diff --git a/README.md b/README.md
index 15c33176..65483f8c 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)
@@ -49,3 +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/robot/openarm_v1.0/config/body/inertials.yaml b/assets/body/v1.0/config/inertials/nominal.yaml
similarity index 83%
rename from assets/robot/openarm_v1.0/config/body/inertials.yaml
rename to assets/body/v1.0/config/inertials/nominal.yaml
index a9207078..a5f056fd 100644
--- a/assets/robot/openarm_v1.0/config/body/inertials.yaml
+++ b/assets/body/v1.0/config/inertials/nominal.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,10 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
-    xyz: -0.016206894902 0 0.244091987626
-    rpy: 0.0 0.0 0.0
+    x: -0.016206894902
+    y: 0.0
+    z: 0.244091987626
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   mass: 3.74
   inertia:
     xx: 0.248946829107
diff --git a/assets/body/v1.0/config/link/collisions.yaml b/assets/body/v1.0/config/link/collisions.yaml
new file mode 100644
index 00000000..b3c0b2d0
--- /dev/null
+++ b/assets/body/v1.0/config/link/collisions.yaml
@@ -0,0 +1,28 @@
+# 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.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/body/v1.0/config/link/visuals.yaml b/assets/body/v1.0/config/link/visuals.yaml
new file mode 100644
index 00000000..5a34ffe4
--- /dev/null
+++ b/assets/body/v1.0/config/link/visuals.yaml
@@ -0,0 +1,28 @@
+# 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.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/body/v1.0/config/struct/reference_points.yaml b/assets/body/v1.0/config/struct/reference_points.yaml
new file mode 100644
index 00000000..c450202f
--- /dev/null
+++ b/assets/body/v1.0/config/struct/reference_points.yaml
@@ -0,0 +1,34 @@
+# 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.
+
+left_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: 0.03
+    z: 0.697
+    roll: -1.5708
+    pitch: 0
+    yaw: 0
+right_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: -0.03
+    z: 0.697
+    roll: 1.5708
+    pitch: 0
+    yaw: 0
diff --git a/assets/robot/openarm_v1.0/config/body/kinematics_link.yaml b/assets/body/v1.0/config/struct/topology.yaml
similarity index 80%
rename from assets/robot/openarm_v1.0/config/body/kinematics_link.yaml
rename to assets/body/v1.0/config/struct/topology.yaml
index bbe02232..97b46d61 100644
--- a/assets/robot/openarm_v1.0/config/body/kinematics_link.yaml
+++ b/assets/body/v1.0/config/struct/topology.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,11 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
-  kinematic:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
+links:
+  link1:
+    name: body_link0
+joints: {}
diff --git a/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl b/assets/body/v1.0/meshes/collision/body_link0_symp.stl
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl
rename to assets/body/v1.0/meshes/collision/body_link0_symp.stl
diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae b/assets/body/v1.0/meshes/visual/body_link0.dae
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae
rename to assets/body/v1.0/meshes/visual/body_link0.dae
diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl b/assets/body/v1.0/meshes/visual/body_link0.stl
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl
rename to assets/body/v1.0/meshes/visual/body_link0.stl
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..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" />
@@ -96,7 +94,7 @@ 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="${connection_origin}" out_name="reference_mount_origin" />
@@ -111,9 +109,9 @@ limitations under the License.
     <!-- reference point child empty links are already absorbed into config; runtime collapse only targets the parent's terminal empty link -->
     <xacro:property
       name="parent_terminal_link_empty"
-      value="${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="${reference_mount_origin}" lazy_eval="false" />
     </xacro:if>
@@ -123,7 +121,7 @@ limitations under the License.
       name="attached_children"
       value="${[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="${component_desc['collapse_empty_end'] and component_terminal_link not in component_desc['inertials'] and component_terminal_link not in component_desc['visuals'] and component_terminal_link not in component_desc['collisions']}"
@@ -133,8 +131,9 @@ limitations under the License.
       value="${[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/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/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/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/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/end_effector/parallel_link/config/inertials.yaml b/assets/end_effector/parallel_link/config/inertials/nominal.yaml
similarity index 80%
rename from assets/end_effector/parallel_link/config/inertials.yaml
rename to assets/end_effector/parallel_link/config/inertials/nominal.yaml
index 49a29294..ef52c40b 100644
--- a/assets/end_effector/parallel_link/config/inertials.yaml
+++ b/assets/end_effector/parallel_link/config/inertials/nominal.yaml
@@ -12,7 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-hand:
+link1:
+  origin:
+    x: -9.897454675528511e-05
+    y: 0.003372444724450437
+    z: 0.06138919729233123
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.4054971268153967
+  inertia:
+    xx: 0.0003637830920674498
+    yy: 0.0003351190950225729
+    zz: 0.0001865112723189818
+    xy: 0.0
+    xz: 0.0
+    yz: 7.094884219324384e-05
+link2:
   origin:
     x: 0
     y: 0
@@ -26,10 +42,9 @@ hand:
     yy: 5.560627616753029e-05
     zz: 0.0002906093338421478
     xy: 1.18380219510342e-05
-    xz: 0
-    yz: 0
-
-left_finger:
+    xz: 0.0
+    yz: 0.0
+link4:
   origin:
     x: -0.004646697332048465
     y: 0.01217890651468325
@@ -45,8 +60,7 @@ left_finger:
     xy: -4.813534779503441e-07
     xz: -4.110240982958172e-06
     yz: 3.504307786795564e-06
-
-right_finger:
+link3:
   origin:
     x: 0.004646697332048465
     y: -0.01217890651468325
diff --git a/assets/robot/openarm_v1.0/config/body/kinematics.yaml b/assets/end_effector/parallel_link/config/joint/joint_axes.yaml
similarity index 80%
rename from assets/robot/openarm_v1.0/config/body/kinematics.yaml
rename to assets/end_effector/parallel_link/config/joint/joint_axes.yaml
index bbe02232..2e58649d 100644
--- a/assets/robot/openarm_v1.0/config/body/kinematics.yaml
+++ b/assets/end_effector/parallel_link/config/joint/joint_axes.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,11 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
-  kinematic:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
+joint2:
+  axis:
+    x: 0
+    y: -1
+    z: 0
+joint3:
+  axis:
+    x: 0
+    y: 1
+    z: 0
diff --git a/assets/end_effector/parallel_link/config/joint_limits.yaml b/assets/end_effector/parallel_link/config/joint/joint_limits.yaml
similarity index 87%
rename from assets/end_effector/parallel_link/config/joint_limits.yaml
rename to assets/end_effector/parallel_link/config/joint/joint_limits.yaml
index ee715e39..9f2ba38b 100644
--- a/assets/end_effector/parallel_link/config/joint_limits.yaml
+++ b/assets/end_effector/parallel_link/config/joint/joint_limits.yaml
@@ -12,7 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint:
+joint2:
+  limit:
+    lower: 0.0
+    upper: 0.044
+    velocity: 0.661
+    effort: 150.75
+joint3:
   limit:
     lower: 0.0
     upper: 0.044
diff --git a/assets/end_effector/parallel_link/config/joint/joint_mimics.yaml b/assets/end_effector/parallel_link/config/joint/joint_mimics.yaml
new file mode 100644
index 00000000..0994fd21
--- /dev/null
+++ b/assets/end_effector/parallel_link/config/joint/joint_mimics.yaml
@@ -0,0 +1,18 @@
+# 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.
+
+joint3:
+  joint: joint2
+  multiplier: 1
+  offset: 0
diff --git a/assets/end_effector/parallel_link/config/kinematics.yaml b/assets/end_effector/parallel_link/config/joint/joint_origins.yaml
similarity index 81%
rename from assets/end_effector/parallel_link/config/kinematics.yaml
rename to assets/end_effector/parallel_link/config/joint/joint_origins.yaml
index 0723f094..09b9da8f 100644
--- a/assets/end_effector/parallel_link/config/kinematics.yaml
+++ b/assets/end_effector/parallel_link/config/joint/joint_origins.yaml
@@ -12,20 +12,27 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-hand:
-  kinematic:
-    x: 0.0
-    y: 0.0
+joint1:
+  origin:
+    x: 0
+    y: 0
     z: 0.1001
     roll: 0
     pitch: 0
     yaw: 0
-
-finger_joint:
-  kinematic:
-    x: 0.0
+joint2:
+  origin:
+    x: 0
     y: -0.005
     z: 0.015
     roll: 0
     pitch: 0
     yaw: 0
+joint3:
+  origin:
+    x: 0
+    y: 0.005
+    z: 0.015
+    roll: 0
+    pitch: 0
+    yaw: 0
diff --git a/assets/end_effector/parallel_link/config/link/collisions.yaml b/assets/end_effector/parallel_link/config/link/collisions.yaml
new file mode 100644
index 00000000..ff1821eb
--- /dev/null
+++ b/assets/end_effector/parallel_link/config/link/collisions.yaml
@@ -0,0 +1,70 @@
+# 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.
+
+link1:
+  origin:
+    x: 0.0
+    y: -0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/link7.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link2:
+  origin:
+    x: 0.0
+    y: 0.0
+    z: -0.6586
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link4:
+  origin:
+    x: 0.0
+    y: -0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link3:
+  origin:
+    x: 0.0
+    y: 0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592653589793
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/end_effector/parallel_link/config/link/visuals.yaml b/assets/end_effector/parallel_link/config/link/visuals.yaml
new file mode 100644
index 00000000..adfeb92e
--- /dev/null
+++ b/assets/end_effector/parallel_link/config/link/visuals.yaml
@@ -0,0 +1,70 @@
+# 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.
+
+link1:
+  origin:
+    x: 0.0
+    y: -0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/link7.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link2:
+  origin:
+    x: 0.0
+    y: 0.0
+    z: -0.6586
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link4:
+  origin:
+    x: 0.0
+    y: -0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link3:
+  origin:
+    x: 0.0
+    y: 0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592653589793
+  geometry:
+    mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/end_effector/parallel_link/config/struct/reference_points.yaml b/assets/end_effector/parallel_link/config/struct/reference_points.yaml
new file mode 100644
index 00000000..39a77980
--- /dev/null
+++ b/assets/end_effector/parallel_link/config/struct/reference_points.yaml
@@ -0,0 +1,24 @@
+# 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.
+
+hand_tcp:
+  parent: link2
+  emit: true
+  origin:
+    x: 0
+    y: 0
+    z: 0.09
+    roll: 0
+    pitch: 0
+    yaw: 0
diff --git a/assets/end_effector/parallel_link/config/struct/topology.yaml b/assets/end_effector/parallel_link/config/struct/topology.yaml
new file mode 100644
index 00000000..c06793d5
--- /dev/null
+++ b/assets/end_effector/parallel_link/config/struct/topology.yaml
@@ -0,0 +1,39 @@
+# 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.
+
+links:
+  link1:
+    name: link7
+  link2:
+    name: hand
+  link3:
+    name: right_finger
+  link4:
+    name: left_finger
+joints:
+  joint1:
+    name: hand_joint
+    type: fixed
+    parent: link1
+    child: link2
+  joint2:
+    name: finger_joint1
+    type: prismatic
+    parent: link2
+    child: link3
+  joint3:
+    name: finger_joint2
+    type: prismatic
+    parent: link2
+    child: link4
diff --git a/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl b/assets/end_effector/parallel_link/meshes/collision/link7.stl
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl
rename to assets/end_effector/parallel_link/meshes/collision/link7.stl
diff --git a/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae b/assets/end_effector/parallel_link/meshes/visual/link7.dae
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae
rename to assets/end_effector/parallel_link/meshes/visual/link7.dae
diff --git a/assets/robot/openarm_v1.0/mesh/arm/visual/link7.stl b/assets/end_effector/parallel_link/meshes/visual/link7.stl
similarity index 100%
rename from assets/robot/openarm_v1.0/mesh/arm/visual/link7.stl
rename to assets/end_effector/parallel_link/meshes/visual/link7.stl
diff --git a/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro b/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro
index 21416084..21975c29 100644
--- a/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro
+++ b/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro
@@ -13,27 +13,27 @@ limitations under the License.
