Soil sensor: one probe PCB, prongs and pads with round tips, after Atech's renders

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

@@ -3,9 +3,9 @@
   "items": [
     {
       "relative_path": "mjcf/atech_soil_sensor.xml",
-      "size": 7105,
+      "size": 9340,
       "hash": {
-        "sha256": "5115be0a817b92f2e4babc07dc382b3ff0a79e9df9e2cabb0a1868f03b0b95c4"
+        "sha256": "b20db3f16443cc61bf5d75c43f1e8aa64fea90586d63416f1a699c45e3e55603"
       }
     },
     {
@@ -26,49 +26,77 @@
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_coprocessor.stl",
       "size": 684,
       "hash": {
-        "sha256": "d7ef7b823ccd60f6df941738163bfa87a0d780df634f72c6092b15432da35a36"
+        "sha256": "4cbdacdd83c68342111a32c3a17391a4f24b0ed7f6d993990083276fe57ca907"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_pad_left.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "7ae42826d07e2b97a718f39d52fecfdb7320e4bd9d0c38ddc9c8124866f1d70a"
+        "sha256": "088bd634e656d34a49f86beabdb695f9e70a1a6d969f68f5511b30e85ab096f7"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_pad_right.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "fc2281fb55e440de6da75cbb4698188765ca5c5637fd1242595887f270731526"
+        "sha256": "81aecc65536918cbc9003d33857afd6afbf617fe07c467084fbe4884e740242e"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_passive_1.stl",
       "size": 684,
       "hash": {
-        "sha256": "7325412b1f0995d1faecb0c5de89f4d1f91b5771867aa0f4759b2b300096fcad"
+        "sha256": "7436a06b17719ec9ce72078eff59ff7a11b9ccc2da950367617cd952f0ab91d4"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_passive_2.stl",
       "size": 684,
       "hash": {
-        "sha256": "240eb68d33bbbe8eb7626857da5820804dccb34fb887d310b654e5045aeb019a"
+        "sha256": "8d9fc5e1063902550d92051a80e171e16c791471407a3ed7a5496f3f27b02c0e"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_soil_sensor/derived_passive_3.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "bb82f2be80273742da20a0625a4fcc099d38511b4687de0627516f7ae16018a9"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_soil_sensor/derived_passive_4.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "ecda5a207f5827a0bf1991d9eaf4d1b7bc210b5ed1b27d6934e93638e4b8ad6b"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_soil_sensor/derived_probe_bridge.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "0766edc43ebe0784707e96416e1ee13620965d39a4c0304eec43da54cb017a96"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_probe_left.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "37f79b4d7aa93e8033638575dd1d757f6a3413f9331fe874e474b434d0df8c2a"
+        "sha256": "02e11d4e9ace83331171168d662c8ff07f99886526d4b00e8b1dbe0f3f652a00"
       }
     },
     {
       "relative_path": "mjcf/meshes/atech_soil_sensor/derived_probe_right.stl",
-      "size": 5484,
+      "size": 5284,
+      "hash": {
+        "sha256": "0b6c0d2e1187bbed335539bc709590e0890476644a50a0e5c917ac2f198d5346"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_soil_sensor/derived_status_led.stl",
+      "size": 684,
       "hash": {
-        "sha256": "bbb3d96288a2d2512135df0d0f49d8bce48f0c1ec3975d91a78b4afc2e483adf"
+        "sha256": "e4c11c237e5f23cac7876563996c0a2906cf8f5c9ab53e5484fffc0d107f6f0a"
       }
     },
     {
@@ -101,37 +129,37 @@
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_soil_sensor.usd.png",
-      "size": 13527,
+      "size": 13013,
       "hash": {
-        "sha256": "29bf2f8bf0c04053a21eb1f7543c8621a88d8565b9e47d13c6fad3a7c9e1d370"
+        "sha256": "be67f5db3fc17fe756e03def94481545726c51a912d65be5906d0f635bebcd38"
       }
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_soil_sensor.usd_light.png",
-      "size": 13740,
+      "size": 13159,
       "hash": {
-        "sha256": "fa6a3b0d2a8608c80d2e7b7031de0cee9eb0ccf1dfd89dea333a4e977a8ea183"
