From 2996035d5500656aa0757d3f6ebb5a2f36d958a1 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 6 Nov 2026 19:24:40 +0900
Subject: [PATCH 1/3] Separate stable component keys from emitted link and
 joint names

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

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

From cbabe2a855a61444b128fb6331d8f116d62ca8eb Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 6 Nov 2026 19:24:41 +0900
Subject: [PATCH 2/3] Add the ZED Mini mount and camera assembly

---
 .github/workflows/release.yaml                |   7 +-
 .github/workflows/test.yaml                   |   5 +
 README.md                                     |   4 +
 .../zed_mount/config/inertials/nominal.yaml   |  16 +
 .../zed_mount/config/link/collisions.yaml     |  29 ++
 .../zed_mount/config/link/visuals.yaml        |  14 +
 .../config/struct/reference_points.yaml       |  10 +
 .../zed_mount/config/struct/topology.yaml     |   4 +
 .../meshes/collision/zed_mount_shell.stl      | Bin 0 -> 265484 bytes
 .../meshes/collision/zed_mount_support.stl    | Bin 0 -> 684 bytes
 .../zed_mount/meshes/visual/zed_mount.dae     | 279 ++++++++++++++++++
 .../v2.0/config/struct/reference_points.yaml  |  25 +-
 assets/common/collisions.xacro                |  40 +++
 assets/common/links.xacro                     |  18 +-
 .../robot_presets/default_bimanual.yaml       |  63 +++-
 .../robot/openarm_v2.0/urdf/example/v2.urdf   | 101 +++++++
 rviz/bimanual_camera.rviz                     | 256 ++++++++++++++++
 test/run.sh                                   |   9 +-
 test/test_assembly.py                         |  14 +
 test/test_interfaces.py                       |  40 +++
 20 files changed, 891 insertions(+), 43 deletions(-)
 create mode 100644 assets/accessory/zed_mount/config/inertials/nominal.yaml
 create mode 100644 assets/accessory/zed_mount/config/link/collisions.yaml
 create mode 100644 assets/accessory/zed_mount/config/link/visuals.yaml
 create mode 100644 assets/accessory/zed_mount/config/struct/reference_points.yaml
 create mode 100644 assets/accessory/zed_mount/config/struct/topology.yaml
 create mode 100644 assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl
 create mode 100644 assets/accessory/zed_mount/meshes/collision/zed_mount_support.stl
 create mode 100644 assets/accessory/zed_mount/meshes/visual/zed_mount.dae
 create mode 100644 assets/common/collisions.xacro
 create mode 100644 rviz/bimanual_camera.rviz

diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 6654216b..976d55e2 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -29,6 +29,11 @@ jobs:
           - "humble"
     steps:
       - uses: actions/checkout@v7
+      - uses: actions/checkout@v7
+        with:
+          repository: stereolabs/zed-ros2-description
+          ref: 22468247c1653d08a1e213809f3e9ce76291487d
+          path: .ci/zed_description
       - name: Build URDF files
         run: |
           docker container run \
@@ -37,7 +42,7 @@ jobs:
             osrf/ros:${{ matrix.id }}-desktop-full \
             bash -c '
               cd /source
-              colcon build
+              colcon build --paths /source/.ci/zed_description /source
               source install/setup.bash
 
               mkdir -p urdf_output
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 4c64ea27..bbead3d1 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -55,6 +55,11 @@ jobs:
           - "humble"
     steps:
       - uses: actions/checkout@v7
+      - uses: actions/checkout@v7
+        with:
+          repository: stereolabs/zed-ros2-description
+          ref: 22468247c1653d08a1e213809f3e9ce76291487d
+          path: .ci/zed_description
       - name: Run tests
         run: |
           docker container run \
diff --git a/README.md b/README.md
index 7f82e7cf..52408d68 100644
--- a/README.md
+++ b/README.md
@@ -18,6 +18,10 @@ Recommended starting point:
 - for all new robot assembly, presets, xacro, and URDF generation work, start with `assets/robot/openarm_v2.0`
 - only use `assets/robot/openarm_v1.0` when you need the old `v10 + parallel_link` compatibility path -->
 
+## V2 camera assembly
+
+The V2 `default_bimanual` preset includes both arms, pinch grippers, the camera mount, and the official ZED Mini model. Single-arm presets are also available. Use `ros2_control:=false` when exporting a model without control interfaces.
+
 ## Component interfaces
 