 -->
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_link">
-
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro" />
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro" />
-
+  <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro" />
   <xacro:arg name="ee_config_dir" default="$(find openarm_description)/assets/end_effector/parallel_link/config" />
-  <xacro:arg name="mesh_root" default="$(find openarm_description)/assets/end_effector/parallel_link/meshes" />
+  <xacro:arg name="mesh_root" default="" />
+  <xacro:arg name="reflect_y" default="1" />
   <xacro:arg name="tcp_xyz" default="0 0 0.09" />
   <xacro:arg name="tcp_rpy" default="0 0 0" />
-
-  <link name="base_link" />
-  <xacro:openarm_parallel_gripper
-    connected_to="base_link"
-    arm_type=""
-    ee_type="parallel_link"
-    no_prefix="true"
-    mesh_root="$(arg mesh_root)"
-    tcp_xyz="$(arg tcp_xyz)"
-    tcp_rpy="$(arg tcp_rpy)"
-    ee_inertials="${xacro.load_yaml('$(arg ee_config_dir)/inertials.yaml')}"
-    ee_kinematics="${xacro.load_yaml('$(arg ee_config_dir)/kinematics.yaml')}"
-    ee_kinematics_link="${xacro.load_yaml('$(arg ee_config_dir)/kinematics_link.yaml')}"
-    ee_joints_limits="${xacro.load_yaml('$(arg ee_config_dir)/joint_limits.yaml')}" />
-
+  <xacro:property name="reflect_y" value="${float('$(arg reflect_y)')}" />
+  <xacro:property name="component_cfg"
+    value="${dict(type='end_effector', product='parallel_link', config=None, inertials='nominal', prefix='', enabled=True, reflect=dict(x=1, y=reflect_y, z=1, include=dict(links=['link1'], joints=[], reference_points=[])))}" />
+  <xacro:openarm_describe_auto_component component_name="gripper" component_cfg="${component_cfg}" options="${dict()}"
+    config_root_override="$(arg ee_config_dir)" out_name="description" />
+  <xacro:property name="references" value="${description['reference_points']}" />
+  <xacro:property name="pos" value="${[float(v) for v in '$(arg tcp_xyz)'.split()]}" />
+  <xacro:property name="rot" value="${[float(v) for v in '$(arg tcp_rpy)'.split()]}" />
+  <xacro:property name="references" value="${dict(references, hand_tcp=dict(references['hand_tcp'], origin=dict(x=pos[0], y=pos[1], z=pos[2], roll=rot[0], pitch=rot[1], yaw=rot[2])))}" lazy_eval="false" />
+  <xacro:property name="visuals" value="${description['visuals']}" />
+  <xacro:property name="collisions" value="${description['collisions']}" />
+  <xacro:if value="${'$(arg mesh_root)' != ''}">
+    <xacro:property name="visuals" value="${dict([(name, dict(visuals[name], geometry=dict(visuals[name]['geometry'], mesh='$(arg mesh_root)/visual/' + visuals[name]['geometry']['mesh'].split('/')[-1]))) for name in visuals])}" lazy_eval="false" />
+    <xacro:property name="collisions" value="${dict([(name, dict(collisions[name], geometry=dict(collisions[name]['geometry'], mesh='$(arg mesh_root)/collision/' + collisions[name]['geometry']['mesh'].split('/')[-1]))) for name in collisions])}" lazy_eval="false" />
+  </xacro:if>
+  <xacro:property name="description" value="${dict(description, reference_points=references, visuals=visuals, collisions=collisions)}" lazy_eval="false" />
+  <xacro:openarm_emit_standalone_component component_cfg="${component_cfg}" component_desc="${description}" />
 </robot>
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_v1.0/config/arm/control_gains.yaml b/assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml
similarity index 99%
rename from assets/robot/openarm_v1.0/config/arm/control_gains.yaml
rename to assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml
index 54452fd7..a89644b9 100644
--- a/assets/robot/openarm_v1.0/config/arm/control_gains.yaml
+++ b/assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml
@@ -15,31 +15,24 @@
 joint1:
   kp: 70.0
   kd: 2.75
-
 joint2:
   kp: 70.0
   kd: 2.5
-
 joint3:
   kp: 70.0
   kd: 2.0
-
 joint4:
   kp: 60.0
   kd: 2.0
-
 joint5:
   kp: 10.0
   kd: 0.7
-
 joint6:
   kp: 10.0
   kd: 0.6
-
 joint7:
   kp: 10.0
   kd: 0.5
-
 hand:
   kp: 5.0
   kd: 0.1
diff --git a/assets/robot/openarm_v1.0/config/arm/inertials.yaml b/assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml
similarity index 84%
rename from assets/robot/openarm_v1.0/config/arm/inertials.yaml
rename to assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml
index b743b66a..e55e924d 100644
--- a/assets/robot/openarm_v1.0/config/arm/inertials.yaml
+++ b/assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-link0:
+link1:
   origin:
     x: -0.0009483362816297526
     y: 0.0001580207020448382
@@ -28,8 +28,7 @@ link0:
     yy: 0.000962
     yz: -7.0e-06
     zz: 0.00147
-
-link1:
+link2:
   origin:
     x: 0.0011467657911800769
     y: 3.319987657026362e-05
@@ -43,10 +42,9 @@ link1:
     xy: -1.0e-06
     xz: -2.9e-05
     yy: 0.001273
-    yz: 1e-06
+    yz: 1.0e-06
     zz: 0.001016
-
-link2:
+link3:
   origin:
     x: 0.00839629182351943
     y: -2.0145102027597523e-08
@@ -57,13 +55,12 @@ link2:
   mass: 0.2775092746011571
   inertia:
     xx: 0.000359
-    xy: 1e-06
+    xy: 1.0e-06
     xz: -0.000109
     yy: 0.000376
-    yz: 1e-06
+    yz: 1.0e-06
     zz: 0.000232
-
-link3:
+link4:
   origin:
     x: -0.002104752099628911
     y: 0.0005549085042607548
@@ -74,13 +71,12 @@ link3:
   mass: 1.073863338202347
   inertia:
     xx: 0.004372
-    xy: 1e-06
+    xy: 1.0e-06
     xz: 1.1e-05
     yy: 0.004319
     yz: -3.6e-05
     zz: 0.000661
-
-link4:
+link5:
   origin:
     x: -0.0029006831074562967
     y: -0.03030575826634669
@@ -96,8 +92,7 @@ link4:
     yy: 0.000511
     yz: 3.8e-05
     zz: 0.000334
-
-link5:
+link6:
   origin:
     x: -0.003049665024221911
     y: 0.0008866902457326625
@@ -113,8 +108,7 @@ link5:
     yy: 0.000445
     yz: -6.0e-06
     zz: 0.000324
-
-link6:
+link7:
   origin:
     x: -0.037136587005447405
     y: 0.00033230528343419053
@@ -125,25 +119,8 @@ link6:
   mass: 0.475202773187987
   inertia:
     xx: 0.000143
-    xy: 1e-06
-    xz: 1e-06
+    xy: 1.0e-06
+    xz: 1.0e-06
     yy: 0.000157
-    yz: 1e-06
+    yz: 1.0e-06
     zz: 0.000159
-
-link7:
-  origin:
-    x: -9.897454675528511e-05
-    y: 0.003372444724450437
-    z: 0.06138919729233123
-    roll: 0
-    pitch: 0
-    yaw: 0
-  mass: 0.4054971268153967
-  inertia:
-    xx: 0.0003637830920674498
-    yy: 0.0003351190950225729
-    zz: 0.0001865112723189818
-    xy: 0
-    xz: 0
-    yz: 7.094884219324384e-05
diff --git a/assets/end_effector/parallel_link/config/kinematics_link.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml
similarity index 63%
rename from assets/end_effector/parallel_link/config/kinematics_link.yaml
rename to assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml
index d6cee252..8eb1b089 100644
--- a/assets/end_effector/parallel_link/config/kinematics_link.yaml
+++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml
@@ -12,29 +12,38 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-hand:
-  kinematic:
-    x: 0.0
-    y: 0.0
-    z: -0.6586
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-left_finger:
-  kinematic:
-    x: 0.0
-    y: -0.05
-    z: -0.673001
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-right_finger:
-  kinematic:
-    x: 0.0
-    y: 0.05
-    z: -0.673001
-    roll: 0.0
-    pitch: 0.0
-    yaw: 3.141592653589793
+joint1:
+  axis:
+    x: 0
+    y: 0
+    z: 1
+joint2:
+  axis:
+    x: -1
+    y: 0
+    z: 0
+joint3:
+  axis:
+    x: 0
+    y: 0
+    z: 1
+joint4:
+  axis:
+    x: 0
+    y: 1
+    z: 0
+joint5:
+  axis:
+    x: 0
+    y: 0
+    z: 1
+joint6:
+  axis:
+    x: 1
+    y: 0
+    z: 0
+joint7:
+  axis:
+    x: 0
+    y: 1
+    z: 0
diff --git a/assets/robot/openarm_v1.0/config/arm/joint_limits.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_limits.yaml
similarity index 83%
rename from assets/robot/openarm_v1.0/config/arm/joint_limits.yaml
rename to assets/robot/openarm_v1.0/config/arm/joint/joint_limits.yaml
index 3b157b1a..ed1cb087 100644
--- a/assets/robot/openarm_v1.0/config/arm/joint_limits.yaml
+++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_limits.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -18,59 +18,39 @@ joint1:
     upper: 3.490659
     velocity: 16.754666
     effort: 40
-
 joint2:
   limit:
     lower: -1.745329
     upper: 1.745329
     velocity: 16.754666
     effort: 40
-
 joint3:
   limit:
     lower: -1.570796
     upper: 1.570796
     velocity: 5.445426
     effort: 27
-
 joint4:
   limit:
     lower: 0.0
     upper: 2.443461
     velocity: 5.445426
     effort: 27
-
 joint5:
   limit:
     lower: -1.570796
     upper: 1.570796
     velocity: 20.943946
     effort: 7
-
 joint6:
   limit:
     lower: -0.785398
     upper: 0.785398
     velocity: 20.943946
     effort: 7
-
 joint7:
   limit:
     lower: -1.570796
     upper: 1.570796
     velocity: 20.943946
     effort: 7
-
-# joint_gripper1:
-#   limit:
-#     lower: 0.0
-#     upper: 0.043
-#     velocity: 100
-#     effort: 100
-
-# joint_gripper2:
-#   limit:
-#     lower: 0.0
-#     upper: 0.043
-#     velocity: 100
-#     effort: 100
diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_origins.yaml
similarity index 70%
rename from assets/robot/openarm_v1.0/config/arm/kinematics.yaml
rename to assets/robot/openarm_v1.0/config/arm/joint/joint_origins.yaml
index e6c4df4c..97878685 100644
--- a/assets/robot/openarm_v1.0/config/arm/kinematics.yaml
+++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_origins.yaml
@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -13,91 +13,58 @@
 # limitations under the License.
 
 joint1:
-  kinematic:
+  origin:
     x: 0.0
     y: 0.0
     z: 0.0625
     roll: 0
     pitch: 0
     yaw: 0
-
 joint2:
-  kinematic:
+  origin:
     x: -0.0301
     y: 0.0
     z: 0.06
     roll: 0
     pitch: 0
     yaw: 0
-
 joint3:
-  kinematic:
+  origin:
     x: 0.0301
     y: 0.0
     z: 0.06625
     roll: 0
     pitch: 0
     yaw: 0
-
 joint4:
-  kinematic:
-    x: -0.0
+  origin:
+    x: 0.0
     y: 0.0315
     z: 0.15375
     roll: 0
     pitch: 0
     yaw: 0
-
 joint5:
-  kinematic:
+  origin:
     x: 0.0
     y: -0.0315
     z: 0.0955
     roll: 0
     pitch: 0
     yaw: 0
-
 joint6:
-  kinematic:
+  origin:
     x: 0.0375
     y: 0.0
     z: 0.1205
     roll: 0
     pitch: 0
     yaw: 0
-
-# joint7:
-#   kinematic:
-#     x: -0.0375
-#     y: 0.0205
-#     z: 0.0
-#     roll: 0
-#     pitch: 0
-#     yaw: 0
-
 joint7:
-  kinematic:
+  origin:
     x: -0.0375
     y: 0.0
     z: 0.0
     roll: 0
     pitch: 0
     yaw: 0
-
-# joint8:
-#   kinematic:
-#     x: 1e-06
-#     y: -0.098
-#     z: 0.114501
-#     roll: 0
-#     pitch: 0
-#     yaw: 0
-
-joint8:
-  kinematic:
-    x: 1e-06
-    y: 0.0205
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml b/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml
deleted file mode 100644
index f31da1b3..00000000
--- a/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml
+++ /dev/null
@@ -1,94 +0,0 @@
-# Copyright 2025 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.
