diff --git a/.gitattributes b/.gitattributes
index dc88cf40cfb377620fc93c1a2114487bd2449c56..402d6384762374220808e19983438fd023ff6ebb 100644
--- a/.gitattributes
+++ b/.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
diff --git a/README.md b/README.md
index e97dee381a44a4fbd951d7f6fee4de1f56d8c60d..60fbf0b5a744ecfe1d567a002280f9a30341f368 100644
--- a/README.md
+++ b/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.
diff --git a/atech_big_screen/.metadata/com.nvidia.simready.packaging.bom.json b/atech_big_screen/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1bffa86b29d2f751ea50d1d1bc92246e9f1d71
--- /dev/null
+++ b/atech_big_screen/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,187 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "mjcf/atech_big_screen.xml",
+      "size": 4188,
+      "hash": {
+        "sha256": "6ee2b87796b47813e98cf87eab6007ba3fb014454ef09a44208802abe90b0eb6"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/amber.stl",
+      "size": 1284,
+      "hash": {
+        "sha256": "f565795840d582843d77545864639144dd38cc64c9d5974495381a0cf7d32846"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/black.stl",
+      "size": 69284,
+      "hash": {
+        "sha256": "edf46f7729d53a192cc9a5f372cdd039e99389ce3883089aeef84c5f7ebc96e5"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/black_m.stl",
+      "size": 1284,
+      "hash": {
+        "sha256": "b5a0a2a63e603431e4c5dd0b991ebf44bce7009353b5f285440575c518809535"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/gloss.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "0c61f4710c42bde9ce288734ab5a9cb7d2a45bfce0d8abea454743da31d0cf34"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/gold.stl",
+      "size": 12084,
+      "hash": {
+        "sha256": "1dc24ab7d23ef8a65c657190fe52033ad011b3a3a2acaa7e8406db038ba8ffff"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/grey.stl",
+      "size": 1684,
+      "hash": {
+        "sha256": "5ca7efa3c8712bc64ef416b25366f269e027dccb50a09d42739201c101d79b98"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/lid_grey.stl",
+      "size": 26184,
+      "hash": {
+        "sha256": "a71b7e2a8e44911e9b5e84070973ca05abeae1050379eae4aaa05f6e64b6fbfc"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/pcb.stl",
+      "size": 25484,
+      "hash": {
+        "sha256": "b98ee595e3e52a8404dbf9d34ae74e592f8307b028a4c1504586a62179e82e48"
+      }
+    },
+    {
+      "relative_path": "mjcf/meshes/atech_big_screen/screen_art.stl",
+      "size": 184,
+      "hash": {
+        "sha256": "bc67d919aacdde6ad253ea1428a61505b246e3d4a980af65b40814d8eb91dd38"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_big_screen.usd.png",
+      "size": 9092,
+      "hash": {
+        "sha256": "7f36f54788aa3da7c0cba81955daae61747fcaf3fc01e24d048a2638e0109b7c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_big_screen.usd_light.png",
+      "size": 9186,
+      "hash": {
+        "sha256": "86519ae466f5f55bd04982e1fa58bfbea56b8185a9423641f76d7d6df56ecfae"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/atech_big_screen.usd_transparent.png",
+      "size": 9382,
+      "hash": {
+        "sha256": "728dfd9de65070a65e50aaf773beb0fbd08e2423ebe359a289c5ed4a7255578c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/atech_big_screen.usd",
+      "size": 131528,
+      "hash": {
+        "sha256": "b504fbc68f4a8abcc3073c52d8529270781e01d578ef6c540203a112cb6962dc"
+      }
+    },
+    {
+      "relative_path": "simready_usd/textures/atech_big_screen_screen_art_base_color.png",
+      "size": 972,
+      "hash": {
+        "sha256": "33806e3d5c67f100a92295c93044bbb67d6cea90060327b69d682ebd283c87d2"
+      }
+    },
+    {
+      "relative_path": "simready_usd/textures/atech_big_screen_screen_art_emissive.png",
+      "size": 972,
+      "hash": {
+        "sha256": "33806e3d5c67f100a92295c93044bbb67d6cea90060327b69d682ebd283c87d2"
+      }
+    },
+    {
+      "relative_path": "urdf/atech_big_screen.urdf",
+      "size": 3889,
+      "hash": {
+        "sha256": "926d763117b868b4e5866b56503b6480274018ced563c06dadd57037c877f803"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/amber.stl",
+      "size": 1284,
+      "hash": {
+        "sha256": "f565795840d582843d77545864639144dd38cc64c9d5974495381a0cf7d32846"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/black.stl",
+      "size": 69284,
+      "hash": {
+        "sha256": "edf46f7729d53a192cc9a5f372cdd039e99389ce3883089aeef84c5f7ebc96e5"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/black_m.stl",
+      "size": 1284,
+      "hash": {
+        "sha256": "b5a0a2a63e603431e4c5dd0b991ebf44bce7009353b5f285440575c518809535"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/gloss.stl",
+      "size": 684,
+      "hash": {
