From 2996035d5500656aa0757d3f6ebb5a2f36d958a1 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 6 Nov 2026 19:24:40 +0900
Subject: [PATCH 1/2] Separate stable component keys from emitted link and
 joint names

---
 README.md                                     |  2 +
 .../body/v2.0/config/inertials/nominal.yaml   |  2 +-
 assets/body/v2.0/config/link/collisions.yaml  |  2 +-
 assets/body/v2.0/config/link/visuals.yaml     |  2 +-
 .../v2.0/config/struct/reference_points.yaml  | 10 ++--
 assets/body/v2.0/config/struct/topology.yaml  |  3 +-
 assets/common/assembly.xacro                  |  8 +--
 assets/common/components.xacro                | 14 ++++--
 assets/common/kinematic_chain.xacro           | 24 +++++----
 assets/common/links.xacro                     |  2 +-
 assets/common/validation.xacro                | 12 +++--
 .../config/inertials/nominal.yaml             |  6 +--
 .../config/joint/joint_axes.yaml              |  4 +-
 .../config/joint/joint_limits.yaml            |  4 +-
 .../config/joint/joint_mimics.yaml            |  4 +-
 .../config/joint/joint_origins.yaml           |  4 +-
 .../pinch_gripper/config/link/collisions.yaml |  6 +--
 .../pinch_gripper/config/link/visuals.yaml    |  6 +--
 .../config/struct/name_mapping.yaml           | 20 ++++----
 .../config/struct/reference_points.yaml       |  6 +--
 .../pinch_gripper/config/struct/topology.yaml | 23 +++++----
 .../pinch_gripper/urdf/component.xacro        |  2 +
 .../urdf/pinch_gripper_macro.xacro            | 35 ++++++-------
 .../config/arm/inertials/nominal.yaml         | 14 +++---
 .../config/arm/link/collisions.yaml           | 14 +++---
 .../openarm_v2.0/config/arm/link/visuals.yaml | 14 +++---
 .../config/arm/struct/name_mapping.yaml       | 32 ++++++------
 .../config/arm/struct/reference_points.yaml   |  4 +-
 .../config/arm/struct/topology.yaml           | 43 +++++++++-------
 .../robot_presets/default_bimanual.yaml       |  2 +-
 .../config/robot_presets/left_arm.yaml        |  2 +-
 .../left_arm_with_pinch_gripper.yaml          |  2 +-
 .../openarm_v2.0/urdf/openarm_v20.urdf.xacro  |  2 +-
 assets/sensor/zed/urdf/component.xacro        |  5 +-
 test/support.py                               | 17 ++++---
 test/test_assembly.py                         | 50 ++++++++++++-------
 test/test_entrypoints.py                      |  8 +--
 37 files changed, 230 insertions(+), 180 deletions(-)

diff --git a/README.md b/README.md
index 15c33176..7f82e7cf 100644
--- a/README.md
+++ b/README.md
@@ -33,6 +33,8 @@ The default implementations are `openarm_describe_config_component` and `openarm
 
 Interface files declare macros; implementation and third-party model includes belong inside those macros. Each interface is loaded in a local scope, so its definitions do not affect other components. Presets need no implementation selector or product registry.
 
+Component topology uses stable `link1`, `link2`, ... and `joint1`, `joint2`, ... keys. An optional `name` on each topology entry defines its local URDF name; otherwise the key is used. The instance prefix is added once. Geometry, inertia, joint parameters, parent/child links, mimic targets, references, reflection selections and overrides use the stable keys. Changing `name` preserves these config references. Component descriptors expose resolved `link_name_map` and `joint_name_map` entries for emitters and control generation.
+
 ## Related links
 
 - 📚 Read the [documentation](https://docs.openarm.dev/software/description)
diff --git a/assets/body/v2.0/config/inertials/nominal.yaml b/assets/body/v2.0/config/inertials/nominal.yaml
index 75949159..52fdec86 100644
--- a/assets/body/v2.0/config/inertials/nominal.yaml
+++ b/assets/body/v2.0/config/inertials/nominal.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
     x: -0.01627169562
     y: 0.0
diff --git a/assets/body/v2.0/config/link/collisions.yaml b/assets/body/v2.0/config/link/collisions.yaml
index 46fb7013..7e1d776d 100644
--- a/assets/body/v2.0/config/link/collisions.yaml
+++ b/assets/body/v2.0/config/link/collisions.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
     x: 0.0
     y: 0.0
diff --git a/assets/body/v2.0/config/link/visuals.yaml b/assets/body/v2.0/config/link/visuals.yaml
index f1fa731c..474ec659 100644
--- a/assets/body/v2.0/config/link/visuals.yaml
+++ b/assets/body/v2.0/config/link/visuals.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
     x: 0.0
     y: 0.0
diff --git a/assets/body/v2.0/config/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml
index bf695c6c..38e13a41 100644
--- a/assets/body/v2.0/config/struct/reference_points.yaml
+++ b/assets/body/v2.0/config/struct/reference_points.yaml
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 left_arm_mount_point:
-  parent: body_link0
+  parent: link1
   origin:
     x: 0.0
     y: 0.030
@@ -29,13 +29,13 @@ left_arm_mount_point:
       type: fixed
     parent_link:
       original_name: body_link0
-      canonical_name: body_link0
+      canonical_name: link1
     child_link:
       original_name: body_left_arm_mount_point
       canonical_name: null
 
 right_arm_mount_point:
-  parent: body_link0
+  parent: link1
   origin:
     x: 0.0
     y: -0.030
@@ -51,13 +51,13 @@ right_arm_mount_point:
       type: fixed
     parent_link:
       original_name: body_link0
-      canonical_name: body_link0
+      canonical_name: link1
     child_link:
       original_name: body_right_arm_mount_point
       canonical_name: null
 
 arm_origin:
-  parent: body_link0
+  parent: link1
   emit: true
   origin:
     x: 0.0
diff --git a/assets/body/v2.0/config/struct/topology.yaml b/assets/body/v2.0/config/struct/topology.yaml
index 59402442..97b46d61 100644
--- a/assets/body/v2.0/config/struct/topology.yaml
+++ b/assets/body/v2.0/config/struct/topology.yaml
@@ -13,5 +13,6 @@
 # limitations under the License.
 
 links:
-  - body_link0
+  link1:
+    name: body_link0
 joints: {}
diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro
index c67a42ac..e24c8c6a 100644
--- a/assets/common/assembly.xacro
+++ b/assets/common/assembly.xacro
@@ -96,7 +96,7 @@ limitations under the License.
       <xacro:if value="${parent_ref_should_reflect}">
         <xacro:openarm_reflect_pose origin="${reference_origin}" reflect_x="${parent_reflect_cfg['x']}" reflect_y="${parent_reflect_cfg['y']}" reflect_z="${parent_reflect_cfg['z']}" out_name="reference_origin" />
       </xacro:if>
-      <xacro:if value="${parent_ref_canonical_link == parent_desc['topology']['links'][0] and parent_desc.get('base_frame_shift', 'none') != 'none'}">
+      <xacro:if value="${parent_ref_canonical_link == list(parent_desc['topology']['links'])[0] and parent_desc.get('base_frame_shift', 'none') != 'none'}">
         <xacro:openarm_compose_pose first="${parent_desc['base_frame_shift']}" second="${reference_origin}" out_name="reference_origin" />
       </xacro:if>
       <xacro:openarm_compose_pose first="${reference_origin}" second="${connection_origin}" out_name="reference_mount_origin" />
@@ -111,9 +111,9 @@ limitations under the License.
     <!-- reference point child empty links are already absorbed into config; runtime collapse only targets the parent's terminal empty link -->
     <xacro:property
       name="parent_terminal_link_empty"
-      value="${has_parent_desc and parent_desc['collapse_empty_end'] and parent_desc['topology']['links'][-1] not in parent_desc['inertials'] and parent_desc['topology']['links'][-1] not in parent_desc['visuals'] and parent_desc['topology']['links'][-1] not in parent_desc['collisions']}"
+      value="${has_parent_desc and parent_desc['collapse_empty_end'] and list(parent_desc['topology']['links'])[-1] not in parent_desc['inertials'] and list(parent_desc['topology']['links'])[-1] not in parent_desc['visuals'] and list(parent_desc['topology']['links'])[-1] not in parent_desc['collisions']}"
       lazy_eval="false" />
-    <xacro:if value="${has_parent_reference_key and not has_parent_override and parent_terminal_link_empty and parent_ref_canonical_link == parent_desc['topology']['links'][-1] and component_desc.get('supports_frame_shift', False)}">
+    <xacro:if value="${has_parent_reference_key and not has_parent_override and parent_terminal_link_empty and parent_ref_canonical_link == list(parent_desc['topology']['links'])[-1] and component_desc.get('supports_frame_shift', False)}">
       <xacro:property name="skip_mount_joint" value="${True}" lazy_eval="false" />
       <xacro:property name="base_frame_shift" value="${reference_mount_origin}" lazy_eval="false" />
     </xacro:if>
@@ -123,7 +123,7 @@ limitations under the License.
       name="attached_children"
       value="${[name for name in components if name in robot_preset and robot_preset[name]['enabled'] and 'connection' in robot_preset[name] and 'attach_to' in robot_preset[name]['connection'] and robot_preset[name]['connection']['attach_to'] == component_name]}"
       lazy_eval="false" />
-    <xacro:property name="component_terminal_link" value="${component_desc['topology']['links'][-1]}" lazy_eval="false" />
+    <xacro:property name="component_terminal_link" value="${list(component_desc['topology']['links'])[-1]}" lazy_eval="false" />
     <xacro:property
       name="component_terminal_link_empty"
       value="${component_desc['collapse_empty_end'] and component_terminal_link not in component_desc['inertials'] and component_terminal_link not in component_desc['visuals'] and component_terminal_link not in component_desc['collisions']}"
diff --git a/assets/common/components.xacro b/assets/common/components.xacro
index b2958210..d98dfd25 100644
--- a/assets/common/components.xacro
+++ b/assets/common/components.xacro
@@ -45,10 +45,11 @@ limitations under the License.
     <xacro:property name="component_inertials" value="${xacro.load_yaml(component_cfg_root + '/inertials/' + component_cfg['inertials'] + '.yaml')}" lazy_eval="false" />
     <xacro:property name="component_visuals" value="${xacro.load_yaml(component_cfg_root + '/link/visuals.yaml')}" lazy_eval="false" />
     <xacro:property name="component_collisions" value="${xacro.load_yaml(component_cfg_root + '/link/collisions.yaml')}" lazy_eval="false" />
-    <xacro:property name="component_link_name_map" value="${empty_dict}" lazy_eval="false" />
-    <xacro:property name="component_root_link_actual" value="${component_prefix + component_topology['links'][0]}" lazy_eval="false" />
-    <xacro:property name="component_default_mount_parent" value="${component_prefix + (component_topology['links'][0] if component_type == 'body' else component_topology['links'][-1])}" lazy_eval="false" />
-    <xacro:property name="component_collapse_empty_end" value="${component_topology.get('collapse_empty_end', False) and len([j for j in component_topology['joints'] if component_topology['joints'][j]['parent'] == component_topology['links'][-1]]) == 0}" lazy_eval="false" />
+    <xacro:property name="component_link_name_map" value="${dict([(key, component_prefix + cfg.get('name', key)) for key, cfg in component_topology['links'].items()])}" lazy_eval="false" />
+    <xacro:property name="component_joint_name_map" value="${dict([(key, component_prefix + cfg.get('name', key)) for key, cfg in component_topology['joints'].items()])}" lazy_eval="false" />
+    <xacro:property name="component_root_link_actual" value="${component_link_name_map[list(component_topology['links'])[0]]}" lazy_eval="false" />
+    <xacro:property name="component_default_mount_parent" value="${component_link_name_map[list(component_topology['links'])[0] if component_type == 'body' else list(component_topology['links'])[-1]]}" lazy_eval="false" />
+    <xacro:property name="component_collapse_empty_end" value="${component_topology.get('collapse_empty_end', False) and len([j for j in component_topology['joints'] if component_topology['joints'][j]['parent'] == list(component_topology['links'])[-1]]) == 0}" lazy_eval="false" />
 
     <xacro:property
       name="${out_name}"
@@ -71,6 +72,7 @@ limitations under the License.
                    visuals=component_visuals,
                    collisions=component_collisions,
                    link_name_map=component_link_name_map,
+                   joint_name_map=component_joint_name_map,
                    default_mount_parent=component_default_mount_parent,
                    collapse_empty_end=component_collapse_empty_end,
                    supports_frame_shift=True)}"
@@ -99,6 +101,8 @@ limitations under the License.
     <xacro:if value="${component_desc['topology']['joints']}">
       <xacro:openarm_emit_kinematic_component
         prefix="${component_desc['prefix']}"
+        link_name_map="${component_desc['link_name_map']}"
+        joint_name_map="${component_desc['joint_name_map']}"
         connected_to="${component_runtime['resolved_connected_to']}"
         mount_origin="${component_runtime['resolved_mount_origin']}"
         topology="${component_desc['topology']}"
@@ -126,7 +130,7 @@ limitations under the License.
       reference_points="${component_desc['reference_points']}"
       prefix="${component_desc['prefix']}"
       link_name_map="${component_desc['link_name_map']}"
-      base_link_name="${component_desc['topology']['links'][0]}"
+      base_link_name="${list(component_desc['topology']['links'])[0]}"
       reflect_x="${component_runtime['reflect_x']}"
       reflect_y="${component_runtime['reflect_y']}"
       reflect_z="${component_runtime['reflect_z']}"
diff --git a/assets/common/kinematic_chain.xacro b/assets/common/kinematic_chain.xacro
index f1966d78..d23edfa9 100644
--- a/assets/common/kinematic_chain.xacro
+++ b/assets/common/kinematic_chain.xacro
@@ -17,7 +17,7 @@ limitations under the License.
   <xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />
 
