From e559174ea350393c9ec96afc2259b8148acaafb7 Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sun, 23 Aug 2026 10:35:56 -0600
Subject: [PATCH 1/9] Improve live diagnostics messages

---
 .../scripts/temporary_diagnostics_publisher.py               | 5 +++++
 waybionic_rviz_plugins/src/ros_diagnostics_source.cpp        | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py b/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
index 4a3f7a3..59081e4 100755
--- a/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
+++ b/waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py
@@ -70,30 +70,35 @@ def build_statuses(self, mode):
                 make_status(
                     'board.temperature',
                     DiagnosticStatus.OK,
+                    'Normal Temperature',
                     value=f'{42.0 + pulse:.1f}',
                     unit='C',
                 ),
                 make_status(
                     'motor.current',
                     DiagnosticStatus.OK,
+                    'Normal Motor Current',
                     value=f'{0.8 + pulse * 0.05:.2f}',
                     unit='A',
                 ),
                 make_status(
                     'imu.roll',
                     DiagnosticStatus.OK,
+                    'Roll Normal',
                     value=f'{1.2 + pulse * 0.1:.1f}',
                     unit='deg',
                 ),
                 make_status(
                     'imu.pitch',
                     DiagnosticStatus.OK,
+                    'Pitch Normal',
                     value=f'{-0.4 + pulse * 0.1:.1f}',
                     unit='deg',
                 ),
                 make_status(
                     'imu.yaw',
                     DiagnosticStatus.OK,
+                    'Yaw Normal',
                     value=f'{12.9 + pulse * 0.2:.1f}',
                     unit='deg',
                 ),
diff --git a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
index 33a3387..199bc0f 100644
--- a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
+++ b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
@@ -71,7 +71,7 @@ DiagnosticMessage toDiagnosticMessage(
 
   const auto normalized_status = mapLevel(status.level);
   std::optional<std::string> alert_message;
-  if (hasContent(status.message) && normalized_status != DiagnosticStatus::Ok) {
+  if (hasContent(status.message)) {
     alert_message = status.message;
   }
 

From d1270209e098b6aed74ab88511c963203eb8c6dc Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Mon, 31 Aug 2026 13:12:58 -0600
Subject: [PATCH 2/9] Add ROS 2 diagnostics CLI

---
 waybionic_diagnostics/package.xml             |  23 ++
 .../resource/waybionic_diagnostics            |   0
 waybionic_diagnostics/setup.cfg               |   5 +
 waybionic_diagnostics/setup.py                |  28 ++
 waybionic_diagnostics/test/test_cli.py        | 109 ++++++++
 .../waybionic_diagnostics/__init__.py         |   0
 .../waybionic_diagnostics/cli.py              | 248 ++++++++++++++++++
 7 files changed, 413 insertions(+)
 create mode 100644 waybionic_diagnostics/package.xml
 create mode 100644 waybionic_diagnostics/resource/waybionic_diagnostics
 create mode 100644 waybionic_diagnostics/setup.cfg
 create mode 100644 waybionic_diagnostics/setup.py
 create mode 100644 waybionic_diagnostics/test/test_cli.py
 create mode 100644 waybionic_diagnostics/waybionic_diagnostics/__init__.py
 create mode 100644 waybionic_diagnostics/waybionic_diagnostics/cli.py

diff --git a/waybionic_diagnostics/package.xml b/waybionic_diagnostics/package.xml
new file mode 100644
index 0000000..e8c53f8
--- /dev/null
+++ b/waybionic_diagnostics/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>waybionic_diagnostics</name>
+  <version>0.1.0</version>
+  <description>CLI diagnostics tool for Waybionic ROS 2 systems.</description>
+
+  <maintainer email="khidri.ajmal@gmail.com">Aj Khidri</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/waybionic_diagnostics/resource/waybionic_diagnostics b/waybionic_diagnostics/resource/waybionic_diagnostics
new file mode 100644
index 0000000..e69de29
diff --git a/waybionic_diagnostics/setup.cfg b/waybionic_diagnostics/setup.cfg
new file mode 100644
index 0000000..f302dea
--- /dev/null
+++ b/waybionic_diagnostics/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/waybionic_diagnostics
+
+[install]
+install_scripts=$base/lib/waybionic_diagnostics
diff --git a/waybionic_diagnostics/setup.py b/waybionic_diagnostics/setup.py
new file mode 100644
index 0000000..8ee8b4b
--- /dev/null
+++ b/waybionic_diagnostics/setup.py
@@ -0,0 +1,28 @@
+from setuptools import setup
+
+package_name = 'waybionic_diagnostics'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        (
+            'share/ament_index/resource_index/packages',
+            ['resource/' + package_name],
+        ),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Aj Khidri',
+    maintainer_email='khidri.ajmal@gmail.com',
+    description='CLI diagnostics tool for Waybionic ROS 2 systems.',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'diagnostics = waybionic_diagnostics.cli:main',
+        ],
+    },
+)
diff --git a/waybionic_diagnostics/test/test_cli.py b/waybionic_diagnostics/test/test_cli.py
new file mode 100644
index 0000000..952380b
--- /dev/null
+++ b/waybionic_diagnostics/test/test_cli.py
@@ -0,0 +1,109 @@
+import time
+
+from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
+
+from waybionic_diagnostics.cli import (
+    DiagnosticsCliNode,
+    extract_value_and_unit,
+    overall_status,
+    status_name,
+)
+
+
+def test_status_name_mapping():
+    assert status_name(DiagnosticStatus.OK) == 'OK'
+    assert status_name(DiagnosticStatus.WARN) == 'WARN'
+    assert status_name(DiagnosticStatus.ERROR) == 'FAULT'
+    assert status_name(DiagnosticStatus.STALE) == 'STALE'
+    assert status_name(99) == 'WARN'
+
+
+def test_extract_value_and_unit():
+    status = DiagnosticStatus()
+    status.values = [
+        KeyValue(key='value', value='42.5'),
+        KeyValue(key='unit', value='C'),
+    ]
+
+    value, unit = extract_value_and_unit(status)
+
+    assert value == '42.5'
+    assert unit == 'C'
+
+
+def test_extract_value_and_unit_case_insensitive():
+    status = DiagnosticStatus()
+    status.values = [
+        KeyValue(key='VALUE', value='0.85'),
+        KeyValue(key='UNIT', value='A'),
+    ]
+
+    value, unit = extract_value_and_unit(status)
+
+    assert value == '0.85'
+    assert unit == 'A'
+
+
+def test_extract_value_and_unit_fallback():
+    status = DiagnosticStatus()
+    status.values = [
+        KeyValue(key='temperature', value='42.0'),
+    ]
+
+    value, unit = extract_value_and_unit(status)
+
+    assert value == '42.0'
+    assert unit == 'temperature'
+
+
+def test_extract_value_and_unit_empty():
+    status = DiagnosticStatus()
+
+    value, unit = extract_value_and_unit(status)
+
+    assert value is None
+    assert unit is None
+
+
+def test_overall_status():
+    assert overall_status([]) == 'STALE'
+    assert overall_status(['OK']) == 'OK'
+    assert overall_status(['OK', 'WARN']) == 'WARN'
+    assert overall_status(['OK', 'STALE']) == 'STALE'
+    assert overall_status(['STALE', 'FAULT']) == 'FAULT'
+    assert overall_status(['WARN', 'FAULT', 'STALE']) == 'FAULT'
+
+
+def test_diagnostics_callback_updates_state():
+    import rclpy
+    from diagnostic_msgs.msg import DiagnosticArray
+
+    rclpy.init()
+
+    node = DiagnosticsCliNode('/test_diagnostics')
+
+    try:
+        message = DiagnosticArray()
+        status = DiagnosticStatus()
+        status.name = 'board.temperature'
+        status.level = DiagnosticStatus.OK
+        status.message = 'Normal Temperature'
+        status.values = [
+            KeyValue(key='value', value='42.0'),
+            KeyValue(key='unit', value='C'),
+        ]
+        message.status = [status]
+
+        before = time.monotonic()
+        node.diagnostics_callback(message)
+
+        assert len(node.latest) == 1
+        assert node.latest[0].name == 'board.temperature'
+        assert node.latest[0].level == DiagnosticStatus.OK
+        assert node.last_received_monotonic is not None
+        assert node.last_received_monotonic >= before
+        assert node.data_age() is not None
+        assert node.data_age() >= 0.0
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
diff --git a/waybionic_diagnostics/waybionic_diagnostics/__init__.py b/waybionic_diagnostics/waybionic_diagnostics/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/waybionic_diagnostics/waybionic_diagnostics/cli.py b/waybionic_diagnostics/waybionic_diagnostics/cli.py
new file mode 100644
index 0000000..9caefc5
--- /dev/null
+++ b/waybionic_diagnostics/waybionic_diagnostics/cli.py
@@ -0,0 +1,248 @@
+import argparse
+import sys
+import time
+from typing import Dict, List, Optional
+
+import rclpy
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
+from rclpy.node import Node
+
+
+STALE_AFTER_SECONDS = 5.0
+
+
+def status_name(level: int) -> str:
+    """Convert a ROS diagnostic level into the CLI status name."""
+    if level == DiagnosticStatus.OK:
+        return 'OK'
+    if level == DiagnosticStatus.WARN:
+        return 'WARN'
+    if level == DiagnosticStatus.ERROR:
+        return 'FAULT'
+    if level == DiagnosticStatus.STALE:
+        return 'STALE'
+    return 'WARN'
+
+
+def extract_value_and_unit(status: DiagnosticStatus):
+    """Extract value/unit using the same rules as the RViz diagnostics source."""
+    value: Optional[str] = None
+    unit: Optional[str] = None
+
+    for key_value in status.values:
+        key = key_value.key.lower()
+
+        if key == 'value':
+            value = key_value.value
+            continue
+
+        if key == 'unit':
+            unit = key_value.value
+            continue
+
+        if value is None and key_value.value:
+            value = key_value.value
+            unit = key_value.key
+
+    return value, unit
+
+
+class DiagnosticsCliNode(Node):
+    """ROS 2 subscriber and state holder for the diagnostics CLI."""
+
+    def __init__(self, topic: str):
+        super().__init__('waybionic_diagnostics_cli')
+
+        self.topic = topic
+        self.latest: List[DiagnosticStatus] = []
+        self.last_received_monotonic: Optional[float] = None
+
+        self.subscription = self.create_subscription(
+            DiagnosticArray,
+            topic,
+            self.diagnostics_callback,
+            10,
+        )
+
+    def diagnostics_callback(self, message: DiagnosticArray):
+        """Store the most recent diagnostic array."""
+        self.latest = list(message.status)
+        self.last_received_monotonic = time.monotonic()
+
+    def data_age(self) -> Optional[float]:
+        """Return seconds since the most recent diagnostic message."""
+        if self.last_received_monotonic is None:
+            return None
+
+        return max(0.0, time.monotonic() - self.last_received_monotonic)
+
+
+def overall_status(statuses: List[str]) -> str:
+    """Calculate the worst status in a diagnostic snapshot."""
+    priority = {
+        'OK': 0,
+        'WARN': 1,
+        'STALE': 2,
+        'FAULT': 3,
+    }
+
+    if not statuses:
+        return 'STALE'
+
+    return max(statuses, key=lambda status: priority.get(status, 1))
+
+
+def clear_screen():
+    """Clear the terminal for watch mode."""
+    sys.stdout.write('\033[2J\033[H')
+    sys.stdout.flush()
+
+
+def print_snapshot(node: DiagnosticsCliNode, clear: bool = False):
+    """Render the latest diagnostic state."""
+    if clear:
+        clear_screen()
+
+    print('WAYBIONIC DIAGNOSTICS')
+    print('─' * 100)
+
+    if not node.latest:
+        age = node.data_age()
+
+        if age is None:
+            print(f'Waiting for messages on {node.topic}...')
+        else:
+            print(
+                f'No diagnostic entries received. '
+                f'Last message was {age:.1f}s ago.'
+            )
+
+        print('─' * 100)
+        print('Overall: STALE')
+        return
+
+    age = node.data_age()
+    stream_stale = age is not None and age > STALE_AFTER_SECONDS
+
+    print(
+        f'{"Signal":<32} '
+        f'{"Status":<8} '
+        f'{"Value":<16} '
+        f'{"Age":<10} '
+        f'Message'
+    )
+    print('─' * 100)
+
+    rendered_statuses = []
+
+    for status in node.latest:
+        normalized = status_name(status.level)
+
+        if stream_stale and normalized in ('OK', 'WARN'):
+            normalized = 'STALE'
+
+        value, unit = extract_value_and_unit(status)
+
+        if value is None:
+            display_value = '-'
+        elif unit:
+            display_value = f'{value} {unit}'
+        else:
+            display_value = value
+
+        if age is None:
+            display_age = '-'
+        else:
+            display_age = f'{age:.1f}s'
+
+        message = status.message or '-'
+
+        if stream_stale and status.level in (
+            DiagnosticStatus.OK,
+            DiagnosticStatus.WARN,
+        ):
+            message = f'No recent update from {node.topic}'
+
+        print(
+            f'{status.name:<32.32} '
+            f'{normalized:<8} '
+            f'{display_value:<16.16} '
+            f'{display_age:<10} '
+            f'{message}'
+        )
+
+        rendered_statuses.append(normalized)
+
+    print('─' * 100)
+    print(f'Overall: {overall_status(rendered_statuses)}')
+
+    if age is not None:
+        print(f'Diagnostics stream age: {age:.1f}s')
+
+
+def wait_for_first_message(node: DiagnosticsCliNode, timeout: float = 5.0):
+    """Wait briefly for the first diagnostics message."""
+    deadline = time.monotonic() + timeout
+
+    while rclpy.ok() and node.last_received_monotonic is None:
+        if time.monotonic() >= deadline:
+            return False
+
+        rclpy.spin_once(node, timeout_sec=0.1)
+
+    return node.last_received_monotonic is not None
+
+
+def run_snapshot(node: DiagnosticsCliNode):
+    """Run one diagnostic snapshot."""
+    wait_for_first_message(node)
+    print_snapshot(node)
+
+
+def run_watch(node: DiagnosticsCliNode):
+    """Continuously display diagnostics."""
+    try:
+        while rclpy.ok():
+            rclpy.spin_once(node, timeout_sec=0.2)
+            print_snapshot(node, clear=True)
+            time.sleep(0.3)
+    except KeyboardInterrupt:
+        pass
+
+
+def main(args=None):
+    """Run the Waybionic diagnostics CLI."""
+    parser = argparse.ArgumentParser(
+        description='Waybionic ROS 2 diagnostics viewer.'
+    )
+
+    parser.add_argument(
+        '--topic',
+        default='/diagnostics',
+        help='ROS 2 DiagnosticArray topic (default: /diagnostics)',
+    )
+
+    parser.add_argument(
+        '--watch',
+        action='store_true',
+        help='Continuously monitor diagnostics.',
+    )
+
+    parsed_args = parser.parse_args(args)
+
+    rclpy.init(args=None)
+
+    node = DiagnosticsCliNode(parsed_args.topic)
+
+    try:
+        if parsed_args.watch:
+            run_watch(node)
+        else:
+            run_snapshot(node)
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

From 9e6f12cc83999cd3ab6e53ff7fe811b0b3d254ca Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sat, 5 Sep 2026 11:42:10 -0600
Subject: [PATCH 3/9] Fix diagnostics CLI shutdown handling

---
 waybionic_diagnostics/waybionic_diagnostics/cli.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/waybionic_diagnostics/waybionic_diagnostics/cli.py b/waybionic_diagnostics/waybionic_diagnostics/cli.py
index 9caefc5..8923be1 100644
--- a/waybionic_diagnostics/waybionic_diagnostics/cli.py
+++ b/waybionic_diagnostics/waybionic_diagnostics/cli.py
@@ -241,7 +241,8 @@ def main(args=None):
             run_snapshot(node)
     finally:
         node.destroy_node()
-        rclpy.shutdown()
+        if rclpy.ok():
+            rclpy.shutdown()
 
 
 if __name__ == '__main__':

From c053477f3a3466be16bdc5c2e9fcd77753aac509 Mon Sep 17 00:00:00 2001
From: Ajmal Khidri <khidri.ajmal@gmail.com>
Date: Sat, 5 Sep 2026 13:33:11 -0600
Subject: [PATCH 4/9] Update argument parsing for ROS initialization

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
---
 waybionic_diagnostics/waybionic_diagnostics/cli.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/waybionic_diagnostics/waybionic_diagnostics/cli.py b/waybionic_diagnostics/waybionic_diagnostics/cli.py
index 8923be1..5ff1d98 100644
--- a/waybionic_diagnostics/waybionic_diagnostics/cli.py
+++ b/waybionic_diagnostics/waybionic_diagnostics/cli.py
@@ -228,10 +228,9 @@ def main(args=None):
         help='Continuously monitor diagnostics.',
     )
 
-    parsed_args = parser.parse_args(args)
-
-    rclpy.init(args=None)
+    parsed_args, ros_args = parser.parse_known_args(args)
 
+    rclpy.init(args=ros_args)
     node = DiagnosticsCliNode(parsed_args.topic)
 
     try:

From 7f69e3f37234b27f2553416b08460abff012e894 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Sat, 5 Sep 2026 19:34:51 +0000
Subject: [PATCH 5/9] Fix diagnostics alert mapping and add regression tests

Co-authored-by: aj0khi <81395597+aj0khi@users.noreply.github.com>
---
 waybionic_diagnostics/test/test_cli.py        | 27 +++++++++++++++++++
 .../src/ros_diagnostics_source.cpp            |  2 +-
 .../test/test_ros_diagnostics_source.cpp      | 16 +++++++++++
 3 files changed, 44 insertions(+), 1 deletion(-)

diff --git a/waybionic_diagnostics/test/test_cli.py b/waybionic_diagnostics/test/test_cli.py
index 952380b..4bc8959 100644
--- a/waybionic_diagnostics/test/test_cli.py
+++ b/waybionic_diagnostics/test/test_cli.py
@@ -107,3 +107,30 @@ def test_diagnostics_callback_updates_state():
     finally:
         node.destroy_node()
         rclpy.shutdown()
+
+
+def test_main_forwards_ros_args_to_rclpy_init(monkeypatch):
+    from waybionic_diagnostics import cli
+
+    captured = {}
+
+    class FakeNode:
+        def __init__(self, topic):
+            captured['topic'] = topic
+
+        def destroy_node(self):
+            captured['destroyed'] = True
+
+    monkeypatch.setattr(cli, 'DiagnosticsCliNode', FakeNode)
+    monkeypatch.setattr(cli, 'run_snapshot', lambda node: captured.setdefault('snapshot', node))
+    monkeypatch.setattr(cli.rclpy, 'init', lambda args=None: captured.setdefault('init_args', args))
+    monkeypatch.setattr(cli.rclpy, 'ok', lambda: False)
+    monkeypatch.setattr(cli.rclpy, 'shutdown', lambda: captured.setdefault('shutdown', True))
+
+    cli.main(['--topic', '/diagnostics_custom', '--ros-args', '-r', '__node:=renamed'])
+
+    assert captured['topic'] == '/diagnostics_custom'
+    assert captured['init_args'] == ['--ros-args', '-r', '__node:=renamed']
+    assert 'snapshot' in captured
+    assert captured['destroyed'] is True
+    assert 'shutdown' not in captured
diff --git a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
index 199bc0f..8948cda 100644
--- a/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
+++ b/waybionic_rviz_plugins/src/ros_diagnostics_source.cpp
@@ -71,7 +71,7 @@ DiagnosticMessage toDiagnosticMessage(
 
   const auto normalized_status = mapLevel(status.level);
   std::optional<std::string> alert_message;
-  if (hasContent(status.message)) {
+  if (normalized_status != DiagnosticStatus::Ok && hasContent(status.message)) {
     alert_message = status.message;
   }
 
diff --git a/waybionic_rviz_plugins/test/test_ros_diagnostics_source.cpp b/waybionic_rviz_plugins/test/test_ros_diagnostics_source.cpp
index 63448e0..7de6b8d 100644
--- a/waybionic_rviz_plugins/test/test_ros_diagnostics_source.cpp
+++ b/waybionic_rviz_plugins/test/test_ros_diagnostics_source.cpp
@@ -175,6 +175,22 @@ TEST_F(DiagnosticsTrafficFixture, NormalizesReceivedDiagnostics)
   stopTraffic();
 }
 
+TEST_F(DiagnosticsTrafficFixture, OkDiagnosticsDoNotCarryAlertMessage)
+{
+  const auto source = makeSource();
+
+  publisher_->publish(makeArray(diagnostic_msgs::msg::DiagnosticStatus::OK, "42"));
+  ASSERT_TRUE(waitFor([&]() {
+    const auto messages = source->messages(now());
+    return messages.size() == 1u && messages.front().signal_name == "board.temperature";
+  }, 5s));
+
+  const auto messages = source->messages(now());
+  ASSERT_EQ(messages.size(), 1u);
+  EXPECT_EQ(messages.front().status, DiagnosticStatus::Ok);
+  EXPECT_FALSE(messages.front().alert_message.has_value());
+}
+
 TEST_F(DiagnosticsTrafficFixture, StopFreezesStateAndIgnoresLaterMessages)
 {
   auto source = makeSource();

From 7bfd6e8b7311a6bf9ee4e6a37ce69482f86086ab Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sat, 12 Sep 2026 10:11:36 -0600
Subject: [PATCH 6/9] Fix diagnostics signal caching and sample age

