From e152176b854b3a71948ba56218079d9b971e1cbe Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Sun, 1 Nov 2026 06:11:10 +0900
Subject: [PATCH 1/4] Generate shared control interfaces from enabled
 components

---
 assets/common/ros2_control.xacro              | 123 ++++++++++++++
 .../robot_presets/default_bimanual.yaml       |   4 +
 .../config/robot_presets/left_arm.yaml        |   4 +
 .../left_arm_with_pinch_gripper.yaml          |   4 +
 .../config/robot_presets/right_arm.yaml       |   4 +
 .../right_arm_with_pinch_gripper.yaml         |   4 +
 .../robot/openarm_v2.0/urdf/example/v2.urdf   |  16 --
 .../openarm_v2.0/urdf/openarm_v20.urdf.xacro  |  27 +--
 .../openarm.bimanual.ros2_control.xacro       | 157 ------------------
 .../ros2_control/openarm.ros2_control.xacro   | 107 ------------
 launch/display_openarm.launch.py              |   5 +-
 test/support.py                               |  11 --
 test/test_interfaces.py                       |  56 +++++++
 test/test_models.py                           |  43 +++++
 14 files changed, 254 insertions(+), 311 deletions(-)
 create mode 100644 assets/common/ros2_control.xacro
 delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
 delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
 create mode 100644 test/test_models.py

diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro
new file mode 100644
index 00000000..0a6b8ab6
--- /dev/null
+++ b/assets/common/ros2_control.xacro
@@ -0,0 +1,123 @@
+<?xml version="1.0"?>
+<!--
+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.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />
+  <xacro:macro name="openarm_control_parameters" params="values index:=0">
+    <xacro:property name="keys" value="${list(values.keys())}" />
+    <xacro:if value="${index &lt; len(keys)}">
+      <param name="${keys[index]}">${values[keys[index]]}</param>
+      <xacro:openarm_control_parameters values="${values}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_control_joint" params="joint_name">
+    <joint name="${joint_name}">
+      <command_interface name="position" />
+      <command_interface name="velocity" />
+      <command_interface name="effort" />
+      <state_interface name="position"><param name="initial_value">0.0</param></state_interface>
+      <state_interface name="velocity"><param name="initial_value">0.0</param></state_interface>
+      <state_interface name="effort"><param name="initial_value">0.0</param></state_interface>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_control_joints" params="joint_names index:=0">
+    <xacro:if value="${index &lt; len(joint_names)}">
+      <xacro:openarm_control_joint joint_name="${joint_names[index]}" />
+      <xacro:openarm_control_joints joint_names="${joint_names}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="openarm_arm_ros2_control"
+    params="system_name joint_names hardware_prefix can_interface control_gains ee_type:='' arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true extra_parameters:=${dict()}">
+    <ros2_control name="${system_name}" type="system">
+        <hardware>
+          <param name="arm_type">${arm_type}</param>
+          <xacro:openarm_control_parameters values="${extra_parameters}" />
+          <xacro:if value="${use_fake_hardware}">
+            <plugin>mock_components/GenericSystem</plugin>
+            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+            <param name="state_following_offset">0.0</param>
+          </xacro:if>
+          <xacro:unless value="${use_fake_hardware}">
+            <plugin>openarm_hardware/OpenArmHW</plugin>
+            <param name="can_interface">${can_interface}</param>
+            <param name="arm_prefix">${hardware_prefix}</param>
+            <param name="can_fd">${can_fd}</param>
+            <param name="ee_type">${ee_type}</param>
+            <param name="hand">${ee_type != ''}</param>
+            <param name="kp1">${control_gains['joint1']['kp']}</param>
+            <param name="kp2">${control_gains['joint2']['kp']}</param>
+            <param name="kp3">${control_gains['joint3']['kp']}</param>
+            <param name="kp4">${control_gains['joint4']['kp']}</param>
+            <param name="kp5">${control_gains['joint5']['kp']}</param>
+            <param name="kp6">${control_gains['joint6']['kp']}</param>
+            <param name="kp7">${control_gains['joint7']['kp']}</param>
+            <param name="kd1">${control_gains['joint1']['kd']}</param>
+            <param name="kd2">${control_gains['joint2']['kd']}</param>
+            <param name="kd3">${control_gains['joint3']['kd']}</param>
+            <param name="kd4">${control_gains['joint4']['kd']}</param>
+            <param name="kd5">${control_gains['joint5']['kd']}</param>
+            <param name="kd6">${control_gains['joint6']['kd']}</param>
+            <param name="kd7">${control_gains['joint7']['kd']}</param>
+            <xacro:if value="${ee_type != '' and 'hand' in control_gains}">
+              <param name="kp_hand">${control_gains['hand']['kp']}</param>
+              <param name="kd_hand">${control_gains['hand']['kd']}</param>
+            </xacro:if>
+          </xacro:unless>
+        </hardware>
+      <xacro:openarm_control_joints joint_names="${joint_names}" />
+    </ros2_control>
+  </xacro:macro>
+  <xacro:macro name="openarm_ros2_control"
+    params="robot_preset config_root can_interfaces arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true index:=0">
+    <xacro:property name="components" value="${robot_preset['robot']['components']}" lazy_eval="false" />
+    <xacro:if value="${index &lt; len(components)}">
+      <xacro:property name="name" value="${components[index]}" lazy_eval="false" />
+      <xacro:property name="component" value="${robot_preset[name]}" lazy_eval="false" />
+      <xacro:if value="${component['enabled'] and component['type'] == 'robot' and component['config'] == 'arm'}">
+        <xacro:property name="side" value="${component['control']['side']}" lazy_eval="false" />
+        <xacro:openarm_require condition="${side in can_interfaces}" message="${'Unknown control side `%s` on `%s`.' % (side, name)}" />
+        <xacro:property name="controlled_arms" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'robot' and robot_preset[c]['config'] == 'arm']}" lazy_eval="false" />
+        <xacro:openarm_require condition="${len([c for c in controlled_arms if robot_preset[c]['control']['side'] == side]) == 1}" message="${'Multiple arms select the `%s` hardware interface.' % side}" />
+        <xacro:property name="prefix" value="${component.get('prefix', '')}" lazy_eval="false" />
+        <xacro:property name="arm_config_root" value="${'$(find openarm_description)/assets/robot/' + component['product'] + '/config/' + component['config']}" />
+        <xacro:property name="arm_topology" value="${xacro.load_yaml(arm_config_root + '/struct/topology.yaml')}" lazy_eval="false" />
+        <xacro:property name="control_gains" value="${xacro.load_yaml(arm_config_root + '/control/control_gains.yaml')}" lazy_eval="false" />
+        <xacro:property name="joint_names" value="${[prefix + joint for joint in arm_topology['joints'] if arm_topology['joints'][joint]['type'] != 'fixed']}" lazy_eval="false" />
+        <xacro:property name="grippers" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'end_effector' and robot_preset[c].get('connection', dict()).get('attach_to') == name]}" lazy_eval="false" />
+        <xacro:openarm_require condition="${len(grippers) &lt;= 1}" message="${'Arm `%s` supports one controlled gripper.' % name}" />
+        <xacro:property name="ee_type" value="${''}" lazy_eval="false" />
+        <xacro:if value="${len(grippers) == 1}">
+          <xacro:property name="gripper" value="${robot_preset[grippers[0]]}" lazy_eval="false" />
+          <xacro:property name="ee_type" value="${gripper['product']}" lazy_eval="false" />
+          <xacro:property name="gripper_root" value="${'$(find openarm_description)/assets/end_effector/' + ee_type + ('/' + gripper['config'] if gripper.get('config') != None else '') + '/config'}" lazy_eval="false" />
+          <xacro:property name="gripper_topology" value="${xacro.load_yaml(gripper_root + '/struct/topology.yaml')}" lazy_eval="false" />
+          <xacro:property name="gripper_mimics" value="${xacro.load_yaml(gripper_root + '/joint/joint_mimics.yaml')}" lazy_eval="false" />
+          <xacro:property name="gripper_prefix" value="${gripper.get('prefix', '')}" lazy_eval="false" />
+          <xacro:property name="joint_names" value="${joint_names + [gripper_prefix + joint for joint in gripper_topology['joints'] if gripper_topology['joints'][joint]['type'] != 'fixed' and joint not in gripper_mimics]}" lazy_eval="false" />
+        </xacro:if>
+        <xacro:openarm_arm_ros2_control
+          system_name="${component['control'].get('system_name', 'openarm_' + side + '_hardware_interface')}" joint_names="${joint_names}"
+          hardware_prefix="${prefix[8:] if prefix.startswith('openarm_') else prefix}"
+          can_interface="${can_interfaces[side]}" control_gains="${control_gains}" ee_type="${ee_type}"
+          arm_type="${arm_type}" extra_parameters="${component['control'].get('parameters', dict())}"
+          use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" />
+      </xacro:if>
+      <xacro:openarm_ros2_control robot_preset="${robot_preset}" config_root="${config_root}" can_interfaces="${can_interfaces}" arm_type="${arm_type}"
+        use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" index="${index + 1}" />
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
index c7ee6438..bcc667a9 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
@@ -48,6 +48,8 @@ primary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: left
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -70,6 +72,8 @@ secondary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: right
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
index 74f6fcee..dc5d1b07 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
@@ -44,6 +44,8 @@ primary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: left
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -70,6 +72,8 @@ secondary_arm:
   enabled: false
   product: openarm_v2.0
   config: arm
+  control:
+    side: right
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
index e1d7a808..65ba7779 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
@@ -45,6 +45,8 @@ primary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: left
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -71,6 +73,8 @@ secondary_arm:
   enabled: false
   product: openarm_v2.0
   config: arm
+  control:
+    side: right
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
index d4c68293..19e39241 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
@@ -44,6 +44,8 @@ primary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: right
   inertials: nominal
   prefix: openarm_right_
   connection:
@@ -66,6 +68,8 @@ secondary_arm:
   enabled: false
   product: openarm_v2.0
   config: arm
+  control:
+    side: left
   inertials: nominal
   prefix: openarm_left_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
index 248834d0..2fe136ca 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
@@ -45,6 +45,8 @@ primary_arm:
   enabled: true
   product: openarm_v2.0
   config: arm
+  control:
+    side: right
   inertials: nominal
   prefix: openarm_right_
   connection:
@@ -67,6 +69,8 @@ secondary_arm:
   enabled: false
   product: openarm_v2.0
   config: arm
+  control:
+    side: left
   inertials: nominal
   prefix: openarm_left_
   connection:
diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
index 371f854c..b05adfb3 100644
--- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf
+++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf
@@ -711,14 +711,6 @@ limitations under the License.
         <param name="initial_value">0.0</param>
       </state_interface>
     </joint>
-    <!-- <joint name="openarm_${left_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${left_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${left_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
   </ros2_control>
   <ros2_control name="openarm_right_hardware_interface" type="system">
     <hardware>
@@ -839,13 +831,5 @@ limitations under the License.
         <param name="initial_value">0.0</param>
       </state_interface>
     </joint>
-    <!-- <joint name="openarm_${right_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${right_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${right_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
   </ros2_control>
 </robot>
diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
index 351b2678..0307c7be 100644
--- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
+++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
@@ -16,11 +16,13 @@ limitations under the License.
 
