8-port board: Atech's CAD (Node 8 Position Motherboard) instead of the derived model; release sources tagged v1.7

.gitattributes

@@ -163,3 +163,7 @@ atech_stepper_motor/mjcf/meshes/atech_stepper_motor/gold.stl filter=lfs diff=lfs
 atech_stepper_motor/simready_usd/atech_stepper_motor.usd filter=lfs diff=lfs merge=lfs -text
 atech_stepper_motor/urdf/meshes/atech_stepper_motor/black.stl filter=lfs diff=lfs merge=lfs -text
 atech_stepper_motor/urdf/meshes/atech_stepper_motor/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/mjcf/meshes/atech_board_8port/pins.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/mjcf/meshes/atech_board_8port/satin.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/urdf/meshes/atech_board_8port/pins.stl filter=lfs diff=lfs merge=lfs -text
+atech_board_8port/urdf/meshes/atech_board_8port/satin.stl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -40,8 +40,10 @@ the USD's PBR shading or the display's screen texture.
 
 - **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
+- **The 8-port board** is Atech's CAD of it ("Node 8 Position Motherboard", from
+  Atech's website models), not yet in the module-renders release; its source says so.
+- **Derived models.** The PIR, CO₂ (SCD40), robot-arm and stepper modules 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.
   The CO₂ and robot-arm modules follow Atech's product renders; the PIR is drawn as its

atech_board_8port/.metadata/com.nvidia.simready.packaging.bom.json

@@ -3,184 +3,114 @@
   "items": [
     {
       "relative_path": "mjcf/atech_board_8port.xml",
-      "size": 7514,
+      "size": 5887,
       "hash": {
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+        "sha256": "cc63914a1868c111695872db5bdda758c36669c8649531a9f9b6e7921f58b384"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_board_8port/board.stl",
-      "size": 684,
+      "size": 45884,
       "hash": {
-        "sha256": "b27e10b7f6d8e20c9b61c1b5a964b1e682086f52fe70a9e1b02d59b7b8a4f684"
+        "sha256": "aad60ce67d89db2ca53cc3d1b94aa746e3ce53650b0035c320d7dbcd9d81434b"
       }
     },
     {
-      "relative_path": "mjcf/meshes/atech_board_8port/derived_port_1_slot.stl",
-      "size": 684,
+      "relative_path": "mjcf/meshes/atech_board_8port/glass.stl",
+      "size": 5484,
       "hash": {
-        "sha256": "fccd2de532ae1b34149e3807222770d4c9dad3fb6bb2624f0df984103ddb2d9b"
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       }
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     {
-      "relative_path": "mjcf/meshes/atech_board_8port/derived_port_2_slot.stl",
-      "size": 684,
+      "relative_path": "mjcf/meshes/atech_board_8port/pins.stl",
+      "size": 258284,
       "hash": {
-        "sha256": "93b9d1b3d8b65349af2421bf0475a4b384a65d3c9f985e7e6cab02b7c7541d5c"
+        "sha256": "7219ac9d40c30ee34e9356c35b02658091e5c8c7c96821103fbbbc549d78c979"
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     {
-      "relative_path": "mjcf/meshes/atech_board_8port/derived_port_3_slot.stl",
-      "size": 684,
+      "relative_path": "mjcf/meshes/atech_board_8port/satin.stl",
+      "size": 235084,
       "hash": {
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-      "size": 684,
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-      "size": 684,
-      "hash": {
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-    {
-      "relative_path": "mjcf/meshes/atech_board_8port/derived_port_7_slot.stl",
-      "size": 684,
-      "hash": {
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-      "size": 684,
-      "hash": {
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-      }
-    },
-    {
-      "relative_path": "mjcf/meshes/atech_board_8port/derived_usb_c.stl",
-      "size": 684,
-      "hash": {
-        "sha256": "4176f8aad071db324b8abe7c78ae6425a65bfb2beec47b5d1cd55af988b451ad"
+        "sha256": "2a524fa010e157bc36bedf91750645cc0bf2aef765fe0ceb0f2ca99fb219c7c8"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_board_8port/socket.stl",
-      "size": 2126484,
+      "size": 90084,
       "hash": {
-        "sha256": "3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a"
+        "sha256": "3593a64d235f52e6ffa4210ce4ab8ce2f74c2de102833caeeb419edbe83da43c"