 Robot entries load `assets/component_loader.xacro`. The loader locates each component using the existing `type`, `product`, and `config` fields, then optionally loads `<component directory>/urdf/component.xacro`. Components without this file use the standard YAML model generator.
diff --git a/assets/accessory/zed_mount/config/inertials/nominal.yaml b/assets/accessory/zed_mount/config/inertials/nominal.yaml
new file mode 100644
index 00000000..2225baf0
--- /dev/null
+++ b/assets/accessory/zed_mount/config/inertials/nominal.yaml
@@ -0,0 +1,16 @@
+link1:
+  origin:
+    x: 0.014296
+    y: 0.0034952
+    z: 0.047826
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.13704
+  inertia:
+    xx: 0.00018293
+    xy: -6.3997e-06
+    xz: -3.1024e-05
+    yy: 0.00011247
+    yz: -8.6526e-06
+    zz: 0.00012779
diff --git a/assets/accessory/zed_mount/config/link/collisions.yaml b/assets/accessory/zed_mount/config/link/collisions.yaml
new file mode 100644
index 00000000..ce1c5070
--- /dev/null
+++ b/assets/accessory/zed_mount/config/link/collisions.yaml
@@ -0,0 +1,29 @@
+link1:
+- name: support
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_support.stl
+    scale:
+      x: 1
+      y: 1
+      z: 1
+- name: shell
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl
+    scale:
+      x: 1
+      y: 1
+      z: 1
diff --git a/assets/accessory/zed_mount/config/link/visuals.yaml b/assets/accessory/zed_mount/config/link/visuals.yaml
new file mode 100644
index 00000000..577141e1
--- /dev/null
+++ b/assets/accessory/zed_mount/config/link/visuals.yaml
@@ -0,0 +1,14 @@
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/accessory/zed_mount/meshes/visual/zed_mount.dae
+    scale:
+      x: 1
+      y: 1
+      z: 1
diff --git a/assets/accessory/zed_mount/config/struct/reference_points.yaml b/assets/accessory/zed_mount/config/struct/reference_points.yaml
new file mode 100644
index 00000000..7b26ef26
--- /dev/null
+++ b/assets/accessory/zed_mount/config/struct/reference_points.yaml
@@ -0,0 +1,10 @@
+camera_mount_point:
+  parent: link1
+  emit: true
+  origin:
+    x: 0.0263085336684006
+    y: 0.00869000000000031
+    z: 0.065829226007701
+    roll: 0
+    pitch: 1.08210413623648
+    yaw: 0
diff --git a/assets/accessory/zed_mount/config/struct/topology.yaml b/assets/accessory/zed_mount/config/struct/topology.yaml
new file mode 100644
index 00000000..5af12334
--- /dev/null
+++ b/assets/accessory/zed_mount/config/struct/topology.yaml
@@ -0,0 +1,4 @@
+links:
+  link1:
+    name: base_link
+joints: {}
diff --git a/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl b/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ca702e982d5ac2c0a2457b2e63be9112a0131652
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106 0 380 110 0 377 115 0 373 106 0 373 106 0 377 115 0 378 102 0 385 881 0 386 913 0 391 922 0 386 913 0 385 881 0 393 799 0 384 734 0 393 799 0 385 881 0 393 799 0 384 734 0 394 713 0 210 295 0 394 713 0 384 734 0 394 713 0 210 295 0 158 298 0 357 550 0 369 560 0 358 558 0 416 589 0 358 558 0 369 560 0 355 548 0 377 598 0 361 590 0 366 655 0 361 590 0 377 598 0 381 798 0 374 851 0 383 854 0 382 857 0 383 854 0 374 851 0 389 348 0 390 754 0 186 766 0 390 348 0 389 307 0 388 297 0 387 209 0 388 283 0 389 297 0 388 209 0 387 147 0 392 142 0 394 520 0 388 520 0 393 520 0 393 520 0 388 520 0 386 591 0 392 549 0 386 591 0 388 520 0 391 545 0 387 490 0 385 531 0 385 531 0 387 490 0 384 531 0 389 531 0 384 531 0 387 490 0 384 531 0 389 531 0 210 531 0 186 531 0 210 531 0 389 531 0 434 955 0 398 949 0 435 946 0 432 963 0 412 965 0 397 961 0 412 965 0 432 963 0 419 966 0 419 966 0 432 963 0 418 957 0 395 947 0 418 957 0 432 963 0 158 565 0 390 630 0 394 520 0 388 520 0 394 520 0 390 630 0 439 943 0 400 942 0 386 913 0 395 947 0 439 943 0 386 913 0 439 943 0 395 947 0 399 958 0 399 958 0 395 947 0 432 963 0 397 961 0 412 965 0 396 959 0 436 941 0 435 946 0 391 922 0 391 922 0 435 946 0 398 949 0 387 140 0 401 128 0 392 142 0 437 938 0 391 922 0 438 937 0 386 913 0 438 937 0 391 922 0 400 942 0 438 937 0 386 913 0 396 959 0 398 949 0 397 961 0 397 961 0 398 949 0 434 955 0 437 938 0 436 941 0 391 922 0 392 142 0 408 118 0 407 116 0 406 105 0 407 116 0 408 118 0 404 113 0 387 140 0 433 121 0 414 123 0 433 121 0 387 140 0 387 140 0 405 127 0 402 131 0 404 113 0 405 127 0 387 140 0 401 128 0 403 119 0 392 142 0 401 128 0 387 140 0 402 131 0 409 101 0 411 109 0 413 112 0 411 109 0 409 101 0 431 107 0 431 107 0 410 100 0 417 111 0 414 123 0 413 112 0 411 109 0 409 101 0 410 100 0 431 107 0 403 119 0 408 118 0 392 142 0 412 848 0 413 768 0 396 763 0 413 768 0 412 848 0 409 801 0 392 549 0 407 599 0 386 591 0 395 654 0 386 591 0 407 599 0 410 797 0 409 801 0 419 841 0 412 848 0 419 841 0 409 801 0 391 545 0 398 487 0 387 490 0 414 419 0 387 490 0 398 487 0 433 121 0 414 123 0 411 109 0 417 111 0 407 116 0 431 107 0 431 107 0 407 116 0 406 105 0 382 767 0 415 758 0 369 750 0 415 758 0 382 856 0 374 851 0 396 745 0 414 745 0 398 744 0 414 745 0 396 755 0 413 768 0 418 769 0 410 797 0 419 841 0 410 797 0 418 769 0 417 764 0 395 743 0 417 753 0 418 769 0 417 743 0 395 743 0 407 741 0 416 736 0 369 750 0 415 758 0 423 274 0 422 271 0 421 217 0 373 269 0 421 217 0 422 217 0 420 770 0 381 798 0 383 854 0 381 798 0 420 770 0 380 765 0 366 742 0 380 752 0 420 770 0 380 742 0 366 742 0 377 740 0 426 748 0 425 737 0 368 730 0 424 710 0 368 718 0 425 730 0 368 710 0 424 651 0 371 334 0 379 309 0 371 313 0 424 334 0 371 309 0 379 301 0 423 292 0 422 274 0 423 277 0 379 292 0 376 747 0 367 732 0 429 728 0 367 747 0 376 762 0 428 771 0 372 785 0 428 777 0 376 771 0 428 785 0 372 853 0 427 830 0 375 780 0 427 783 0 372 830 0 427 782 0 375 780 0 426 775 0 425 748 0 426 756 0 