---
 waybionic_diagnostics/package.xml             |  2 -
 waybionic_diagnostics/test/test_cli.py        | 60 +++++++++++++++++++
 .../waybionic_diagnostics/cli.py              | 38 +++++++++---
 3 files changed, 89 insertions(+), 11 deletions(-)

diff --git a/waybionic_diagnostics/package.xml b/waybionic_diagnostics/package.xml
index e8c53f8..591bc70 100644
--- a/waybionic_diagnostics/package.xml
+++ b/waybionic_diagnostics/package.xml
@@ -7,8 +7,6 @@
   <maintainer email="khidri.ajmal@gmail.com">Aj Khidri</maintainer>
   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_python</buildtool_depend>
-
   <depend>rclpy</depend>
   <depend>diagnostic_msgs</depend>
 
diff --git a/waybionic_diagnostics/test/test_cli.py b/waybionic_diagnostics/test/test_cli.py
index 4bc8959..7d61a41 100644
--- a/waybionic_diagnostics/test/test_cli.py
+++ b/waybionic_diagnostics/test/test_cli.py
@@ -6,6 +6,7 @@
     DiagnosticsCliNode,
     extract_value_and_unit,
     overall_status,
+    print_snapshot,
     status_name,
 )
 
@@ -109,6 +110,65 @@ def test_diagnostics_callback_updates_state():
         rclpy.shutdown()
 
 
+def test_diagnostics_callback_merges_entries_from_multiple_publishers():
+    import rclpy
+    from diagnostic_msgs.msg import DiagnosticArray
+
+    rclpy.init()
+    node = DiagnosticsCliNode('/test_diagnostics')
+
+    try:
+        can_message = DiagnosticArray()
+        can_status = DiagnosticStatus()
+        can_status.name = 'can.bus'
+        can_status.level = DiagnosticStatus.ERROR
+        can_message.status = [can_status]
+
+        imu_message = DiagnosticArray()
+        imu_status = DiagnosticStatus()
+        imu_status.name = 'imu.orientation'
+        imu_status.level = DiagnosticStatus.OK
+        imu_message.status = [imu_status]
+
+        node.diagnostics_callback(can_message)
+        node.diagnostics_callback(imu_message)
+
+        statuses = {status.name: status.level for status in node.latest}
+        assert statuses == {
+            'can.bus': DiagnosticStatus.ERROR,
+            'imu.orientation': DiagnosticStatus.OK,
+        }
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+def test_diagnostics_callback_uses_header_stamp_for_sample_age(monkeypatch, capsys):
+    import rclpy
+    from diagnostic_msgs.msg import DiagnosticArray
+
+    rclpy.init()
+    node = DiagnosticsCliNode('/test_diagnostics')
+
+    try:
+        message = DiagnosticArray()
+        message.header.stamp.sec = 60
+        status = DiagnosticStatus()
+        status.name = 'board.temperature'
+        status.level = DiagnosticStatus.OK
+        message.status = [status]
+
+        monkeypatch.setattr('waybionic_diagnostics.cli.time.time', lambda: 70.0)
+        node.diagnostics_callback(message)
+
+        assert node.status_age(status) == 10.0
+        print_snapshot(node)
+        assert 'STALE' in capsys.readouterr().out
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
 def test_main_forwards_ros_args_to_rclpy_init(monkeypatch):
     from waybionic_diagnostics import cli
 
diff --git a/waybionic_diagnostics/waybionic_diagnostics/cli.py b/waybionic_diagnostics/waybionic_diagnostics/cli.py
index 5ff1d98..e7a726a 100644
--- a/waybionic_diagnostics/waybionic_diagnostics/cli.py
+++ b/waybionic_diagnostics/waybionic_diagnostics/cli.py
@@ -55,6 +55,7 @@ def __init__(self, topic: str):
 
         self.topic = topic
         self.latest: List[DiagnosticStatus] = []
+        self._sample_time_by_name: Dict[str, float] = {}
         self.last_received_monotonic: Optional[float] = None
 
         self.subscription = self.create_subscription(
@@ -65,17 +66,37 @@ def __init__(self, topic: str):
         )
 
     def diagnostics_callback(self, message: DiagnosticArray):
-        """Store the most recent diagnostic array."""
-        self.latest = list(message.status)
-        self.last_received_monotonic = time.monotonic()
+        """Merge the publisher's entries into the diagnostic cache."""
+        received_monotonic = time.monotonic()
+        received_time = time.time()
+        stamp = message.header.stamp
+        sample_time = stamp.sec + stamp.nanosec * 1e-9
+        if sample_time == 0.0:
+            sample_time = received_time
+
+        latest_by_name = {status.name: status for status in self.latest}
+        for status in message.status:
+            latest_by_name[status.name] = status
+            self._sample_time_by_name[status.name] = sample_time
+
+        self.latest = list(latest_by_name.values())
+        self.last_received_monotonic = received_monotonic
 
     def data_age(self) -> Optional[float]:
-        """Return seconds since the most recent diagnostic message."""
+        """Return seconds since the most recent diagnostic message was received."""
         if self.last_received_monotonic is None:
             return None
 
         return max(0.0, time.monotonic() - self.last_received_monotonic)
 
+    def status_age(self, status: DiagnosticStatus) -> Optional[float]:
+        """Return the sample age for one cached diagnostic status."""
+        sample_time = self._sample_time_by_name.get(status.name)
+        if sample_time is None:
+            return None
+
+        return max(0.0, time.time() - sample_time)
+
 
 def overall_status(statuses: List[str]) -> str:
     """Calculate the worst status in a diagnostic snapshot."""
@@ -121,9 +142,6 @@ def print_snapshot(node: DiagnosticsCliNode, clear: bool = False):
         print('Overall: STALE')
         return
 
-    age = node.data_age()
-    stream_stale = age is not None and age > STALE_AFTER_SECONDS
-
     print(
         f'{"Signal":<32} '
         f'{"Status":<8} '
@@ -137,8 +155,10 @@ def print_snapshot(node: DiagnosticsCliNode, clear: bool = False):
 
     for status in node.latest:
         normalized = status_name(status.level)
+        age = node.status_age(status)
+        sample_stale = age is not None and age > STALE_AFTER_SECONDS
 
-        if stream_stale and normalized in ('OK', 'WARN'):
+        if sample_stale and normalized in ('OK', 'WARN'):
             normalized = 'STALE'
 
         value, unit = extract_value_and_unit(status)
@@ -157,7 +177,7 @@ def print_snapshot(node: DiagnosticsCliNode, clear: bool = False):
 
         message = status.message or '-'
 
-        if stream_stale and status.level in (
+        if sample_stale and status.level in (
             DiagnosticStatus.OK,
             DiagnosticStatus.WARN,
         ):

From dc0ab631741fad959f436584dd49ce127aee3e23 Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sat, 12 Sep 2026 14:36:29 -0600
Subject: [PATCH 7/9] Integrate new old-arm model with motion publishers

---
 waybionic_bringup/CMakeLists.txt              |   1 +
 .../launch/ground_station.launch.py           |  80 ++-
 waybionic_bringup/launch/old_arm.launch.py    |  59 ++
 waybionic_bringup/rviz/waybionic_old_arm.rviz |  88 +++
 .../rviz/waybionic_old_arm_root.rviz          |  88 +++
 waybionic_bringup/test/test_old_arm_launch.py | 218 ++++++++
 .../meshes/old_arm/base_plate.stl             | Bin 0 -> 86484 bytes
 .../meshes/old_arm/shoulder_back_plate.stl    | Bin 0 -> 121684 bytes
 .../meshes/old_arm/shoulder_motor_plate.stl   | Bin 0 -> 89684 bytes
 .../meshes/old_arm/upper_arm_plate.stl        | Bin 0 -> 502884 bytes
 .../meshes/old_arm/wrist_cage.stl             | Bin 0 -> 169284 bytes
 .../meshes/old_arm/wrist_housing.stl          | Bin 0 -> 163484 bytes
 .../urdf/waybionic_old_arm.expanded.urdf      | 518 ++++++++++++++++++
 .../urdf/waybionic_old_arm.urdf.xacro         | 255 +++++++++
 waybionic_hardware/package.xml                |  19 +
 .../resource/waybionic_hardware               |   1 +
 waybionic_hardware/setup.cfg                  |   5 +
 waybionic_hardware/setup.py                   |  23 +
 .../test/test_arduino_bridge.py               |  29 +
 .../waybionic_hardware/__init__.py            |   1 +
 .../waybionic_hardware/arduino_bridge.py      | 271 +++++++++
 waybionic_motion_test/package.xml             |  17 +
 .../resource/waybionic_motion_test            |   0
 waybionic_motion_test/setup.cfg               |   5 +
 waybionic_motion_test/setup.py                |  22 +
 .../test/test_motion_test.py                  |  29 +
 .../waybionic_motion_test/__init__.py         |   0
 .../waybionic_motion_test/motion_test.py      | 133 +++++
 28 files changed, 1854 insertions(+), 8 deletions(-)
 create mode 100644 waybionic_bringup/launch/old_arm.launch.py
 create mode 100644 waybionic_bringup/rviz/waybionic_old_arm.rviz
 create mode 100644 waybionic_bringup/rviz/waybionic_old_arm_root.rviz
 create mode 100644 waybionic_bringup/test/test_old_arm_launch.py
 create mode 100644 waybionic_description/meshes/old_arm/base_plate.stl
 create mode 100644 waybionic_description/meshes/old_arm/shoulder_back_plate.stl
 create mode 100644 waybionic_description/meshes/old_arm/shoulder_motor_plate.stl
 create mode 100644 waybionic_description/meshes/old_arm/upper_arm_plate.stl
 create mode 100644 waybionic_description/meshes/old_arm/wrist_cage.stl
 create mode 100644 waybionic_description/meshes/old_arm/wrist_housing.stl
 create mode 100644 waybionic_description/urdf/waybionic_old_arm.expanded.urdf
 create mode 100644 waybionic_description/urdf/waybionic_old_arm.urdf.xacro
 create mode 100644 waybionic_hardware/package.xml
 create mode 100644 waybionic_hardware/resource/waybionic_hardware
 create mode 100644 waybionic_hardware/setup.cfg
 create mode 100644 waybionic_hardware/setup.py
 create mode 100644 waybionic_hardware/test/test_arduino_bridge.py
 create mode 100644 waybionic_hardware/waybionic_hardware/__init__.py
 create mode 100644 waybionic_hardware/waybionic_hardware/arduino_bridge.py
 create mode 100644 waybionic_motion_test/package.xml
 create mode 100644 waybionic_motion_test/resource/waybionic_motion_test
 create mode 100644 waybionic_motion_test/setup.cfg
 create mode 100644 waybionic_motion_test/setup.py
 create mode 100644 waybionic_motion_test/test/test_motion_test.py
 create mode 100644 waybionic_motion_test/waybionic_motion_test/__init__.py
 create mode 100644 waybionic_motion_test/waybionic_motion_test/motion_test.py

diff --git a/waybionic_bringup/CMakeLists.txt b/waybionic_bringup/CMakeLists.txt
index fba831a..beae403 100644
--- a/waybionic_bringup/CMakeLists.txt
+++ b/waybionic_bringup/CMakeLists.txt
@@ -18,6 +18,7 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
   add_launch_test(test/test_ground_station_launch.py)
+  add_launch_test(test/test_old_arm_launch.py)
 endif()
 
 install(DIRECTORY launch
diff --git a/waybionic_bringup/launch/ground_station.launch.py b/waybionic_bringup/launch/ground_station.launch.py
index 2183b8b..277720b 100644
--- a/waybionic_bringup/launch/ground_station.launch.py
+++ b/waybionic_bringup/launch/ground_station.launch.py
@@ -5,7 +5,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 
 
@@ -24,9 +24,9 @@ def generate_launch_description():
     waybionic_bringup_dir = get_package_share_directory('waybionic_bringup')
 
     default_model_path = os.path.join(
-        waybionic_desc_dir, 'urdf', 'waybionic_placeholder.urdf')
+        waybionic_desc_dir, 'urdf', 'waybionic_old_arm.urdf.xacro')
     default_rviz_config_path = os.path.join(
-        waybionic_bringup_dir, 'rviz', 'waybionic_unified.rviz')
+        waybionic_bringup_dir, 'rviz', 'waybionic_old_arm_root.rviz')
 
     # --- Declare Launch Arguments ---
     model_arg = DeclareLaunchArgument(
@@ -42,11 +42,35 @@ def generate_launch_description():
         description='Diagnostics topic name')
 
     start_temp_pub_arg = DeclareLaunchArgument(
-        'start_temporary_diagnostics_publisher', default_value='false',
+        'start_temporary_diagnostics_publisher', default_value='true',
         description='Start the optional temporary publisher for live demo')
 
+    start_motion_test_arg = DeclareLaunchArgument(
+        'start_motion_test', default_value='true',
+        description='Start the old-arm four-joint motion-test node')
+
+    hardware_mode_arg = DeclareLaunchArgument(
+        'hardware_mode', default_value='simulation',
+        description='Arm mode: simulation or arduino')
+
+    arduino_port_arg = DeclareLaunchArgument(
+        'arduino_port', default_value='',
+        description='Arduino serial port, for example /dev/ttyACM0')
+
+    arduino_baud_arg = DeclareLaunchArgument(
+        'arduino_baud', default_value='115200',
+        description='Arduino serial baud rate')
+
+    arduino_dry_run_arg = DeclareLaunchArgument(
+        'arduino_dry_run', default_value='false',
+        description='Run the Arduino bridge without opening a serial port')
+
+    motion_test_duration_arg = DeclareLaunchArgument(
+        'motion_test_segment_duration', default_value='3.0',
+        description='Seconds for each synchronized motion segment')
+
     use_jsp_gui_arg = DeclareLaunchArgument(
-        'use_joint_state_publisher_gui', default_value='true',
+        'use_joint_state_publisher_gui', default_value='false',
         description='Launch joint state publisher GUI')
 
     use_sim_time_arg = DeclareLaunchArgument(
@@ -78,14 +102,21 @@ def generate_launch_description():
 
     jsp_gui_node = Node(
         package='joint_state_publisher_gui', executable='joint_state_publisher_gui',
-        condition=IfCondition(LaunchConfiguration('use_joint_state_publisher_gui'))
+        condition=IfCondition(PythonExpression([
+            "'", LaunchConfiguration('use_joint_state_publisher_gui'), "' == 'true' and '",
+            LaunchConfiguration('hardware_mode'), "' == 'simulation'"
+        ]))
     )
 
     # Pass the correct arguments to the temporary publisher
     temp_diag_pub_node = Node(
         package='waybionic_rviz_plugins', executable='temporary_diagnostics_publisher.py',
         name='temp_diag_pub',
-        condition=IfCondition(LaunchConfiguration('start_temporary_diagnostics_publisher')),
+        condition=IfCondition(PythonExpression([
+            "'", LaunchConfiguration('start_temporary_diagnostics_publisher'),
+            "' == 'true' and '", LaunchConfiguration('hardware_mode'),
+            "' == 'simulation'"
+        ])),
         parameters=[
             {'mode': 'normal'},
             {'topic': LaunchConfiguration('diagnostics_topic')},
@@ -93,6 +124,36 @@ def generate_launch_description():
         ]
     )
 