-
-link0:
-  kinematic:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link1:
-  kinematic:
-    x: -0.0
-    y: 0.0
-    z: -0.0625
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link2:
-  kinematic:
-    x: 0.0301
-    y: 0.0
-    z: -0.1225
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link3:
-  kinematic:
-    x: -0.0
-    y: -0.0
-    z: -0.18875
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link4:
-  kinematic:
-    x: 0.0
-    y: -0.0315
-    z: -0.3425
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link5:
-  kinematic:
-    x: -0.0
-    y: -0.0
-    z: -0.438
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-
-link6:
-  kinematic:
-    x: -0.0375
-    y: -0.0
-    z: -0.5585
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-    
-# link7:
-#   kinematic:
-#     x: 0.0
-#     y: -0.0205
-#     z: -0.5585
-#     roll: 0.0
-#     pitch: 0.0
-#     yaw: 0.0
-
-link7:
-  kinematic:
-    x: 0.0
-    y: -0.0
-    z: -0.5585
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml b/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml
deleted file mode 100644
index 315720bb..00000000
--- a/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml
+++ /dev/null
@@ -1,85 +0,0 @@
-# Copyright 2025 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.
-
-joint1:
-  kinematic_offset:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint2:
-  kinematic_offset:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 1.57079632679
-    pitch: 0
-    yaw: 0
-
-joint3:
-  kinematic_offset:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint4:
-  kinematic_offset:
-    x: -0.0
-    y: 0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint5:
-  kinematic_offset:
-    x: 0.0
-    y: -0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint6:
-  kinematic_offset:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint7:
-  kinematic_offset:
-    x: -0.0
-    y: 0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
-
-joint8:
-  kinematic_offset:
-    x: 0.0
-    y: -0.0
-    z: 0.0
-    roll: 0
-    pitch: 0
-    yaw: 0
diff --git a/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml b/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml
new file mode 100644
index 00000000..f2860d07
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml
@@ -0,0 +1,112 @@
+# 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.
+
+link1:
+  origin:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link2:
+  origin:
+    x: -0.0
+    y: 0.0
+    z: -0.0625
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link3:
+  origin:
+    x: 0.0301
+    y: 0.0
+    z: -0.1225
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link4:
+  origin:
+    x: -0.0
+    y: -0.0
+    z: -0.18875
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link5:
+  origin:
+    x: 0.0
+    y: -0.0315
+    z: -0.3425
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link6:
+  origin:
+    x: -0.0
+    y: -0.0
+    z: -0.438
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link7:
+  origin:
+    x: -0.0375
+    y: 0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml b/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml
new file mode 100644
index 00000000..2e09913f
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml
@@ -0,0 +1,112 @@
+# 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.
+
+link1:
+  origin:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link2:
+  origin:
+    x: -0.0
+    y: 0.0
+    z: -0.0625
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link3:
+  origin:
+    x: 0.0301
+    y: 0.0
+    z: -0.1225
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link4:
+  origin:
+    x: -0.0
+    y: -0.0
+    z: -0.18875
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link5:
+  origin:
+    x: 0.0
+    y: -0.0315
+    z: -0.3425
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link6:
+  origin:
+    x: -0.0
+    y: -0.0
+    z: -0.438
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
+link7:
+  origin:
+    x: -0.0375
+    y: 0.0
+    z: -0.5585
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001
diff --git a/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml b/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml
new file mode 100644
index 00000000..d7f87fa7
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml
@@ -0,0 +1,33 @@
+# 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.
+
+links:
+  canonical_to_original:
+    link1: link0
+    link2: link1
+    link3: link2
+    link4: link3
+    link5: link4
+    link6: link5
+    link7: link6
+    link8: arm_end_link
+joints:
+  canonical_to_original:
+    joint1: joint1
+    joint2: joint2
+    joint3: joint3
+    joint4: joint4
+    joint5: joint5
+    joint6: joint6
+    joint7: joint7
diff --git a/assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml b/assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml
new file mode 100644
index 00000000..1f6d008b
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml
@@ -0,0 +1,24 @@
+# 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.
+
+ee_mount_point:
+  parent: link8
+  emit: false
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
diff --git a/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml b/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml
new file mode 100644
index 00000000..dd54172a
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml
@@ -0,0 +1,61 @@
+# 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.
+
+collapse_empty_end: true
+links:
+  link1:
+    name: link0
+  link2:
+    name: link1
+  link3:
+    name: link2
+  link4:
+    name: link3
+  link5:
+    name: link4
+  link6:
+    name: link5
+  link7:
+    name: link6
+  link8:
+    name: arm_end_link
+joints:
+  joint1:
+    type: revolute
+    parent: link1
+    child: link2
+  joint2:
+    type: revolute
+    parent: link2
+    child: link3
+  joint3:
+    type: revolute
+    parent: link3
+    child: link4
+  joint4:
+    type: revolute
+    parent: link4
+    child: link5
+  joint5:
+    type: revolute
+    parent: link5
+    child: link6
+  joint6:
+    type: revolute
+    parent: link6
+    child: link7
+  joint7:
+    type: revolute
+    parent: link7
+    child: link8
diff --git a/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml
new file mode 100644
index 00000000..133b9e0f
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml
@@ -0,0 +1,174 @@
+# 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:
+  root_frame: world
+  components:
+  - body
+  - primary_arm
+  - secondary_arm
+  - primary_arm_end_effector
+  - secondary_arm_end_effector
+body:
+  type: body
+  prefix: openarm_
+  enabled: true
+  product: v1.0
+  config: null
+  inertials: nominal
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+primary_arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_left_
+  connection:
+    attach_to: body
+    parent_reference_point: left_arm_mount_point
+  reflect:
+    x: 1
+    y: -1
+    z: 1
+    include:
+      links:
+      - link1
+      - link2
+      - link3
+      - link6
+      - link7
+      - link8
+      joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint6
+      - joint7
+      reference_points:
+      - ee_mount_point
+  origin_override_joints:
+    joint2:
+      x: -0.0301
+      y: 0.0
+      z: 0.06
+      roll: 1.57079632679
+      pitch: 0
+      yaw: 0
+  limit_override_joints:
+    joint2:
+      lower: -0.17453267320510335
+      upper: 3.3161253267948965
+      velocity: 16.754666
+      effort: 40
+primary_arm_end_effector:
+  type: end_effector
+  enabled: true
+  product: parallel_link
+  config: null
+  inertials: nominal
+  prefix: openarm_left_
+  connection:
+    attach_to: primary_arm
+    parent_reference_point: ee_mount_point
+  reflect:
+    x: 1
+    y: -1
+    z: 1
+    include:
+      links:
+      - link1
+      joints: []
+      reference_points: []
+secondary_arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_right_
+  connection:
+    attach_to: body
+    parent_reference_point: right_arm_mount_point
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+  origin_override_joints:
+    joint2:
+      x: -0.0301
+      y: 0.0
+      z: 0.06
+      roll: 1.57079632679
+      pitch: 0
+      yaw: 0
+  limit_override_joints:
+    joint2:
+      lower: -0.17453267320510335
+      upper: 3.3161253267948965
+      velocity: 16.754666
+      effort: 40
+secondary_arm_end_effector:
+  type: end_effector
+  enabled: true
+  product: parallel_link
+  config: null
+  inertials: nominal
+  prefix: openarm_right_
+  connection:
+    attach_to: secondary_arm
+    parent_reference_point: ee_mount_point
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+    include:
+      links:
+      - link1
+      joints: []
+      reference_points: []
+
+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:
+        joint2: {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:
+        joint2: {idx: 8}
diff --git a/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml b/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml
new file mode 100644
index 00000000..64ac1654
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml
@@ -0,0 +1,72 @@
+# 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:
+  root_frame: world
+  components:
+  - arm
+  - end_effector
+arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+end_effector:
+  type: end_effector
+  enabled: true
+  product: parallel_link
+  config: null
+  inertials: nominal
+  prefix: openarm_
+  connection:
+    attach_to: arm
+    parent_reference_point: ee_mount_point
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+    include:
+      links:
+      - link1
+      joints: []
+      reference_points: []
+
+systems:
+  openarm_hardware_interface:
+    joints:
+      arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      end_effector:
+        joint2: {idx: 8}
diff --git a/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml
new file mode 100644
index 00000000..3081a852
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml
@@ -0,0 +1,66 @@
+# 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:
+  root_frame: world
+  components:
+  - arm
+arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_left_
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+  reflect:
+    x: 1
+    y: -1
+    z: 1
+    include:
+      links:
+      - link1
+      - link2
+      - link3
+      - link6
+      - link7
+      - link8
+      joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint6
+      - joint7
+      reference_points:
+      - ee_mount_point
+
+systems:
+  openarm_left_hardware_interface:
+    joints:
+      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_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml b/assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml
new file mode 100644
index 00000000..003f55de
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml
@@ -0,0 +1,88 @@
+# 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:
+  root_frame: world
+  components:
+  - arm
+  - end_effector
+arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_left_
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+  reflect:
+    x: 1
+    y: -1
+    z: 1
+    include:
+      links:
+      - link1
+      - link2
+      - link3
+      - link6
+      - link7
+      - link8
+      joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint6
+      - joint7
+      reference_points:
+      - ee_mount_point
+end_effector:
+  type: end_effector
+  enabled: true
+  product: parallel_link
+  config: null
+  inertials: nominal
+  prefix: openarm_left_
+  connection:
+    attach_to: arm
+    parent_reference_point: ee_mount_point
+  reflect:
+    x: 1
+    y: -1
+    z: 1
+    include:
+      links:
+      - link1
+      joints: []
+      reference_points: []
+
+systems:
+  openarm_left_hardware_interface:
+    joints:
+      arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      end_effector:
+        joint2: {idx: 8}
diff --git a/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml
new file mode 100644
index 00000000..e4f0eddd
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml
@@ -0,0 +1,50 @@
+# 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:
+  root_frame: world
+  components:
+  - arm
+arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_right_
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+
+systems:
+  openarm_right_hardware_interface:
+    joints:
+      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_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml b/assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml
new file mode 100644
index 00000000..132855e2
--- /dev/null
+++ b/assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml
@@ -0,0 +1,72 @@
+# 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:
+  root_frame: world
+  components:
+  - arm
+  - end_effector
+arm:
+  type: robot
+  enabled: true
+  product: openarm_v1.0
+  config: arm
+  inertials: nominal
+  prefix: openarm_right_
+  connection:
+    parent: world
+    origin:
+      x: 0
+      y: 0
+      z: 0
+      roll: 0
+      pitch: 0
+      yaw: 0
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+end_effector:
+  type: end_effector
+  enabled: true
+  product: parallel_link
+  config: null
+  inertials: nominal
+  prefix: openarm_right_
+  connection:
+    attach_to: arm
+    parent_reference_point: ee_mount_point
+  reflect:
+    x: 1
+    y: 1
+    z: 1
+    include:
+      links:
+      - link1
+      joints: []
+      reference_points: []
+
+systems:
+  openarm_right_hardware_interface:
+    joints:
+      arm:
+        joint1: {idx: 1}
+        joint2: {idx: 2}
+        joint3: {idx: 3}
+        joint4: {idx: 4}
+        joint5: {idx: 5}
+        joint6: {idx: 6}
+        joint7: {idx: 7}
+      end_effector:
+        joint2: {idx: 8}
diff --git a/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro b/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro
deleted file mode 100644
index 3567a9dc..00000000
--- a/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<!--
-Copyright 2025 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" name="openarm">
-
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro" />
-