375 780 0 397 275 0 411 272 0 432 216 0 431 268 0 432 216 0 411 216 0 421 281 0 373 287 0 370 287 0 378 299 0 370 290 0 373 287 0 370 299 0 378 305 0 430 317 0 429 506 0 430 333 0 378 317 0 430 506 0 429 715 0 367 728 0 436 749 0 405 738 0 435 731 0 404 711 0 435 719 0 405 731 0 435 711 0 404 652 0 434 335 0 433 310 0 434 314 0 404 335 0 434 310 0 433 302 0 397 293 0 411 275 0 397 278 0 433 293 0 403 746 0 400 733 0 408 729 0 400 746 0 403 761 0 438 772 0 401 786 0 438 778 0 403 772 0 438 786 0 401 852 0 437 829 0 402 779 0 437 784 0 401 829 0 437 781 0 402 779 0 436 774 0 405 749 0 436 757 0 402 779 0 432 280 0 431 286 0 399 286 0 406 300 0 399 291 0 431 286 0 399 300 0 406 304 0 439 316 0 408 505 0 439 332 0 406 316 0 439 505 0 408 716 0 400 729 0 35 626 0 63 410 0 442 657 0 442 657 0 63 410 0 82 408 0 61 412 0 82 408 0 63 410 0 84 628 0 86 644 0 16 627 0 48 392 0 16 627 0 86 644 0 440 411 0 16 627 0 48 392 0 16 627 0 440 411 0 441 658 0 441 658 0 440 411 0 89 422 0 88 404 0 89 422 0 440 411 0 181 346 0 185 685 0 453 364 0 452 695 0 453 364 0 185 685 0 180 98 0 451 134 0 450 136 0 168 137 0 450 136 0 451 134 0 449 690 0 196 435 0 448 691 0 166 401 0 448 691 0 196 435 0 447 971 0 446 933 0 445 934 0 444 924 0 445 934 0 446 933 0 40 637 0 64 625 0 35 626 0 443 391 0 35 626 0 64 625 0 63 410 0 35 626 0 443 391 0 168 170 0 455 183 0 456 195 0 455 170 0 168 138 0 451 134 0 163 895 0 444 923 0 446 933 0 444 902 0 163 895 0 170 888 0 454 792 0 170 884 0 163 895 0 170 866 0 454 792 0 185 685 0 452 695 0 185 685 0 454 792 0 180 98 0 450 136 0 457 172 0 154 179 0 457 172 0 450 136 0 457 172 0 154 194 0 184 215 0 166 273 0 184 215 0 154 210 0 184 215 0 166 341 0 196 435 0 456 270 0 181 325 0 453 364 0 181 270 0 456 207 0 455 195 0 449 690 0 448 691 0 171 859 0 169 849 0 171 859 0 448 691 0 157 894 0 171 859 0 169 849 0 171 859 0 157 894 0 458 898 0 458 898 0 157 894 0 445 934 0 447 971 0 445 934 0 157 894 0 464 516 0 469 534 0 463 536 0 463 536 0 469 534 0 462 460 0 461 474 0 462 460 0 469 534 0 467 482 0 468 459 0 466 535 0 460 517 0 466 535 0 468 459 0 466 535 0 460 517 0 459 515 0 470 502 0 459 515 0 460 517 0 459 515 0 470 502 0 141 393 0 466 787 0 462 726 0 467 708 0 462 726 0 466 787 0 463 876 0 459 908 0 463 876 0 466 787 0 463 876 0 459 908 0 464 915 0 141 973 0 464 915 0 459 908 0 464 915 0 141 973 0 56 974 0 56 495 0 465 641 0 464 516 0 469 534 0 464 516 0 465 641 0 467 482 0 471 350 0 468 459 0 476 319 0 468 459 0 471 350 0 465 149 0 470 159 0 469 159 0 460 204 0 469 180 0 470 159 0 469 193 0 460 204 0 461 329 0 468 331 0 461 329 0 460 204 0 471 642 0 479 629 0 480 525 0 478 643 0 472 662 0 481 525 0 462 726 0 472 662 0 478 643 0 467 708 0 479 629 0 471 642 0 479 629 0 467 708 0 478 643 0 462 726 0 478 643 0 467 708 0 461 474 0 474 351 0 462 460 0 472 320 0 462 460 0 474 351 0 479 77 0 478 45 0 473 45 0 477 76 0 473 45 0 478 45 0 468 331 0 476 421 0 473 448 0 476 421 0 475 526 0 473 448 0 482 526 0 474 438 0 477 456 0 477 456 0 474 438 0 461 329 0 468 331 0 473 448 0 461 329 0 477 456 0 461 329 0 473 448 0 472 320 0 482 199 0 481 188 0 482 199 0 472 320 0 474 351 0 480 200 0 476 319 0 471 350 0 476 319 0 480 200 0 475 189 0 479 164 0 475 176 0 480 200 0 475 164 0 479 164 0 473 154 0 484 562 0 483 424 0 7 574 0 50 596 0 7 669 0 483 574 0 7 596 0 50 402 0 2 519 0 481 163 0 477 163 0 478 153 0 477 163 0 481 175 0 482 199 0 49 436 0 2 638 0 50 519 0 2 436 0 49 383 0 17 457 0 140 472 0 17 611 0 49 457 0 17 472 0 140 369 0 26 395 0 483 562 0 484 699 0 57 546 0 487 473 0 66 352 0 146 493 0 485 563 0 486 684 0 55 640 0 486 563 0 485 425 0 9 575 0 60 597 0 9 670 0 485 575 0 9 597 0 60 403 0 31 532 0 24 664 0 488 588 0 30 679 0 69 540 0 30 678 0 488 588 0 30 553 0 69 540 0 144 541 0 143 426 0 144 541 0 69 540 0 65 437 0 31 639 0 60 532 0 31 437 0 65 384 0 487 458 0 66 473 0 487 612 0 65 458 0 15 61 0 284 51 0 14 14 0 6 3 0 14 14 0 284 51 0 106 19 0 11 67 0 104 32 0 13 30 0 104 32 0 11 67 0 104 32 0 13 30 0 133 31 0 12 84 0 11 67 0 10 13 0 282 85 0 294 89 0 299 87 0 85 82 0 9 49 0 83 75 0 9 49 0 85 82 0 486 63 0 7 72 0 8 92 0 484 58 0 8 92 0 7 72 0 89 70 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="9629bbffc3644d23afb0f1879c051aee" name="defaultmaterial">
+      <instance_effect url="#3071eb5fd9314940b22b963e96d886ab" />
+    </material>
+    <material id="a8e513ce222d4867a9bb808697a1a2fd" name="defaultmaterial">
+      <instance_effect url="#d887a8b5933b4059aac024bd4f15d523" />
+    </material>
+    <material id="6fce9f67eabe4bb5801a8c1fd9142087" name="defaultmaterial">
+      <instance_effect url="#d854dd12d5ca4e0081381a51e3b05e85" />
+    </material>
+    <material id="24a3bfda2fe14cc79106ef885180fb16" name="defaultmaterial">
+      <instance_effect url="#3f27ec742a3e404eb918a23590255aa1" />
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="scene">
+      <node id="zed_mount_00" name="zed_mount_00">
+        <instance_geometry url="#zed_mount_00-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0" target="#9629bbffc3644d23afb0f1879c051aee" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="zed_mount_01" name="zed_mount_01">
+        <instance_geometry url="#zed_mount_01-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material3" target="#24a3bfda2fe14cc79106ef885180fb16" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#scene" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/assets/body/v2.0/config/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml
index 38e13a41..6f3e8e1f 100644
--- a/assets/body/v2.0/config/struct/reference_points.yaml
+++ b/assets/body/v2.0/config/struct/reference_points.yaml
@@ -56,6 +56,7 @@ right_arm_mount_point:
       original_name: body_right_arm_mount_point
       canonical_name: null
 
