Unify V1/V2 model assembly and add V2 camera assets

.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

.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 \

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.
@@ -33,6 +37,8 @@ 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)
@@ -49,3 +55,5 @@ Copyright 2025 Enactic, Inc.
 
 All participation in the OpenArm project is governed by our
 [Code of Conduct](CODE_OF_CONDUCT.md).
+
+Control partitions are declared under the preset's top-level `systems` mapping. Each system's `joints` maps component instance names to stable local joint keys with an `idx`. Each active joint requires a unique non-negative integer `idx` within its system; gaps are allowed. Joints are emitted in index order, with `idx` included as a joint parameter for runtime adapters. Disabled components are skipped, and final joint names come from the resolved component descriptions. Standard OpenArm hardware defaults are supplied by the model entry. Per-system hardware_plugin and driver parameters can override those defaults, and CAN launch arguments take precedence. `use_fake_hardware:=true` selects `mock_components/GenericSystem`. Optional `command_interfaces` and `state_interfaces` default to `[position, velocity, effort]`.

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

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

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

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

assets/accessory/zed_mount/config/struct/topology.yaml

@@ -0,0 +1,4 @@
+links:
+  link1:
+    name: base_link
+joints: {}

assets/robot/openarm_v1.0/config/body/inertials.yaml → assets/body/v1.0/config/inertials/nominal.yaml

@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,10 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
-    xyz: -0.016206894902 0 0.244091987626
-    rpy: 0.0 0.0 0.0
+    x: -0.016206894902
+    y: 0.0
+    z: 0.244091987626
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   mass: 3.74
   inertia:
     xx: 0.248946829107

assets/body/v1.0/config/link/collisions.yaml

@@ -0,0 +1,28 @@
+# 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.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001

assets/body/v1.0/config/link/visuals.yaml

@@ -0,0 +1,28 @@
+# 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.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001

assets/body/v1.0/config/struct/reference_points.yaml

@@ -0,0 +1,34 @@
+# 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.
+
+left_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: 0.03
+    z: 0.697
+    roll: -1.5708
+    pitch: 0
+    yaw: 0
+right_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: -0.03
+    z: 0.697
+    roll: 1.5708
+    pitch: 0
+    yaw: 0

assets/robot/openarm_v1.0/config/body/kinematics_link.yaml → assets/body/v1.0/config/struct/topology.yaml

@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# 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.
@@ -12,11 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
-  kinematic:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
+links:
+  link1:
+    name: body_link0
+joints: {}

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

assets/body/v2.0/config/link/collisions.yaml

@@ -12,7 +12,76 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+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 @@ body_link0:
     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

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