   <xacro:macro name="openarm_emit_chain"
-    params="index joint_names topology prefix joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x reflect_y reflect_z reflect_include_links reflect_include_joints origin_override_joints limit_override_joints tip_collapse_source_link tip_collapse_child_link base_frame_shift">
+    params="index joint_names topology prefix link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x reflect_y reflect_z reflect_include_links reflect_include_joints origin_override_joints limit_override_joints tip_collapse_source_link tip_collapse_child_link base_frame_shift">
     <xacro:if value="${index &lt; len(joint_names)}">
       <xacro:property name="name" value="${joint_names[index]}" />
       <xacro:property name="joint" value="${topology['joints'][name]}" />
@@ -26,20 +26,21 @@ limitations under the License.
       <xacro:property name="joint_reflects" value="${name in reflect_include_joints}" />
       <xacro:property name="collapse_child" value="${child == tip_collapse_source_link}" />
       <xacro:unless value="${collapse_child}">
-        <xacro:openarm_emit_link link_name="${prefix + child}" source_name="${child}"
+        <xacro:openarm_emit_link link_name="${link_name_map[child]}" source_name="${child}"
           inertials="${inertials}" visuals="${visuals}" collisions="${collisions}"
           reflect_x="${reflect_x if link_reflects else 1}" reflect_y="${reflect_y if link_reflects else 1}" reflect_z="${reflect_z if link_reflects else 1}" />
       </xacro:unless>
       <xacro:property name="mimic" value="${joint_mimics[name] if name in joint_mimics else 'none'}" />
-      <xacro:openarm_emit_joint joint_name="${prefix + name}" joint_type="${joint['type']}"
-        parent_link="${prefix + joint['parent']}" child_link="${tip_collapse_child_link if collapse_child else prefix + child}"
+      <xacro:openarm_emit_joint joint_name="${joint_name_map[name]}" joint_type="${joint['type']}"
+        parent_link="${link_name_map[joint['parent']]}" child_link="${tip_collapse_child_link if collapse_child else link_name_map[child]}"
         joint_origins="${joint_origins}" joint_axes="${joint_axes}" joint_limits="${joint_limits}" source_name="${name}"
         origin_override="${origin_override_joints.get(name, 'none')}" limit_override="${limit_override_joints.get(name, 'none')}"
-        mimic_override="${dict(joint=prefix + mimic['joint'], multiplier=mimic['multiplier'], offset=mimic['offset']) if mimic != 'none' else 'none'}"
+        mimic_override="${dict(joint=joint_name_map[mimic['joint']], multiplier=mimic['multiplier'], offset=mimic['offset']) if mimic != 'none' else 'none'}"
         reflect_x="${reflect_x if joint_reflects else 1}" reflect_y="${reflect_y if joint_reflects else 1}" reflect_z="${reflect_z if joint_reflects else 1}"
         reflect_rotation="${True}" mirror_limit_sign="${joint_reflects and (reflect_x == -1 or reflect_y == -1 or reflect_z == -1)}"
-        frame_shift="${base_frame_shift if joint['parent'] == topology['links'][0] else 'none'}" />
+        frame_shift="${base_frame_shift if joint['parent'] == list(topology['links'])[0] else 'none'}" />
       <xacro:openarm_emit_chain index="${index + 1}" joint_names="${joint_names}" topology="${topology}" prefix="${prefix}"
+        link_name_map="${link_name_map}" joint_name_map="${joint_name_map}"
         joint_origins="${joint_origins}" joint_axes="${joint_axes}" joint_limits="${joint_limits}" joint_mimics="${joint_mimics}"
         inertials="${inertials}" visuals="${visuals}" collisions="${collisions}"
         reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}"
@@ -50,21 +51,22 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_kinematic_component"
-    params="connected_to mount_origin topology prefix joint_origins joint_axes joint_limits joint_mimics:=${dict()} inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=${[]} reflect_include_joints:=${[]} origin_override_joints:=${dict()} limit_override_joints:=${dict()} tip_collapse_source_link:=none tip_collapse_child_link:=none skip_mount_joint:=${False} base_frame_shift:=none">
+    params="connected_to mount_origin topology prefix link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics:=${dict()} inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=${[]} reflect_include_joints:=${[]} origin_override_joints:=${dict()} limit_override_joints:=${dict()} tip_collapse_source_link:=none tip_collapse_child_link:=none skip_mount_joint:=${False} base_frame_shift:=none">
     <xacro:openarm_validate_topology topology="${topology}" component="${prefix}" />
-    <xacro:property name="base" value="${topology['links'][0]}" />
+    <xacro:property name="base" value="${list(topology['links'])[0]}" />
     <xacro:property name="base_reflects" value="${base in reflect_include_links}" />
-    <xacro:openarm_emit_link link_name="${prefix + base}" source_name="${base}"
+    <xacro:openarm_emit_link link_name="${link_name_map[base]}" source_name="${base}"
       inertials="${inertials}" visuals="${visuals}" collisions="${collisions}"
       reflect_x="${reflect_x if base_reflects else 1}" reflect_y="${reflect_y if base_reflects else 1}" reflect_z="${reflect_z if base_reflects else 1}"
       frame_shift="${base_frame_shift}" />
     <xacro:unless value="${skip_mount_joint}">
-      <joint name="${prefix + base}_mount_joint" type="fixed">
+      <joint name="${link_name_map[base]}_mount_joint" type="fixed">
         <xacro:openarm_emit_origin origin="${mount_origin}" />
-        <parent link="${connected_to}" /><child link="${prefix + base}" />
+        <parent link="${connected_to}" /><child link="${link_name_map[base]}" />
       </joint>
     </xacro:unless>
     <xacro:openarm_emit_chain index="0" joint_names="${list(topology['joints'].keys())}" topology="${topology}" prefix="${prefix}"
+      link_name_map="${link_name_map}" joint_name_map="${joint_name_map}"
       joint_origins="${joint_origins}" joint_axes="${joint_axes}" joint_limits="${joint_limits}" joint_mimics="${joint_mimics}"
       inertials="${inertials}" visuals="${visuals}" collisions="${collisions}"
       reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}"
diff --git a/assets/common/links.xacro b/assets/common/links.xacro
index 4adf4138..de16b2c3 100644
--- a/assets/common/links.xacro
+++ b/assets/common/links.xacro
@@ -136,7 +136,7 @@ limitations under the License.
   <xacro:macro name="openarm_emit_rigid_component"
     params="link_name connected_to mount_origin topology inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=^ skip_mount_joint:=false base_frame_shift:=none">
 
-    <xacro:property name="base_link_name" value="${topology['links'][0]}" lazy_eval="false" />
+    <xacro:property name="base_link_name" value="${list(topology['links'])[0]}" lazy_eval="false" />
     <xacro:property name="resolved_base_frame_shift" value="${base_frame_shift if base_frame_shift != 'none' else 'none'}" lazy_eval="false" />
     <xacro:property name="base_link_reflects" value="${base_link_name in reflect_include_links}" lazy_eval="false" />
 
diff --git a/assets/common/validation.xacro b/assets/common/validation.xacro
index e772915c..5bcee7d5 100644
--- a/assets/common/validation.xacro
+++ b/assets/common/validation.xacro
@@ -137,7 +137,7 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_validate_link_ancestry" params="name topology component depth:=0">
-    <xacro:if value="${name != topology['links'][0]}">
+    <xacro:if value="${name != list(topology['links'])[0]}">
       <xacro:openarm_require condition="${depth &lt; len(topology['links'])}" message="${'Component `%s` has a cycle at link `%s`.' % (component, name)}" />
       <xacro:property name="incoming" value="${[j for j in topology['joints'] if topology['joints'][j]['child'] == name]}" lazy_eval="false" />
       <xacro:openarm_require condition="${len(incoming) == 1}" message="${'Link `%s` in `%s` must have one parent joint.' % (name, component)}" />
@@ -146,10 +146,16 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_validate_topology" params="topology component index:=0">
-    <xacro:property name="links" value="${topology['links']}" lazy_eval="false" />
+    <xacro:property name="links" value="${list(topology['links'])}" lazy_eval="false" />
     <xacro:property name="joints" value="${topology['joints']}" lazy_eval="false" />
     <xacro:if value="${index == 0}">
-      <xacro:openarm_require condition="${len(links) > 0 and len([link for link in links if links.count(link) != 1]) == 0}" message="${'Component `%s` must have nonempty, unique links.' % component}" />
+      <xacro:openarm_require condition="${len(links) > 0}" message="${'Component `%s` must have nonempty links.' % component}" />
+      <xacro:property name="link_names" value="${[cfg.get('name', key) for key, cfg in topology['links'].items()]}" lazy_eval="false" />
+      <xacro:property name="joint_names" value="${[cfg.get('name', key) for key, cfg in joints.items()]}" lazy_eval="false" />
+      <xacro:openarm_require condition="${python.all(python.isinstance(name, str) and name for name in link_names + joint_names)}"
+        message="${'Component `%s` requires nonempty string names.' % component}" />
+      <xacro:openarm_require condition="${len(python.set(link_names)) == len(link_names) and len(python.set(joint_names)) == len(joint_names)}"
+        message="${'Component `%s` has duplicate output names.' % component}" />
       <xacro:openarm_require condition="${len([j for j in joints if joints[j]['parent'] not in links or joints[j]['child'] not in links]) == 0}" message="${'Component `%s` has a joint referencing an unknown link.' % component}" />
       <xacro:openarm_require condition="${len([j for j in joints if joints[j]['child'] == links[0]]) == 0}" message="${'Root link of `%s` cannot have an internal parent joint.' % component}" />
       <xacro:openarm_require condition="${len([j for j in joints if joints[j]['type'] not in ['fixed', 'revolute', 'continuous', 'prismatic']]) == 0}" message="${'Component `%s` has an unsupported joint type.' % component}" />
diff --git a/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml b/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml
index 6bfd2f4b..05ebfae2 100644
--- a/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml
+++ b/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-ee_base_link:
+link1:
   origin:
     x: -0.0067098
     y: 0.008407299999999999
@@ -28,7 +28,7 @@ ee_base_link:
     yy: 0.00015627
     yz: -1.5124e-06
     zz: 0.0001659
-ee_link1:
+link2:
   origin:
     x: -0.0124990911725494
     y: 0.00176592789915655
@@ -44,7 +44,7 @@ ee_link1:
     yy: 3.62137424319396e-05
     yz: -3.60343788693423e-06
     zz: 1.74958961632907e-05
-ee_link2:
+link3:
   origin:
     x: -0.012796
     y: -0.0020183
diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml
index 13cc0ae1..c8d738fa 100644
--- a/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml
+++ b/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint1:
+joint1:
   axis:
     x: -1
     y: 0
     z: 0
-finger_joint2:
+joint2:
   axis:
     x: 1
     y: 0
diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml
index 19942211..8dfc86de 100644
--- a/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml
+++ b/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml
@@ -12,13 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint1:
+joint1:
   limit:
     lower: -0.7854
     upper: 0
     effort: 7
     velocity: 5
-finger_joint2:
+joint2:
   limit:
     lower: -0.7854
     upper: 0
diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml
index 1c0f9656..48434cde 100644
--- a/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml
+++ b/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint2:
-  joint: finger_joint1
+joint2:
+  joint: joint1
   multiplier: 1
   offset: 0
diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml
index cc5b65bf..da58c50f 100644
--- a/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml
+++ b/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint1:
+joint1:
   origin:
     x: -0.0219300000000005
     y: 0.0180000000000009
@@ -20,7 +20,7 @@ finger_joint1:
     roll: 0
     pitch: -0
     yaw: 0
-finger_joint2:
+joint2:
   origin:
     x: -0.0219300000000005
     y: -0.0180000000000012
diff --git a/assets/end_effector/pinch_gripper/config/link/collisions.yaml b/assets/end_effector/pinch_gripper/config/link/collisions.yaml
index 2dfa0c8e..1f4d4c1b 100644
--- a/assets/end_effector/pinch_gripper/config/link/collisions.yaml
+++ b/assets/end_effector/pinch_gripper/config/link/collisions.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-ee_base_link:
+link1:
   origin:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ ee_base_link:
       x: 1
       y: 1
       z: 1
-ee_link1:
+link2:
   origin:
     x: 0
     y: 0
@@ -40,7 +40,7 @@ ee_link1:
       x: 1
       y: 1
       z: 1
-ee_link2:
+link3:
   origin:
     x: 0
     y: 0
diff --git a/assets/end_effector/pinch_gripper/config/link/visuals.yaml b/assets/end_effector/pinch_gripper/config/link/visuals.yaml
index d6669034..144aca0d 100644
--- a/assets/end_effector/pinch_gripper/config/link/visuals.yaml
+++ b/assets/end_effector/pinch_gripper/config/link/visuals.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-ee_base_link:
+link1:
   origin:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ ee_base_link:
       x: 1
       y: 1
       z: 1
-ee_link1:
+link2:
   origin:
     x: 0
     y: 0
@@ -40,7 +40,7 @@ ee_link1:
       x: 1
       y: 1
       z: 1
-ee_link2:
+link3:
   origin:
     x: 0
     y: 0
diff --git a/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml b/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml
index 84555f5c..b6300337 100644
--- a/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml
+++ b/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml
@@ -14,17 +14,17 @@
 
 links:
   canonical_to_original:
-    ee_base_link: ee_base_link
-    ee_link1: finger_inner
-    ee_link2: finger_outer
+    link1: ee_base_link
+    link2: finger_inner
+    link3: finger_outer
   original_to_canonical:
-    ee_base_link: ee_base_link
-    finger_inner: ee_link1
-    finger_outer: ee_link2
+    ee_base_link: link1
+    finger_inner: link2
+    finger_outer: link3
 joints:
   canonical_to_original:
-    finger_joint1: finger_inner_joint
-    finger_joint2: finger_outer_joint
+    joint1: finger_inner_joint
+    joint2: finger_outer_joint
   original_to_canonical:
-    finger_inner_joint: finger_joint1
-    finger_outer_joint: finger_joint2
+    finger_inner_joint: joint1
+    finger_outer_joint: joint2
diff --git a/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml b/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml
index e3cbf358..51344d31 100644
--- a/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml
+++ b/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 grasp_frame:
-  parent: ee_base_link
+  parent: link1
   origin:
     x: -0.0219300000000009
     y: 0
@@ -29,13 +29,13 @@ grasp_frame:
       type: fixed
     parent_link:
       original_name: ee_base_link
-      canonical_name: ee_base_link
+      canonical_name: link1
     child_link:
       original_name: grasp_frame
       canonical_name: null
 
 camera_view_frame:
-  parent: ee_base_link
+  parent: link1
   emit: true
   origin:
     x: 0.0013353
diff --git a/assets/end_effector/pinch_gripper/config/struct/topology.yaml b/assets/end_effector/pinch_gripper/config/struct/topology.yaml
index 9b3784e2..ff2863cb 100644
--- a/assets/end_effector/pinch_gripper/config/struct/topology.yaml
+++ b/assets/end_effector/pinch_gripper/config/struct/topology.yaml
@@ -13,15 +13,20 @@
 # limitations under the License.
 