+
 arm_origin:
   parent: link1
   emit: true
@@ -67,17 +68,13 @@ arm_origin:
     pitch: 0.0
     yaw: 0.0
 
-# Example body-mounted camera reference point. Tune this pose from CAD or
-# calibration before using it on hardware.
-# zed_front_mount_point:
-#   parent: body_link0
-#   origin:
-#     x: 0.12
-#     y: 0.0
-#     z: 0.82
-#     roll: 0.0
-#     pitch: 0.0
-#     yaw: 0.0
-#   meta:
-#     kind: sensor_mount
-#     sensor_family: zed
+camera_mount_point:
+  parent: link1
+  emit: true
+  origin:
+    x: 0.03
+    y: 0.0
+    z: 0.743
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
diff --git a/assets/common/collisions.xacro b/assets/common/collisions.xacro
new file mode 100644
index 00000000..a74d9115
--- /dev/null
+++ b/assets/common/collisions.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<!--
+Copyright 2026 Enactic, Inc.
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+    http://www.apache.org/licenses/LICENSE-2.0
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find openarm_description)/assets/common/transforms.xacro" />
+
+  <xacro:macro name="openarm_emit_collisions" params="link_name entries reflect_x reflect_y reflect_z frame_shift index:=0">
+    <xacro:if value="${index &lt; len(entries)}">
+      <xacro:property name="cfg" value="${entries[index]}" />
+      <collision name="${link_name + '_collision' if len(entries) == 1 else link_name + '_' + cfg.get('name', str(index)) + '_collision'}">
+        <xacro:if value="${frame_shift != 'none'}">
+          <xacro:openarm_emit_shifted_origin frame_shift="${frame_shift}" origin="${cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
+        </xacro:if>
+        <xacro:unless value="${frame_shift != 'none'}">
+          <xacro:openarm_emit_origin origin="${cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
+        </xacro:unless>
+        <geometry>
+          <xacro:if value="${'box' in cfg['geometry']}">
+            <box size="${cfg['geometry']['box']['x']} ${cfg['geometry']['box']['y']} ${cfg['geometry']['box']['z']}" />
+          </xacro:if>
+          <xacro:unless value="${'box' in cfg['geometry']}">
+            <mesh filename="${cfg['geometry']['mesh']}" scale="${reflect_x * cfg['geometry']['scale']['x']} ${reflect_y * cfg['geometry']['scale']['y']} ${reflect_z * cfg['geometry']['scale']['z']}" />
+          </xacro:unless>
+        </geometry>
+      </collision>
+      <xacro:openarm_emit_collisions link_name="${link_name}" entries="${entries}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" frame_shift="${frame_shift}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/assets/common/links.xacro b/assets/common/links.xacro
index de16b2c3..e8bbb824 100644
--- a/assets/common/links.xacro
+++ b/assets/common/links.xacro
@@ -15,6 +15,7 @@ limitations under the License.
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find openarm_description)/assets/common/transforms.xacro" />
+  <xacro:include filename="$(find openarm_description)/assets/common/collisions.xacro" />
 
   <xacro:macro name="openarm_emit_limit" params="limit">
     <limit
@@ -45,20 +46,9 @@ limitations under the License.
       </xacro:if>
 
