[stevenaya]

V1 and V2 use separate model generators. This update moves both to shared topology-driven assembly, adds the V2 body-camera assembly, and makes control interfaces follow the selected preset. This draft tracks the complete model and the split PRs below; completed items are marked as merged.

Changes

• Discover optional component Xacro interfaces through the package-level loader, with YAML generation as the default; keep common macros independent of component implementations.

• Move transforms, link/joint output, reference frames, validation and topology-driven component generation into assets/common/, including oblique-axis reflection.

• Reference ordinary component links and joints by stable linkN/jointN keys. Emit preset.prefix + topology.name, falling back to the key when name is omitted. Remove topology prefixes, duplicate override aliases and V1 prefix CLI compatibility; preserve controlled joint names. Reference frames use the instance prefix, and mounting joints use <root_link>_mount_joint. Resolve ZED names once in its adapter.

• Configure empty arm-tip folding through topology. Assembly and ROS2 control share resolved component descriptions, including custom names and mimic relationships. Presets declare control partitions under systems.joints, using stable component-local joint keys and non-negative system-local idx values. Joints are emitted in index order. Standard hardware defaults come from the model entry, with optional system parameters and interfaces; use_fake_hardware selects the mock plugin. Both model entries accept the standard left/right CAN arguments, resolving their overrides by hardware system name.

• Move body assets into assets/body/v1.0/ and assets/body/v2.0/. Resolve body root names from topology and mounting transforms from preset references. Expose the V2 arm mounting midpoint as arm_origin and number body visual parts, including data-source and scene-node IDs.

• Drive V1 assembly and placement from presets, removing parent/xyz/rpy and *_arm_base_xyz/rpy overrides. Use the complete parallel-gripper component, with link7 → hand → fingers/TCP. Center link2/link4/link6 origins while preserving physical placement and motor coordinates.

• Add accessory support, the ZED Mini mount and the default bimanual camera assembly. Use the official zed_description 0.2.0 package in export and test CI. Rename the support instance prefix from openarm_body_zed_mount_ to openarm_body_zed_support_.

• Add a 9,482-triangle ZED support visual, with selected fasteners removed and the shells and metal parts simplified separately. Number the support visual parts, data sources and scene nodes consistently.

• Add ZED-mount collision geometry: a support box ending at Z=40 mm and a closed 5,308-triangle shell with flush camera/screw openings and a convex lower section up to Z=41 mm. Enable multiple collisions per link and regenerate the V2 example URDF.

• Update example URDFs, launch configuration and usage instructions. Replace model-parameter snapshots with small configuration fixtures, interface checks and a shared preset-expansion suite.

• Preserve prismatic travel limits under reflection and apply folded gripper placement to direct base children. Existing regression tests cover asymmetric travel and serial finger chains.

• Require leaf tips for collapse and validate standalone gripper topology through the component macro entry.

• Reflect pinch-gripper joint axes component by component and verify oblique travel at both configured endpoints.

• Fill the finger recesses and shallow circular grooves, reduce each finger visual to 2,486 triangles, and rebuild normals with 35-degree angle-limited smoothing. Number link4 visual parts, including their COLLADA IDs and references.

• Fill the gripper-camera mounting holes and remove residual rim topology, then reduce the camera from 1,756 to 808 triangles. Split PCB, base plate and lens into ee_base_link_03/04/05, with matching reduced geometry in the Cell installation.

• Clean accepted planar topology and internal gripper-base face fragments. Retain the original link6 visual while its cap mating surface is reviewed. Retain whole-finger collisions and complete four-piece/five-piece alternatives, each below 2,600 triangles per finger. Parts 00–02 remain duplicated in both split directories.

• Replace the complete pedestal collision with six fitted parts: two boxes and four convex meshes, including a single 700-triangle chest-cover hull.

Split PRs

#113–#115, #117, #120 and #121 are merged. #125 is the naming prerequisite for #116 and #118. #116 is a draft pending #125. #118 and #119 remain drafts, with #119 depending on #116. #122 is ready; #123 depends on #122, and #124 depends on #118.

