Add the ZED Mini mount and bimanual camera assembly

.github/workflows/release.yaml

@@ -29,6 +29,11 @@ jobs:
           - "humble"
     steps:
       - uses: actions/checkout@v7
+      - uses: actions/checkout@v7
+        with:
+          repository: stereolabs/zed-ros2-description
+          ref: 22468247c1653d08a1e213809f3e9ce76291487d
+          path: .ci/zed_description
       - name: Build URDF files
         run: |
           docker container run \
@@ -37,7 +42,7 @@ jobs:
             osrf/ros:${{ matrix.id }}-desktop-full \
             bash -c '
               cd /source
-              colcon build
+              colcon build --paths /source/.ci/zed_description /source
               source install/setup.bash
 
               mkdir -p urdf_output

.github/workflows/test.yaml

@@ -55,6 +55,11 @@ jobs:
           - "humble"
     steps:
       - uses: actions/checkout@v7
+      - uses: actions/checkout@v7
+        with:
+          repository: stereolabs/zed-ros2-description
+          ref: 22468247c1653d08a1e213809f3e9ce76291487d
+          path: .ci/zed_description
       - name: Run tests
         run: |
           docker container run \

README.md

@@ -18,6 +18,10 @@ Recommended starting point:
 - for all new robot assembly, presets, xacro, and URDF generation work, start with `assets/robot/openarm_v2.0`
 - only use `assets/robot/openarm_v1.0` when you need the old `v10 + parallel_link` compatibility path -->
 
+## V2 camera assembly
+
+The V2 `default_bimanual` preset includes both arms, pinch grippers, the camera mount, and the official ZED Mini model. Single-arm presets are also available. Use `ros2_control:=false` when exporting a model without control interfaces.
+
 ## Component interfaces
 
 Robot entries load `assets/component_loader.xacro`. The loader locates each component using the existing `type`, `product`, and `config` fields, then optionally loads `<component directory>/urdf/component.xacro`. Components without this file use the standard YAML model generator.
@@ -33,6 +37,8 @@ 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)

assets/accessory/zed_mount/config/inertials/nominal.yaml

@@ -0,0 +1,16 @@
+link1:
+  origin:
+    x: 0.014296
+    y: 0.0034952
+    z: 0.047826
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.13704
+  inertia:
+    xx: 0.00018293
+    xy: -6.3997e-06
+    xz: -3.1024e-05
+    yy: 0.00011247
+    yz: -8.6526e-06
+    zz: 0.00012779

assets/accessory/zed_mount/config/link/collisions.yaml

@@ -0,0 +1,29 @@
+link1:
+- name: support
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_support.stl
+    scale:
+      x: 1
+      y: 1
+      z: 1
+- name: shell
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl
+    scale:
+      x: 1
+      y: 1
+      z: 1

assets/accessory/zed_mount/config/link/visuals.yaml

@@ -0,0 +1,14 @@
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/visual/zed_mount.dae
+    scale:
+      x: 1
+      y: 1
+      z: 1

assets/accessory/zed_mount/config/struct/reference_points.yaml

@@ -0,0 +1,10 @@
+camera_mount_point:
+  parent: link1
+  emit: true
+  origin:
+    x: 0.0263085336684006
+    y: 0.00869000000000031
+    z: 0.065829226007701
+    roll: 0
+    pitch: 1.08210413623648
+    yaw: 0

assets/accessory/zed_mount/config/struct/topology.yaml

@@ -0,0 +1,4 @@
+links:
+  link1:
+    name: base_link
+joints: {}

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

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

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

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 +51,14 @@ 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
@@ -67,17 +68,13 @@ arm_origin:
     pitch: 0.0
     yaw: 0.0
 
-# Example body-mounted camera reference point. Tune this pose from CAD or
-# calibration before using it on hardware.
-# zed_front_mount_point:
-#   parent: body_link0
-#   origin:
-#     x: 0.12
-#     y: 0.0
-#     z: 0.82
-#     roll: 0.0
-#     pitch: 0.0
-#     yaw: 0.0
-#   meta:
-#     kind: sensor_mount
-#     sensor_family: zed
+camera_mount_point:
+  parent: link1
+  emit: true
+  origin:
+    x: 0.03
+    y: 0.0
+    z: 0.743
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

assets/body/v2.0/config/struct/topology.yaml

@@ -13,5 +13,6 @@
 # limitations under the License.
 
 links:
-  - body_link0
+  link1:
+    name: body_link0
 joints: {}

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']}"

assets/common/collisions.xacro

@@ -0,0 +1,40 @@
+<?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="$(find openarm_description)/assets/common/transforms.xacro" />
+
+  <xacro:macro name="openarm_emit_collisions" params="link_name entries reflect_x reflect_y reflect_z frame_shift index:=0">
+    <xacro:if value="${index &lt; len(entries)}">
+      <xacro:property name="cfg" value="${entries[index]}" />
+      <collision name="${link_name + '_collision' if len(entries) == 1 else link_name + '_' + cfg.get('name', str(index)) + '_collision'}">
+        <xacro:if value="${frame_shift != 'none'}">
+          <xacro:openarm_emit_shifted_origin frame_shift="${frame_shift}" origin="${cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
+        </xacro:if>
+        <xacro:unless value="${frame_shift != 'none'}">
+          <xacro:openarm_emit_origin origin="${cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
+        </xacro:unless>
+        <geometry>
+          <xacro:if value="${'box' in cfg['geometry']}">
+            <box size="${cfg['geometry']['box']['x']} ${cfg['geometry']['box']['y']} ${cfg['geometry']['box']['z']}" />
+          </xacro:if>
+          <xacro:unless value="${'box' in cfg['geometry']}">
+            <mesh filename="${cfg['geometry']['mesh']}" scale="${reflect_x * cfg['geometry']['scale']['x']} ${reflect_y * cfg['geometry']['scale']['y']} ${reflect_z * cfg['geometry']['scale']['z']}" />
+          </xacro:unless>
+        </geometry>
+      </collision>
+      <xacro:openarm_emit_collisions link_name="${link_name}" entries="${entries}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" frame_shift="${frame_shift}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+</robot>

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']}"