaging.json b/atech_board_8port/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..3725ac7da1a61c6094076d251e31a92293df1519
--- /dev/null
+++ b/atech_board_8port/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_board_8port",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "ac8b6eef4b7950bcc5451937d3cf22d3eb755883140c35265664af6f7b94af32"
+      }
+    }
+  ]
+}
diff --git a/atech_board_8port/mjcf/atech_board_8port.xml b/atech_board_8port/mjcf/atech_board_8port.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de0c0546cbb948638b0b282e3791dd6e8e25cb63
--- /dev/null
+++ b/atech_board_8port/mjcf/atech_board_8port.xml
@@ -0,0 +1,62 @@
+<mujoco model="atech_board_8port">
+  <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="8port"/>
+    <text name="atech:name" data="Atech 8-Port Board"/>
+    <text name="atech:category" data="board"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,ports"/>
+    <text name="atech:visual:source" data="derived: sim.yaml plate in frame-2.glb's PCB + its socket housing per port (Atech CAD); not Atech CAD of this board"/>
+    <text name="atech:visual:sha256" data="5e5911867d2c1bd702a6f9a90c775af744ce690cb4815205605591d2d9eabdd3"/>
+  </custom>
+  <asset>
+    <mesh name="atech_board_8port_board_cad_mesh" file="meshes/atech_board_8port/board.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_socket_cad_mesh" file="meshes/atech_board_8port/socket.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_1_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_1_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_2_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_2_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_3_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_3_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_4_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_4_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_5_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_5_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_port_7_slot_cad_mesh" file="meshes/atech_board_8port/derived_port_7_slot.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_reset_button_cad_mesh" file="meshes/atech_board_8port/derived_reset_button.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_derived_usb_c_cad_mesh" file="meshes/atech_board_8port/derived_usb_c.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_8port" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech board 8port (Atech 8-Port Board); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_board_8port_free"/>
+      <geom name="atech_board_8port_board_cad" type="mesh" mesh="atech_board_8port_board_cad_mesh" rgba="0.1318 0.1318 0.15 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_socket_cad" type="mesh" mesh="atech_board_8port_socket_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_1_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_1_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_2_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_2_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_3_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_3_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_4_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_4_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_5_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_5_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_port_7_slot_cad" type="mesh" mesh="atech_board_8port_derived_port_7_slot_cad_mesh" rgba="0.2 0.2 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_reset_button_cad" type="mesh" mesh="atech_board_8port_derived_reset_button_cad_mesh" rgba="0.95 0.45 0.1 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_derived_usb_c_cad" type="mesh" mesh="atech_board_8port_derived_usb_c_cad_mesh" rgba="0.75 0.75 0.78 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_body" type="box" size="0.02 0.05 0.00125" pos="0 0 0.00125" mass="0.0270626229" rgba="0.93 0.93 0.91 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_1_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.01 0.04 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_2_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.01 0.02 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_3_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.01 -0.02 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_4_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.01 -0.04 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_5_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.01 0.04 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_port_7_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.01 -0.02 0.0027" mass="0.000411622494" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_reset_button" type="box" size="0.003 0.003 0.001" pos="-0.01 0.02 0.0035" mass="0.000194850885" rgba="0.95 0.45 0.1 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_usb_c" type="box" size="0.0045 0.00175 0.0016" pos="-0.01 -0.04 0.0041" mass="0.000272791239" rgba="0.75 0.75 0.78 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_board_8port_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_board_8port_port_1" pos="0.01 0.04 0.003" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_2" pos="0.01 0.02 0.003" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_3" pos="0.01 -0.02 0.003" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_4" pos="0.01 -0.04 0.003" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_5" pos="-0.01 0.04 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_6" pos="-0.01 0.02 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_7" pos="-0.01 -0.02 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+      <site name="atech_board_8port_port_8" pos="-0.01 -0.04 0.003" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/board.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/board.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a10b3b5558fd2d418889afbe5ff3a123b0b8245d
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_1_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_1_slot.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a182b21a034b8d18ea4ab5c644547991fcb6aa5a
Binary files /dev/null and b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_1_slot.stl differ
diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_2_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_2_slot.stl
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index 0000000000000000000000000000000000000000..0522bb7bd8fa417e1360a83cf868ef821fd8bfcd
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_3_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_3_slot.stl
new file mode 100644
index 0000000000000000000000000000000000000000..35b426af5ce445925da2b34d36e7df0db82df2bb
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_4_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_4_slot.stl
new file mode 100644
index 0000000000000000000000000000000000000000..94f80d6286ad1ffd765616881b332a8596fb5a26
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_5_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_5_slot.stl
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index 0000000000000000000000000000000000000000..b446f1aa58659c7132add19c278e4c2e7aa901f1
Binary files /dev/null and b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_5_slot.stl differ
diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_7_slot.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_7_slot.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9d4d46c2aa5f743709ad0f536e7f0d93e524c97b
Binary files /dev/null and b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_port_7_slot.stl differ
diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_reset_button.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_reset_button.stl
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index 0000000000000000000000000000000000000000..acfabbf20d549acc74deeba40d44c28ca5f79b1c
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/derived_usb_c.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/derived_usb_c.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ab7e8275b97a292a3d7f5fe7d3920349daab66f9
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diff --git a/atech_board_8port/mjcf/meshes/atech_board_8port/socket.stl b/atech_board_8port/mjcf/meshes/atech_board_8port/socket.stl
new file mode 100644
index 0000000000000000000000000000000000000000..133b0dfc2d6dd6527ef33b38c4f3f2a829caf612
--- /dev/null
+++ b/atech_board_8port/mjcf/meshes/atech_board_8port/socket.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a
+size 2126484
diff --git a/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd.png b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..5031ae902611ce2472ef8f93fa79c69ebabcc6e0
--- /dev/null
+++ b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0652911e85335ebabe5ee5fd0df72073235a21f9c0fa5d7f323e277d05bcd356
+size 12706
diff --git a/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_light.png b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_light.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1852cb267c4123e326621d1d094c8efafbf6a75
--- /dev/null
+++ b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_light.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb159e387378d883a0d1cd3f61b522bd4da803e6c7db06260f37efa2006facc
+size 12904