       }
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_board_8port.usd.png",
-      "size": 12706,
+      "size": 19463,
       "hash": {
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+        "sha256": "cbdad4d426208e25d224e6cac395f0f23e1c42e0c601bed37d53f943ad797972"
       }
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_board_8port.usd_light.png",
-      "size": 12904,
+      "size": 19374,
       "hash": {
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+        "sha256": "38ba5f138b58df3081f7157120a1c3e9068015aea74b88ed49f28225e55b2f98"
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     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_board_8port.usd_transparent.png",
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+      "size": 20402,
       "hash": {
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+        "sha256": "2deda0e9a639d1759b325dd53774e40c0d5073bb9ca789ed429463fe75377f0c"
       }
     },
     {
       "relative_path": "simready_usd/atech_board_8port.usd",
-      "size": 1821082,
+      "size": 568153,
       "hash": {
-        "sha256": "92a9a68a020733225637b9f77c684fb5f13f7ac812a4b7e77964b20561a417d6"
+        "sha256": "9fdad1a7922ccdd08dfbae5f7bbb11506a7186e802f6bf321d9948b0ecad17aa"
       }
     },
     {
       "relative_path": "urdf/atech_board_8port.urdf",
-      "size": 8034,
+      "size": 6451,
       "hash": {
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+        "sha256": "1db998ac79916c9c491fc379c95e865a4d1af5c3deb445e5573a9b187c319f1c"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_board_8port/board.stl",
-      "size": 684,
-      "hash": {
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-    {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_1_slot.stl",
-      "size": 684,
-      "hash": {
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-    {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_2_slot.stl",
-      "size": 684,
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-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_3_slot.stl",
-      "size": 684,
-      "hash": {
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-    {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_4_slot.stl",
-      "size": 684,
-      "hash": {
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-      }
-    },
-    {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_5_slot.stl",
-      "size": 684,
+      "size": 45884,
       "hash": {
-        "sha256": "a907937017da00cc83e8c3c5e7468c9a2d643dd93fbb67796602c21b37c14f33"
+        "sha256": "aad60ce67d89db2ca53cc3d1b94aa746e3ce53650b0035c320d7dbcd9d81434b"
       }
     },
     {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_port_7_slot.stl",
-      "size": 684,
+      "relative_path": "urdf/meshes/atech_board_8port/glass.stl",
+      "size": 5484,
       "hash": {
-        "sha256": "c758e8029d43c83abcd3ef650d09e9a1934d707d521ffe0d9263312fd1ae8ee5"
+        "sha256": "b9f3814bf907b95ec08e81a44dfbad048909efb2e59949f548c0e672582a0dbf"
       }
     },
     {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_reset_button.stl",
-      "size": 684,
+      "relative_path": "urdf/meshes/atech_board_8port/pins.stl",
+      "size": 258284,
       "hash": {
-        "sha256": "06fcfbf1d958faeab04f6e84451b817219cb35628fc8fa7b7f9225ae418224ec"
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       }
     },
     {
-      "relative_path": "urdf/meshes/atech_board_8port/derived_usb_c.stl",
-      "size": 684,
+      "relative_path": "urdf/meshes/atech_board_8port/satin.stl",
+      "size": 235084,
       "hash": {
-        "sha256": "4176f8aad071db324b8abe7c78ae6425a65bfb2beec47b5d1cd55af988b451ad"
+        "sha256": "2a524fa010e157bc36bedf91750645cc0bf2aef765fe0ceb0f2ca99fb219c7c8"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_board_8port/socket.stl",
-      "size": 2126484,
+      "size": 90084,
       "hash": {
-        "sha256": "3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a"
+        "sha256": "3593a64d235f52e6ffa4210ce4ab8ce2f74c2de102833caeeb419edbe83da43c"
       }
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   ]