   <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro" />
 
-  <xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
+  <xacro:include filename="$(find openarm_description)/assets/common/ros2_control.xacro" />
 
   <xacro:arg name="robot_preset" default="default_bimanual" />
   <xacro:arg name="emit_grasp_frame" default="false" />
 
+  <xacro:arg name="ros2_control" default="true" />
+  <xacro:arg name="fake_sensor_commands" default="false" />
   <xacro:arg name="use_fake_hardware" default="true" />
   <xacro:arg name="left_can_interface" default="can1" />
   <xacro:arg name="right_can_interface" default="can0" />
@@ -35,23 +37,10 @@ limitations under the License.
     robot_preset="${robot_preset_cfg}"
     emit_grasp_frame="$(arg emit_grasp_frame)" />
 
-  <xacro:property name="gains_file" value="${config_root}/arm/control/control_gains.yaml" />
-  <xacro:property name="gains_dict" value="${xacro.load_yaml(gains_file)}" />
-  <xacro:property name="pinch_mimics_file" value="$(find openarm_description)/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml" />
-  <xacro:property name="pinch_mimics_dict" value="${xacro.load_yaml(pinch_mimics_file)}" />
-  <xacro:property name="pinch_finger_mimic_multiplier" value="${pinch_mimics_dict['finger_joint2']['multiplier'] if 'finger_joint2' in pinch_mimics_dict else 1.0}" />
-
-  <xacro:openarm_bimanual_ros2_control
-    arm_type="v20"
-    control_gains="${gains_dict}"
-    use_fake_hardware="$(arg use_fake_hardware)"
-    left_can_interface="$(arg left_can_interface)"
-    right_can_interface="$(arg right_can_interface)"
-    can_fd="$(arg can_fd)"
-    ee_type="pinch_gripper"
-    left_arm_prefix="left_"
-    right_arm_prefix="right_"
-    left_finger_mimic_multiplier="${pinch_finger_mimic_multiplier}"
-    right_finger_mimic_multiplier="${pinch_finger_mimic_multiplier}" />
+  <xacro:if value="$(arg ros2_control)">
+    <xacro:openarm_ros2_control robot_preset="${robot_preset_cfg}" config_root="${config_root}"
+      can_interfaces="${dict(left='$(arg left_can_interface)', right='$(arg right_can_interface)')}"
+      use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" can_fd="$(arg can_fd)" />
+  </xacro:if>
 
 </robot>
diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
deleted file mode 100644
index e7b25ad8..00000000
--- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro
+++ /dev/null
@@ -1,157 +0,0 @@
-<?xml version="1.0"?>
-<!--
-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.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_bimanual_ros2_control"
-         params="arm_type
-             control_gains
-             left_can_interface:=^|can1
-             right_can_interface:=^|can0
-             use_fake_hardware:=^|false
-             fake_sensor_commands:=^|false
-             ee_type:=^|pinch_gripper
-             left_arm_prefix:=^|left_
-             right_arm_prefix:=^|right_
-             left_finger_mimic_multiplier:=^|1.0
-             right_finger_mimic_multiplier:=^|1.0
-             can_fd:=^|true">
-
-    <ros2_control name="openarm_left_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:unless value="${use_fake_hardware}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${left_can_interface}</param>
-            <param name="arm_prefix">${left_arm_prefix}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:unless>
-        </hardware>
-
-      <xacro:macro name="configure_joint" params="joint_name initial_position">
-        <joint name="${joint_name}">
-          <command_interface name="position"/>
-          <command_interface name="velocity"/>
-          <command_interface name="effort"/>
-
-          <state_interface name="position">
-            <param name="initial_value">${initial_position}</param>
-          </state_interface>
-
-          <state_interface name="velocity">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-          <state_interface name="effort">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-        </joint>
-      </xacro:macro>
-
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:configure_joint joint_name="openarm_${left_arm_prefix}finger_joint1" initial_position="0.0" />
-
-      <!-- <joint name="openarm_${left_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${left_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${left_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
-
-    </ros2_control>
-
-    <ros2_control name="openarm_right_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:unless value="${use_fake_hardware}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${right_can_interface}</param>
-            <param name="arm_prefix">${right_arm_prefix}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:unless>
-        </hardware>
-
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:configure_joint joint_name="openarm_${right_arm_prefix}finger_joint1" initial_position="0.0" />
-
-      <!-- <joint name="openarm_${right_arm_prefix}finger_joint2">
-        <param name="mimic">openarm_${right_arm_prefix}finger_joint1</param>
-        <param name="multiplier">${right_finger_mimic_multiplier}</param>
-        <command_interface name="position"/>
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-      </joint> -->
-
-    </ros2_control>
-
-  </xacro:macro>
-
-</robot>
diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
deleted file mode 100644
index 59f182b2..00000000
--- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro
+++ /dev/null
@@ -1,107 +0,0 @@
-<?xml version="1.0"?>
-<!--
-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.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="openarm_arm_ros2_control"
-         params="arm_type
-             control_gains
-             can_interface
-             use_fake_hardware:=^|false
-             fake_sensor_commands:=^|false
-             hand:=^|false
-             ee_type:=^|parallel_link
-             gazebo_effort:=^|false
-             arm_prefix:=''
-             bimanual:=false
-             can_fd:=^|true">
-
-    <ros2_control name="openarm_hardware_interface" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <param name="prefix">${arm_prefix}</param>
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:if value="${use_fake_hardware == 0}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${can_interface}</param>
-            <param name="arm_prefix">${arm_prefix}</param>
-            <param name="hand">${hand}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-          </xacro:if>
-        </hardware>
-
-      <xacro:macro name="configure_joint" params="joint_name initial_position">
-        <joint name="${joint_name}">
-          <!--
-            deactivated for gazebo velocity and position interface due to a bug
-            https://github.com/ros-controls/gz_ros2_control/issues/343
-
-            Command Interfaces -->
-            <command_interface name="position"/>
-            <command_interface name="velocity"/>
-            <command_interface name="effort"/>
-
-          <!-- State Interfaces -->
-          <state_interface name="position">
-            <param name="initial_value">${initial_position}</param>
-          </state_interface>
-
-          <state_interface name="velocity">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-          <state_interface name="effort">
-            <param name="initial_value">0.0</param>
-          </state_interface>
-
-        </joint>
-      </xacro:macro>
-
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint1" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint2" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint4" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint6" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="openarm_${arm_prefix}joint7" initial_position="0.0"/>
-
-      <xacro:if value="${hand}">
-        <xacro:configure_joint joint_name="openarm_${arm_prefix}finger_joint1" initial_position="0.0" />
-      </xacro:if>
-
-    </ros2_control>
-
-  </xacro:macro>
-
-
-</robot>
diff --git a/launch/display_openarm.launch.py b/launch/display_openarm.launch.py
index 3174b273..4471cff7 100644
--- a/launch/display_openarm.launch.py
+++ b/launch/display_openarm.launch.py
@@ -83,6 +83,9 @@ def robot_state_publisher_spawner(
             "arm_type": arm_type_str,
             "robot_preset": context.perform_substitution(robot_preset),
             "emit_grasp_frame": context.perform_substitution(emit_grasp_frame),
+            "ros2_control": context.perform_substitution(ros2_control),
+            "use_fake_hardware": context.perform_substitution(use_fake_hardware),
+            "fake_sensor_commands": context.perform_substitution(fake_sensor_commands),
         }
 
