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Load preset preview defaults and simplify RViz configurations - #132
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The RobotModel displays in `arm_only.rviz` and `bimanual.rviz` carried a snapshot of the link tree from whichever model was loaded last (13 and 28 entries). Every entry was a default value - alpha 1, no axes, no trail, all links enabled - so they carried no display behaviour, but the names went stale: `openarm_link8` no longer exists in the V1 single arm, `v10_body_link0` is not the current body name, and neither file matches the V2 or Cell link sets. Keep the five group-level keys and let RViz rebuild the tree from `/robot_description` instead. Nothing else changes: displays, fixed frame, camera pose and window geometry are byte-identical, and the files no longer need touching when a new model revision renames links. 198 lines removed, no additions.
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stevenaya
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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_link` and the prismatic `openarm_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_bimanual` with 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.rviz` configuration; 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 - All 35 existing Cell-branch ROS 2 Jazzy tests pass. The two cases beyond main cover articulated body generation and control declarations; no tests were added during this rebase. - The redundant Cell RViz configuration was removed; model and mesh contents are unchanged by that cleanup. No README or development records are included. - Real lifter hardware integration remains separate from the model and mock-control checks. [Review only the Cell changes](stevenaya/openarm_description@81544ac...c6c69ba).
Read optional model-preview defaults from presets while keeping RViz configurations independent of saved link names.
Changes
init_posfromsystems.<system>.joints.<component>.<joint>and resolve final joint names through the existing Xacro component descriptions, even withros2_control:=false.joint_state_publisher_guithrough itszerosparameters. Unspecified positions retain the publisher's defaults.{system_name: {idx: position}}overrides. ROS bringup and Isaac are unchanged.preview.view.eye/lookatinto 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
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