[stevenaya]

Changes

• Move the V2 pedestal configuration and meshes to assets/body/v2.0/ and update preset/resource paths.
• Generate body and reference-frame names from the instance prefix and local topology names, replacing root-name overrides.
• Expose the arm mounting midpoint as arm_origin and number the pedestal visual parts, including scene-node IDs, vertex/normal/color source IDs and their references.

Validation

• COLLADA IDs and references are checked for consistency; geometry, color and normal arrays compare exactly across the identifier cleanup.

• 28 existing tests pass on ROS 2 Jazzy.

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