Unify V1/V2 model assembly and add V2 camera assets by stevenaya · Pull Request #97 · enactic/openarm_description

stevenaya · 2026-10-22T09:03:39Z

This draft tracks the completed V1/V2 migration and remaining preview/Cell work. #127 is merged.

PR	Scope	Status
#132	Preset init_pos/view support and RViz cleanup	Ready for review; based on main
#131	Cell model, articulated lifter and Cell preview defaults	Draft; follows #132

This integration branch includes #132. Cell remains on its own branch. The #132 suite has 33 existing tests; the unchanged final Cell tree passed 35. No test cases were added.

Cell-only changes.

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 added 7 commits November 11, 2026 14:44

Add V2 arm normal and simplified convex variants

34c4af6

Name convex collision parts by component and consecutive index

cffb156

Read optional preset positions and camera defaults in previews

a7a2961

Integrate preset-driven model previews

92bcfbe

Format preset preview helpers with autopep8

780fed3

Sync preview formatting fix

943bb17

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Unify V1/V2 model assembly and add V2 camera assets - #97

Unify V1/V2 model assembly and add V2 camera assets#97
stevenaya wants to merge 7 commits into
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stevenaya:feature/v2-camera-mounts

stevenaya commented Oct 22, 2026 •

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stevenaya commented Oct 22, 2026 •

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