 links:
-- ee_base_link
-- ee_link1
-- ee_link2
+  link1:
+    name: ee_base_link
+  link2:
+    name: ee_link1
+  link3:
+    name: ee_link2
 joints:
-  finger_joint1:
+  joint1:
+    name: finger_joint1
     type: revolute
-    parent: ee_base_link
-    child: ee_link1
-  finger_joint2:
+    parent: link1
+    child: link2
+  joint2:
+    name: finger_joint2
     type: revolute
-    parent: ee_base_link
-    child: ee_link2
+    parent: link1
+    child: link3
diff --git a/assets/end_effector/pinch_gripper/urdf/component.xacro b/assets/end_effector/pinch_gripper/urdf/component.xacro
index 4c130677..62f9ea4a 100644
--- a/assets/end_effector/pinch_gripper/urdf/component.xacro
+++ b/assets/end_effector/pinch_gripper/urdf/component.xacro
@@ -28,6 +28,8 @@ limitations under the License.
     <xacro:include filename="${component_desc['component_dir'] + '/urdf/pinch_gripper_macro.xacro'}" />
     <xacro:openarm_pinch_gripper
       prefix="${component_desc['prefix']}"
+      link_name_map="${component_desc['link_name_map']}"
+      joint_name_map="${component_desc['joint_name_map']}"
       connected_to="${component_runtime['resolved_connected_to']}"
       mount_origin="${component_runtime['resolved_mount_origin']}"
       topology="${component_desc['topology']}"
diff --git a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro
index b1bc01f1..d0eef288 100644
--- a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro
+++ b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro
@@ -19,23 +19,23 @@ limitations under the License.
   <xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />
 
   <xacro:macro name="openarm_pinch_gripper"
-    params="prefix connected_to mount_origin:=none topology joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 component_reflects:=false reflect_include_links:=^ reflect_include_joints:=^ reflect_include_reference_points:=^ origin_override_joints:=${dict()} limit_override_joints:=^ ee_reference_points:=^ emit_grasp_frame:=false grasp_reference_point:=grasp_frame skip_mount_joint:=false base_frame_shift:=none">
+    params="prefix connected_to mount_origin:=none topology link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 component_reflects:=false reflect_include_links:=^ reflect_include_joints:=^ reflect_include_reference_points:=^ origin_override_joints:=${dict()} limit_override_joints:=^ ee_reference_points:=^ emit_grasp_frame:=false grasp_reference_point:=grasp_frame skip_mount_joint:=false base_frame_shift:=none">
 
     <xacro:openarm_validate_topology topology="${topology}" component="${prefix + 'pinch_gripper'}" />
 
-    <xacro:property name="base_link_name" value="${topology['links'][0]}" />
+    <xacro:property name="base_link_name" value="${list(topology['links'])[0]}" />
 
 
-    <xacro:property name="base_link_full_name" value="${prefix}${base_link_name}" />
+    <xacro:property name="base_link_full_name" value="${link_name_map[base_link_name]}" />
     <xacro:property name="resolved_mount_origin" value="${mount_origin if mount_origin != 'none' else dict(x=0.0, y=0.0, z=0.0, roll=0.0, pitch=0.0, yaw=0.0)}" lazy_eval="false" />
     <xacro:property name="resolved_base_frame_shift" value="${base_frame_shift if base_frame_shift != 'none' else dict(x=0.0, y=0.0, z=0.0, roll=0.0, pitch=0.0, yaw=0.0)}" lazy_eval="false" />
     <xacro:property name="use_base_frame_shift" value="${base_frame_shift != 'none'}" lazy_eval="false" />
     <xacro:property name="base_link_reflects" value="${component_reflects and base_link_name in reflect_include_links}" lazy_eval="false" />
     <!-- Finger numbering stays semantic; handedness is handled by reflect_* and the joint config. -->
-    <xacro:property name="finger1_source" value="${topology['joints']['finger_joint1']['child']}" />
-    <xacro:property name="finger2_source" value="${topology['joints']['finger_joint2']['child']}" />
-    <xacro:property name="finger1_joint_source" value="finger_joint1" />
-    <xacro:property name="finger2_joint_source" value="finger_joint2" />
+    <xacro:property name="finger1_source" value="${topology['joints']['joint1']['child']}" />
+    <xacro:property name="finger2_source" value="${topology['joints']['joint2']['child']}" />
+    <xacro:property name="finger1_joint_source" value="joint1" />
+    <xacro:property name="finger2_joint_source" value="joint2" />
     <xacro:property name="finger1_link_reflects" value="${component_reflects and finger1_source in reflect_include_links}" lazy_eval="false" />
     <xacro:property name="finger2_link_reflects" value="${component_reflects and finger2_source in reflect_include_links}" lazy_eval="false" />
     <xacro:property name="finger1_joint_reflects" value="${component_reflects and finger1_joint_source in reflect_include_joints}" lazy_eval="false" />
@@ -44,8 +44,8 @@ limitations under the License.
     <xacro:property name="finger2_has_mimic" value="${finger2_joint_source in joint_mimics}" />
     <xacro:property name="finger1_mimic_target_source" value="${joint_mimics[finger1_joint_source]['joint'] if finger1_has_mimic else ''}" />
     <xacro:property name="finger2_mimic_target_source" value="${joint_mimics[finger2_joint_source]['joint'] if finger2_has_mimic else ''}" />
-    <xacro:property name="finger1_mimic_target_name" value="${prefix + finger1_mimic_target_source}" />
-    <xacro:property name="finger2_mimic_target_name" value="${prefix + finger2_mimic_target_source}" />
+    <xacro:property name="finger1_mimic_target_name" value="${joint_name_map[finger1_mimic_target_source] if finger1_has_mimic else ''}" />
+    <xacro:property name="finger2_mimic_target_name" value="${joint_name_map[finger2_mimic_target_source] if finger2_has_mimic else ''}" />
     <xacro:property name="finger1_mimic_override" value="${dict(joint=finger1_mimic_target_name, multiplier=joint_mimics[finger1_joint_source]['multiplier'], offset=joint_mimics[finger1_joint_source]['offset']) if finger1_has_mimic else 'none'}" />
     <xacro:property name="finger2_mimic_override" value="${dict(joint=finger2_mimic_target_name, multiplier=joint_mimics[finger2_joint_source]['multiplier'], offset=joint_mimics[finger2_joint_source]['offset']) if finger2_has_mimic else 'none'}" />
     <xacro:openarm_emit_link
@@ -57,7 +57,7 @@ limitations under the License.
       frame_shift="${base_frame_shift}" />
 
     <xacro:openarm_emit_link
-      link_name="${prefix}${finger1_source}"
+      link_name="${link_name_map[finger1_source]}"
       source_name="${finger1_source}"
       inertials="${inertials}"
       visuals="${visuals}"
@@ -67,7 +67,7 @@ limitations under the License.
       reflect_z="${reflect_z if finger1_link_reflects else 1}" />
 
     <xacro:openarm_emit_link
-      link_name="${prefix}${finger2_source}"
+      link_name="${link_name_map[finger2_source]}"
       source_name="${finger2_source}"
       inertials="${inertials}"
       visuals="${visuals}"
@@ -118,15 +118,15 @@ limitations under the License.
       value="${dict(lower=(-finger2_joint_limit_base['upper']), upper=(-finger2_joint_limit_base['lower']), effort=finger2_joint_limit_base['effort'], velocity=finger2_joint_limit_base['velocity']) if finger2_limit_should_mirror else finger2_joint_limit_base}"
       lazy_eval="false" />
 
-    <joint name="${prefix}${finger1_joint_source}" type="${topology['joints'][finger1_joint_source]['type']}">
+    <joint name="${joint_name_map[finger1_joint_source]}" type="${topology['joints'][finger1_joint_source]['type']}">
       <xacro:if value="${use_base_frame_shift and topology['joints'][finger1_joint_source]['parent'] == base_link_name}">
         <xacro:openarm_emit_shifted_origin frame_shift="${resolved_base_frame_shift}" origin="${finger1_joint_origin_cfg}" reflect_x="${reflect_x if finger1_joint_reflects else 1}" reflect_y="${reflect_y if finger1_joint_reflects else 1}" reflect_z="${reflect_z if finger1_joint_reflects else 1}" reflect_rotation="${True}" />
       </xacro:if>
       <xacro:unless value="${use_base_frame_shift and topology['joints'][finger1_joint_source]['parent'] == base_link_name}">
         <xacro:openarm_emit_origin origin="${finger1_joint_origin_cfg}" reflect_x="${reflect_x if finger1_joint_reflects else 1}" reflect_y="${reflect_y if finger1_joint_reflects else 1}" reflect_z="${reflect_z if finger1_joint_reflects else 1}" reflect_rotation="${True}" />
       </xacro:unless>
-      <parent link="${prefix}${topology['joints'][finger1_joint_source]['parent']}" />
-      <child link="${prefix}${finger1_source}" />
+      <parent link="${link_name_map[topology['joints'][finger1_joint_source]['parent']]}" />
+      <child link="${link_name_map[finger1_source]}" />
       <xacro:if value="${topology['joints'][finger1_joint_source]['type'] != 'fixed'}">
       <axis xyz="${(reflect_x if finger1_joint_reflects else 1) * finger1_joint_axis_cfg.x} ${(reflect_y if finger1_joint_reflects else 1) * finger1_joint_axis_cfg.y} ${(reflect_z if finger1_joint_reflects else 1) * finger1_joint_axis_cfg.z}" />
       <xacro:openarm_emit_limit limit="${finger1_joint_limit_effective}" />
@@ -139,15 +139,15 @@ limitations under the License.
           </xacro:if>
     </joint>
 