-  <xacro:macro name="openarm_arm" params="arm_type arm_prefix:='' no_prefix:=false description_pkg:='openarm_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' joint_limits inertials kinematics kinematics_link kinematics_offset:=none " >
-
-    <xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' + arm_prefix}" />
-
-    <xacro:if value="${arm_prefix == '' or arm_prefix == 'right_'}">
-      <xacro:property name="reflect" value="1" />
-    </xacro:if>
-
-    <xacro:unless value="${arm_prefix == '' or arm_prefix == 'right_'}">
-      <xacro:property name="reflect" value="-1" />
-    </xacro:unless>
-
-    <xacro:unless value="${connected_to == ''}">
-      <joint name="${prefix}${connected_to}_joint" type="fixed">
-        <parent link="${connected_to}"/>
-        <child link="${prefix}link0"/>
-        <origin rpy="${rpy}" xyz="${xyz}"/>
-      </joint>
-    </xacro:unless>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link0" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link1" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
-
-    <joint name="${prefix}joint1" type="revolute">
-      <xacro:openarm-kinematics name="joint1" config="${kinematics}" reflect="${reflect}"/>
-      <parent link="${prefix}link0" />
-      <child link="${prefix}link1" />
-      <axis xyz="0 0 1" />
-      <xacro:openarm-limits name="joint1" config="${joint_limits}" offset="${-2.094396 if arm_prefix=='left_' else 0}"/>
-    </joint>
-
-    <!-- for bimanual offset -->
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link2" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
-
-    <xacro:property name="limit_offset_joint2" value="0" />
-
-    <xacro:if value="${prefix.find('right_') != -1}">
-      <xacro:property name="limit_offset_joint2" value="${pi/2}" />
-    </xacro:if>
-
-    <xacro:if value="${prefix.find('left_') != -1}">
-      <xacro:property name="limit_offset_joint2" value="${-pi/2}" />
-    </xacro:if>
-
-    <joint name="${prefix}joint2" type="revolute">
-      <xacro:openarm-kinematics name="joint2" config="${kinematics}" offset="${kinematics_offset}" reflect="${reflect}"/>
-      <parent link="${prefix}link1" />
-      <child link="${prefix}link2" />
-      <axis xyz="-1 0 0" />
-      <xacro:openarm-limits name="joint2" config="${joint_limits}" reflect="${reflect}" offset="${limit_offset_joint2}"/>
-    </joint>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link3" kinematics_link="${kinematics_link}" inertials="${inertials}"/>
-
-    <joint name="${prefix}joint3" type="revolute">
-      <xacro:openarm-kinematics name="joint3" config="${kinematics}" />
-      <parent link="${prefix}link2" />
-      <child link="${prefix}link3" />
-      <axis xyz="0 0 1" />
-      <xacro:openarm-limits name="joint3" config="${joint_limits}" />
-    </joint>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link4" kinematics_link="${kinematics_link}" />
-
-    <joint name="${prefix}joint4" type="revolute">
-      <xacro:openarm-kinematics name="joint4" config="${kinematics}" />
-      <parent link="${prefix}link3" />
-      <child link="${prefix}link4" />
-      <axis xyz="0 1 0" />
-      <xacro:openarm-limits name="joint4" config="${joint_limits}" />
-    </joint>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link5" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}" />
-
-    <joint name="${prefix}joint5" type="revolute">
-      <xacro:openarm-kinematics name="joint5" config="${kinematics}" reflect="${reflect}"/>
-      <parent link="${prefix}link4" />
-      <child link="${prefix}link5" />
-      <axis xyz="0 0 1" />
-      <xacro:openarm-limits name="joint5" config="${joint_limits}" />
-    </joint>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link6" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
-
-    <joint name="${prefix}joint6" type="revolute">
-      <xacro:openarm-kinematics name="joint6" config="${kinematics}" />
-      <parent link="${prefix}link5" />
-      <child link="${prefix}link6" />
-      <axis xyz="1 0 0" />
-      <xacro:openarm-limits name="joint6" config="${joint_limits}" />
-    </joint>
-
-    <xacro:link_with_sc no_prefix="${no_prefix}" name="link7" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
-
-    <joint name="${prefix}joint7" type="revolute">
-      <xacro:openarm-kinematics name="joint7" config="${kinematics}" />
-      <parent link="${prefix}link6"/>
-      <child link="${prefix}link7"/>
-      <axis xyz="0 ${reflect} 0"/>
-      <xacro:openarm-limits name="joint7" config="${joint_limits}" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro b/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro
deleted file mode 100644
index ca530c7b..00000000
--- a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro
+++ /dev/null
@@ -1,150 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2025 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-inertials" params="name inertials:=^ reflect:=1">
-    <xacro:unless value="${name in inertials}">
-      ${xacro.warning('No inertia properties defined for: ' + name)}
-    </xacro:unless>
-    <xacro:if value="${name in inertials}">
-      <xacro:property name="I" value="${inertials[name]}" lazy_eval="false" />
-      <inertial>
-        <origin
-          xyz="${I.origin.x} ${reflect * I.origin.y} ${I.origin.z}"
-          rpy="${I.origin.roll} ${I.origin.pitch} ${I.origin.yaw}" />
-        <mass value="${I.mass}" />
-        <xacro:if value="${'inertia' in I}">
-          <xacro:property name="inert" value="${I.inertia}" />
-          <inertia ixx="${inert.xx}" ixy="${reflect * float(inert.xy)}" ixz="${inert.xz}"
-                   iyy="${inert.yy}" iyz="${reflect * float(inert.yz)}" izz="${inert.zz}" />
-        </xacro:if>
-      </inertial>
-    </xacro:if>
-  </xacro:macro>
-  
-  <xacro:macro name="link_with_sc" params="name no_prefix:='false' rpy:='0 0 0' kinematics_link:='' reflect:=1 inertials:=^">
-    <!-- <xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_type + '_'}" /> -->
-    <xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' +  arm_prefix}" />
-    <link name="${prefix}${name}">
-      <visual name="${prefix}${name}_visual">
-        <xacro:openarm-kinematics-link config="${kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="package://${description_pkg}/assets/robot/openarm_v1.0/mesh/arm/visual/${name}.dae" scale="0.001 ${0.001*reflect} 0.001" />
-        </geometry>
-      </visual>
-      <collision name="${prefix}${name}_collision">
-        <xacro:openarm-kinematics-link config="${kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/${name}_symp.stl" scale="0.001 ${0.001*reflect} 0.001" />
-          <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
-        </geometry>
-      </collision>
-      <xacro:openarm-inertials name="${name}" inertials="${inertials}" reflect="${reflect}" />
-    </link>
-  </xacro:macro>
-  
-  <xacro:macro name="transmission-openarm-state" params="arm_type:=fer">
-    <transmission name="${arm_prefix}${arm_type}_openarm_state">
-      <type>openarm_hw/openarmStateInterface</type>
-      <joint name="${arm_prefix}${arm_type}_joint1"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint2"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint3"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint4"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint5"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint6"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-      <joint name="${arm_prefix}${arm_type}_joint7"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
-
-      <actuator name="${arm_prefix}${arm_type}_motor1"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor2"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor3"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor4"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor5"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor6"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-      <actuator name="${arm_prefix}${arm_type}_motor7"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
-    </transmission>
-  </xacro:macro>
-
-  <xacro:macro name="transmission-openarm-model" params="arm_type:=v10 root:=v10_joint1 tip:=v10_joint7">
-    <transmission name="${arm_prefix}${arm_type}_openarm_model">
-      <type>openarm_hw/openarmModelInterface</type>
-      <joint name="${root}">
-        <role>root</role>
-        <hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface>
-      </joint>
-      <joint name="${tip}">
-        <role>tip</role>
-        <hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface>
-      </joint>
-      <actuator name="${root}_motor_root"><hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface></actuator>
-      <actuator name="${tip}_motor_tip"  ><hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface></actuator>
-    </transmission>
-  </xacro:macro>
-  <xacro:macro name="inertia-cylinder" params="mass radius h">
-    <inertial>
-      <mass value="${mass}" />
-      <inertia ixx="${1./12 * mass * (3 * radius**2 + h**2)}" ixy = "0" ixz = "0"
-               iyy="${1./12 * mass * (3 * radius**2 + h**2)}" iyz = "0"
-               izz="${1./2  * mass * radius**2}" />
-    </inertial>
-  </xacro:macro>
-
-
-  <xacro:macro name="openarm-limits" params="name config reflect:=1 offset:=0">
-    <xacro:property name="limits" value="${config[name]['limit']}"/>
-    <xacro:property name="raw_lower" value="${limits.lower * reflect + offset}" />
-    <xacro:property name="raw_upper" value="${limits.upper * reflect + offset}" />
-  
-    <xacro:property name="lower" value="0.0" />
-    <xacro:property name="upper" value="0.0" />
-  
-    <xacro:if value="${raw_lower &lt; raw_upper}">
-      <xacro:property name="lower" value="${raw_lower}" />
-      <xacro:property name="upper" value="${raw_upper}" />
-    </xacro:if>
-  
-    <xacro:unless value="${raw_lower &lt; raw_upper}">
-      <xacro:property name="lower" value="${raw_upper}" />
-      <xacro:property name="upper" value="${raw_lower}" />
-    </xacro:unless>
-  
-    <limit
-      lower="${lower}"
-      upper="${upper}"
-      effort="${limits.effort}"
-      velocity="${limits.velocity}" />
-  </xacro:macro>
-  
-  <xacro:macro name="openarm-kinematics" params="name config offset:=none reflect:=1">
-    <xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
-    <xacro:if value="${offset != 'none'}">
-      <xacro:property name="offset" value="${offset[name]['kinematic_offset']}" lazy_eval="false" />
-      <origin
-        xyz="${kinematics.x + offset.x} ${kinematics.y + offset.y} ${kinematics.z + offset.z}"
-        rpy="${reflect*(kinematics.roll + offset.roll)} ${reflect*(kinematics.pitch + offset.pitch)} ${reflect*(kinematics.yaw + offset.yaw)}" />
-    </xacro:if>
-    <xacro:unless value="${offset != 'none'}">
-      <origin
-        xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}"
-        rpy="${reflect*kinematics.roll} ${reflect*kinematics.pitch} ${reflect*kinematics.yaw}" />
-    </xacro:unless>
-  </xacro:macro>
-
-  <xacro:macro name="openarm-kinematics-link" params="config name">
-    <xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
-    <origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
-            xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
-  </xacro:macro>
-
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro
deleted file mode 100644
index d3fada87..00000000
--- a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro
+++ /dev/null
@@ -1,49 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_body">
-
-
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro" />
-
-      <xacro:macro name="openarm_body"
-      params="body_type
-              body_prefix:=''
-              no_prefix:=false
-              description_pkg:='openarm_description'
-              connected_to:='world'
-              xyz:='0 0 0'
-              rpy:='0 0 0'
-              inertials
-              kinematics
-              kinematics_link">
-
-    <xacro:property name="prefix" value="${'' if no_prefix else 'openarm_' + body_prefix}" />
-
-    <xacro:unless value="${not connected_to}">
-    <link name="${connected_to}" />
-    <joint name="${prefix}body_${connected_to}_joint" type="fixed">
-    <parent link="${connected_to}" />
-    <child link="${prefix}body_link0" />
-    <origin xyz="${xyz}" rpy="${rpy}" />
-    </joint>
-    </xacro:unless>
-
-    <xacro:body_link_with_sc
-    name="body_link0"
-    no_prefix="${no_prefix}"
-    kinematics_link="${kinematics_link}" />
-    </xacro:macro>
-
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro
deleted file mode 100644
index 3b200efa..00000000
--- a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="openarm-body-inertials" params="name inertials:=^">
-      <xacro:unless value="${name in inertials}">${xacro.warning('No inertia properties defined for: ' + name)}</xacro:unless>
-      <xacro:if value="${name in inertials}">
-        <!-- Access inertia properties of link 'name' -->
-        <xacro:property name="link_inertials" value="${inertials[name]}" lazy_eval="false" />
-        <inertial>
-          <origin rpy="${link_inertials.origin.rpy}" xyz="${link_inertials.origin.xyz}" />
-          <mass value="${link_inertials.mass}" />
-          <xacro:if value="${'inertia' in link_inertials}">
-            <xacro:property name="I" value="${link_inertials.inertia}" />
-            <inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}" iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
-          </xacro:if>
-        </inertial>
-      </xacro:if>
-  </xacro:macro>
-
-
-  <xacro:macro name="body_link_with_sc" params="name no_prefix:='false' rpy:='0 0 0' kinematics_link">
-    <!-- <xacro:property name="prefix" value="${'' if no_prefix else body_prefix + body_type + '_'}" /> -->
-    <xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' + body_prefix}" /> 
-    <link name="${prefix}${name}">
-      <visual name="${prefix}${name}_visual">
-        <xacro:openarm-body-kinematics config="${kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="package://${description_pkg}/assets/robot/openarm_v1.0/mesh/body/visual/${name}.dae" scale="0.001 0.001 0.001" />
-        </geometry>
-      </visual>
-      <collision name="${prefix}${name}_collision">
-        <xacro:openarm-body-kinematics config="${kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/body/collision/${name}_symp.stl" scale="0.001 0.001 0.001" />