+        "sha256": "0c61f4710c42bde9ce288734ab5a9cb7d2a45bfce0d8abea454743da31d0cf34"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/gold.stl",
+      "size": 12084,
+      "hash": {
+        "sha256": "1dc24ab7d23ef8a65c657190fe52033ad011b3a3a2acaa7e8406db038ba8ffff"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/grey.stl",
+      "size": 1684,
+      "hash": {
+        "sha256": "5ca7efa3c8712bc64ef416b25366f269e027dccb50a09d42739201c101d79b98"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/lid_grey.stl",
+      "size": 26184,
+      "hash": {
+        "sha256": "a71b7e2a8e44911e9b5e84070973ca05abeae1050379eae4aaa05f6e64b6fbfc"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/pcb.stl",
+      "size": 25484,
+      "hash": {
+        "sha256": "b98ee595e3e52a8404dbf9d34ae74e592f8307b028a4c1504586a62179e82e48"
+      }
+    },
+    {
+      "relative_path": "urdf/meshes/atech_big_screen/screen_art.stl",
+      "size": 184,
+      "hash": {
+        "sha256": "bc67d919aacdde6ad253ea1428a61505b246e3d4a980af65b40814d8eb91dd38"
+      }
+    }
+  ]
+}
diff --git a/atech_big_screen/.metadata/com.nvidia.simready.root_usds.json b/atech_big_screen/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..a826164582d190047046b72cde4760b517046d29
--- /dev/null
+++ b/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"
+  ]
+}
diff --git a/atech_big_screen/com.nvidia.simready.packaging.json b/atech_big_screen/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af60bc62b384c24c04ce2b1e738a14970200e0f
--- /dev/null
+++ b/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"
+      }
+    }
+  ]
+}
diff --git a/atech_big_screen/mjcf/atech_big_screen.xml b/atech_big_screen/mjcf/atech_big_screen.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da3e376ace316bfb9c43d9de8c13b395dd9f45b2
--- /dev/null
+++ b/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>
diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/amber.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/amber.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/black.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/black.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/black_m.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/black_m.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/gloss.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/gloss.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/grey.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/grey.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/lid_grey.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/lid_grey.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/pcb.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/pcb.stl
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diff --git a/atech_big_screen/mjcf/meshes/atech_big_screen/screen_art.stl b/atech_big_screen/mjcf/meshes/atech_big_screen/screen_art.stl
new file mode 100644
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diff --git a/atech_big_screen/simready_usd/.thumbs/256x256/atech_big_screen.usd.png b/atech_big_screen/simready_usd/.thumbs/256x256/atech_big_screen.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..bae61ea5e2540348bf7538733d968481dba7b641
--- /dev/null
+++ b/atech_big_screen/simready_usd/.thumbs/256x256/atech_big_screen.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+<?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>
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diff --git a/atech_camera/.metadata/com.nvidia.simready.root_usds.json b/atech_camera/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc3bd887f0d3659b0df7b62b0ff5e814cde98f6
--- /dev/null
+++ b/atech_camera/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_camera.usd"
+  ]
+}
diff --git a/atech_camera/com.nvidia.simready.packaging.json b/atech_camera/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d43a4903caab4d5d335953701ca95a79309cf5
--- /dev/null
+++ b/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": {
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+  ]
+}
diff --git a/atech_camera/mjcf/atech_camera.xml b/atech_camera/mjcf/atech_camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..39a15841829ec66f5b74eb17e4f885ef61a09144
--- /dev/null
+++ b/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"/>
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+++ b/atech_load_cell/mjcf/atech_load_cell.xml
@@ -0,0 +1,56 @@
+<mujoco model="atech_load_cell">
+  <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="load_cell"/>
+    <text name="atech:name" data="Load Cell"/>
+    <text name="atech:category" data="sensor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (amplifier, header, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="0e1005202f9085d9379dcd72c3d98ec2371258019416215212715a918bc28e02"/>