atech_board_8port/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "0b8dad1e3b89555a9f0a64a7070943104249f7644541d50c4f705a144726a7d6"
+        "sha256": "1ad8c3cd415eb672601d915f099a8d50ebf3d9ab2d3d0e7eae42b38a01110981"
       }
     }
   ]

atech_board_8port/mjcf/atech_board_8port.xml

@@ -7,21 +7,16 @@
     <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="e742b3fb7ee0a70570a90faf4ba6deccb1cf04cf2f6e24609a86d5c7ffd61b48"/>
+    <text name="atech:placeholders" data="mass_kg,colors,parts,connector,physics_material,ports"/>
+    <text name="atech:visual:source" data="atechdotdev/frontend public/models/6portboard.obj (Node 8 Position Motherboard), as motherboard-8port.glb"/>
+    <text name="atech:visual:sha256" data="43c780a1cc43550f757ae133a8df2b993319363ec7d6da4c0cbe6b413b4ffe82"/>
   </custom>
   <asset>
     <mesh name="atech_board_8port_board_cad_mesh" file="meshes/atech_board_8port/board.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_glass_cad_mesh" file="meshes/atech_board_8port/glass.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_pins_cad_mesh" file="meshes/atech_board_8port/pins.stl" inertia="shell"/>
+    <mesh name="atech_board_8port_satin_cad_mesh" file="meshes/atech_board_8port/satin.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"/>
@@ -30,33 +25,29 @@
       <!-- 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_glass_cad" type="mesh" mesh="atech_board_8port_glass_cad_mesh" rgba="0.8803 0.9314 0.9772 0.4" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_pins_cad" type="mesh" mesh="atech_board_8port_pins_cad_mesh" rgba="0.8092 0.8092 0.7977 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_board_8port_satin_cad" type="mesh" mesh="atech_board_8port_satin_cad_mesh" rgba="0.8092 0.8092 0.7977 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"/>
+      <geom name="atech_board_8port_body" type="box" size="0.0223 0.06225 0.00215" pos="0 0 0.00215" mass="0.0211548859" rgba="0.93 0.93 0.91 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_board_8port_bridge" type="box" size="0.0223 0.0095 0.00525" pos="0 0 0.00605" mass="0.00788344023" 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 0.0049" mass="0.000134761934" 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 0.0049" mass="0.000134761934" 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 0.0049" mass="0.000134761934" 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 0.0049" mass="0.000134761934" 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 0.0049" mass="0.000134761934" 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 0.0049" mass="0.000134761934" 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 0.0052" mass="6.37926314e-05" 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 0.0058" mass="8.9309684e-05" 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"/>
+      <site name="atech_board_8port_port_1" pos="0.01 0.04 0.0047" 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 0.0047" 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 0.0047" 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 0.0047" 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 0.0047" 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 0.0047" 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 0.0047" 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 0.0047" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
     </body>
   </worldbody>
 </mujoco>

atech_board_8port/mjcf/meshes/atech_board_8port/pins.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7219ac9d40c30ee34e9356c35b02658091e5c8c7c96821103fbbbc549d78c979
+size 258284

atech_board_8port/mjcf/meshes/atech_board_8port/satin.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a524fa010e157bc36bedf91750645cc0bf2aef765fe0ceb0f2ca99fb219c7c8
+size 235084

atech_board_8port/mjcf/meshes/atech_board_8port/socket.stl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a
-size 2126484
+oid sha256:3593a64d235f52e6ffa4210ce4ab8ce2f74c2de102833caeeb419edbe83da43c
+size 90084

atech_board_8port/simready_usd/atech_board_8port.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:92a9a68a020733225637b9f77c684fb5f13f7ac812a4b7e77964b20561a417d6
-size 1821082
+oid sha256:9fdad1a7922ccdd08dfbae5f7bbb11506a7186e802f6bf321d9948b0ecad17aa
+size 568153

atech_board_8port/urdf/atech_board_8port.urdf

@@ -1,97 +1,76 @@
 <?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 e742b3fb7ee0a70570a90faf4ba6deccb1cf04cf2f6e24609a86d5c7ffd61b48). -->
+<!-- Visual meshes: atechdotdev/frontend public/models/6portboard.obj (Node 8 Position Motherboard), as motherboard-8port.glb (sha256 43c780a1cc43550f757ae133a8df2b993319363ec7d6da4c0cbe6b413b4ffe82). -->
 <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. -->
+  <!-- Atech board 8port (Atech 8-Port Board); atech 1.0.0a11. Placeholder fields: 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"/>
+      <origin xyz="3.88071841e-05 1.32901315e-05 0.00326631789" 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"/>
+      <inertia ixx="2.87610985e-05" ixy="4.00251204e-09" ixz="-9.06793023e-10" iyy="5.13158152e-06" iyz="2.18103733e-09" izz="3.35015726e-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">
+    <visual name="atech_board_8port_glass_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>
+      <geometry><mesh filename="meshes/atech_board_8port/glass.stl"/></geometry>
+      <material name="atech_board_8port_glass_cad_material"><color rgba="0.8803 0.9314 0.9772 0.4"/></material>
     </visual>
-    <visual name="atech_board_8port_derived_port_4_slot_cad_visual">
+    <visual name="atech_board_8port_pins_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>
+      <geometry><mesh filename="meshes/atech_board_8port/pins.stl"/></geometry>
+      <material name="atech_board_8port_pins_cad_material"><color rgba="0.8092 0.8092 0.7977 1"/></material>
     </visual>
-    <visual name="atech_board_8port_derived_port_5_slot_cad_visual">
+    <visual name="atech_board_8port_satin_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>
+      <geometry><mesh filename="meshes/atech_board_8port/satin.stl"/></geometry>
+      <material name="atech_board_8port_satin_cad_material"><color rgba="0.8092 0.8092 0.7977 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">
+    <visual name="atech_board_8port_socket_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>
+      <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>
     <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>
+      <origin xyz="0 0 0.00215" rpy="0 0 0"/>
+      <geometry><box size="0.0446 0.1245 0.0043"/></geometry>
+    </collision>
+    <collision name="atech_board_8port_bridge_collision">
+      <origin xyz="0 0 0.00605" rpy="0 0 0"/>
+      <geometry><box size="0.0446 0.019 0.0105"/></geometry>
     </collision>
     <collision name="atech_board_8port_port_1_slot_collision">
-      <origin xyz="0.01 0.04 0.0027" rpy="0 0 0"/>
+      <origin xyz="0.01 0.04 0.0049" 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"/>
+      <origin xyz="0.01 0.02 0.0049" 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"/>
+      <origin xyz="0.01 -0.02 0.0049" 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"/>
+      <origin xyz="0.01 -0.04 0.0049" 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"/>
+      <origin xyz="-0.01 0.04 0.0049" 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"/>
+      <origin xyz="-0.01 -0.02 0.0049" 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"/>
+      <origin xyz="-0.01 0.02 0.0052" 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"/>
+      <origin xyz="-0.01 -0.04 0.0058" rpy="0 0 0"/>
       <geometry><box size="0.009 0.0035 0.0032"/></geometry>
     </collision>
   </link>
@@ -105,48 +84,48 @@
   <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"/>
+    <origin xyz="0.01 0.04 0.0047" 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"/>
+    <origin xyz="0.01 0.02 0.0047" 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"/>
+    <origin xyz="0.01 -0.02 0.0047" 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"/>
+    <origin xyz="0.01 -0.04 0.0047" 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"/>
+    <origin xyz="-0.01 0.04 0.0047" 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"/>
+    <origin xyz="-0.01 0.02 0.0047" 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"/>
+    <origin xyz="-0.01 -0.02 0.0047" 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"/>
+    <origin xyz="-0.01 -0.04 0.0047" rpy="0 0 1.57079633"/>
   </joint>
 </robot>