+    motion_test_node = Node(
+        package='waybionic_motion_test',
+        executable='motion_test',
+        name='old_arm_motion_test',
+        output='screen',
+        condition=IfCondition(PythonExpression([
+            "'", LaunchConfiguration('start_motion_test'), "' == 'true' and '",
+            LaunchConfiguration('hardware_mode'), "' == 'simulation'"
+        ])),
+        parameters=[
+            {'segment_duration': LaunchConfiguration('motion_test_segment_duration')}
+        ]
+    )
+
+    arduino_bridge_node = Node(
+        package='waybionic_hardware',
+        executable='arduino_bridge',
+        name='waybionic_arduino_bridge',
+        output='screen',
+        condition=IfCondition(PythonExpression([
+            "'", LaunchConfiguration('hardware_mode'), "' == 'arduino'"
+        ])),
+        parameters=[
+            {'port': LaunchConfiguration('arduino_port')},
+            {'baud': LaunchConfiguration('arduino_baud')},
+            {'segment_duration': LaunchConfiguration('motion_test_segment_duration')},
+            {'dry_run': LaunchConfiguration('arduino_dry_run')},
+        ]
+    )
+
     # Pass the mock toggles into the RViz node parameters
     rviz_node = Node(
         package='rviz2', executable='rviz2', name='rviz2', output='screen',
@@ -108,5 +169,8 @@ def generate_launch_description():
     return LaunchDescription([
         model_arg, use_mock_diag_arg, diag_topic_arg, start_temp_pub_arg,
         use_jsp_gui_arg, use_sim_time_arg, launch_rviz_arg, rviz_config_arg,
-        file_check, rsp_node, jsp_gui_node, temp_diag_pub_node, rviz_node
+        start_motion_test_arg, motion_test_duration_arg, hardware_mode_arg,
+        arduino_port_arg, arduino_baud_arg, arduino_dry_run_arg, file_check,
+        rsp_node, jsp_gui_node, temp_diag_pub_node, motion_test_node,
+        arduino_bridge_node, rviz_node
     ])
diff --git a/waybionic_bringup/launch/old_arm.launch.py b/waybionic_bringup/launch/old_arm.launch.py
new file mode 100644
index 0000000..3567718
--- /dev/null
+++ b/waybionic_bringup/launch/old_arm.launch.py
@@ -0,0 +1,59 @@
+"""Display the handoff's four-servo arm without commanding physical hardware."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace, SetRemap
+
+
+def generate_launch_description():
+    """Reuse the ground station with an isolated model and joint-state topic."""
+    description = get_package_share_directory('waybionic_description')
+    bringup = get_package_share_directory('waybionic_bringup')
+    arguments = [
+        DeclareLaunchArgument(
+            'model',
+            default_value=os.path.join(description, 'urdf', 'waybionic_old_arm.urdf.xacro'),
+            description='Old-arm Xacro or an expanded, calibrated URDF'),
+        DeclareLaunchArgument(
+            'joint_states_topic', default_value='/old_arm/joint_states',
+            description='sensor_msgs/JointState input, with named model joints in radians'),
+        DeclareLaunchArgument(
+            'use_joint_state_publisher_gui', default_value='true',
+            description='Set false when a live joint-state source is connected'),
+        DeclareLaunchArgument(
+            'launch_rviz', default_value='true',
+            description='Set false for headless transform validation'),
+        DeclareLaunchArgument(
+            'use_sim_time', default_value='false',
+            description='Enable only when an external simulation clock is provided'),
+        DeclareLaunchArgument(
+            'use_mock_diagnostics', default_value='true',
+            description='Diagnostics remain mock unless a real backend is selected'),
+        DeclareLaunchArgument(
+            'diagnostics_topic', default_value='/diagnostics',
+            description='DiagnosticArray input for the Engineering Monitor'),
+    ]
+    station = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup, 'launch', 'ground_station.launch.py')),
+        launch_arguments={
+            'model': LaunchConfiguration('model'),
+            'rvizconfig': os.path.join(bringup, 'rviz', 'waybionic_old_arm.rviz'),
+            'use_joint_state_publisher_gui': LaunchConfiguration('use_joint_state_publisher_gui'),
+            'launch_rviz': LaunchConfiguration('launch_rviz'),
+            'use_sim_time': LaunchConfiguration('use_sim_time'),
+            'use_mock_diagnostics': LaunchConfiguration('use_mock_diagnostics'),
+            'diagnostics_topic': LaunchConfiguration('diagnostics_topic'),
+            'start_temporary_diagnostics_publisher': 'false',
+        }.items(),
+    )
+    return LaunchDescription(arguments + [GroupAction([
+        PushRosNamespace('old_arm'),
+        SetRemap(src='joint_states', dst=LaunchConfiguration('joint_states_topic')),
+        station,
+    ])])
diff --git a/waybionic_bringup/rviz/waybionic_old_arm.rviz b/waybionic_bringup/rviz/waybionic_old_arm.rviz
new file mode 100644
index 0000000..ba28b6b
--- /dev/null
+++ b/waybionic_bringup/rviz/waybionic_old_arm.rviz
@@ -0,0 +1,88 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+  - Class: waybionic_rviz_plugins/DiagnosticsPanel
+    Name: Engineering Monitor
+    Diagnostics Topic: /diagnostics
+    Use Mock Diagnostics: true
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid (50 mm)
+      Enabled: true
+      Cell Size: 0.05
+      Plane Cell Count: 12
+      Color: 155; 155; 155
+      Alpha: 0.45
+      Reference Frame: <Fixed Frame>
+      Plane: XY
+      Offset:
+        X: 0
+        Y: 0
+        Z: -0.066
+      Line Style:
+        Value: Lines
+        Line Width: 0.001
+    - Class: rviz_default_plugins/RobotModel
+      Name: Old Arm (Video Reference Model)
+      Enabled: true
+      Visual Enabled: true
+      Collision Enabled: false
+      Alpha: 1
+      Description Source: Topic
+      Description Topic:
+        Value: /old_arm/robot_description
+        Depth: 1
+        Durability Policy: Transient Local
+        Reliability Policy: Reliable
+        History Policy: Keep Last
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      TF Prefix: ""
+      Update Interval: 0
+    - Class: rviz_default_plugins/Axes
+      Name: Wrist Target Frame
+      Enabled: true
+      Reference Frame: old_arm_tool_frame
+      Length: 0.035
+      Radius: 0.0015
+  Enabled: true
+  Global Options:
+    Fixed Frame: old_arm_base_link
+    Background Color: 238; 240; 242
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Name: Current View
+      Distance: 0.78
+      Pitch: 0.45
+      Yaw: 0.80
+      Near Clip Distance: 0.005
+      Target Frame: <Fixed Frame>
+      Focal Point:
+        X: 0.08
+        Y: 0
+        Z: 0.13
+    Saved: ~
+Window Geometry:
+  Width: 1440
+  Height: 960
+  X: 40
+  Y: 40
+  Hide Left Dock: false
+  Hide Right Dock: false
\ No newline at end of file
diff --git a/waybionic_bringup/rviz/waybionic_old_arm_root.rviz b/waybionic_bringup/rviz/waybionic_old_arm_root.rviz
new file mode 100644
index 0000000..be06046
--- /dev/null
+++ b/waybionic_bringup/rviz/waybionic_old_arm_root.rviz
@@ -0,0 +1,88 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+  - Class: waybionic_rviz_plugins/DiagnosticsPanel
+    Name: Engineering Monitor
+    Diagnostics Topic: /diagnostics
+    Use Mock Diagnostics: true
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid (50 mm)
+      Enabled: true
+      Cell Size: 0.05
+      Plane Cell Count: 12
+      Color: 155; 155; 155
+      Alpha: 0.45
+      Reference Frame: <Fixed Frame>
+      Plane: XY
+      Offset:
+        X: 0
+        Y: 0
+        Z: -0.066
+      Line Style:
+        Value: Lines
+        Line Width: 0.001
+    - Class: rviz_default_plugins/RobotModel
+      Name: Old Arm (Video Reference Model)
+      Enabled: true
+      Visual Enabled: true
+      Collision Enabled: false
+      Alpha: 1
+      Description Source: Topic
+      Description Topic:
+        Value: /robot_description
+        Depth: 1
+        Durability Policy: Transient Local
+        Reliability Policy: Reliable
+        History Policy: Keep Last
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      TF Prefix: ""
+      Update Interval: 0
+    - Class: rviz_default_plugins/Axes
+      Name: Wrist Target Frame
+      Enabled: true
+      Reference Frame: old_arm_tool_frame
+      Length: 0.035
+      Radius: 0.0015
+  Enabled: true
+  Global Options:
+    Fixed Frame: old_arm_base_link
+    Background Color: 238; 240; 242
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Name: Current View
+      Distance: 0.78
+      Pitch: 0.45
+      Yaw: 0.80
+      Near Clip Distance: 0.005
+      Target Frame: <Fixed Frame>
+      Focal Point:
+        X: 0.08
+        Y: 0
+        Z: 0.13
+    Saved: ~
+Window Geometry:
+  Width: 1440
+  Height: 960
+  X: 40
+  Y: 40
+  Hide Left Dock: false
+  Hide Right Dock: false
\ No newline at end of file
diff --git a/waybionic_bringup/test/test_old_arm_launch.py b/waybionic_bringup/test/test_old_arm_launch.py
new file mode 100644
index 0000000..37d7f3f
--- /dev/null
+++ b/waybionic_bringup/test/test_old_arm_launch.py
@@ -0,0 +1,218 @@
+"""Check the handoff model and its live JointState-to-TF path without hardware."""
+
+import math
+import os
+from pathlib import Path
+import struct
+import subprocess
+import time
+import unittest
+import uuid
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+import launch
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import launch_testing
+import launch_testing.actions
+import pytest
+import rclpy
+from rclpy.time import Time
+from sensor_msgs.msg import JointState
+from tf2_ros import Buffer, TransformListener
+
+
+JOINT_NAMES = [
+    'old_arm_base_yaw_joint',
+    'old_arm_shoulder_pitch_joint',
+    'old_arm_elbow_pitch_joint',
+    'old_arm_wrist_roll_joint',
+]
+
+
+def expand_model(*mappings):
+    """Expand the installed model, including any calibration overrides."""
+    source = os.path.join(
+        get_package_share_directory('waybionic_description'),
+        'urdf', 'waybionic_old_arm.urdf.xacro')
+    result = subprocess.run(
+        ['xacro', source, *mappings], check=True, capture_output=True, text=True)
+    return ET.fromstring(result.stdout)
+
+
+def expected_wrist_position(positions):
+    """Evaluate the handoff's independent forward-kinematics equations."""
+    base, shoulder, elbow, _ = positions
+    radial = 0.025 + 0.120 * math.cos(shoulder) + 0.050 * math.cos(shoulder + elbow)
+    height = 0.070 + 0.120 * math.sin(shoulder) + 0.050 * math.sin(shoulder + elbow)
+    return radial * math.cos(base), radial * math.sin(base), height
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    """Launch only the old-arm state publisher on a unique input topic."""
+    bringup = get_package_share_directory('waybionic_bringup')
+    topic = '/old_arm_test_' + uuid.uuid4().hex + '/joint_states'
+    station = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(bringup, 'launch', 'old_arm.launch.py')),
+        launch_arguments={
+            'launch_rviz': 'false',
+            'use_joint_state_publisher_gui': 'false',
+            'joint_states_topic': topic,
+        }.items(),
+    )
+    return launch.LaunchDescription([
+        station, launch_testing.actions.ReadyToTest(),
+    ]), {'joint_states_topic': topic}
+
+
+class TestOldArmDescription(unittest.TestCase):
+    """Protect handoff calibration and visualization-only model boundaries."""
+
+    def test_joint_contract_and_limits(self):
+        """Keep four named joints with handoff software ranges in radians."""
+        robot = expand_model()
+        joints = [joint for joint in robot.findall('joint') if joint.get('type') != 'fixed']
+        self.assertEqual([joint.get('name') for joint in joints], JOINT_NAMES)
+        expected_ranges = [(-33.5, 236.5), (0.0, 112.5), (-61.5, 118.5), (-27.5, 242.5)]
+        for joint, expected in zip(joints, expected_ranges):
+            self.assertEqual(joint.get('type'), 'revolute')
+            limits = joint.find('limit')
+            for key, degrees in zip(('lower', 'upper'), expected):
+                self.assertAlmostEqual(float(limits.get(key)), math.radians(degrees))
+            self.assertEqual(float(limits.get('effort')), 0.0)
+            self.assertEqual(float(limits.get('velocity')), 0.0)
+        self.assertEqual(joints[0].find('axis').get('xyz'), '0 0 1')
+        self.assertEqual(joints[1].find('axis').get('xyz'), '0 -1 0')
+        self.assertEqual(joints[2].find('axis').get('xyz'), '0 -1 0')
+        self.assertEqual(joints[3].find('axis').get('xyz'), '1 0 0')
+        self.assertFalse(robot.findall('.//inertial'))
+        self.assertFalse(robot.findall('.//collision'))
+        self.assertFalse(robot.findall('.//transmission'))
+        self.assertFalse(robot.findall('.//ros2_control'))
+        for link in robot.findall('link'):
+            materials = {visual.find('material').get('name') for visual in link.findall('visual')}
+            self.assertLessEqual(len(materials), 1, 'RViz requires separate color groups per link')
+
+    def test_geometry_and_calibration_overrides(self):
+        """Allow remeasured lengths and direction signs without changing meshes."""
+        robot = expand_model('upper_arm_length:=0.130', 'base_direction:=-1')
+        joints = {joint.get('name'): joint for joint in robot.findall('joint')}
+        self.assertEqual(
+            [float(value) for value in
+             joints['old_arm_elbow_pitch_joint'].find('origin').get('xyz').split()],
+            [0.130, 0.0, 0.0])
+        limits = joints['old_arm_base_yaw_joint'].find('limit')
+        self.assertAlmostEqual(float(limits.get('lower')), math.radians(-236.5))
+        self.assertAlmostEqual(float(limits.get('upper')), math.radians(33.5))
+        for box in robot.findall('.//box'):
+            self.assertTrue(all(float(value) > 0 for value in box.get('size').split()))
+        for cylinder in robot.findall('.//cylinder'):
+            self.assertGreater(float(cylinder.get('radius')), 0)
+            self.assertGreater(float(cylinder.get('length')), 0)
+        upper_meshes = robot.findall("link[@name='old_arm_upper_arm']/visual/geometry/mesh")
+        self.assertEqual(len(upper_meshes), 2)
+        for mesh in upper_meshes:
+            self.assertAlmostEqual(float(mesh.get('scale').split()[0]), 0.130 / 0.120)
+
+    def test_installed_video_meshes(self):
+        """Require the six finite, meter-scale STL resources in the installed package."""
+        robot = expand_model()
+        directory = Path(get_package_share_directory('waybionic_description'))
+        filenames = set()
+        for mesh in robot.findall('.//mesh'):
+            filename = mesh.get('filename')
+            prefix = 'package://waybionic_description/'
+            self.assertTrue(filename.startswith(prefix))
+            target = directory / filename.removeprefix(prefix)
+            content = target.read_bytes()
+            triangle_count = struct.unpack_from('<I', content, 80)[0]
+            self.assertGreater(triangle_count, 100)
+            self.assertEqual(len(content), 84 + triangle_count * 50)
+            for triangle in struct.iter_unpack('<12fH', content[84:]):
+                self.assertTrue(all(math.isfinite(value) for value in triangle[:12]))
+                self.assertTrue(all(abs(value) < 0.25 for value in triangle[3:12]))
+            self.assertTrue(all(float(value) > 0 for value in mesh.get('scale').split()))
+            filenames.add(target.name)
+        self.assertEqual(filenames, {
+            'base_plate.stl', 'shoulder_motor_plate.stl', 'shoulder_back_plate.stl',
+            'upper_arm_plate.stl', 'wrist_housing.stl', 'wrist_cage.stl',
+        })
+
+    def test_distal_servos_remain_visual_only(self):
+        """Represent the additional wrist hardware without inventing control joints."""
+        robot = expand_model()
+        for name in ('old_arm_distal_left_servo_mount', 'old_arm_distal_right_servo_mount'):
+            joint = robot.find(f"joint[@name='{name}']")
+            self.assertIsNotNone(joint)
+            self.assertEqual(joint.get('type'), 'fixed')
+            self.assertEqual(joint.find('parent').get('link'), 'old_arm_wrist_roll')
+
+
+class TestOldArmTransforms(unittest.TestCase):
+    """Verify live input reaches the intended model and moves its wrist frame."""
+
+    def test_joint_states_drive_calibrated_transforms(self, joint_states_topic):
+        """Match zero, yaw, shoulder, elbow, combined and roll poses to the handoff."""
+        rclpy.init()
+        node = rclpy.create_node('old_arm_transform_test_' + uuid.uuid4().hex)
+        buffer = Buffer()
+        listener = TransformListener(buffer, node)
+        publisher = node.create_publisher(JointState, joint_states_topic, 10)
+        try:
+            poses = [
+                (0.0, 0.0, 0.0, 0.0),
+                (math.pi / 2, 0.0, 0.0, 0.0),
+                (0.0, math.pi / 2, 0.0, 0.0),
+                (0.0, 0.0, math.pi / 3, 0.0),
+                (math.pi / 4, math.pi / 4, -math.pi / 4, 0.0),
+                (0.0, 0.0, 0.0, math.pi / 2),
+            ]
+            for positions in poses:
+                expected = expected_wrist_position(positions)
+                first_stamp = node.get_clock().now().nanoseconds
+                deadline = time.monotonic() + 8.0
+                matched = False
+                while time.monotonic() < deadline:
+                    message = JointState()
+                    message.header.stamp = node.get_clock().now().to_msg()
+                    message.name = JOINT_NAMES
+                    message.position = list(positions)
+                    publisher.publish(message)
+                    rclpy.spin_once(node, timeout_sec=0.05)
+                    if not buffer.can_transform('old_arm_base_link', 'old_arm_tool_frame', Time()):
+                        continue
+                    transform = buffer.lookup_transform(
+                        'old_arm_base_link', 'old_arm_tool_frame', Time())
+                    stamp = transform.header.stamp
+                    if stamp.sec * 1000000000 + stamp.nanosec < first_stamp:
+                        continue
+                    translation = transform.transform.translation
+                    actual = (translation.x, translation.y, translation.z)
+                    if not all(math.isclose(value, target, abs_tol=1e-6)
+                               for value, target in zip(actual, expected)):
+                        continue
+                    if positions[3] != 0.0:
+                        rotation = transform.transform.rotation
+                        aligned = abs((rotation.x + rotation.w) / math.sqrt(2))
+                        if not math.isclose(aligned, 1.0, abs_tol=1e-6):
+                            continue
+                    matched = True
+                    break
+                self.assertTrue(matched, f'No matching current transform for pose {positions}')
+            self.assertEqual(node.count_publishers(joint_states_topic), 1)
+            self.assertGreater(publisher.get_subscription_count(), 0)
+        finally:
+            listener.unregister()
+            node.destroy_node()
+            rclpy.shutdown()
+
+
+@launch_testing.post_shutdown_test()
+class TestOldArmShutdown(unittest.TestCase):
+    """Require a clean state-publisher shutdown."""
+
+    def test_exit_codes(self, proc_info):
+        """Reject unexpected child process failures."""
+        launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[0, -2])
diff --git a/waybionic_description/meshes/old_arm/base_plate.stl b/waybionic_description/meshes/old_arm/base_plate.stl
new file mode 100644
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diff --git a/waybionic_description/meshes/old_arm/shoulder_back_plate.stl b/waybionic_description/meshes/old_arm/shoulder_back_plate.stl
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diff --git a/waybionic_description/meshes/old_arm/shoulder_motor_plate.stl b/waybionic_description/meshes/old_arm/shoulder_motor_plate.stl
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diff --git a/waybionic_description/meshes/old_arm/wrist_cage.stl b/waybionic_description/meshes/old_arm/wrist_cage.stl
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diff --git a/waybionic_description/meshes/old_arm/wrist_housing.stl b/waybionic_description/meshes/old_arm/wrist_housing.stl
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diff --git a/waybionic_description/urdf/waybionic_old_arm.expanded.urdf b/waybionic_description/urdf/waybionic_old_arm.expanded.urdf
new file mode 100644
index 0000000..d82af3d
--- /dev/null
+++ b/waybionic_description/urdf/waybionic_old_arm.expanded.urdf
@@ -0,0 +1,518 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /waybionic_ws/install/waybionic_description/share/waybionic_description/urdf/waybionic_old_arm.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="waybionic_old_arm_visualization">
+  <material name="old_arm_print">
+    <color rgba="0.86 0.85 0.76 1"/>
+  </material>
+  <material name="old_arm_servo">
+    <color rgba="0.65 0.045 0.09 1"/>
+  </material>
+  <material name="old_arm_distal_servo">
+    <color rgba="0.72 0.24 0.10 1"/>
+  </material>
+  <material name="old_arm_cover">
+    <color rgba="0.055 0.055 0.06 1"/>
+  </material>
+  <material name="old_arm_metal">
+    <color rgba="0.62 0.65 0.67 1"/>
+  </material>
+  <link name="old_arm_base_link">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/base_plate.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.065 -0.075 -0.041"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.017"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.065 0.075 -0.041"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.017"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.105 -0.075 -0.041"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.017"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.105 0.075 -0.041"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.017"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </link>
+  <joint name="old_arm_base_servo_body_mount" type="fixed">
+    <parent link="old_arm_base_link"/>
+    <child link="old_arm_base_servo_body"/>
+    <origin xyz="-0.012 0 -0.031"/>
+  </joint>
+  <link name="old_arm_base_servo_body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.056 0.028 0.038"/>
+      </geometry>
+      <material name="old_arm_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_base_servo_cover_mount" type="fixed">
+    <parent link="old_arm_base_link"/>
+    <child link="old_arm_base_servo_cover"/>
+    <origin xyz="-0.012 0 -0.0535"/>
+  </joint>
+  <link name="old_arm_base_servo_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.056 0.028 0.007"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_base_yaw_joint" type="revolute">
+    <parent link="old_arm_base_link"/>
+    <child link="old_arm_shoulder_mount"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.5846852994181004" upper="4.127703680966589" velocity="0"/>
+  </joint>
+  <link name="old_arm_shoulder_mount">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.002"/>
+      <geometry>
+        <cylinder length="0.008" radius="0.049"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.025 0 0.0095"/>
+      <geometry>
+        <box size="0.060 0.082 0.007"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin xyz="0.025 0.034 0.07"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/shoulder_motor_plate.stl" scale="1 1 1.0000000000000002"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin xyz="0.025 -0.034 0.07"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/shoulder_back_plate.stl" scale="1 1 1.0000000000000002"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </link>
+  <joint name="old_arm_shoulder_servo_body_mount" type="fixed">
+    <parent link="old_arm_shoulder_mount"/>
+    <child link="old_arm_shoulder_servo_body"/>
+    <origin xyz="0.025 0.054 0.045000000000000005"/>
+  </joint>
+  <link name="old_arm_shoulder_servo_body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.035 0.034 0.062"/>
+      </geometry>
+      <material name="old_arm_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_shoulder_servo_cover_mount" type="fixed">
+    <parent link="old_arm_shoulder_mount"/>
+    <child link="old_arm_shoulder_servo_cover"/>
+    <origin xyz="0.025 0.0745 0.045000000000000005"/>
+  </joint>
+  <link name="old_arm_shoulder_servo_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.035 0.007 0.062"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_shoulder_pitch_joint" type="revolute">
+    <parent link="old_arm_shoulder_mount"/>
+    <child link="old_arm_upper_arm"/>
+    <origin xyz="0.025 0 0.07"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="0" lower="-0.0" upper="1.9634954084936207" velocity="0"/>
+  </joint>
+  <link name="old_arm_upper_arm">
+    <visual>
+      <origin xyz="0 -0.050 0"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/upper_arm_plate.stl" scale="1.0 1 1"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin xyz="0 0.050 0"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/upper_arm_plate.stl" scale="1.0 1 1"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.04 0 -0.026"/>
+      <geometry>
+        <box size="0.012 0.095 0.008"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.08 0 -0.026"/>
+      <geometry>
+        <box size="0.012 0.095 0.008"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </link>
+  <joint name="old_arm_shoulder_horn_mount" type="fixed">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_shoulder_horn"/>
+    <origin xyz="0 -0.057 0"/>
+  </joint>
+  <link name="old_arm_shoulder_horn">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.031 0.003 0.006"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.006 0.003 0.031"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.004" radius="0.006"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_elbow_servo_body_mount" type="fixed">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_elbow_servo_body"/>
+    <origin xyz="0.093 0.070 0"/>
+  </joint>
+  <link name="old_arm_elbow_servo_body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.060 0.034 0.034"/>
+      </geometry>
+      <material name="old_arm_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_elbow_servo_cover_mount" type="fixed">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_elbow_servo_cover"/>
+    <origin xyz="0.093 0.0905 0"/>
+  </joint>
+  <link name="old_arm_elbow_servo_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.060 0.007 0.034"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_elbow_cover_screws_mount" type="fixed">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_elbow_cover_screws"/>
+  </joint>
+  <link name="old_arm_elbow_cover_screws">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.066 0.0955 -0.014"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_metal"/>
+    </visual>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.12 0.0955 -0.014"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_metal"/>
+    </visual>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.066 0.0955 0.014"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_metal"/>
+    </visual>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.12 0.0955 0.014"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_metal"/>
+    </visual>
+  </link>
+  <joint name="old_arm_elbow_pitch_joint" type="revolute">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_forearm"/>
+    <origin xyz="0.12 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="0" lower="-1.0733774899765127" upper="2.0682151636132806" velocity="0"/>
+  </joint>
+  <link name="old_arm_forearm">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/wrist_housing.stl" scale="1.0 1 1"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </link>
+  <joint name="old_arm_elbow_horn_mount" type="fixed">
+    <parent link="old_arm_forearm"/>
+    <child link="old_arm_elbow_horn"/>
+    <origin xyz="0 -0.057 0"/>
+  </joint>
+  <link name="old_arm_elbow_horn">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.031 0.003 0.006"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.006 0.003 0.031"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.004" radius="0.006"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_servo_body_mount" type="fixed">
+    <parent link="old_arm_forearm"/>
+    <child link="old_arm_wrist_servo_body"/>
+    <origin xyz="0.006000000000000005 0 -0.016"/>
+  </joint>
+  <link name="old_arm_wrist_servo_body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.043 0.029 0.029"/>
+      </geometry>
+      <material name="old_arm_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_servo_cover_mount" type="fixed">
+    <parent link="old_arm_forearm"/>
+    <child link="old_arm_wrist_servo_cover"/>
+    <origin xyz="-0.019000000000000003 0 -0.016"/>
+  </joint>
+  <link name="old_arm_wrist_servo_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.007 0.029 0.029"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_roll_joint" type="revolute">
+    <parent link="old_arm_forearm"/>
+    <child link="old_arm_wrist_roll"/>
+    <origin xyz="0.05 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="0" lower="-0.4799655442984406" upper="4.232423436086249" velocity="0"/>
+  </joint>
+  <link name="old_arm_wrist_roll">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/wrist_cage.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.129 0 0"/>
+      <geometry>
+        <cylinder length="0.006" radius="0.041"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.118 -0.023 -0.015"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.118 0.023 -0.015"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.118 -0.023 0.015"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.118 0.023 0.015"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.0025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.139 -0.013 0"/>
+      <geometry>
+        <box size="0.017 0.006 0.025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.139 0.013 0"/>
+      <geometry>
+        <box size="0.017 0.006 0.025"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </link>
+  <joint name="old_arm_distal_left_servo_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_distal_left_servo"/>
+    <origin xyz="0.083 0.052 0"/>
+  </joint>
+  <link name="old_arm_distal_left_servo">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.041 0.026 0.039"/>
+      </geometry>
+      <material name="old_arm_distal_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_distal_right_servo_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_distal_right_servo"/>
+    <origin xyz="0.083 -0.052 0"/>
+  </joint>
+  <link name="old_arm_distal_right_servo">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.041 0.026 0.039"/>
+      </geometry>
+      <material name="old_arm_distal_servo"/>
+    </visual>
+  </link>
+  <joint name="old_arm_distal_left_cover_mount" type="fixed">
+    <parent link="old_arm_distal_left_servo"/>
+    <child link="old_arm_distal_left_cover"/>
+    <origin xyz="0 0.0165 0"/>
+  </joint>
+  <link name="old_arm_distal_left_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.041 0.007 0.039"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_distal_right_cover_mount" type="fixed">
+    <parent link="old_arm_distal_right_servo"/>
+    <child link="old_arm_distal_right_cover"/>
+    <origin xyz="0 -0.0165 0"/>
+  </joint>
+  <link name="old_arm_distal_right_cover">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.041 0.007 0.039"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_marker_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_wrist_marker"/>
+    <origin xyz="0.009 0 0"/>
+  </joint>
+  <link name="old_arm_wrist_marker">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.002 0.026 0.005"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_marker_cross_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_wrist_marker_cross"/>
+    <origin xyz="0.009 0 0"/>
+  </joint>
+  <link name="old_arm_wrist_marker_cross">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.002 0.005 0.026"/>
+      </geometry>
+      <material name="old_arm_cover"/>
+    </visual>
+  </link>
+  <joint name="old_arm_wrist_hub_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_wrist_hub"/>
+  </joint>
+  <link name="old_arm_wrist_hub">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.006 0 0"/>
+      <geometry>
+        <cylinder length="0.012" radius="0.01"/>
+      </geometry>
+      <material name="old_arm_metal"/>
+    </visual>
+  </link>
+  <joint name="old_arm_tool_joint" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_tool_frame"/>
+    <origin xyz="0.0 0 0"/>
+  </joint>
+  <link name="old_arm_tool_frame"/>
+</robot>
