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Add the V2 Cell assembly and articulated lifter - #131
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Read optional model-preview defaults from presets while keeping RViz
configurations independent of saved link names.
## Changes
- Remove cached per-link display settings from the single-arm and
bimanual RViz configurations. Hide TF name labels by default.
- Read optional `init_pos` from
`systems.<system>.joints.<component>.<joint>` and resolve final joint
names through the existing Xacro component descriptions, even with
`ros2_control:=false`.
- Initialize `joint_state_publisher_gui` through its `zeros` parameters.
Unspecified positions retain the publisher's defaults.
- Expose a Python resolver accepting optional `{system_name: {idx:
position}}` overrides. ROS bringup and Isaac are unchanged.
- Convert optional `preview.view.eye/lookat` into a temporary RViz Orbit
configuration in the preset root frame; remove the temporary file on
shutdown. Presets without a view retain the selected RViz
configuration's camera.
## Preset format
```yaml
systems:
arm_system:
joints:
arm:
joint4: {idx: 4, init_pos: 1.5707963267948966}
preview:
view:
eye: {x: -2.7, y: -2.4, z: 2.4}
lookat: {x: 0.35, y: 0.0, z: 1.05}
```
Positions use radians for revolute joints and metres for prismatic
joints. View coordinates use metres, with Z up. The resolver checks
configured positions against the generated joints and limits.
Cell-specific values are supplied separately in #131.
## Validation
- All 33 existing ROS 2 Jazzy tests pass; no tests added.
- Manual V1/V2 expansion checks preserve generated URDF contents.
System/idx overrides replace only the selected joint position.
- With the Cell configuration from #131, RViz and the joint-state GUI
start successfully; both J4 parameters are pi/2 and the lifter parameter
is zero. The GUI publishes the pose with its slider precision, and the
temporary RViz file is removed on shutdown.
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Store the standard V1/V2 preview cameras in their presets so the default display launch can use the shared `bimanual.rviz` configuration for both single-arm and bimanual models. ## Changes - Add `preview.view.eye/lookat` to the 11 existing V1/V2 presets. - Preserve the former single-arm camera for single-arm variants, including gripper variants, and the former bimanual camera for the two default bimanual presets. - Keep `arm_only.rviz` available for existing tutorial commands. The default `rviz_config` remains `bimanual.rviz`. This PR is based directly on main and is independent of #131. Cell's own view remains in #131. Joint positions and model configuration are unchanged. ## Validation - All 33 existing ROS 2 Jazzy tests pass; no tests added. - All 11 views convert back to the previous RViz Orbit parameters within 1e-7 (yaw compared modulo 2 pi). - Parsed preset contents are unchanged apart from the new `preview` field. No RViz files, launch code or development documentation changed.
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Add the V2 Cell frame and movable lifter as a preset-driven body component. It uses the preset-preview support merged in #132.
Changes
Add the Cell and lifter visuals, fitted collision geometry and component mass properties.
Define
openarm_cell_base_link,openarm_cell_lifter_linkand the prismaticopenarm_cell_lifter_joint(0–0.3 m). Arm and lifter-camera reference frames follow the moving lifter; the ceiling-camera frame stays on the fixed body.Add
cell_bimanualwith the arms, grippers, ZED support and separate lifter control system. Configure the arm mounting and compensated joint origins in the preset.Allow articulated body components in the shared generator and reuse the existing preset-expansion checks.
Set Cell preview J4 positions to pi/2, lifter position to zero, and an eye/lookat view in the preset. Use the shared
bimanual.rvizconfiguration; no Cell-specific RViz file is added.Model details
The visuals include the white tabletop sheet, black metal plate and yellow light-curtain housings. Collision geometry uses 12 boxes and five triangular prisms. The lifter mass estimate is 2.82498 kg; its inertia uses component boxes and the parallel-axis theorem.
Validation
Review only the Cell changes.