       <xacro:if value="${collision_override != 'none' or source_name in collisions}">
-        <collision name="${link_name}_collision">
-          <xacro:property name="collision_cfg" value="${collision_override if collision_override != 'none' else collisions[source_name]}" lazy_eval="false" />
-          <xacro:if value="${frame_shift != 'none'}">
-            <xacro:openarm_emit_shifted_origin frame_shift="${frame_shift}" origin="${collision_cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
-          </xacro:if>
-          <xacro:unless value="${frame_shift != 'none'}">
-            <xacro:openarm_emit_origin origin="${collision_cfg['origin']}" reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" reflect_rotation="${True}" />
-          </xacro:unless>
-          <geometry>
-            <mesh
-              filename="${collision_cfg['geometry']['mesh']}"
-              scale="${reflect_x * collision_cfg['geometry']['scale']['x']} ${reflect_y * collision_cfg['geometry']['scale']['y']} ${reflect_z * collision_cfg['geometry']['scale']['z']}" />
-          </geometry>
-        </collision>
+        <xacro:property name="collision_cfg" value="${collision_override if collision_override != 'none' else collisions[source_name]}" lazy_eval="false" />
+        <xacro:openarm_emit_collisions link_name="${link_name}" entries="${[collision_cfg] if 'geometry' in collision_cfg else collision_cfg}"
+          reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}" frame_shift="${frame_shift}" />
       </xacro:if>
 