diff --git a/waybionic_description/urdf/waybionic_old_arm.urdf.xacro b/waybionic_description/urdf/waybionic_old_arm.urdf.xacro
new file mode 100644
index 0000000..ccce14a
--- /dev/null
+++ b/waybionic_description/urdf/waybionic_old_arm.urdf.xacro
@@ -0,0 +1,255 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="waybionic_old_arm_visualization">
+  <xacro:arg name="base_height" default="0.070"/>
+  <xacro:arg name="shoulder_offset" default="0.025"/>
+  <xacro:arg name="upper_arm_length" default="0.120"/>
+  <xacro:arg name="forearm_length" default="0.050"/>
+  <xacro:arg name="tool_inline" default="0.0"/>
+  <xacro:arg name="base_zero_degrees" default="33.5"/>
+  <xacro:arg name="shoulder_zero_degrees" default="112.5"/>
+  <xacro:arg name="elbow_zero_degrees" default="151.5"/>
+  <xacro:arg name="base_direction" default="1"/>
+  <xacro:arg name="shoulder_direction" default="-1"/>
+  <xacro:arg name="elbow_direction" default="1"/>
+  <xacro:arg name="wrist_reference_degrees" default="27.5"/>
+  <xacro:arg name="wrist_direction" default="1"/>
+
+  <xacro:property name="base_height_m" value="$(arg base_height)"/>
+  <xacro:property name="shoulder_offset_m" value="$(arg shoulder_offset)"/>
+  <xacro:property name="upper_length_m" value="$(arg upper_arm_length)"/>
+  <xacro:property name="forearm_length_m" value="$(arg forearm_length)"/>
+
+  <material name="old_arm_print"><color rgba="0.86 0.85 0.76 1"/></material>
+  <material name="old_arm_servo"><color rgba="0.65 0.045 0.09 1"/></material>
+  <material name="old_arm_distal_servo"><color rgba="0.72 0.24 0.10 1"/></material>
+  <material name="old_arm_cover"><color rgba="0.055 0.055 0.06 1"/></material>
+  <material name="old_arm_metal"><color rgba="0.62 0.65 0.67 1"/></material>
+
+  <xacro:macro name="visual_box" params="size xyz material rpy:='0 0 0'">
+    <visual>
+      <origin xyz="${xyz}" rpy="${rpy}"/>
+      <geometry><box size="${size}"/></geometry>
+      <material name="${material}"/>
+    </visual>
+  </xacro:macro>
+
+  <xacro:macro name="visual_cylinder" params="radius length xyz material rpy:='0 0 0'">
+    <visual>
+      <origin xyz="${xyz}" rpy="${rpy}"/>
+      <geometry><cylinder radius="${radius}" length="${length}"/></geometry>
+      <material name="${material}"/>
+    </visual>
+  </xacro:macro>
+
+  <xacro:macro name="printed_mesh" params="name xyz:='0 0 0' scale:='1 1 1'">
+    <visual>
+      <origin xyz="${xyz}"/>
+      <geometry>
+        <mesh filename="package://waybionic_description/meshes/old_arm/${name}.stl" scale="${scale}"/>
+      </geometry>
+      <material name="old_arm_print"/>
+    </visual>
+  </xacro:macro>
+
+  <xacro:macro name="colored_box_link" params="name parent size xyz material">
+    <joint name="${name}_mount" type="fixed">
+      <parent link="${parent}"/>
+      <child link="${name}"/>
+      <origin xyz="${xyz}"/>
+    </joint>
+    <link name="${name}">
+      <xacro:visual_box size="${size}" xyz="0 0 0" material="${material}"/>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="display_limits" params="minimum maximum zero direction">
+    <xacro:property name="first_endpoint" value="${radians((minimum - zero) / direction)}"/>
+    <xacro:property name="second_endpoint" value="${radians((maximum - zero) / direction)}"/>
+    <limit lower="${min(first_endpoint, second_endpoint)}"
+      upper="${max(first_endpoint, second_endpoint)}" effort="0" velocity="0"/>
+  </xacro:macro>
+
+  <xacro:macro name="pitch_horn" params="name parent xyz">
+    <joint name="${name}_mount" type="fixed">
+      <parent link="${parent}"/>
+      <child link="${name}"/>
+      <origin xyz="${xyz}"/>
+    </joint>
+    <link name="${name}">
+      <xacro:visual_box size="0.031 0.003 0.006" xyz="0 0 0" material="old_arm_cover"/>
+      <xacro:visual_box size="0.006 0.003 0.031" xyz="0 0 0" material="old_arm_cover"/>
+      <xacro:visual_cylinder radius="0.006" length="0.004" xyz="0 0 0"
+        rpy="${pi / 2} 0 0" material="old_arm_cover"/>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="servo_screws" params="name parent along lateral half_length half_width">
+    <joint name="${name}_mount" type="fixed">
+      <parent link="${parent}"/>
+      <child link="${name}"/>
+    </joint>
+    <link name="${name}">
+      <xacro:visual_cylinder radius="0.0025" length="0.003"
+        xyz="${along - half_length} ${lateral} ${-half_width}"
+        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
+      <xacro:visual_cylinder radius="0.0025" length="0.003"
+        xyz="${along + half_length} ${lateral} ${-half_width}"
+        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
+      <xacro:visual_cylinder radius="0.0025" length="0.003"
+        xyz="${along - half_length} ${lateral} ${half_width}"
+        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
+      <xacro:visual_cylinder radius="0.0025" length="0.003"
+        xyz="${along + half_length} ${lateral} ${half_width}"
+        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
+    </link>
+  </xacro:macro>
+
+  <link name="old_arm_base_link">
+    <xacro:printed_mesh name="base_plate"/>
+    <xacro:visual_cylinder radius="0.017" length="0.050"
+      xyz="-0.065 -0.075 -0.041" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.017" length="0.050"
+      xyz="-0.065 0.075 -0.041" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.017" length="0.050"
+      xyz="0.105 -0.075 -0.041" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.017" length="0.050"
+      xyz="0.105 0.075 -0.041" material="old_arm_print"/>
+  </link>
+
+  <xacro:colored_box_link name="old_arm_base_servo_body" parent="old_arm_base_link"
+    size="0.056 0.028 0.038" xyz="-0.012 0 -0.031" material="old_arm_servo"/>
+  <xacro:colored_box_link name="old_arm_base_servo_cover" parent="old_arm_base_link"
+    size="0.056 0.028 0.007" xyz="-0.012 0 -0.0535" material="old_arm_cover"/>
+
+  <joint name="old_arm_base_yaw_joint" type="revolute">
+    <parent link="old_arm_base_link"/>
+    <child link="old_arm_shoulder_mount"/>
+    <axis xyz="0 0 1"/>
+    <xacro:display_limits minimum="0.0" maximum="270.0"
+      zero="$(arg base_zero_degrees)" direction="$(arg base_direction)"/>
+  </joint>
+
+  <link name="old_arm_shoulder_mount">
+    <xacro:visual_cylinder radius="0.049" length="0.008"
+      xyz="0 0 0.002" material="old_arm_print"/>
+    <xacro:visual_box size="0.060 0.082 0.007"
+      xyz="${shoulder_offset_m} 0 0.0095" material="old_arm_print"/>
+    <xacro:printed_mesh name="shoulder_motor_plate"
+      xyz="${shoulder_offset_m} 0.034 ${base_height_m}"
+      scale="1 1 ${(base_height_m - 0.012) / 0.058}"/>
+    <xacro:printed_mesh name="shoulder_back_plate"
+      xyz="${shoulder_offset_m} -0.034 ${base_height_m}"
+      scale="1 1 ${(base_height_m - 0.012) / 0.058}"/>
+  </link>
+
+  <xacro:colored_box_link name="old_arm_shoulder_servo_body" parent="old_arm_shoulder_mount"
+    size="0.035 0.034 0.062" xyz="${shoulder_offset_m} 0.054 ${base_height_m - 0.025}"
+    material="old_arm_servo"/>
+  <xacro:colored_box_link name="old_arm_shoulder_servo_cover" parent="old_arm_shoulder_mount"
+    size="0.035 0.007 0.062" xyz="${shoulder_offset_m} 0.0745 ${base_height_m - 0.025}"
+    material="old_arm_cover"/>
+
+  <joint name="old_arm_shoulder_pitch_joint" type="revolute">
+    <parent link="old_arm_shoulder_mount"/>
+    <child link="old_arm_upper_arm"/>
+    <origin xyz="${shoulder_offset_m} 0 ${base_height_m}"/>
+    <axis xyz="0 -1 0"/>
+    <xacro:display_limits minimum="0.0" maximum="112.5"
+      zero="$(arg shoulder_zero_degrees)" direction="$(arg shoulder_direction)"/>
+  </joint>
+
+  <link name="old_arm_upper_arm">
+    <xacro:printed_mesh name="upper_arm_plate" xyz="0 -0.050 0"
+      scale="${upper_length_m / 0.120} 1 1"/>
+    <xacro:printed_mesh name="upper_arm_plate" xyz="0 0.050 0"
+      scale="${upper_length_m / 0.120} 1 1"/>
+    <xacro:visual_box size="0.012 0.095 0.008"
+      xyz="${upper_length_m / 3} 0 -0.026" material="old_arm_print"/>
+    <xacro:visual_box size="0.012 0.095 0.008"
+      xyz="${upper_length_m * 2 / 3} 0 -0.026" material="old_arm_print"/>
+  </link>
+
+  <xacro:pitch_horn name="old_arm_shoulder_horn" parent="old_arm_upper_arm" xyz="0 -0.057 0"/>
+  <xacro:colored_box_link name="old_arm_elbow_servo_body" parent="old_arm_upper_arm"
+    size="0.060 0.034 0.034" xyz="${upper_length_m - 0.027} 0.070 0"
+    material="old_arm_servo"/>
+  <xacro:colored_box_link name="old_arm_elbow_servo_cover" parent="old_arm_upper_arm"
+    size="0.060 0.007 0.034" xyz="${upper_length_m - 0.027} 0.0905 0"
+    material="old_arm_cover"/>
+  <xacro:servo_screws name="old_arm_elbow_cover_screws" parent="old_arm_upper_arm"
+    along="${upper_length_m - 0.027}" lateral="0.0955" half_length="0.027" half_width="0.014"/>
+
+  <joint name="old_arm_elbow_pitch_joint" type="revolute">
+    <parent link="old_arm_upper_arm"/>
+    <child link="old_arm_forearm"/>
+    <origin xyz="${upper_length_m} 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <xacro:display_limits minimum="90.0" maximum="270.0"
+      zero="$(arg elbow_zero_degrees)" direction="$(arg elbow_direction)"/>
+  </joint>
+
+  <link name="old_arm_forearm">
+    <xacro:printed_mesh name="wrist_housing" scale="${forearm_length_m / 0.050} 1 1"/>
+  </link>
+
+  <xacro:pitch_horn name="old_arm_elbow_horn" parent="old_arm_forearm" xyz="0 -0.057 0"/>
+  <xacro:colored_box_link name="old_arm_wrist_servo_body" parent="old_arm_forearm"
+    size="0.043 0.029 0.029" xyz="${forearm_length_m - 0.044} 0 -0.016"
+    material="old_arm_servo"/>
+  <xacro:colored_box_link name="old_arm_wrist_servo_cover" parent="old_arm_forearm"
+    size="0.007 0.029 0.029" xyz="${forearm_length_m - 0.069} 0 -0.016"
+    material="old_arm_cover"/>
+
+  <joint name="old_arm_wrist_roll_joint" type="revolute">
+    <parent link="old_arm_forearm"/>
+    <child link="old_arm_wrist_roll"/>
+    <origin xyz="${forearm_length_m} 0 0"/>
+    <axis xyz="1 0 0"/>
+    <xacro:display_limits minimum="0.0" maximum="270.0"
+      zero="$(arg wrist_reference_degrees)" direction="$(arg wrist_direction)"/>
+  </joint>
+
+  <link name="old_arm_wrist_roll">
+    <xacro:printed_mesh name="wrist_cage"/>
+    <xacro:visual_cylinder radius="0.041" length="0.006"
+      xyz="0.129 0 0" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.0025" length="0.020"
+      xyz="0.118 -0.023 -0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.0025" length="0.020"
+      xyz="0.118 0.023 -0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.0025" length="0.020"
+      xyz="0.118 -0.023 0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
+    <xacro:visual_cylinder radius="0.0025" length="0.020"
+      xyz="0.118 0.023 0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
+    <xacro:visual_box size="0.017 0.006 0.025" xyz="0.139 -0.013 0" material="old_arm_print"/>
+    <xacro:visual_box size="0.017 0.006 0.025" xyz="0.139 0.013 0" material="old_arm_print"/>
+  </link>
+
+  <xacro:colored_box_link name="old_arm_distal_left_servo" parent="old_arm_wrist_roll"
+    size="0.041 0.026 0.039" xyz="0.083 0.052 0" material="old_arm_distal_servo"/>
+  <xacro:colored_box_link name="old_arm_distal_right_servo" parent="old_arm_wrist_roll"
+    size="0.041 0.026 0.039" xyz="0.083 -0.052 0" material="old_arm_distal_servo"/>
+  <xacro:colored_box_link name="old_arm_distal_left_cover" parent="old_arm_distal_left_servo"
+    size="0.041 0.007 0.039" xyz="0 0.0165 0" material="old_arm_cover"/>
+  <xacro:colored_box_link name="old_arm_distal_right_cover" parent="old_arm_distal_right_servo"
+    size="0.041 0.007 0.039" xyz="0 -0.0165 0" material="old_arm_cover"/>
+  <xacro:colored_box_link name="old_arm_wrist_marker" parent="old_arm_wrist_roll"
+    size="0.002 0.026 0.005" xyz="0.009 0 0" material="old_arm_cover"/>
+  <xacro:colored_box_link name="old_arm_wrist_marker_cross" parent="old_arm_wrist_roll"
+    size="0.002 0.005 0.026" xyz="0.009 0 0" material="old_arm_cover"/>
+  <joint name="old_arm_wrist_hub_mount" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_wrist_hub"/>
+  </joint>
+  <link name="old_arm_wrist_hub">
+    <xacro:visual_cylinder radius="0.010" length="0.012"
+      xyz="0.006 0 0" rpy="0 ${pi / 2} 0" material="old_arm_metal"/>
+  </link>
+
+  <joint name="old_arm_tool_joint" type="fixed">
+    <parent link="old_arm_wrist_roll"/>
+    <child link="old_arm_tool_frame"/>
+    <origin xyz="$(arg tool_inline) 0 0"/>
+  </joint>
+  <link name="old_arm_tool_frame"/>
+</robot>
\ No newline at end of file
diff --git a/waybionic_hardware/package.xml b/waybionic_hardware/package.xml
new file mode 100644
index 0000000..04a117d
--- /dev/null
+++ b/waybionic_hardware/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>waybionic_hardware</name>
+  <version>0.1.0</version>
+  <description>Arduino serial bridge for the WayBionic four-servo arm.</description>
+
+  <maintainer email="dev@waybionic.local">WayBionic</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <exec_depend>python3-serial</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/waybionic_hardware/resource/waybionic_hardware b/waybionic_hardware/resource/waybionic_hardware
new file mode 100644
index 0000000..289bec5
--- /dev/null
+++ b/waybionic_hardware/resource/waybionic_hardware
@@ -0,0 +1 @@
+# ament package marker
\ No newline at end of file
diff --git a/waybionic_hardware/setup.cfg b/waybionic_hardware/setup.cfg
new file mode 100644
index 0000000..1b8cd9c
--- /dev/null
+++ b/waybionic_hardware/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/waybionic_hardware
+
+[install]
+install_scripts=$base/lib/waybionic_hardware
\ No newline at end of file
diff --git a/waybionic_hardware/setup.py b/waybionic_hardware/setup.py
new file mode 100644
index 0000000..576bd2b
--- /dev/null
+++ b/waybionic_hardware/setup.py
@@ -0,0 +1,23 @@
+from setuptools import find_packages, setup
+
+
+package_name = 'waybionic_hardware'
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools', 'pyserial'],
+    zip_safe=True,
+    description='Arduino serial bridge for the WayBionic four-servo arm.',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            'arduino_bridge = waybionic_hardware.arduino_bridge:main',
+        ],
+    },
+)
\ No newline at end of file
diff --git a/waybionic_hardware/test/test_arduino_bridge.py b/waybionic_hardware/test/test_arduino_bridge.py
new file mode 100644
index 0000000..99f0180
--- /dev/null
+++ b/waybionic_hardware/test/test_arduino_bridge.py
@@ -0,0 +1,29 @@
+"""Minimal tests for Arduino bridge module."""
+import unittest
+
+
+class TestArduinoBridge(unittest.TestCase):
+    """Test cases for ArduinoBridge."""
+
+    def test_import(self):
+        """Test that the module can be imported."""
+        try:
+            from waybionic_hardware import arduino_bridge  # noqa: F401
+            self.assertTrue(True)
+        except ImportError:
+            self.fail("Failed to import arduino_bridge")
+
+    def test_joint_names_match_old_arm_model(self):
+        """Joint states target the imported old-arm URDF joints."""
+        from waybionic_hardware.arduino_bridge import JOINT_NAMES
+
+        self.assertEqual(JOINT_NAMES, [
+            'old_arm_base_yaw_joint',
+            'old_arm_shoulder_pitch_joint',
+            'old_arm_elbow_pitch_joint',
+            'old_arm_wrist_roll_joint',
+        ])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/waybionic_hardware/waybionic_hardware/__init__.py b/waybionic_hardware/waybionic_hardware/__init__.py
new file mode 100644
index 0000000..af384f6
--- /dev/null
+++ b/waybionic_hardware/waybionic_hardware/__init__.py
@@ -0,0 +1 @@
+"""WayBionic hardware transport nodes."""
\ No newline at end of file
diff --git a/waybionic_hardware/waybionic_hardware/arduino_bridge.py b/waybionic_hardware/waybionic_hardware/arduino_bridge.py
new file mode 100644
index 0000000..1c9fe19
--- /dev/null
+++ b/waybionic_hardware/waybionic_hardware/arduino_bridge.py
@@ -0,0 +1,271 @@
+import math
+import threading
+import time
+
+import rclpy
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+
+
+JOINT_NAMES = [
+    'old_arm_base_yaw_joint',
+    'old_arm_shoulder_pitch_joint',
+    'old_arm_elbow_pitch_joint',
+    'old_arm_wrist_roll_joint',
+]
+HOME_PHYSICAL_DEGREES = [33.5, 112.5, 151.5, 27.5]
+SERVO_DIRECTIONS = [1.0, -1.0, 1.0, 1.0]
+PHYSICAL_LIMITS = [(0.0, 270.0), (0.0, 112.5), (90.0, 270.0), (0.0, 270.0)]
+SEQUENCE = [
+    [60.0, 95.0, 125.0, 60.0],
+    [45.0, 75.0, 200.0, 100.0],
+    [15.0, 100.0, 130.0, 5.0],
+    HOME_PHYSICAL_DEGREES,
+]
+
+
+def model_radians_from_physical(degrees):
+    return [
+        math.radians((physical - zero) / direction)
+        for physical, zero, direction in zip(
+            degrees, HOME_PHYSICAL_DEGREES, SERVO_DIRECTIONS)
+    ]
+
+
+def smoothstep(progress):
+    return 6.0 * progress**5 - 15.0 * progress**4 + 10.0 * progress**3
+
+
+class ArduinoBridge(Node):
+    def __init__(self):
+        super().__init__('waybionic_arduino_bridge')
+
+        self.declare_parameter('port', '')
+        self.declare_parameter('baud', 115200)
+        self.declare_parameter('segment_duration', 3.0)
+        self.declare_parameter('dry_run', False)
+
+        self.port = str(self.get_parameter('port').value)
+        self.baud = int(self.get_parameter('baud').value)
+        self.segment_duration = float(self.get_parameter('segment_duration').value)
+        self.dry_run = bool(self.get_parameter('dry_run').value)
+
+        self.joint_publisher = self.create_publisher(JointState, '/joint_states', 10)
+        self.diagnostics_publisher = self.create_publisher(
+            DiagnosticArray, '/diagnostics', 10)
+        self.command_subscription = self.create_subscription(
+            String, '/old_arm_motion_test/command', self.handle_command, 10)
+
+        self.serial_port = None
+        self.serial_lock = threading.Lock()
+        self.serial_reader = None
+        self.serial_stop = threading.Event()
+        self.connected = False
+        self.last_status = 'starting'
+        self.last_error = ''
+        self.current = list(HOME_PHYSICAL_DEGREES)
+        self.start = list(self.current)
+        self.target = list(self.current)
+        self.motion_started = 0.0
+        self.motion_duration = 0.0
+        self.motion_active = False
+        self.sequence_index = 0
+        self.sequence_active = False
+
+        self.state_timer = self.create_timer(0.02, self.publish_estimated_state)
+        self.diagnostics_timer = self.create_timer(1.0, self.publish_diagnostics)
+        self.connect_to_arduino()
+        self.publish_estimated_state()
+
+    def connect_to_arduino(self):
+        if self.dry_run:
+            self.connected = True
+            self.last_status = 'dry-run'
+            self.get_logger().warn('Running in dry-run mode; no Arduino commands will be sent.')
+            return
+
+        if not self.port:
+            self.last_status = 'port-not-configured'
+            self.last_error = 'Set the port parameter, for example /dev/ttyACM0.'
+            self.get_logger().error(self.last_error)
+            return
+
+        try:
+            import serial
+
+            self.serial_port = serial.Serial(self.port, self.baud, timeout=0.1)
+            self.connected = True
+            self.last_status = 'connected'
+            self.serial_reader = threading.Thread(target=self.read_serial, daemon=True)
+            self.serial_reader.start()
+            self.send_line('ID')
+            self.get_logger().info(f'Connected to Arduino on {self.port} at {self.baud} baud.')
+        except Exception as error:
+            self.last_error = str(error)
+            self.last_status = 'connection-failed'
+            self.get_logger().error(f'Could not open Arduino port {self.port}: {error}')
+
+    def read_serial(self):
+        while not self.serial_stop.is_set() and self.serial_port is not None:
+            try:
+                line = self.serial_port.readline().decode('ascii', errors='replace').strip()
+                if line:
+                    self.process_serial_line(line)
+            except Exception as error:
+                self.connected = False
+                self.last_error = str(error)
+                self.last_status = 'serial-read-failed'
+                return
+
+    def process_serial_line(self, line):
+        self.get_logger().debug(f'Arduino: {line}')
+        if line.startswith('READY,IK4,1'):
+            self.last_status = 'ready'
+            return
+        if line.startswith('ERROR,'):
+            self.motion_active = False
+            self.sequence_active = False
+            self.last_error = line[6:]
+            self.last_status = 'arduino-error'
+            return
+        if line == 'OK,ARRIVED':
+            self.current = list(self.target)
+            self.motion_active = False
+            self.last_status = 'arrived'
+            if self.sequence_active:
+                self.sequence_index += 1
+                if self.sequence_index < len(SEQUENCE):
+                    self.send_move(SEQUENCE[self.sequence_index])
+                else:
+                    self.sequence_active = False
+            return
+        if line in ('OK,MOVE', 'OK,JOG'):
+            self.last_status = 'accepted'
+            return
+        if line in ('OK,HOLD', 'OK,SWITCH HOLD'):
+            self.motion_active = False
+            self.sequence_active = False
+            self.last_status = 'held'
+
+    def send_line(self, line):
+        if self.dry_run:
+            self.last_status = 'dry-run-accepted'
+            return True
+        if not self.connected or self.serial_port is None:
+            self.last_status = 'not-connected'
+            return False
+        try:
+            with self.serial_lock:
+                self.serial_port.write((line + '\n').encode('ascii'))
+            return True
+        except Exception as error:
+            self.connected = False
+            self.last_error = str(error)
+            self.last_status = 'serial-write-failed'
+            return False
+
+    def handle_command(self, message):
+        command = message.data.strip().upper()
+        if command == 'RUN':
+            if not self.connected:
+                self.last_status = 'run-rejected-not-connected'
+                return
+            self.sequence_index = 0
+            self.sequence_active = True
+            self.send_move(SEQUENCE[0])
+        elif command == 'HOME':
+            self.sequence_active = False
+            self.send_move(HOME_PHYSICAL_DEGREES)
+        elif command == 'STOP':
+            self.sequence_active = False
+            self.motion_active = False
+            if self.send_line('HOLD'):
+                self.last_status = 'hold-requested'
+            else:
+                self.last_status = 'hold-request-failed'
+        else:
+            self.get_logger().warn(f'Ignoring unknown motion command: {command}')
+
+    def send_move(self, target):
+        if any(
+            value < lower or value > upper
+            for value, (lower, upper) in zip(target, PHYSICAL_LIMITS)
+        ):
+            self.last_error = 'Target exceeds Arduino software limits.'
+            self.last_status = 'target-rejected'
+            self.motion_active = False
+            self.sequence_active = False
+            return
+
+        self.start = list(self.current)
+        self.target = list(target)
+        self.motion_started = time.monotonic()
+        self.motion_duration = max(0.3, min(15.0, self.segment_duration))
+        command = 'MOVE,' + ','.join(f'{value:.2f}' for value in target)
+        command += f',{int(self.motion_duration * 1000)}'
+        if self.send_line(command):
+            self.motion_active = True
+            self.last_status = 'move-requested'
+
+    def publish_estimated_state(self):
+        if self.motion_active:
+            progress = min(
+                (time.monotonic() - self.motion_started) / self.motion_duration,
+                1.0,
+            )
+            blend = smoothstep(progress)
+            self.current = [
+                start + (target - start) * blend
+                for start, target in zip(self.start, self.target)
+            ]
+
+        message = JointState()
+        message.header.stamp = self.get_clock().now().to_msg()
+        message.name = JOINT_NAMES
+        message.position = model_radians_from_physical(self.current)
+        self.joint_publisher.publish(message)
+
+        if self.dry_run and self.motion_active and time.monotonic() >= self.motion_started + self.motion_duration:
+            self.process_serial_line('OK,ARRIVED')
+
+    def publish_diagnostics(self):
+        status = DiagnosticStatus()
+        status.name = 'waybionic_arduino_bridge'
+        status.level = DiagnosticStatus.OK if self.connected else DiagnosticStatus.ERROR
+        status.message = self.last_status
+        status.values = [
+            KeyValue(key='port', value=self.port or 'not configured'),
+            KeyValue(key='baud', value=str(self.baud)),
+            KeyValue(key='mode', value='dry-run' if self.dry_run else 'physical'),
+            KeyValue(key='error', value=self.last_error),
+        ]
+        message = DiagnosticArray()
+        message.header.stamp = self.get_clock().now().to_msg()
+        message.status = [status]
+        self.diagnostics_publisher.publish(message)
+
+    def destroy_node(self):
+        self.serial_stop.set()
+        if self.serial_port is not None:
+            try:
+                self.serial_port.close()
+            except Exception:
+                pass
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ArduinoBridge()
+    try:
+        rclpy.spin(node)
+    finally:
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/waybionic_motion_test/package.xml b/waybionic_motion_test/package.xml
new file mode 100644
index 0000000..8df9897
--- /dev/null
+++ b/waybionic_motion_test/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>waybionic_motion_test</name>
+  <version>0.0.1</version>
+  <description>RViz visual motion testing for the WayBionic robot.</description>
+
+  <maintainer email="dev@waybionic.local">WayBionic</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/waybionic_motion_test/resource/waybionic_motion_test b/waybionic_motion_test/resource/waybionic_motion_test
new file mode 100644
index 0000000..e69de29
diff --git a/waybionic_motion_test/setup.cfg b/waybionic_motion_test/setup.cfg
new file mode 100644
index 0000000..2f16cb3
--- /dev/null
+++ b/waybionic_motion_test/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/waybionic_motion_test
+
+[install]
+install_scripts=$base/lib/waybionic_motion_test
diff --git a/waybionic_motion_test/setup.py b/waybionic_motion_test/setup.py
new file mode 100644
index 0000000..807515f
--- /dev/null
+++ b/waybionic_motion_test/setup.py
@@ -0,0 +1,22 @@
+from setuptools import find_packages, setup
+
+package_name = 'waybionic_motion_test'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=find_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    description='RViz visual motion testing for the WayBionic robot.',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            'motion_test = waybionic_motion_test.motion_test:main',
+        ],
+    },
+)
diff --git a/waybionic_motion_test/test/test_motion_test.py b/waybionic_motion_test/test/test_motion_test.py
new file mode 100644
index 0000000..f2afc80
--- /dev/null
+++ b/waybionic_motion_test/test/test_motion_test.py
@@ -0,0 +1,29 @@
+"""Minimal tests for motion test module."""
+import unittest
+
+
+class TestMotionTest(unittest.TestCase):
+    """Test cases for MotionTest."""
+
+    def test_import(self):
+        """Test that the module can be imported."""
+        try:
+            from waybionic_motion_test import motion_test  # noqa: F401
+            self.assertTrue(True)
+        except ImportError:
+            self.fail("Failed to import motion_test")
+
+    def test_joint_names_match_old_arm_model(self):
+        """Joint states target the imported old-arm URDF joints."""
+        from waybionic_motion_test.motion_test import JOINT_NAMES
+
+        self.assertEqual(JOINT_NAMES, [
+            'old_arm_base_yaw_joint',
+            'old_arm_shoulder_pitch_joint',
+            'old_arm_elbow_pitch_joint',
+            'old_arm_wrist_roll_joint',
+        ])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/waybionic_motion_test/waybionic_motion_test/__init__.py b/waybionic_motion_test/waybionic_motion_test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/waybionic_motion_test/waybionic_motion_test/motion_test.py b/waybionic_motion_test/waybionic_motion_test/motion_test.py
new file mode 100644
index 0000000..d1f2620
--- /dev/null
+++ b/waybionic_motion_test/waybionic_motion_test/motion_test.py
@@ -0,0 +1,133 @@
+import math
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+
+
+JOINT_NAMES = [
+    'old_arm_base_yaw_joint',
+    'old_arm_shoulder_pitch_joint',
+    'old_arm_elbow_pitch_joint',
+    'old_arm_wrist_roll_joint',
+]
+JOINT_COUNT = len(JOINT_NAMES)
+HOME_PHYSICAL_DEGREES = [33.5, 112.5, 151.5, 27.5]
+SERVO_DIRECTIONS = [1.0, -1.0, 1.0, 1.0]
+
+
+def model_radians_from_physical(degrees):
+    """Convert calibrated Arduino servo angles into URDF model radians."""
+    return [
+        math.radians((physical - zero) / direction)
+        for physical, zero, direction in zip(
+            degrees, HOME_PHYSICAL_DEGREES, SERVO_DIRECTIONS)
+    ]
+
+
+def smoothstep(progress):
+    return 6.0 * progress**5 - 15.0 * progress**4 + 10.0 * progress**3
+
+
+class MotionTestNode(Node):
+    def __init__(self):
+        super().__init__('motion_test')
+
+        self.publisher = self.create_publisher(
+            JointState,
+            '/joint_states',
+            10,
+        )
+        self.command_subscription = self.create_subscription(
+            String,
+            '/old_arm_motion_test/command',
+            self.handle_command,
+            10,
+        )
+
+        self.declare_parameter('segment_duration', 3.0)
+        self.segment_duration = float(self.get_parameter('segment_duration').value)
+        if self.segment_duration <= 0.0:
+            raise ValueError('segment_duration must be positive')
+        self.home = model_radians_from_physical(HOME_PHYSICAL_DEGREES)
+        self.current = list(self.home)
+        self.start = list(self.home)
+        self.target = list(self.home)
+        self.segment_elapsed = 0.0
+        self.segment_active = False
+        self.sequence = [
+            model_radians_from_physical([60.0, 95.0, 125.0, 60.0]),
+            model_radians_from_physical([45.0, 75.0, 200.0, 100.0]),
+            model_radians_from_physical([15.0, 100.0, 130.0, 5.0]),
+            self.home,
+        ]
+        self.sequence_index = 0
+        self.timer = self.create_timer(0.02, self.update_trajectory)
+        self.publish_joint_state()
+
+        self.get_logger().info(
+            'Old-arm 4-DOF motion test started; publishing simulated commanded positions.')
+
+    def handle_command(self, message):
+        command = message.data.strip().upper()
+        if command == 'RUN':
+            self.sequence_index = 0
+            self.start_segment(self.sequence[self.sequence_index])
+        elif command == 'HOME':
+            self.start_segment(self.home)
+        elif command == 'STOP':
+            self.segment_active = False
+            self.target = list(self.current)
+            self.publish_joint_state()
+
+    def start_segment(self, target):
+        self.start = list(self.current)
+        self.target = list(target)
+        self.segment_elapsed = 0.0
+        self.segment_active = True
+
+    def update_trajectory(self):
+        if not self.segment_active:
+            return
+
+        self.segment_elapsed += 0.02
+        progress = min(self.segment_elapsed / self.segment_duration, 1.0)
+        blend = smoothstep(progress)
+        self.current = [
+            start + (target - start) * blend
+            for start, target in zip(self.start, self.target)
+        ]
+        self.publish_joint_state()
+
+        if progress >= 1.0:
+            self.current = list(self.target)
+            if self.sequence_index < len(self.sequence) - 1:
+                self.sequence_index += 1
+                self.start_segment(self.sequence[self.sequence_index])
+            else:
+                self.segment_active = False
+
+    def publish_joint_state(self):
+        message = JointState()
+        message.header.stamp = self.get_clock().now().to_msg()
+        message.name = JOINT_NAMES
+        message.position = self.current
+        self.publisher.publish(message)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = MotionTestNode()
+
+    try:
+        rclpy.spin(node)
+    finally:
+        node.destroy_node()
+
+        if rclpy.ok():
+            rclpy.shutdown()
+        
+if __name__ == '__main__':
+    main()