ID	Change	Branch	Depends on	PR
A	Update V2 link4 cable-cover visuals	fix/v2-link4-cable-cover	main	#98 (merged)
A2	Reduce the V2 link4 visual using the original body and repaired cable covers	fix/v2-link4-mesh-reduction	main	#102 (merged)
J	Update the open-top body visual and measured-mass inertia	fix/v2-open-cover-model	main	#99 (merged)
C	Add gripper camera visuals and pose-invariant reference frames	feat/v2-gripper-camera	main	#100 (merged)
B	Unify selected V1 visual materials	fix/v1-visual-materials	main	#101 (merged)
E	Extract shared Xacro primitives without behavior changes	refactor/shared-xacro-primitives	main	#103 (merged)
E2	Generalize joint-axis and joint-origin reflection	fix/shared-joint-reflection	main	#104 (merged)
N	Repair and refine standard V2 visual meshes and normals	fix/v2-visual-normals	main	#108 (merged)
N2	Repair V2 collision meshes and include link4 cable covers	fix/v2-collision-meshes	main	#109 (merged)
F1a	Extract assembly flow with caller-supplied component operations	refactor/shared-kinematic-components	main	#105 (merged)
F1b	Separate component loading from shared body emission	refactor/shared-body-emitter	main	#106 (merged)
F1c	Move the pinch-gripper macro into its asset directory	refactor/pinch-gripper-macro	main	#107 (merged)
T	Remove mesh-specific camera geometry checks	refactor/test-contracts	main	#110 (merged)
F2	Generate topology-driven components with complete local names	refactor/topology-component-generation	main	#111 (merged)
F3	Compose mounting transforms and unify mounting-joint names	fix/component-mount-reflection	main	#112 (merged)
N3	Fill and simplify the finger visuals and number link4 parts	codex/refine-v2-visual-assets	main	#113 (merged)
N4	Fill, simplify and split the V2 gripper camera visual	codex/refine-v2-camera-visuals	main	#121 (merged)
N5	Clean final V2 visual topology	codex/finalize-v2-visual-meshes	main	#122
N6	Refresh whole and split finger collisions and selected arm collisions	codex/finalize-v2-collision-meshes	N5	#123 (draft)
N7	Split the pedestal collision into six fitted parts	codex/v2-body-collision-parts	K	#124 (draft)
F4	Discover component Xacro interfaces automatically	feat/component-xacro-interfaces	main	#114 (merged)
G	Configure empty arm-tip folding in topology	refactor/arm-tip-collapse-config	main	#115 (merged)
T2	Consolidate the unreflected axis baseline test	codex/consolidate-axis-tests	main	#120 (merged)
S	Separate component keys from URDF names	codex/stable-component-keys	main	#125
H	Declare control systems with stable joint indices	refactor/shared-ros2-control	S	#116
I	Move V2 body assets and remove root-name overrides	refactor/v2-body-assets	main	#117 (merged)
K	Add the ZED Mini assembly and mount collision meshes	feat/v2-body-camera-assembly	S	#118 (draft)
L	Migrate V1 directly to shared presets and external bodies	refactor/v1-preset-assembly	H, I	#119 (draft)
M	Center V1 joint origins while preserving motor coordinates	fix/v1-center-joint-origins	L	Queued

Validation

• Stable-key migration: all existing test functions and counts are retained; 274 before/after model/control expansions match across the split branches, standalone grippers and Cell, after normalizing temporary package-root paths.

• Latest ROS 2 Jazzy suites pass with 30 existing tests at Declare control systems with stable joint indices in presets #116, 29 at Add the ZED Mini mount and bimanual camera assembly #118, 31 at Migrate V1 assembly to shared presets and components #119, 27 at Clean redundant planar topology in V2 visual meshes #122/Refresh V2 finger collision meshes and split variants #123, 29 at Split the V2 pedestal collision into six fitted shapes #124, 33 on the integrated model and 35 on Cell.

• Shared preset checks cover expanded model structure, control references and resource paths.

• The mesh commits are included in the integrated model and Cell branch. Mesh materials, transforms and references were checked against the accepted source assets. All 31 updated collision STL files pass closed-surface, winding, positive-volume and single-shell checks.

• Final finger surfaces and wireframes were reviewed in RViz. Component geometry checks cover closed surfaces, winding, non-manifold edges and self-intersections.

Cell follow-up

ID	Change	Branch	Depends on	Status
O	Add the V2 Cell, movable lifter, calibrated inertia and fitted collisions	feat/v2-cell-description	K, M, N5, N6, N7	Prepared for a separate PR after its prerequisites

The Cell branch adds CAD-derived visuals with a white tabletop sheet, a black metal plate and yellow light-curtain housings, a 0–0.3 m lifter, openarm_cell_ frame names and 17 collision primitives: 12 boxes and five triangular prisms. The floor encloses the tabletop beams, side ramps reach the rear posts, and the lifter box maintains 0.5 mm clearance from the guide envelope. The light-curtain end caps, infrared strips and brackets remain black. The estimated lifter mass is 2.82498 kg. Its extrusion uses 2.465533 kg/m, derived from the weighed pedestal after deducting the plate, brackets, rear brace and fasteners. The HFS6-3060 rear brace is estimated at 0.328101 kg from the original STEP, including its hollow section and machined cutouts. The other two lifter parts retain their steel-density estimates. COM and inertia use three component boxes combined with the parallel-axis theorem. Its 35 tests pass. The camera base plate has filled mounting holes and uses the shared 350-triangle plate with 182 triangles for its four mounting pieces. The PCB and lens use 46 and 230 triangles, for 808 per camera. The latest Cell updates restore the cable-chain bend from CAD, consolidate black plastic geometry, refine the light-curtain yellow and name the visual components descriptively. The 180-degree base-motor installation is set in the preset with compensated J1 origins. Final Cell visuals include the approved planar cleanup and the 300-triangle guide component, preserving its bevels and center boss.

Review the Cell-only changes.

Follow-up model work

• Refine the ZED Mini mounting transform using exact CAD or measured mounting-hole coordinates.

ROS caller migration

The companion draft PR updates bringup and MoveIt to select a description preset and read CAN settings from it. It depends on #116 for V2 and #119 for V1.