+  </custom>
+  <asset>
+    <mesh name="atech_load_cell_black_cad_mesh" file="meshes/atech_load_cell/black.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_black_m_cad_mesh" file="meshes/atech_load_cell/black_m.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_glass_cad_mesh" file="meshes/atech_load_cell/glass.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_gold_cad_mesh" file="meshes/atech_load_cell/gold.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_grey_cad_mesh" file="meshes/atech_load_cell/grey.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_pcb_cad_mesh" file="meshes/atech_load_cell/pcb.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_amplifier_cad_mesh" file="meshes/atech_load_cell/derived_amplifier.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_header_cad_mesh" file="meshes/atech_load_cell/derived_header.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_passive_1_cad_mesh" file="meshes/atech_load_cell/derived_passive_1.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_passive_2_cad_mesh" file="meshes/atech_load_cell/derived_passive_2.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_passive_3_cad_mesh" file="meshes/atech_load_cell/derived_passive_3.stl" inertia="shell"/>
+    <mesh name="atech_load_cell_derived_passive_4_cad_mesh" file="meshes/atech_load_cell/derived_passive_4.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_load_cell" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module load_cell (Load Cell); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_load_cell_free"/>
+      <geom name="atech_load_cell_black_cad" type="mesh" mesh="atech_load_cell_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_black_m_cad" type="mesh" mesh="atech_load_cell_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_glass_cad" type="mesh" mesh="atech_load_cell_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_gold_cad" type="mesh" mesh="atech_load_cell_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_grey_cad" type="mesh" mesh="atech_load_cell_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_pcb_cad" type="mesh" mesh="atech_load_cell_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_amplifier_cad" type="mesh" mesh="atech_load_cell_derived_amplifier_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_header_cad" type="mesh" mesh="atech_load_cell_derived_header_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_passive_1_cad" type="mesh" mesh="atech_load_cell_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_passive_2_cad" type="mesh" mesh="atech_load_cell_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_passive_3_cad" type="mesh" mesh="atech_load_cell_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_derived_passive_4_cad" type="mesh" mesh="atech_load_cell_derived_passive_4_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_load_cell_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00692478797" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_amplifier" type="box" size="0.0045 0.00175 0.0005" pos="0.002 0.0045 0.00464" mass="5.73651074e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_header" type="box" size="0.00375 0.0004 0.00075" pos="-0.003 -0.001 0.00489" mass="1.63900307e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.004 0.003 0.00434" mass="3.64222904e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0 0.0015 0.00434" mass="3.64222904e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0025 0 0.00434" mass="3.64222904e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <geom name="atech_load_cell_passive_4" type="box" size="0.0005 0.00025 0.0002" pos="0.0055 0.0015 0.00434" mass="3.64222904e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_load_cell_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/atech_load_cell/mjcf/meshes/atech_load_cell/black.stl b/atech_load_cell/mjcf/meshes/atech_load_cell/black.stl
new file mode 100644
index 0000000000000000000000000000000000000000..942253a8814ee49a8a28f47ad08376f50d59edf7
--- /dev/null
+++ b/atech_load_cell/mjcf/meshes/atech_load_cell/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40239b4e9af23a95910160bb777f1ee995b81c6222f537690d55bac724cb8d
+size 152184
diff --git a/atech_load_cell/mjcf/meshes/atech_load_cell/black_m.stl b/atech_load_cell/mjcf/meshes/atech_load_cell/black_m.stl
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diff --git a/atech_load_cell/mjcf/meshes/atech_load_cell/derived_header.stl b/atech_load_cell/mjcf/meshes/atech_load_cell/derived_header.stl
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diff --git a/atech_load_cell/mjcf/meshes/atech_load_cell/glass.stl b/atech_load_cell/mjcf/meshes/atech_load_cell/glass.stl