From 536cbb96d4869801a488dddd1106343d9e685383 Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sun, 13 Sep 2026 18:10:51 -0600
Subject: [PATCH 8/9] Fix diagnostics snapshot and signal expiry

---
 waybionic_diagnostics/test/test_cli.py        | 32 +++++++++++++++++++
 .../waybionic_diagnostics/cli.py              | 20 +++++++++---
 2 files changed, 47 insertions(+), 5 deletions(-)

diff --git a/waybionic_diagnostics/test/test_cli.py b/waybionic_diagnostics/test/test_cli.py
index 7d61a41..acc7c7a 100644
--- a/waybionic_diagnostics/test/test_cli.py
+++ b/waybionic_diagnostics/test/test_cli.py
@@ -143,6 +143,38 @@ def test_diagnostics_callback_merges_entries_from_multiple_publishers():
         rclpy.shutdown()
 
 
+def test_run_snapshot_collects_queued_publishers(monkeypatch, capsys):
+    import rclpy
+    from diagnostic_msgs.msg import DiagnosticArray
+    from waybionic_diagnostics import cli
+
+    rclpy.init()
+    node = DiagnosticsCliNode('/test_diagnostics')
+    can_message = DiagnosticArray()
+    can_status = DiagnosticStatus()
+    can_status.name = 'can.bus'
+    can_status.level = DiagnosticStatus.ERROR
+    can_message.status = [can_status]
+    imu_message = DiagnosticArray()
+    imu_status = DiagnosticStatus()
+    imu_status.name = 'imu.orientation'
+    imu_status.level = DiagnosticStatus.OK
+    imu_message.status = [imu_status]
+
+    try:
+        node.diagnostics_callback(imu_message)
+        node.diagnostics_callback(can_message)
+        monkeypatch.setattr(cli, 'SNAPSHOT_COLLECTION_SECONDS', 0.0)
+        cli.run_snapshot(node)
+
+        output = capsys.readouterr().out
+        assert 'can.bus' in output
+        assert 'Overall: FAULT' in output
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
 def test_diagnostics_callback_uses_header_stamp_for_sample_age(monkeypatch, capsys):
     import rclpy
     from diagnostic_msgs.msg import DiagnosticArray
diff --git a/waybionic_diagnostics/waybionic_diagnostics/cli.py b/waybionic_diagnostics/waybionic_diagnostics/cli.py
index e7a726a..227a1ea 100644
--- a/waybionic_diagnostics/waybionic_diagnostics/cli.py
+++ b/waybionic_diagnostics/waybionic_diagnostics/cli.py
@@ -9,6 +9,7 @@
 
 
 STALE_AFTER_SECONDS = 5.0
+SNAPSHOT_COLLECTION_SECONDS = 0.1
 
 
 def status_name(level: int) -> str:
@@ -55,6 +56,7 @@ def __init__(self, topic: str):
 
         self.topic = topic
         self.latest: List[DiagnosticStatus] = []
+        self._received_monotonic_by_name: Dict[str, float] = {}
         self._sample_time_by_name: Dict[str, float] = {}
         self.last_received_monotonic: Optional[float] = None
 
@@ -77,6 +79,7 @@ def diagnostics_callback(self, message: DiagnosticArray):
         latest_by_name = {status.name: status for status in self.latest}
         for status in message.status:
             latest_by_name[status.name] = status
+            self._received_monotonic_by_name[status.name] = received_monotonic
             self._sample_time_by_name[status.name] = sample_time
 
         self.latest = list(latest_by_name.values())
@@ -92,10 +95,13 @@ def data_age(self) -> Optional[float]:
     def status_age(self, status: DiagnosticStatus) -> Optional[float]:
         """Return the sample age for one cached diagnostic status."""
         sample_time = self._sample_time_by_name.get(status.name)
-        if sample_time is None:
+        received_monotonic = self._received_monotonic_by_name.get(status.name)
+        if sample_time is None or received_monotonic is None:
             return None
 
-        return max(0.0, time.time() - sample_time)
+        sample_age = max(0.0, time.time() - sample_time)
+        receive_age = max(0.0, time.monotonic() - received_monotonic)
+        return max(sample_age, receive_age)
 
 
 def overall_status(statuses: List[str]) -> str:
@@ -196,8 +202,9 @@ def print_snapshot(node: DiagnosticsCliNode, clear: bool = False):
     print('─' * 100)
     print(f'Overall: {overall_status(rendered_statuses)}')
 
-    if age is not None:
-        print(f'Diagnostics stream age: {age:.1f}s')
+    stream_age = node.data_age()
+    if stream_age is not None:
+        print(f'Diagnostics stream age: {stream_age:.1f}s')
 
 
 def wait_for_first_message(node: DiagnosticsCliNode, timeout: float = 5.0):
@@ -215,7 +222,10 @@ def wait_for_first_message(node: DiagnosticsCliNode, timeout: float = 5.0):
 
 def run_snapshot(node: DiagnosticsCliNode):
     """Run one diagnostic snapshot."""
-    wait_for_first_message(node)
+    if wait_for_first_message(node):
+        deadline = time.monotonic() + SNAPSHOT_COLLECTION_SECONDS
+        while rclpy.ok() and time.monotonic() < deadline:
+            rclpy.spin_once(node, timeout_sec=0.0)
     print_snapshot(node)
 
 

From 17f3be65b0d783fde2cde2e6b592d5981d49ed13 Mon Sep 17 00:00:00 2001
From: aj0khi <khidri.ajmal@gmail.com>
Date: Sun, 13 Sep 2026 18:14:02 -0600
Subject: [PATCH 9/9] Revert "Integrate new old-arm model with motion
 publishers"

This reverts commit dc0ab631741fad959f436584dd49ce127aee3e23.
---
 waybionic_bringup/CMakeLists.txt              |   1 -
 .../launch/ground_station.launch.py           |  80 +--
 waybionic_bringup/launch/old_arm.launch.py    |  59 --
 waybionic_bringup/rviz/waybionic_old_arm.rviz |  88 ---
 .../rviz/waybionic_old_arm_root.rviz          |  88 ---
 waybionic_bringup/test/test_old_arm_launch.py | 218 --------
 .../meshes/old_arm/base_plate.stl             | Bin 86484 -> 0 bytes
 .../meshes/old_arm/shoulder_back_plate.stl    | Bin 121684 -> 0 bytes
 .../meshes/old_arm/shoulder_motor_plate.stl   | Bin 89684 -> 0 bytes
 .../meshes/old_arm/upper_arm_plate.stl        | Bin 502884 -> 0 bytes
 .../meshes/old_arm/wrist_cage.stl             | Bin 169284 -> 0 bytes
 .../meshes/old_arm/wrist_housing.stl          | Bin 163484 -> 0 bytes
 .../urdf/waybionic_old_arm.expanded.urdf      | 518 ------------------
 .../urdf/waybionic_old_arm.urdf.xacro         | 255 ---------
 waybionic_hardware/package.xml                |  19 -
 .../resource/waybionic_hardware               |   1 -
 waybionic_hardware/setup.cfg                  |   5 -
 waybionic_hardware/setup.py                   |  23 -
 .../test/test_arduino_bridge.py               |  29 -
 .../waybionic_hardware/__init__.py            |   1 -
 .../waybionic_hardware/arduino_bridge.py      | 271 ---------
 waybionic_motion_test/package.xml             |  17 -
 .../resource/waybionic_motion_test            |   0
 waybionic_motion_test/setup.cfg               |   5 -
 waybionic_motion_test/setup.py                |  22 -
 .../test/test_motion_test.py                  |  29 -
 .../waybionic_motion_test/__init__.py         |   0
 .../waybionic_motion_test/motion_test.py      | 133 -----
 28 files changed, 8 insertions(+), 1854 deletions(-)
 delete mode 100644 waybionic_bringup/launch/old_arm.launch.py
 delete mode 100644 waybionic_bringup/rviz/waybionic_old_arm.rviz
 delete mode 100644 waybionic_bringup/rviz/waybionic_old_arm_root.rviz
 delete mode 100644 waybionic_bringup/test/test_old_arm_launch.py
 delete mode 100644 waybionic_description/meshes/old_arm/base_plate.stl
 delete mode 100644 waybionic_description/meshes/old_arm/shoulder_back_plate.stl
 delete mode 100644 waybionic_description/meshes/old_arm/shoulder_motor_plate.stl
 delete mode 100644 waybionic_description/meshes/old_arm/upper_arm_plate.stl
 delete mode 100644 waybionic_description/meshes/old_arm/wrist_cage.stl
 delete mode 100644 waybionic_description/meshes/old_arm/wrist_housing.stl
 delete mode 100644 waybionic_description/urdf/waybionic_old_arm.expanded.urdf
 delete mode 100644 waybionic_description/urdf/waybionic_old_arm.urdf.xacro
 delete mode 100644 waybionic_hardware/package.xml
 delete mode 100644 waybionic_hardware/resource/waybionic_hardware
 delete mode 100644 waybionic_hardware/setup.cfg
 delete mode 100644 waybionic_hardware/setup.py
 delete mode 100644 waybionic_hardware/test/test_arduino_bridge.py
 delete mode 100644 waybionic_hardware/waybionic_hardware/__init__.py
 delete mode 100644 waybionic_hardware/waybionic_hardware/arduino_bridge.py
 delete mode 100644 waybionic_motion_test/package.xml
 delete mode 100644 waybionic_motion_test/resource/waybionic_motion_test
 delete mode 100644 waybionic_motion_test/setup.cfg
 delete mode 100644 waybionic_motion_test/setup.py
 delete mode 100644 waybionic_motion_test/test/test_motion_test.py
 delete mode 100644 waybionic_motion_test/waybionic_motion_test/__init__.py
 delete mode 100644 waybionic_motion_test/waybionic_motion_test/motion_test.py

diff --git a/waybionic_bringup/CMakeLists.txt b/waybionic_bringup/CMakeLists.txt
index beae403..fba831a 100644
--- a/waybionic_bringup/CMakeLists.txt
+++ b/waybionic_bringup/CMakeLists.txt
@@ -18,7 +18,6 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
   add_launch_test(test/test_ground_station_launch.py)
-  add_launch_test(test/test_old_arm_launch.py)
 endif()
 
 install(DIRECTORY launch
diff --git a/waybionic_bringup/launch/ground_station.launch.py b/waybionic_bringup/launch/ground_station.launch.py
index 277720b..2183b8b 100644
--- a/waybionic_bringup/launch/ground_station.launch.py
+++ b/waybionic_bringup/launch/ground_station.launch.py
@@ -5,7 +5,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import Command, LaunchConfiguration
 from launch_ros.actions import Node
 