-          <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
-        </geometry>
-      </collision>
-      <xacro:openarm-body-inertials name="${name}" />
-    </link>
-  </xacro:macro>
-
-  <xacro:macro name="openarm-body-kinematics" params="config name">
-    <xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
-    <origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
-          xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
-</xacro:macro>
-
-<xacro:macro name="openarm-body-kinematics-link" params="config name">
-  <xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
-  <origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
-          xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
-</xacro:macro>
-
-
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro b/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro
deleted file mode 100644
index 7f811804..00000000
--- a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro" />
-
-  <xacro:macro name="openarm_ee" params="ee_type connected_to arm_type arm_prefix ee_kinematics ee_kinematics_link ee_inertials ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description no_prefix:=false">
-    <xacro:if value="${ee_type == 'parallel_link'}">
-      <xacro:openarm_parallel_gripper
-        connected_to="${connected_to}"
-        arm_type="${arm_type}"
-        arm_prefix="${arm_prefix}"
-        ee_type="${ee_type}"
-        ee_kinematics="${ee_kinematics}"
-        ee_kinematics_link="${ee_kinematics_link}"
-        ee_inertials="${ee_inertials}"
-        ee_joints_limits="${ee_joints_limits}"
-        description_pkg="${description_pkg}"
-        no_prefix="${no_prefix}"
-      />
-    </xacro:if>
-    <xacro:unless value="${ee_type == 'parallel_link'}">
-      ${xacro.error('assets/robot/openarm_v1.0 only supports ee_type:=parallel_link.')}
-    </xacro:unless>
-  </xacro:macro>
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro b/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro
deleted file mode 100644
index 425d08d2..00000000
--- a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro
+++ /dev/null
@@ -1,94 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="ee-inertials" params="name ee_inertials:=^">
-    <xacro:unless value="${name in ee_inertials}">
-      ${xacro.warning('No inertia properties defined for: ' + name)}
-    </xacro:unless>
-    <xacro:if value="${name in ee_inertials}">
-      <xacro:property name="link_inertials" value="${ee_inertials[name]}" lazy_eval="false" />
-      <xacro:property name="xyz" value="${link_inertials.origin.x} ${link_inertials.origin.y} ${link_inertials.origin.z}" />
-      <xacro:property name="rpy" value="${link_inertials.origin.roll} ${link_inertials.origin.pitch} ${link_inertials.origin.yaw}" />
-      <inertial>
-        <origin xyz="${xyz}" rpy="${rpy}" />
-        <mass value="${link_inertials.mass}" />
-        <xacro:if value="${'inertia' in link_inertials}">
-          <xacro:property name="I" value="${link_inertials.inertia}" />
-          <inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}"
-                   iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
-        </xacro:if>
-      </inertial>
-    </xacro:if>
-  </xacro:macro>
-
-  <xacro:macro name="ee_link_with_sc" params="name prefix rpy:='0 0 0' ee_kinematics_link reflect:=1">
-    <xacro:property name="ee_mesh_root" value="${'package://' + description_pkg + '/assets/end_effector/parallel_link/meshes' if ee_type == 'parallel_link' else 'package://' + description_pkg + '/assets/end_effector/pinch_gripper/meshes'}" />
-    <link name="${prefix}${name}">
-      <visual name="${prefix}${name}_visual">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="${ee_mesh_root + '/visual/' + name + '.dae'}" scale="0.001 ${0.001*reflect} 0.001" />
-        </geometry>
-      </visual>
-      <collision name="${prefix}${name}_collision">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="${ee_mesh_root + '/collision/' + name + '.stl'}" scale="0.001 ${0.001*reflect} 0.001" />
-        </geometry>
-      </collision>
-      <xacro:ee-inertials name="${name}" />
-    </link>
-</xacro:macro>
-
-  <xacro:macro name="openarm-ee-kinematics" params="config name">
-      <xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
-      <origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
-            xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
-  </xacro:macro>
-
-  <xacro:macro name="openarm-ee-kinematics-link" params="config name">
-    <xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
-    <origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
-            xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
-  </xacro:macro>
-
-
-
-  <xacro:macro name="ee_finger_link_with_sc" params="name prefix ee_kinematics_link arm_reflect:=1 finger_reflect:=1">
-    <xacro:property name="ee_mesh_root" value="${'package://' + description_pkg + '/assets/end_effector/parallel_link/meshes' if ee_type == 'parallel_link' else 'package://' + description_pkg + '/assets/end_effector/pinch_gripper/meshes'}" />
-    <link name="${prefix}${name}">
-      <visual name="${prefix}${name}_visual">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="${ee_mesh_root + '/visual/finger.dae'}"
-                scale="${0.001*finger_reflect} ${0.001*arm_reflect} 0.001" />
-        </geometry>
-      </visual>
-      <collision name="${prefix}${name}_collision">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
-        <geometry>
-          <mesh filename="${ee_mesh_root + '/collision/finger.stl'}"
-                scale="${0.001*finger_reflect} ${0.001*arm_reflect} 0.001" />
-        </geometry>
-      </collision>
-      <xacro:ee-inertials name="${name}" />
-    </link>
-</xacro:macro>
-
-
-
-
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
deleted file mode 100644
index 6a00c3a2..00000000
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ /dev/null
@@ -1,106 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!--
-Copyright 2025 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" name="parallel_gripper">
-
-  <!-- tcp_xyz: offset from hand to hand_tcp (metres). -->
-  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.09' tcp_rpy:='0 0 0' description_pkg:=openarm_description no_prefix:=false mesh_root:=''">
-
-    <xacro:property name="ee_prefix" value="${'' if no_prefix or arm_type == '' else 'openarm_' + arm_prefix}" />
-    <xacro:property name="ee_mesh_root" value="${mesh_root if mesh_root != '' else 'package://' + description_pkg + '/assets/end_effector/parallel_link/meshes'}" />
-    <xacro:property name="finger_limits" value="${ee_joints_limits['finger_joint']['limit']}" />
-
-    <link name="${ee_prefix}hand">
-      <visual name="${ee_prefix}hand_visual">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/visual/hand.dae" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </visual>
-      <collision name="${ee_prefix}hand_collision">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/collision/hand.stl" scale="0.001 0.001 0.001" />
-        </geometry>
-      </collision>
-      <xacro:ee-inertials name="hand"/>
-    </link>
-
-    <joint name="${ee_prefix}hand_joint" type="fixed">
-      <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="hand" />
-      <parent link="${connected_to}" />
-      <child link="${ee_prefix}hand" />
-    </joint>
-
-    <link name="${ee_prefix}hand_tcp" />
-
-    <joint name="${ee_prefix}hand_tcp_joint" type="fixed">
-      <origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
-      <parent link="${ee_prefix}hand" /> <child link="${ee_prefix}hand_tcp" />
-    </joint>
-
-    <link name="${ee_prefix}left_finger">
-      <visual name="${ee_prefix}left_finger_visual">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/visual/finger.dae" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </visual>
-      <collision name="${ee_prefix}left_finger_collision">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/collision/finger.stl" scale="0.001 0.001 0.001" />
-        </geometry>
-      </collision>
-      <xacro:ee-inertials name="left_finger"/>
-    </link>
-
-    <link name="${ee_prefix}right_finger">
-      <visual name="${ee_prefix}right_finger_visual">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/visual/finger.dae" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </visual>
-      <collision name="${ee_prefix}right_finger_collision">
-        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
-        <geometry>
-          <mesh filename="${ee_mesh_root}/collision/finger.stl" scale="0.001 0.001 0.001" />
-        </geometry>
-      </collision>
-      <xacro:ee-inertials name="right_finger"/>
-    </link>
-
-    <joint name="${ee_prefix}finger_joint1" type="prismatic">
-        <parent link="${ee_prefix}hand" />
-        <child link="${ee_prefix}right_finger" />
-        <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="finger_joint" />
-        <axis xyz="0 -1 0" />
-        <limit effort="${finger_limits.effort}" lower="${finger_limits.lower}"
-               upper="${finger_limits.upper}" velocity="${finger_limits.velocity}" />
-    </joint>
-
-    <joint name="${ee_prefix}finger_joint2" type="prismatic">
-        <parent link="${ee_prefix}hand" />
-        <child link="${ee_prefix}left_finger" />
-        <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
-        <origin xyz="${fj.x} ${-fj.y} ${fj.z}" rpy="0 0 0" />
-        <axis xyz="0 1 0" />
-        <limit effort="${finger_limits.effort}" lower="${finger_limits.lower}"
-               upper="${finger_limits.upper}" velocity="${finger_limits.velocity}" />
-        <mimic joint="${ee_prefix}finger_joint1" multiplier="1" offset="0" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro
deleted file mode 100644
index 6d366553..00000000
--- a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro
+++ /dev/null
@@ -1,102 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!--
-Copyright 2025 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" name="pinch_gripper"> <xacro:macro name="openarm_v20_pinch_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
-
-    <xacro:property name="ee_prefix" value=""/>
-    <xacro:unless value="${arm_type == ''}">
-      <xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
-    </xacro:unless>
-
-    <xacro:property name="reflect" value="${-1 if arm_prefix == 'left_' else 1}" />
-
-    <link name="${ee_prefix}hand_tcp" />
-    <joint name="${ee_prefix}hand_tcp_joint" type="fixed">
-      <origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
-      <parent link="${connected_to}" /> <child link="${ee_prefix}hand_tcp" />
-    </joint>
-
-    <xacro:ee_finger_link_with_sc
-        name="right_finger"
-        prefix="${ee_prefix}"
-        ee_kinematics_link="${ee_kinematics_link}"
-        arm_reflect="${reflect}"
-        finger_reflect="-1"
-    />
-    <xacro:ee_finger_link_with_sc
-        name="left_finger"
-        prefix="${ee_prefix}"
-        ee_kinematics_link="${ee_kinematics_link}"
-        arm_reflect="${reflect}"
-        finger_reflect="1"
-    />
-
-  <joint name="${ee_prefix}finger_joint1" type="revolute">
-      <parent link="${connected_to}" />
-      <child link="${ee_prefix}right_finger" />
-      <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="finger_joint" />
-      <axis xyz="0 1 0" />
-      <limit effort="${ee_joints_limits['finger_joint']['limit']['effort']}"
-            lower="${ee_joints_limits['finger_joint']['limit']['lower']}"
-            upper="${ee_joints_limits['finger_joint']['limit']['upper']}"
-            velocity="${ee_joints_limits['finger_joint']['limit']['velocity']}" />
-  </joint>
-
-  <joint name="${ee_prefix}finger_joint2" type="revolute">
-      <parent link="${connected_to}" />
-      <child link="${ee_prefix}left_finger" />
-      <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
-      <origin xyz="${fj.x} ${-fj.y} ${fj.z}" rpy="${fj.roll} ${fj.pitch} ${fj.yaw}" />
-      <axis xyz="0 -1 0" />
-      <limit effort="${ee_joints_limits['finger_joint']['limit']['effort']}"
-            lower="${ee_joints_limits['finger_joint']['limit']['lower']}"
-            upper="${ee_joints_limits['finger_joint']['limit']['upper']}"
-            velocity="${ee_joints_limits['finger_joint']['limit']['velocity']}" />
-      <mimic joint="${ee_prefix}finger_joint1" />
-  </joint>
-
-<!-- <joint name="${ee_prefix}finger_joint1" type="revolute">
-    <parent link="${connected_to}" />
-    <child link="${ee_prefix}right_finger" />
-    <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="finger_joint" />
-    <axis xyz="0 1 0" />
-    <limit effort="333" lower="0.0" upper="1.5708" velocity="10.0" />
-</joint>
-
-<joint name="${ee_prefix}finger_joint2" type="revolute">
-    <parent link="${connected_to}" />
-    <child link="${ee_prefix}left_finger" />
-    <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
-    <origin xyz="${fj.x} ${-fj.y} ${fj.z}" rpy="${fj.roll} ${fj.pitch} ${fj.yaw}" />
-    <axis xyz="0 -1 0" />
-    <limit effort="333" lower="0.0" upper="1.5708" velocity="10.0" />
-    <mimic joint="${ee_prefix}finger_joint1" />
-</joint> -->
-
-<!--
-    <joint name="${ee_prefix}finger_joint1" type="revolute">
-      <parent link="${connected_to}" /> <child link="${ee_prefix}right_finger" />
-      <origin xyz="0 0.006 0.015" rpy="0 0 0" /> <axis xyz="0 1 0" />
-      <limit effort="333" lower="0.0" upper="1.5708" velocity="10.0" />
-    </joint>
-
-    <joint name="${ee_prefix}finger_joint2" type="revolute">
-      <parent link="${connected_to}" /> <child link="${ee_prefix}left_finger" />
-      <origin xyz="0 -0.006 0.015" rpy="0 0 0" /> <axis xyz="0 -1 0" />
-      <limit effort="333" lower="0.0" upper="1.5708" velocity="10.0" />
-      <mimic joint="${ee_prefix}finger_joint1" />
-    </joint> -->
-
-  </xacro:macro>
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/example/v1.urdf b/assets/robot/openarm_v1.0/urdf/example/v1.urdf
index 7b8865cd..bec33afe 100644
--- a/assets/robot/openarm_v1.0/urdf/example/v1.urdf
+++ b/assets/robot/openarm_v1.0/urdf/example/v1.urdf
@@ -4,7 +4,7 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <!--
-Copyright 2025 Enactic, Inc.