     robot_description = xacro.process_file(
@@ -110,7 +113,7 @@ def generate_launch_description():
     robot_preset_arg = DeclareLaunchArgument(
         "robot_preset",
         default_value="default_bimanual",
-        description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm, right_arm_with_pinch_gripper, left_arm_with_pinch_gripper).",
+        description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm).",
     )
     rviz_config_arg = DeclareLaunchArgument(
         "rviz_config",
diff --git a/test/support.py b/test/support.py
index 9fe19653..17beda15 100644
--- a/test/support.py
+++ b/test/support.py
@@ -106,17 +106,6 @@ def package_share_at(path):
 
 
 def expand(files=None, version='v2.0', entry=None, **arguments):
-    if entry is None:
-        files = dict(files or {})
-        files['fixture.urdf.xacro'] = '''<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fixture">
-  <xacro:include filename="$(find openarm_description)/assets/component_loader.xacro"/>
-  <xacro:arg name="emit_grasp_frame" default="false"/>
-  <xacro:property name="root" value="$(find openarm_description)/assets/robot/openarm_v2.0/config"/>
-  <xacro:property name="preset" value="${xacro.load_yaml(root + '/robot_presets/fixture.yaml')}"/>
-  <xacro:openarm_assemble_robot component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
-    config_root="${root}" robot_preset="${preset}" emit_grasp_frame="$(arg emit_grasp_frame)"/>
-</robot>'''
-        entry = 'assets/fixture.urdf.xacro'
     entry = entry or f'assets/robot/openarm_{version}/urdf/openarm_{"v10" if version == "v1.0" else "v20"}.urdf.xacro'
     arguments = {k: str(v).lower() if isinstance(v, bool) else str(v)
                  for k, v in arguments.items()}
diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 64d7ff1a..9a6c397a 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -67,3 +67,59 @@ def test_broken_component_hook_does_not_use_fallback(interface):
     files['body/fixture_a/urdf/component.xacro'] = interface
     with pytest.raises((xacro.XacroException, ExpatError)):
         support.expand(files, robot_preset='fixture', ros2_control=False)
+
+
+def control_input():
+    names = ['root'] + [f'link{i}' for i in range(1, 8)]
+    data = support.model(names, {f'joint{i}': dict(
+        type='revolute', parent=names[i-1], child=names[i]) for i in range(1, 8)})
+    data['control/control_gains.yaml'] = {
+        f'joint{i}': dict(kp=10+i, kd=i/10) for i in range(1, 8)}
+    spec = support.preset(arm=support.component('robot', 'fixture_control', 'openarm_right_', control=dict(side='right')),
+                          tool=support.component('end_effector', 'pinch_gripper', 'openarm_right_', connection=dict(attach_to='arm')))
+    return spec, {'arm': data, 'tool': support.pinch()}
+
+
+def test_control_selection_follows_enabled_components():
+    spec, data = control_input()
+    assert not support.assemble(
+        spec, data, ros2_control=False).findall('ros2_control')
+    for tool_enabled in (False, True):
+        spec['tool']['enabled'] = tool_enabled
+        robot = support.assemble(
+            spec, data, ros2_control=True, use_fake_hardware=True)
+        active = {j.get('name') for j in robot.findall('joint') if j.get(
+            'type') != 'fixed' and j.find('mimic') is None}
+        assert {j.get('name')
+                for j in robot.findall('ros2_control/joint')} == active
+
+
+def test_control_names_follow_instance_prefixes():
+    spec, data = control_input()
+    spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_'
+    robot = support.assemble(
+        spec, data, ros2_control=True, use_fake_hardware=True)
+    expected = {spec['arm']['prefix'] + j for j in data['arm']
+                ['struct/topology.yaml']['joints']}
+    expected.update(spec['tool']['prefix'] + j for j in data['tool']['struct/topology.yaml']['joints']
+                    if j not in data['tool']['joint/joint_mimics.yaml'])
+    assert {j.get('name')
+            for j in robot.findall('ros2_control/joint')} == expected
+
+
+def test_hardware_parameters_follow_input():
+    spec, data = control_input()
+    for side in ('left', 'right'):
+        spec['arm']['control']['side'] = side
+        for name in ('arm', 'tool'):
+            spec[name]['prefix'] = 'openarm_'+side+'_'
+        robot = support.assemble(spec, data, ros2_control=True, use_fake_hardware=False,
+                                 left_can_interface='can_left_test', right_can_interface='can_right_test', can_fd=False)
+        system = robot.find('ros2_control/hardware')
+        params = {p.get('name'): p.text for p in system.findall('param')}
+        assert params['can_interface'] == 'can_'+side+'_test'
+        assert params['can_fd'].lower() == 'false'
+        assert params['ee_type'] == spec['tool']['product']
+        for name, gains in data['arm']['control/control_gains.yaml'].items():
+            for key, value in gains.items():
+                assert float(params[key+name.removeprefix('joint')]) == value
diff --git a/test/test_models.py b/test/test_models.py
new file mode 100644
index 00000000..57716a88
--- /dev/null
+++ b/test/test_models.py
@@ -0,0 +1,43 @@
+# 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.
+
+from pathlib import Path
+from urllib.parse import urlparse
+
+from support import ROOT, expand, packages
+
+
+def test_shipped_presets_expand_and_resolve_resources():
+    robots = []
+    for version in ('v2.0',):
+        folder = ROOT/f'assets/robot/openarm_{version}/config/robot_presets'
+        robots.append((version, '<default>', expand(version=version, ros2_control=True,
+                       use_fake_hardware=True, emit_grasp_frame=True)))
+        for path in sorted(folder.glob('*.yaml')):
+            robot = expand(version=version, robot_preset=path.stem, ros2_control=True,
+                           use_fake_hardware=True, emit_grasp_frame=True)
+            robots.append((version, path.stem, robot))
+    for path in sorted((ROOT/'assets/end_effector').glob('pinch_gripper/urdf/*_standalone.urdf.xacro')):
+        robots.append(('standalone', path.name, expand(
+            entry=str(path.relative_to(ROOT)))))
+    for version, name, robot in robots:
+        for mesh in robot.findall('.//geometry/mesh'):
+            uri = urlparse(mesh.get('filename'))
+            if uri.scheme == 'package':
+                share = ROOT if uri.netloc == 'openarm_description' else Path(
+                    packages.get_package_share_directory(uri.netloc))
+                assert (share/uri.path.lstrip('/')
+                        ).is_file(), (version, name, mesh.attrib)
+            elif uri.scheme in ('', 'file'):
+                assert Path(uri.path).is_file(), (version, name, mesh.attrib)

