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index 0000000000000000000000000000000000000000..74b9261736749806b65742ab818d9f34fa64e2a2
--- /dev/null
+++ b/11_atech_microphone/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_microphone",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "4877faae0ffefee3b8cb779b9974c8899619c77c6e8f531dc20b6286ec9a3add"
+      }
+    }
+  ]
+}
diff --git a/11_atech_microphone/gltf/atech_microphone.glb b/11_atech_microphone/gltf/atech_microphone.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6a8cf13a4114bf357b3197207678fdf9e8933bd2
--- /dev/null
+++ b/11_atech_microphone/gltf/atech_microphone.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28defd38879d5331f9d2ef0dbceb2014f02778b4e454c3bb3445c85a8aa4b432
+size 1789948
diff --git a/11_atech_microphone/mjcf/atech_microphone.xml b/11_atech_microphone/mjcf/atech_microphone.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ebe778ca213457c1cf672a79de595523f8a6e670
--- /dev/null
+++ b/11_atech_microphone/mjcf/atech_microphone.xml
@@ -0,0 +1,36 @@
+<mujoco model="atech_microphone">
+  <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="microphone"/>
+    <text name="atech:name" data="I2S MEMS Microphone (ICS-43434)"/>
+    <text name="atech:category" data="audio"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/microphone.glb"/>
+    <text name="atech:visual:sha256" data="c103f5d49ee560e9eb661cfb27aded1733ff64d9da69a3877497741d239a0d5e"/>
+  </custom>
+  <asset>
+    <mesh name="atech_microphone_black_cad_mesh" file="meshes/atech_microphone/black.stl" inertia="shell"/>
+    <mesh name="atech_microphone_black_m_cad_mesh" file="meshes/atech_microphone/black_m.stl" inertia="shell"/>
+    <mesh name="atech_microphone_gold_cad_mesh" file="meshes/atech_microphone/gold.stl" inertia="shell"/>
+    <mesh name="atech_microphone_pcb_cad_mesh" file="meshes/atech_microphone/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_microphone" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module microphone (I2S MEMS Microphone (ICS-43434)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_microphone_free"/>
+      <geom name="atech_microphone_black_cad" type="mesh" mesh="atech_microphone_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_black_m_cad" type="mesh" mesh="atech_microphone_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_gold_cad" type="mesh" mesh="atech_microphone_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_pcb_cad" type="mesh" mesh="atech_microphone_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_microphone_body" type="box" size="0.01975 0.00975 0.00542" pos="0 0 0.00542" mass="0.012" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_microphone_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_microphone_sensor" pos="0 0 0.01084" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/11_atech_microphone/mjcf/meshes/atech_microphone/black.stl b/11_atech_microphone/mjcf/meshes/atech_microphone/black.stl
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--- /dev/null
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diff --git a/11_atech_microphone/simready_usd/atech_microphone.usd b/11_atech_microphone/simready_usd/atech_microphone.usd
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--- /dev/null
+++ b/11_atech_microphone/simready_usd/atech_microphone.usd
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+version https://git-lfs.github.com/spec/v1
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diff --git a/11_atech_microphone/urdf/atech_microphone.urdf b/11_atech_microphone/urdf/atech_microphone.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2492ece420c312c39666baa3bef632f6f5d46f27
--- /dev/null
+++ b/11_atech_microphone/urdf/atech_microphone.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/microphone.glb (sha256 c103f5d49ee560e9eb661cfb27aded1733ff64d9da69a3877497741d239a0d5e). -->
+<robot name="atech_microphone">
+  <!-- Atech module microphone (I2S MEMS Microphone (ICS-43434)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
+  <link name="atech_microphone">
+    <inertial>
+      <origin xyz="0 0 0.00542" rpy="0 0 0"/>
+      <mass value="0.012"/>
+      <inertia ixx="4.977556e-07" ixy="0" ixz="0" iyy="1.6777556e-06" iyz="0" izz="1.9405e-06"/>
+    </inertial>
+    <visual name="atech_microphone_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/black.stl"/></geometry>
+      <material name="atech_microphone_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_microphone_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/black_m.stl"/></geometry>
+      <material name="atech_microphone_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_microphone_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/gold.stl"/></geometry>
+      <material name="atech_microphone_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_microphone_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_microphone/pcb.stl"/></geometry>
+      <material name="atech_microphone_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_microphone_body_collision">
