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Depends on #116. The body prerequisite #117 is merged.
Moves V1 single-arm and bimanual assembly onto the shared preset and component generator.
Changes
Split V1 arm data into topology, joint, link and control configuration, and add single-arm and bimanual presets.
Move the pedestal and complete parallel-link gripper, including link7, into their component directories.
Configure installation transforms, reflection and joint overrides through presets, and remove legacy mounting and prefix CLI conversions.
Keep the V1 Xacro entrypoint and reuse resolved component descriptions for control declarations. Configure hardware directly under each preset component's
control, with automatic mock selection.Keep
left_can_interface,right_can_interfaceandcan_fdin the migrated V1 entry, applying overrides by hardware system name.Validation
Review the V1 migration after its prerequisites.