diff --git a/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_transparent.png b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_transparent.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e1490954df35a1e417a76585ba440e6fd8bcf95
--- /dev/null
+++ b/atech_board_8port/simready_usd/.thumbs/256x256/atech_board_8port.usd_transparent.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d18d03859980b18da92ebcbabb794e8109d8492371d1beb1794b7628b824ab4b
+size 13167
diff --git a/atech_board_8port/simready_usd/atech_board_8port.usd b/atech_board_8port/simready_usd/atech_board_8port.usd
new file mode 100644
index 0000000000000000000000000000000000000000..09bd203bd73652de485d407b352f100e95583668
--- /dev/null
+++ b/atech_board_8port/simready_usd/atech_board_8port.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504682e6bbd60fc305e5cbad3d7af269365a0a75963dfe96c8e614667f6f8312
+size 1821082
diff --git a/atech_board_8port/urdf/atech_board_8port.urdf b/atech_board_8port/urdf/atech_board_8port.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1347e168663ef2e47a88438e5d04a83103efb368
--- /dev/null
+++ b/atech_board_8port/urdf/atech_board_8port.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: derived: sim.yaml plate in frame-2.glb's PCB + its socket housing per port (Atech CAD); not Atech CAD of this board (sha256 5e5911867d2c1bd702a6f9a90c775af744ce690cb4815205605591d2d9eabdd3). -->
+<robot name="atech_board_8port">
+  <!-- Atech board 8port (Atech 8-Port Board); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, ports. -->
+  <link name="atech_board_8port">
+    <inertial>
+      <origin xyz="0.000118534288 4.05939344e-05 0.00140989951" rpy="0 0 0"/>
+      <mass value="0.03"/>
+      <inertia ixx="2.56374539e-05" ixy="1.23225335e-08" ixz="7.90250111e-10" iyy="4.00440508e-06" iyz="1.05875876e-08" izz="2.95977519e-05"/>
+    </inertial>
+    <visual name="atech_board_8port_board_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/board.stl"/></geometry>
+      <material name="atech_board_8port_board_cad_material"><color rgba="0.1318 0.1318 0.15 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_socket_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/socket.stl"/></geometry>
+      <material name="atech_board_8port_socket_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_1_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_1_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_1_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_2_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_2_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_2_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_3_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_3_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_3_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_4_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_4_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_4_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_5_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_5_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_5_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_port_7_slot_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_port_7_slot.stl"/></geometry>
+      <material name="atech_board_8port_derived_port_7_slot_cad_material"><color rgba="0.2 0.2 0.22 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_reset_button_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_reset_button.stl"/></geometry>
+      <material name="atech_board_8port_derived_reset_button_cad_material"><color rgba="0.95 0.45 0.1 1"/></material>
+    </visual>
+    <visual name="atech_board_8port_derived_usb_c_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_board_8port/derived_usb_c.stl"/></geometry>
+      <material name="atech_board_8port_derived_usb_c_cad_material"><color rgba="0.75 0.75 0.78 1"/></material>
+    </visual>
+    <collision name="atech_board_8port_body_collision">
+      <origin xyz="0 0 0.00125" rpy="0 0 0"/>
+      <geometry><box size="0.04 0.1 0.0025"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_1_slot_collision">
+      <origin xyz="0.01 0.04 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_2_slot_collision">
+      <origin xyz="0.01 0.02 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_3_slot_collision">
+      <origin xyz="0.01 -0.02 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_4_slot_collision">
+      <origin xyz="0.01 -0.04 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_5_slot_collision">
+      <origin xyz="-0.01 0.04 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_port_7_slot_collision">
+      <origin xyz="-0.01 -0.02 0.0027" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_reset_button_collision">
+      <origin xyz="-0.01 0.02 0.0035" rpy="0 0 0"/>
+      <geometry><box size="0.006 0.006 0.002"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_usb_c_collision">
+      <origin xyz="-0.01 -0.04 0.0041" rpy="0 0 0"/>
+      <geometry><box size="0.009 0.0035 0.0032"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_board_8port_connector"/>
+  <joint name="atech_board_8port_connector_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_board_8port_port_1"/>
+  <joint name="atech_board_8port_port_1_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_1"/>
+    <origin xyz="0.01 0.04 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_2"/>
+  <joint name="atech_board_8port_port_2_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_2"/>
+    <origin xyz="0.01 0.02 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_3"/>
+  <joint name="atech_board_8port_port_3_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_3"/>
+    <origin xyz="0.01 -0.02 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_4"/>
+  <joint name="atech_board_8port_port_4_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_4"/>
+    <origin xyz="0.01 -0.04 0.003" rpy="0 0 -1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_5"/>
+  <joint name="atech_board_8port_port_5_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_5"/>
+    <origin xyz="-0.01 0.04 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_6"/>
+  <joint name="atech_board_8port_port_6_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_6"/>
+    <origin xyz="-0.01 0.02 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_7"/>
+  <joint name="atech_board_8port_port_7_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_7"/>
+    <origin xyz="-0.01 -0.02 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+  <link name="atech_board_8port_port_8"/>
+  <joint name="atech_board_8port_port_8_joint" type="fixed">
+    <parent link="atech_board_8port"/>
+    <child link="atech_board_8port_port_8"/>
+    <origin xyz="-0.01 -0.04 0.003" rpy="0 0 1.57079633"/>
+  </joint>
+</robot>
diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/board.stl b/atech_board_8port/urdf/meshes/atech_board_8port/board.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a10b3b5558fd2d418889afbe5ff3a123b0b8245d
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_1_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_1_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_2_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_2_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_3_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_3_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_4_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_4_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_5_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_5_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_7_slot.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_port_7_slot.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_reset_button.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_reset_button.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/derived_usb_c.stl b/atech_board_8port/urdf/meshes/atech_board_8port/derived_usb_c.stl
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diff --git a/atech_board_8port/urdf/meshes/atech_board_8port/socket.stl b/atech_board_8port/urdf/meshes/atech_board_8port/socket.stl
new file mode 100644
index 0000000000000000000000000000000000000000..133b0dfc2d6dd6527ef33b38c4f3f2a829caf612
--- /dev/null
+++ b/atech_board_8port/urdf/meshes/atech_board_8port/socket.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a
+size 2126484
diff --git a/atech_button/.metadata/com.nvidia.simready.packaging.bom.json b/atech_button/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..88308370f8aeac433b2d8ed1031c42515cda41c9
--- /dev/null
+++ b/atech_button/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,145 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_button.xml",
+      "size": 3428,
+      "hash": {
+        "sha256": "8ac9eb7fe34b3a2a440a90af02f35850f4271a494eac70074d4471b4802cd225"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/glass.stl",
+      "size": 51684,
+      "hash": {
+        "sha256": "92612708f933ea3fa5825fb109b21587d287adadc363117d4a8ad5293bd2c908"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/gloss.stl",
+      "size": 62884,
+      "hash": {
+        "sha256": "1ac6a9da5c315b711e13eb80936d7276619aa8ce56235b0e52eef10587071300"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/gold.stl",
+      "size": 119484,
+      "hash": {
+        "sha256": "4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/grey.stl",
