CO2, PIR and robot-arm modules: sensors on the PCB through the lid, after Atech's renders; the robot arm's two-cell housing

README.md

@@ -44,6 +44,9 @@ the USD's PBR shading or the display's screen texture.
   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.
+  The CO₂ and robot-arm modules follow Atech's product renders; the PIR is drawn as its
+  AM312 sensor. The robot-arm module plugs into one port, but its housing is two cells
+  long: its `connector` frame is the centre of the -x cell.
 - **Masses and inertias are placeholders.** Atech has not published them.
 - With real CAD, NVIDIA's SimReady validator reports VG.007 warnings: the CAD
   tessellation has non-manifold vertices.

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

@@ -5,7 +5,7 @@
       "relative_path": "mjcf/atech_board_8port.xml",
       "size": 7514,
       "hash": {
-        "sha256": "7b2811cb6d6a02a02c0b607eb5be5142a5abc4403ffbd9b415c3aa2525b7abd1"
+        "sha256": "faa8274ab9105302db610e9340eb1c5675406e911650a1551437dfb7b668ff00"
       }
     },
     {
@@ -103,14 +103,14 @@
       "relative_path": "simready_usd/atech_board_8port.usd",
       "size": 1821082,
       "hash": {
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       }
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       "size": 8034,
       "hash": {
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+        "sha256": "c44bcf41e073452033314644073d8b4e38f562bf5823c53fde6ad95add6b663c"
       }
     },
     {

atech_board_8port/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "ac8b6eef4b7950bcc5451937d3cf22d3eb755883140c35265664af6f7b94af32"
+        "sha256": "0b8dad1e3b89555a9f0a64a7070943104249f7644541d50c4f705a144726a7d6"
       }
     }
   ]

atech_board_8port/mjcf/atech_board_8port.xml

@@ -9,7 +9,7 @@
     <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"/>
+    <text name="atech:visual:sha256" data="e742b3fb7ee0a70570a90faf4ba6deccb1cf04cf2f6e24609a86d5c7ffd61b48"/>
   </custom>
   <asset>
     <mesh name="atech_board_8port_board_cad_mesh" file="meshes/atech_board_8port/board.stl" inertia="shell"/>

atech_board_8port/simready_usd/atech_board_8port.usd

@@ -1,3 +1,3 @@
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 size 1821082

atech_board_8port/urdf/atech_board_8port.urdf

@@ -1,5 +1,5 @@
 <?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). -->
+<!-- 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). -->
 <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">

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

@@ -3,9 +3,9 @@
   "items": [
     {
       "relative_path": "mjcf/atech_pir.xml",
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       "hash": {
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@@ -22,32 +22,53 @@
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       }
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+    {
+      "relative_path": "mjcf/meshes/atech_pir/derived_lens_collar.stl",
+      "size": 9484,
+      "hash": {
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+      }
+    },
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       "relative_path": "mjcf/meshes/atech_pir/derived_lens_dome.stl",
-      "size": 38484,
+      "size": 9684,
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+    {
+      "relative_path": "mjcf/meshes/atech_pir/derived_passive_1.stl",
+      "size": 684,
+      "hash": {
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+      }
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+    {
+      "relative_path": "mjcf/meshes/atech_pir/derived_passive_2.stl",
+      "size": 684,
       "hash": {
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       "relative_path": "mjcf/meshes/atech_pir/glass.stl",
-      "size": 52884,
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       "hash": {
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     {
       "relative_path": "mjcf/meshes/atech_pir/gold.stl",
-      "size": 120684,
+      "size": 119484,
       "hash": {
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+        "sha256": "4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5"
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     },
     {
       "relative_path": "mjcf/meshes/atech_pir/grey.stl",
-      "size": 65384,
+      "size": 64184,
       "hash": {
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       }
     },
     {
@@ -59,37 +80,37 @@
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_pir.usd.png",
-      "size": 14112,
+      "size": 14897,
       "hash": {
-        "sha256": "ccb64eed18a8d060267fa0950542eb9bd108dd2fa3d1d0bd0a684091d2c73b1a"
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       "relative_path": "simready_usd/.thumbs/256x256/atech_pir.usd_light.png",
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       "hash": {
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       "relative_path": "simready_usd/.thumbs/256x256/atech_pir.usd_transparent.png",
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       "relative_path": "simready_usd/atech_pir.usd",
-      "size": 412550,
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       "hash": {
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@@ -106,32 +127,53 @@
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       }
     },
+    {
+      "relative_path": "urdf/meshes/atech_pir/derived_lens_collar.stl",
+      "size": 9484,
+      "hash": {
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       "relative_path": "urdf/meshes/atech_pir/derived_lens_dome.stl",
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+    {
+      "relative_path": "urdf/meshes/atech_pir/derived_passive_1.stl",
+      "size": 684,
+      "hash": {
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       "hash": {
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       "relative_path": "urdf/meshes/atech_pir/glass.stl",
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atech_pir/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "d427b6183e00ee900160735203ecbf18b3aa50def164132d6629bebeab0505e8"
+        "sha256": "1b2d804f2b0e778376a272a80a20ad16df321be57ec3cb59ce55b4e333ac03b8"
       }
     }
   ]