-    <joint name="${prefix}${finger2_joint_source}" type="${topology['joints'][finger2_joint_source]['type']}">
+    <joint name="${joint_name_map[finger2_joint_source]}" type="${topology['joints'][finger2_joint_source]['type']}">
       <xacro:if value="${use_base_frame_shift and topology['joints'][finger2_joint_source]['parent'] == base_link_name}">
         <xacro:openarm_emit_shifted_origin frame_shift="${resolved_base_frame_shift}" origin="${finger2_joint_origin_cfg}" reflect_x="${reflect_x if finger2_joint_reflects else 1}" reflect_y="${reflect_y if finger2_joint_reflects else 1}" reflect_z="${reflect_z if finger2_joint_reflects else 1}" reflect_rotation="${True}" />
       </xacro:if>
       <xacro:unless value="${use_base_frame_shift and topology['joints'][finger2_joint_source]['parent'] == base_link_name}">
         <xacro:openarm_emit_origin origin="${finger2_joint_origin_cfg}" reflect_x="${reflect_x if finger2_joint_reflects else 1}" reflect_y="${reflect_y if finger2_joint_reflects else 1}" reflect_z="${reflect_z if finger2_joint_reflects else 1}" reflect_rotation="${True}" />
       </xacro:unless>
-      <parent link="${prefix}${topology['joints'][finger2_joint_source]['parent']}" />
-      <child link="${prefix}${finger2_source}" />
+      <parent link="${link_name_map[topology['joints'][finger2_joint_source]['parent']]}" />
+      <child link="${link_name_map[finger2_source]}" />
       <xacro:if value="${topology['joints'][finger2_joint_source]['type'] != 'fixed'}">
       <axis xyz="${(reflect_x if finger2_joint_reflects else 1) * finger2_joint_axis_cfg.x} ${(reflect_y if finger2_joint_reflects else 1) * finger2_joint_axis_cfg.y} ${(reflect_z if finger2_joint_reflects else 1) * finger2_joint_axis_cfg.z}" />
       <xacro:openarm_emit_limit limit="${finger2_joint_limit_effective}" />
@@ -164,6 +164,7 @@ limitations under the License.
       reference_points="${ee_reference_points}"
       force_emit_reference="${grasp_reference_point if emit_grasp_frame else ''}"
       prefix="${prefix}"
+      link_name_map="${link_name_map}"
       base_link_name="${base_link_name}"
       reflect_x="${reflect_x if component_reflects else 1}"
       reflect_y="${reflect_y if component_reflects else 1}"
diff --git a/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml b/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml
index a6f5f7ec..6d7df71d 100644
--- a/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-base_link:
+link1:
   origin:
     x: 0.00253123748061566
     y: -0.0258185540330169
@@ -28,7 +28,7 @@ base_link:
     yy: 0.00159935208714031
     yz: 2.7521421737084e-08
     zz: 0.000750541980863571
-link1:
+link2:
   origin:
     x: 0.000900350355624244
     y: -0.0444659716892874
@@ -44,7 +44,7 @@ link1:
     yy: 0.000759199728161993
     yz: 6.66755698859637e-08
     zz: 0.000670659201019629
-link2:
+link3:
   origin:
     x: -0.0247184924346635
     y: 7.60578399428002e-08
@@ -60,7 +60,7 @@ link2:
     yy: 0.000113062180225725
     yz: 3.75816911469744e-10
     zz: 8.22999351863579e-05
-link3:
+link4:
   origin:
     x: -0.00300861804638783
     y: -0.000514813312550808
@@ -76,7 +76,7 @@ link3:
     yy: 0.00114018992179734
     yz: -1.06260802872572e-05
     zz: 0.000559765478676303
-link4:
+link5:
   origin:
     x: -0.00310326243752606
     y: -0.00136538979048502
@@ -92,7 +92,7 @@ link4:
     yy: 0.000433926270522842
     yz: 3.41757797773822e-06
     zz: 0.000245211429759716
-link5:
+link6:
   origin:
     x: -0.000737188580130584
     y: -0.000412406544351845
@@ -108,7 +108,7 @@ link5:
     yy: 0.000334599623120095
     yz: -1.49934409279756e-07
     zz: 0.000176662464388138
-link6:
+link7:
   origin:
     x: 2.27438423593244e-05
     y: 0.00068649602098908
diff --git a/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml b/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml
index 288633ba..4980bbc4 100644
--- a/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-base_link:
+link1:
   origin:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ base_link:
       x: 1
       y: 1
       z: 1
-link1:
+link2:
   origin:
     x: 0
     y: 0
@@ -40,7 +40,7 @@ link1:
       x: 1
       y: 1
       z: 1
-link2:
+link3:
   origin:
     x: 0
     y: 0
@@ -54,7 +54,7 @@ link2:
       x: 1
       y: 1
       z: 1
-link3:
+link4:
   origin:
     x: 0
     y: 0
@@ -68,7 +68,7 @@ link3:
       x: 1
       y: 1
       z: 1
-link4:
+link5:
   origin:
     x: 0
     y: 0
@@ -82,7 +82,7 @@ link4:
       x: 1
       y: 1
       z: 1
-link5:
+link6:
   origin:
     x: 0
     y: 0
@@ -96,7 +96,7 @@ link5:
       x: 1
       y: 1
       z: 1
-link6:
+link7:
   origin:
     x: 0
     y: 0
diff --git a/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml b/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml
index 6fcf1682..9e6a8467 100644
--- a/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-base_link:
+link1:
   origin:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ base_link:
       x: 1
       y: 1
       z: 1
-link1:
+link2:
   origin:
     x: 0
     y: 0
@@ -40,7 +40,7 @@ link1:
       x: 1
       y: 1
       z: 1
-link2:
+link3:
   origin:
     x: 0
     y: 0
@@ -54,7 +54,7 @@ link2:
       x: 1
       y: 1
       z: 1
-link3:
+link4:
   origin:
     x: 0
     y: 0
@@ -68,7 +68,7 @@ link3:
       x: 1
       y: 1
       z: 1
-link4:
+link5:
   origin:
     x: 0
     y: 0
@@ -82,7 +82,7 @@ link4:
       x: 1
       y: 1
       z: 1
-link5:
+link6:
   origin:
     x: 0
     y: 0
@@ -96,7 +96,7 @@ link5:
       x: 1
       y: 1
       z: 1
-link6:
+link7:
   origin:
     x: 0
     y: 0
diff --git a/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml b/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml
index 98d02fd9..dbabebb3 100644
--- a/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml
@@ -14,23 +14,23 @@
 
 links:
   canonical_to_original:
-    base_link: base_link
-    link1: link1
-    link2: link2
-    link3: link3
-    link4: link4
-    link5: link5
-    link6: link6
-    link7: empty_link_for_J7
+    link1: base_link
+    link2: link1
+    link3: link2
+    link4: link3
+    link5: link4
+    link6: link5
+    link7: link6
+    link8: empty_link_for_J7
   original_to_canonical:
-    base_link: base_link
-    link1: link1
-    link2: link2
-    link3: link3
-    link4: link4
-    link5: link5
-    link6: link6
-    empty_link_for_J7: link7
+    base_link: link1
+    link1: link2
+    link2: link3
+    link3: link4
+    link4: link5
+    link5: link6
+    link6: link7
+    empty_link_for_J7: link8
 joints:
   canonical_to_original:
     joint1: joint1
diff --git a/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml b/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml
index 2f524870..1cd09d60 100644
--- a/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 ee_mount_point:
-  parent: link7
+  parent: link8
   origin:
     x: 0.0205
     y: 0
@@ -29,7 +29,7 @@ ee_mount_point:
       type: fixed
     parent_link:
       original_name: empty_link_for_J7
-      canonical_name: link7
+      canonical_name: link8
     child_link:
       original_name: empty_link_for_ee_mounting
       canonical_name: null
diff --git a/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml b/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml
index acd91f4b..f2f248e3 100644
--- a/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml
+++ b/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml
@@ -13,42 +13,49 @@
 # limitations under the License.
 
 collapse_empty_end: true
-
 links:
-  - base_link
-  - link1
-  - link2
-  - link3
-  - link4
-  - link5
-  - link6
-  - link7
+  link1:
+    name: base_link
+  link2:
+    name: link1
+  link3:
+    name: link2
+  link4:
+    name: link3
+  link5:
+    name: link4
+  link6:
+    name: link5
+  link7:
+    name: link6
+  link8:
+    name: link7
 joints:
   joint1:
-    type: revolute
-    parent: base_link
-    child: link1
-  joint2:
     type: revolute
     parent: link1
     child: link2
-  joint3:
+  joint2:
     type: revolute
     parent: link2
     child: link3
-  joint4:
+  joint3:
     type: revolute
     parent: link3
     child: link4
-  joint5:
+  joint4:
     type: revolute
     parent: link4
     child: link5
-  joint6:
+  joint5:
     type: revolute
     parent: link5
     child: link6
-  joint7:
+  joint6:
     type: revolute
     parent: link6
     child: link7
+  joint7:
+    type: revolute
+    parent: link7
+    child: link8
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
index 3771f40b..2a18cc1b 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
@@ -60,7 +60,7 @@ primary_arm:
     y: -1
     z: 1
     include:
-      links: [base_link, link1, link2, link5, link6, link7]
+      links: [link1, link2, link3, link6, link7, link8]
       joints: [joint1, joint2, joint3, joint5, joint6, joint7]
       reference_points: [ee_mount_point]
   limit_override_joints: {}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
index 2b94a8ae..66f1af6e 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
@@ -60,7 +60,7 @@ primary_arm:
     y: -1
     z: 1
     include:
-      links: [base_link, link1, link2, link5, link6, link7]
+      links: [link1, link2, link3, link6, link7, link8]
       joints: [joint1, joint2, joint3, joint5, joint6, joint7]
       reference_points: [ee_mount_point]
   limit_override_joints: {}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
index fbfa0663..b7146b04 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
@@ -61,7 +61,7 @@ primary_arm:
     y: -1
     z: 1
     include:
-      links: [base_link, link1, link2, link5, link6, link7]
+      links: [link1, link2, link3, link6, link7, link8]
       joints: [joint1, joint2, joint3, joint5, joint6, joint7]
       reference_points: [ee_mount_point]
   limit_override_joints: {}
diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
index 351b2678..ed37d4a9 100644
--- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
+++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
@@ -39,7 +39,7 @@ limitations under the License.
   <xacro:property name="gains_dict" value="${xacro.load_yaml(gains_file)}" />
   <xacro:property name="pinch_mimics_file" value="$(find openarm_description)/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml" />
   <xacro:property name="pinch_mimics_dict" value="${xacro.load_yaml(pinch_mimics_file)}" />
-  <xacro:property name="pinch_finger_mimic_multiplier" value="${pinch_mimics_dict['finger_joint2']['multiplier'] if 'finger_joint2' in pinch_mimics_dict else 1.0}" />
+  <xacro:property name="pinch_finger_mimic_multiplier" value="${pinch_mimics_dict['joint2']['multiplier'] if 'joint2' in pinch_mimics_dict else 1.0}" />
 
   <xacro:openarm_bimanual_ros2_control
     arm_type="v20"
diff --git a/assets/sensor/zed/urdf/component.xacro b/assets/sensor/zed/urdf/component.xacro
index 554ded90..c44546ed 100644
--- a/assets/sensor/zed/urdf/component.xacro
+++ b/assets/sensor/zed/urdf/component.xacro
@@ -35,7 +35,7 @@ limitations under the License.
                    prefix=component_prefix,
 
                    root_link_actual=sensor_root_link,
-                   topology=dict(links=[sensor_root_link], joints=dict()),
+                   topology=dict(links=dict(link1=dict(name=sensor_root_link)), joints=dict()),
                    reference_points=empty_dict,
                    joint_origins=empty_dict,
                    joint_axes=empty_dict,
@@ -44,7 +44,8 @@ limitations under the License.
                    inertials=empty_dict,
                    visuals=empty_dict,
                    collisions=empty_dict,
-                   link_name_map=empty_dict,
+                   link_name_map=dict(link1=sensor_root_link),
+                   joint_name_map=empty_dict,
                    default_mount_parent=sensor_root_link,
                    collapse_empty_end=False,
                    supports_frame_shift=False,
diff --git a/test/support.py b/test/support.py
index 870485e4..72facef0 100644
--- a/test/support.py
+++ b/test/support.py
@@ -143,7 +143,7 @@ def expand(files=None, version='v2.0', entry=None, **arguments):
 
 def model(links=('root',), joints=None):
     joints = joints or {}
-    return {'struct/topology.yaml': dict(links=list(links), joints=deepcopy(joints)),
+    return {'struct/topology.yaml': dict(links={name: {} for name in links}, joints=deepcopy(joints)),
             'struct/reference_points.yaml': {'port': dict(parent=links[-1], emit=False, origin=pose(.1, .2, .3, .2, -.1, .3))},
             'joint/joint_origins.yaml': {j: dict(origin=pose(z=.1)) for j in joints},
             'joint/joint_axes.yaml': {j: dict(axis=dict(x=0, y=0, z=1)) for j in joints},
@@ -161,13 +161,16 @@ def chain():
 
 
 def pinch():
-    data = model(('ee_base_link', 'ee_link1', 'ee_link2'), {
-        'finger_joint1': dict(type='revolute', parent='ee_base_link', child='ee_link1'),
-        'finger_joint2': dict(type='revolute', parent='ee_base_link', child='ee_link2')})
-    data['joint/joint_mimics.yaml'] = {'finger_joint2': dict(
-        joint='finger_joint1', multiplier=-1, offset=.1)}
+    data = model(('link1', 'link2', 'link3'), {
+        'joint1': dict(name='finger_joint1', type='revolute', parent='link1', child='link2'),
+        'joint2': dict(name='finger_joint2', type='revolute', parent='link1', child='link3')})
+    data['struct/topology.yaml']['links'] = {
+        'link1': dict(name='ee_base_link'),
+        'link2': dict(name='ee_link1'), 'link3': dict(name='ee_link2')}
+    data['joint/joint_mimics.yaml'] = {'joint2': dict(
+        joint='joint1', multiplier=-1, offset=.1)}
     data['struct/reference_points.yaml'] = {'grasp_frame': dict(
-        parent='ee_base_link', emit=False, origin=pose(z=.12))}
+        parent='link1', emit=False, origin=pose(z=.12))}
     return data
 