+      "size": 64184,
+      "hash": {
+        "sha256": "f815f411e2e24a381e78d14753b09ecd156a6e28e69011f64cf80be71ef4c2ea"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_button/pcb.stl",
+      "size": 26284,
+      "hash": {
+        "sha256": "01aab3a60aa5498604e0c9079e2173f4673c69fd164b6008b304c737dba648ac"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_button.usd.png",
+      "size": 10003,
+      "hash": {
+        "sha256": "c5f608a7db15348ccec6ecd713f725abfd6004b51338920d7c81f0f7a8dc0540"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_button.usd_light.png",
+      "size": 10115,
+      "hash": {
+        "sha256": "a561c8d21fcaead885d655645a5dd49edf33ea062a1f4bf788d848881f23b2f9"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_button.usd_transparent.png",
+      "size": 10337,
+      "hash": {
+        "sha256": "f44679d60148aeeda6c5765bcd2c226aae9c1b62d0db4f6f06c702f21a906d07"
+      }
+    },
+    {
+      "relative_path": "simready_usd/atech_button.usd",
+      "size": 431515,
+      "hash": {
+        "sha256": "52e1eb1e76a23d88403512c2cea4befec421c4e43e802f8496e50c43badba668"
+      }
+    },
+    {
+      "relative_path": "urdf/atech_button.urdf",
+      "size": 3201,
+      "hash": {
+        "sha256": "04ce9aca19eaeb63dc548f8ed4189ee30e2695cd86146c0dee2bb9d094cc95c7"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/glass.stl",
+      "size": 51684,
+      "hash": {
+        "sha256": "92612708f933ea3fa5825fb109b21587d287adadc363117d4a8ad5293bd2c908"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/gloss.stl",
+      "size": 62884,
+      "hash": {
+        "sha256": "1ac6a9da5c315b711e13eb80936d7276619aa8ce56235b0e52eef10587071300"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/gold.stl",
+      "size": 119484,
+      "hash": {
+        "sha256": "4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/grey.stl",
+      "size": 64184,
+      "hash": {
+        "sha256": "f815f411e2e24a381e78d14753b09ecd156a6e28e69011f64cf80be71ef4c2ea"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_button/pcb.stl",
+      "size": 26284,
+      "hash": {
+        "sha256": "01aab3a60aa5498604e0c9079e2173f4673c69fd164b6008b304c737dba648ac"
+      }
+    }
+  ]
+}
diff --git a/atech_button/.metadata/com.nvidia.simready.root_usds.json b/atech_button/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9acd579344cbe93879aa58c06394796505e38f
--- /dev/null
+++ b/atech_button/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_button.usd"
+  ]
+}
diff --git a/atech_button/com.nvidia.simready.packaging.json b/atech_button/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefbb7868bee32d8acc72491a68ed1a8d105b104
--- /dev/null
+++ b/atech_button/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_button",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "1ce5020cf835dd611ad39b9e1aff8a7769a4b00571b031c512ed1af7a098ccd4"
+      }
+    }
+  ]
+}
diff --git a/atech_button/mjcf/atech_button.xml b/atech_button/mjcf/atech_button.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c085efd39fb76d5eb32a6d82b2acf161d92db248
--- /dev/null
+++ b/atech_button/mjcf/atech_button.xml
@@ -0,0 +1,42 @@
+<mujoco model="atech_button">
+  <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="button"/>
+    <text name="atech:name" data="Button"/>
+    <text name="atech:category" data="input"/>
+    <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="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/button.glb"/>
+    <text name="atech:visual:sha256" data="60b44e4c8d37397479b7208137f11d03e298dd838719ffcba2cc596f827594eb"/>
+  </custom>
+  <asset>
+    <mesh name="atech_button_black_cad_mesh" file="meshes/atech_button/black.stl" inertia="shell"/>
+    <mesh name="atech_button_black_m_cad_mesh" file="meshes/atech_button/black_m.stl" inertia="shell"/>
+    <mesh name="atech_button_glass_cad_mesh" file="meshes/atech_button/glass.stl" inertia="shell"/>
+    <mesh name="atech_button_gloss_cad_mesh" file="meshes/atech_button/gloss.stl" inertia="shell"/>
+    <mesh name="atech_button_gold_cad_mesh" file="meshes/atech_button/gold.stl" inertia="shell"/>
+    <mesh name="atech_button_grey_cad_mesh" file="meshes/atech_button/grey.stl" inertia="shell"/>
+    <mesh name="atech_button_pcb_cad_mesh" file="meshes/atech_button/pcb.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_button" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module button (Button); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_button_free"/>
+      <geom name="atech_button_black_cad" type="mesh" mesh="atech_button_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_black_m_cad" type="mesh" mesh="atech_button_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_glass_cad" type="mesh" mesh="atech_button_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_gloss_cad" type="mesh" mesh="atech_button_gloss_cad_mesh" rgba="0 0 0 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_gold_cad" type="mesh" mesh="atech_button_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_grey_cad" type="mesh" mesh="atech_button_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_pcb_cad" type="mesh" mesh="atech_button_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_button_body" type="box" size="0.00975 0.00975 0.00502" pos="0 0 0.00502" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_button_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_button_sensor" pos="0 0 0.01004" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_button/mjcf/meshes/atech_button/black.stl b/atech_button/mjcf/meshes/atech_button/black.stl
new file mode 100644
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--- /dev/null
+++ b/atech_button/mjcf/meshes/atech_button/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184
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--- /dev/null
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_button/urdf/atech_button.urdf b/atech_button/urdf/atech_button.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..719ee2faba26e6d8d292ec14ff146334b496cd5e
--- /dev/null
+++ b/atech_button/urdf/atech_button.urdf
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/button.glb (sha256 60b44e4c8d37397479b7208137f11d03e298dd838719ffcba2cc596f827594eb). -->
+<robot name="atech_button">
+  <!-- Atech module button (Button); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_button">
+    <inertial>
+      <origin xyz="0 0 0.00502" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="2.80613433e-07" ixy="0" ixz="0" iyy="2.80613433e-07" iyz="0" izz="4.43625e-07"/>
+    </inertial>
+    <visual name="atech_button_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/black.stl"/></geometry>
+      <material name="atech_button_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_button_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/black_m.stl"/></geometry>
+      <material name="atech_button_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_button_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/glass.stl"/></geometry>
+      <material name="atech_button_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_button_gloss_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/gloss.stl"/></geometry>
+      <material name="atech_button_gloss_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <visual name="atech_button_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/gold.stl"/></geometry>
+      <material name="atech_button_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_button_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/grey.stl"/></geometry>
+      <material name="atech_button_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_button_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_button/pcb.stl"/></geometry>
+      <material name="atech_button_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_button_body_collision">
+      <origin xyz="0 0 0.00502" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.01004"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_button_connector"/>
+  <joint name="atech_button_connector_joint" type="fixed">
+    <parent link="atech_button"/>
+    <child link="atech_button_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_button_sensor"/>
+  <joint name="atech_button_sensor_joint" type="fixed">
+    <parent link="atech_button"/>
+    <child link="atech_button_sensor"/>
+    <origin xyz="0 0 0.01004" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_button/urdf/meshes/atech_button/black.stl b/atech_button/urdf/meshes/atech_button/black.stl
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--- /dev/null
+++ b/atech_button/urdf/meshes/atech_button/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184
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diff --git a/atech_dc_motor/.metadata/com.nvidia.simready.packaging.bom.json b/atech_dc_motor/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c1c7ddf41aeaacc8a461d788befaae7e38b6d91
--- /dev/null
+++ b/atech_dc_motor/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,117 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_dc_motor.xml",
+      "size": 3375,
+      "hash": {
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+      }
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+      "hash": {
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+      "hash": {
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+      }