+        "sha256": "b690bec09c92935201a2795b09c9b5e14a3d232a054e70cb2667a2069d5669a7"
       }
     },
     {
       "relative_path": "simready_usd/.thumbs/256x256/atech_soil_sensor.usd_transparent.png",
-      "size": 14391,
+      "size": 13694,
       "hash": {
-        "sha256": "187397fdbe3af1bec0a3f27deef078f6dc2e39eb8858ed123042b40e0c09560d"
+        "sha256": "777aaacd5e9b97f444215d819dbcbda1ccc2647684b67857acb812c9608edfdb"
       }
     },
     {
       "relative_path": "simready_usd/atech_soil_sensor.usd",
-      "size": 389675,
+      "size": 391121,
       "hash": {
-        "sha256": "930035a0de5849410370989fb374ef56034ddf0b6f8ebbf53ec36f3faad44914"
+        "sha256": "e90acad877b226a72dcd2821b0a243784eae5757fb5277590aebd1645feced70"
       }
     },
     {
       "relative_path": "urdf/atech_soil_sensor.urdf",
-      "size": 6710,
+      "size": 8905,
       "hash": {
-        "sha256": "54b90b091289549a98049fac90306b34b8ff8a4de4990bd9b22d0e25fcd07d7f"
+        "sha256": "438d6ca8dd98ae30e7caee9d0eddda844db1799a85d562d3dce7378b019ba0d0"
       }
     },
     {
@@ -152,49 +180,77 @@
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_coprocessor.stl",
       "size": 684,
       "hash": {
-        "sha256": "d7ef7b823ccd60f6df941738163bfa87a0d780df634f72c6092b15432da35a36"
+        "sha256": "4cbdacdd83c68342111a32c3a17391a4f24b0ed7f6d993990083276fe57ca907"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_pad_left.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "7ae42826d07e2b97a718f39d52fecfdb7320e4bd9d0c38ddc9c8124866f1d70a"
+        "sha256": "088bd634e656d34a49f86beabdb695f9e70a1a6d969f68f5511b30e85ab096f7"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_pad_right.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "fc2281fb55e440de6da75cbb4698188765ca5c5637fd1242595887f270731526"
+        "sha256": "81aecc65536918cbc9003d33857afd6afbf617fe07c467084fbe4884e740242e"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_passive_1.stl",
       "size": 684,
       "hash": {
-        "sha256": "7325412b1f0995d1faecb0c5de89f4d1f91b5771867aa0f4759b2b300096fcad"
+        "sha256": "7436a06b17719ec9ce72078eff59ff7a11b9ccc2da950367617cd952f0ab91d4"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_passive_2.stl",
       "size": 684,
       "hash": {
-        "sha256": "240eb68d33bbbe8eb7626857da5820804dccb34fb887d310b654e5045aeb019a"
+        "sha256": "8d9fc5e1063902550d92051a80e171e16c791471407a3ed7a5496f3f27b02c0e"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_passive_3.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "bb82f2be80273742da20a0625a4fcc099d38511b4687de0627516f7ae16018a9"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_passive_4.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "ecda5a207f5827a0bf1991d9eaf4d1b7bc210b5ed1b27d6934e93638e4b8ad6b"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_probe_bridge.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "0766edc43ebe0784707e96416e1ee13620965d39a4c0304eec43da54cb017a96"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_probe_left.stl",
-      "size": 5484,
+      "size": 5284,
       "hash": {
-        "sha256": "37f79b4d7aa93e8033638575dd1d757f6a3413f9331fe874e474b434d0df8c2a"
+        "sha256": "02e11d4e9ace83331171168d662c8ff07f99886526d4b00e8b1dbe0f3f652a00"
       }
     },
     {
       "relative_path": "urdf/meshes/atech_soil_sensor/derived_probe_right.stl",
-      "size": 5484,
+      "size": 5284,
+      "hash": {
+        "sha256": "0b6c0d2e1187bbed335539bc709590e0890476644a50a0e5c917ac2f198d5346"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_soil_sensor/derived_status_led.stl",
+      "size": 684,
       "hash": {
-        "sha256": "bbb3d96288a2d2512135df0d0f49d8bce48f0c1ec3975d91a78b4afc2e483adf"
+        "sha256": "e4c11c237e5f23cac7876563996c0a2906cf8f5c9ab53e5484fffc0d107f6f0a"
       }
     },
     {