From 291c0d0c5ebccebb7563b58228e57894767e00d6 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Wed, 4 Nov 2026 18:12:54 +0900
Subject: [PATCH 2/4] Check control selection and resolved names in one fixture

---
 test/test_interfaces.py | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 9a6c397a..3a8617cd 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -80,31 +80,31 @@ def control_input():
     return spec, {'arm': data, 'tool': support.pinch()}
 
 
-def test_control_selection_follows_enabled_components():
+def test_control_joints_follow_model_names_and_enabled_components():
     spec, data = control_input()
+    spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_'
+    arm_joints = data['arm']['struct/topology.yaml']['joints']
+    arm_joints['wrist'] = arm_joints.pop('joint7')
+    for filename in ('joint_origins', 'joint_axes', 'joint_limits'):
+        values = data['arm'][f'joint/{filename}.yaml']
+        values['wrist'] = values.pop('joint7')
+
     assert not support.assemble(
         spec, data, ros2_control=False).findall('ros2_control')
     for tool_enabled in (False, True):
         spec['tool']['enabled'] = tool_enabled
         robot = support.assemble(
             spec, data, ros2_control=True, use_fake_hardware=True)
-        active = {j.get('name') for j in robot.findall('joint') if j.get(
-            'type') != 'fixed' and j.find('mimic') is None}
-        assert {j.get('name')
-                for j in robot.findall('ros2_control/joint')} == active
-
-
-def test_control_names_follow_instance_prefixes():
-    spec, data = control_input()
-    spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_'
-    robot = support.assemble(
-        spec, data, ros2_control=True, use_fake_hardware=True)
-    expected = {spec['arm']['prefix'] + j for j in data['arm']
-                ['struct/topology.yaml']['joints']}
-    expected.update(spec['tool']['prefix'] + j for j in data['tool']['struct/topology.yaml']['joints']
-                    if j not in data['tool']['joint/joint_mimics.yaml'])
-    assert {j.get('name')
-            for j in robot.findall('ros2_control/joint')} == expected
+        expected = {spec['arm']['prefix'] + name for name in arm_joints}
+        if tool_enabled:
+            expected.update(spec['tool']['prefix'] + name
+                            for name in data['tool']['struct/topology.yaml']['joints']
+                            if name not in data['tool']['joint/joint_mimics.yaml'])
+        active = {joint.get('name') for joint in robot.findall('joint')
+                  if joint.get('type') != 'fixed' and joint.find('mimic') is None}
+        assert active == expected
+        assert {joint.get('name')
+                for joint in robot.findall('ros2_control/joint')} == active
 
 
 def test_hardware_parameters_follow_input():

From fc349ed75c7a5bc169f84bb4a75a2196caad12c2 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Wed, 4 Nov 2026 20:14:09 +0900
Subject: [PATCH 3/4] Share resolved component descriptions with control
 generation

---
 assets/common/assembly.xacro                  | 59 ++++++++-----------
 assets/common/ros2_control.xacro              | 19 +++---
 assets/component_loader.xacro                 |  3 +-
 .../openarm_v2.0/urdf/openarm_v20.urdf.xacro  |  4 +-
 test/test_interfaces.py                       | 20 +++++++
 5 files changed, 56 insertions(+), 49 deletions(-)

diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro
index bdf77768..812aefea 100644
--- a/assets/common/assembly.xacro
+++ b/assets/common/assembly.xacro
@@ -16,23 +16,21 @@ limitations under the License.
 
   <xacro:include filename="$(find openarm_description)/assets/common/components.xacro" />
 
-  <xacro:macro name="openarm_collect_collapsible_children"
-    params="names robot_preset component_api options out_name index:=0 candidates:=${dict()}">
+  <xacro:macro name="openarm_collect_component_descriptions"
+    params="names robot_preset component_api options out_name index:=0 descriptions:=${dict()}">
     <xacro:if value="${index &lt; len(names)}">
       <xacro:property name="name" value="${names[index]}" />
       <xacro:call macro="${component_api['describe']}" component_name="${name}" component_cfg="${robot_preset[name]}"
         options="${options}" out_name="description" />
-      <xacro:if value="${description.get('supports_frame_shift', False)}">
-        <xacro:property name="candidates" value="${dict(list(candidates.items()) + [(name, description)])}" lazy_eval="false" />
-      </xacro:if>
-      <xacro:openarm_collect_collapsible_children names="${names}" robot_preset="${robot_preset}"
-        component_api="${component_api}" options="${options}" index="${index + 1}" candidates="${candidates}" out_name="candidates" />
+      <xacro:property name="descriptions" value="${dict(list(descriptions.items()) + [(name, description)])}" lazy_eval="false" />
+      <xacro:openarm_collect_component_descriptions names="${names}" robot_preset="${robot_preset}"
+        component_api="${component_api}" options="${options}" index="${index + 1}" descriptions="${descriptions}" out_name="descriptions" />
     </xacro:if>
-    <xacro:property name="${out_name}" value="${candidates}" scope="parent" lazy_eval="false" />
+    <xacro:property name="${out_name}" value="${descriptions}" scope="parent" lazy_eval="false" />
   </xacro:macro>
 
   <xacro:macro name="openarm_resolve_component_runtime"
-    params="component_api component_name components robot_preset config_root root_frame component_cfg component_desc parent_desc:=none emit_grasp_frame:=false out_name">
+    params="component_descriptions component_name components robot_preset config_root root_frame component_cfg component_desc parent_desc:=none emit_grasp_frame:=false out_name">
 
     <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
     <xacro:property name="zero_origin" value="${dict(x=0.0, y=0.0, z=0.0, roll=0.0, pitch=0.0, yaw=0.0)}" lazy_eval="false" />
@@ -134,8 +132,9 @@ limitations under the License.
       value="${[name for name in attached_children if component_terminal_link_empty and 'parent_reference_point' in robot_preset[name]['connection'] and robot_preset[name]['connection']['parent_reference_point'] != None and ('parent' not in robot_preset[name]['connection'] or robot_preset[name]['connection']['parent'] == None) and robot_preset[name]['connection']['parent_reference_point'] in component_desc['reference_points'] and component_desc['reference_points'][robot_preset[name]['connection']['parent_reference_point']]['parent'] == component_terminal_link]}"
       lazy_eval="false" />
 
-    <xacro:openarm_collect_collapsible_children names="${collapse_candidate_names}" robot_preset="${robot_preset}"
-      component_api="${component_api}" options="${dict(emit_grasp_frame=emit_grasp_frame)}" out_name="candidate_descriptions" />
+    <xacro:property name="candidate_descriptions"
+      value="${dict([(name, component_descriptions[name]) for name in collapse_candidate_names if component_descriptions[name].get('supports_frame_shift', False)])}"
+      lazy_eval="false" />
     <xacro:openarm_require condition="${len(candidate_descriptions) &lt;= 1}"
       message="${'Invalid robot preset: component %s has multiple children competing to collapse the same terminal empty link.' % component_name}" />
     <xacro:if value="${len(candidate_descriptions) == 1}">
@@ -170,20 +169,12 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_component_tree"
-    params="component_api component_name components robot_preset config_root root_frame parent_desc:=none preloaded_desc:=none emit_grasp_frame:=false">
+    params="component_api component_descriptions component_name components robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false">
 
-    <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
     <xacro:property name="component_cfg" value="${robot_preset[component_name]}" lazy_eval="false" />
-    <xacro:property name="component_desc" value="${preloaded_desc}" lazy_eval="false" />
+    <xacro:property name="component_desc" value="${component_descriptions[component_name]}" lazy_eval="false" />
 
-    <xacro:if value="${component_desc == none_value}">
-      <xacro:call macro="${component_api['describe']}"
-        component_name="${component_name}"
-        component_cfg="${component_cfg}"
-        out_name="component_desc" options="${dict(emit_grasp_frame=emit_grasp_frame)}" />
-    </xacro:if>
-
-    <xacro:openarm_resolve_component_runtime component_api="${component_api}"
+    <xacro:openarm_resolve_component_runtime component_descriptions="${component_descriptions}"
       component_name="${component_name}"
       components="${components}"
       robot_preset="${robot_preset}"
@@ -204,7 +195,7 @@ limitations under the License.
       component_runtime="${component_runtime}"
       options="${dict(emit_grasp_frame=emit_grasp_frame)}" />
 