 
diff --git a/test/test_assembly.py b/test/test_assembly.py
index c7cb6c41..a5cbc8d2 100644
--- a/test/test_assembly.py
+++ b/test/test_assembly.py
@@ -54,6 +54,12 @@ def test_topology_and_values_come_from_configuration(kind):
 @pytest.mark.parametrize('product', ['fixture_tool', 'pinch_gripper'])
 def test_names_and_mimics_follow_configuration(product):
     data = pinch()
+    topology = data['struct/topology.yaml']
+    topology['joints']['joint1']['name'] = 'drive'
+    topology['joints']['joint2']['name'] = 'follower'
+    topology['links']['link1']['name'] = 'tool_base'
+    topology['links']['link2']['name'] = 'moving_finger'
+    topology['links']['link3'].pop('name')
     for item in data['struct/topology.yaml']['joints'].values():
         item['type'] = 'prismatic'
     for joint in data['joint/joint_axes.yaml'].values():
@@ -62,23 +68,29 @@ def test_names_and_mimics_follow_configuration(product):
                   b=component('end_effector', product, 'beta_', connection=dict(attach_to='a'),
                               reflect=dict(x=1, y=-1, z=1)))
     robot = assemble(spec, {'a': data, 'b': data})
-    mimic = data['joint/joint_mimics.yaml']['finger_joint2']
+    names = {key: cfg.get('name', key) for key, cfg in
+             data['struct/topology.yaml']['joints'].items()}
+    assert {link.get('name') for link in robot.findall('link')} == {'world'} | {
+        prefix + cfg.get('name', key) for prefix in ('alpha_', 'beta_')
+        for key, cfg in topology['links'].items()}
+    mimic = data['joint/joint_mimics.yaml']['joint2']
     for prefix in ('alpha_', 'beta_'):
-        joint = robot.find(f"joint[@name='{prefix}finger_joint2']")
+        joint = robot.find(f"joint[@name='{prefix}follower']")
         assert joint.get('type') == 'prismatic'
         for name, configured in data['joint/joint_limits.yaml'].items():
-            limit = robot.find(f"joint[@name='{prefix}{name}']/limit")
+            limit = robot.find(f"joint[@name='{prefix}{names[name]}']/limit")
             for key in ('lower', 'upper'):
                 assert float(limit.get(key)) == configured['limit'][key]
-        assert joint.find('mimic').get('joint') == prefix + mimic['joint']
+        assert joint.find('mimic').get(
+            'joint') == prefix + names[mimic['joint']]
         for key in ('multiplier', 'offset'):
             assert float(joint.find('mimic').get(key)) == mimic[key]
 
     reflection = [[float(i == j) * (1, -1, 1, 1)[i]
                    for j in range(4)] for i in range(4)]
     for name in data['struct/topology.yaml']['joints']:
-        right = robot.find(f"joint[@name='alpha_{name}']")
-        left = robot.find(f"joint[@name='beta_{name}']")
+        right = robot.find(f"joint[@name='alpha_{names[name]}']")
+        left = robot.find(f"joint[@name='beta_{names[name]}']")
         for endpoint in ['lower', 'upper']:
             position = float(right.find('limit').get(endpoint))
             motions = []
@@ -126,7 +138,7 @@ def test_grasp_emission_combines_configuration_and_argument():
 @pytest.mark.parametrize('tool', [False, True])
 def test_overrides_are_applied_before_reflection(tool):
     data = pinch() if tool else chain()
-    name = 'finger_joint1' if tool else 'pivot'
+    name = 'joint1' if tool else 'pivot'
     origin = pose(.03, .04, .05, .2, -.3, .4)
     limit = dict(lower=-.2, upper=.7, effort=12, velocity=4)
     spec = preset(unit=component('end_effector' if tool else 'robot',
@@ -134,7 +146,9 @@ def test_overrides_are_applied_before_reflection(tool):
                                  reflect=dict(x=1, y=-1, z=1),
                                  origin_override_joints={name: origin}, limit_override_joints={name: limit}))
     robot = assemble(spec, {'unit': data})
-    joint = robot.find(f"joint[@name='unit_{name}']")
+    emitted_name = data['struct/topology.yaml']['joints'][name].get(
+        'name', name)
+    joint = robot.find(f"joint[@name='unit_{emitted_name}']")
     expected = deepcopy(origin)
     for key in ('y', 'roll', 'yaw'):
         expected[key] *= -1
@@ -151,10 +165,10 @@ def test_reflection_selection_preserves_unselected_joints(product):
     for joint in data['joint/joint_axes.yaml'].values():
         joint['axis'].update(x=.6, y=.8, z=0.)
     spec = preset(tool=component('end_effector', product, 'tool_',
-                                 reflect=dict(x=1, y=-1, z=1, include=dict(links=['ee_base_link'], joints=[], reference_points=[]))))
+                                 reflect=dict(x=1, y=-1, z=1, include=dict(links=['link1'], joints=[], reference_points=[]))))
     robot = assemble(spec, {'tool': data})
     base = robot.find("link[@name='tool_ee_base_link']/inertial")
-    source = data['inertials/nominal.yaml']['ee_base_link']
+    source = data['inertials/nominal.yaml']['link1']
     assert float(base.find('mass').get('value')) == source['mass']
     expected = deepcopy(source['origin'])
     expected['y'] *= -1
@@ -163,7 +177,9 @@ def test_reflection_selection_preserves_unselected_joints(product):
         sign = -1 if key in ('xy', 'yz') else 1
         assert float(base.find('inertia').get('i'+key)) == sign * value
     for name in data['struct/topology.yaml']['joints']:
-        joint = robot.find(f"joint[@name='tool_{name}']")
+        emitted_name = data['struct/topology.yaml']['joints'][name].get(
+            'name', name)
+        joint = robot.find(f"joint[@name='tool_{emitted_name}']")
         near(transform(joint.find('origin')), transform(
             data['joint/joint_origins.yaml'][name]['origin']))
         assert [float(v) for v in joint.find('axis').get('xyz').split()] == list(
@@ -181,24 +197,24 @@ def test_folding_preserves_physical_properties_and_frames():
     assert robot.find("link[@name='arm_tip']") is not None
 
     spec, data = installed_tool(False)
-    data['tool']['struct/topology.yaml']['joints']['finger_joint2']['parent'] = 'ee_link1'
+    data['tool']['struct/topology.yaml']['joints']['joint2']['parent'] = 'link2'
     data['arm']['struct/reference_points.yaml']['port']['emit'] = True
     geometry = dict(mesh='package://fixture_meshes/shape.stl',
                     scale=dict(x=1, y=1, z=1))
     shape = dict(origin=pose(.02, -.04, .01, .2, .1, -.3), geometry=geometry)
-    data['tool']['link/visuals.yaml']['ee_base_link'] = deepcopy(shape)
-    data['tool']['link/collisions.yaml']['ee_base_link'] = deepcopy(shape)
+    data['tool']['link/visuals.yaml']['link1'] = deepcopy(shape)
+    data['tool']['link/collisions.yaml']['link1'] = deepcopy(shape)
     spec['tool']['reflect'] = dict(x=1, y=-1, z=1, include=dict(
-        links=['ee_base_link'], joints=[], reference_points=[]))
+        links=['link1'], joints=[], reference_points=[]))
     spec['tool']['origin_override_joints'] = {
-        'finger_joint1': pose(.04, .03, .02, .3, .2, .1)}
+        'joint1': pose(.04, .03, .02, .3, .2, .1)}
     first = assemble(spec, data, emit_grasp_frame=True)
     data['arm']['struct/topology.yaml']['collapse_empty_end'] = True
     second = assemble(spec, data, emit_grasp_frame=True)
     physical_equal(first, second)
     for frame in ('arm_port', 'tool_grasp_frame'):
         near(poses(first)[frame], poses(second)[frame])
-    mass = data['tool']['inertials/nominal.yaml']['ee_base_link']['mass']
+    mass = data['tool']['inertials/nominal.yaml']['link1']['mass']
     assert float(second.find(
         "link[@name='tool_ee_base_link']/inertial/mass").get('value')) == mass
 
diff --git a/test/test_entrypoints.py b/test/test_entrypoints.py
index 3cfa0134..4fb33c37 100644
--- a/test/test_entrypoints.py
+++ b/test/test_entrypoints.py
@@ -28,7 +28,7 @@ def write_configuration(directory, data):
 
 def test_pinch_entry_forwards_reference_options(tmp_path):
     data = pinch()
-    reference = dict(parent='ee_base_link', emit=True,
+    reference = dict(parent='link1', emit=True,
                      origin=pose(.01, .02, .03, .2, -.1, .3))
     data['struct/reference_points.yaml']['probe'] = reference
     write_configuration(tmp_path, data)
@@ -44,10 +44,10 @@ def test_pinch_entry_forwards_reference_options(tmp_path):
         data = pinch()
         joints = data['struct/topology.yaml']['joints']
         if invalid == 'unknown link':
-            joints['finger_joint1']['parent'] = 'missing'
+            joints['joint1']['parent'] = 'missing'
         else:
-            joints['finger_joint1']['parent'] = joints['finger_joint2']['child']
-            joints['finger_joint2']['parent'] = joints['finger_joint1']['child']
+            joints['joint1']['parent'] = joints['joint2']['child']
+            joints['joint2']['parent'] = joints['joint1']['child']
         write_configuration(tmp_path, data)
         with pytest.raises(xacro.XacroException, match=invalid):
             expand(entry='assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro',

From 2f9d21018913098214a3a7c6ebd7b475094680ee Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 6 Nov 2026 19:24:41 +0900
Subject: [PATCH 2/2] Declare control systems using component keys and stable
 joint indices

---
 README.md                                     |   2 +
 assets/common/assembly.xacro                  |  59 +++----
 assets/common/ros2_control.xacro              | 129 ++++++++++++++
 assets/component_loader.xacro                 |   3 +-
 .../robot_presets/default_bimanual.yaml       |  26 +++
 .../config/robot_presets/left_arm.yaml        |  12 ++
 .../left_arm_with_pinch_gripper.yaml          |  14 ++
 .../config/robot_presets/right_arm.yaml       |  12 ++
 .../right_arm_with_pinch_gripper.yaml         |  14 ++
 .../robot/openarm_v2.0/urdf/example/v2.urdf   |  16 --
 .../openarm_v2.0/urdf/openarm_v20.urdf.xacro  |  46 ++---
 .../openarm.bimanual.ros2_control.xacro       | 157 -----------------
 .../ros2_control/openarm.ros2_control.xacro   | 107 ------------
 launch/display_openarm.launch.py              |   5 +-
 test/support.py                               |  11 --
 test/test_interfaces.py                       | 161 ++++++++++++++++++
 test/test_models.py                           |  43 +++++
 17 files changed, 465 insertions(+), 352 deletions(-)
 create mode 100644 assets/common/ros2_control.xacro
 delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
 delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
 create mode 100644 test/test_models.py

diff --git a/README.md b/README.md
index 7f82e7cf..65483f8c 100644
--- a/README.md
+++ b/README.md
@@ -51,3 +51,5 @@ Copyright 2025 Enactic, Inc.
 
 All participation in the OpenArm project is governed by our
 [Code of Conduct](CODE_OF_CONDUCT.md).
+
+Control partitions are declared under the preset's top-level `systems` mapping. Each system's `joints` maps component instance names to stable local joint keys with an `idx`. Each active joint requires a unique non-negative integer `idx` within its system; gaps are allowed. Joints are emitted in index order, with `idx` included as a joint parameter for runtime adapters. Disabled components are skipped, and final joint names come from the resolved component descriptions. Standard OpenArm hardware defaults are supplied by the model entry. Per-system hardware_plugin and driver parameters can override those defaults, and CAN launch arguments take precedence. `use_fake_hardware:=true` selects `mock_components/GenericSystem`. Optional `command_interfaces` and `state_interfaces` default to `[position, velocity, effort]`.
diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro
index e24c8c6a..1398db64 100644
--- a/assets/common/assembly.xacro
+++ b/assets/common/assembly.xacro
@@ -16,23 +16,21 @@ limitations under the License.
 
   <xacro:include filename="$(find openarm_description)/assets/common/components.xacro" />
 
-  <xacro:macro name="openarm_collect_collapsible_children"
-    params="names robot_preset component_api options out_name index:=0 candidates:=${dict()}">
+  <xacro:macro name="openarm_collect_component_descriptions"
+    params="names robot_preset component_api options out_name index:=0 descriptions:=${dict()}">
     <xacro:if value="${index &lt; len(names)}">
       <xacro:property name="name" value="${names[index]}" />
       <xacro:call macro="${component_api['describe']}" component_name="${name}" component_cfg="${robot_preset[name]}"
         options="${options}" out_name="description" />
-      <xacro:if value="${description.get('supports_frame_shift', False)}">
-        <xacro:property name="candidates" value="${dict(list(candidates.items()) + [(name, description)])}" lazy_eval="false" />
-      </xacro:if>
-      <xacro:openarm_collect_collapsible_children names="${names}" robot_preset="${robot_preset}"
-        component_api="${component_api}" options="${options}" index="${index + 1}" candidates="${candidates}" out_name="candidates" />
+      <xacro:property name="descriptions" value="${dict(list(descriptions.items()) + [(name, description)])}" lazy_eval="false" />
+      <xacro:openarm_collect_component_descriptions names="${names}" robot_preset="${robot_preset}"
+        component_api="${component_api}" options="${options}" index="${index + 1}" descriptions="${descriptions}" out_name="descriptions" />
     </xacro:if>
-    <xacro:property name="${out_name}" value="${candidates}" scope="parent" lazy_eval="false" />
+    <xacro:property name="${out_name}" value="${descriptions}" scope="parent" lazy_eval="false" />
   </xacro:macro>
 
   <xacro:macro name="openarm_resolve_component_runtime"
-    params="component_api component_name components robot_preset config_root root_frame component_cfg component_desc parent_desc:=none emit_grasp_frame:=false out_name">
+    params="component_descriptions component_name components robot_preset config_root root_frame component_cfg component_desc parent_desc:=none emit_grasp_frame:=false out_name">
 
     <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
     <xacro:property name="zero_origin" value="${dict(x=0.0, y=0.0, z=0.0, roll=0.0, pitch=0.0, yaw=0.0)}" lazy_eval="false" />
@@ -133,8 +131,9 @@ limitations under the License.
       value="${[name for name in attached_children if component_terminal_link_empty and 'parent_reference_point' in robot_preset[name]['connection'] and robot_preset[name]['connection']['parent_reference_point'] != None and ('parent' not in robot_preset[name]['connection'] or robot_preset[name]['connection']['parent'] == None) and robot_preset[name]['connection']['parent_reference_point'] in component_desc['reference_points'] and component_desc['reference_points'][robot_preset[name]['connection']['parent_reference_point']]['parent'] == component_terminal_link]}"
       lazy_eval="false" />
 