atech_soil_sensor/com.nvidia.simready.packaging.json

@@ -6,7 +6,7 @@
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "ee13d9cafbff23e63fd44fd0cd048c94f291beca4308ff4266006cef06a6b3f0"
+        "sha256": "03f7f2640ba5c56ccfe57ee176f63101da52c24133f82353e31670c01ccc719a"
       }
     }
   ]

atech_soil_sensor/mjcf/atech_soil_sensor.xml

@@ -10,8 +10,8 @@
     <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material"/>
     <text name="atech:interface" data="i2c"/>
     <text name="atech:i2c_address" data="55"/>
-    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_left, probe_right, pad_left, pad_right, coprocessor, passive_1, passive_2); not Atech CAD of this module"/>
-    <text name="atech:visual:sha256" data="ecde2c5f8c26f34f8ac946e662e872952e55a946c442697263efbd444683f24d"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_bridge, probe_left, probe_right, pad_left, pad_right, coprocessor, status_led, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="08996b87f0e6e52587d9ab622f560a11d140d91f8f03b670516056a77f129ab1"/>
   </custom>
   <asset>
     <mesh name="atech_soil_sensor_black_cad_mesh" file="meshes/atech_soil_sensor/black.stl" inertia="shell"/>
@@ -20,13 +20,17 @@
     <mesh name="atech_soil_sensor_gold_cad_mesh" file="meshes/atech_soil_sensor/gold.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_grey_cad_mesh" file="meshes/atech_soil_sensor/grey.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_pcb_cad_mesh" file="meshes/atech_soil_sensor/pcb.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_probe_bridge_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_bridge.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_probe_left_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_left.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_probe_right_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_right.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_pad_left_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_left.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_pad_right_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_right.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_coprocessor_cad_mesh" file="meshes/atech_soil_sensor/derived_coprocessor.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_status_led_cad_mesh" file="meshes/atech_soil_sensor/derived_status_led.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_passive_1_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_1.stl" inertia="shell"/>
     <mesh name="atech_soil_sensor_derived_passive_2_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_2.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_passive_3_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_3.stl" inertia="shell"/>
+    <mesh name="atech_soil_sensor_derived_passive_4_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_4.stl" inertia="shell"/>
   </asset>
   <worldbody>
     <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
@@ -40,21 +44,29 @@
       <geom name="atech_soil_sensor_gold_cad" type="mesh" mesh="atech_soil_sensor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_soil_sensor_grey_cad" type="mesh" mesh="atech_soil_sensor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_soil_sensor_pcb_cad" type="mesh" mesh="atech_soil_sensor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_derived_probe_left_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_left_cad_mesh" rgba="0.12 0.12 0.13 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_derived_probe_right_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_right_cad_mesh" rgba="0.12 0.12 0.13 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_derived_pad_left_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_left_cad_mesh" rgba="0.78 0.7 0.55 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_derived_pad_right_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_right_cad_mesh" rgba="0.78 0.7 0.55 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_derived_coprocessor_cad" type="mesh" mesh="atech_soil_sensor_derived_coprocessor_cad_mesh" rgba="0.1 0.1 0.1 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_probe_bridge_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_bridge_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_probe_left_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_left_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_probe_right_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_right_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_pad_left_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_left_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_pad_right_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_right_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_coprocessor_cad" type="mesh" mesh="atech_soil_sensor_derived_coprocessor_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_status_led_cad" type="mesh" mesh="atech_soil_sensor_derived_status_led_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_soil_sensor_derived_passive_1_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
       <geom name="atech_soil_sensor_derived_passive_2_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
-      <geom name="atech_soil_sensor_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00639895365" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_probe_left" type="box" size="0.0047 0.025 0.0008" pos="-0.0064 0.033 0.00334" mass="0.00126548669" rgba="0.12 0.12 0.13 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_probe_right" type="box" size="0.0047 0.025 0.0008" pos="0.0064 0.033 0.00334" mass="0.00126548669" rgba="0.12 0.12 0.13 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_pad_left" type="box" size="0.0037 0.023 2.5e-05" pos="-0.0064 0.0345 0.004165" mass="2.86417334e-05" rgba="0.78 0.7 0.55 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_pad_right" type="box" size="0.0037 0.023 2.5e-05" pos="0.0064 0.0345 0.004165" mass="2.86417334e-05" rgba="0.78 0.7 0.55 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_coprocessor" type="box" size="0.0015 0.0015 0.0004" pos="-0.004 -0.003 0.00454" mass="1.2116362e-05" rgba="0.1 0.1 0.1 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.002 -0.004 0.00434" mass="3.3656561e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
-      <geom name="atech_soil_sensor_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.005 0.001 0.00434" mass="3.3656561e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_derived_passive_3_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_derived_passive_4_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_4_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_soil_sensor_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00688042407" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_probe_bridge" type="box" size="0.0084 0.00075 0.0008" pos="0 0.00975 0.00334" mass="7.29569227e-05" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_probe_left" type="box" size="0.00345 0.024875 0.0008" pos="-0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_probe_right" type="box" size="0.00345 0.024875 0.0008" pos="0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_pad_left" type="box" size="0.00255 0.0238 2.5e-05" pos="-0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_pad_right" type="box" size="0.00255 0.0238 2.5e-05" pos="0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_coprocessor" type="box" size="0.0015 0.00125 0.00045" pos="-0.004 -0.0045 0.00459" mass="1.22137705e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_status_led" type="box" size="0.0008 0.0004 0.0003" pos="0.0055 -0.0055 0.00444" mass="1.38965567e-06" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0055 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0035 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0025 -0.0045 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_soil_sensor_passive_4" type="box" size="0.0005 0.00025 0.0002" pos="0.006 -0.002 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
       <site name="atech_soil_sensor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
     </body>
   </worldbody>

