[stevenaya]

Component configuration currently uses URDF names as lookup keys. Separate the two so a link or joint can be renamed without changing its configuration references.

Changes

• Use stable link1…N and joint1…N keys, with an optional topology name for the emitted local name.
• Resolve final names once in component descriptions and share the maps with link/joint generation, mimic targets, reference frames and mounting.
• Migrate V2 arm, pinch-gripper and body configuration while preserving emitted names, instance prefixes and model parameters.
• Keep the ZED adapter's official frame names and update existing test fixtures for key/name separation.

For example, joint1: {name: finger_joint1, ...} is referenced as joint1 in configuration and emitted as <prefix>finger_joint1.

Validation

• All 27 existing ROS 2 Jazzy tests pass; no test functions or files added.
• 25 before/after model expansions match, including both robot versions, V2 presets and standalone grippers. Only temporary package-root paths are normalized for comparison.
• Mesh files and generated example URDFs are unchanged.

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