-    <xacro:openarm_collect_collapsible_children names="${collapse_candidate_names}" robot_preset="${robot_preset}"
-      component_api="${component_api}" options="${dict(emit_grasp_frame=emit_grasp_frame)}" out_name="candidate_descriptions" />
+    <xacro:property name="candidate_descriptions"
+      value="${dict([(name, component_descriptions[name]) for name in collapse_candidate_names if component_descriptions[name].get('supports_frame_shift', False)])}"
+      lazy_eval="false" />
     <xacro:openarm_require condition="${len(candidate_descriptions) &lt;= 1}"
       message="${'Invalid robot preset: component %s has multiple children competing to collapse the same terminal empty link.' % component_name}" />
     <xacro:if value="${len(candidate_descriptions) == 1}">
@@ -169,20 +168,12 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_component_tree"
-    params="component_api component_name components robot_preset config_root root_frame parent_desc:=none preloaded_desc:=none emit_grasp_frame:=false">
+    params="component_api component_descriptions component_name components robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false">
 
-    <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
     <xacro:property name="component_cfg" value="${robot_preset[component_name]}" lazy_eval="false" />
-    <xacro:property name="component_desc" value="${preloaded_desc}" lazy_eval="false" />
+    <xacro:property name="component_desc" value="${component_descriptions[component_name]}" lazy_eval="false" />
 
-    <xacro:if value="${component_desc == none_value}">
-      <xacro:call macro="${component_api['describe']}"
-        component_name="${component_name}"
-        component_cfg="${component_cfg}"
-        out_name="component_desc" options="${dict(emit_grasp_frame=emit_grasp_frame)}" />
-    </xacro:if>
-
-    <xacro:openarm_resolve_component_runtime component_api="${component_api}"
+    <xacro:openarm_resolve_component_runtime component_descriptions="${component_descriptions}"
       component_name="${component_name}"
       components="${components}"
       robot_preset="${robot_preset}"
@@ -203,7 +194,7 @@ limitations under the License.
       component_runtime="${component_runtime}"
       options="${dict(emit_grasp_frame=emit_grasp_frame)}" />
 
-    <xacro:openarm_emit_attached_components component_api="${component_api}"
+    <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
       index="0"
       components="${components}"
       parent_component_name="${component_name}"
@@ -211,13 +202,11 @@ limitations under the License.
       config_root="${config_root}"
       root_frame="${root_frame}"
       parent_desc="${component_desc}"
-      preloaded_component_name="${component_runtime['collapse_child_name']}"
-      preloaded_component_desc="${component_runtime['collapse_child_desc']}"
       emit_grasp_frame="${emit_grasp_frame}" />
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_attached_components"
-    params="component_api index components parent_component_name robot_preset config_root root_frame parent_desc:=none preloaded_component_name:=none preloaded_component_desc:=none emit_grasp_frame:=false">
+    params="component_api component_descriptions index components parent_component_name robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false">
 
     <xacro:if value="${index &lt; len(components)}">
       <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
@@ -228,22 +217,19 @@ limitations under the License.
       <xacro:property name="attach_to" value="${connection['attach_to'] if 'attach_to' in connection else None}" lazy_eval="false" />
       <xacro:property name="is_root_component" value="${parent_component_name == '__root__' and attach_to == None}" lazy_eval="false" />
       <xacro:property name="is_attached_child" value="${attach_to == parent_component_name}" lazy_eval="false" />
-      <!-- Reuse a preloaded descriptor when collapse analysis already loaded it for this child. -->
-      <xacro:property name="component_desc_override" value="${preloaded_component_desc if component_name == preloaded_component_name else none_value}" lazy_eval="false" />
 
       <xacro:if value="${component_enabled and (is_root_component or is_attached_child)}">
-        <xacro:openarm_emit_component_tree component_api="${component_api}"
+        <xacro:openarm_emit_component_tree component_api="${component_api}" component_descriptions="${component_descriptions}"
           component_name="${component_name}"
           components="${components}"
           robot_preset="${robot_preset}"
           config_root="${config_root}"
           root_frame="${root_frame}"
           parent_desc="${none_value if is_root_component else parent_desc}"
-          preloaded_desc="${component_desc_override}"
           emit_grasp_frame="${emit_grasp_frame}" />
       </xacro:if>
 
-      <xacro:openarm_emit_attached_components component_api="${component_api}"
+      <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
         index="${index + 1}"
         components="${components}"
         parent_component_name="${parent_component_name}"
@@ -251,14 +237,12 @@ limitations under the License.
         config_root="${config_root}"
         root_frame="${root_frame}"
         parent_desc="${parent_desc}"
-        preloaded_component_name="${preloaded_component_name}"
-        preloaded_component_desc="${preloaded_component_desc}"
         emit_grasp_frame="${emit_grasp_frame}" />
     </xacro:if>
   </xacro:macro>
 
   <xacro:macro name="openarm_assemble_robot"
-    params="component_api config_root robot_preset emit_grasp_frame:=false">
+    params="component_api config_root robot_preset emit_grasp_frame:=false out_name:=component_descriptions">
 
     <xacro:property name="robot_cfg" value="${robot_preset['robot']}" lazy_eval="false" />
     <xacro:property name="root_frame" value="${robot_cfg['root_frame']}" lazy_eval="false" />
@@ -268,9 +252,14 @@ limitations under the License.
       components="${components}"
       robot_preset="${robot_preset}" />
 
+    <xacro:property name="enabled_components" value="${[name for name in components if robot_preset[name]['enabled']]}" lazy_eval="false" />
+    <xacro:openarm_collect_component_descriptions names="${enabled_components}" robot_preset="${robot_preset}"
+      component_api="${component_api}" options="${dict(emit_grasp_frame=emit_grasp_frame)}" out_name="component_descriptions" />
+    <xacro:property name="${out_name}" value="${component_descriptions}" scope="parent" lazy_eval="false" />
+
     <link name="${root_frame}" />
 
-    <xacro:openarm_emit_attached_components component_api="${component_api}"
+    <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
       index="0"
       components="${components}"
       parent_component_name="__root__"
diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro
new file mode 100644
index 00000000..3d56459a
--- /dev/null
+++ b/assets/common/ros2_control.xacro
@@ -0,0 +1,129 @@
+<?xml version="1.0"?>
+<!--
+Copyright 2026 Enactic, Inc.
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+    http://www.apache.org/licenses/LICENSE-2.0
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />
+
+  <xacro:macro name="openarm_control_parameters" params="values index:=0">
+    <xacro:property name="keys" value="${list(values.keys())}" />
+    <xacro:if value="${index &lt; len(keys)}">
+      <param name="${keys[index]}">${values[keys[index]]}</param>
+      <xacro:openarm_control_parameters values="${values}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_control_interfaces" params="kind names index:=0">
+    <xacro:if value="${index &lt; len(names)}">
+      <xacro:element xacro:name="${kind}">
+        <xacro:attribute name="name" value="${names[index]}" />
+        <xacro:if value="${kind == 'state_interface'}">
+          <param name="initial_value">0.0</param>
+        </xacro:if>
+      </xacro:element>
+      <xacro:openarm_control_interfaces kind="${kind}" names="${names}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_control_joints" params="joint_names joint_indices command_interfaces state_interfaces index:=0">
+    <xacro:if value="${index &lt; len(joint_names)}">
+      <joint name="${joint_names[index]}">
+        <param name="idx">${joint_indices[index]}</param>
+        <xacro:openarm_control_interfaces kind="command_interface" names="${command_interfaces}" />
+        <xacro:openarm_control_interfaces kind="state_interface" names="${state_interfaces}" />
+      </joint>
+      <xacro:openarm_control_joints joint_names="${joint_names}" joint_indices="${joint_indices}" command_interfaces="${command_interfaces}"
+        state_interfaces="${state_interfaces}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_arm_control_parameters" params="description ee_type arm_type out_name">
+    <xacro:property name="gains" value="${xacro.load_yaml(description['config_root'] + '/control/control_gains.yaml')}" lazy_eval="false" />
+    <xacro:property name="prefix" value="${description['prefix']}" />
+    <xacro:property name="parameters"
+      value="${dict(arm_type=arm_type, arm_prefix=prefix[8:] if prefix.startswith('openarm_') else prefix, hand=ee_type != '', ee_type=ee_type)}" lazy_eval="false" />
+    <xacro:property name="gain_parameters"
+      value="${dict([(kind + str(index), gains['joint' + str(index)][kind]) for kind in ['kp', 'kd'] for index in [1, 2, 3, 4, 5, 6, 7]])}" lazy_eval="false" />
+    <xacro:property name="parameters" value="${dict(parameters, **gain_parameters)}" lazy_eval="false" />
+    <xacro:if value="${ee_type != '' and 'hand' in gains}">
+      <xacro:property name="parameters" value="${dict(parameters, kp_hand=gains['hand']['kp'], kd_hand=gains['hand']['kd'])}" lazy_eval="false" />
+    </xacro:if>
+    <xacro:property name="${out_name}" value="${parameters}" scope="parent" lazy_eval="false" />
+  </xacro:macro>
+
+  <xacro:macro name="openarm_ros2_control"
+    params="robot_preset component_descriptions arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false hardware_defaults:=${dict()} hardware_overrides:=${dict()} index:=0 claimed_joints:=${[]}">
+    <xacro:property name="systems" value="${robot_preset.get('systems', dict())}" lazy_eval="false" />
+    <xacro:property name="system_names" value="${list(systems)}" lazy_eval="false" />
+    <xacro:if value="${index &lt; len(system_names)}">
+      <xacro:property name="system_name" value="${system_names[index]}" lazy_eval="false" />
+      <xacro:property name="control" value="${dict(hardware_defaults.get(system_name, dict()), **systems[system_name])}" lazy_eval="false" />
+      <xacro:property name="control" value="${dict(control, **hardware_overrides.get(system_name, dict()))}" lazy_eval="false" />
+      <xacro:property name="selection" value="${control['joints']}" lazy_eval="false" />
+      <xacro:openarm_require condition="${python.all(name in robot_preset['robot']['components'] for name in selection)}"
+        message="${'System `%s` references an unknown component.' % system_name}" />
+      <xacro:property name="components" value="${[name for name in selection if name in component_descriptions and selection[name]]}" lazy_eval="false" />
+      <xacro:property name="bindings" value="${[(name, joint) for name in components for joint in selection[name]]}" lazy_eval="false" />
+      <xacro:openarm_require condition="${python.all(joint in component_descriptions[name]['topology']['joints'] for name, joint in bindings)}"
+        message="${'System `%s` references an unknown joint.' % system_name}" />
+      <xacro:property name="command_interfaces" value="${control.get('command_interfaces', ['position', 'velocity', 'effort'])}" lazy_eval="false" />
+      <xacro:property name="state_interfaces" value="${control.get('state_interfaces', ['position', 'velocity', 'effort'])}" lazy_eval="false" />
+      <xacro:openarm_require condition="${command_interfaces or state_interfaces}"
+        message="${'System `%s` must expose at least one interface.' % system_name}" />
+      <xacro:openarm_require condition="${not command_interfaces or python.all(component_descriptions[name]['topology']['joints'][joint]['type'] != 'fixed' and joint not in component_descriptions[name]['joint_mimics'] for name, joint in bindings)}"
+        message="${'System `%s` assigns commands to a fixed or mimic joint.' % system_name}" />
+      <xacro:property name="indices" value="${[selection[name][joint].get('idx') for name, joint in bindings]}" lazy_eval="false" />
+      <xacro:openarm_require condition="${python.all(python.type(idx) == int and idx &gt;= 0 for idx in indices)}"
+        message="${'System `%s` requires a non-negative integer idx for each joint.' % system_name}" />
+      <xacro:openarm_require condition="${len(python.set(indices)) == len(indices)}"
+        message="${'System `%s` contains duplicate idx values.' % system_name}" />
+      <xacro:property name="ordered_bindings" value="${python.sorted([(selection[name][joint]['idx'], name, joint) for name, joint in bindings])}" lazy_eval="false" />
+      <xacro:property name="joint_names" value="${[component_descriptions[name]['joint_name_map'][joint] for idx, name, joint in ordered_bindings]}" lazy_eval="false" />
+      <xacro:property name="joint_indices" value="${[idx for idx, name, joint in ordered_bindings]}" lazy_eval="false" />
+      <xacro:openarm_require condition="${len(python.set(joint_names)) == len(joint_names) and python.all(name not in claimed_joints for name in joint_names)}"
+        message="${'System `%s` contains a duplicate joint assignment.' % system_name}" />
+      <xacro:if value="${joint_names}">
+        <xacro:property name="parameters" value="${dict()}" lazy_eval="false" />
+        <xacro:property name="plugin" value="${control.get('hardware_plugin', '')}" lazy_eval="false" />
+        <xacro:if value="${use_fake_hardware}">
+          <xacro:property name="plugin" value="mock_components/GenericSystem" />
+          <xacro:property name="parameters" value="${dict(mock_sensor_commands=fake_sensor_commands, position_state_following_offset=0.0)}" lazy_eval="false" />
+        </xacro:if>
+        <xacro:unless value="${use_fake_hardware}">
+          <xacro:openarm_require condition="${plugin != ''}" message="${'Configure hardware_plugin for system `%s`.' % system_name}" />
+          <xacro:if value="${plugin == 'openarm_hardware/OpenArmHW'}">
+            <xacro:property name="arms" value="${[name for name in components if component_descriptions[name]['component_type'] == 'arm']}" lazy_eval="false" />
+            <xacro:property name="grippers" value="${[name for name in components if component_descriptions[name]['component_type'] == 'end_effector']}" lazy_eval="false" />
+            <xacro:openarm_require condition="${len(arms) == 1 and len(selection[arms[0]]) == 7 and len(grippers) &lt;= 1 and (not grippers or len(selection[grippers[0]]) == 1) and len(components) == len(arms) + len(grippers)}"
+              message="${'OpenArmHW system `%s` requires seven arm joints and at most one active gripper joint.' % system_name}" />
+            <xacro:openarm_require condition="${'can_interface' in control}" message="${'Configure can_interface for system `%s`.' % system_name}" />
+            <xacro:property name="ee_type" value="${component_descriptions[grippers[0]]['product'] if grippers else ''}" lazy_eval="false" />
+            <xacro:openarm_arm_control_parameters description="${component_descriptions[arms[0]]}" ee_type="${ee_type}" arm_type="${arm_type}" out_name="parameters" />
+          </xacro:if>
+        </xacro:unless>
+        <xacro:property name="configured_parameters" value="${dict([(key, value) for key, value in control.items() if key not in ['hardware_plugin', 'joints', 'command_interfaces', 'state_interfaces']])}" lazy_eval="false" />
+        <xacro:property name="parameters" value="${dict(parameters, **configured_parameters)}" lazy_eval="false" />
+        <ros2_control name="${system_name}" type="system">
+          <hardware>
+            <plugin>${plugin}</plugin>
+            <xacro:openarm_control_parameters values="${parameters}" />
+          </hardware>
+          <xacro:openarm_control_joints joint_names="${joint_names}" joint_indices="${joint_indices}" command_interfaces="${command_interfaces}" state_interfaces="${state_interfaces}" />
+        </ros2_control>
+      </xacro:if>
+      <xacro:openarm_ros2_control robot_preset="${robot_preset}" component_descriptions="${component_descriptions}"
+        arm_type="${arm_type}" use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}"
+        hardware_defaults="${hardware_defaults}" hardware_overrides="${hardware_overrides}" index="${index + 1}" claimed_joints="${claimed_joints + joint_names}" />
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/assets/component_loader.xacro b/assets/component_loader.xacro
index a73afbdc..f4536023 100644
--- a/assets/component_loader.xacro
+++ b/assets/component_loader.xacro
@@ -47,13 +47,12 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_standalone_component" params="component_cfg component_desc options:=${dict()} root_frame:=world">
-    <xacro:property name="component_api" value="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}" />
     <xacro:property name="preset" value="${dict(component=component_cfg)}" />
     <xacro:openarm_validate_robot_preset components="${['component']}" robot_preset="${preset}" />
     <link name="${root_frame}" />
     <xacro:openarm_resolve_component_runtime component_name="component" components="${['component']}"
       robot_preset="${preset}" config_root="${component_desc['config_root']}" root_frame="${root_frame}"
-      component_cfg="${component_cfg}" component_desc="${component_desc}" component_api="${component_api}" out_name="component_runtime" />
+      component_cfg="${component_cfg}" component_desc="${component_desc}" component_descriptions="${dict(component=component_desc)}" out_name="component_runtime" />
     <xacro:openarm_emit_auto_component component_desc="${component_desc}" component_runtime="${component_runtime}" options="${options}" />
   </xacro:macro>
 </robot>
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
index 2a18cc1b..559c7625 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
@@ -118,3 +118,29 @@ secondary_arm_end_effector:
     y: 1
     z: 1
   limit_override_joints: {}
+
+systems:
+  openarm_left_hardware_interface:
+    joints:
+      primary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      primary_arm_end_effector:
+        joint1: {idx: 8}
+  openarm_right_hardware_interface:
+    joints:
+      secondary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      secondary_arm_end_effector:
+        joint1: {idx: 8}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
index 66f1af6e..b4debe9d 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
@@ -122,3 +122,15 @@ secondary_arm_end_effector:
     y: 1
     z: 1
   limit_override_joints: {}
+
+systems:
+  openarm_left_hardware_interface:
+    joints:
+      primary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
index b7146b04..18fb9066 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
@@ -123,3 +123,17 @@ secondary_arm_end_effector:
     y: 1
     z: 1
   limit_override_joints: {}
+
+systems:
+  openarm_left_hardware_interface:
+    joints:
+      primary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      primary_arm_end_effector:
+        joint1: {idx: 8}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
index fe26dd88..d62cd67c 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
@@ -122,3 +122,15 @@ secondary_arm_end_effector:
     y: -1
     z: 1
   limit_override_joints: {}
+
+systems:
+  openarm_right_hardware_interface:
+    joints:
+      primary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
index f5e60d0e..06936a6b 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
@@ -119,3 +119,17 @@ secondary_arm_end_effector:
     y: -1
     z: 1
   limit_override_joints: {}
+
+systems:
+  openarm_right_hardware_interface:
+    joints:
+      primary_arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      primary_arm_end_effector:
+        joint1: {idx: 8}
diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
index 39ad0c70..9ae8fcba 100644
--- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf
+++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
@@ -711,14 +711,6 @@ limitations under the License.
         <param name="initial_value">0.0</param>
       </state_interface>
     </joint>
-    <!-- <joint name="openarm_${left_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${left_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${left_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
   </ros2_control>
   <ros2_control name="openarm_right_hardware_interface" type="system">
     <hardware>
@@ -839,13 +831,5 @@ limitations under the License.
         <param name="initial_value">0.0</param>
       </state_interface>
     </joint>
-    <!-- <joint name="openarm_${right_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${right_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${right_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
   </ros2_control>
 </robot>
diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
index ed37d4a9..dee35f42 100644
--- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
+++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
@@ -16,42 +16,42 @@ limitations under the License.
 