 
@@ -24,9 +24,9 @@ def generate_launch_description():
     waybionic_bringup_dir = get_package_share_directory('waybionic_bringup')
 
     default_model_path = os.path.join(
-        waybionic_desc_dir, 'urdf', 'waybionic_old_arm.urdf.xacro')
+        waybionic_desc_dir, 'urdf', 'waybionic_placeholder.urdf')
     default_rviz_config_path = os.path.join(
-        waybionic_bringup_dir, 'rviz', 'waybionic_old_arm_root.rviz')
+        waybionic_bringup_dir, 'rviz', 'waybionic_unified.rviz')
 
     # --- Declare Launch Arguments ---
     model_arg = DeclareLaunchArgument(
@@ -42,35 +42,11 @@ def generate_launch_description():
         description='Diagnostics topic name')
 
     start_temp_pub_arg = DeclareLaunchArgument(
-        'start_temporary_diagnostics_publisher', default_value='true',
+        'start_temporary_diagnostics_publisher', default_value='false',
         description='Start the optional temporary publisher for live demo')
 
-    start_motion_test_arg = DeclareLaunchArgument(
-        'start_motion_test', default_value='true',
-        description='Start the old-arm four-joint motion-test node')
-
-    hardware_mode_arg = DeclareLaunchArgument(
-        'hardware_mode', default_value='simulation',
-        description='Arm mode: simulation or arduino')
-
-    arduino_port_arg = DeclareLaunchArgument(
-        'arduino_port', default_value='',
-        description='Arduino serial port, for example /dev/ttyACM0')
-
-    arduino_baud_arg = DeclareLaunchArgument(
-        'arduino_baud', default_value='115200',
-        description='Arduino serial baud rate')
-
-    arduino_dry_run_arg = DeclareLaunchArgument(
-        'arduino_dry_run', default_value='false',
-        description='Run the Arduino bridge without opening a serial port')
-
-    motion_test_duration_arg = DeclareLaunchArgument(
-        'motion_test_segment_duration', default_value='3.0',
-        description='Seconds for each synchronized motion segment')
-
     use_jsp_gui_arg = DeclareLaunchArgument(
-        'use_joint_state_publisher_gui', default_value='false',
+        'use_joint_state_publisher_gui', default_value='true',
         description='Launch joint state publisher GUI')
 
     use_sim_time_arg = DeclareLaunchArgument(
@@ -102,21 +78,14 @@ def generate_launch_description():
 
     jsp_gui_node = Node(
         package='joint_state_publisher_gui', executable='joint_state_publisher_gui',
-        condition=IfCondition(PythonExpression([
-            "'", LaunchConfiguration('use_joint_state_publisher_gui'), "' == 'true' and '",
-            LaunchConfiguration('hardware_mode'), "' == 'simulation'"
-        ]))
+        condition=IfCondition(LaunchConfiguration('use_joint_state_publisher_gui'))
     )
 
     # Pass the correct arguments to the temporary publisher
     temp_diag_pub_node = Node(
         package='waybionic_rviz_plugins', executable='temporary_diagnostics_publisher.py',
         name='temp_diag_pub',
-        condition=IfCondition(PythonExpression([
-            "'", LaunchConfiguration('start_temporary_diagnostics_publisher'),
-            "' == 'true' and '", LaunchConfiguration('hardware_mode'),
-            "' == 'simulation'"
-        ])),
+        condition=IfCondition(LaunchConfiguration('start_temporary_diagnostics_publisher')),
         parameters=[
             {'mode': 'normal'},
             {'topic': LaunchConfiguration('diagnostics_topic')},
@@ -124,36 +93,6 @@ def generate_launch_description():
         ]
     )
 