+      <origin xyz="0 0 0.00542" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0195 0.01084"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_microphone_connector"/>
+  <joint name="atech_microphone_connector_joint" type="fixed">
+    <parent link="atech_microphone"/>
+    <child link="atech_microphone_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_microphone_sensor"/>
+  <joint name="atech_microphone_sensor_joint" type="fixed">
+    <parent link="atech_microphone"/>
+    <child link="atech_microphone_sensor"/>
+    <origin xyz="0 0 0.01084" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/11_atech_microphone/urdf/meshes/atech_microphone/black.stl b/11_atech_microphone/urdf/meshes/atech_microphone/black.stl
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@@ -0,0 +1,117 @@
+{
+  "format_version": "1.0",
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+}
diff --git a/12_atech_speaker/.metadata/com.nvidia.simready.root_usds.json b/12_atech_speaker/.metadata/com.nvidia.simready.root_usds.json
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--- /dev/null
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+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_speaker.usd"
+  ]
+}
diff --git a/12_atech_speaker/com.nvidia.simready.packaging.json b/12_atech_speaker/com.nvidia.simready.packaging.json
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--- /dev/null
+++ b/12_atech_speaker/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_speaker",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
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+      "hash": {
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diff --git a/12_atech_speaker/mjcf/atech_speaker.xml b/12_atech_speaker/mjcf/atech_speaker.xml
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--- /dev/null
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+<mujoco model="atech_speaker">
+  <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="speaker"/>
+    <text name="atech:name" data="I2S Speaker (MAX98357A)"/>
+    <text name="atech:category" data="audio"/>
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+<mujoco model="atech_neopixel">
+  <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="neopixel"/>
+    <text name="atech:name" data="NeoPixel 3x3 Grid"/>
+    <text name="atech:category" data="led"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/led-grid.glb"/>
+    <text name="atech:visual:sha256" data="d81b07d5d6526bc37745100b9d3385a8dbcb98c0514589bce767475e8ccb51e2"/>
+  </custom>
+  <asset>
+    <mesh name="atech_neopixel_black_cad_mesh" file="meshes/atech_neopixel/black.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_black_m_cad_mesh" file="meshes/atech_neopixel/black_m.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_glass_cad_mesh" file="meshes/atech_neopixel/glass.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_gold_cad_mesh" file="meshes/atech_neopixel/gold.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_led_or_cad_mesh" file="meshes/atech_neopixel/led_or.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_led_warm_cad_mesh" file="meshes/atech_neopixel/led_warm.stl" inertia="shell"/>
+    <mesh name="atech_neopixel_pcb_cad_mesh" file="meshes/atech_neopixel/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_neopixel" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module neopixel (NeoPixel 3x3 Grid); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_neopixel_free"/>
+      <geom name="atech_neopixel_black_cad" type="mesh" mesh="atech_neopixel_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_black_m_cad" type="mesh" mesh="atech_neopixel_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_glass_cad" type="mesh" mesh="atech_neopixel_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_gold_cad" type="mesh" mesh="atech_neopixel_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_led_or_cad" type="mesh" mesh="atech_neopixel_led_or_cad_mesh" rgba="1 0.7021 0.2778 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_led_warm_cad" type="mesh" mesh="atech_neopixel_led_warm_cad_mesh" rgba="1 0.9408 0.8228 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_pcb_cad" type="mesh" mesh="atech_neopixel_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_neopixel_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_neopixel_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_neopixel_actuator" pos="0 0 0.00954" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/13_atech_neopixel/urdf/atech_neopixel.urdf b/13_atech_neopixel/urdf/atech_neopixel.urdf
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--- /dev/null
+++ b/13_atech_neopixel/urdf/atech_neopixel.urdf
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/led-grid.glb (sha256 d81b07d5d6526bc37745100b9d3385a8dbcb98c0514589bce767475e8ccb51e2). -->
+<robot name="atech_neopixel">
+  <!-- Atech module neopixel (NeoPixel 3x3 Grid); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_neopixel">
+    <inertial>
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <inertia ixx="2.749026e-07" ixy="0" ixz="0" iyy="2.749026e-07" iyz="0" izz="4.43625e-07"/>
+    </inertial>
+    <visual name="atech_neopixel_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/black.stl"/></geometry>