+    },
+    {
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+      "hash": {
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+      }
+    },
+    {
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+      "hash": {
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+    {
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_dc_motor.usd.png",
+      "size": 6437,
+      "hash": {
+        "sha256": "4a475c26a15d90550f14cc640075ebbb8d0c6e1f3c1ce8495905dd1489d584e8"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_dc_motor.usd_light.png",
+      "size": 6651,
+      "hash": {
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+      "hash": {
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+      "hash": {
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+    },
+    {
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_dc_motor/gold.stl",
+      "size": 170334,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_dc_motor/grey.stl",
+      "size": 45884,
+      "hash": {
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+    },
+    {
+      "relative_path": "urdf/meshes/atech_dc_motor/pcb.stl",
+      "size": 25334,
+      "hash": {
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+      }
+    }
+  ]
+}
diff --git a/atech_dc_motor/.metadata/com.nvidia.simready.root_usds.json b/atech_dc_motor/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd3b0d5cb08d08984ab0de701defd9315c7eaf0
--- /dev/null
+++ b/atech_dc_motor/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_dc_motor.usd"
+  ]
+}
diff --git a/atech_dc_motor/com.nvidia.simready.packaging.json b/atech_dc_motor/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5dfb8c236b3713e9cf284fb14c09d67c29e3b4
--- /dev/null
+++ b/atech_dc_motor/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_dc_motor",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "e128b3931a0130bd5d4816838d38e9172c4a8b324f20d44f90f34b250320786f"
+      }
+    }
+  ]
+}
diff --git a/atech_dc_motor/mjcf/atech_dc_motor.xml b/atech_dc_motor/mjcf/atech_dc_motor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..caf120c48f1a68c92b2b1650f64686c829f03776
--- /dev/null
+++ b/atech_dc_motor/mjcf/atech_dc_motor.xml
@@ -0,0 +1,40 @@
+<mujoco model="atech_dc_motor">
+  <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="dc_motor"/>
+    <text name="atech:name" data="DC Motor"/>
+    <text name="atech:category" data="motor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/dc-motor.glb"/>
+    <text name="atech:visual:sha256" data="3af9463fc094230e037bf555fa394920def050d70a4d73a06ef1f37b3759e8dd"/>
+  </custom>
+  <asset>
+    <mesh name="atech_dc_motor_black_cad_mesh" file="meshes/atech_dc_motor/black.stl" inertia="shell"/>
+    <mesh name="atech_dc_motor_black_m_cad_mesh" file="meshes/atech_dc_motor/black_m.stl" inertia="shell"/>
+    <mesh name="atech_dc_motor_gold_cad_mesh" file="meshes/atech_dc_motor/gold.stl" inertia="shell"/>
+    <mesh name="atech_dc_motor_grey_cad_mesh" file="meshes/atech_dc_motor/grey.stl" inertia="shell"/>
+    <mesh name="atech_dc_motor_pcb_cad_mesh" file="meshes/atech_dc_motor/pcb.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_dc_motor" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module dc_motor (DC Motor); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_dc_motor_free"/>
+      <geom name="atech_dc_motor_black_cad" type="mesh" mesh="atech_dc_motor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_dc_motor_black_m_cad" type="mesh" mesh="atech_dc_motor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_dc_motor_gold_cad" type="mesh" mesh="atech_dc_motor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_dc_motor_grey_cad" type="mesh" mesh="atech_dc_motor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_dc_motor_pcb_cad" type="mesh" mesh="atech_dc_motor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_dc_motor_body" type="box" size="0.00975 0.00975 0.00957" pos="0 0 0.00957" mass="0.00391839672" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_dc_motor_motor_housing" type="box" size="0.00975 0.01005 0.00957" pos="0 0.0198 0.00957" mass="0.00403896277" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_dc_motor_motor_shaft" type="box" size="0.0015 0.0044 0.0015" pos="-0.00015 0.03425 0.01014" mass="4.26405138e-05" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_dc_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_dc_motor_actuator" pos="0 0 0.00957" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/atech_dc_motor/urdf/atech_dc_motor.urdf b/atech_dc_motor/urdf/atech_dc_motor.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..25cbc2450a5fd5ac8a9f2fa274102a5e71f1215e
--- /dev/null
+++ b/atech_dc_motor/urdf/atech_dc_motor.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/dc-motor.glb (sha256 3af9463fc094230e037bf555fa394920def050d70a4d73a06ef1f37b3759e8dd). -->
+<robot name="atech_dc_motor">
+  <!-- Atech module dc_motor (DC Motor); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_dc_motor">
+    <inertial>
+      <origin xyz="-7.99509634e-07 0.0101789876 0.00957303814" rpy="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="1.30795222e-06" ixy="1.53960051e-10" ixz="3.62633178e-12" iyy="4.95152181e-07" iyz="-5.85048193e-10" izz="1.31716356e-06"/>
+    </inertial>
+    <visual name="atech_dc_motor_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_dc_motor/black.stl"/></geometry>
+      <material name="atech_dc_motor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_dc_motor_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_dc_motor/black_m.stl"/></geometry>
+      <material name="atech_dc_motor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_dc_motor_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_dc_motor/gold.stl"/></geometry>
+      <material name="atech_dc_motor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_dc_motor_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_dc_motor/grey.stl"/></geometry>
+      <material name="atech_dc_motor_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_dc_motor_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_dc_motor/pcb.stl"/></geometry>
+      <material name="atech_dc_motor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_dc_motor_body_collision">
+      <origin xyz="0 0 0.00957" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.01914"/></geometry>
+    </collision>
+    <collision name="atech_dc_motor_motor_housing_collision">
+      <origin xyz="0 0.0198 0.00957" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0201 0.01914"/></geometry>
+    </collision>
+    <collision name="atech_dc_motor_motor_shaft_collision">
+      <origin xyz="-0.00015 0.03425 0.01014" rpy="0 0 0"/>
+      <geometry><box size="0.003 0.0088 0.003"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_dc_motor_connector"/>
+  <joint name="atech_dc_motor_connector_joint" type="fixed">
+    <parent link="atech_dc_motor"/>
+    <child link="atech_dc_motor_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_dc_motor_actuator"/>
+  <joint name="atech_dc_motor_actuator_joint" type="fixed">
+    <parent link="atech_dc_motor"/>
+    <child link="atech_dc_motor_actuator"/>
+    <origin xyz="0 0 0.00957" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_dc_motor/urdf/meshes/atech_dc_motor/black.stl b/atech_dc_motor/urdf/meshes/atech_dc_motor/black.stl
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new file mode 100644
index 0000000000000000000000000000000000000000..cc1a36ac9715ce8ba3f533b85f002e5cb0f6d642
--- /dev/null
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+      "size": 1284,
+      "hash": {
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+}
diff --git a/atech_distance_sensor/.metadata/com.nvidia.simready.root_usds.json b/atech_distance_sensor/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8d60013c2dcd328adacd625b799a3def0c592f
--- /dev/null
+++ b/atech_distance_sensor/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_distance_sensor.usd"
+  ]
+}
diff --git a/atech_distance_sensor/com.nvidia.simready.packaging.json b/atech_distance_sensor/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..871c89851e0af7270e0e0ac9e5818ddf0ccd8231
--- /dev/null
+++ b/atech_distance_sensor/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_distance_sensor",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
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+  ]
+}
diff --git a/atech_distance_sensor/mjcf/atech_distance_sensor.xml b/atech_distance_sensor/mjcf/atech_distance_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07a9ee1a0a6506747f56c2f7cfe7a027ef435bd1
--- /dev/null
+++ b/atech_distance_sensor/mjcf/atech_distance_sensor.xml
@@ -0,0 +1,44 @@
+<mujoco model="atech_distance_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="distance_sensor"/>
+    <text name="atech:name" data="Distance Sensor (VL53L5CX 8x8 ToF)"/>
+    <text name="atech:category" data="distance"/>
+    <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="41"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/distance-sensor.glb"/>
+    <text name="atech:visual:sha256" data="7737a764eab8687fb159cabdb67095f174b2d086ebde2466adf76319af3f4f5c"/>
+  </custom>
+  <asset>
+    <mesh name="atech_distance_sensor_black_cad_mesh" file="meshes/atech_distance_sensor/black.stl" inertia="shell"/>
+    <mesh name="atech_distance_sensor_black_m_cad_mesh" file="meshes/atech_distance_sensor/black_m.stl" inertia="shell"/>