atech_board_8port/urdf/meshes/atech_board_8port/pins.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 258284

atech_board_8port/urdf/meshes/atech_board_8port/satin.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a524fa010e157bc36bedf91750645cc0bf2aef765fe0ceb0f2ca99fb219c7c8
+size 235084

atech_board_8port/urdf/meshes/atech_board_8port/socket.stl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3f3f3283a39a21733d1564079d7b20eeb668f50383567b7c613806f7ea57169a
-size 2126484
+oid sha256:3593a64d235f52e6ffa4210ce4ab8ce2f74c2de102833caeeb419edbe83da43c
+size 90084

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

@@ -5,7 +5,7 @@
       "relative_path": "mjcf/atech_robot_arm.xml",
       "size": 9291,
       "hash": {
-        "sha256": "57e0d4cb80d3c6b303b42a985a126f1995710ccd6c293a478c3353d7c3900c99"
+        "sha256": "910830705a2fbada93e04f27077c6c66bffb1dcca5c56929586c78c0902a144a"
       }
     },
     {
@@ -143,16 +143,16 @@
     },
     {
       "relative_path": "simready_usd/atech_robot_arm.usd",
-      "size": 385446,
+      "size": 385445,
       "hash": {
-        "sha256": "24100ba4fc8838e7501fefd561c86f5cb9b1cca71009a0838a1fd7808b61e03b"
+        "sha256": "2f4403c2bc71011d864979fd0f2bb0926de47e066648e75a148c42866b3515d6"
       }
     },
     {
       "relative_path": "urdf/atech_robot_arm.urdf",
       "size": 8940,
       "hash": {
-        "sha256": "1119cabe6f3ab5eebc21a7dcd3b75e9cb6c06b5c9299e2cd14d18c1ac350d232"
+        "sha256": "9fbcad85b5b82c4c0ad4fe2f78deba3abb2d3fa8ac0aa4b5908e424d10b18207"
       }
     },
     {

atech_robot_arm/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "15aed96f21c9aa59cf598a2e37ccbb6755168812d3d00fc467b0deae5576a195"
+        "sha256": "7118c16615dbf38b422d2299c336f83cbf42b26983d6180d955bc925e56cd44c"
       }
     }
   ]

atech_robot_arm/mjcf/atech_robot_arm.xml

@@ -10,7 +10,7 @@
     <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,sensor.frame"/>
     <text name="atech:interface" data="uart"/>
     <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (capacitor_base, capacitor, servo_connector_base, servo_connector_back, servo_connector_side_a, servo_connector_side_b, servo_pin_1, servo_pin_2, servo_pin_3, passive_1, passive_2); not Atech CAD of this module"/>
-    <text name="atech:visual:sha256" data="dd00350a4463707e80b2afa6c76d81cc1753d8c8b4cde40c9d6c9c3789f79bee"/>
+    <text name="atech:visual:sha256" data="9e641ecce22278214df0115081ba67e733824419aeeac367464d10051bae6040"/>
   </custom>
   <asset>
     <mesh name="atech_robot_arm_black_cad_mesh" file="meshes/atech_robot_arm/black.stl" inertia="shell"/>