+Copyright 2026 Enactic, Inc.
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
@@ -17,105 +17,105 @@ limitations under the License.
 -->
 <robot name="openarm">
   <link name="world"/>
-  <joint name="openarm_body_world_joint" type="fixed">
-    <parent link="world"/>
-    <child link="openarm_body_link0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
   <link name="openarm_body_link0">
     <visual name="openarm_body_link0_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_body_link0_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
+        <mesh filename="package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="-0.016206894902 0 0.244091987626"/>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.016206894902 0.0 0.244091987626"/>
       <mass value="3.74"/>
       <inertia ixx="0.248946829107" ixy="0.0" ixz="0.0" iyy="0.253033907704" iyz="0.0" izz="0.0140271775534"/>
     </inertial>
   </link>
-  <joint name="openarm_left_openarm_body_link0_joint" type="fixed">
-    <parent link="openarm_body_link0"/>
-    <child link="openarm_left_link0"/>
-    <origin rpy="-1.5708 0 0" xyz="0.0 0.030 0.697"/>
+  <joint name="openarm_body_link0_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="world"/>
+    <child link="openarm_body_link0"/>
   </joint>
   <link name="openarm_left_link0">
     <visual name="openarm_left_link0_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 0.0"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link0_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 0.0"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199"/>
       <mass value="1.1432284943239561"/>
       <inertia ixx="0.001128" ixy="4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="7e-06" izz="0.00147"/>
     </inertial>
   </link>
+  <joint name="openarm_left_link0_mount_joint" type="fixed">
+    <origin rpy="-1.5708 -0.0 0.0" xyz="0.0 0.03 0.697"/>
+    <parent link="openarm_body_link0"/>
+    <child link="openarm_left_link0"/>
+  </joint>
   <link name="openarm_left_link1">
     <visual name="openarm_left_link1_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0 -0.0 -0.0625"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link1_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0 -0.0 -0.0625"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254"/>
       <mass value="1.1416684646202298"/>
       <inertia ixx="0.001567" ixy="1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="-1e-06" izz="0.001016"/>
     </inertial>
   </link>
   <joint name="openarm_left_joint1" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0 0.0625"/>
     <parent link="openarm_left_link0"/>
     <child link="openarm_left_link1"/>
     <axis xyz="0 0 1"/>
-    <limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666"/>
+    <limit effort="40" lower="-3.490659" upper="1.396263" velocity="16.754666"/>
   </joint>
   <link name="openarm_left_link2">
     <visual name="openarm_left_link2_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.0301 -0.0 -0.1225"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link2_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.0301 -0.0 -0.1225"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363"/>
       <mass value="0.2775092746011571"/>
       <inertia ixx="0.000359" ixy="-1e-06" ixz="-0.000109" iyy="0.000376" iyz="-1e-06" izz="0.000232"/>
     </inertial>
   </link>
   <joint name="openarm_left_joint2" type="revolute">
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0301 -0.0 0.06"/>
     <parent link="openarm_left_link1"/>
     <child link="openarm_left_link2"/>
     <axis xyz="-1 0 0"/>
@@ -124,6 +124,7 @@ limitations under the License.
   <link name="openarm_left_link3">
     <visual name="openarm_left_link3_visual">
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -132,7 +133,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -142,7 +142,7 @@ limitations under the License.
     </inertial>
   </link>
   <joint name="openarm_left_joint3" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625"/>
+    <origin rpy="0 0 0" xyz="0.0301 -0.0 0.06625"/>
     <parent link="openarm_left_link2"/>
     <child link="openarm_left_link3"/>
     <axis xyz="0 0 1"/>
@@ -151,6 +151,7 @@ limitations under the License.
   <link name="openarm_left_link4">
     <visual name="openarm_left_link4_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -159,7 +160,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -169,7 +169,7 @@ limitations under the License.
     </inertial>
   </link>
   <joint name="openarm_left_joint4" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0315 0.15375"/>
     <parent link="openarm_left_link3"/>
     <child link="openarm_left_link4"/>
     <axis xyz="0 1 0"/>
@@ -177,20 +177,20 @@ limitations under the License.
   </joint>
   <link name="openarm_left_link5">
     <visual name="openarm_left_link5_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0 0.0 -0.438"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link5_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0 0.0 -0.438"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934"/>
       <mass value="0.6156588026168502"/>
       <inertia ixx="0.000423" ixy="8e-06" ixz="6e-06" iyy="0.000445" iyz="6e-06" izz="0.000324"/>
     </inertial>
@@ -204,66 +204,148 @@ limitations under the License.
   </joint>
   <link name="openarm_left_link6">
     <visual name="openarm_left_link6_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0375 -0.0 -0.5585"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link6_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.0375 -0.0 -0.5585"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05"/>
+      <origin rpy="-0.0 0.0 -0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05"/>
       <mass value="0.475202773187987"/>
       <inertia ixx="0.000143" ixy="-1e-06" ixz="1e-06" iyy="0.000157" iyz="-1e-06" izz="0.000159"/>
     </inertial>
   </link>
   <joint name="openarm_left_joint6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205"/>
+    <origin rpy="0 0 0" xyz="0.0375 -0.0 0.1205"/>
     <parent link="openarm_left_link5"/>
     <child link="openarm_left_link6"/>
     <axis xyz="1 0 0"/>
     <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
   </joint>
+  <joint name="openarm_left_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 -0.0 0.0"/>
+    <parent link="openarm_left_link6"/>
+    <child link="openarm_left_link7"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
+  </joint>
   <link name="openarm_left_link7">
     <visual name="openarm_left_link7_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 -0.5585"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 -0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/link7.dae" scale="0.001 -0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_left_link7_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 -0.5585"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 -0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/link7.stl" scale="0.001 -0.001 0.001"/>
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="-9.897454675528511e-05 -0.003372444724450437 0.06138919729233123"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="-9.897454675528511e-05 -0.003372444724450437 0.06138919729233123"/>
       <mass value="0.4054971268153967"/>
-      <inertia ixx="0.0003637830920674498" ixy="-0.0" ixz="0" iyy="0.0003351190950225729" iyz="-7.094884219324384e-05" izz="0.0001865112723189818"/>
+      <inertia ixx="0.0003637830920674498" ixy="-0.0" ixz="0.0" iyy="0.0003351190950225729" iyz="-7.094884219324384e-05" izz="0.0001865112723189818"/>
     </inertial>
   </link>
-  <joint name="openarm_left_joint7" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
-    <parent link="openarm_left_link6"/>
-    <child link="openarm_left_link7"/>
+  <link name="openarm_left_hand">
+    <visual name="openarm_left_hand_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_hand_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.005122940871819574"/>
+      <mass value="0.1723111736408497"/>
+      <inertia ixx="0.000250930641371331" ixy="1.18380219510342e-05" ixz="0.0" iyy="5.560627616753029e-05" iyz="0.0" izz="0.0002906093338421478"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_hand_joint" type="fixed">
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.1001"/>
+    <parent link="openarm_left_link7"/>
+    <child link="openarm_left_hand"/>
+  </joint>
+  <link name="openarm_left_right_finger">
+    <visual name="openarm_left_right_finger_visual">
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_right_finger_collision">
+      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.004646697332048465 -0.01217890651468325 0.01335289447269551"/>
+      <mass value="0.07444998664008126"/>
+      <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="-3.504307786795564e-06" izz="1.882116318207188e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_finger_joint1" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 -0.005 0.015"/>
+    <parent link="openarm_left_hand"/>
+    <child link="openarm_left_right_finger"/>
     <axis xyz="0 -1 0"/>
-    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
+    <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
   </joint>
-  <joint name="openarm_right_openarm_body_link0_joint" type="fixed">
-    <parent link="openarm_body_link0"/>
-    <child link="openarm_right_link0"/>
-    <origin rpy="1.5708 0 0" xyz="0.0 -0.030 0.697"/>
+  <link name="openarm_left_left_finger">
+    <visual name="openarm_left_left_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_left_finger_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.004646697332048465 0.01217890651468325 0.01335289447269551"/>
+      <mass value="0.07444998664008126"/>
+      <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="-4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="3.504307786795564e-06" izz="1.882116318207188e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_finger_joint2" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0.005 0.015"/>
+    <parent link="openarm_left_hand"/>
+    <child link="openarm_left_left_finger"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
+    <mimic joint="openarm_left_finger_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <link name="openarm_left_hand_tcp"/>
+  <joint name="openarm_left_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.09"/>
+    <parent link="openarm_left_hand"/>
+    <child link="openarm_left_hand_tcp"/>
   </joint>
   <link name="openarm_right_link0">
     <visual name="openarm_right_link0_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -272,7 +354,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -281,9 +362,15 @@ limitations under the License.
       <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147"/>
     </inertial>
   </link>
+  <joint name="openarm_right_link0_mount_joint" type="fixed">
+    <origin rpy="1.5708 -0.0 0.0" xyz="0.0 -0.03 0.697"/>
+    <parent link="openarm_body_link0"/>
+    <child link="openarm_right_link0"/>
+  </joint>
   <link name="openarm_right_link1">
     <visual name="openarm_right_link1_visual">
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -292,7 +379,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -311,6 +397,7 @@ limitations under the License.
   <link name="openarm_right_link2">
     <visual name="openarm_right_link2_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -319,7 +406,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -338,6 +424,7 @@ limitations under the License.
   <link name="openarm_right_link3">
     <visual name="openarm_right_link3_visual">
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -346,7 +433,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -365,6 +451,7 @@ limitations under the License.
   <link name="openarm_right_link4">
     <visual name="openarm_right_link4_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -373,7 +460,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -383,7 +469,7 @@ limitations under the License.
     </inertial>
   </link>
   <joint name="openarm_right_joint4" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0315 0.15375"/>
     <parent link="openarm_right_link3"/>
     <child link="openarm_right_link4"/>
     <axis xyz="0 1 0"/>
@@ -392,6 +478,7 @@ limitations under the License.
   <link name="openarm_right_link5">
     <visual name="openarm_right_link5_visual">
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -400,7 +487,6 @@ limitations under the License.
       <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -418,16 +504,16 @@ limitations under the License.
   </joint>
   <link name="openarm_right_link6">
     <visual name="openarm_right_link6_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 0.0 -0.5585"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_right_link6_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 0.0 -0.5585"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
       </geometry>
     </collision>
     <inertial>
@@ -443,41 +529,42 @@ limitations under the License.
     <axis xyz="1 0 0"/>
     <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
   </joint>
+  <joint name="openarm_right_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
+    <parent link="openarm_right_link6"/>
+    <child link="openarm_right_link7"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
+  </joint>
   <link name="openarm_right_link7">
     <visual name="openarm_right_link7_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 -0.5585"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/link7.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
     <collision name="openarm_right_link7_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 -0.5585"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl" scale="0.001 0.001 0.001"/>
-        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
+        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/link7.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="-9.897454675528511e-05 0.003372444724450437 0.06138919729233123"/>
+      <origin rpy="0.0 -0.0 0.0" xyz="-9.897454675528511e-05 0.003372444724450437 0.06138919729233123"/>
       <mass value="0.4054971268153967"/>
-      <inertia ixx="0.0003637830920674498" ixy="0.0" ixz="0" iyy="0.0003351190950225729" iyz="7.094884219324384e-05" izz="0.0001865112723189818"/>
+      <inertia ixx="0.0003637830920674498" ixy="0.0" ixz="0.0" iyy="0.0003351190950225729" iyz="7.094884219324384e-05" izz="0.0001865112723189818"/>
     </inertial>
   </link>
-  <joint name="openarm_right_joint7" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
-    <parent link="openarm_right_link6"/>
-    <child link="openarm_right_link7"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
-  </joint>
-  <link name="openarm_left_hand">
-    <visual name="openarm_left_hand_visual">
+  <link name="openarm_right_hand">
+    <visual name="openarm_right_hand_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
-    <collision name="openarm_left_hand_collision">
+    <collision name="openarm_right_hand_collision">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001"/>
@@ -486,47 +573,23 @@ limitations under the License.