+    <mesh name="atech_distance_sensor_black_matte_cad_mesh" file="meshes/atech_distance_sensor/black_matte.stl" inertia="shell"/>
+    <mesh name="atech_distance_sensor_gold_cad_mesh" file="meshes/atech_distance_sensor/gold.stl" inertia="shell"/>
+    <mesh name="atech_distance_sensor_led_red_cad_mesh" file="meshes/atech_distance_sensor/led_red.stl" inertia="shell"/>
+    <mesh name="atech_distance_sensor_pcb_cad_mesh" file="meshes/atech_distance_sensor/pcb.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_distance_sensor" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module distance_sensor (Distance Sensor (VL53L5CX 8x8 ToF)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_distance_sensor_free"/>
+      <geom name="atech_distance_sensor_black_cad" type="mesh" mesh="atech_distance_sensor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_black_m_cad" type="mesh" mesh="atech_distance_sensor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_black_matte_cad" type="mesh" mesh="atech_distance_sensor_black_matte_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_gold_cad" type="mesh" mesh="atech_distance_sensor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_led_red_cad" type="mesh" mesh="atech_distance_sensor_led_red_cad_mesh" rgba="1 0.1662 0.1107 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_pcb_cad" type="mesh" mesh="atech_distance_sensor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_distance_sensor_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.008" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_distance_sensor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_distance_sensor_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>
+  <sensor>
+    <rangefinder name="atech_distance_sensor_range" site="atech_distance_sensor_sensor" cutoff="4"/>
+  </sensor>
+</mujoco>
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--- /dev/null
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/distance-sensor.glb (sha256 7737a764eab8687fb159cabdb67095f174b2d086ebde2466adf76319af3f4f5c). -->
+<robot name="atech_distance_sensor">
+  <!-- Atech module distance_sensor (Distance Sensor (VL53L5CX 8x8 ToF)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_distance_sensor">
+    <inertial>
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="3.141744e-07" ixy="0" ixz="0" iyy="3.141744e-07" iyz="0" izz="5.07e-07"/>
+    </inertial>
+    <visual name="atech_distance_sensor_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/black.stl"/></geometry>
+      <material name="atech_distance_sensor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_distance_sensor_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/black_m.stl"/></geometry>
+      <material name="atech_distance_sensor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_distance_sensor_black_matte_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/black_matte.stl"/></geometry>
+      <material name="atech_distance_sensor_black_matte_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_distance_sensor_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/gold.stl"/></geometry>
+      <material name="atech_distance_sensor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_distance_sensor_led_red_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/led_red.stl"/></geometry>
+      <material name="atech_distance_sensor_led_red_cad_material"><color rgba="1 0.1662 0.1107 1"/></material>
+    </visual>
+    <visual name="atech_distance_sensor_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_distance_sensor/pcb.stl"/></geometry>
+      <material name="atech_distance_sensor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_distance_sensor_body_collision">
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.00954"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_distance_sensor_connector"/>
+  <joint name="atech_distance_sensor_connector_joint" type="fixed">
+    <parent link="atech_distance_sensor"/>
+    <child link="atech_distance_sensor_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_distance_sensor_sensor"/>
+  <joint name="atech_distance_sensor_sensor_joint" type="fixed">
+    <parent link="atech_distance_sensor"/>
+    <child link="atech_distance_sensor_sensor"/>
+    <origin xyz="0 0 0.00954" rpy="0 0 0"/>
+  </joint>
+</robot>
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+  ]
+}
diff --git a/atech_icm40608/com.nvidia.simready.packaging.json b/atech_icm40608/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ac0234dfe2a303a3867492a6f7daf4a8219e5f
--- /dev/null
+++ b/atech_icm40608/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_icm40608",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "cd8b48a2a5899dd41f327aa515600ca85d9d16984cb299363cffff3bf21e6bd6"
+      }
+    }
+  ]
+}
diff --git a/atech_icm40608/mjcf/atech_icm40608.xml b/atech_icm40608/mjcf/atech_icm40608.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b5e7fdb2c0863d7ec27962b8e17987053ffabdbb
--- /dev/null
+++ b/atech_icm40608/mjcf/atech_icm40608.xml
@@ -0,0 +1,45 @@
+<mujoco model="atech_icm40608">
+  <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="icm40608"/>
+    <text name="atech:name" data="6-Axis IMU (ICM-40608 / LSM6DSOX)"/>
+    <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="104"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/orientation-sensor.glb"/>
+    <text name="atech:visual:sha256" data="07b48452eaf04d300934397aaac0e785eed26ea07d5e390b5b9318c1cf9a2f9a"/>
+  </custom>
+  <asset>
+    <mesh name="atech_icm40608_black_cad_mesh" file="meshes/atech_icm40608/black.stl" inertia="shell"/>
+    <mesh name="atech_icm40608_black_m_cad_mesh" file="meshes/atech_icm40608/black_m.stl" inertia="shell"/>
+    <mesh name="atech_icm40608_glass_cad_mesh" file="meshes/atech_icm40608/glass.stl" inertia="shell"/>
+    <mesh name="atech_icm40608_gold_cad_mesh" file="meshes/atech_icm40608/gold.stl" inertia="shell"/>
+    <mesh name="atech_icm40608_grey_cad_mesh" file="meshes/atech_icm40608/grey.stl" inertia="shell"/>
+    <mesh name="atech_icm40608_pcb_cad_mesh" file="meshes/atech_icm40608/pcb.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_icm40608" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module icm40608 (6-Axis IMU (ICM-40608 / LSM6DSOX)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_icm40608_free"/>
+      <geom name="atech_icm40608_black_cad" type="mesh" mesh="atech_icm40608_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_black_m_cad" type="mesh" mesh="atech_icm40608_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_glass_cad" type="mesh" mesh="atech_icm40608_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_gold_cad" type="mesh" mesh="atech_icm40608_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_grey_cad" type="mesh" mesh="atech_icm40608_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_pcb_cad" type="mesh" mesh="atech_icm40608_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_icm40608_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_icm40608_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_icm40608_sensor" pos="0 0 0.00477" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+  <sensor>
+    <accelerometer name="atech_icm40608_accel" site="atech_icm40608_sensor"/>
+    <gyro name="atech_icm40608_gyro" site="atech_icm40608_sensor"/>
+  </sensor>
+</mujoco>
diff --git a/atech_icm40608/mjcf/meshes/atech_icm40608/black.stl b/atech_icm40608/mjcf/meshes/atech_icm40608/black.stl
new file mode 100644
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--- /dev/null
+++ b/atech_icm40608/mjcf/meshes/atech_icm40608/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a31cbe0d5b9d65b5c0151bc98c71b89538145e51eefca7071f1fcab1a5d0df8
+size 152784
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+++ b/atech_icm40608/simready_usd/.thumbs/256x256/atech_icm40608.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9136
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_icm40608/simready_usd/atech_icm40608.usd b/atech_icm40608/simready_usd/atech_icm40608.usd
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index 0000000000000000000000000000000000000000..826c48411387604b3dd712cc87036d1eb7bb54dd
--- /dev/null
+++ b/atech_icm40608/simready_usd/atech_icm40608.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 355680
diff --git a/atech_icm40608/urdf/atech_icm40608.urdf b/atech_icm40608/urdf/atech_icm40608.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71318cb09251a9034f3ab24735e42a086fe2564e
--- /dev/null
+++ b/atech_icm40608/urdf/atech_icm40608.urdf
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/orientation-sensor.glb (sha256 07b48452eaf04d300934397aaac0e785eed26ea07d5e390b5b9318c1cf9a2f9a). -->
+<robot name="atech_icm40608">
+  <!-- Atech module icm40608 (6-Axis IMU (ICM-40608 / LSM6DSOX)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_icm40608">
+    <inertial>
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="2.749026e-07" ixy="0" ixz="0" iyy="2.749026e-07" iyz="0" izz="4.43625e-07"/>
+    </inertial>
+    <visual name="atech_icm40608_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/black.stl"/></geometry>
+      <material name="atech_icm40608_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_icm40608_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/black_m.stl"/></geometry>