+      <material name="atech_neopixel_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/black_m.stl"/></geometry>
+      <material name="atech_neopixel_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/glass.stl"/></geometry>
+      <material name="atech_neopixel_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_neopixel_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/gold.stl"/></geometry>
+      <material name="atech_neopixel_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_led_or_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/led_or.stl"/></geometry>
+      <material name="atech_neopixel_led_or_cad_material"><color rgba="1 0.7021 0.2778 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_led_warm_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/led_warm.stl"/></geometry>
+      <material name="atech_neopixel_led_warm_cad_material"><color rgba="1 0.9408 0.8228 1"/></material>
+    </visual>
+    <visual name="atech_neopixel_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_neopixel/pcb.stl"/></geometry>
+      <material name="atech_neopixel_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <collision name="atech_neopixel_body_collision">
+      <origin xyz="0 0 0.00477" rpy="0 0 0"/>
+      <geometry><box size="0.0195 0.0195 0.00954"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_neopixel_connector"/>
+  <joint name="atech_neopixel_connector_joint" type="fixed">
+    <parent link="atech_neopixel"/>
+    <child link="atech_neopixel_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_neopixel_actuator"/>
+  <joint name="atech_neopixel_actuator_joint" type="fixed">
+    <parent link="atech_neopixel"/>
+    <child link="atech_neopixel_actuator"/>
+    <origin xyz="0 0 0.00954" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/13_atech_neopixel/urdf/meshes/atech_neopixel/black.stl b/13_atech_neopixel/urdf/meshes/atech_neopixel/black.stl
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+    <body name="atech_st7735_tft" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module st7735_tft (ST7735 TFT Color Display (160x80)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_st7735_tft_free"/>
+      <geom name="atech_st7735_tft_black_cad" type="mesh" mesh="atech_st7735_tft_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
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+      <site name="atech_st7735_tft_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_st7735_tft_actuator" pos="0 0 0.00964" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/screen.glb (sha256 3367736208e89cfb758b657b02c47242efb4a487c07937e94b6ebdefa1446f02). -->
+<robot name="atech_st7735_tft">
+  <!-- Atech module st7735_tft (ST7735 TFT Color Display (160x80)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_st7735_tft">
+    <inertial>
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+      <mass value="0.016"/>
+      <inertia ixx="6.30906133e-07" ixy="0" ixz="0" iyy="2.20423947e-06" iyz="0" izz="2.58733333e-06"/>
+    </inertial>
+    <visual name="atech_st7735_tft_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/black.stl"/></geometry>
+      <material name="atech_st7735_tft_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/black_m.stl"/></geometry>
+      <material name="atech_st7735_tft_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/glass.stl"/></geometry>
+      <material name="atech_st7735_tft_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_gloss_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/gloss.stl"/></geometry>
+      <material name="atech_st7735_tft_gloss_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/gold.stl"/></geometry>
+      <material name="atech_st7735_tft_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/pcb.stl"/></geometry>
+      <material name="atech_st7735_tft_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_st7735_tft_screen_art_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_st7735_tft/screen_art.stl"/></geometry>
+      <material name="atech_st7735_tft_screen_art_cad_material"><color rgba="0 0 0 1"/></material>
+    </visual>
+    <collision name="atech_st7735_tft_body_collision">
+      <origin xyz="0 0 0.00482" rpy="0 0 0"/>
+      <geometry><box size="0.0395 0.0195 0.00964"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_st7735_tft_connector"/>
+  <joint name="atech_st7735_tft_connector_joint" type="fixed">
+    <parent link="atech_st7735_tft"/>
+    <child link="atech_st7735_tft_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_st7735_tft_actuator"/>
+  <joint name="atech_st7735_tft_actuator_joint" type="fixed">
+    <parent link="atech_st7735_tft"/>
+    <child link="atech_st7735_tft_actuator"/>
+    <origin xyz="0 0 0.00964" rpy="0 0 0"/>
+  </joint>
+</robot>
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diff --git a/17_atech_big_screen/.metadata/com.nvidia.simready.root_usds.json b/17_atech_big_screen/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..a826164582d190047046b72cde4760b517046d29
--- /dev/null
+++ b/17_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/17_atech_big_screen/com.nvidia.simready.packaging.json b/17_atech_big_screen/com.nvidia.simready.packaging.json