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.005122940871819574"/>
       <mass value="0.1723111736408497"/>
-      <inertia ixx="0.000250930641371331" ixy="1.18380219510342e-05" ixz="0" iyy="5.560627616753029e-05" iyz="0" izz="0.0002906093338421478"/>
+      <inertia ixx="0.000250930641371331" ixy="1.18380219510342e-05" ixz="0.0" iyy="5.560627616753029e-05" iyz="0.0" izz="0.0002906093338421478"/>
     </inertial>
   </link>
-  <joint name="openarm_left_hand_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.1001"/>
-    <parent link="openarm_left_link7"/>
-    <child link="openarm_left_hand"/>
-  </joint>
-  <link name="openarm_left_hand_tcp"/>
-  <joint name="openarm_left_hand_tcp_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.09"/>
-    <parent link="openarm_left_hand"/>
-    <child link="openarm_left_hand_tcp"/>
+  <joint name="openarm_right_hand_joint" type="fixed">
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.1001"/>
+    <parent link="openarm_right_link7"/>
+    <child link="openarm_right_hand"/>
   </joint>
-  <link name="openarm_left_left_finger">
-    <visual name="openarm_left_left_finger_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </visual>
-    <collision name="openarm_left_left_finger_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.004646697332048465 0.01217890651468325 0.01335289447269551"/>
-      <mass value="0.07444998664008126"/>
-      <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="-4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="3.504307786795564e-06" izz="1.882116318207188e-05"/>
-    </inertial>
-  </link>
-  <link name="openarm_left_right_finger">
-    <visual name="openarm_left_right_finger_visual">
+  <link name="openarm_right_right_finger">
+    <visual name="openarm_right_right_finger_visual">
       <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
-    <collision name="openarm_left_right_finger_collision">
+    <collision name="openarm_right_right_finger_collision">
       <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
       <geometry>
         <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
@@ -538,54 +601,17 @@ limitations under the License.
       <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="-3.504307786795564e-06" izz="1.882116318207188e-05"/>
     </inertial>
   </link>
-  <joint name="openarm_left_finger_joint1" type="prismatic">
-    <parent link="openarm_left_hand"/>
-    <child link="openarm_left_right_finger"/>
-    <origin rpy="0 0 0" xyz="0.0 -0.005 0.015"/>
+  <joint name="openarm_right_finger_joint1" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 -0.005 0.015"/>
+    <parent link="openarm_right_hand"/>
+    <child link="openarm_right_right_finger"/>
     <axis xyz="0 -1 0"/>
     <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
   </joint>
-  <joint name="openarm_left_finger_joint2" type="prismatic">
-    <parent link="openarm_left_hand"/>
-    <child link="openarm_left_left_finger"/>
-    <origin rpy="0 0 0" xyz="0.0 0.005 0.015"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
-    <mimic joint="openarm_left_finger_joint1" multiplier="1" offset="0"/>
-  </joint>
-  <link name="openarm_right_hand">
-    <visual name="openarm_right_hand_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </visual>
-    <collision name="openarm_right_hand_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6586"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.005122940871819574"/>
-      <mass value="0.1723111736408497"/>
-      <inertia ixx="0.000250930641371331" ixy="1.18380219510342e-05" ixz="0" iyy="5.560627616753029e-05" iyz="0" izz="0.0002906093338421478"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_hand_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.1001"/>
-    <parent link="openarm_right_link7"/>
-    <child link="openarm_right_hand"/>
-  </joint>
-  <link name="openarm_right_hand_tcp"/>
-  <joint name="openarm_right_hand_tcp_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.09"/>
-    <parent link="openarm_right_hand"/>
-    <child link="openarm_right_hand_tcp"/>
-  </joint>
   <link name="openarm_right_left_finger">
     <visual name="openarm_right_left_finger_visual">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
+      <!-- Preserve the mesh's embedded materials. -->
       <geometry>
         <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -602,38 +628,18 @@ limitations under the License.
       <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="-4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="3.504307786795564e-06" izz="1.882116318207188e-05"/>
     </inertial>
   </link>
-  <link name="openarm_right_right_finger">
-    <visual name="openarm_right_right_finger_visual">
-      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </visual>
-    <collision name="openarm_right_right_finger_collision">
-      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.05 -0.673001"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.004646697332048465 -0.01217890651468325 0.01335289447269551"/>
-      <mass value="0.07444998664008126"/>
-      <inertia ixx="3.284268617249738e-05" ixy="-4.813534779503441e-07" ixz="4.110240982958172e-06" iyy="4.17523619254798e-05" iyz="-3.504307786795564e-06" izz="1.882116318207188e-05"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_finger_joint1" type="prismatic">
-    <parent link="openarm_right_hand"/>
-    <child link="openarm_right_right_finger"/>
-    <origin rpy="0 0 0" xyz="0.0 -0.005 0.015"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
-  </joint>
   <joint name="openarm_right_finger_joint2" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0.005 0.015"/>
     <parent link="openarm_right_hand"/>
     <child link="openarm_right_left_finger"/>
-    <origin rpy="0 0 0" xyz="0.0 0.005 0.015"/>
     <axis xyz="0 1 0"/>
     <limit effort="150.75" lower="0.0" upper="0.044" velocity="0.661"/>
     <mimic joint="openarm_right_finger_joint1" multiplier="1" offset="0"/>
   </joint>
+  <link name="openarm_right_hand_tcp"/>
+  <joint name="openarm_right_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.09"/>
+    <parent link="openarm_right_hand"/>
+    <child link="openarm_right_hand_tcp"/>
+  </joint>
 </robot>
diff --git a/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro b/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro
index 4b72af3a..1b711e0d 100644
--- a/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro
+++ b/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro
@@ -1,6 +1,6 @@
-<?xml version='1.0' encoding='utf-8'?>
+<?xml version="1.0" encoding="utf-8"?>
 <!--
-Copyright 2025 Enactic, Inc.
+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
@@ -13,78 +13,43 @@ limitations under the License.
 -->
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
-
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro"/>
+  <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro" />
+  <xacro:include filename="$(find openarm_description)/assets/common/ros2_control.xacro" />
 
   <xacro:arg name="arm_type" default="v10" />
   <xacro:arg name="body_type" default="v10" />
-  <xacro:arg name="no_prefix" default="false"/>
-  <xacro:arg name="parent" default="world" />
-  <xacro:arg name="xyz" default="0 0 0" />
-  <xacro:arg name="rpy" default="0 0 0" />
+  <xacro:arg name="robot_preset" default="" />
+  <xacro:arg name="bimanual" default="true" />
   <xacro:arg name="ros2_control" default="false" />
-  <xacro:arg name="can_interface" default="can0" />
-  <xacro:arg name="left_can_interface" default="can1" />
-  <xacro:arg name="right_can_interface" default="can0" />
-  <xacro:arg name="left_arm_prefix" default="left_" />
-  <xacro:arg name="right_arm_prefix" default="right_" />
   <xacro:arg name="use_fake_hardware" default="false" />
   <xacro:arg name="fake_sensor_commands" default="false" />
-  <xacro:arg name="bimanual" default="true" />
-  <xacro:arg name="right_arm_base_xyz" default="0.0 -0.030 0.697" />
-  <xacro:arg name="right_arm_base_rpy" default="1.5708 0 0" />
-  <xacro:arg name="left_arm_base_xyz" default="0.0 0.030 0.697" />
-  <xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
-  <xacro:arg name="can_fd" default="true" />
-  <xacro:property name="accepted_arm_types" value="${('v10', 'v1.0', 'v1_0', 'openarm_v10', 'openarm_v1.0', 'openarm_v1_0')}" />
-  <xacro:if value="${'$(arg arm_type)' not in accepted_arm_types}">
-    ${xacro.error('assets/robot/openarm_v1.0 supports arm_type in ' + str(accepted_arm_types) + ' (got: $(arg arm_type)). Use assets/robot/openarm_v2.0 for newer hardware variants.')}
-  </xacro:if>
-  <xacro:if value="${'$(arg body_type)' != 'v10'}">
-    ${xacro.error('assets/robot/openarm_v1.0 only supports body_type:=v10.')}
-  </xacro:if>
-  <xacro:property name="arm_cfg_root" value="$(find openarm_description)/assets/robot/openarm_v1.0/config/arm" />
-  <xacro:property name="body_cfg_root" value="$(find openarm_description)/assets/robot/openarm_v1.0/config/body" />
-  <xacro:property name="parallel_link_cfg_root" value="$(find openarm_description)/assets/end_effector/parallel_link/config" />
-
-  <xacro:openarm_robot
-  arm_type="v10"
-  body_type="$(arg body_type)"
-  joint_limits="${xacro.load_yaml(arm_cfg_root + '/joint_limits.yaml')}"
-  control_gains="${xacro.load_yaml(arm_cfg_root + '/control_gains.yaml')}"
-  inertials="${xacro.load_yaml(arm_cfg_root + '/inertials.yaml')}"
-  kinematics="${xacro.load_yaml(arm_cfg_root + '/kinematics.yaml')}"
-  kinematics_link="${xacro.load_yaml(arm_cfg_root + '/kinematics_link.yaml')}"
-  kinematics_offset="${xacro.load_yaml(arm_cfg_root + '/kinematics_offset.yaml')}"
-  body_inertials="${xacro.load_yaml(body_cfg_root + '/inertials.yaml')}"
-  body_kinematics="${xacro.load_yaml(body_cfg_root + '/kinematics.yaml')}"
-  body_kinematics_link="${xacro.load_yaml(body_cfg_root + '/kinematics_link.yaml')}"
+  <xacro:arg name="left_can_interface" default="" />
+  <xacro:arg name="right_can_interface" default="" />
+  <xacro:arg name="can_fd" default="" />
 
-  ee_inertials="${xacro.load_yaml(parallel_link_cfg_root + '/inertials.yaml')}"
-  ee_kinematics="${xacro.load_yaml(parallel_link_cfg_root + '/kinematics.yaml')}"
-  ee_kinematics_link="${xacro.load_yaml(parallel_link_cfg_root + '/kinematics_link.yaml')}"
-  ee_joints_limits="${xacro.load_yaml(parallel_link_cfg_root + '/joint_limits.yaml')}"
-  ee_type="parallel_link"
-
-  ros2_control="$(arg ros2_control)"
-  can_interface="$(arg can_interface)"
-  left_can_interface="$(arg left_can_interface)"
-  right_can_interface="$(arg right_can_interface)"
-  left_arm_prefix="$(arg left_arm_prefix)"
-  right_arm_prefix="$(arg right_arm_prefix)"
-  use_fake_hardware="$(arg use_fake_hardware)"
-  fake_sensor_commands="$(arg fake_sensor_commands)"
-  no_prefix="$(arg no_prefix)"
-  arm_prefix=""
-  body_prefix=""
-  arm_connected_to="base"
-  body_connected_to="world"
-  bimanual="$(arg bimanual)"
-  right_arm_base_xyz="$(arg right_arm_base_xyz)"
-  left_arm_base_xyz="$(arg left_arm_base_xyz)"
-  right_arm_base_rpy="$(arg right_arm_base_rpy)"
-  left_arm_base_rpy="$(arg left_arm_base_rpy)"
-  can_fd="$(arg can_fd)"
-  />
+  <xacro:openarm_require condition="${'$(arg arm_type)' in ['v10', 'v1.0', 'v1_0', 'openarm_v10', 'openarm_v1.0', 'openarm_v1_0']}" message="V1 entry requires arm_type:=v10." />
+  <xacro:openarm_require condition="${'$(arg body_type)' == 'v10'}" message="V1 entry requires body_type:=v10." />
+  <xacro:property name="config_root" value="$(find openarm_description)/assets/robot/openarm_v1.0/config" />
+  <xacro:property name="preset_name" value="${'$(arg robot_preset)' or ('default_bimanual' if '$(arg bimanual)'.lower() in ['true', '1'] else 'default_single')}" />
+  <xacro:property name="preset" value="${xacro.load_yaml(config_root + '/robot_presets/' + preset_name + '.yaml')}" lazy_eval="false" />
 
+  <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="${preset}" />
+  <xacro:if value="$(arg ros2_control)">
+    <xacro:property name="hardware_defaults" value="${dict(
+      openarm_left_hardware_interface=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can1', can_fd=True),
+      openarm_right_hardware_interface=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can0', can_fd=True),
+      openarm_hardware_interface=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can0', can_fd=True))}" />
+    <xacro:openarm_require condition="${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),
+      openarm_hardware_interface=fd_override)}" />
+    <xacro:openarm_ros2_control robot_preset="${preset}" component_descriptions="${component_descriptions}" arm_type="v10"
+      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_v1.0/urdf/robot/openarm_robot.xacro b/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro
deleted file mode 100644
index 41824fa6..00000000
--- a/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro
+++ /dev/null
@@ -1,202 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<!--
-Copyright 2025 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_robot"
-    params="arm_type
-            joint_limits
-            control_gains
-            kinematics
-            kinematics_link
-            kinematics_offset
-            inertials
-            body_type
-            body_inertials
-            body_kinematics
-            body_kinematics_link
-            ee_kinematics
-            ee_kinematics_link
-            ee_inertials
-            ee_joints_limits
-            parent:='world'
-            xyz:='0 0 0'
-            rpy:='0 0 0'
