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 \

CMakeLists.txt

@@ -28,8 +28,14 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(joint_axis_reflection
+                        test/test_joint_axis_reflection.py)
   ament_add_pytest_test(v2_camera_components test/test_v2_camera_components.py)
-  ament_add_pytest_test(v2_assembly test/test_v2_assembly.py)
+  ament_add_pytest_test(v2_assembly test/test_v2_assembly.py TIMEOUT 180)
+  ament_add_pytest_test(body_root_mapping test/test_body_root_mapping.py)
+  ament_add_pytest_test(v1_mirroring test/test_v1_mirroring.py)
+  ament_add_pytest_test(v1_assembly test/test_v1_assembly.py)
+  ament_add_pytest_test(v1_mount_overrides test/test_v1_mount_overrides.py)
 endif()
 
 foreach(install_dir assets launch rviz scripts)

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.
+
 ## Related links
 
 - 📚 Read the [documentation](https://docs.openarm.dev/software/description)

assets/accessory/zed_mount/config/inertials/nominal.yaml

@@ -0,0 +1,16 @@
+base_link:
+  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 @@
+{}

assets/accessory/zed_mount/config/link/visuals.yaml

@@ -0,0 +1,14 @@
+base_link:
+  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: base_link
+  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 +1,3 @@
+links:
+- 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.
@@ -14,8 +14,12 @@
 
 body_link0:
   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.
+
+body_link0:
+  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.
+
+body_link0:
+  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: body_link0
+  emit: false
+  origin:
+    x: 0
+    y: 0.03
+    z: 0.697
+    roll: -1.5708
+    pitch: 0
+    yaw: 0
+right_arm_mount_point:
+  parent: body_link0
+  emit: false
+  origin:
+    x: 0
+    y: -0.03
+    z: 0.697
+    roll: 1.5708
+    pitch: 0
+    yaw: 0

assets/end_effector/parallel_link/config/joint_limits.yaml → assets/body/v1.0/config/struct/topology.yaml

@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint:
-  limit:
-    lower: 0.0
-    upper: 0.044
-    velocity: 0.661
-    effort: 150.75
+links:
+- body_link0
+joints: {}

assets/robot/openarm_v2.0/config/body/link/collisions.yaml → assets/body/v2.0/config/link/collisions.yaml

@@ -21,7 +21,7 @@ body_link0:
     pitch: 0.0
     yaw: 0.0
   geometry:
-    mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl"
+    mesh: "package://openarm_description/assets/body/v2.0/meshes/collision/body_link0_symp.stl"
     scale:
       x: 0.001
       y: 0.001

assets/robot/openarm_v2.0/config/body/link/visuals.yaml → assets/body/v2.0/config/link/visuals.yaml

@@ -21,7 +21,7 @@ body_link0:
     pitch: 0.0
     yaw: 0.0
   geometry:
-    mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae"
+    mesh: "package://openarm_description/assets/body/v2.0/meshes/visual/body_link0.dae"
     scale:
       x: 1.0
       y: 1.0

assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml → assets/body/v2.0/config/struct/reference_points.yaml

@@ -56,17 +56,14 @@ right_arm_mount_point:
       original_name: body_right_arm_mount_point
       canonical_name: null
 
-# Example body-mounted camera reference point. Tune this pose from CAD or
-# calibration before using it on hardware.
-# zed_front_mount_point:
-#   parent: body_link0
-#   origin:
-#     x: 0.12
-#     y: 0.0
-#     z: 0.82
-#     roll: 0.0
-#     pitch: 0.0
-#     yaw: 0.0
-#   meta:
-#     kind: sensor_mount
-#     sensor_family: zed
+
+camera_mount_point:
+  parent: body_link0
+  emit: true
+  origin:
+    x: 0.03
+    y: 0.0
+    z: 0.743
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0