[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.

• Name ordinary component links and joints as preset.prefix + local name. 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 and generate ROS2 control interfaces from the enabled preset components.

• 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.

• 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 9,500-triangle ZED support visual, with selected fasteners removed and the shells and metal parts simplified separately.

• Add ZED-mount collision geometry: a support box ending at Z=40 mm and a closed 5,314-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.

Split PRs

The test cleanup in #110 is merged. Review continues with #111, including the direct-child folding guard, followed by the mounting-transform draft #112. IDs below identify the split plan; the PR column tracks submissions.

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
F3	Compose mounting transforms and unify mounting-joint names	fix/component-mount-reflection	F2	#112 (draft)
F4	Discover component Xacro interfaces automatically	feat/component-xacro-interfaces	F3	Queued
G	Configure empty arm-tip folding in topology	refactor/arm-tip-collapse-config	F4	Queued
H	Generate shared control interfaces from enabled components	refactor/shared-ros2-control	F4	Queued
I	Move V2 body assets and remove root-name overrides	refactor/v2-body-assets	F4	Queued
K	Add the ZED Mini assembly and mount collision meshes	feat/v2-body-camera-assembly	I	Queued
L	Migrate V1 directly to shared presets and external bodies	refactor/v1-preset-assembly	G, H, I	Queued
M	Center V1 joint origins while preserving motor coordinates	fix/v1-center-joint-origins	L	Queued

Validation

• Generate arm and gripper joints from topology #111 passes 17 existing tests on ROS 2 Jazzy, including serial-finger pose equivalence across tip collapse. The mounting-transform branch passes 19 tests, including two regression cases for reflected overrides and excluded joints.
• 13 robot/gripper configurations pass physical-equivalence checks and check_urdf across the mounting-transform change, accounting for fixed mounting-joint renames.
• K and M reconstruct the integrated tree. The propagated fixes pass 23 tests at F4, 34 on the integrated model and 37 on Cell. The strengthened assertions reproduce both defects on the preceding implementations.
• Both mount collision meshes are single closed surfaces with consistent winding and pass self-intersection checks. The shell reduction has a maximum sampled deviation of approximately 0.005 mm from the flattened reference. The final model was previewed in RViz.

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	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 37 existing tests pass.

Review the Cell-only changes.

Follow-up model work

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