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diff --git a/atech_load_cell/mjcf/meshes/atech_load_cell/gold.stl b/atech_load_cell/mjcf/meshes/atech_load_cell/gold.stl
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index 0000000000000000000000000000000000000000..77b77bd0c6041c45cff2c226e5e533a41d5fef45
--- /dev/null
+++ b/atech_load_cell/mjcf/meshes/atech_load_cell/gold.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0098a8dcada9f3634f6153467cbcf6025caa519fb44f7be87dc36f9e5e02225
+size 120684
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/atech_load_cell/urdf/atech_load_cell.urdf b/atech_load_cell/urdf/atech_load_cell.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2937d7b588aae8a8964c0f4c5727a8486e5a41a
--- /dev/null
+++ b/atech_load_cell/urdf/atech_load_cell.urdf
@@ -0,0 +1,106 @@
+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (amplifier, header, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module (sha256 0e1005202f9085d9379dcd72c3d98ec2371258019416215212715a918bc28e02). -->
+<robot name="atech_load_cell">
+  <!-- Atech module load_cell (Load Cell); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
+  <link name="atech_load_cell">
+    <inertial>
+      <origin xyz="9.5738592e-06 3.48483272e-05 0.00499665487" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="2.78385762e-07" ixy="-5.61754792e-10" ixz="3.66315353e-11" iyy="2.78011462e-07" iyz="9.17548888e-11" izz="4.40951967e-07"/>
+    </inertial>
+    <visual name="atech_load_cell_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/black.stl"/></geometry>
+      <material name="atech_load_cell_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/black_m.stl"/></geometry>
+      <material name="atech_load_cell_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/glass.stl"/></geometry>
+      <material name="atech_load_cell_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_load_cell_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/gold.stl"/></geometry>
+      <material name="atech_load_cell_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/grey.stl"/></geometry>
+      <material name="atech_load_cell_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/pcb.stl"/></geometry>
+      <material name="atech_load_cell_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_amplifier_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_amplifier.stl"/></geometry>
+      <material name="atech_load_cell_derived_amplifier_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_header_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_header.stl"/></geometry>
+      <material name="atech_load_cell_derived_header_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_passive_1_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_passive_1.stl"/></geometry>
+      <material name="atech_load_cell_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_passive_2_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_passive_2.stl"/></geometry>
+      <material name="atech_load_cell_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_passive_3_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_passive_3.stl"/></geometry>
+      <material name="atech_load_cell_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <visual name="atech_load_cell_derived_passive_4_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_load_cell/derived_passive_4.stl"/></geometry>
+      <material name="atech_load_cell_derived_passive_4_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
+    </visual>
+    <collision name="atech_load_cell_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_load_cell_amplifier_collision">
+      <origin xyz="0.002 0.0045 0.00464" rpy="0 0 0"/>
+      <geometry><box size="0.009 0.0035 0.001"/></geometry>
+    </collision>
+    <collision name="atech_load_cell_header_collision">
+      <origin xyz="-0.003 -0.001 0.00489" rpy="0 0 0"/>
+      <geometry><box size="0.0075 0.0008 0.0015"/></geometry>
+    </collision>
+    <collision name="atech_load_cell_passive_1_collision">
+      <origin xyz="-0.004 0.003 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_load_cell_passive_2_collision">
+      <origin xyz="0 0.0015 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_load_cell_passive_3_collision">
+      <origin xyz="0.0025 0 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+    <collision name="atech_load_cell_passive_4_collision">
+      <origin xyz="0.0055 0.0015 0.00434" rpy="0 0 0"/>
+      <geometry><box size="0.001 0.0005 0.0004"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_load_cell_connector"/>
+  <joint name="atech_load_cell_connector_joint" type="fixed">
+    <parent link="atech_load_cell"/>
+    <child link="atech_load_cell_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
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