Atech module and board SimReady packages (USD, MJCF, URDF) (part 2)

.gitattributes

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atech_robot_arm/simready_usd/atech_robot_arm.usd

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atech_robot_arm/urdf/atech_robot_arm.urdf

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+<?xml version="1.0"?>
+<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (servo_connector); not Atech CAD of this module (sha256 8206829fd52b6e0713a679a07a9b22295885b5cdff3b724a80e309b555a1ea09). -->
+<robot name="atech_robot_arm">
+  <!-- Atech module robot_arm (SO-101 / SO-ARM100 6-Axis Robot Arm); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. -->
+  <link name="atech_robot_arm">
+    <inertial>
+      <origin xyz="0.000560420315 0 0.0058966725" rpy="0 0 0"/>
+      <mass value="0.009"/>
+      <inertia ixx="3.88573022e-07" ixy="0" ixz="-3.58276413e-08" iyy="4.07939028e-07" iyz="0" izz="5.42623668e-07"/>
+    </inertial>
+    <visual name="atech_robot_arm_black_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/black.stl"/></geometry>
+      <material name="atech_robot_arm_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_black_m_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/black_m.stl"/></geometry>
+      <material name="atech_robot_arm_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_glass_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/glass.stl"/></geometry>
+      <material name="atech_robot_arm_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
+    </visual>
+    <visual name="atech_robot_arm_gold_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/gold.stl"/></geometry>
+      <material name="atech_robot_arm_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_grey_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/grey.stl"/></geometry>
+      <material name="atech_robot_arm_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_pcb_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/pcb.stl"/></geometry>
+      <material name="atech_robot_arm_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
+    </visual>
+    <visual name="atech_robot_arm_derived_servo_connector_cad_visual">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/atech_robot_arm/derived_servo_connector.stl"/></geometry>
+      <material name="atech_robot_arm_derived_servo_connector_cad_material"><color rgba="0.85 0.85 0.8 1"/></material>
+    </visual>
+    <collision name="atech_robot_arm_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_robot_arm_servo_connector_collision">
+      <origin xyz="0.005 0 0.013" rpy="0 0 0"/>
+      <geometry><box size="0.008 0.01 0.006"/></geometry>
+    </collision>
+  </link>
+  <link name="atech_robot_arm_connector"/>
+  <joint name="atech_robot_arm_connector_joint" type="fixed">
+    <parent link="atech_robot_arm"/>
+    <child link="atech_robot_arm_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="atech_robot_arm_sensor"/>
+  <joint name="atech_robot_arm_sensor_joint" type="fixed">
+    <parent link="atech_robot_arm"/>
+    <child link="atech_robot_arm_sensor"/>
+    <origin xyz="0.005 0 0.013" rpy="0 0 0"/>
+  </joint>
+</robot>

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

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+}

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

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+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/atech_rotary_encoder.usd"
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+}

atech_rotary_encoder/com.nvidia.simready.packaging.json

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+{
+  "format_version": "1.0",
+  "package_id": "atech.atech_rotary_encoder",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
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+  ]
+}

atech_rotary_encoder/mjcf/atech_rotary_encoder.xml

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+<mujoco model="atech_rotary_encoder">
+  <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="rotary_encoder"/>
+    <text name="atech:name" data="Rotary Encoder Knob"/>
+    <text name="atech:category" data="input"/>
+    <text name="atech:catalog_version" data="1.0.0a11"/>
+    <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame,actuator.frame"/>
+    <text name="atech:interface" data="gpio"/>
+    <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb"/>
+    <text name="atech:visual:sha256" data="a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465"/>
+  </custom>
+  <asset>
+    <mesh name="atech_rotary_encoder_black_cad_mesh" file="meshes/atech_rotary_encoder/black.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_black_m_cad_mesh" file="meshes/atech_rotary_encoder/black_m.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_glass_cad_mesh" file="meshes/atech_rotary_encoder/glass.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_gold_cad_mesh" file="meshes/atech_rotary_encoder/gold.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_grey_cad_mesh" file="meshes/atech_rotary_encoder/grey.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_led_ring_cad_mesh" file="meshes/atech_rotary_encoder/led_ring.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_pcb_cad_mesh" file="meshes/atech_rotary_encoder/pcb.stl" inertia="shell"/>
+    <mesh name="atech_rotary_encoder_satin_cad_mesh" file="meshes/atech_rotary_encoder/satin.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_rotary_encoder" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module rotary_encoder (Rotary Encoder Knob); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_rotary_encoder_free"/>
+      <geom name="atech_rotary_encoder_black_cad" type="mesh" mesh="atech_rotary_encoder_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
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+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb (sha256 a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465). -->
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atech_scd40_air_quality/.metadata/com.nvidia.simready.root_usds.json

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+}

atech_scd40_air_quality/com.nvidia.simready.packaging.json

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atech_scd40_air_quality/mjcf/atech_scd40_air_quality.xml

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+<mujoco model="atech_scd40_air_quality">
+  <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="scd40_air_quality"/>
+    <text name="atech:name" data="SCD40 Air Quality Sensor (CO2)"/>
+    <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="i2c"/>
+    <text name="atech:i2c_address" data="98"/>
+    <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (sensor_can); not Atech CAD of this module"/>
+    <text name="atech:visual:sha256" data="cc6719b02efc847eb4f397952f2b82ce732d925c2aee80e898161f4234d0b618"/>
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+    <mesh name="atech_scd40_air_quality_glass_cad_mesh" file="meshes/atech_scd40_air_quality/glass.stl" inertia="shell"/>
+    <mesh name="atech_scd40_air_quality_gold_cad_mesh" file="meshes/atech_scd40_air_quality/gold.stl" inertia="shell"/>
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+    <mesh name="atech_scd40_air_quality_pcb_cad_mesh" file="meshes/atech_scd40_air_quality/pcb.stl" inertia="shell"/>
+    <mesh name="atech_scd40_air_quality_derived_sensor_can_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_can.stl" inertia="shell"/>
+  </asset>
+  <worldbody>
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+    <geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
+    <body name="atech_scd40_air_quality" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_scd40_air_quality_free"/>
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+      <site name="atech_scd40_air_quality_sensor" pos="0 0 0.01325" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
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atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/black.stl

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atech_scd40_air_quality/mjcf/meshes/atech_scd40_air_quality/gold.stl

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