       <xacro:if value="${inertial_override != 'none' or source_name in inertials}">
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
index 2a18cc1b..99013562 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
@@ -15,12 +15,13 @@
 robot:
   root_frame: world
   components:
-    - body
-    - primary_arm
-    - secondary_arm
-    - primary_arm_end_effector
-    - secondary_arm_end_effector
-
+  - body
+  - primary_arm
+  - secondary_arm
+  - primary_arm_end_effector
+  - secondary_arm_end_effector
+  - body_camera_mount
+  - body_camera
 body:
   type: body
   prefix: openarm_
@@ -42,7 +43,6 @@ body:
     y: 1
     z: 1
   limit_override_joints: {}
-
 primary_arm:
   type: robot
   enabled: true
@@ -60,11 +60,23 @@ primary_arm:
     y: -1
     z: 1
     include:
-      links: [link1, link2, link3, link6, link7, link8]
-      joints: [joint1, joint2, joint3, joint5, joint6, joint7]
-      reference_points: [ee_mount_point]
+      links:
+      - link1
+      - link2
+      - link3
+      - link6
+      - link7
+      - link8
+      joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint5
+      - joint6
+      - joint7
+      reference_points:
+      - ee_mount_point
   limit_override_joints: {}
-
 secondary_arm:
   type: robot
   enabled: true
@@ -82,7 +94,6 @@ secondary_arm:
     y: 1
     z: 1
   limit_override_joints: {}
-
 primary_arm_end_effector:
   type: end_effector
   enabled: true
@@ -100,7 +111,6 @@ primary_arm_end_effector:
     y: -1
     z: 1
   limit_override_joints: {}
-
 secondary_arm_end_effector:
   type: end_effector
   enabled: true
@@ -118,3 +128,30 @@ secondary_arm_end_effector:
     y: 1
     z: 1
   limit_override_joints: {}
+body_camera_mount:
+  type: accessory
+  enabled: true
+  product: zed_mount
+  config: null
+  inertials: nominal
+  prefix: openarm_body_zed_support_
+  connection:
+    attach_to: body
+    parent_reference_point: camera_mount_point
+body_camera:
+  type: sensor
+  enabled: true
+  product: zed
+  config:
+    camera_name: openarm_body_zed
+    camera_model: zedm
+  connection:
+    attach_to: body_camera_mount
+    parent_reference_point: camera_mount_point
+    origin:
+      x: 0.00119247
+      y: -0.007723415
+      z: 0.00008746
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
index 39ad0c70..4fd9fad9 100644
--- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf
+++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
@@ -42,6 +42,12 @@ limitations under the License.
     <parent link="world"/>
     <child link="openarm_body_link0"/>
   </joint>
+  <link name="openarm_camera_mount_point"/>
+  <joint name="openarm_camera_mount_point_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.03 0.0 0.743"/>
+    <parent link="openarm_body_link0"/>
+    <child link="openarm_camera_mount_point"/>
+  </joint>
   <link name="openarm_left_base_link">
     <visual name="openarm_left_base_link_visual">
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -592,6 +598,101 @@ limitations under the License.
     <parent link="openarm_right_ee_base_link"/>
     <child link="openarm_right_camera_view_frame"/>
   </joint>
+  <link name="openarm_body_zed_support_base_link">
+    <visual name="openarm_body_zed_support_base_link_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="package://openarm_description/assets/accessory/zed_mount/meshes/visual/zed_mount.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_body_zed_support_base_link_support_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_support.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_zed_support_base_link_shell_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.014296 0.0034952 0.047826"/>
+      <mass value="0.13704"/>
+      <inertia ixx="0.00018293" ixy="-6.3997e-06" ixz="-3.1024e-05" iyy="0.00011247" iyz="-8.6526e-06" izz="0.00012779"/>
+    </inertial>
+  </link>
+  <joint name="openarm_body_zed_support_base_link_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="openarm_camera_mount_point"/>
+    <child link="openarm_body_zed_support_base_link"/>
+  </joint>
+  <link name="openarm_body_zed_support_camera_mount_point"/>
+  <joint name="openarm_body_zed_support_camera_mount_point_joint" type="fixed">
+    <origin rpy="0 1.08210413623648 0" xyz="0.0263085336684006 0.00869000000000031 0.065829226007701"/>
+    <parent link="openarm_body_zed_support_base_link"/>
+    <child link="openarm_body_zed_support_camera_mount_point"/>
+  </joint>
+  <!-- Camera mounting point (the threaded screw hole in the bottom) -->
+  <link name="openarm_body_zed_camera_link"/>
+  <!-- Camera Center -->
+  <link name="openarm_body_zed_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://zed_description/meshes/zedm.stl"/>
+      </geometry>
+      <material name="cam_mat">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://zed_description/meshes/zedm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="openarm_body_zed_camera_center_joint" type="fixed">
+    <parent link="openarm_body_zed_camera_link"/>
+    <child link="openarm_body_zed_camera_center"/>
+    <origin rpy="0 0.0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <!-- Left Camera -->
+  <link name="openarm_body_zed_left_camera_frame">
+  </link>
+  <joint name="openarm_body_zed_left_camera_joint" type="fixed">
+    <parent link="openarm_body_zed_camera_center"/>
+    <child link="openarm_body_zed_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0315 0"/>
+  </joint>
+  <link name="openarm_body_zed_left_camera_frame_optical"/>
+  <joint name="openarm_body_zed_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="openarm_body_zed_left_camera_frame"/>
+    <child link="openarm_body_zed_left_camera_frame_optical"/>
+  </joint>
+  <!-- Right Camera -->
+  <link name="openarm_body_zed_right_camera_frame">
+  </link>
+  <joint name="openarm_body_zed_right_camera_joint" type="fixed">
+    <parent link="openarm_body_zed_camera_center"/>
+    <child link="openarm_body_zed_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0"/>
+  </joint>
+  <link name="openarm_body_zed_right_camera_frame_optical"/>
+  <joint name="openarm_body_zed_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="openarm_body_zed_right_camera_frame"/>
+    <child link="openarm_body_zed_right_camera_frame_optical"/>
+  </joint>
+  <joint name="openarm_body_zed_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.00119247 -0.007723415 8.746e-05"/>
+    <parent link="openarm_body_zed_support_camera_mount_point"/>
+    <child link="openarm_body_zed_camera_link"/>
+  </joint>
   <ros2_control name="openarm_left_hardware_interface" type="system">
     <hardware>
       <param name="arm_type">v20</param>
diff --git a/rviz/bimanual_camera.rviz b/rviz/bimanual_camera.rviz
new file mode 100644
index 00000000..ba9b93ed
--- /dev/null
+++ b/rviz/bimanual_camera.rviz
@@ -0,0 +1,256 @@
+Panels:
+- Class: rviz_common/Displays
+  Help Height: 138
+  Name: Displays
+  Property Tree Widget:
+    Expanded:
+    - /Global Options1
+    Splitter Ratio: 0.5
+  Tree Height: 139
+- Class: rviz_common/Views
+  Expanded:
+  - /Current View1
+  Name: Views
+  Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ''
+  Displays:
+  - Alpha: 0.5
+    Cell Size: 1
+    Class: rviz_default_plugins/Grid
+    Color: 160; 160; 164
+    Enabled: true
+    Line Style:
+      Line Width: 0.029999999329447746
+      Value: Lines
+    Name: Grid
+    Normal Cell Count: 0
+    Offset:
+      X: 0
+      Y: 0
+      Z: 0
+    Plane: XY
+    Plane Cell Count: 10
+    Reference Frame: <Fixed Frame>
+    Value: true
+  - Alpha: 1
+    Class: rviz_default_plugins/RobotModel
+    Collision Enabled: false
+    Description File: ''
+    Description Source: Topic
+    Description Topic:
+      Depth: 5
+      Durability Policy: Volatile
+      History Policy: Keep Last
+      Reliability Policy: Reliable
+      Value: /robot_description
+    Enabled: true
+    Links:
+      All Links Enabled: true
+      Expand Joint Details: false
+      Expand Link Details: false
+      Expand Tree: false
+      Link Tree Style: Links in Alphabetic Order
+      openarm_left_hand:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_hand_tcp:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+      openarm_left_left_finger:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link0:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link1:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link2:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link3:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link4:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link5:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link6:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link7:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_left_link8:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+      openarm_left_right_finger:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_hand:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_hand_tcp:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+      openarm_right_left_finger:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link0:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link1:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link2:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link3:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link4:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link5:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link6:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link7:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      openarm_right_link8:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+      openarm_right_right_finger:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      v10_body_link0:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+        Value: true
+      world:
+        Alpha: 1
+        Show Axes: false
+        Show Trail: false
+    Mass Properties:
+      Inertia: false
+      Mass: false
+    Name: RobotModel
+    TF Prefix: ''
+    Update Interval: 0
+    Value: true
+    Visual Enabled: true
+  - Class: rviz_default_plugins/TF
+    Enabled: false
+    Frame Timeout: 15
+    Frames:
+      All Enabled: true
+    Marker Scale: 1
+    Name: TF
+    Show Arrows: true
+    Show Axes: true
+    Show Names: true
+    Tree: {}
+    Update Interval: 0
+    Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+  - Class: rviz_default_plugins/MoveCamera
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.6
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.03
+        Y: 0.0
+        Z: 0.45
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.25
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.75
+    Saved: null
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 826
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001da000002a8fc0200000002fb000000100044006900730070006c0061007900730100000069000001790000017800fffffffb0000000a0056006900650077007301000001ee000001230000012300ffffff000002ca000002a800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 42
+  Y: 64
diff --git a/test/run.sh b/test/run.sh
index fb65f2e8..e0e09926 100755
--- a/test/run.sh
+++ b/test/run.sh
@@ -32,7 +32,14 @@ export PYTHONDONTWRITEBYTECODE=1
 mkdir -p "${build_dir}"
 cd "${build_dir}"
 