atech_pir/mjcf/atech_pir.xml

@@ -9,8 +9,8 @@
     <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"/>
+    <text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (lens_collar, lens_dome, passive_1, passive_2); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="c40db3493eb9e23c357fa4fba181e95492ac1c97a8592874d4d8012d8ee719f6"/>
   </custom>
   <asset>
     <mesh name="atech_pir_black_cad_mesh" file="meshes/atech_pir/black.stl" inertia="shell"/>
@@ -19,7 +19,10 @@
     <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_collar_cad_mesh" file="meshes/atech_pir/derived_lens_collar.stl" inertia="shell"/>
     <mesh name="atech_pir_derived_lens_dome_cad_mesh" file="meshes/atech_pir/derived_lens_dome.stl" inertia="shell"/>
+    <mesh name="atech_pir_derived_passive_1_cad_mesh" file="meshes/atech_pir/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_pir_derived_passive_2_cad_mesh" file="meshes/atech_pir/derived_passive_2.stl" inertia="shell"/>
   </asset>
   <worldbody>
     <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
@@ -33,11 +36,17 @@
       <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"/>
+      <geom name="atech_pir_derived_lens_collar_cad" type="mesh" mesh="atech_pir_derived_lens_collar_cad_mesh" rgba="0.82 0.82 0.8 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="0.95 0.95 0.93 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_derived_passive_1_cad" type="mesh" mesh="atech_pir_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_derived_passive_2_cad" type="mesh" mesh="atech_pir_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 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="0.00564596955" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_pir_lens_collar" type="box" size="0.00475 0.00475 0.0028" pos="0 0 0.00694" mass="0.000750420253" rgba="0.82 0.82 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_pir_lens_dome" type="box" size="0.00475 0.00475 0.00225" pos="0 0 0.011945" mass="0.000603016275" rgba="0.95 0.95 0.93 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_pir_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_pir_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 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"/>
+      <site name="atech_pir_sensor" pos="0 0 0.014195" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
     </body>
   </worldbody>
 </mujoco>

atech_pir/mjcf/meshes/atech_pir/gold.stl

@@ -1,3 +1,3 @@
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-oid sha256:a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225
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+oid sha256:4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5
+size 119484

atech_pir/simready_usd/atech_pir.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:41fe98baa25abab1c9d151da87b95478823bb4d1736c7fba7ad99d5090971651
-size 412550
+oid sha256:d066883a9fe1b31e8ba268e5e3d5b75a3895cbc0acd491b195a1d0dc297cd98b
+size 394785