-    motion_test_node = Node(
-        package='waybionic_motion_test',
-        executable='motion_test',
-        name='old_arm_motion_test',
-        output='screen',
-        condition=IfCondition(PythonExpression([
-            "'", LaunchConfiguration('start_motion_test'), "' == 'true' and '",
-            LaunchConfiguration('hardware_mode'), "' == 'simulation'"
-        ])),
-        parameters=[
-            {'segment_duration': LaunchConfiguration('motion_test_segment_duration')}
-        ]
-    )
-
-    arduino_bridge_node = Node(
-        package='waybionic_hardware',
-        executable='arduino_bridge',
-        name='waybionic_arduino_bridge',
-        output='screen',
-        condition=IfCondition(PythonExpression([
-            "'", LaunchConfiguration('hardware_mode'), "' == 'arduino'"
-        ])),
-        parameters=[
-            {'port': LaunchConfiguration('arduino_port')},
-            {'baud': LaunchConfiguration('arduino_baud')},
-            {'segment_duration': LaunchConfiguration('motion_test_segment_duration')},
-            {'dry_run': LaunchConfiguration('arduino_dry_run')},
-        ]
-    )
-
     # Pass the mock toggles into the RViz node parameters
     rviz_node = Node(
         package='rviz2', executable='rviz2', name='rviz2', output='screen',
@@ -169,8 +108,5 @@ def generate_launch_description():
     return LaunchDescription([
         model_arg, use_mock_diag_arg, diag_topic_arg, start_temp_pub_arg,
         use_jsp_gui_arg, use_sim_time_arg, launch_rviz_arg, rviz_config_arg,
-        start_motion_test_arg, motion_test_duration_arg, hardware_mode_arg,
-        arduino_port_arg, arduino_baud_arg, arduino_dry_run_arg, file_check,
-        rsp_node, jsp_gui_node, temp_diag_pub_node, motion_test_node,
-        arduino_bridge_node, rviz_node
+        file_check, rsp_node, jsp_gui_node, temp_diag_pub_node, rviz_node
     ])
diff --git a/waybionic_bringup/launch/old_arm.launch.py b/waybionic_bringup/launch/old_arm.launch.py
deleted file mode 100644
index 3567718..0000000
--- a/waybionic_bringup/launch/old_arm.launch.py
+++ /dev/null
@@ -1,59 +0,0 @@
-"""Display the handoff's four-servo arm without commanding physical hardware."""
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import PushRosNamespace, SetRemap
-
-
-def generate_launch_description():
-    """Reuse the ground station with an isolated model and joint-state topic."""
-    description = get_package_share_directory('waybionic_description')
-    bringup = get_package_share_directory('waybionic_bringup')
-    arguments = [
-        DeclareLaunchArgument(
-            'model',
-            default_value=os.path.join(description, 'urdf', 'waybionic_old_arm.urdf.xacro'),
-            description='Old-arm Xacro or an expanded, calibrated URDF'),
-        DeclareLaunchArgument(
-            'joint_states_topic', default_value='/old_arm/joint_states',
-            description='sensor_msgs/JointState input, with named model joints in radians'),
-        DeclareLaunchArgument(
-            'use_joint_state_publisher_gui', default_value='true',
-            description='Set false when a live joint-state source is connected'),
-        DeclareLaunchArgument(
-            'launch_rviz', default_value='true',
-            description='Set false for headless transform validation'),
-        DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
-            description='Enable only when an external simulation clock is provided'),
-        DeclareLaunchArgument(
-            'use_mock_diagnostics', default_value='true',
-            description='Diagnostics remain mock unless a real backend is selected'),
-        DeclareLaunchArgument(
-            'diagnostics_topic', default_value='/diagnostics',
-            description='DiagnosticArray input for the Engineering Monitor'),
-    ]
-    station = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(bringup, 'launch', 'ground_station.launch.py')),
-        launch_arguments={
-            'model': LaunchConfiguration('model'),
-            'rvizconfig': os.path.join(bringup, 'rviz', 'waybionic_old_arm.rviz'),
-            'use_joint_state_publisher_gui': LaunchConfiguration('use_joint_state_publisher_gui'),
-            'launch_rviz': LaunchConfiguration('launch_rviz'),
-            'use_sim_time': LaunchConfiguration('use_sim_time'),
-            'use_mock_diagnostics': LaunchConfiguration('use_mock_diagnostics'),
-            'diagnostics_topic': LaunchConfiguration('diagnostics_topic'),
-            'start_temporary_diagnostics_publisher': 'false',
-        }.items(),
-    )
-    return LaunchDescription(arguments + [GroupAction([
-        PushRosNamespace('old_arm'),
-        SetRemap(src='joint_states', dst=LaunchConfiguration('joint_states_topic')),
-        station,
-    ])])
diff --git a/waybionic_bringup/rviz/waybionic_old_arm.rviz b/waybionic_bringup/rviz/waybionic_old_arm.rviz
deleted file mode 100644
index ba28b6b..0000000
--- a/waybionic_bringup/rviz/waybionic_old_arm.rviz
+++ /dev/null
@@ -1,88 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Name: Displays
-  - Class: rviz_common/Views
-    Name: Views
-  - Class: waybionic_rviz_plugins/DiagnosticsPanel
-    Name: Engineering Monitor
-    Diagnostics Topic: /diagnostics
-    Use Mock Diagnostics: true
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Class: rviz_default_plugins/Grid
-      Name: Grid (50 mm)
-      Enabled: true
-      Cell Size: 0.05
-      Plane Cell Count: 12
-      Color: 155; 155; 155
-      Alpha: 0.45
-      Reference Frame: <Fixed Frame>
-      Plane: XY
-      Offset:
-        X: 0
-        Y: 0
-        Z: -0.066
-      Line Style:
-        Value: Lines
-        Line Width: 0.001
-    - Class: rviz_default_plugins/RobotModel
-      Name: Old Arm (Video Reference Model)
-      Enabled: true
-      Visual Enabled: true
-      Collision Enabled: false
-      Alpha: 1
-      Description Source: Topic
-      Description Topic:
-        Value: /old_arm/robot_description
-        Depth: 1
-        Durability Policy: Transient Local
-        Reliability Policy: Reliable
-        History Policy: Keep Last
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      TF Prefix: ""
-      Update Interval: 0
-    - Class: rviz_default_plugins/Axes
-      Name: Wrist Target Frame
-      Enabled: true
-      Reference Frame: old_arm_tool_frame
-      Length: 0.035
-      Radius: 0.0015
-  Enabled: true
-  Global Options:
-    Fixed Frame: old_arm_base_link
-    Background Color: 238; 240; 242
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Name: Current View
-      Distance: 0.78
-      Pitch: 0.45
-      Yaw: 0.80
-      Near Clip Distance: 0.005
-      Target Frame: <Fixed Frame>
-      Focal Point:
-        X: 0.08
-        Y: 0
-        Z: 0.13
-    Saved: ~
-Window Geometry:
-  Width: 1440
-  Height: 960
-  X: 40
-  Y: 40
-  Hide Left Dock: false
-  Hide Right Dock: false
\ No newline at end of file
diff --git a/waybionic_bringup/rviz/waybionic_old_arm_root.rviz b/waybionic_bringup/rviz/waybionic_old_arm_root.rviz
deleted file mode 100644
index be06046..0000000
--- a/waybionic_bringup/rviz/waybionic_old_arm_root.rviz
+++ /dev/null
@@ -1,88 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Name: Displays
-  - Class: rviz_common/Views
-    Name: Views
-  - Class: waybionic_rviz_plugins/DiagnosticsPanel
-    Name: Engineering Monitor
-    Diagnostics Topic: /diagnostics
-    Use Mock Diagnostics: true
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Class: rviz_default_plugins/Grid
-      Name: Grid (50 mm)
-      Enabled: true
-      Cell Size: 0.05
-      Plane Cell Count: 12
-      Color: 155; 155; 155
-      Alpha: 0.45
-      Reference Frame: <Fixed Frame>
-      Plane: XY
-      Offset:
-        X: 0
-        Y: 0
-        Z: -0.066
-      Line Style:
-        Value: Lines
-        Line Width: 0.001
-    - Class: rviz_default_plugins/RobotModel
-      Name: Old Arm (Video Reference Model)
-      Enabled: true
-      Visual Enabled: true
-      Collision Enabled: false
-      Alpha: 1
-      Description Source: Topic
-      Description Topic:
-        Value: /robot_description
-        Depth: 1
-        Durability Policy: Transient Local
-        Reliability Policy: Reliable
-        History Policy: Keep Last
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      TF Prefix: ""
-      Update Interval: 0
-    - Class: rviz_default_plugins/Axes
-      Name: Wrist Target Frame
-      Enabled: true
-      Reference Frame: old_arm_tool_frame
-      Length: 0.035
-      Radius: 0.0015
-  Enabled: true
-  Global Options:
-    Fixed Frame: old_arm_base_link
-    Background Color: 238; 240; 242
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Name: Current View
-      Distance: 0.78
-      Pitch: 0.45
-      Yaw: 0.80
-      Near Clip Distance: 0.005
-      Target Frame: <Fixed Frame>
-      Focal Point:
-        X: 0.08
-        Y: 0
-        Z: 0.13
-    Saved: ~
-Window Geometry:
-  Width: 1440
-  Height: 960
-  X: 40
-  Y: 40
-  Hide Left Dock: false
-  Hide Right Dock: false
\ No newline at end of file
diff --git a/waybionic_bringup/test/test_old_arm_launch.py b/waybionic_bringup/test/test_old_arm_launch.py
deleted file mode 100644
index 37d7f3f..0000000
--- a/waybionic_bringup/test/test_old_arm_launch.py
+++ /dev/null
@@ -1,218 +0,0 @@
-"""Check the handoff model and its live JointState-to-TF path without hardware."""
-
-import math
-import os
-from pathlib import Path
-import struct
-import subprocess
-import time
-import unittest
-import uuid
-import xml.etree.ElementTree as ET
-
-from ament_index_python.packages import get_package_share_directory
-import launch
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-import launch_testing
-import launch_testing.actions
-import pytest
-import rclpy
-from rclpy.time import Time
-from sensor_msgs.msg import JointState
-from tf2_ros import Buffer, TransformListener
-
-
-JOINT_NAMES = [
-    'old_arm_base_yaw_joint',
-    'old_arm_shoulder_pitch_joint',
-    'old_arm_elbow_pitch_joint',
-    'old_arm_wrist_roll_joint',
-]
-
-
-def expand_model(*mappings):
-    """Expand the installed model, including any calibration overrides."""
-    source = os.path.join(
-        get_package_share_directory('waybionic_description'),
-        'urdf', 'waybionic_old_arm.urdf.xacro')
-    result = subprocess.run(
-        ['xacro', source, *mappings], check=True, capture_output=True, text=True)
-    return ET.fromstring(result.stdout)
-
-
-def expected_wrist_position(positions):
-    """Evaluate the handoff's independent forward-kinematics equations."""
-    base, shoulder, elbow, _ = positions
-    radial = 0.025 + 0.120 * math.cos(shoulder) + 0.050 * math.cos(shoulder + elbow)
-    height = 0.070 + 0.120 * math.sin(shoulder) + 0.050 * math.sin(shoulder + elbow)
-    return radial * math.cos(base), radial * math.sin(base), height
-
-
-@pytest.mark.launch_test
-def generate_test_description():
-    """Launch only the old-arm state publisher on a unique input topic."""
-    bringup = get_package_share_directory('waybionic_bringup')
-    topic = '/old_arm_test_' + uuid.uuid4().hex + '/joint_states'
-    station = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(bringup, 'launch', 'old_arm.launch.py')),
-        launch_arguments={
-            'launch_rviz': 'false',
-            'use_joint_state_publisher_gui': 'false',
-            'joint_states_topic': topic,
-        }.items(),
-    )
-    return launch.LaunchDescription([
-        station, launch_testing.actions.ReadyToTest(),
-    ]), {'joint_states_topic': topic}
-
-
-class TestOldArmDescription(unittest.TestCase):
-    """Protect handoff calibration and visualization-only model boundaries."""
-
-    def test_joint_contract_and_limits(self):
-        """Keep four named joints with handoff software ranges in radians."""
-        robot = expand_model()
-        joints = [joint for joint in robot.findall('joint') if joint.get('type') != 'fixed']
-        self.assertEqual([joint.get('name') for joint in joints], JOINT_NAMES)
-        expected_ranges = [(-33.5, 236.5), (0.0, 112.5), (-61.5, 118.5), (-27.5, 242.5)]
-        for joint, expected in zip(joints, expected_ranges):
-            self.assertEqual(joint.get('type'), 'revolute')
-            limits = joint.find('limit')
-            for key, degrees in zip(('lower', 'upper'), expected):
-                self.assertAlmostEqual(float(limits.get(key)), math.radians(degrees))
-            self.assertEqual(float(limits.get('effort')), 0.0)
-            self.assertEqual(float(limits.get('velocity')), 0.0)
-        self.assertEqual(joints[0].find('axis').get('xyz'), '0 0 1')
-        self.assertEqual(joints[1].find('axis').get('xyz'), '0 -1 0')
-        self.assertEqual(joints[2].find('axis').get('xyz'), '0 -1 0')
-        self.assertEqual(joints[3].find('axis').get('xyz'), '1 0 0')
-        self.assertFalse(robot.findall('.//inertial'))
-        self.assertFalse(robot.findall('.//collision'))
-        self.assertFalse(robot.findall('.//transmission'))
-        self.assertFalse(robot.findall('.//ros2_control'))
-        for link in robot.findall('link'):
-            materials = {visual.find('material').get('name') for visual in link.findall('visual')}
-            self.assertLessEqual(len(materials), 1, 'RViz requires separate color groups per link')
-
-    def test_geometry_and_calibration_overrides(self):
-        """Allow remeasured lengths and direction signs without changing meshes."""
-        robot = expand_model('upper_arm_length:=0.130', 'base_direction:=-1')
-        joints = {joint.get('name'): joint for joint in robot.findall('joint')}
-        self.assertEqual(
-            [float(value) for value in
-             joints['old_arm_elbow_pitch_joint'].find('origin').get('xyz').split()],
-            [0.130, 0.0, 0.0])
-        limits = joints['old_arm_base_yaw_joint'].find('limit')
-        self.assertAlmostEqual(float(limits.get('lower')), math.radians(-236.5))
-        self.assertAlmostEqual(float(limits.get('upper')), math.radians(33.5))
-        for box in robot.findall('.//box'):
-            self.assertTrue(all(float(value) > 0 for value in box.get('size').split()))
-        for cylinder in robot.findall('.//cylinder'):
-            self.assertGreater(float(cylinder.get('radius')), 0)
-            self.assertGreater(float(cylinder.get('length')), 0)
-        upper_meshes = robot.findall("link[@name='old_arm_upper_arm']/visual/geometry/mesh")
-        self.assertEqual(len(upper_meshes), 2)
-        for mesh in upper_meshes:
-            self.assertAlmostEqual(float(mesh.get('scale').split()[0]), 0.130 / 0.120)
-
-    def test_installed_video_meshes(self):
-        """Require the six finite, meter-scale STL resources in the installed package."""
-        robot = expand_model()
-        directory = Path(get_package_share_directory('waybionic_description'))
-        filenames = set()
-        for mesh in robot.findall('.//mesh'):
-            filename = mesh.get('filename')
-            prefix = 'package://waybionic_description/'
-            self.assertTrue(filename.startswith(prefix))
-            target = directory / filename.removeprefix(prefix)
-            content = target.read_bytes()
-            triangle_count = struct.unpack_from('<I', content, 80)[0]
-            self.assertGreater(triangle_count, 100)
-            self.assertEqual(len(content), 84 + triangle_count * 50)
-            for triangle in struct.iter_unpack('<12fH', content[84:]):
-                self.assertTrue(all(math.isfinite(value) for value in triangle[:12]))
-                self.assertTrue(all(abs(value) < 0.25 for value in triangle[3:12]))
-            self.assertTrue(all(float(value) > 0 for value in mesh.get('scale').split()))
-            filenames.add(target.name)
-        self.assertEqual(filenames, {
-            'base_plate.stl', 'shoulder_motor_plate.stl', 'shoulder_back_plate.stl',
-            'upper_arm_plate.stl', 'wrist_housing.stl', 'wrist_cage.stl',
-        })
-
-    def test_distal_servos_remain_visual_only(self):
-        """Represent the additional wrist hardware without inventing control joints."""
-        robot = expand_model()
-        for name in ('old_arm_distal_left_servo_mount', 'old_arm_distal_right_servo_mount'):
-            joint = robot.find(f"joint[@name='{name}']")
-            self.assertIsNotNone(joint)
-            self.assertEqual(joint.get('type'), 'fixed')
-            self.assertEqual(joint.find('parent').get('link'), 'old_arm_wrist_roll')
-
-
-class TestOldArmTransforms(unittest.TestCase):
-    """Verify live input reaches the intended model and moves its wrist frame."""
-
-    def test_joint_states_drive_calibrated_transforms(self, joint_states_topic):
-        """Match zero, yaw, shoulder, elbow, combined and roll poses to the handoff."""
-        rclpy.init()
-        node = rclpy.create_node('old_arm_transform_test_' + uuid.uuid4().hex)
-        buffer = Buffer()
-        listener = TransformListener(buffer, node)
-        publisher = node.create_publisher(JointState, joint_states_topic, 10)
-        try:
-            poses = [
-                (0.0, 0.0, 0.0, 0.0),
-                (math.pi / 2, 0.0, 0.0, 0.0),
-                (0.0, math.pi / 2, 0.0, 0.0),
-                (0.0, 0.0, math.pi / 3, 0.0),
-                (math.pi / 4, math.pi / 4, -math.pi / 4, 0.0),
-                (0.0, 0.0, 0.0, math.pi / 2),
-            ]
-            for positions in poses:
-                expected = expected_wrist_position(positions)
-                first_stamp = node.get_clock().now().nanoseconds
-                deadline = time.monotonic() + 8.0
-                matched = False
-                while time.monotonic() < deadline:
-                    message = JointState()
-                    message.header.stamp = node.get_clock().now().to_msg()
-                    message.name = JOINT_NAMES
-                    message.position = list(positions)
-                    publisher.publish(message)
-                    rclpy.spin_once(node, timeout_sec=0.05)
-                    if not buffer.can_transform('old_arm_base_link', 'old_arm_tool_frame', Time()):
-                        continue
-                    transform = buffer.lookup_transform(
-                        'old_arm_base_link', 'old_arm_tool_frame', Time())
-                    stamp = transform.header.stamp
-                    if stamp.sec * 1000000000 + stamp.nanosec < first_stamp:
-                        continue
-                    translation = transform.transform.translation
-                    actual = (translation.x, translation.y, translation.z)
-                    if not all(math.isclose(value, target, abs_tol=1e-6)
-                               for value, target in zip(actual, expected)):
-                        continue
-                    if positions[3] != 0.0:
-                        rotation = transform.transform.rotation
-                        aligned = abs((rotation.x + rotation.w) / math.sqrt(2))
-                        if not math.isclose(aligned, 1.0, abs_tol=1e-6):
-                            continue
-                    matched = True
-                    break
-                self.assertTrue(matched, f'No matching current transform for pose {positions}')
-            self.assertEqual(node.count_publishers(joint_states_topic), 1)
-            self.assertGreater(publisher.get_subscription_count(), 0)
-        finally:
-            listener.unregister()
-            node.destroy_node()
-            rclpy.shutdown()
-
-
-@launch_testing.post_shutdown_test()
-class TestOldArmShutdown(unittest.TestCase):
-    """Require a clean state-publisher shutdown."""
-
-    def test_exit_codes(self, proc_info):
-        """Reject unexpected child process failures."""
-        launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[0, -2])
diff --git a/waybionic_description/meshes/old_arm/base_plate.stl b/waybionic_description/meshes/old_arm/base_plate.stl
deleted file mode 100644
index 6443ee7aaa8beef579cb1029ccc28847a1cb50ab..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/waybionic_description/meshes/old_arm/upper_arm_plate.stl b/waybionic_description/meshes/old_arm/upper_arm_plate.stl
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diff --git a/waybionic_description/meshes/old_arm/wrist_housing.stl b/waybionic_description/meshes/old_arm/wrist_housing.stl
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diff --git a/waybionic_description/urdf/waybionic_old_arm.expanded.urdf b/waybionic_description/urdf/waybionic_old_arm.expanded.urdf
deleted file mode 100644
index d82af3d..0000000
--- a/waybionic_description/urdf/waybionic_old_arm.expanded.urdf
+++ /dev/null
@@ -1,518 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /waybionic_ws/install/waybionic_description/share/waybionic_description/urdf/waybionic_old_arm.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="waybionic_old_arm_visualization">
-  <material name="old_arm_print">
-    <color rgba="0.86 0.85 0.76 1"/>
-  </material>
-  <material name="old_arm_servo">
-    <color rgba="0.65 0.045 0.09 1"/>
-  </material>
-  <material name="old_arm_distal_servo">
-    <color rgba="0.72 0.24 0.10 1"/>
-  </material>
-  <material name="old_arm_cover">
-    <color rgba="0.055 0.055 0.06 1"/>
-  </material>
-  <material name="old_arm_metal">
-    <color rgba="0.62 0.65 0.67 1"/>
-  </material>
-  <link name="old_arm_base_link">
-    <visual>
-      <origin xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/base_plate.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.065 -0.075 -0.041"/>
-      <geometry>
-        <cylinder length="0.05" radius="0.017"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.065 0.075 -0.041"/>
-      <geometry>
-        <cylinder length="0.05" radius="0.017"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.105 -0.075 -0.041"/>
-      <geometry>
-        <cylinder length="0.05" radius="0.017"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.105 0.075 -0.041"/>
-      <geometry>
-        <cylinder length="0.05" radius="0.017"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </link>
-  <joint name="old_arm_base_servo_body_mount" type="fixed">
-    <parent link="old_arm_base_link"/>
-    <child link="old_arm_base_servo_body"/>
-    <origin xyz="-0.012 0 -0.031"/>
-  </joint>
-  <link name="old_arm_base_servo_body">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.056 0.028 0.038"/>
-      </geometry>
-      <material name="old_arm_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_base_servo_cover_mount" type="fixed">
-    <parent link="old_arm_base_link"/>
-    <child link="old_arm_base_servo_cover"/>
-    <origin xyz="-0.012 0 -0.0535"/>
-  </joint>
-  <link name="old_arm_base_servo_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.056 0.028 0.007"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_base_yaw_joint" type="revolute">
-    <parent link="old_arm_base_link"/>
-    <child link="old_arm_shoulder_mount"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-0.5846852994181004" upper="4.127703680966589" velocity="0"/>
-  </joint>
-  <link name="old_arm_shoulder_mount">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.002"/>
-      <geometry>
-        <cylinder length="0.008" radius="0.049"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.025 0 0.0095"/>
-      <geometry>
-        <box size="0.060 0.082 0.007"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin xyz="0.025 0.034 0.07"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/shoulder_motor_plate.stl" scale="1 1 1.0000000000000002"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin xyz="0.025 -0.034 0.07"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/shoulder_back_plate.stl" scale="1 1 1.0000000000000002"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </link>
-  <joint name="old_arm_shoulder_servo_body_mount" type="fixed">
-    <parent link="old_arm_shoulder_mount"/>
-    <child link="old_arm_shoulder_servo_body"/>
-    <origin xyz="0.025 0.054 0.045000000000000005"/>
-  </joint>
-  <link name="old_arm_shoulder_servo_body">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.035 0.034 0.062"/>
-      </geometry>
-      <material name="old_arm_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_shoulder_servo_cover_mount" type="fixed">
-    <parent link="old_arm_shoulder_mount"/>
-    <child link="old_arm_shoulder_servo_cover"/>
-    <origin xyz="0.025 0.0745 0.045000000000000005"/>
-  </joint>
-  <link name="old_arm_shoulder_servo_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.035 0.007 0.062"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_shoulder_pitch_joint" type="revolute">
-    <parent link="old_arm_shoulder_mount"/>
-    <child link="old_arm_upper_arm"/>
-    <origin xyz="0.025 0 0.07"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-0.0" upper="1.9634954084936207" velocity="0"/>
-  </joint>
-  <link name="old_arm_upper_arm">
-    <visual>
-      <origin xyz="0 -0.050 0"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/upper_arm_plate.stl" scale="1.0 1 1"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin xyz="0 0.050 0"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/upper_arm_plate.stl" scale="1.0 1 1"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.04 0 -0.026"/>
-      <geometry>
-        <box size="0.012 0.095 0.008"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.08 0 -0.026"/>
-      <geometry>
-        <box size="0.012 0.095 0.008"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </link>
-  <joint name="old_arm_shoulder_horn_mount" type="fixed">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_shoulder_horn"/>
-    <origin xyz="0 -0.057 0"/>
-  </joint>
-  <link name="old_arm_shoulder_horn">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.031 0.003 0.006"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.006 0.003 0.031"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.004" radius="0.006"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_elbow_servo_body_mount" type="fixed">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_elbow_servo_body"/>
-    <origin xyz="0.093 0.070 0"/>
-  </joint>
-  <link name="old_arm_elbow_servo_body">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.060 0.034 0.034"/>
-      </geometry>
-      <material name="old_arm_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_elbow_servo_cover_mount" type="fixed">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_elbow_servo_cover"/>
-    <origin xyz="0.093 0.0905 0"/>
-  </joint>
-  <link name="old_arm_elbow_servo_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.060 0.007 0.034"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_elbow_cover_screws_mount" type="fixed">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_elbow_cover_screws"/>
-  </joint>
-  <link name="old_arm_elbow_cover_screws">
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0.066 0.0955 -0.014"/>
-      <geometry>
-        <cylinder length="0.003" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_metal"/>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0.12 0.0955 -0.014"/>
-      <geometry>
-        <cylinder length="0.003" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_metal"/>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0.066 0.0955 0.014"/>
-      <geometry>
-        <cylinder length="0.003" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_metal"/>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0.12 0.0955 0.014"/>
-      <geometry>
-        <cylinder length="0.003" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_metal"/>
-    </visual>
-  </link>
-  <joint name="old_arm_elbow_pitch_joint" type="revolute">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_forearm"/>
-    <origin xyz="0.12 0 0"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-1.0733774899765127" upper="2.0682151636132806" velocity="0"/>
-  </joint>
-  <link name="old_arm_forearm">
-    <visual>
-      <origin xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/wrist_housing.stl" scale="1.0 1 1"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </link>
-  <joint name="old_arm_elbow_horn_mount" type="fixed">
-    <parent link="old_arm_forearm"/>
-    <child link="old_arm_elbow_horn"/>
-    <origin xyz="0 -0.057 0"/>
-  </joint>
-  <link name="old_arm_elbow_horn">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.031 0.003 0.006"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.006 0.003 0.031"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-    <visual>
-      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.004" radius="0.006"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_servo_body_mount" type="fixed">
-    <parent link="old_arm_forearm"/>
-    <child link="old_arm_wrist_servo_body"/>
-    <origin xyz="0.006000000000000005 0 -0.016"/>
-  </joint>
-  <link name="old_arm_wrist_servo_body">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.043 0.029 0.029"/>
-      </geometry>
-      <material name="old_arm_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_servo_cover_mount" type="fixed">
-    <parent link="old_arm_forearm"/>
-    <child link="old_arm_wrist_servo_cover"/>
-    <origin xyz="-0.019000000000000003 0 -0.016"/>
-  </joint>
-  <link name="old_arm_wrist_servo_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.007 0.029 0.029"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_roll_joint" type="revolute">
-    <parent link="old_arm_forearm"/>
-    <child link="old_arm_wrist_roll"/>
-    <origin xyz="0.05 0 0"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="0" lower="-0.4799655442984406" upper="4.232423436086249" velocity="0"/>
-  </joint>
-  <link name="old_arm_wrist_roll">
-    <visual>
-      <origin xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/wrist_cage.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.129 0 0"/>
-      <geometry>
-        <cylinder length="0.006" radius="0.041"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.118 -0.023 -0.015"/>
-      <geometry>
-        <cylinder length="0.02" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.118 0.023 -0.015"/>
-      <geometry>
