Add USB-C, Power Jack, Micro-SD Card, Big Screen, Camera, Soil Sensor and Load Cell

.gitattributes

@@ -172,3 +172,12 @@ atech_robot_arm_integrator/mjcf/meshes/atech_robot_arm_integrator/gold.stl filte
 atech_robot_arm_integrator/simready_usd/atech_robot_arm_integrator.usd filter=lfs diff=lfs merge=lfs -text
 atech_robot_arm_integrator/urdf/meshes/atech_robot_arm_integrator/black.stl filter=lfs diff=lfs merge=lfs -text
 atech_robot_arm_integrator/urdf/meshes/atech_robot_arm_integrator/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_big_screen/simready_usd/atech_big_screen.usd filter=lfs diff=lfs merge=lfs -text
+atech_camera/mjcf/meshes/atech_camera/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_camera/simready_usd/atech_camera.usd filter=lfs diff=lfs merge=lfs -text
+atech_camera/urdf/meshes/atech_camera/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/mjcf/meshes/atech_load_cell/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/mjcf/meshes/atech_load_cell/gold.stl filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/simready_usd/atech_load_cell.usd filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/urdf/meshes/atech_load_cell/black.stl filter=lfs diff=lfs merge=lfs -text
+atech_load_cell/urdf/meshes/atech_load_cell/gold.stl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -14,8 +14,10 @@ tags:
 
 # Atech SimReady modules and boards
 
-3-D simulation assets for every module in the [Atech SDK](https://pypi.org/project/atech/)
-catalog and for the 8-, 10- and 14-port boards.
+3-D simulation assets for the Atech boards and modules on [atech.dev](https://atech.dev):
+every module in the [Atech SDK](https://pypi.org/project/atech/) catalog, the products
+the SDK has no firmware for yet (USB-C, Power Jack, Micro-SD Card, Big Screen, Camera,
+Soil Sensor, Load Cell), and the 8-, 10- and 14-port boards.
 
 ## Build with the real hardware
 
@@ -58,11 +60,12 @@ the USD's PBR shading or the display's screen texture.
   GLB's own PBR materials. **Colliders are boxes**: the bounds of that CAD.
 - **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
+- **Derived models.** The PIR, CO₂ (SCD40), robot-arm, stepper, power-jack, soil-sensor
+  and load-cell 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
+  The CO₂, robot-arm, power-jack, soil-sensor and load-cell modules follow Atech's
+  product renders; the PIR is drawn as its
   AM312 sensor. The Robot Arm Integrator (`atech_robot_arm_integrator`, catalog id `robot_arm`) 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.

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

@@ -0,0 +1,187 @@
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+}

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

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

atech_big_screen/com.nvidia.simready.packaging.json

@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_big_screen",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "ab36db0fc4581f754149cb40762bffd4b09cd7d972f85e28afe8fa6f711d2b63"
+      }
+    }
+  ]
+}

atech_big_screen/mjcf/atech_big_screen.xml

@@ -0,0 +1,45 @@
+<mujoco model="atech_big_screen">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="big_screen"/>
+    <text name="atech:name" data="Big Screen"/>
+    <text name="atech:category" data="display"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/big-screen.glb"/>
+    <text name="atech:visual:sha256" data="5b3257263e78596b92d2848034d46f9df50e5630f791cb02b6ee86efaae27824"/>
+  </custom>
+  <asset>
+    <mesh name="atech_big_screen_amber_cad_mesh" file="meshes/atech_big_screen/amber.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_black_cad_mesh" file="meshes/atech_big_screen/black.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_black_m_cad_mesh" file="meshes/atech_big_screen/black_m.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_gloss_cad_mesh" file="meshes/atech_big_screen/gloss.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_gold_cad_mesh" file="meshes/atech_big_screen/gold.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_grey_cad_mesh" file="meshes/atech_big_screen/grey.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_lid_grey_cad_mesh" file="meshes/atech_big_screen/lid_grey.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_pcb_cad_mesh" file="meshes/atech_big_screen/pcb.stl" inertia="shell"/>
+    <mesh name="atech_big_screen_screen_art_cad_mesh" file="meshes/atech_big_screen/screen_art.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_big_screen" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module big_screen (Big Screen); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_big_screen_free"/>
+      <geom name="atech_big_screen_amber_cad" type="mesh" mesh="atech_big_screen_amber_cad_mesh" rgba="0.6593 0.395 0.1107 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_black_cad" type="mesh" mesh="atech_big_screen_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_black_m_cad" type="mesh" mesh="atech_big_screen_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_gloss_cad" type="mesh" mesh="atech_big_screen_gloss_cad_mesh" rgba="0 0 0 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_gold_cad" type="mesh" mesh="atech_big_screen_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_grey_cad" type="mesh" mesh="atech_big_screen_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_lid_grey_cad" type="mesh" mesh="atech_big_screen_lid_grey_cad_mesh" rgba="0.5495 0.5495 0.5419 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_pcb_cad" type="mesh" mesh="atech_big_screen_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_screen_art_cad" type="mesh" mesh="atech_big_screen_screen_art_cad_mesh" rgba="0 0 0 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_big_screen_body" type="box" size="0.01975 0.009875 0.00475" pos="0 0 0.00475" mass="0.00661309225" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_big_screen_display" type="box" size="0.01975 0.01999 0.00475" pos="0 0.02986 0.00475" mass="0.0133869078" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_big_screen_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>