+      <material name="atech_icm40608_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_icm40608_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/glass.stl"/></geometry>
+      <material name="atech_icm40608_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_icm40608_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/gold.stl"/></geometry>
+      <material name="atech_icm40608_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_icm40608_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/grey.stl"/></geometry>
+      <material name="atech_icm40608_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_icm40608_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_icm40608/pcb.stl"/></geometry>
+      <material name="atech_icm40608_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_icm40608_body_collision">
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.00954"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_icm40608_connector"/>
+  <joint name="atech_icm40608_connector_joint" type="fixed">
+    <parent link="atech_icm40608"/>
+    <child link="atech_icm40608_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_icm40608_sensor"/>
+  <joint name="atech_icm40608_sensor_joint" type="fixed">
+    <parent link="atech_icm40608"/>
+    <child link="atech_icm40608_sensor"/>
+    <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_icm40608/urdf/meshes/atech_icm40608/black.stl b/atech_icm40608/urdf/meshes/atech_icm40608/black.stl
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--- /dev/null
+++ b/atech_icm40608/urdf/meshes/atech_icm40608/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a31cbe0d5b9d65b5c0151bc98c71b89538145e51eefca7071f1fcab1a5d0df8
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diff --git a/atech_microphone/.metadata/com.nvidia.simready.packaging.bom.json b/atech_microphone/.metadata/com.nvidia.simready.packaging.bom.json
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--- /dev/null
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@@ -0,0 +1,103 @@
+{
+  "format_version": "1.0",
+  "items": [
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+      "hash": {
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+    {
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+      "hash": {
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+  ]
+}
diff --git a/atech_microphone/.metadata/com.nvidia.simready.root_usds.json b/atech_microphone/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbcee5e38939ae2fda238ea0971910f76f68492f
--- /dev/null
+++ b/atech_microphone/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_microphone.usd"
+  ]
+}
diff --git a/atech_microphone/com.nvidia.simready.packaging.json b/atech_microphone/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1be66a1022e52b305ffd9a945058790b9a0d41
--- /dev/null
+++ b/atech_microphone/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_microphone",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "948754dfeebb705477a74c57e53eb28fbf2116c7486d2657bfd7cbae7bb032ef"
+      }
+    }
+  ]
+}
diff --git a/atech_microphone/mjcf/atech_microphone.xml b/atech_microphone/mjcf/atech_microphone.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ebe778ca213457c1cf672a79de595523f8a6e670
--- /dev/null
+++ b/atech_microphone/mjcf/atech_microphone.xml
@@ -0,0 +1,36 @@
+<mujoco model="atech_microphone">
+  <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="microphone"/>
+    <text name="atech:name" data="I2S MEMS Microphone (ICS-43434)"/>
+    <text name="atech:category" data="audio"/>
+    <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="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/microphone.glb"/>
+    <text name="atech:visual:sha256" data="c103f5d49ee560e9eb661cfb27aded1733ff64d9da69a3877497741d239a0d5e"/>
+  </custom>
+  <asset>
+    <mesh name="atech_microphone_black_cad_mesh" file="meshes/atech_microphone/black.stl" inertia="shell"/>
+    <mesh name="atech_microphone_black_m_cad_mesh" file="meshes/atech_microphone/black_m.stl" inertia="shell"/>
+    <mesh name="atech_microphone_gold_cad_mesh" file="meshes/atech_microphone/gold.stl" inertia="shell"/>
+    <mesh name="atech_microphone_pcb_cad_mesh" file="meshes/atech_microphone/pcb.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_microphone" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module microphone (I2S MEMS Microphone (ICS-43434)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_microphone_free"/>
+      <geom name="atech_microphone_black_cad" type="mesh" mesh="atech_microphone_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_black_m_cad" type="mesh" mesh="atech_microphone_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_gold_cad" type="mesh" mesh="atech_microphone_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_pcb_cad" type="mesh" mesh="atech_microphone_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_body" type="box" size="0.01975 0.00975 0.00542" pos="0 0 0.00542" mass="0.012" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_microphone_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_microphone_sensor" pos="0 0 0.01084" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_microphone/mjcf/meshes/atech_microphone/black.stl b/atech_microphone/mjcf/meshes/atech_microphone/black.stl
new file mode 100644
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--- /dev/null
+++ b/atech_microphone/mjcf/meshes/atech_microphone/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1271484
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_microphone/simready_usd/atech_microphone.usd b/atech_microphone/simready_usd/atech_microphone.usd
new file mode 100644
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--- /dev/null
+++ b/atech_microphone/simready_usd/atech_microphone.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_microphone/urdf/atech_microphone.urdf b/atech_microphone/urdf/atech_microphone.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2492ece420c312c39666baa3bef632f6f5d46f27
--- /dev/null
+++ b/atech_microphone/urdf/atech_microphone.urdf
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/microphone.glb (sha256 c103f5d49ee560e9eb661cfb27aded1733ff64d9da69a3877497741d239a0d5e). -->
+<robot name="atech_microphone">
+  <!-- Atech module microphone (I2S MEMS Microphone (ICS-43434)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_microphone">
+    <inertial>
+      <origin xyz="0 0 0.00542" rpy="0 0 0"/>
+      <mass value="0.012"/>
+      <inertia ixx="4.977556e-07" ixy="0" ixz="0" iyy="1.6777556e-06" iyz="0" izz="1.9405e-06"/>
+    </inertial>
+    <visual name="atech_microphone_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/black.stl"/></geometry>
+      <material name="atech_microphone_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_microphone_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/black_m.stl"/></geometry>
+      <material name="atech_microphone_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_microphone_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/gold.stl"/></geometry>
+      <material name="atech_microphone_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_microphone_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/pcb.stl"/></geometry>
+      <material name="atech_microphone_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_microphone_body_collision">
+      <origin xyz="0 0 0.00542" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0195 0.01084"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_microphone_connector"/>
+  <joint name="atech_microphone_connector_joint" type="fixed">
+    <parent link="atech_microphone"/>
+    <child link="atech_microphone_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_microphone_sensor"/>
+  <joint name="atech_microphone_sensor_joint" type="fixed">
+    <parent link="atech_microphone"/>
+    <child link="atech_microphone_sensor"/>
+    <origin xyz="0 0 0.01084" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_microphone/urdf/meshes/atech_microphone/black.stl b/atech_microphone/urdf/meshes/atech_microphone/black.stl
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--- /dev/null
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diff --git a/atech_neopixel/.metadata/com.nvidia.simready.packaging.bom.json b/atech_neopixel/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b841b5b0daeb82c588b67f8b43c3f17d4b49b8
--- /dev/null
+++ b/atech_neopixel/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,145 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
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+      "hash": {
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+      "hash": {
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+      "hash": {
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+    {
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+    {
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+      "hash": {
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+      "hash": {
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+      "hash": {
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+    {
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+      "hash": {
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+    {
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+      "hash": {
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+      "hash": {
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+      "hash": {