-    <xacro:openarm_emit_attached_components component_api="${component_api}"
+    <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
       index="0"
       components="${components}"
       parent_component_name="${component_name}"
@@ -212,13 +203,11 @@ limitations under the License.
       config_root="${config_root}"
       root_frame="${root_frame}"
       parent_desc="${component_desc}"
-      preloaded_component_name="${component_runtime['collapse_child_name']}"
-      preloaded_component_desc="${component_runtime['collapse_child_desc']}"
       emit_grasp_frame="${emit_grasp_frame}" />
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_attached_components"
-    params="component_api index components parent_component_name robot_preset config_root root_frame parent_desc:=none preloaded_component_name:=none preloaded_component_desc:=none emit_grasp_frame:=false">
+    params="component_api component_descriptions index components parent_component_name robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false">
 
     <xacro:if value="${index &lt; len(components)}">
       <xacro:property name="none_value" value="${'none'}" lazy_eval="false" />
@@ -229,22 +218,19 @@ limitations under the License.
       <xacro:property name="attach_to" value="${connection['attach_to'] if 'attach_to' in connection else None}" lazy_eval="false" />
       <xacro:property name="is_root_component" value="${parent_component_name == '__root__' and attach_to == None}" lazy_eval="false" />
       <xacro:property name="is_attached_child" value="${attach_to == parent_component_name}" lazy_eval="false" />
-      <!-- Reuse a preloaded descriptor when collapse analysis already loaded it for this child. -->
-      <xacro:property name="component_desc_override" value="${preloaded_component_desc if component_name == preloaded_component_name else none_value}" lazy_eval="false" />
 
       <xacro:if value="${component_enabled and (is_root_component or is_attached_child)}">
-        <xacro:openarm_emit_component_tree component_api="${component_api}"
+        <xacro:openarm_emit_component_tree component_api="${component_api}" component_descriptions="${component_descriptions}"
           component_name="${component_name}"
           components="${components}"
           robot_preset="${robot_preset}"
           config_root="${config_root}"
           root_frame="${root_frame}"
           parent_desc="${none_value if is_root_component else parent_desc}"
-          preloaded_desc="${component_desc_override}"
           emit_grasp_frame="${emit_grasp_frame}" />
       </xacro:if>
 
-      <xacro:openarm_emit_attached_components component_api="${component_api}"
+      <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
         index="${index + 1}"
         components="${components}"
         parent_component_name="${parent_component_name}"
@@ -252,14 +238,12 @@ limitations under the License.
         config_root="${config_root}"
         root_frame="${root_frame}"
         parent_desc="${parent_desc}"
-        preloaded_component_name="${preloaded_component_name}"
-        preloaded_component_desc="${preloaded_component_desc}"
         emit_grasp_frame="${emit_grasp_frame}" />
     </xacro:if>
   </xacro:macro>
 
   <xacro:macro name="openarm_assemble_robot"
-    params="component_api config_root robot_preset emit_grasp_frame:=false">
+    params="component_api config_root robot_preset emit_grasp_frame:=false out_name:=component_descriptions">
 
     <xacro:property name="robot_cfg" value="${robot_preset['robot']}" lazy_eval="false" />
     <xacro:property name="root_frame" value="${robot_cfg['root_frame']}" lazy_eval="false" />
@@ -269,9 +253,14 @@ limitations under the License.
       components="${components}"
       robot_preset="${robot_preset}" />
 
+    <xacro:property name="enabled_components" value="${[name for name in components if robot_preset[name]['enabled']]}" lazy_eval="false" />
+    <xacro:openarm_collect_component_descriptions names="${enabled_components}" robot_preset="${robot_preset}"
+      component_api="${component_api}" options="${dict(emit_grasp_frame=emit_grasp_frame)}" out_name="component_descriptions" />
+    <xacro:property name="${out_name}" value="${component_descriptions}" scope="parent" lazy_eval="false" />
+
     <link name="${root_frame}" />
 
-    <xacro:openarm_emit_attached_components component_api="${component_api}"
+    <xacro:openarm_emit_attached_components component_api="${component_api}" component_descriptions="${component_descriptions}"
       index="0"
       components="${components}"
       parent_component_name="__root__"
diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro
index 0a6b8ab6..0c49c96a 100644
--- a/assets/common/ros2_control.xacro
+++ b/assets/common/ros2_control.xacro
@@ -82,8 +82,8 @@ limitations under the License.
     </ros2_control>
   </xacro:macro>
   <xacro:macro name="openarm_ros2_control"
-    params="robot_preset config_root can_interfaces arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true index:=0">
-    <xacro:property name="components" value="${robot_preset['robot']['components']}" lazy_eval="false" />
+    params="robot_preset component_descriptions config_root can_interfaces arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true index:=0">
+    <xacro:property name="components" value="${list(component_descriptions)}" lazy_eval="false" />
     <xacro:if value="${index &lt; len(components)}">
       <xacro:property name="name" value="${components[index]}" lazy_eval="false" />
       <xacro:property name="component" value="${robot_preset[name]}" lazy_eval="false" />
@@ -92,9 +92,9 @@ limitations under the License.
         <xacro:openarm_require condition="${side in can_interfaces}" message="${'Unknown control side `%s` on `%s`.' % (side, name)}" />
         <xacro:property name="controlled_arms" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'robot' and robot_preset[c]['config'] == 'arm']}" lazy_eval="false" />
         <xacro:openarm_require condition="${len([c for c in controlled_arms if robot_preset[c]['control']['side'] == side]) == 1}" message="${'Multiple arms select the `%s` hardware interface.' % side}" />
-        <xacro:property name="prefix" value="${component.get('prefix', '')}" lazy_eval="false" />
-        <xacro:property name="arm_config_root" value="${'$(find openarm_description)/assets/robot/' + component['product'] + '/config/' + component['config']}" />
-        <xacro:property name="arm_topology" value="${xacro.load_yaml(arm_config_root + '/struct/topology.yaml')}" lazy_eval="false" />
+        <xacro:property name="prefix" value="${component_descriptions[name]['prefix']}" lazy_eval="false" />
+        <xacro:property name="arm_config_root" value="${component_descriptions[name]['config_root']}" />
+        <xacro:property name="arm_topology" value="${component_descriptions[name]['topology']}" lazy_eval="false" />
         <xacro:property name="control_gains" value="${xacro.load_yaml(arm_config_root + '/control/control_gains.yaml')}" lazy_eval="false" />
         <xacro:property name="joint_names" value="${[prefix + joint for joint in arm_topology['joints'] if arm_topology['joints'][joint]['type'] != 'fixed']}" lazy_eval="false" />
         <xacro:property name="grippers" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'end_effector' and robot_preset[c].get('connection', dict()).get('attach_to') == name]}" lazy_eval="false" />
@@ -103,10 +103,9 @@ limitations under the License.
         <xacro:if value="${len(grippers) == 1}">
           <xacro:property name="gripper" value="${robot_preset[grippers[0]]}" lazy_eval="false" />
           <xacro:property name="ee_type" value="${gripper['product']}" lazy_eval="false" />
-          <xacro:property name="gripper_root" value="${'$(find openarm_description)/assets/end_effector/' + ee_type + ('/' + gripper['config'] if gripper.get('config') != None else '') + '/config'}" lazy_eval="false" />
-          <xacro:property name="gripper_topology" value="${xacro.load_yaml(gripper_root + '/struct/topology.yaml')}" lazy_eval="false" />
-          <xacro:property name="gripper_mimics" value="${xacro.load_yaml(gripper_root + '/joint/joint_mimics.yaml')}" lazy_eval="false" />
-          <xacro:property name="gripper_prefix" value="${gripper.get('prefix', '')}" lazy_eval="false" />
+          <xacro:property name="gripper_topology" value="${component_descriptions[grippers[0]]['topology']}" lazy_eval="false" />
+          <xacro:property name="gripper_mimics" value="${component_descriptions[grippers[0]]['joint_mimics']}" lazy_eval="false" />
+          <xacro:property name="gripper_prefix" value="${component_descriptions[grippers[0]]['prefix']}" lazy_eval="false" />
           <xacro:property name="joint_names" value="${joint_names + [gripper_prefix + joint for joint in gripper_topology['joints'] if gripper_topology['joints'][joint]['type'] != 'fixed' and joint not in gripper_mimics]}" lazy_eval="false" />
         </xacro:if>
         <xacro:openarm_arm_ros2_control
@@ -116,7 +115,7 @@ limitations under the License.
           arm_type="${arm_type}" extra_parameters="${component['control'].get('parameters', dict())}"
           use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" />
       </xacro:if>
-      <xacro:openarm_ros2_control robot_preset="${robot_preset}" config_root="${config_root}" can_interfaces="${can_interfaces}" arm_type="${arm_type}"
+      <xacro:openarm_ros2_control component_descriptions="${component_descriptions}" robot_preset="${robot_preset}" config_root="${config_root}" can_interfaces="${can_interfaces}" arm_type="${arm_type}"
         use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" index="${index + 1}" />
     </xacro:if>
   </xacro:macro>
diff --git a/assets/component_loader.xacro b/assets/component_loader.xacro
index a73afbdc..f4536023 100644
--- a/assets/component_loader.xacro
+++ b/assets/component_loader.xacro
@@ -47,13 +47,12 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_standalone_component" params="component_cfg component_desc options:=${dict()} root_frame:=world">
-    <xacro:property name="component_api" value="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}" />
     <xacro:property name="preset" value="${dict(component=component_cfg)}" />
     <xacro:openarm_validate_robot_preset components="${['component']}" robot_preset="${preset}" />
     <link name="${root_frame}" />
     <xacro:openarm_resolve_component_runtime component_name="component" components="${['component']}"
       robot_preset="${preset}" config_root="${component_desc['config_root']}" root_frame="${root_frame}"
-      component_cfg="${component_cfg}" component_desc="${component_desc}" component_api="${component_api}" out_name="component_runtime" />
+      component_cfg="${component_cfg}" component_desc="${component_desc}" component_descriptions="${dict(component=component_desc)}" out_name="component_runtime" />
     <xacro:openarm_emit_auto_component component_desc="${component_desc}" component_runtime="${component_runtime}" options="${options}" />
   </xacro:macro>
 </robot>
diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
index 0307c7be..d4cd762f 100644
--- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
+++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
@@ -32,13 +32,13 @@ limitations under the License.
   <xacro:property name="config_root" value="${robot_root + '/config'}" />
   <xacro:property name="robot_preset_cfg" value="${xacro.load_yaml(config_root + '/robot_presets/' + '$(arg robot_preset)' + '.yaml')}" />
 