atech_soil_sensor/simready_usd/atech_soil_sensor.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:930035a0de5849410370989fb374ef56034ddf0b6f8ebbf53ec36f3faad44914
-size 389675
+oid sha256:e90acad877b226a72dcd2821b0a243784eae5757fb5277590aebd1645feced70
+size 391121

atech_soil_sensor/urdf/atech_soil_sensor.urdf

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_left, probe_right, pad_left, pad_right, coprocessor, passive_1, passive_2); not Atech CAD of this module (sha256 ecde2c5f8c26f34f8ac946e662e872952e55a946c442697263efbd444683f24d). -->
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_bridge, probe_left, probe_right, pad_left, pad_right, coprocessor, status_led, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module (sha256 08996b87f0e6e52587d9ab622f560a11d140d91f8f03b670516056a77f129ab1). -->
 <robot name="atech_soil_sensor">
   <!-- Atech module soil_sensor (Soil Sensor); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
   <link name="atech_soil_sensor">
     <inertial>
-      <origin xyz="-5.1232765e-06 0.00949567139 0.00452719274" rpy="0 0 0"/>
+      <origin xyz="-4.27753386e-06 0.00771915176 0.0046151096" rpy="0 0 0"/>
       <mass value="0.009"/>
-      <inertia ixx="2.81204996e-06" ixy="-5.82227198e-10" ixz="1.06172789e-12" iyy="3.86762627e-07" iyz="9.98729275e-08" izz="3.08107168e-06"/>
+      <inertia ixx="2.50136406e-06" ixy="-4.68195755e-10" ixz="8.58344171e-13" iyy="3.39917423e-07" iyz="8.74318475e-08" izz="2.71696944e-06"/>
     </inertial>
     <visual name="atech_soil_sensor_black_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -38,30 +38,40 @@
       <geometry><mesh filename="meshes/atech_soil_sensor/pcb.stl"/></geometry>
       <material name="atech_soil_sensor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
     </visual>
+    <visual name="atech_soil_sensor_derived_probe_bridge_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_bridge.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_probe_bridge_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
+    </visual>
     <visual name="atech_soil_sensor_derived_probe_left_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_left.stl"/></geometry>
-      <material name="atech_soil_sensor_derived_probe_left_cad_material"><color rgba="0.12 0.12 0.13 1"/></material>
+      <material name="atech_soil_sensor_derived_probe_left_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
     </visual>
     <visual name="atech_soil_sensor_derived_probe_right_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_right.stl"/></geometry>
-      <material name="atech_soil_sensor_derived_probe_right_cad_material"><color rgba="0.12 0.12 0.13 1"/></material>
+      <material name="atech_soil_sensor_derived_probe_right_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
     </visual>
     <visual name="atech_soil_sensor_derived_pad_left_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_left.stl"/></geometry>
-      <material name="atech_soil_sensor_derived_pad_left_cad_material"><color rgba="0.78 0.7 0.55 1"/></material>
+      <material name="atech_soil_sensor_derived_pad_left_cad_material"><color rgba="0.72 0.64 0.47 1"/></material>
     </visual>
     <visual name="atech_soil_sensor_derived_pad_right_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_right.stl"/></geometry>
-      <material name="atech_soil_sensor_derived_pad_right_cad_material"><color rgba="0.78 0.7 0.55 1"/></material>
+      <material name="atech_soil_sensor_derived_pad_right_cad_material"><color rgba="0.72 0.64 0.47 1"/></material>
     </visual>
     <visual name="atech_soil_sensor_derived_coprocessor_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_coprocessor.stl"/></geometry>
-      <material name="atech_soil_sensor_derived_coprocessor_cad_material"><color rgba="0.1 0.1 0.1 1"/></material>