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+    {
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+      "hash": {
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+  ]
+}
diff --git a/atech_neopixel/.metadata/com.nvidia.simready.root_usds.json b/atech_neopixel/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec493f8e021081aa018817be0d344cac9ef760c
--- /dev/null
+++ b/atech_neopixel/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_neopixel.usd"
+  ]
+}
diff --git a/atech_neopixel/com.nvidia.simready.packaging.json b/atech_neopixel/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc122e562249953cb1dbf69b6a94e90eb5b67a0d
--- /dev/null
+++ b/atech_neopixel/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_neopixel",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
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+  ]
+}
diff --git a/atech_neopixel/mjcf/atech_neopixel.xml b/atech_neopixel/mjcf/atech_neopixel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ddc06ae1f93876535542278abff5e3050a3ca4fc
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+++ b/atech_neopixel/mjcf/atech_neopixel.xml
@@ -0,0 +1,42 @@
+<mujoco model="atech_neopixel">
+  <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="neopixel"/>
+    <text name="atech:name" data="NeoPixel 3x3 Grid"/>
+    <text name="atech:category" data="led"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/led-grid.glb"/>
+    <text name="atech:visual:sha256" data="d81b07d5d6526bc37745100b9d3385a8dbcb98c0514589bce767475e8ccb51e2"/>
+  </custom>
+  <asset>
+    <mesh name="atech_neopixel_black_cad_mesh" file="meshes/atech_neopixel/black.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_black_m_cad_mesh" file="meshes/atech_neopixel/black_m.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_glass_cad_mesh" file="meshes/atech_neopixel/glass.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_gold_cad_mesh" file="meshes/atech_neopixel/gold.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_led_or_cad_mesh" file="meshes/atech_neopixel/led_or.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_led_warm_cad_mesh" file="meshes/atech_neopixel/led_warm.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_pcb_cad_mesh" file="meshes/atech_neopixel/pcb.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_neopixel" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module neopixel (NeoPixel 3x3 Grid); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_neopixel_free"/>
+      <geom name="atech_neopixel_black_cad" type="mesh" mesh="atech_neopixel_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_black_m_cad" type="mesh" mesh="atech_neopixel_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_glass_cad" type="mesh" mesh="atech_neopixel_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_gold_cad" type="mesh" mesh="atech_neopixel_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_led_or_cad" type="mesh" mesh="atech_neopixel_led_or_cad_mesh" rgba="1 0.7021 0.2778 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_led_warm_cad" type="mesh" mesh="atech_neopixel_led_warm_cad_mesh" rgba="1 0.9408 0.8228 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_pcb_cad" type="mesh" mesh="atech_neopixel_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_neopixel_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_neopixel_actuator" 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>
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 152184
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diff --git a/atech_neopixel/mjcf/meshes/atech_neopixel/gold.stl b/atech_neopixel/mjcf/meshes/atech_neopixel/gold.stl
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--- /dev/null
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diff --git a/atech_neopixel/urdf/atech_neopixel.urdf b/atech_neopixel/urdf/atech_neopixel.urdf
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--- /dev/null
+++ b/atech_neopixel/urdf/atech_neopixel.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/led-grid.glb (sha256 d81b07d5d6526bc37745100b9d3385a8dbcb98c0514589bce767475e8ccb51e2). -->
+<robot name="atech_neopixel">
+  <!-- Atech module neopixel (NeoPixel 3x3 Grid); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_neopixel">
+    <inertial>
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="2.749026e-07" ixy="0" ixz="0" iyy="2.749026e-07" iyz="0" izz="4.43625e-07"/>
+    </inertial>
+    <visual name="atech_neopixel_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/black.stl"/></geometry>
+      <material name="atech_neopixel_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/black_m.stl"/></geometry>
+      <material name="atech_neopixel_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/glass.stl"/></geometry>
+      <material name="atech_neopixel_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_neopixel_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/gold.stl"/></geometry>
+      <material name="atech_neopixel_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_led_or_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/led_or.stl"/></geometry>
+      <material name="atech_neopixel_led_or_cad_material"><color rgba="1 0.7021 0.2778 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_led_warm_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/led_warm.stl"/></geometry>
+      <material name="atech_neopixel_led_warm_cad_material"><color rgba="1 0.9408 0.8228 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/pcb.stl"/></geometry>
+      <material name="atech_neopixel_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_neopixel_body_collision">
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.00954"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_neopixel_connector"/>
+  <joint name="atech_neopixel_connector_joint" type="fixed">
+    <parent link="atech_neopixel"/>
+    <child link="atech_neopixel_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_neopixel_actuator"/>
+  <joint name="atech_neopixel_actuator_joint" type="fixed">
+    <parent link="atech_neopixel"/>
+    <child link="atech_neopixel_actuator"/>
+    <origin xyz="0 0 0.00954" rpy="0 0 0"/>
+  </joint>
+</robot>
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+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/derived_lens_dome.stl",
+      "size": 38484,
+      "hash": {
+        "sha256": "84c4f53c4147b619eae0c192136b076e939478f752799f5e654f6c5e906bab12"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/glass.stl",
+      "size": 52884,
+      "hash": {
+        "sha256": "c7c90533ea7f5ae4faab91dfaae6d97f3a5c237541fa4c555d365008c99fce49"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/gold.stl",
+      "size": 120684,
+      "hash": {
+        "sha256": "a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/grey.stl",
+      "size": 65384,
+      "hash": {
+        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_pir/pcb.stl",
+      "size": 26284,
+      "hash": {
+        "sha256": "01aab3a60aa5498604e0c9079e2173f4673c69fd164b6008b304c737dba648ac"
+      }
+    }
+  ]
+}
diff --git a/atech_pir/.metadata/com.nvidia.simready.root_usds.json b/atech_pir/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a9e04f47c4be6007bf1513e80a69d3f8347552
--- /dev/null
+++ b/atech_pir/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_pir.usd"
+  ]
+}
diff --git a/atech_pir/com.nvidia.simready.packaging.json b/atech_pir/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7791c5ff357fe2bc5ab934abf6f622a1c04f0d
--- /dev/null
+++ b/atech_pir/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_pir",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "d427b6183e00ee900160735203ecbf18b3aa50def164132d6629bebeab0505e8"
+      }
+    }
+  ]
+}
diff --git a/atech_pir/mjcf/atech_pir.xml b/atech_pir/mjcf/atech_pir.xml
new file mode 100644
index 0000000000000000000000000000000000000000..882695c65d5e23e8ab39c3894e3e901a892aa4a6
--- /dev/null
+++ b/atech_pir/mjcf/atech_pir.xml
@@ -0,0 +1,43 @@
+<mujoco model="atech_pir">
+  <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="pir"/>
+    <text name="atech:name" data="PIR Motion Sensor (AM312)"/>
+    <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,sensor.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (lens_dome); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="32c07056f5c9a94a5215b44fd8e949c6f2d8ee29a3cf899c92e9f646d758f2b8"/>
+  </custom>
+  <asset>
+    <mesh name="atech_pir_black_cad_mesh" file="meshes/atech_pir/black.stl" inertia="shell"/>
+    <mesh name="atech_pir_black_m_cad_mesh" file="meshes/atech_pir/black_m.stl" inertia="shell"/>
+    <mesh name="atech_pir_glass_cad_mesh" file="meshes/atech_pir/glass.stl" inertia="shell"/>
+    <mesh name="atech_pir_gold_cad_mesh" file="meshes/atech_pir/gold.stl" inertia="shell"/>
+    <mesh name="atech_pir_grey_cad_mesh" file="meshes/atech_pir/grey.stl" inertia="shell"/>
+    <mesh name="atech_pir_pcb_cad_mesh" file="meshes/atech_pir/pcb.stl" inertia="shell"/>
+    <mesh name="atech_pir_derived_lens_dome_cad_mesh" file="meshes/atech_pir/derived_lens_dome.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_pir" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_pir_free"/>