-colcon build --base-paths "${source_dir}"
+build_paths=("${source_dir}")
+if [ -f "${source_dir}/.ci/zed_description/package.xml" ]; then
+    build_paths+=("${source_dir}/.ci/zed_description")
+fi
+colcon build --paths "${build_paths[@]}"
+set +u
+source install/setup.bash
+set -u
 # Run only our pytest tests. ament_lint_auto also registers
 # ament_lint_common linters but we use pre-commit for lint.
 colcon test \
diff --git a/test/test_assembly.py b/test/test_assembly.py
index a5cbc8d2..46d79081 100644
--- a/test/test_assembly.py
+++ b/test/test_assembly.py
@@ -234,6 +234,20 @@ def test_folding_requires_enabled_empty_tip_and_child(mode):
     assert (robot.find("link[@name='arm_tip']") is None) == (mode == 'on')
 
 
+def test_compound_collisions_follow_input_geometry():
+    data = model()
+    boxes = [dict(name='first', origin=pose(x=.2), geometry=dict(box=dict(x=.2, y=.3, z=.4))),
+             dict(name='second', origin=pose(y=.7), geometry=dict(box=dict(x=.1, y=.8, z=.2)))]
+    data['link/collisions.yaml']['root'] = boxes
+    robot = assemble(preset(unit=component()), {'unit': data})
+    generated = robot.findall("link[@name='unit_root']/collision")
+    assert len(generated) == len(boxes)
+    for item, source in zip(generated, boxes):
+        near(transform(item.find('origin')), transform(source['origin']))
+        assert [float(v) for v in item.find(
+            'geometry/box').get('size').split()] == list(source['geometry']['box'].values())
+
+
 @pytest.mark.parametrize('error', ['joint_parent', 'mount_reference', 'parent_selectors'])
 def test_invalid_attachment_references_are_rejected(error):
     spec, data = installed_tool()
diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 64d7ff1a..e60c7b58 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -19,6 +19,46 @@
 import support
 
 
+def test_zed_adapter_forwards_configuration(tmp_path):
+    from copy import deepcopy
+    from unittest.mock import patch
+    vendor = tmp_path/'zed'
+    (vendor/'urdf').mkdir(parents=True)
+    (vendor/'urdf/zed_macro.urdf.xacro').write_text('''<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+      <xacro:macro name="zed_camera" params="name model custom_baseline enable_gnss *origin">
+        <link name="${name}_camera_link"/>
+        <delegate name="${name}" model="${model}" baseline="${custom_baseline}" gnss="${enable_gnss}">
+          <xacro:insert_block name="origin"/>
+        </delegate>
+      </xacro:macro>
+    </robot>''')
+    original = support.packages.get_package_share_directory
+    config = dict(camera_model='zedm', custom_baseline=.07,
+                  enable_gnss=True, gnss_origin=support.pose(x=.02))
+    mount = support.pose(.1, -.2, .3, .2, -.1, .4)
+    for camera_name in (None, 'inspection'):
+        cfg = deepcopy(config)
+        if camera_name is not None:
+            cfg['camera_name'] = camera_name
+        spec = support.preset(support=support.component(product='fixture_support', prefix='support_'),
+                              camera=dict(type='sensor', product='zed', config=cfg, prefix='front_', enabled=True,
+                                          connection=dict(attach_to='support', origin=mount)),
+                              child=support.component(connection=dict(attach_to='camera')))
+        with patch.object(support.packages, 'get_package_share_directory', lambda name: str(vendor) if name == 'zed_description' else original(name)):
+            robot = support.assemble(
+                spec, {'support': support.model(), 'child': support.model()})
+        name = camera_name or 'front_zed'
+        call = robot.find('delegate')
+        assert call.get('name') == name and call.get(
+            'model') == cfg['camera_model']
+        assert float(call.get('baseline')) == cfg['custom_baseline']
+        assert call.get('gnss').lower() == 'true'
+        support.near(support.transform(call.find('origin')),
+                     support.transform(cfg['gnss_origin']))
+        support.near(support.poses(robot)[
+                     name+'_camera_link'], support.transform(mount))
+
+
 def loader_input():
     spec = support.preset(a=support.component(product='fixture_a', prefix='first_'),
                           b=support.component(product='fixture_b', prefix='second_', connection=dict(attach_to='a')))

From ef7cacc090d04b38e593d3645d9c02e9c0ac6335 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Fri, 6 Nov 2026 19:24:42 +0900
Subject: [PATCH 3/3] Split V2 pedestal collisions into primitive and convex
 parts

---
 assets/body/v2.0/config/link/collisions.yaml  |  77 +++++++++++++++++-
 .../meshes/collision/base_bracket_left.stl    | Bin 0 -> 884 bytes
 .../meshes/collision/base_bracket_right.stl   | Bin 0 -> 884 bytes
 .../body/v2.0/meshes/collision/base_plate.stl | Bin 0 -> 684 bytes
 .../v2.0/meshes/collision/chest_cover.stl     | Bin 0 -> 35084 bytes
 assets/body/v2.0/meshes/collision/column.stl  | Bin 0 -> 684 bytes
 .../v2.0/meshes/collision/diagonal_brace.stl  | Bin 0 -> 684 bytes
 assets/body/v2.0/meshes/meta.md               |  14 ++++
 .../robot/openarm_v2.0/urdf/example/v2.urdf   |  34 +++++++-
 9 files changed, 119 insertions(+), 6 deletions(-)
 create mode 100644 assets/body/v2.0/meshes/collision/base_bracket_left.stl
 create mode 100644 assets/body/v2.0/meshes/collision/base_bracket_right.stl
 create mode 100644 assets/body/v2.0/meshes/collision/base_plate.stl
 create mode 100644 assets/body/v2.0/meshes/collision/chest_cover.stl
 create mode 100644 assets/body/v2.0/meshes/collision/column.stl
 create mode 100644 assets/body/v2.0/meshes/collision/diagonal_brace.stl

diff --git a/assets/body/v2.0/config/link/collisions.yaml b/assets/body/v2.0/config/link/collisions.yaml
index 7e1d776d..bea2daeb 100644
--- a/assets/body/v2.0/config/link/collisions.yaml
+++ b/assets/body/v2.0/config/link/collisions.yaml
@@ -13,6 +13,75 @@
 # limitations under the License.
 