-  <xacro:openarm_assemble_robot component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
+  <xacro:openarm_assemble_robot out_name="component_descriptions" component_api="${dict(describe='openarm_describe_auto_component', emit='openarm_emit_auto_component')}"
     config_root="${config_root}"
     robot_preset="${robot_preset_cfg}"
     emit_grasp_frame="$(arg emit_grasp_frame)" />
 
   <xacro:if value="$(arg ros2_control)">
-    <xacro:openarm_ros2_control robot_preset="${robot_preset_cfg}" config_root="${config_root}"
+    <xacro:openarm_ros2_control component_descriptions="${component_descriptions}" robot_preset="${robot_preset_cfg}" config_root="${config_root}"
       can_interfaces="${dict(left='$(arg left_can_interface)', right='$(arg right_can_interface)')}"
       use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" can_fd="$(arg can_fd)" />
   </xacro:if>
diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 3a8617cd..4ce4c8f4 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -106,6 +106,26 @@ def test_control_joints_follow_model_names_and_enabled_components():
         assert {joint.get('name')
                 for joint in robot.findall('ros2_control/joint')} == active
 
+    data['arm']['struct/topology.yaml']['collapse_empty_end'] = True
+    spec['tool']['connection']['parent_reference_point'] = 'port'
+    files = support.files_for(spec, data)
+    files['end_effector/pinch_gripper/urdf/component.xacro'] = '''<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+      <xacro:macro name="describe_component" params="component_name component_cfg config_root options out_name">
+        <xacro:openarm_describe_config_component component_name="${component_name}" component_cfg="${component_cfg}"
+          config_root="${config_root}" options="${options}" out_name="description"/>
+        <xacro:property name="${out_name}" value="${dict(description, joint_mimics=dict())}" scope="parent" lazy_eval="false"/>
+      </xacro:macro>
+    </robot>'''
+    robot = support.expand(files, robot_preset='fixture',
+                           ros2_control=True, use_fake_hardware=True)
+    assert robot.find("joint[@name='tool_finger_joint2']/mimic") is None
+    expected.add('tool_finger_joint2')
+    active = {joint.get('name') for joint in robot.findall('joint')
+              if joint.get('type') != 'fixed' and joint.find('mimic') is None}
+    assert active == expected
+    assert {joint.get('name')
+            for joint in robot.findall('ros2_control/joint')} == active
+
 
 def test_hardware_parameters_follow_input():
     spec, data = control_input()

From 416bdee5d45e6cdb28f5fd8134ceb3fc46e38579 Mon Sep 17 00:00:00 2001
From: li-strix <128799116+stevenaya@users.noreply.github.com>
Date: Wed, 4 Nov 2026 20:14:10 +0900
Subject: [PATCH 4/4] Flatten preset control settings and select mock hardware
 automatically

---
 README.md                                     |   2 +
 assets/common/ros2_control.xacro              | 133 +++++++++---------
 .../robot_presets/default_bimanual.yaml       |  10 +-
 .../config/robot_presets/left_arm.yaml        |  10 +-
 .../left_arm_with_pinch_gripper.yaml          |  10 +-
 .../config/robot_presets/right_arm.yaml       |  10 +-
 .../right_arm_with_pinch_gripper.yaml         |  10 +-
 .../openarm_v2.0/urdf/openarm_v20.urdf.xacro  |   8 +-
 test/test_interfaces.py                       |  32 +++--
 9 files changed, 132 insertions(+), 93 deletions(-)

diff --git a/README.md b/README.md
index 15c33176..bd1bdc1e 100644
--- a/README.md
+++ b/README.md
@@ -49,3 +49,5 @@ Copyright 2025 Enactic, Inc.
 
 All participation in the OpenArm project is governed by our
 [Code of Conduct](CODE_OF_CONDUCT.md).
+
+Control settings live directly under each component's `control` mapping. Set `hardware_plugin`, `can_interface` and `can_fd` in the preset; `use_fake_hardware:=true` selects `mock_components/GenericSystem`. The optional `system_name` defaults to `<component_name>_hardware_interface`. Explicit control parameters override generated defaults and are emitted once. Components declare their generated topology, names and mimic relationships in `describe_component`; assembly and control consume that shared description.
diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro
index 0c49c96a..ab3b3b87 100644
--- a/assets/common/ros2_control.xacro
+++ b/assets/common/ros2_control.xacro
@@ -14,6 +14,7 @@ limitations under the License.
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />
+
   <xacro:macro name="openarm_control_parameters" params="values index:=0">
     <xacro:property name="keys" value="${list(values.keys())}" />
     <xacro:if value="${index &lt; len(keys)}">
@@ -40,83 +41,79 @@ limitations under the License.
     </xacro:if>
   </xacro:macro>
 