+      <geom name="atech_pir_black_cad" type="mesh" mesh="atech_pir_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_black_m_cad" type="mesh" mesh="atech_pir_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_glass_cad" type="mesh" mesh="atech_pir_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_gold_cad" type="mesh" mesh="atech_pir_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_grey_cad" type="mesh" mesh="atech_pir_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_pcb_cad" type="mesh" mesh="atech_pir_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_derived_lens_dome_cad" type="mesh" mesh="atech_pir_derived_lens_dome_cad_mesh" rgba="0.92 0.92 0.9 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00591171571" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_pir_lens_dome" type="box" size="0.005 0.005 0.0035" pos="0 0 0.0135" mass="0.00108828429" rgba="0.92 0.92 0.9 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_pir_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_pir_sensor" pos="0 0 0.017" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_pir/mjcf/meshes/atech_pir/black.stl b/atech_pir/mjcf/meshes/atech_pir/black.stl
new file mode 100644
index 0000000000000000000000000000000000000000..942253a8814ee49a8a28f47ad08376f50d59edf7
--- /dev/null
+++ b/atech_pir/mjcf/meshes/atech_pir/black.stl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184
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diff --git a/atech_pir/mjcf/meshes/atech_pir/gold.stl b/atech_pir/mjcf/meshes/atech_pir/gold.stl
new file mode 100644
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--- /dev/null
+++ b/atech_pir/mjcf/meshes/atech_pir/gold.stl
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diff --git a/atech_pir/mjcf/meshes/atech_pir/pcb.stl b/atech_pir/mjcf/meshes/atech_pir/pcb.stl
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diff --git a/atech_pir/simready_usd/.thumbs/256x256/atech_pir.usd.png b/atech_pir/simready_usd/.thumbs/256x256/atech_pir.usd.png
new file mode 100644
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--- /dev/null
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diff --git a/atech_pir/simready_usd/.thumbs/256x256/atech_pir.usd_light.png b/atech_pir/simready_usd/.thumbs/256x256/atech_pir.usd_light.png
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diff --git a/atech_pir/simready_usd/atech_pir.usd b/atech_pir/simready_usd/atech_pir.usd
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--- /dev/null
+++ b/atech_pir/simready_usd/atech_pir.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_pir/urdf/atech_pir.urdf b/atech_pir/urdf/atech_pir.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1cbddb183177eb10393bd7145919b64ba6b14e8a
--- /dev/null
+++ b/atech_pir/urdf/atech_pir.urdf
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (lens_dome); not Atech CAD of this module (sha256 32c07056f5c9a94a5215b44fd8e949c6f2d8ee29a3cf899c92e9f646d758f2b8). -->
+<robot name="atech_pir">
+  <!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. -->
+  <link name="atech_pir">
+    <inertial>
+      <origin xyz="0 0 0.00632148806" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="3.16508877e-07" ixy="0" ixz="0" iyy="3.16508877e-07" iyz="0" izz="3.92793055e-07"/>
+    </inertial>
+    <visual name="atech_pir_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/black.stl"/></geometry>
+      <material name="atech_pir_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_pir_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/black_m.stl"/></geometry>
+      <material name="atech_pir_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_pir_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/glass.stl"/></geometry>
+      <material name="atech_pir_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_pir_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/gold.stl"/></geometry>
+      <material name="atech_pir_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_pir_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/grey.stl"/></geometry>
+      <material name="atech_pir_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_pir_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/pcb.stl"/></geometry>
+      <material name="atech_pir_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_pir_derived_lens_dome_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/derived_lens_dome.stl"/></geometry>
+      <material name="atech_pir_derived_lens_dome_cad_material"><color rgba="0.92 0.92 0.9 1"/></material>
+    </visual>
+    <collision name="atech_pir_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_pir_lens_dome_collision">
+      <origin xyz="0 0 0.0135" rpy="0 0 0"/>
+      <geometry><box size="0.01 0.01 0.007"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_pir_connector"/>
+  <joint name="atech_pir_connector_joint" type="fixed">
+    <parent link="atech_pir"/>
+    <child link="atech_pir_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_pir_sensor"/>
+  <joint name="atech_pir_sensor_joint" type="fixed">
+    <parent link="atech_pir"/>
+    <child link="atech_pir_sensor"/>
+    <origin xyz="0 0 0.017" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/atech_pir/urdf/meshes/atech_pir/black.stl b/atech_pir/urdf/meshes/atech_pir/black.stl
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_robot_arm/.metadata/com.nvidia.simready.packaging.bom.json b/atech_robot_arm/.metadata/com.nvidia.simready.packaging.bom.json
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--- /dev/null
+++ b/atech_robot_arm/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,145 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_robot_arm.xml",
+      "size": 3939,
+      "hash": {
+        "sha256": "4e1e60522dd9640898ff1d3e17c134125cd6ed51f5855a8e0a077060469c5584"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/black.stl",
+      "size": 152184,
+      "hash": {
+        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/black_m.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "70288294b10a72f9edd179092f8fcf03b2e5cb4ed36ac8e7f25cd1abadb5563e"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/glass.stl",
+      "size": 52884,
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+    },
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+    },
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+      "size": 3678,
+      "hash": {
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+    {
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+    },
+    {
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+      "size": 684,
+      "hash": {
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+    },
+    {
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+    {
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+      "size": 120684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/grey.stl",
+      "size": 65384,
+      "hash": {
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+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/pcb.stl",
+      "size": 26284,
+      "hash": {
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+    }
+  ]
+}
diff --git a/atech_robot_arm/.metadata/com.nvidia.simready.root_usds.json b/atech_robot_arm/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..d227f99c717b8fd91de70c68e7492326cc6217b7
--- /dev/null
+++ b/atech_robot_arm/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_robot_arm.usd"
+  ]
+}
diff --git a/atech_robot_arm/com.nvidia.simready.packaging.json b/atech_robot_arm/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3b0742e2db493a07ee923f84c47e4afe1bddc5
--- /dev/null
+++ b/atech_robot_arm/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_robot_arm",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "2b0c9d1a65f5fdcfb07287ce4fc07d58674c2eea5fbc91b14c35124dccd4b8b2"
+      }
+    }
+  ]
+}
diff --git a/atech_robot_arm/mjcf/atech_robot_arm.xml b/atech_robot_arm/mjcf/atech_robot_arm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b7589fba77afd6835adb00b3d9ac6ad9dfc94680
--- /dev/null
+++ b/atech_robot_arm/mjcf/atech_robot_arm.xml
@@ -0,0 +1,43 @@
+<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 temp-sensor.glb (Atech CAD) + sim.yaml parts (servo_connector); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="8206829fd52b6e0713a679a07a9b22295885b5cdff3b724a80e309b555a1ea09"/>
+  </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_grey_cad_mesh" file="meshes/atech_robot_arm/grey.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_servo_connector_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector.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_grey_cad" type="mesh" mesh="atech_robot_arm_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 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_servo_connector_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_cad_mesh" rgba="0.85 0.85 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00799124343" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_connector" type="box" size="0.004 0.005 0.003" pos="0.005 0 0.013" mass="0.00100875657" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_robot_arm_connector" pos="0 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="0.005 0 0.013" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_robot_arm/mjcf/meshes/atech_robot_arm/black.stl b/atech_robot_arm/mjcf/meshes/atech_robot_arm/black.stl
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--- /dev/null
+++ b/atech_robot_arm/mjcf/meshes/atech_robot_arm/black.stl
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+size 152184
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