-            ee_type:=''
-            ros2_control:=false
-            can_interface:=''
-            use_fake_hardware:=false
-            fake_sensor_commands:=false
-            no_prefix:='false'
-            arm_prefix:=''
-            body_prefix:=''
-            arm_connected_to='base'
-            body_connected_to='world'
-            bimanual:=false
-            right_arm_base_xyz='0 0 0'
-            left_arm_base_xyz='0 0 0'
-            right_arm_base_rpy='0 0 0'
-            left_arm_base_rpy='0 0 0'
-            left_can_interface:='can1'
-            right_can_interface:='can0'
-            left_arm_prefix:='left_'
-            right_arm_prefix:='right_'
-            can_fd:='true'
-            "
-            >
-
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro" />
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro" />
-
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro" />
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro" />
-
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro" />
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro" />
-
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro" />
-    <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
-
-    <xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
-    <xacro:property name="body_prefix_modified" value="${'' if body_prefix == '' else body_prefix + '_'}" />
-    <xacro:property name="arm_link_prefix" value="${'' if no_prefix else 'openarm_' + arm_prefix_modified}" />
-    <xacro:property name="body_link_prefix" value="${'' if no_prefix else 'openarm_' + body_prefix_modified}" />
-
-    <xacro:if value="${bimanual}">
-
-        <xacro:openarm_body
-        body_type="${body_type}"
-        body_prefix="${body_prefix_modified}"
-        no_prefix="${no_prefix}"
-        description_pkg="openarm_description"
-        connected_to="${body_connected_to}"
-        xyz="${xyz}"
-        rpy="${rpy}"
-        inertials="${body_inertials}"
-        kinematics="${body_kinematics}"
-        kinematics_link="${body_kinematics_link}" />
-
-        <!-- left arm -->
-        <xacro:openarm_arm
-        arm_type="${arm_type}"
-        arm_prefix="left_"
-        no_prefix="false"
-        description_pkg="openarm_description"
-        connected_to="${body_link_prefix}body_link0"
-        xyz="${left_arm_base_xyz}"
-        rpy="${left_arm_base_rpy}"
-        joint_limits="${joint_limits}"
-        inertials="${inertials}"
-        kinematics="${kinematics}"
-        kinematics_link="${kinematics_link}"
-        kinematics_offset="${kinematics_offset}" />
-
-        <!-- right arm -->
-        <xacro:openarm_arm
-        arm_type="${arm_type}"
-        arm_prefix="right_"
-        no_prefix="false"
-        description_pkg="openarm_description"
-        connected_to="${body_link_prefix}body_link0"
-        xyz="${right_arm_base_xyz}"
-        rpy="${right_arm_base_rpy}"
-        joint_limits="${joint_limits}"
-        inertials="${inertials}"
-        kinematics="${kinematics}"
-        kinematics_link="${kinematics_link}"
-        kinematics_offset="${kinematics_offset}" />
-
-        <xacro:openarm_ee
-            connected_to="openarm_left_link7"
-            arm_type="${arm_type}"
-            arm_prefix="left_"
-            ee_type="${ee_type}"
-            ee_kinematics="${ee_kinematics}"
-            ee_kinematics_link="${ee_kinematics_link}"
-            ee_inertials="${ee_inertials}"
-            ee_joints_limits="${ee_joints_limits}"
-        />
-        <xacro:openarm_ee
-            connected_to="openarm_right_link7"
-            arm_type="${arm_type}"
-            arm_prefix="right_"
-            ee_type="${ee_type}"
-            ee_kinematics="${ee_kinematics}"
-            ee_kinematics_link="${ee_kinematics_link}"
-            ee_inertials="${ee_inertials}"
-            ee_joints_limits="${ee_joints_limits}"
-        />
-
-        <!-- ros2_control hardware interfaces for bimanual setup -->
-        <xacro:if value="${ros2_control}">
-            <xacro:openarm_bimanual_ros2_control
-            arm_type="${arm_type}"
-            control_gains="${control_gains}"
-            left_can_interface="${left_can_interface}"
-            right_can_interface="${right_can_interface}"
-            use_fake_hardware="${use_fake_hardware}"
-            fake_sensor_commands="${fake_sensor_commands}"
-            left_arm_prefix="${left_arm_prefix}"
-            right_arm_prefix="${right_arm_prefix}"
-            hand="true"
-            ee_type="${ee_type}"/>
-        </xacro:if>
-    </xacro:if>
-
-
-    <xacro:if value="${not bimanual}">
-
-        <xacro:openarm_arm
-            arm_type="${arm_type}"
-            arm_prefix="${arm_prefix_modified}"
-            no_prefix="${no_prefix}"
-            xyz="${xyz}"
-            rpy="${rpy}"
-            joint_limits="${joint_limits}"
-            kinematics="${kinematics}"
-            kinematics_link="${kinematics_link}"
-            inertials="${inertials}"
-            connected_to=""
-        />
-
-        <xacro:openarm_ee
-            connected_to="${arm_link_prefix}link7" arm_type="${arm_type}"
-            arm_prefix="${arm_prefix_modified}"
-            no_prefix="${no_prefix}"
-            ee_type="${ee_type}"
-            ee_kinematics="${ee_kinematics}"
-            ee_kinematics_link="${ee_kinematics_link}"
-            ee_inertials="${ee_inertials}"
-            ee_joints_limits="${ee_joints_limits}"
-        />
-
-        <xacro:if value="${ros2_control}">
-            <xacro:openarm_arm_ros2_control
-                arm_type="${arm_type}"
-                control_gains="${control_gains}"
-                arm_prefix="${arm_prefix_modified}"
-                no_prefix="${no_prefix}"
-                can_interface="${can_interface}"
-                use_fake_hardware="${use_fake_hardware}"
-                fake_sensor_commands="${fake_sensor_commands}"
-                hand="true"
-                can_fd="${can_fd}"
-                ee_type="${ee_type}"/>
-        </xacro:if>
-
-    </xacro:if>
-
-
-
-  </xacro:macro>
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
deleted file mode 100644
index 999b443a..00000000
--- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ /dev/null
@@ -1,152 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_bimanual_ros2_control"
-         params="arm_type
-             control_gains
-             left_can_interface:=^|can1
-             right_can_interface:=^|can0
-             use_fake_hardware:=^|true
-             fake_sensor_commands:=^|false
-             hand:=^|true
-             ee_type:=^|parallel_link
-             left_arm_prefix:=^|left_
-             right_arm_prefix:=^|right_
-             can_fd:=^|true">
-
-    <!-- Left Arm Hardware Interface -->
-    <ros2_control name="openarm_left_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${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">${left_arm_prefix}</param>
-            <param name="hand">${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 value="${hand}">
-              <param name="kp_hand">${control_gains['hand']['kp']}</param>
-              <param name="kd_hand">${control_gains['hand']['kd']}</param>
-            </xacro:if>
-          </xacro:unless>
-        </hardware>
-
-      <xacro:macro name="configure_joint" params="joint_name initial_position">
-        <joint name="${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:if value="${hand}">
-        <xacro:configure_joint joint_name="openarm_${left_arm_prefix}finger_joint1" initial_position="0.0" />
-      </xacro:if>
-    </ros2_control>
-
-    <!-- Right Arm Hardware Interface -->
-    <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="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">${control_gains['joint7']['kd']}</param>
-            <xacro:if value="${hand}">
-              <param name="kp_hand">${control_gains['hand']['kp']}</param>
-              <param name="kd_hand">${control_gains['hand']['kd']}</param>
-            </xacro:if>
-          </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_${right_arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:if value="${hand}">
-        <xacro:configure_joint joint_name="openarm_${right_arm_prefix}finger_joint1" initial_position="0.0" />
-      </xacro:if>
-    </ros2_control>
-
-  </xacro:macro>
-
-</robot>
diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro
deleted file mode 100644
index 97cc630c..00000000
--- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro
+++ /dev/null
@@ -1,110 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright 2025 Enactic, Inc.
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-    http://www.apache.org/licenses/LICENSE-2.0
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_arm_ros2_control"
-         params="arm_type
-             control_gains
-             can_interface
-             use_fake_hardware:=^|false
-             fake_sensor_commands:=^|false
-             hand:=^|false
-             ee_type:=^|parallel_link
-             gazebo_effort:=^|false
-             arm_prefix:=''
-             bimanual:=false
-             can_fd:=^|true
-             no_prefix:=false">
-
-    <xacro:property name="joint_prefix" value="${'' if no_prefix else 'openarm_' + arm_prefix}" />
-
-    <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="${joint_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${joint_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:if value="${hand}">
-        <xacro:configure_joint joint_name="${joint_prefix}finger_joint1" initial_position="0.0" />
-      </xacro:if>
-
-    </ros2_control>
-
-  </xacro:macro>
-
-
-</robot>
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..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
@@ -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: {}
@@ -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 2b94a8ae..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
@@ -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: {}
@@ -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 fbfa0663..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
@@ -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: {}
@@ -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 351b2678..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="${pinch_mimics_dict['finger_joint2']['multiplier'] if 'finger_joint2' in pinch_mimics_dict else 1.0}" />
-
-  <xacro:openarm_bimanual_ros2_control
-    arm_type="v20"
-    control_gains="${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/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/launch/display_openarm.launch.py b/launch/display_openarm.launch.py
index 3174b273..c5c107d2 100644
--- a/launch/display_openarm.launch.py
+++ b/launch/display_openarm.launch.py
@@ -74,6 +74,7 @@ def robot_state_publisher_spawner(
             "arm_type": arm_type_str,
             "body_type": "v10",
             "bimanual": context.perform_substitution(bimanual),
+            "robot_preset": context.perform_substitution(robot_preset),
             "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),
@@ -81,8 +82,11 @@ def robot_state_publisher_spawner(
     else:
         mappings = {
             "arm_type": arm_type_str,
-            "robot_preset": context.perform_substitution(robot_preset),
+            "robot_preset": context.perform_substitution(robot_preset) or "default_bimanual",
             "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(
@@ -109,8 +113,8 @@ 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).",
+        default_value="",
+        description="Robot preset; empty selects the default assembly for the selected version.",
     )
     rviz_config_arg = DeclareLaunchArgument(
         "rviz_config",
diff --git a/test/support.py b/test/support.py
index 870485e4..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()}
@@ -143,7 +132,7 @@ 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 +150,16 @@ 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..e618f95b 100644
--- a/test/test_entrypoints.py
+++ b/test/test_entrypoints.py
@@ -16,7 +16,7 @@
 import xacro
 import yaml
 
-from support import expand, multiply, near, pinch, pose, transform
+from support import expand, model, multiply, near, pinch, pose, transform
 
 
 def write_configuration(directory, data):
@@ -26,9 +26,23 @@ def write_configuration(directory, data):
         path.write_text(yaml.safe_dump(value, sort_keys=False))
 
 
+def test_parallel_entry_forwards_tcp_arguments(tmp_path):
+    data = model(('link7',))
+    data['struct/reference_points.yaml'] = {
+        'hand_tcp': dict(parent='link7', emit=True, origin=pose(z=.4))}
+    write_configuration(tmp_path, data)
+    robot = expand(entry='assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro',
+                   ee_config_dir=tmp_path, reflect_y=-1, tcp_xyz='.01 .02 .10', tcp_rpy='.2 .3 .4')
+    joint = robot.find("joint[@name='hand_tcp_joint']")
+    assert joint.find('parent').get(
+        'link') == data['struct/reference_points.yaml']['hand_tcp']['parent']
+    near(transform(joint.find('origin')),
+         transform(pose(.01, .02, .1, .2, .3, .4)))
+
+
 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 +58,10 @@ 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',
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..46ae330d
--- /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 ('v1.0', '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('*/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)