[stevenaya]

The gripper camera visual still had small mounting-hole details and combined its base plate and lens in one geometry group. This update fills the small holes, simplifies the camera to 808 triangles, and splits it into PCB, base-plate and lens groups.

Changes

• Remove residual topology around the filled holes and reuse the reduced PCB, lens and four mounting pieces in the accepted camera geometry.
• Use ee_base_link_03, ee_base_link_04 and ee_base_link_05 consistently for the geometry groups and their COLLADA references.
• Reduce the base plate itself to 350 triangles. Its four mounting pieces add 182 triangles, the PCB has 46, and the lens has 230.

Mesh	Before	After
Camera	1,756 triangles	808 triangles
Complete gripper base	22,892 triangles	21,944 triangles
Gripper-base DAE	1,702,492 bytes	1,654,531 bytes

Visual comparison

Matched-camera renders of the PR base and head meshes. Opaque surfaces show the shape, with red triangle edges before and green edges after. Camera triangle count decreases by 54.0% and the complete DAE size by 2.8%.

View	Before	After
Lens side
Base-plate side

Validation

• 28 existing tests pass on ROS 2 Jazzy.
• COLLADA IDs are unique and internal references resolve. Camera solids pass closed-surface, winding and self-intersection checks.
• The two camera installations match within 0.000038 mm after applying their assembly transform. Geometry and materials outside the camera compare exactly.

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