atech_big_screen/simready_usd/atech_big_screen.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b504fbc68f4a8abcc3073c52d8529270781e01d578ef6c540203a112cb6962dc
+size 131528

atech_big_screen/urdf/atech_big_screen.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/big-screen.glb (sha256 5b3257263e78596b92d2848034d46f9df50e5630f791cb02b6ee86efaae27824). -->
+<robot name="atech_big_screen">
+  <!-- Atech module big_screen (Big Screen); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material. -->
+  <link name="atech_big_screen">
+    <inertial>
+      <origin xyz="0 0.0199866533 0.00475" rpy="0 0 0"/>
+      <mass value="0.02"/>
+      <inertia ixx="6.09521632e-06" ixy="0" ixz="0" iyy="2.75083333e-06" iyz="0" izz="8.54521632e-06"/>
+    </inertial>
+    <visual name="atech_big_screen_amber_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/amber.stl"/></geometry>
+      <material name="atech_big_screen_amber_cad_material"><color rgba="0.6593 0.395 0.1107 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/black.stl"/></geometry>
+      <material name="atech_big_screen_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/black_m.stl"/></geometry>
+      <material name="atech_big_screen_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_gloss_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/gloss.stl"/></geometry>
+      <material name="atech_big_screen_gloss_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/gold.stl"/></geometry>
+      <material name="atech_big_screen_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/grey.stl"/></geometry>
+      <material name="atech_big_screen_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_lid_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/lid_grey.stl"/></geometry>
+      <material name="atech_big_screen_lid_grey_cad_material"><color rgba="0.5495 0.5495 0.5419 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/pcb.stl"/></geometry>
+      <material name="atech_big_screen_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_big_screen_screen_art_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_big_screen/screen_art.stl"/></geometry>
+      <material name="atech_big_screen_screen_art_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <collision name="atech_big_screen_body_collision">
+      <origin xyz="0 0 0.00475" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.01975 0.0095"/></geometry>
+    </collision>
+    <collision name="atech_big_screen_display_collision">
+      <origin xyz="0 0.02986 0.00475" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.03998 0.0095"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_big_screen_connector"/>
+  <joint name="atech_big_screen_connector_joint" type="fixed">
+    <parent link="atech_big_screen"/>
+    <child link="atech_big_screen_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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

@@ -0,0 +1,131 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_camera.xml",
+      "size": 3186,
+      "hash": {
+        "sha256": "09b77367bc54b953b7a33de78af657b45a6db996dad51f6b6ca75538fbdf476d"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_camera/amber.stl",
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+    },
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+      "hash": {
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+    {
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+      "size": 12084,
+      "hash": {
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+    {
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+      "size": 1284,
+      "hash": {
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+      }
+    }
+  ]
+}

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

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

atech_camera/com.nvidia.simready.packaging.json

@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_camera",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "81428b37a8e81b94716a22ca5844c7b908d3c2a701796d61679596cae165bc9b"
+      }
+    }
+  ]
+}

