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Use right arm convention for the default V1 single arm - #80
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An empty
arm_prefixselects the mirrored model and J7 axis-Yfor the default V1 single arm.Treat it like
right_withreflect=+1: unmirrored meshes, right-arm COM/inertia expressions and J7 axis+Y. Joint names, origins and limits stay the same, including J2 at −100° to +100°.Validation: single/bimanual Xacro expansion and
check_urdfwith ROS2 control on/off. Bimanual and all five V2 preset outputs are unchanged.