   <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro" />
 
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
+  <xacro:include filename="$(find openarm_description)/assets/common/ros2_control.xacro" />
 
   <xacro:arg name="robot_preset" default="default_bimanual" />
   <xacro:arg name="emit_grasp_frame" default="false" />
 
+  <xacro:arg name="ros2_control" default="true" />
+  <xacro:arg name="fake_sensor_commands" default="false" />
   <xacro:arg name="use_fake_hardware" default="true" />
-  <xacro:arg name="left_can_interface" default="can1" />
-  <xacro:arg name="right_can_interface" default="can0" />
-  <xacro:arg name="can_fd" default="true" />
+  <xacro:arg name="left_can_interface" default="" />
+  <xacro:arg name="right_can_interface" default="" />
+  <xacro:arg name="can_fd" default="" />
 
   <xacro:property name="robot_root" value="$(find openarm_description)/assets/robot/openarm_v2.0" />
   <xacro:property name="config_root" value="${robot_root + '/config'}" />
   <xacro:property name="robot_preset_cfg" value="${xacro.load_yaml(config_root + '/robot_presets/' + '$(arg robot_preset)' + '.yaml')}" />
 
-  <xacro:openarm_assemble_robot component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
+  <xacro:openarm_assemble_robot out_name="component_descriptions" component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
     config_root="${config_root}"
     robot_preset="${robot_preset_cfg}"
     emit_grasp_frame="$(arg emit_grasp_frame)" />
 
-  <xacro:property name="gains_file" value="${config_root}/arm/control/control_gains.yaml" />
-  <xacro:property name="gains_dict" value="${xacro.load_yaml(gains_file)}" />
-  <xacro:property name="pinch_mimics_file" value="$(find openarm_description)/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml" />
-  <xacro:property name="pinch_mimics_dict" value="${xacro.load_yaml(pinch_mimics_file)}" />
-  <xacro:property name="pinch_finger_mimic_multiplier" value="${pinch_mimics_dict['joint2']['multiplier'] if 'joint2' in pinch_mimics_dict else 1.0}" />
-
-  <xacro:openarm_bimanual_ros2_control
-    arm_type="v20"
-    control_gains="${gains_dict}"
-    use_fake_hardware="$(arg use_fake_hardware)"
-    left_can_interface="$(arg left_can_interface)"
-    right_can_interface="$(arg right_can_interface)"
-    can_fd="$(arg can_fd)"
-    ee_type="pinch_gripper"
-    left_arm_prefix="left_"
-    right_arm_prefix="right_"
-    left_finger_mimic_multiplier="${pinch_finger_mimic_multiplier}"
-    right_finger_mimic_multiplier="${pinch_finger_mimic_multiplier}" />
+  <xacro:if value="$(arg ros2_control)">
+    <xacro:property name="hardware_defaults" value="${dict(
+      openarm_left_hardware_interface=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can1', can_fd=True),
+      openarm_right_hardware_interface=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can0', can_fd=True))}" />
+    <xacro:openarm_require condition="${xacro.arg('can_fd').lower() in ['', 'true', 'false', '1', '0']}"
+      message="can_fd must be true, false, 1, 0, or empty." />
+    <xacro:property name="fd_override" value="${dict(can_fd=xacro.arg('can_fd').lower() in ['true', '1']) if xacro.arg('can_fd') else dict()}" />
+    <xacro:property name="left_override" value="${dict(can_interface=xacro.arg('left_can_interface')) if xacro.arg('left_can_interface') else dict()}" />
+    <xacro:property name="right_override" value="${dict(can_interface=xacro.arg('right_can_interface')) if xacro.arg('right_can_interface') else dict()}" />
+    <xacro:property name="hardware_overrides" value="${dict(
+      openarm_left_hardware_interface=dict(fd_override, **left_override),
+      openarm_right_hardware_interface=dict(fd_override, **right_override))}" />
+    <xacro:openarm_ros2_control robot_preset="${robot_preset_cfg}" component_descriptions="${component_descriptions}"
+      use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)"
+      hardware_defaults="${hardware_defaults}" hardware_overrides="${hardware_overrides}" />
+  </xacro:if>
 
 </robot>
diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
deleted file mode 100644
index e7b25ad8..00000000
--- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ /dev/null
@@ -1,157 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2026 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_bimanual_ros2_control"
-         params="arm_type
-             control_gains
-             left_can_interface:=^|can1
-             right_can_interface:=^|can0
-             use_fake_hardware:=^|false
-             fake_sensor_commands:=^|false
-             ee_type:=^|pinch_gripper
-             left_arm_prefix:=^|left_
-             right_arm_prefix:=^|right_
-             left_finger_mimic_multiplier:=^|1.0
-             right_finger_mimic_multiplier:=^|1.0
-             can_fd:=^|true">
-
-    <ros2_control name="openarm_left_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:unless value="${use_fake_hardware}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${left_can_interface}</param>
-            <param name="arm_prefix">${left_arm_prefix}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:unless>
-        </hardware>
-
-      <xacro:macro name="configure_joint" params="joint_name initial_position">
-        <joint name="${joint_name}">
-          <command_interface name="position"/>
-          <command_interface name="velocity"/>
-          <command_interface name="effort"/>
-
-          <state_interface name="position">
-            <param name="initial_value">${initial_position}</param>
-          </state_interface>
-
-          <state_interface name="velocity">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-          <state_interface name="effort">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-        </joint>
-      </xacro:macro>
-
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}finger_joint1" initial_position="0.0" />
-
-      <!-- <joint name="openarm_${left_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${left_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${left_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
-
-    </ros2_control>
-
-    <ros2_control name="openarm_right_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:unless value="${use_fake_hardware}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${right_can_interface}</param>
-            <param name="arm_prefix">${right_arm_prefix}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:unless>
-        </hardware>
-
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}finger_joint1" initial_position="0.0" />
-
-      <!-- <joint name="openarm_${right_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${right_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${right_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
-
-    </ros2_control>
-
-  </xacro:macro>
-
-</robot>
diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
deleted file mode 100644
index 59f182b2..00000000
--- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
+++ /dev/null
@@ -1,107 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2026 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_arm_ros2_control"
-         params="arm_type
-             control_gains
-             can_interface
-             use_fake_hardware:=^|false
-             fake_sensor_commands:=^|false
-             hand:=^|false
-             ee_type:=^|parallel_link
-             gazebo_effort:=^|false
-             arm_prefix:=''
-             bimanual:=false
-             can_fd:=^|true">
-
-    <ros2_control name="openarm_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <param name="prefix">${arm_prefix}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:if value="${use_fake_hardware == 0}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${can_interface}</param>
-            <param name="arm_prefix">${arm_prefix}</param>
-            <param name="hand">${hand}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:if>
-        </hardware>
-
-      <xacro:macro name="configure_joint" params="joint_name initial_position">
-        <joint name="${joint_name}">
-          <!--
-            deactivated for gazebo velocity and position interface due to a bug
-            https://github.com/ros-controls/gz_ros2_control/issues/343
-
-            Command Interfaces -->
-            <command_interface name="position"/>
-            <command_interface name="velocity"/>
-            <command_interface name="effort"/>
-
-          <!-- State Interfaces -->
-          <state_interface name="position">
-            <param name="initial_value">${initial_position}</param>
-          </state_interface>
-
-          <state_interface name="velocity">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-          <state_interface name="effort">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-        </joint>
-      </xacro:macro>
-
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:if value="${hand}">
-        <xacro:configure_joint joint_name="openarm_${arm_prefix}finger_joint1" initial_position="0.0" />
-      </xacro:if>
-
-    </ros2_control>
-
-  </xacro:macro>
-
-
-</robot>
diff --git a/launch/display_openarm.launch.py b/launch/display_openarm.launch.py
index 3174b273..4471cff7 100644
--- a/launch/display_openarm.launch.py
+++ b/launch/display_openarm.launch.py
@@ -83,6 +83,9 @@ def robot_state_publisher_spawner(
             "arm_type": arm_type_str,
             "robot_preset": context.perform_substitution(robot_preset),
             "emit_grasp_frame": context.perform_substitution(emit_grasp_frame),
+            "ros2_control": context.perform_substitution(ros2_control),
+            "use_fake_hardware": context.perform_substitution(use_fake_hardware),
+            "fake_sensor_commands": context.perform_substitution(fake_sensor_commands),
         }
 