-  <xacro:macro name="openarm_arm_ros2_control"
-    params="system_name joint_names hardware_prefix can_interface control_gains ee_type:='' arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true extra_parameters:=${dict()}">
-    <ros2_control name="${system_name}" type="system">
-        <hardware>
-          <param name="arm_type">${arm_type}</param>
-          <xacro:openarm_control_parameters values="${extra_parameters}" />
-          <xacro:if value="${use_fake_hardware}">
-            <plugin>mock_components/GenericSystem</plugin>
-            <param name="fake_sensor_commands">${fake_sensor_commands}</param>
-            <param name="state_following_offset">0.0</param>
-          </xacro:if>
-          <xacro:unless value="${use_fake_hardware}">
-            <plugin>openarm_hardware/OpenArmHW</plugin>
-            <param name="can_interface">${can_interface}</param>
-            <param name="arm_prefix">${hardware_prefix}</param>
-            <param name="can_fd">${can_fd}</param>
-            <param name="ee_type">${ee_type}</param>
-            <param name="hand">${ee_type != ''}</param>
-            <param name="kp1">${control_gains['joint1']['kp']}</param>
-            <param name="kp2">${control_gains['joint2']['kp']}</param>
-            <param name="kp3">${control_gains['joint3']['kp']}</param>
-            <param name="kp4">${control_gains['joint4']['kp']}</param>
-            <param name="kp5">${control_gains['joint5']['kp']}</param>
-            <param name="kp6">${control_gains['joint6']['kp']}</param>
-            <param name="kp7">${control_gains['joint7']['kp']}</param>
-            <param name="kd1">${control_gains['joint1']['kd']}</param>
-            <param name="kd2">${control_gains['joint2']['kd']}</param>
-            <param name="kd3">${control_gains['joint3']['kd']}</param>
-            <param name="kd4">${control_gains['joint4']['kd']}</param>
-            <param name="kd5">${control_gains['joint5']['kd']}</param>
-            <param name="kd6">${control_gains['joint6']['kd']}</param>
-            <param name="kd7">${control_gains['joint7']['kd']}</param>
-            <xacro:if value="${ee_type != '' and 'hand' in control_gains}">
-              <param name="kp_hand">${control_gains['hand']['kp']}</param>
-              <param name="kd_hand">${control_gains['hand']['kd']}</param>
-            </xacro:if>
-          </xacro:unless>
-        </hardware>
-      <xacro:openarm_control_joints joint_names="${joint_names}" />
-    </ros2_control>
+  <xacro:macro name="openarm_control_joint_names" params="description out_name">
+    <xacro:property name="${out_name}"
+      value="${[description['prefix'] + name for name, joint in description['topology']['joints'].items() if joint['type'] != 'fixed' and name not in description['joint_mimics']]}"
+      scope="parent" lazy_eval="false" />
+  </xacro:macro>
+
+  <xacro:macro name="openarm_arm_control_parameters" params="description ee_type arm_type out_name">
+    <xacro:property name="gains" value="${xacro.load_yaml(description['config_root'] + '/control/control_gains.yaml')}" lazy_eval="false" />
+    <xacro:property name="prefix" value="${description['prefix']}" />
+    <xacro:property name="parameters"
+      value="${dict(arm_type=arm_type, arm_prefix=prefix[8:] if prefix.startswith('openarm_') else prefix, hand=ee_type != '', ee_type=ee_type)}" lazy_eval="false" />
+    <xacro:property name="gain_parameters"
+      value="${dict([(kind + str(index), gains['joint' + str(index)][kind]) for kind in ['kp', 'kd'] for index in [1, 2, 3, 4, 5, 6, 7]])}" lazy_eval="false" />
+    <xacro:property name="parameters" value="${dict(parameters, **gain_parameters)}" lazy_eval="false" />
+    <xacro:if value="${ee_type != '' and 'hand' in gains}">
+      <xacro:property name="parameters" value="${dict(parameters, kp_hand=gains['hand']['kp'], kd_hand=gains['hand']['kd'])}" lazy_eval="false" />
+    </xacro:if>
+    <xacro:property name="${out_name}" value="${parameters}" scope="parent" lazy_eval="false" />
   </xacro:macro>
+
   <xacro:macro name="openarm_ros2_control"
-    params="robot_preset component_descriptions config_root can_interfaces arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true index:=0">
+    params="robot_preset component_descriptions arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false index:=0">
     <xacro:property name="components" value="${list(component_descriptions)}" lazy_eval="false" />
     <xacro:if value="${index &lt; len(components)}">
       <xacro:property name="name" value="${components[index]}" lazy_eval="false" />
       <xacro:property name="component" value="${robot_preset[name]}" lazy_eval="false" />
-      <xacro:if value="${component['enabled'] and component['type'] == 'robot' and component['config'] == 'arm'}">
-        <xacro:property name="side" value="${component['control']['side']}" lazy_eval="false" />
-        <xacro:openarm_require condition="${side in can_interfaces}" message="${'Unknown control side `%s` on `%s`.' % (side, name)}" />
-        <xacro:property name="controlled_arms" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'robot' and robot_preset[c]['config'] == 'arm']}" lazy_eval="false" />
-        <xacro:openarm_require condition="${len([c for c in controlled_arms if robot_preset[c]['control']['side'] == side]) == 1}" message="${'Multiple arms select the `%s` hardware interface.' % side}" />
-        <xacro:property name="prefix" value="${component_descriptions[name]['prefix']}" lazy_eval="false" />
-        <xacro:property name="arm_config_root" value="${component_descriptions[name]['config_root']}" />
-        <xacro:property name="arm_topology" value="${component_descriptions[name]['topology']}" lazy_eval="false" />
-        <xacro:property name="control_gains" value="${xacro.load_yaml(arm_config_root + '/control/control_gains.yaml')}" lazy_eval="false" />
-        <xacro:property name="joint_names" value="${[prefix + joint for joint in arm_topology['joints'] if arm_topology['joints'][joint]['type'] != 'fixed']}" lazy_eval="false" />
-        <xacro:property name="grippers" value="${[c for c in components if robot_preset[c]['enabled'] and robot_preset[c]['type'] == 'end_effector' and robot_preset[c].get('connection', dict()).get('attach_to') == name]}" lazy_eval="false" />
-        <xacro:openarm_require condition="${len(grippers) &lt;= 1}" message="${'Arm `%s` supports one controlled gripper.' % name}" />
+      <xacro:if value="${'control' in component}">
+        <xacro:property name="control" value="${component['control']}" lazy_eval="false" />
+        <xacro:property name="description" value="${component_descriptions[name]}" lazy_eval="false" />
+        <xacro:openarm_require condition="${'side' not in control and 'parameters' not in control}"
+          message="${'Component `%s` requires flat control settings, including can_interface for OpenArm hardware.' % name}" />
+        <xacro:property name="system_name" value="${control.get('system_name', name + '_hardware_interface')}" lazy_eval="false" />
+        <xacro:property name="controlled_components" value="${[key for key in components if 'control' in robot_preset[key]]}" lazy_eval="false" />
+        <xacro:openarm_require condition="${len([key for key in controlled_components if robot_preset[key]['control'].get('system_name', key + '_hardware_interface') == system_name]) == 1}"
+          message="${'Duplicate control system name `%s`.' % system_name}" />
+        <xacro:openarm_control_joint_names description="${description}" out_name="joint_names" />
         <xacro:property name="ee_type" value="${''}" lazy_eval="false" />
-        <xacro:if value="${len(grippers) == 1}">
-          <xacro:property name="gripper" value="${robot_preset[grippers[0]]}" lazy_eval="false" />
-          <xacro:property name="ee_type" value="${gripper['product']}" lazy_eval="false" />
-          <xacro:property name="gripper_topology" value="${component_descriptions[grippers[0]]['topology']}" lazy_eval="false" />
-          <xacro:property name="gripper_mimics" value="${component_descriptions[grippers[0]]['joint_mimics']}" lazy_eval="false" />
-          <xacro:property name="gripper_prefix" value="${component_descriptions[grippers[0]]['prefix']}" lazy_eval="false" />
-          <xacro:property name="joint_names" value="${joint_names + [gripper_prefix + joint for joint in gripper_topology['joints'] if gripper_topology['joints'][joint]['type'] != 'fixed' and joint not in gripper_mimics]}" lazy_eval="false" />
+        <xacro:if value="${description['component_type'] == 'arm'}">
+          <xacro:property name="grippers"
+            value="${[key for key in components if component_descriptions[key]['component_type'] == 'end_effector' and robot_preset[key].get('connection', dict()).get('attach_to') == name and 'control' not in robot_preset[key]]}" lazy_eval="false" />
+          <xacro:openarm_require condition="${len(grippers) &lt;= 1}" message="${'Arm `%s` supports one attached gripper in its control system.' % name}" />
+          <xacro:if value="${grippers}">
+            <xacro:property name="gripper" value="${component_descriptions[grippers[0]]}" lazy_eval="false" />
+            <xacro:openarm_control_joint_names description="${gripper}" out_name="gripper_joint_names" />
+            <xacro:property name="joint_names" value="${joint_names + gripper_joint_names}" lazy_eval="false" />
+            <xacro:property name="ee_type" value="${gripper['product']}" lazy_eval="false" />
+          </xacro:if>
         </xacro:if>
-        <xacro:openarm_arm_ros2_control
-          system_name="${component['control'].get('system_name', 'openarm_' + side + '_hardware_interface')}" joint_names="${joint_names}"
-          hardware_prefix="${prefix[8:] if prefix.startswith('openarm_') else prefix}"
-          can_interface="${can_interfaces[side]}" control_gains="${control_gains}" ee_type="${ee_type}"
-          arm_type="${arm_type}" extra_parameters="${component['control'].get('parameters', dict())}"
-          use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" />
+        <xacro:property name="parameters" value="${dict()}" lazy_eval="false" />
+        <xacro:property name="plugin" value="${control.get('hardware_plugin', '')}" lazy_eval="false" />
+        <xacro:if value="${use_fake_hardware}">
+          <xacro:property name="plugin" value="mock_components/GenericSystem" />
+          <xacro:property name="parameters" value="${dict(mock_sensor_commands=fake_sensor_commands, position_state_following_offset=0.0)}" lazy_eval="false" />
+        </xacro:if>
+        <xacro:unless value="${use_fake_hardware}">
+          <xacro:openarm_require condition="${plugin != ''}" message="${'Configure control.hardware_plugin on `%s` for real hardware.' % name}" />
+          <xacro:if value="${plugin == 'openarm_hardware/OpenArmHW'}">
+            <xacro:openarm_require condition="${'can_interface' in control}" message="${'Configure control.can_interface on `%s`.' % name}" />
+            <xacro:openarm_arm_control_parameters description="${description}" ee_type="${ee_type}" arm_type="${arm_type}" out_name="parameters" />
+          </xacro:if>
+        </xacro:unless>
+        <xacro:property name="configured_parameters" value="${dict([(key, value) for key, value in control.items() if key not in ['system_name', 'hardware_plugin']])}" lazy_eval="false" />
+        <xacro:property name="parameters" value="${dict(parameters, **configured_parameters)}" lazy_eval="false" />
+        <ros2_control name="${system_name}" type="system">
+          <hardware>
+            <plugin>${plugin}</plugin>
+            <xacro:openarm_control_parameters values="${parameters}" />
+          </hardware>
+          <xacro:openarm_control_joints joint_names="${joint_names}" />
+        </ros2_control>
       </xacro:if>
-      <xacro:openarm_ros2_control component_descriptions="${component_descriptions}" robot_preset="${robot_preset}" config_root="${config_root}" can_interfaces="${can_interfaces}" arm_type="${arm_type}"
-        use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" can_fd="${can_fd}" index="${index + 1}" />
+      <xacro:openarm_ros2_control robot_preset="${robot_preset}" component_descriptions="${component_descriptions}"
+        arm_type="${arm_type}" use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" index="${index + 1}" />
     </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
index bcc667a9..5e90ded9 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml
@@ -49,7 +49,10 @@ primary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: left
+    system_name: openarm_left_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can1
+    can_fd: true
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -73,7 +76,10 @@ secondary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: right
+    system_name: openarm_right_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can0
+    can_fd: true
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
index dc5d1b07..6c4c4de9 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml
@@ -45,7 +45,10 @@ primary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: left
+    system_name: openarm_left_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can1
+    can_fd: true
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -73,7 +76,10 @@ secondary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: right
+    system_name: openarm_right_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can0
+    can_fd: true
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
index 65ba7779..69e592e3 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml
@@ -46,7 +46,10 @@ primary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: left
+    system_name: openarm_left_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can1
+    can_fd: true
   inertials: nominal
   prefix: openarm_left_
   connection:
@@ -74,7 +77,10 @@ secondary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: right
+    system_name: openarm_right_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can0
+    can_fd: true
   inertials: nominal
   prefix: openarm_right_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
index 19e39241..12c981b1 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml
@@ -45,7 +45,10 @@ primary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: right
+    system_name: openarm_right_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can0
+    can_fd: true
   inertials: nominal
   prefix: openarm_right_
   connection:
@@ -69,7 +72,10 @@ secondary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: left
+    system_name: openarm_left_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can1
+    can_fd: true
   inertials: nominal
   prefix: openarm_left_
   connection:
diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
index 2fe136ca..04ada1c8 100644
--- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
+++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml
@@ -46,7 +46,10 @@ primary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: right
+    system_name: openarm_right_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can0
+    can_fd: true
   inertials: nominal
   prefix: openarm_right_
   connection:
@@ -70,7 +73,10 @@ secondary_arm:
   product: openarm_v2.0
   config: arm
   control:
-    side: left
+    system_name: openarm_left_hardware_interface
+    hardware_plugin: openarm_hardware/OpenArmHW
+    can_interface: can1
+    can_fd: true
   inertials: nominal
   prefix: openarm_left_
   connection:
diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
index d4cd762f..8c1de8db 100644
--- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
+++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
@@ -24,9 +24,6 @@ limitations under the License.
   <xacro:arg name="ros2_control" default="true" />
   <xacro:arg name="fake_sensor_commands" default="false" />
   <xacro:arg name="use_fake_hardware" default="true" />
-  <xacro:arg name="left_can_interface" default="can1" />
-  <xacro:arg name="right_can_interface" default="can0" />
-  <xacro:arg name="can_fd" default="true" />
 