+      <material name="atech_soil_sensor_derived_coprocessor_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_status_led_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_status_led.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_status_led_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
     </visual>
     <visual name="atech_soil_sensor_derived_passive_1_cad_visual">
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -73,36 +83,62 @@
       <geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_2.stl"/></geometry>
       <material name="atech_soil_sensor_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
     </visual>
+    <visual name="atech_soil_sensor_derived_passive_3_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_3.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_soil_sensor_derived_passive_4_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_4.stl"/></geometry>
+      <material name="atech_soil_sensor_derived_passive_4_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
     <collision name="atech_soil_sensor_body_collision">
       <origin xyz="0 0 0.005" rpy="0 0 0"/>
       <geometry><box size="0.0195 0.0195 0.01"/></geometry>
     </collision>
+    <collision name="atech_soil_sensor_probe_bridge_collision">
+      <origin xyz="0 0.00975 0.00334" rpy="0 0 0"/>
+      <geometry><box size="0.0168 0.0015 0.0016"/></geometry>
+    </collision>
     <collision name="atech_soil_sensor_probe_left_collision">
-      <origin xyz="-0.0064 0.033 0.00334" rpy="0 0 0"/>
-      <geometry><box size="0.0094 0.05 0.0016"/></geometry>
+      <origin xyz="-0.00495 0.033875 0.00334" rpy="0 0 0"/>
+      <geometry><box size="0.0069 0.04975 0.0016"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_probe_right_collision">
-      <origin xyz="0.0064 0.033 0.00334" rpy="0 0 0"/>
-      <geometry><box size="0.0094 0.05 0.0016"/></geometry>
+      <origin xyz="0.00495 0.033875 0.00334" rpy="0 0 0"/>
+      <geometry><box size="0.0069 0.04975 0.0016"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_pad_left_collision">
-      <origin xyz="-0.0064 0.0345 0.004165" rpy="0 0 0"/>
-      <geometry><box size="0.0074 0.046 5e-05"/></geometry>
+      <origin xyz="-0.00495 0.0341 0.004165" rpy="0 0 0"/>
+      <geometry><box size="0.0051 0.0476 5e-05"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_pad_right_collision">
-      <origin xyz="0.0064 0.0345 0.004165" rpy="0 0 0"/>
-      <geometry><box size="0.0074 0.046 5e-05"/></geometry>
+      <origin xyz="0.00495 0.0341 0.004165" rpy="0 0 0"/>
+      <geometry><box size="0.0051 0.0476 5e-05"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_coprocessor_collision">
-      <origin xyz="-0.004 -0.003 0.00454" rpy="0 0 0"/>
-      <geometry><box size="0.003 0.003 0.0008"/></geometry>
+      <origin xyz="-0.004 -0.0045 0.00459" rpy="0 0 0"/>
+      <geometry><box size="0.003 0.0025 0.0009"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_status_led_collision">
+      <origin xyz="0.0055 -0.0055 0.00444" rpy="0 0 0"/>
+      <geometry><box size="0.0016 0.0008 0.0006"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_passive_1_collision">
-      <origin xyz="0.002 -0.004 0.00434" rpy="0 0 0"/>
+      <origin xyz="-0.0005 -0.0055 0.00434" rpy="0 0 0"/>
       <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
     <collision name="atech_soil_sensor_passive_2_collision">
-      <origin xyz="0.005 0.001 0.00434" rpy="0 0 0"/>
+      <origin xyz="-0.0005 -0.0035 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_passive_3_collision">
+      <origin xyz="0.0025 -0.0045 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_soil_sensor_passive_4_collision">
+      <origin xyz="0.006 -0.002 0.00434" rpy="0 0 0"/>
       <geometry><box size="0.001 0.0005 0.0004"/></geometry>
     </collision>
   </link>