atech_pir/urdf/atech_pir.urdf

@@ -1,12 +1,12 @@
 <?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). -->
+<!-- Visual meshes: derived: shell of button.glb (Atech CAD) + sim.yaml parts (lens_collar, lens_dome, passive_1, passive_2); not Atech CAD of this module (sha256 c40db3493eb9e23c357fa4fba181e95492ac1c97a8592874d4d8012d8ee719f6). -->
 <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"/>
+      <origin xyz="0 4.2422989e-08 0.0058061959" 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"/>
+      <inertia ixx="2.66476786e-07" ixy="8.07733711e-12" ixz="0" iyy="2.66501762e-07" iyz="4.35402889e-13" izz="3.7820131e-07"/>
     </inertial>
     <visual name="atech_pir_black_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -38,18 +38,45 @@
       <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_collar_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/derived_lens_collar.stl"/></geometry>
+      <material name="atech_pir_derived_lens_collar_cad_material"><color rgba="0.82 0.82 0.8 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>
+      <material name="atech_pir_derived_lens_dome_cad_material"><color rgba="0.95 0.95 0.93 1"/></material>
+    </visual>
+    <visual name="atech_pir_derived_passive_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/derived_passive_1.stl"/></geometry>
+      <material name="atech_pir_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_pir_derived_passive_2_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/derived_passive_2.stl"/></geometry>
+      <material name="atech_pir_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 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_collar_collision">
+      <origin xyz="0 0 0.00694" rpy="0 0 0"/>
+      <geometry><box size="0.0095 0.0095 0.0056"/></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>
+      <origin xyz="0 0 0.011945" rpy="0 0 0"/>
+      <geometry><box size="0.0095 0.0095 0.0045"/></geometry>
+    </collision>
+    <collision name="atech_pir_passive_1_collision">
+      <origin xyz="-0.0068 0.0025 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_pir_passive_2_collision">
+      <origin xyz="0.0068 -0.0015 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
   </link>
   <link name="atech_pir_connector"/>
@@ -62,6 +89,6 @@
   <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"/>
+    <origin xyz="0 0 0.014195" rpy="0 0 0"/>
   </joint>
 </robot>

atech_pir/urdf/meshes/atech_pir/gold.stl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225
-size 120684
+oid sha256:4c6cf74cd4f7b6f9a66cc9e75956b0a386d8c9bd56b948f0a7aa9a46e062e0f5
+size 119484

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

@@ -3,142 +3,268 @@
   "items": [
     {
       "relative_path": "mjcf/atech_robot_arm.xml",
-      "size": 3939,
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       "hash": {
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+        "sha256": "57e0d4cb80d3c6b303b42a985a126f1995710ccd6c293a478c3353d7c3900c99"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_robot_arm/black.stl",
-      "size": 152184,
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       "hash": {
-        "sha256": "4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d"
+        "sha256": "a52426929780ccf9c5796d3ba119e90f0d9ad3b308522e94cc2adaf1655cfc2e"
       }
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     {
       "relative_path": "mjcf/meshes/atech_robot_arm/black_m.stl",
       "size": 684,
       "hash": {
-        "sha256": "7ce9e9150058eddbf48516318ce21d5ef6411d38330a0480a06a11bd92602315"
+        "sha256": "7f32753a15fcc9959083d8d182f81be994d8162154207eb3dee42702e14a34d7"
       }
     },
     {
-      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector.stl",
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_capacitor.stl",
+      "size": 9484,
+      "hash": {
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+      }
+    },
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+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_capacitor_base.stl",
       "size": 684,
       "hash": {
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     },
     {
-      "relative_path": "mjcf/meshes/atech_robot_arm/glass.stl",
-      "size": 52884,
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_passive_1.stl",
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       "hash": {
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       }
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-      "relative_path": "mjcf/meshes/atech_robot_arm/gold.stl",
-      "size": 120684,
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_passive_2.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector_back.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "b4caa21bac00094b4659e1a5b4bfdca398d99bf0f595f76542894d40a267aa60"
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+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector_base.stl",
+      "size": 684,
+      "hash": {
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+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector_side_a.stl",
+      "size": 684,
       "hash": {
-        "sha256": "a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225"
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     },
     {
-      "relative_path": "mjcf/meshes/atech_robot_arm/grey.stl",
-      "size": 65384,
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_connector_side_b.stl",
+      "size": 684,
+      "hash": {
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+      }
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+      "size": 9484,
+      "hash": {
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+      }
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+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_pin_2.stl",
+      "size": 9484,
+      "hash": {
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+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/derived_servo_pin_3.stl",
+      "size": 9484,
+      "hash": {
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+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/glass.stl",
+      "size": 2484,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_robot_arm/gold.stl",
+      "size": 119484,
       "hash": {
-        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
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       "relative_path": "mjcf/meshes/atech_robot_arm/pcb.stl",
-      "size": 26284,
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       "hash": {
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       "size": 684,
       "hash": {
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-      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_connector.stl",
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_capacitor.stl",
+      "size": 9484,
+      "hash": {
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       "size": 684,
       "hash": {
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-      "relative_path": "urdf/meshes/atech_robot_arm/glass.stl",
-      "size": 52884,
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_passive_1.stl",
+      "size": 684,
       "hash": {
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     {
-      "relative_path": "urdf/meshes/atech_robot_arm/gold.stl",
-      "size": 120684,
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_passive_2.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_connector_back.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_connector_base.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_connector_side_a.stl",
+      "size": 684,
       "hash": {
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     {
-      "relative_path": "urdf/meshes/atech_robot_arm/grey.stl",
-      "size": 65384,
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_connector_side_b.stl",
+      "size": 684,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_pin_1.stl",
+      "size": 9484,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_pin_2.stl",
+      "size": 9484,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/derived_servo_pin_3.stl",
+      "size": 9484,
+      "hash": {
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+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/glass.stl",
+      "size": 2484,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_robot_arm/gold.stl",
+      "size": 119484,
       "hash": {
-        "sha256": "fb8d1d5d1f8f9ba179a0588190bf9d4bef39849bcfbc1b6ed86f0f7130718116"
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       }
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     {
       "relative_path": "urdf/meshes/atech_robot_arm/pcb.stl",
-      "size": 26284,
+      "size": 25984,
       "hash": {
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+        "sha256": "22479ba553a0374ad22ef0cf7af7e8ae3fe5f069b4bca88f53499782d81aaaaf"
       }
     }
   ]

