[stevenaya]

Clean nearly coplanar mesh vertices in the V2 arm base and links 1–5, pedestal and gripper visuals, and remove internal face fragments left by filled gripper-base holes. Preserve part identifiers, materials and component transforms.

Changes

• Retriangulate selected planar regions while retaining their boundaries.
• Clean the gripper-base interior fragments and retain 2,486 triangles per finger visual.
• Keep the original link6 visual pending a separate review of its cap mating surface.

Mesh counts and file sizes

Mesh	Triangles, before → after	DAE size, before → after (KiB)
Arm base	8,176 → 8,100	672.7 → 671.5
link1	10,668 → 10,660	784.4 → 784.8
link2	6,086 → 6,050	433.8 → 447.7
link3	14,366 → 14,344	1,085.4 → 1,087.0
link4	16,198 → 15,782	1,228.5 → 1,244.3
link5	14,576 → 14,560	1,092.5 → 1,096.2
Pedestal	15,492 → 15,314	1,224.2 → 1,217.7
Gripper base	21,944 → 21,644	1,615.8 → 1,596.0
Inner finger	2,492 → 2,486	200.2 → 266.4
Outer finger	2,492 → 2,486	199.2 → 265.2

Total: 112,490 → 111,426 triangles; 8.34 → 8.47 MiB of DAE data. The file-size total increases by 1.64% despite the lower triangle count.

RViz comparisons

Each image is a separate native RViz viewport capture. Before/after use the same camera, scale and opaque rendering. Whole-part views use the source materials; local views use neutral grey surfaces with red edges before and green edges after to identify the edited triangulation.

Mesh revisions: 1329b1b → e5a4ae7.

Whole-part views — all 10 meshes

Mesh	Before	After
Arm base
link1
link2
link3
link4
link5
Pedestal
Gripper base
Inner finger
Outer finger

Local topology views — all 10 meshes

The local views isolate selected surface patches to make connectivity changes visible.

Mesh	Before	After
Arm base
link1
link2
link3
link4
link5
Pedestal
Gripper base
Inner finger
Outer finger

Validation

• All 27 existing ROS 2 Jazzy tests pass after retaining the original link6 visual.
• All ten changed mesh files are covered by paired appearance and topology views.

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[Copilot]

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