   <xacro:property name="robot_root" value="$(find openarm_description)/assets/robot/openarm_v2.0" />
   <xacro:property name="config_root" value="${robot_root + '/config'}" />
@@ -38,9 +35,8 @@ limitations under the License.
     emit_grasp_frame="$(arg emit_grasp_frame)" />
 
   <xacro:if value="$(arg ros2_control)">
-    <xacro:openarm_ros2_control component_descriptions="${component_descriptions}" robot_preset="${robot_preset_cfg}" config_root="${config_root}"
-      can_interfaces="${dict(left='$(arg left_can_interface)', right='$(arg right_can_interface)')}"
-      use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" can_fd="$(arg can_fd)" />
+    <xacro:openarm_ros2_control robot_preset="${robot_preset_cfg}" component_descriptions="${component_descriptions}"
+      use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" />
   </xacro:if>
 
 </robot>
diff --git a/test/test_interfaces.py b/test/test_interfaces.py
index 4ce4c8f4..b07bd0cf 100644
--- a/test/test_interfaces.py
+++ b/test/test_interfaces.py
@@ -75,7 +75,7 @@ def control_input():
         type='revolute', parent=names[i-1], child=names[i]) for i in range(1, 8)})
     data['control/control_gains.yaml'] = {
         f'joint{i}': dict(kp=10+i, kd=i/10) for i in range(1, 8)}
-    spec = support.preset(arm=support.component('robot', 'fixture_control', 'openarm_right_', control=dict(side='right')),
+    spec = support.preset(arm=support.component('robot', 'fixture_control', 'openarm_right_', control=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can_test', can_fd=True)),
                           tool=support.component('end_effector', 'pinch_gripper', 'openarm_right_', connection=dict(attach_to='arm')))
     return spec, {'arm': data, 'tool': support.pinch()}
 
@@ -129,17 +129,31 @@ def test_control_joints_follow_model_names_and_enabled_components():
 
 def test_hardware_parameters_follow_input():
     spec, data = control_input()
-    for side in ('left', 'right'):
-        spec['arm']['control']['side'] = side
+    for prefix, can_interface in [('openarm_left_', 'can_left_test'),
+                                  ('openarm_right_', 'can_right_test')]:
+        control = spec['arm']['control']
+        control.update(can_interface=can_interface, can_fd=False)
         for name in ('arm', 'tool'):
-            spec[name]['prefix'] = 'openarm_'+side+'_'
-        robot = support.assemble(spec, data, ros2_control=True, use_fake_hardware=False,
-                                 left_can_interface='can_left_test', right_can_interface='can_right_test', can_fd=False)
-        system = robot.find('ros2_control/hardware')
-        params = {p.get('name'): p.text for p in system.findall('param')}
-        assert params['can_interface'] == 'can_'+side+'_test'
+            spec[name]['prefix'] = prefix
+        robot = support.assemble(spec, data, ros2_control=True,
+                                 use_fake_hardware=False)
+        hardware = robot.find('ros2_control/hardware')
+        assert hardware.find('plugin').text == control['hardware_plugin']
+        params = {p.get('name'): p.text for p in hardware.findall('param')}
+        assert len(params) == len(hardware.findall('param'))
+        assert params['can_interface'] == control['can_interface']
         assert params['can_fd'].lower() == 'false'
+        assert params['arm_prefix'] == prefix.removeprefix('openarm_')
         assert params['ee_type'] == spec['tool']['product']
         for name, gains in data['arm']['control/control_gains.yaml'].items():
             for key, value in gains.items():
                 assert float(params[key+name.removeprefix('joint')]) == value
+
+    robot = support.assemble(spec, data, ros2_control=True,
+                             use_fake_hardware=True, fake_sensor_commands=True)
+    hardware = robot.find('ros2_control/hardware')
+    assert hardware.find('plugin').text == 'mock_components/GenericSystem'
+    params = {p.get('name'): p.text for p in hardware.findall('param')}
+    assert params['mock_sensor_commands'].lower() == 'true'
+    assert float(params['position_state_following_offset']) == 0.0
+    assert 'fake_sensor_commands' not in params and 'state_following_offset' not in params