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index 0000000000000000000000000000000000000000..f6c824a4caf7f662e447cbf816526c902f38f97c
--- /dev/null
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+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_big_screen",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
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+}
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+version https://git-lfs.github.com/spec/v1
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+size 145472
diff --git a/17_atech_big_screen/mjcf/atech_big_screen.xml b/17_atech_big_screen/mjcf/atech_big_screen.xml
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--- /dev/null
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+<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/17_atech_big_screen/mjcf/meshes/atech_big_screen/amber.stl b/17_atech_big_screen/mjcf/meshes/atech_big_screen/amber.stl
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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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+}
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+{
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+    "simready_usd/atech_camera.usd"
+  ]
+}
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--- /dev/null
+++ b/18_atech_camera/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
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+  "license": "CC-BY-4.0",
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..39a15841829ec66f5b74eb17e4f885ef61a09144
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+++ b/18_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"/>
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+      <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"/>
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+      <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"/>
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+      <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>
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index 0000000000000000000000000000000000000000..58837c27b4449d33a73f1bc39f3cff8d860a3c3d
--- /dev/null
+++ b/18_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>
diff --git a/18_atech_camera/urdf/meshes/atech_camera/amber.stl b/18_atech_camera/urdf/meshes/atech_camera/amber.stl
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new file mode 100644
index 0000000000000000000000000000000000000000..7d195b08980023ab4091a0029676e88a3ece9d82
--- /dev/null
+++ b/18_atech_camera/urdf/meshes/atech_camera/black.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870e69f0c9cb190a3d5f9a72020ec80ebff2dc019c8ae00f783595c2c9cd2f7c
+size 122034
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diff --git a/18_atech_camera/urdf/meshes/atech_camera/pcb.stl b/18_atech_camera/urdf/meshes/atech_camera/pcb.stl
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diff --git a/19_atech_pir/.metadata/com.nvidia.simready.packaging.bom.json b/19_atech_pir/.metadata/com.nvidia.simready.packaging.bom.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cca75c3d8e731a89a87751c0773ef053578c8b0
--- /dev/null
+++ b/19_atech_pir/.metadata/com.nvidia.simready.packaging.bom.json
@@ -0,0 +1,201 @@
+{
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+      "hash": {
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+    {
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+      "size": 26284,
+      "hash": {
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+    }
+  ]
+}
diff --git a/19_atech_pir/.metadata/com.nvidia.simready.root_usds.json b/19_atech_pir/.metadata/com.nvidia.simready.root_usds.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a9e04f47c4be6007bf1513e80a69d3f8347552
--- /dev/null
+++ b/19_atech_pir/.metadata/com.nvidia.simready.root_usds.json
@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_pir.usd"
+  ]
+}
diff --git a/19_atech_pir/com.nvidia.simready.packaging.json b/19_atech_pir/com.nvidia.simready.packaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ddb88d367e16a79c04973d2d21f503375f8728c
--- /dev/null
+++ b/19_atech_pir/com.nvidia.simready.packaging.json
@@ -0,0 +1,13 @@
+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_pir",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "75b6e2ee124afd7a769ae6001fa16b91b71767f3cdf2207b3b8fe0c290521c13"
+      }
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+  ]
+}
diff --git a/19_atech_pir/gltf/atech_pir.glb b/19_atech_pir/gltf/atech_pir.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c49d7fa5061b250be2550788a9c86a1e8feab427
--- /dev/null
+++ b/19_atech_pir/gltf/atech_pir.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5be987d4336219f6bd453efd9e90ccb7c95f2b629187134a7667500a3c7d579
+size 531748
diff --git a/19_atech_pir/mjcf/atech_pir.xml b/19_atech_pir/mjcf/atech_pir.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d5c1f06c40fb11eff4f063a7dae4a9273ce6ff53
--- /dev/null
+++ b/19_atech_pir/mjcf/atech_pir.xml
@@ -0,0 +1,52 @@
+<mujoco model="atech_pir">
