Number the package folders: boards, then soil, DC motor, sensors, robot arm, audio, LED, knob, ... (part 2)

.gitattributes

@@ -295,3 +295,69 @@ atech_usb_c/gltf/atech_usb_c.glb filter=lfs diff=lfs merge=lfs -text
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+<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"/>
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+      <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"/>
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+      <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>

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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>

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12_atech_speaker/.metadata/com.nvidia.simready.root_usds.json

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12_atech_speaker/com.nvidia.simready.packaging.json

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12_atech_speaker/mjcf/atech_speaker.xml

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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"/>
+    <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/speaker.glb"/>
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+    <mesh name="atech_speaker_black_m_cad_mesh" file="meshes/atech_speaker/black_m.stl" inertia="shell"/>
+    <mesh name="atech_speaker_gold_cad_mesh" file="meshes/atech_speaker/gold.stl" inertia="shell"/>
+    <mesh name="atech_speaker_pcb_cad_mesh" file="meshes/atech_speaker/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_speaker" pos="0 0 0.05" quat="1 0 0 0">
+      <!-- Atech module speaker (I2S Speaker (MAX98357A)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
+      <freejoint name="atech_speaker_free"/>
+      <geom name="atech_speaker_black_cad" type="mesh" mesh="atech_speaker_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_speaker_actuator" pos="0 0.0101 0.0202" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
+    </body>
+  </worldbody>
+</mujoco>

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12_atech_speaker/urdf/atech_speaker.urdf

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+<?xml version="1.0"?>
+<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/speaker.glb (sha256 ed97612474860e9671b7a2dfff6f6bc6b43f208d8c82344dde986d15310b3f16). -->
+<robot name="atech_speaker">
+  <!-- Atech module speaker (I2S Speaker (MAX98357A)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
+  <link name="atech_speaker">
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+    </visual>
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+    </visual>
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+      <geometry><mesh filename="meshes/atech_speaker/pcb.stl"/></geometry>
+      <material name="atech_speaker_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
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+  </link>
+  <link name="atech_speaker_connector"/>
+  <joint name="atech_speaker_connector_joint" type="fixed">
+    <parent link="atech_speaker"/>
+    <child link="atech_speaker_connector"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <link name="atech_speaker_actuator"/>
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+    <child link="atech_speaker_actuator"/>
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