[stevenaya]

Replace the V2 body visual with the open-top chest-cover export and set its mesh scale to 1 for metre-based coordinates. The top opening provides clearance for a future head-camera mount. Restore the column's dark Lambert material with diffuse RGB (0.09412, 0.09412, 0.09412).

The metal base weighs 3.55 kg, excluding the arms, link0 attachment screws and cover. Estimate the open cover from the approximately 190 g complete cover using the CAD volume ratio:

Open / complete cover volume = 169948.036206 / 174718.587667 = 0.972695799
Cover mass = 0.190 × 0.972695799 = 0.184812 kg
Body mass = 3.550 + 0.184812 = 3.734812 kg

Combine the CAD mass properties using the parallel-axis theorem, retain diagonal inertia with zero cross terms, and update the example URDF. The complete-cover volume comes from OpenArm hardware 1.0.1 CAD.

RViz comparison

View	Before	After
Top cover
Body inertia

Red boxes use RViz's native inertia display. Each pair was captured separately with identical placement and camera settings.

Validation: the recalculated mass properties match the model parameters; nine V1, V2 and standalone-gripper configurations pass Xacro expansion and check_urdf. The example body's visual scale and inertial parameters match the generated model.

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[kou]