     robot_description = xacro.process_file(
@@ -110,7 +113,7 @@ def generate_launch_description():
     robot_preset_arg = DeclareLaunchArgument(
         "robot_preset",
         default_value="default_bimanual",
-        description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm, right_arm_with_pinch_gripper, left_arm_with_pinch_gripper).",
+        description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm).",
     )
     rviz_config_arg = DeclareLaunchArgument(
         "rviz_config",
diff --git a/test/support.py b/test/support.py
index 72facef0..f40ae610 100644
--- a/test/support.py
+++ b/test/support.py
@@ -106,17 +106,6 @@ def package_share_at(path):
 
 
 def expand(files=None, version='v2.0', entry=None, **arguments):
-    if entry is None:
-        files = dict(files or {})
-        files['fixture.urdf.xacro'] = '''<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fixture">
-  <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro"/>
-  <xacro:arg name="emit_grasp_frame" default="false"/>
-  <xacro:property name="root" value="$(find openarm_description)/assets/robot/openarm_v2.0/config"/>
-  <xacro:property name="preset" value="${xacro.load_yaml(root + '/robot_presets/fixture.yaml')}"/>
-  <xacro:openarm_assemble_robot component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
-    config_root="${root}" robot_preset="${preset}" emit_grasp_frame="$(arg emit_grasp_frame)"/>
-</robot>'''
-        entry = 'assets/fixture.urdf.xacro'
     entry = entry or f'assets/robot/openarm_{version}/urdf/openarm_{"v10" if version == "v1.0" else "v20"}.urdf.xacro'
     arguments = {k: str(v).lower() if isinstance(v, bool) else str(v)
                  for k, v in arguments.items()}
diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 64d7ff1a..5d79f5d1 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -67,3 +67,164 @@ def test_broken_component_hook_does_not_use_fallback(interface):
     files['body/fixture_a/urdf/component.xacro'] = interface
     with pytest.raises((xacro.XacroException, ExpatError)):
         support.expand(files, robot_preset='fixture', ros2_control=False)
+
+
+def control_input():
+    names = ['root'] + [f'link{i}' for i in range(1, 8)]
+    data = support.model(names, {f'joint{i}': dict(
+        type='revolute', parent=names[i-1], child=names[i]) for i in range(1, 8)})
+    data['control/control_gains.yaml'] = {
+        f'joint{i}': dict(kp=10+i, kd=i/10) for i in range(1, 8)}
+    spec = support.preset(arm=support.component('robot', 'fixture_control', 'openarm_right_'),
+                          tool=support.component('end_effector', 'pinch_gripper', 'openarm_right_', connection=dict(attach_to='arm')))
+    spec['systems'] = {'fixture_system': dict(
+        hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can_test', can_fd=True,
+        joints=dict(arm={name: dict(idx=i) for i, name in enumerate(data['struct/topology.yaml']['joints'])},
+                    tool=dict(joint1=dict(idx=8))))}
+    return spec, {'arm': data, 'tool': support.pinch()}
+
+
+def test_control_joints_follow_model_names_and_enabled_components():
+    spec, data = control_input()
+    spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_'
+    arm_joints = data['arm']['struct/topology.yaml']['joints']
+    arm_joints['joint7']['name'] = 'wrist'
+    selection = spec['systems']['fixture_system']['joints']['arm']
+    spec['systems']['fixture_system']['joints']['arm'] = dict(
+        reversed(list(selection.items())))
+    assert not support.assemble(
+        spec, data, ros2_control=False).findall('ros2_control')
+    for tool_enabled in (False, True):
+        spec['tool']['enabled'] = tool_enabled
+        robot = support.assemble(
+            spec, data, ros2_control=True, use_fake_hardware=True)
+        expected = {spec['arm']['prefix'] + cfg.get('name', name)
+                    for name, cfg in arm_joints.items()}
+        if tool_enabled:
+            expected.update(spec['tool']['prefix'] + cfg.get('name', name)
+                            for name, cfg in data['tool']['struct/topology.yaml']['joints'].items()
+                            if name not in data['tool']['joint/joint_mimics.yaml'])
+        active = {joint.get('name') for joint in robot.findall('joint')
+                  if joint.get('type') != 'fixed' and joint.find('mimic') is None}
+        assert active == expected
+        assert {joint.get('name')
+                for joint in robot.findall('ros2_control/joint')} == active
+        expected_indices = {spec[component]['prefix'] + data[component]['struct/topology.yaml']['joints'][name].get('name', name): cfg['idx']
+                            for component, joints in spec['systems']['fixture_system']['joints'].items()
+                            if spec[component]['enabled'] for name, cfg in joints.items()}
+        actual_indices = {joint.get('name'): int(joint.find("param[@name='idx']").text)
+                          for joint in robot.findall('ros2_control/joint')}
+        assert actual_indices == expected_indices
+        assert list(actual_indices.values()) == sorted(
+            expected_indices.values())
+
+    data['arm']['struct/topology.yaml']['collapse_empty_end'] = True
+    spec['tool']['connection']['parent_reference_point'] = 'port'
+    spec['systems']['fixture_system']['joints']['tool']['joint2'] = dict(
+        idx=9)
+    files = support.files_for(spec, data)
+    files['end_effector/pinch_gripper/urdf/component.xacro'] = '''<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+      <xacro:macro name="describe_component" params="component_name component_cfg config_root options out_name">
+        <xacro:openarm_describe_config_component component_name="${component_name}" component_cfg="${component_cfg}"
+          config_root="${config_root}" options="${options}" out_name="description"/>
+        <xacro:property name="${out_name}" value="${dict(description, joint_mimics=dict())}" scope="parent" lazy_eval="false"/>
+      </xacro:macro>
+    </robot>'''
+    robot = support.expand(files, robot_preset='fixture',
+                           ros2_control=True, use_fake_hardware=True)
+    assert robot.find("joint[@name='tool_finger_joint2']/mimic") is None
+    expected.add('tool_finger_joint2')
+    active = {joint.get('name') for joint in robot.findall('joint')
+              if joint.get('type') != 'fixed' and joint.find('mimic') is None}
+    assert active == expected
+    assert {joint.get('name')
+            for joint in robot.findall('ros2_control/joint')} == active
+
+    spec, data = control_input()
+    joints = list(data['arm']['struct/topology.yaml']['joints'])
+    spec['systems'] = {
+        'shoulder': dict(joints=dict(arm={name: dict(idx=2*i-1) for i, name in enumerate(joints[:4], 1)})),
+        'wrist': dict(joints=dict(arm={name: dict(idx=2*i-1) for i, name in enumerate(joints[4:], 1)},
+                                  tool=dict(joint1=dict(idx=7))))}
+    robot = support.assemble(
+        spec, data, ros2_control=True, use_fake_hardware=True)
+    for name, cfg in spec['systems'].items():
+        expected = {spec[component]['prefix'] + data[component]['struct/topology.yaml']['joints'][joint].get('name', joint) for component,
+                    names in cfg['joints'].items() for joint in names}
+        assert {joint.get('name') for joint in robot.find(
+            f"ros2_control[@name='{name}']").findall('joint')} == expected
+    spec['systems']['shoulder'].update(
+        hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can_test')
+    with pytest.raises(xacro.XacroException, match='seven arm joints'):
+        support.assemble(spec, data, ros2_control=True,
+                         use_fake_hardware=False)
+    spec['systems']['wrist']['joints']['arm'][joints[0]] = dict(idx=9)
+    with pytest.raises(xacro.XacroException, match='duplicate joint assignment'):
+        support.assemble(spec, data, ros2_control=True, use_fake_hardware=True)
+    spec['systems']['wrist']['joints']['arm']['missing'] = spec['systems']['wrist']['joints']['arm'].pop(
+        joints[0])
+    with pytest.raises(xacro.XacroException, match='unknown joint'):
+        support.assemble(spec, data, ros2_control=True, use_fake_hardware=True)
+    del spec['systems']['wrist']['joints']['arm']['missing']
+    for invalid_idx in (-1, True, 1.5):
+        spec['systems']['wrist']['joints']['tool']['joint1']['idx'] = invalid_idx
+        with pytest.raises(xacro.XacroException, match='non-negative integer idx'):
+            support.assemble(spec, data, ros2_control=True,
+                             use_fake_hardware=True)
+    spec['systems']['wrist']['joints']['tool']['joint1']['idx'] = 1
+    with pytest.raises(xacro.XacroException, match='duplicate idx'):
+        support.assemble(spec, data, ros2_control=True, use_fake_hardware=True)
+
+
+def test_hardware_parameters_follow_input():
+    spec, data = control_input()
+    control = spec['systems']['fixture_system']
+    for prefix, can_interface in [('openarm_left_', 'can_left_test'),
+                                  ('openarm_right_', 'can_right_test')]:
+        control.update(can_interface=can_interface, can_fd=False)
+        for name in ('arm', 'tool'):
+            spec[name]['prefix'] = prefix
+        robot = support.assemble(spec, data, ros2_control=True,
+                                 use_fake_hardware=False)
+        hardware = robot.find('ros2_control/hardware')
+        assert hardware.find('plugin').text == control['hardware_plugin']
+        params = {p.get('name'): p.text for p in hardware.findall('param')}
+        assert len(params) == len(hardware.findall('param'))
+        assert params['can_interface'] == control['can_interface']
+        assert params['can_fd'].lower() == 'false'
+        assert params['arm_prefix'] == prefix.removeprefix('openarm_')
+        assert params['ee_type'] == spec['tool']['product']
+        for name, gains in data['arm']['control/control_gains.yaml'].items():
+            for key, value in gains.items():
+                assert float(params[key+name.removeprefix('joint')]) == value
+
+    for side in ('left', 'right'):
+        spec['systems'] = {f'openarm_{side}_hardware_interface': control}
+        control.update(can_fd=True)
+        overrides = dict(left_can_interface='runtime_left',
+                         right_can_interface='runtime_right', can_fd=False)
+        robot = support.assemble(spec, data, ros2_control=True,
+                                 use_fake_hardware=False, **overrides)
+        hardware = robot.find('ros2_control/hardware')
+        params = {p.get('name'): p.text for p in hardware.findall('param')}
+        assert params['can_interface'] == overrides[side + '_can_interface']
+        assert params['can_fd'].lower() == 'false'
+
+    robot = support.assemble(spec, data, ros2_control=True,
+                             use_fake_hardware=True, fake_sensor_commands=True)
+    hardware = robot.find('ros2_control/hardware')
+    assert hardware.find('plugin').text == 'mock_components/GenericSystem'
+    params = {p.get('name'): p.text for p in hardware.findall('param')}
+    assert params['mock_sensor_commands'].lower() == 'true'
+    assert float(params['position_state_following_offset']) == 0.0
+    assert 'fake_sensor_commands' not in params and 'state_following_offset' not in params
+
+    control.update(command_interfaces=[
+                   'position'], state_interfaces=['position'])
+    robot = support.assemble(
+        spec, data, ros2_control=True, use_fake_hardware=True)
+    for joint in robot.findall('ros2_control/joint'):
+        assert [i.get('name') for i in joint.findall(
+            'command_interface')] == ['position']
+        assert [i.get('name')
+                for i in joint.findall('state_interface')] == ['position']
diff --git a/test/test_models.py b/test/test_models.py
new file mode 100644
index 00000000..57716a88
--- /dev/null
+++ b/test/test_models.py
@@ -0,0 +1,43 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+from urllib.parse import urlparse
+
+from support import ROOT, expand, packages
+
+
+def test_shipped_presets_expand_and_resolve_resources():
+    robots = []
+    for version in ('v2.0',):
+        folder = ROOT/f'assets/robot/openarm_{version}/config/robot_presets'
+        robots.append((version, '<default>', expand(version=version, ros2_control=True,
+                       use_fake_hardware=True, emit_grasp_frame=True)))
+        for path in sorted(folder.glob('*.yaml')):
+            robot = expand(version=version, robot_preset=path.stem, ros2_control=True,
+                           use_fake_hardware=True, emit_grasp_frame=True)
+            robots.append((version, path.stem, robot))
+    for path in sorted((ROOT/'assets/end_effector').glob('pinch_gripper/urdf/*_standalone.urdf.xacro')):
+        robots.append(('standalone', path.name, expand(
+            entry=str(path.relative_to(ROOT)))))
+    for version, name, robot in robots:
+        for mesh in robot.findall('.//geometry/mesh'):
+            uri = urlparse(mesh.get('filename'))
+            if uri.scheme == 'package':
+                share = ROOT if uri.netloc == 'openarm_description' else Path(
+                    packages.get_package_share_directory(uri.netloc))
+                assert (share/uri.path.lstrip('/')
+                        ).is_file(), (version, name, mesh.attrib)
+            elif uri.scheme in ('', 'file'):
+                assert Path(uri.path).is_file(), (version, name, mesh.attrib)