+  <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="pir"/>
+    <text name="atech:name" data="PIR Motion Sensor (AM312)"/>
+    <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,sensor.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <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"/>
+    <mesh name="atech_pir_black_m_cad_mesh" file="meshes/atech_pir/black_m.stl" inertia="shell"/>
+    <mesh name="atech_pir_glass_cad_mesh" file="meshes/atech_pir/glass.stl" inertia="shell"/>
+    <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"/>
+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_pir" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_pir_free"/>
+      <geom name="atech_pir_black_cad" type="mesh" mesh="atech_pir_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_black_m_cad" type="mesh" mesh="atech_pir_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
+      <geom name="atech_pir_glass_cad" type="mesh" mesh="atech_pir_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
+      <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_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 0.014195" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/19_atech_pir/urdf/atech_pir.urdf b/19_atech_pir/urdf/atech_pir.urdf
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--- /dev/null
+++ b/19_atech_pir/urdf/atech_pir.urdf
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+<?xml version="1.0"?>
+<!-- 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 4.2422989e-08 0.0058061959" rpy="0 0 0"/>
+      <mass value="0.007"/>
+      <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"/>
+      <geometry><mesh filename="meshes/atech_pir/black.stl"/></geometry>
+      <material name="atech_pir_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_pir_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/black_m.stl"/></geometry>
+      <material name="atech_pir_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_pir_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/glass.stl"/></geometry>
+      <material name="atech_pir_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_pir_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/gold.stl"/></geometry>
+      <material name="atech_pir_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_pir_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_pir/grey.stl"/></geometry>
+      <material name="atech_pir_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_pir_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <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="0.95 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 0.011945" 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"/>
+  <joint name="atech_pir_connector_joint" type="fixed">
+    <parent link="atech_pir"/>
+    <child link="atech_pir_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_pir_sensor"/>
+  <joint name="atech_pir_sensor_joint" type="fixed">
+    <parent link="atech_pir"/>
+    <child link="atech_pir_sensor"/>
+    <origin xyz="0 0 0.014195" rpy="0 0 0"/>
+  </joint>
+</robot>
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index 0000000000000000000000000000000000000000..4d6a4faab099f81c41045fe6091558bc506f1ce2
--- /dev/null
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index 0000000000000000000000000000000000000000..68b65603c80faf4d93090efcb639141da2669534
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+<mujoco model="atech_stepper_motor">
+  <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="stepper_motor"/>
+    <text name="atech:name" data="Stepper Motor Driver (NEMA 17 / TMC2209)"/>
+    <text name="atech:category" data="motor"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="71889c765f7c35f7f0565418c32f4ab04d7dce345dca126f6d29d83a9282c40d"/>
+  </custom>
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+    <mesh name="atech_stepper_motor_glass_cad_mesh" file="meshes/atech_stepper_motor/glass.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_gold_cad_mesh" file="meshes/atech_stepper_motor/gold.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_pcb_cad_mesh" file="meshes/atech_stepper_motor/pcb.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_derived_driver_chip_cad_mesh" file="meshes/atech_stepper_motor/derived_driver_chip.stl" inertia="shell"/>
+    <mesh name="atech_stepper_motor_derived_motor_terminal_cad_mesh" file="meshes/atech_stepper_motor/derived_motor_terminal.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
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+    <body name="atech_stepper_motor" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_stepper_motor_free"/>
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+      <geom name="atech_stepper_motor_motor_terminal" type="box" size="0.005 0.003 0.0025" pos="0.013 0 0.0125" mass="0.000672687636" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
+      <site name="atech_stepper_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
+      <site name="atech_stepper_motor_actuator" pos="0 0 0.0105" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>
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