 link1:
+- name: column
+  origin:
+    x: 0.0
+    y: 0.0
+    z: 0.383
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    box:
+      x: 0.06
+      y: 0.06
+      z: 0.75
+- name: diagonal_brace
+  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/body/v2.0/meshes/collision/diagonal_brace.stl
+    scale:
+      x: 1.0
+      y: 1.0
+      z: 1.0
+- name: chest_cover
+  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/body/v2.0/meshes/collision/chest_cover.stl
+    scale:
+      x: 1.0
+      y: 1.0
+      z: 1.0
+- name: base_plate
+  origin:
+    x: -0.03
+    y: 0.0
+    z: 0.004
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  geometry:
+    box:
+      x: 0.25
+      y: 0.19
+      z: 0.008
+- name: base_bracket_left
+  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/body/v2.0/meshes/collision/base_bracket_left.stl
+    scale:
+      x: 1.0
+      y: 1.0
+      z: 1.0
+- name: base_bracket_right
   origin:
     x: 0.0
     y: 0.0
@@ -21,8 +90,8 @@ link1:
     pitch: 0.0
     yaw: 0.0
   geometry:
-    mesh: "package://openarm_description/assets/body/v2.0/meshes/collision/body_link0_symp.stl"
+    mesh: package://openarm_description/assets/body/v2.0/meshes/collision/base_bracket_right.stl
     scale:
-      x: 0.001
-      y: 0.001
-      z: 0.001
+      x: 1.0
+      y: 1.0
+      z: 1.0
diff --git a/assets/body/v2.0/meshes/collision/base_bracket_left.stl b/assets/body/v2.0/meshes/collision/base_bracket_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..df8e16a5582ce28a524ab685e1b8c93791094827
GIT binary patch
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diff --git a/assets/body/v2.0/meshes/collision/base_bracket_right.stl b/assets/body/v2.0/meshes/collision/base_bracket_right.stl
new file mode 100644
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diff --git a/assets/body/v2.0/meshes/collision/base_plate.stl b/assets/body/v2.0/meshes/collision/base_plate.stl
new file mode 100644
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diff --git a/assets/body/v2.0/meshes/collision/chest_cover.stl b/assets/body/v2.0/meshes/collision/chest_cover.stl
new file mode 100644
index 0000000000000000000000000000000000000000..42a971b062a0b88e5204386f47c5ac829ab18d6c
GIT binary patch
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diff --git a/assets/body/v2.0/meshes/collision/column.stl b/assets/body/v2.0/meshes/collision/column.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8a6347759994ba37fd5cba3d948000a0c9a71f3c
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diff --git a/assets/body/v2.0/meshes/collision/diagonal_brace.stl b/assets/body/v2.0/meshes/collision/diagonal_brace.stl
new file mode 100644
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diff --git a/assets/body/v2.0/meshes/meta.md b/assets/body/v2.0/meshes/meta.md
index e69de29b..fc8a51f8 100644
--- a/assets/body/v2.0/meshes/meta.md
+++ b/assets/body/v2.0/meshes/meta.md
@@ -0,0 +1,14 @@
+# V2 body collision meshes
+
+The body uses two native boxes and four convex mesh collisions in the body_link0 frame. Each STL uses metre coordinates in that frame. Native box origins are their center positions in `config/link/collisions.yaml`.
+
+| Component | Collision shape | STL | Triangles |
+| --- | --- | --- | ---: |
+| Column | box | `collision/column.stl` | 12 |
+| Diagonal brace | tapered_prism | `collision/diagonal_brace.stl` | 12 |
+| Complete chest cover | convex_hull | `collision/chest_cover.stl` | 700 |
+| Base plate | box | `collision/base_plate.stl` | 12 |
+| Left mounting bracket | convex_hull | `collision/base_bracket_left.stl` | 16 |
+| Right mounting bracket | convex_hull | `collision/base_bracket_right.stl` | 16 |
+
+The column box measures 60 × 60 × 750 mm. The base plate box measures 250 × 190 × 8 mm. The mounting bracket hulls retain their clipped ends. The combined chest hull encloses both cover halves with a maximum sampled expansion of 0.570 mm relative to the original convex hull.
diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
index 4fd9fad9..d3884ec2 100644
--- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf
+++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
@@ -25,10 +25,40 @@ limitations under the License.
         <mesh filename="package://openarm_description/assets/body/v2.0/meshes/visual/body_link0.dae" scale="1.0 1.0 1.0"/>
       </geometry>
     </visual>
-    <collision name="openarm_body_link0_collision">
+    <collision name="openarm_body_link0_column_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.383"/>
+      <geometry>
+        <box size="0.06 0.06 0.75"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_link0_diagonal_brace_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/body/v2.0/meshes/collision/diagonal_brace.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_link0_chest_cover_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/body/v2.0/meshes/collision/chest_cover.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_link0_base_plate_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.03 0.0 0.004"/>
+      <geometry>
+        <box size="0.25 0.19 0.008"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_link0_base_bracket_left_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://openarm_description/assets/body/v2.0/meshes/collision/base_bracket_left.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <collision name="openarm_body_link0_base_bracket_right_collision">
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://openarm_description/assets/body/v2.0/meshes/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://openarm_description/assets/body/v2.0/meshes/collision/base_bracket_right.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
     <inertial>