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',