atech_robot_arm/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "2b0c9d1a65f5fdcfb07287ce4fc07d58674c2eea5fbc91b14c35124dccd4b8b2"
+        "sha256": "15aed96f21c9aa59cf598a2e37ccbb6755168812d3d00fc467b0deae5576a195"
       }
     }
   ]

atech_robot_arm/mjcf/atech_robot_arm.xml

@@ -9,17 +9,26 @@
     <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"/>
+    <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"/>
   </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"/>
+    <mesh name="atech_robot_arm_derived_capacitor_base_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor_base.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_capacitor_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_connector_base_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_base.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_connector_back_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_back.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_a.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_b.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_pin_1_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_1.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_pin_2_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_2.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_servo_pin_3_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_3.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_passive_1_cad_mesh" file="meshes/atech_robot_arm/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_robot_arm_derived_passive_2_cad_mesh" file="meshes/atech_robot_arm/derived_passive_2.stl" inertia="shell"/>
   </asset>
   <worldbody>
     <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
@@ -31,13 +40,32 @@
       <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"/>
+      <geom name="atech_robot_arm_derived_capacitor_base_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_base_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_capacitor_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_connector_base_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_base_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_connector_back_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_back_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_connector_side_a_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_connector_side_b_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_pin_1_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_1_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_pin_2_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_2_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_servo_pin_3_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_3_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_passive_1_cad" type="mesh" mesh="atech_robot_arm_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_derived_passive_2_cad" type="mesh" mesh="atech_robot_arm_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_robot_arm_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0086613824" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_capacitor_base" type="box" size="0.00425 0.00425 0.0004" pos="-0.002 0 0.00454" mass="6.49955083e-05" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_capacitor" type="box" size="0.0039 0.0039 0.00075" pos="-0.002 0 0.00569" mass="0.000102620936" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_connector_base" type="box" size="0.00275 0.00475 0.0006" pos="0.0145 0 0.00474" mass="7.05055081e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_connector_back" type="box" size="0.0005 0.00475 0.00275" pos="0.01675 0 0.00689" mass="5.87545901e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_connector_side_a" type="box" size="0.00225 0.0004 0.00225" pos="0.014 -0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_connector_side_b" type="box" size="0.00225 0.0004 0.00225" pos="0.014 0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_pin_1" type="box" size="0.0003 0.0003 0.002" pos="0.0145 -0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_pin_2" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_servo_pin_3" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.006 0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_robot_arm_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.008 -0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_robot_arm_connector" pos="-0.01 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_robot_arm_sensor" pos="0.0145 0 0.00939" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
     </body>
   </worldbody>
 </mujoco>

atech_robot_arm/mjcf/meshes/atech_robot_arm/black.stl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
-size 152184
+oid sha256:a52426929780ccf9c5796d3ba119e90f0d9ad3b308522e94cc2adaf1655cfc2e
+size 256134