atech_camera/mjcf/atech_camera.xml

@@ -0,0 +1,39 @@
+<mujoco model="atech_camera">
+  <compiler angle="radian" autolimits="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <custom>
+    <text name="atech:asset_type" data="module"/>
+    <text name="atech:id" data="camera"/>
+    <text name="atech:name" data="Camera"/>
+    <text name="atech:category" data="sensor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/camera.glb"/>
+    <text name="atech:visual:sha256" data="fbdc2194099c6eab24df9deb26dcd1d9bd19373c69f13f23e2610fd963fee874"/>
+  </custom>
+  <asset>
+    <mesh name="atech_camera_amber_cad_mesh" file="meshes/atech_camera/amber.stl" inertia="shell"/>
+    <mesh name="atech_camera_black_cad_mesh" file="meshes/atech_camera/black.stl" inertia="shell"/>
+    <mesh name="atech_camera_black_m_cad_mesh" file="meshes/atech_camera/black_m.stl" inertia="shell"/>
+    <mesh name="atech_camera_gloss_cad_mesh" file="meshes/atech_camera/gloss.stl" inertia="shell"/>
+    <mesh name="atech_camera_gold_cad_mesh" file="meshes/atech_camera/gold.stl" inertia="shell"/>
+    <mesh name="atech_camera_pcb_cad_mesh" file="meshes/atech_camera/pcb.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
+    <light name="key_light" pos="0 0 1" dir="0 0 -1"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_camera" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module camera (Camera); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_camera_free"/>
+      <geom name="atech_camera_amber_cad" type="mesh" mesh="atech_camera_amber_cad_mesh" rgba="0.6593 0.395 0.1107 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_black_cad" type="mesh" mesh="atech_camera_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_black_m_cad" type="mesh" mesh="atech_camera_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_gloss_cad" type="mesh" mesh="atech_camera_gloss_cad_mesh" rgba="0 0 0 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_gold_cad" type="mesh" mesh="atech_camera_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_pcb_cad" type="mesh" mesh="atech_camera_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_camera_body" type="box" size="0.01975 0.00985 0.006725" pos="0 0 0.006725" mass="0.0115227355" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_camera_lens" type="box" size="0.00425 0.00425 0.003" pos="-0.00015 0.00011 0.01135" mass="0.000477264454" rgba="0.05 0.05 0.06 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_camera_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>

atech_camera/mjcf/meshes/atech_camera/black.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:870e69f0c9cb190a3d5f9a72020ec80ebff2dc019c8ae00f783595c2c9cd2f7c
+size 122034

atech_camera/simready_usd/atech_camera.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bc730586daacb2e533a1ac275b4ea26f612b5607098ec29302b53a6d5d6bc23f
+size 172392

atech_camera/urdf/atech_camera.urdf

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/camera.glb (sha256 fbdc2194099c6eab24df9deb26dcd1d9bd19373c69f13f23e2610fd963fee874). -->
+<robot name="atech_camera">
+  <!-- Atech module camera (Camera); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material. -->
+  <link name="atech_camera">
+    <inertial>
+      <origin xyz="-5.96580568e-06 4.37492417e-06 0.00690894568" rpy="0 0 0"/>
+      <mass value="0.012"/>
+      <inertia ixx="5.6047633e-07" ixy="7.56166413e-12" ixz="3.17933605e-10" iyy="1.6860219e-06" iyz="-2.33151311e-10" izz="1.87661346e-06"/>
+    </inertial>
+    <visual name="atech_camera_amber_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/amber.stl"/></geometry>
+      <material name="atech_camera_amber_cad_material"><color rgba="0.6593 0.395 0.1107 1"/></material>
+    </visual>
+    <visual name="atech_camera_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/black.stl"/></geometry>
+      <material name="atech_camera_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_camera_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/black_m.stl"/></geometry>
+      <material name="atech_camera_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_camera_gloss_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/gloss.stl"/></geometry>
+      <material name="atech_camera_gloss_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <visual name="atech_camera_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/gold.stl"/></geometry>
+      <material name="atech_camera_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_camera_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_camera/pcb.stl"/></geometry>
+      <material name="atech_camera_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_camera_body_collision">
+      <origin xyz="0 0 0.006725" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0197 0.01345"/></geometry>
+    </collision>
+    <collision name="atech_camera_lens_collision">
+      <origin xyz="-0.00015 0.00011 0.01135" rpy="0 0 0"/>
+      <geometry><box size="0.0085 0.0085 0.006"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_camera_connector"/>
+  <joint name="atech_camera_connector_joint" type="fixed">
+    <parent link="atech_camera"/>
+    <child link="atech_camera_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

atech_camera/urdf/meshes/atech_camera/black.stl

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+oid sha256:870e69f0c9cb190a3d5f9a72020ec80ebff2dc019c8ae00f783595c2c9cd2f7c
+size 122034