-        <cylinder length="0.02" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.118 -0.023 0.015"/>
-      <geometry>
-        <cylinder length="0.02" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.118 0.023 0.015"/>
-      <geometry>
-        <cylinder length="0.02" radius="0.0025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.139 -0.013 0"/>
-      <geometry>
-        <box size="0.017 0.006 0.025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.139 0.013 0"/>
-      <geometry>
-        <box size="0.017 0.006 0.025"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </link>
-  <joint name="old_arm_distal_left_servo_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_distal_left_servo"/>
-    <origin xyz="0.083 0.052 0"/>
-  </joint>
-  <link name="old_arm_distal_left_servo">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.041 0.026 0.039"/>
-      </geometry>
-      <material name="old_arm_distal_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_distal_right_servo_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_distal_right_servo"/>
-    <origin xyz="0.083 -0.052 0"/>
-  </joint>
-  <link name="old_arm_distal_right_servo">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.041 0.026 0.039"/>
-      </geometry>
-      <material name="old_arm_distal_servo"/>
-    </visual>
-  </link>
-  <joint name="old_arm_distal_left_cover_mount" type="fixed">
-    <parent link="old_arm_distal_left_servo"/>
-    <child link="old_arm_distal_left_cover"/>
-    <origin xyz="0 0.0165 0"/>
-  </joint>
-  <link name="old_arm_distal_left_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.041 0.007 0.039"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_distal_right_cover_mount" type="fixed">
-    <parent link="old_arm_distal_right_servo"/>
-    <child link="old_arm_distal_right_cover"/>
-    <origin xyz="0 -0.0165 0"/>
-  </joint>
-  <link name="old_arm_distal_right_cover">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.041 0.007 0.039"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_marker_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_wrist_marker"/>
-    <origin xyz="0.009 0 0"/>
-  </joint>
-  <link name="old_arm_wrist_marker">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.002 0.026 0.005"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_marker_cross_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_wrist_marker_cross"/>
-    <origin xyz="0.009 0 0"/>
-  </joint>
-  <link name="old_arm_wrist_marker_cross">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.002 0.005 0.026"/>
-      </geometry>
-      <material name="old_arm_cover"/>
-    </visual>
-  </link>
-  <joint name="old_arm_wrist_hub_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_wrist_hub"/>
-  </joint>
-  <link name="old_arm_wrist_hub">
-    <visual>
-      <origin rpy="0 1.5707963267948966 0" xyz="0.006 0 0"/>
-      <geometry>
-        <cylinder length="0.012" radius="0.01"/>
-      </geometry>
-      <material name="old_arm_metal"/>
-    </visual>
-  </link>
-  <joint name="old_arm_tool_joint" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_tool_frame"/>
-    <origin xyz="0.0 0 0"/>
-  </joint>
-  <link name="old_arm_tool_frame"/>
-</robot>
diff --git a/waybionic_description/urdf/waybionic_old_arm.urdf.xacro b/waybionic_description/urdf/waybionic_old_arm.urdf.xacro
deleted file mode 100644
index ccce14a..0000000
--- a/waybionic_description/urdf/waybionic_old_arm.urdf.xacro
+++ /dev/null
@@ -1,255 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="waybionic_old_arm_visualization">
-  <xacro:arg name="base_height" default="0.070"/>
-  <xacro:arg name="shoulder_offset" default="0.025"/>
-  <xacro:arg name="upper_arm_length" default="0.120"/>
-  <xacro:arg name="forearm_length" default="0.050"/>
-  <xacro:arg name="tool_inline" default="0.0"/>
-  <xacro:arg name="base_zero_degrees" default="33.5"/>
-  <xacro:arg name="shoulder_zero_degrees" default="112.5"/>
-  <xacro:arg name="elbow_zero_degrees" default="151.5"/>
-  <xacro:arg name="base_direction" default="1"/>
-  <xacro:arg name="shoulder_direction" default="-1"/>
-  <xacro:arg name="elbow_direction" default="1"/>
-  <xacro:arg name="wrist_reference_degrees" default="27.5"/>
-  <xacro:arg name="wrist_direction" default="1"/>
-
-  <xacro:property name="base_height_m" value="$(arg base_height)"/>
-  <xacro:property name="shoulder_offset_m" value="$(arg shoulder_offset)"/>
-  <xacro:property name="upper_length_m" value="$(arg upper_arm_length)"/>
-  <xacro:property name="forearm_length_m" value="$(arg forearm_length)"/>
-
-  <material name="old_arm_print"><color rgba="0.86 0.85 0.76 1"/></material>
-  <material name="old_arm_servo"><color rgba="0.65 0.045 0.09 1"/></material>
-  <material name="old_arm_distal_servo"><color rgba="0.72 0.24 0.10 1"/></material>
-  <material name="old_arm_cover"><color rgba="0.055 0.055 0.06 1"/></material>
-  <material name="old_arm_metal"><color rgba="0.62 0.65 0.67 1"/></material>
-
-  <xacro:macro name="visual_box" params="size xyz material rpy:='0 0 0'">
-    <visual>
-      <origin xyz="${xyz}" rpy="${rpy}"/>
-      <geometry><box size="${size}"/></geometry>
-      <material name="${material}"/>
-    </visual>
-  </xacro:macro>
-
-  <xacro:macro name="visual_cylinder" params="radius length xyz material rpy:='0 0 0'">
-    <visual>
-      <origin xyz="${xyz}" rpy="${rpy}"/>
-      <geometry><cylinder radius="${radius}" length="${length}"/></geometry>
-      <material name="${material}"/>
-    </visual>
-  </xacro:macro>
-
-  <xacro:macro name="printed_mesh" params="name xyz:='0 0 0' scale:='1 1 1'">
-    <visual>
-      <origin xyz="${xyz}"/>
-      <geometry>
-        <mesh filename="package://waybionic_description/meshes/old_arm/${name}.stl" scale="${scale}"/>
-      </geometry>
-      <material name="old_arm_print"/>
-    </visual>
-  </xacro:macro>
-
-  <xacro:macro name="colored_box_link" params="name parent size xyz material">
-    <joint name="${name}_mount" type="fixed">
-      <parent link="${parent}"/>
-      <child link="${name}"/>
-      <origin xyz="${xyz}"/>
-    </joint>
-    <link name="${name}">
-      <xacro:visual_box size="${size}" xyz="0 0 0" material="${material}"/>
-    </link>
-  </xacro:macro>
-
-  <xacro:macro name="display_limits" params="minimum maximum zero direction">
-    <xacro:property name="first_endpoint" value="${radians((minimum - zero) / direction)}"/>
-    <xacro:property name="second_endpoint" value="${radians((maximum - zero) / direction)}"/>
-    <limit lower="${min(first_endpoint, second_endpoint)}"
-      upper="${max(first_endpoint, second_endpoint)}" effort="0" velocity="0"/>
-  </xacro:macro>
-
-  <xacro:macro name="pitch_horn" params="name parent xyz">
-    <joint name="${name}_mount" type="fixed">
-      <parent link="${parent}"/>
-      <child link="${name}"/>
-      <origin xyz="${xyz}"/>
-    </joint>
-    <link name="${name}">
-      <xacro:visual_box size="0.031 0.003 0.006" xyz="0 0 0" material="old_arm_cover"/>
-      <xacro:visual_box size="0.006 0.003 0.031" xyz="0 0 0" material="old_arm_cover"/>
-      <xacro:visual_cylinder radius="0.006" length="0.004" xyz="0 0 0"
-        rpy="${pi / 2} 0 0" material="old_arm_cover"/>
-    </link>
-  </xacro:macro>
-
-  <xacro:macro name="servo_screws" params="name parent along lateral half_length half_width">
-    <joint name="${name}_mount" type="fixed">
-      <parent link="${parent}"/>
-      <child link="${name}"/>
-    </joint>
-    <link name="${name}">
-      <xacro:visual_cylinder radius="0.0025" length="0.003"
-        xyz="${along - half_length} ${lateral} ${-half_width}"
-        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
-      <xacro:visual_cylinder radius="0.0025" length="0.003"
-        xyz="${along + half_length} ${lateral} ${-half_width}"
-        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
-      <xacro:visual_cylinder radius="0.0025" length="0.003"
-        xyz="${along - half_length} ${lateral} ${half_width}"
-        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
-      <xacro:visual_cylinder radius="0.0025" length="0.003"
-        xyz="${along + half_length} ${lateral} ${half_width}"
-        rpy="${pi / 2} 0 0" material="old_arm_metal"/>
-    </link>
-  </xacro:macro>
-
-  <link name="old_arm_base_link">
-    <xacro:printed_mesh name="base_plate"/>
-    <xacro:visual_cylinder radius="0.017" length="0.050"
-      xyz="-0.065 -0.075 -0.041" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.017" length="0.050"
-      xyz="-0.065 0.075 -0.041" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.017" length="0.050"
-      xyz="0.105 -0.075 -0.041" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.017" length="0.050"
-      xyz="0.105 0.075 -0.041" material="old_arm_print"/>
-  </link>
-
-  <xacro:colored_box_link name="old_arm_base_servo_body" parent="old_arm_base_link"
-    size="0.056 0.028 0.038" xyz="-0.012 0 -0.031" material="old_arm_servo"/>
-  <xacro:colored_box_link name="old_arm_base_servo_cover" parent="old_arm_base_link"
-    size="0.056 0.028 0.007" xyz="-0.012 0 -0.0535" material="old_arm_cover"/>
-
-  <joint name="old_arm_base_yaw_joint" type="revolute">
-    <parent link="old_arm_base_link"/>
-    <child link="old_arm_shoulder_mount"/>
-    <axis xyz="0 0 1"/>
-    <xacro:display_limits minimum="0.0" maximum="270.0"
-      zero="$(arg base_zero_degrees)" direction="$(arg base_direction)"/>
-  </joint>
-
-  <link name="old_arm_shoulder_mount">
-    <xacro:visual_cylinder radius="0.049" length="0.008"
-      xyz="0 0 0.002" material="old_arm_print"/>
-    <xacro:visual_box size="0.060 0.082 0.007"
-      xyz="${shoulder_offset_m} 0 0.0095" material="old_arm_print"/>
-    <xacro:printed_mesh name="shoulder_motor_plate"
-      xyz="${shoulder_offset_m} 0.034 ${base_height_m}"
-      scale="1 1 ${(base_height_m - 0.012) / 0.058}"/>
-    <xacro:printed_mesh name="shoulder_back_plate"
-      xyz="${shoulder_offset_m} -0.034 ${base_height_m}"
-      scale="1 1 ${(base_height_m - 0.012) / 0.058}"/>
-  </link>
-
-  <xacro:colored_box_link name="old_arm_shoulder_servo_body" parent="old_arm_shoulder_mount"
-    size="0.035 0.034 0.062" xyz="${shoulder_offset_m} 0.054 ${base_height_m - 0.025}"
-    material="old_arm_servo"/>
-  <xacro:colored_box_link name="old_arm_shoulder_servo_cover" parent="old_arm_shoulder_mount"
-    size="0.035 0.007 0.062" xyz="${shoulder_offset_m} 0.0745 ${base_height_m - 0.025}"
-    material="old_arm_cover"/>
-
-  <joint name="old_arm_shoulder_pitch_joint" type="revolute">
-    <parent link="old_arm_shoulder_mount"/>
-    <child link="old_arm_upper_arm"/>
-    <origin xyz="${shoulder_offset_m} 0 ${base_height_m}"/>
-    <axis xyz="0 -1 0"/>
-    <xacro:display_limits minimum="0.0" maximum="112.5"
-      zero="$(arg shoulder_zero_degrees)" direction="$(arg shoulder_direction)"/>
-  </joint>
-
-  <link name="old_arm_upper_arm">
-    <xacro:printed_mesh name="upper_arm_plate" xyz="0 -0.050 0"
-      scale="${upper_length_m / 0.120} 1 1"/>
-    <xacro:printed_mesh name="upper_arm_plate" xyz="0 0.050 0"
-      scale="${upper_length_m / 0.120} 1 1"/>
-    <xacro:visual_box size="0.012 0.095 0.008"
-      xyz="${upper_length_m / 3} 0 -0.026" material="old_arm_print"/>
-    <xacro:visual_box size="0.012 0.095 0.008"
-      xyz="${upper_length_m * 2 / 3} 0 -0.026" material="old_arm_print"/>
-  </link>
-
-  <xacro:pitch_horn name="old_arm_shoulder_horn" parent="old_arm_upper_arm" xyz="0 -0.057 0"/>
-  <xacro:colored_box_link name="old_arm_elbow_servo_body" parent="old_arm_upper_arm"
-    size="0.060 0.034 0.034" xyz="${upper_length_m - 0.027} 0.070 0"
-    material="old_arm_servo"/>
-  <xacro:colored_box_link name="old_arm_elbow_servo_cover" parent="old_arm_upper_arm"
-    size="0.060 0.007 0.034" xyz="${upper_length_m - 0.027} 0.0905 0"
-    material="old_arm_cover"/>
-  <xacro:servo_screws name="old_arm_elbow_cover_screws" parent="old_arm_upper_arm"
-    along="${upper_length_m - 0.027}" lateral="0.0955" half_length="0.027" half_width="0.014"/>
-
-  <joint name="old_arm_elbow_pitch_joint" type="revolute">
-    <parent link="old_arm_upper_arm"/>
-    <child link="old_arm_forearm"/>
-    <origin xyz="${upper_length_m} 0 0"/>
-    <axis xyz="0 -1 0"/>
-    <xacro:display_limits minimum="90.0" maximum="270.0"
-      zero="$(arg elbow_zero_degrees)" direction="$(arg elbow_direction)"/>
-  </joint>
-
-  <link name="old_arm_forearm">
-    <xacro:printed_mesh name="wrist_housing" scale="${forearm_length_m / 0.050} 1 1"/>
-  </link>
-
-  <xacro:pitch_horn name="old_arm_elbow_horn" parent="old_arm_forearm" xyz="0 -0.057 0"/>
-  <xacro:colored_box_link name="old_arm_wrist_servo_body" parent="old_arm_forearm"
-    size="0.043 0.029 0.029" xyz="${forearm_length_m - 0.044} 0 -0.016"
-    material="old_arm_servo"/>
-  <xacro:colored_box_link name="old_arm_wrist_servo_cover" parent="old_arm_forearm"
-    size="0.007 0.029 0.029" xyz="${forearm_length_m - 0.069} 0 -0.016"
-    material="old_arm_cover"/>
-
-  <joint name="old_arm_wrist_roll_joint" type="revolute">
-    <parent link="old_arm_forearm"/>
-    <child link="old_arm_wrist_roll"/>
-    <origin xyz="${forearm_length_m} 0 0"/>
-    <axis xyz="1 0 0"/>
-    <xacro:display_limits minimum="0.0" maximum="270.0"
-      zero="$(arg wrist_reference_degrees)" direction="$(arg wrist_direction)"/>
-  </joint>
-
-  <link name="old_arm_wrist_roll">
-    <xacro:printed_mesh name="wrist_cage"/>
-    <xacro:visual_cylinder radius="0.041" length="0.006"
-      xyz="0.129 0 0" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.0025" length="0.020"
-      xyz="0.118 -0.023 -0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.0025" length="0.020"
-      xyz="0.118 0.023 -0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.0025" length="0.020"
-      xyz="0.118 -0.023 0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
-    <xacro:visual_cylinder radius="0.0025" length="0.020"
-      xyz="0.118 0.023 0.015" rpy="0 ${pi / 2} 0" material="old_arm_print"/>
-    <xacro:visual_box size="0.017 0.006 0.025" xyz="0.139 -0.013 0" material="old_arm_print"/>
-    <xacro:visual_box size="0.017 0.006 0.025" xyz="0.139 0.013 0" material="old_arm_print"/>
-  </link>
-
-  <xacro:colored_box_link name="old_arm_distal_left_servo" parent="old_arm_wrist_roll"
-    size="0.041 0.026 0.039" xyz="0.083 0.052 0" material="old_arm_distal_servo"/>
-  <xacro:colored_box_link name="old_arm_distal_right_servo" parent="old_arm_wrist_roll"
-    size="0.041 0.026 0.039" xyz="0.083 -0.052 0" material="old_arm_distal_servo"/>
-  <xacro:colored_box_link name="old_arm_distal_left_cover" parent="old_arm_distal_left_servo"
-    size="0.041 0.007 0.039" xyz="0 0.0165 0" material="old_arm_cover"/>
-  <xacro:colored_box_link name="old_arm_distal_right_cover" parent="old_arm_distal_right_servo"
-    size="0.041 0.007 0.039" xyz="0 -0.0165 0" material="old_arm_cover"/>
-  <xacro:colored_box_link name="old_arm_wrist_marker" parent="old_arm_wrist_roll"
-    size="0.002 0.026 0.005" xyz="0.009 0 0" material="old_arm_cover"/>
-  <xacro:colored_box_link name="old_arm_wrist_marker_cross" parent="old_arm_wrist_roll"
-    size="0.002 0.005 0.026" xyz="0.009 0 0" material="old_arm_cover"/>
-  <joint name="old_arm_wrist_hub_mount" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_wrist_hub"/>
-  </joint>
-  <link name="old_arm_wrist_hub">
-    <xacro:visual_cylinder radius="0.010" length="0.012"
-      xyz="0.006 0 0" rpy="0 ${pi / 2} 0" material="old_arm_metal"/>
-  </link>
-
-  <joint name="old_arm_tool_joint" type="fixed">
-    <parent link="old_arm_wrist_roll"/>
-    <child link="old_arm_tool_frame"/>
-    <origin xyz="$(arg tool_inline) 0 0"/>
-  </joint>
-  <link name="old_arm_tool_frame"/>
-</robot>
\ No newline at end of file
diff --git a/waybionic_hardware/package.xml b/waybionic_hardware/package.xml
deleted file mode 100644
index 04a117d..0000000
--- a/waybionic_hardware/package.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-  <name>waybionic_hardware</name>
-  <version>0.1.0</version>
-  <description>Arduino serial bridge for the WayBionic four-servo arm.</description>
-
-  <maintainer email="dev@waybionic.local">WayBionic</maintainer>
-  <license>Apache-2.0</license>
-
-  <depend>diagnostic_msgs</depend>
-  <depend>rclpy</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <exec_depend>python3-serial</exec_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/waybionic_hardware/resource/waybionic_hardware b/waybionic_hardware/resource/waybionic_hardware
deleted file mode 100644
index 289bec5..0000000
--- a/waybionic_hardware/resource/waybionic_hardware
+++ /dev/null
@@ -1 +0,0 @@
-# ament package marker
\ No newline at end of file
diff --git a/waybionic_hardware/setup.cfg b/waybionic_hardware/setup.cfg
deleted file mode 100644
index 1b8cd9c..0000000
--- a/waybionic_hardware/setup.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-[develop]
-script_dir=$base/lib/waybionic_hardware
-
-[install]
-install_scripts=$base/lib/waybionic_hardware
\ No newline at end of file
diff --git a/waybionic_hardware/setup.py b/waybionic_hardware/setup.py
deleted file mode 100644
index 576bd2b..0000000
--- a/waybionic_hardware/setup.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from setuptools import find_packages, setup
-
-
-package_name = 'waybionic_hardware'
-
-setup(
-    name=package_name,
-    version='0.1.0',
-    packages=find_packages(),
-    data_files=[
-        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools', 'pyserial'],
-    zip_safe=True,
-    description='Arduino serial bridge for the WayBionic four-servo arm.',
-    license='Apache-2.0',
-    entry_points={
-        'console_scripts': [
-            'arduino_bridge = waybionic_hardware.arduino_bridge:main',
-        ],
-    },
-)
\ No newline at end of file
diff --git a/waybionic_hardware/test/test_arduino_bridge.py b/waybionic_hardware/test/test_arduino_bridge.py
deleted file mode 100644
index 99f0180..0000000
--- a/waybionic_hardware/test/test_arduino_bridge.py
+++ /dev/null
@@ -1,29 +0,0 @@
-"""Minimal tests for Arduino bridge module."""
-import unittest
-
-
-class TestArduinoBridge(unittest.TestCase):
-    """Test cases for ArduinoBridge."""
-
-    def test_import(self):
-        """Test that the module can be imported."""
-        try:
-            from waybionic_hardware import arduino_bridge  # noqa: F401
-            self.assertTrue(True)
-        except ImportError:
-            self.fail("Failed to import arduino_bridge")
-
-    def test_joint_names_match_old_arm_model(self):
-        """Joint states target the imported old-arm URDF joints."""
-        from waybionic_hardware.arduino_bridge import JOINT_NAMES
-
-        self.assertEqual(JOINT_NAMES, [
-            'old_arm_base_yaw_joint',
-            'old_arm_shoulder_pitch_joint',
-            'old_arm_elbow_pitch_joint',
-            'old_arm_wrist_roll_joint',
-        ])
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/waybionic_hardware/waybionic_hardware/__init__.py b/waybionic_hardware/waybionic_hardware/__init__.py
deleted file mode 100644
index af384f6..0000000
--- a/waybionic_hardware/waybionic_hardware/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-"""WayBionic hardware transport nodes."""
\ No newline at end of file
diff --git a/waybionic_hardware/waybionic_hardware/arduino_bridge.py b/waybionic_hardware/waybionic_hardware/arduino_bridge.py
deleted file mode 100644
index 1c9fe19..0000000
--- a/waybionic_hardware/waybionic_hardware/arduino_bridge.py
+++ /dev/null
@@ -1,271 +0,0 @@
-import math
-import threading
-import time
-
-import rclpy
-from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-from std_msgs.msg import String
-
-
-JOINT_NAMES = [
-    'old_arm_base_yaw_joint',
-    'old_arm_shoulder_pitch_joint',
-    'old_arm_elbow_pitch_joint',
-    'old_arm_wrist_roll_joint',
-]
-HOME_PHYSICAL_DEGREES = [33.5, 112.5, 151.5, 27.5]
-SERVO_DIRECTIONS = [1.0, -1.0, 1.0, 1.0]
-PHYSICAL_LIMITS = [(0.0, 270.0), (0.0, 112.5), (90.0, 270.0), (0.0, 270.0)]
-SEQUENCE = [
-    [60.0, 95.0, 125.0, 60.0],
-    [45.0, 75.0, 200.0, 100.0],
-    [15.0, 100.0, 130.0, 5.0],
-    HOME_PHYSICAL_DEGREES,
-]
-
-
-def model_radians_from_physical(degrees):
-    return [
-        math.radians((physical - zero) / direction)
-        for physical, zero, direction in zip(
-            degrees, HOME_PHYSICAL_DEGREES, SERVO_DIRECTIONS)
-    ]
-
-
-def smoothstep(progress):
-    return 6.0 * progress**5 - 15.0 * progress**4 + 10.0 * progress**3
-
-
-class ArduinoBridge(Node):
-    def __init__(self):
-        super().__init__('waybionic_arduino_bridge')
-
-        self.declare_parameter('port', '')
-        self.declare_parameter('baud', 115200)
-        self.declare_parameter('segment_duration', 3.0)
-        self.declare_parameter('dry_run', False)
-
-        self.port = str(self.get_parameter('port').value)
-        self.baud = int(self.get_parameter('baud').value)
-        self.segment_duration = float(self.get_parameter('segment_duration').value)
-        self.dry_run = bool(self.get_parameter('dry_run').value)
-
-        self.joint_publisher = self.create_publisher(JointState, '/joint_states', 10)
-        self.diagnostics_publisher = self.create_publisher(
-            DiagnosticArray, '/diagnostics', 10)
-        self.command_subscription = self.create_subscription(
-            String, '/old_arm_motion_test/command', self.handle_command, 10)
-
-        self.serial_port = None
-        self.serial_lock = threading.Lock()
-        self.serial_reader = None
-        self.serial_stop = threading.Event()
-        self.connected = False
-        self.last_status = 'starting'
-        self.last_error = ''
-        self.current = list(HOME_PHYSICAL_DEGREES)
-        self.start = list(self.current)
-        self.target = list(self.current)
-        self.motion_started = 0.0
-        self.motion_duration = 0.0
-        self.motion_active = False
-        self.sequence_index = 0
-        self.sequence_active = False
-
-        self.state_timer = self.create_timer(0.02, self.publish_estimated_state)
-        self.diagnostics_timer = self.create_timer(1.0, self.publish_diagnostics)
-        self.connect_to_arduino()
-        self.publish_estimated_state()
-
-    def connect_to_arduino(self):
-        if self.dry_run:
-            self.connected = True
-            self.last_status = 'dry-run'
-            self.get_logger().warn('Running in dry-run mode; no Arduino commands will be sent.')
-            return
-
-        if not self.port:
-            self.last_status = 'port-not-configured'
-            self.last_error = 'Set the port parameter, for example /dev/ttyACM0.'
-            self.get_logger().error(self.last_error)
-            return
-
-        try:
-            import serial
-
-            self.serial_port = serial.Serial(self.port, self.baud, timeout=0.1)
-            self.connected = True
-            self.last_status = 'connected'
-            self.serial_reader = threading.Thread(target=self.read_serial, daemon=True)
-            self.serial_reader.start()
-            self.send_line('ID')
-            self.get_logger().info(f'Connected to Arduino on {self.port} at {self.baud} baud.')
-        except Exception as error:
-            self.last_error = str(error)
-            self.last_status = 'connection-failed'
-            self.get_logger().error(f'Could not open Arduino port {self.port}: {error}')
-
-    def read_serial(self):
-        while not self.serial_stop.is_set() and self.serial_port is not None:
-            try:
-                line = self.serial_port.readline().decode('ascii', errors='replace').strip()
-                if line:
-                    self.process_serial_line(line)
-            except Exception as error:
-                self.connected = False
-                self.last_error = str(error)
-                self.last_status = 'serial-read-failed'
-                return
-
-    def process_serial_line(self, line):
-        self.get_logger().debug(f'Arduino: {line}')
-        if line.startswith('READY,IK4,1'):
-            self.last_status = 'ready'
-            return
-        if line.startswith('ERROR,'):
-            self.motion_active = False
-            self.sequence_active = False
-            self.last_error = line[6:]
-            self.last_status = 'arduino-error'
-            return
-        if line == 'OK,ARRIVED':
-            self.current = list(self.target)
-            self.motion_active = False
-            self.last_status = 'arrived'
-            if self.sequence_active:
-                self.sequence_index += 1
-                if self.sequence_index < len(SEQUENCE):
-                    self.send_move(SEQUENCE[self.sequence_index])
-                else:
-                    self.sequence_active = False
-            return
-        if line in ('OK,MOVE', 'OK,JOG'):
-            self.last_status = 'accepted'
-            return
-        if line in ('OK,HOLD', 'OK,SWITCH HOLD'):
-            self.motion_active = False
-            self.sequence_active = False
-            self.last_status = 'held'
-
-    def send_line(self, line):
-        if self.dry_run:
-            self.last_status = 'dry-run-accepted'
-            return True
-        if not self.connected or self.serial_port is None:
-            self.last_status = 'not-connected'
-            return False
-        try:
-            with self.serial_lock:
-                self.serial_port.write((line + '\n').encode('ascii'))
-            return True
-        except Exception as error:
-            self.connected = False
-            self.last_error = str(error)
-            self.last_status = 'serial-write-failed'
-            return False
-
-    def handle_command(self, message):
-        command = message.data.strip().upper()
-        if command == 'RUN':
-            if not self.connected:
-                self.last_status = 'run-rejected-not-connected'
-                return
-            self.sequence_index = 0
-            self.sequence_active = True
-            self.send_move(SEQUENCE[0])
-        elif command == 'HOME':
-            self.sequence_active = False
-            self.send_move(HOME_PHYSICAL_DEGREES)
-        elif command == 'STOP':
-            self.sequence_active = False
-            self.motion_active = False
-            if self.send_line('HOLD'):
-                self.last_status = 'hold-requested'
-            else:
-                self.last_status = 'hold-request-failed'
-        else:
-            self.get_logger().warn(f'Ignoring unknown motion command: {command}')
-
-    def send_move(self, target):
-        if any(
-            value < lower or value > upper
-            for value, (lower, upper) in zip(target, PHYSICAL_LIMITS)
-        ):
-            self.last_error = 'Target exceeds Arduino software limits.'
-            self.last_status = 'target-rejected'
-            self.motion_active = False
-            self.sequence_active = False
-            return
-
-        self.start = list(self.current)
-        self.target = list(target)
-        self.motion_started = time.monotonic()
-        self.motion_duration = max(0.3, min(15.0, self.segment_duration))
-        command = 'MOVE,' + ','.join(f'{value:.2f}' for value in target)
-        command += f',{int(self.motion_duration * 1000)}'
-        if self.send_line(command):
-            self.motion_active = True
-            self.last_status = 'move-requested'
-
-    def publish_estimated_state(self):
-        if self.motion_active:
-            progress = min(
-                (time.monotonic() - self.motion_started) / self.motion_duration,
-                1.0,
-            )
-            blend = smoothstep(progress)
-            self.current = [
-                start + (target - start) * blend
-                for start, target in zip(self.start, self.target)
-            ]
-
-        message = JointState()
-        message.header.stamp = self.get_clock().now().to_msg()
-        message.name = JOINT_NAMES
-        message.position = model_radians_from_physical(self.current)
-        self.joint_publisher.publish(message)
-
-        if self.dry_run and self.motion_active and time.monotonic() >= self.motion_started + self.motion_duration:
-            self.process_serial_line('OK,ARRIVED')
-
-    def publish_diagnostics(self):
-        status = DiagnosticStatus()
-        status.name = 'waybionic_arduino_bridge'
-        status.level = DiagnosticStatus.OK if self.connected else DiagnosticStatus.ERROR
-        status.message = self.last_status
-        status.values = [
-            KeyValue(key='port', value=self.port or 'not configured'),
-            KeyValue(key='baud', value=str(self.baud)),
-            KeyValue(key='mode', value='dry-run' if self.dry_run else 'physical'),
-            KeyValue(key='error', value=self.last_error),
-        ]
-        message = DiagnosticArray()
-        message.header.stamp = self.get_clock().now().to_msg()
-        message.status = [status]
-        self.diagnostics_publisher.publish(message)
-
-    def destroy_node(self):
-        self.serial_stop.set()
-        if self.serial_port is not None:
-            try:
-                self.serial_port.close()
-            except Exception:
-                pass
-        super().destroy_node()
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = ArduinoBridge()
-    try:
-        rclpy.spin(node)
-    finally:
-        node.destroy_node()
-        if rclpy.ok():
-            rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
\ No newline at end of file
diff --git a/waybionic_motion_test/package.xml b/waybionic_motion_test/package.xml
deleted file mode 100644
index 8df9897..0000000
--- a/waybionic_motion_test/package.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-  <name>waybionic_motion_test</name>
-  <version>0.0.1</version>
-  <description>RViz visual motion testing for the WayBionic robot.</description>
-
-  <maintainer email="dev@waybionic.local">WayBionic</maintainer>
-  <license>Apache-2.0</license>
-
-  <depend>rclpy</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
diff --git a/waybionic_motion_test/resource/waybionic_motion_test b/waybionic_motion_test/resource/waybionic_motion_test
deleted file mode 100644
index e69de29..0000000
diff --git a/waybionic_motion_test/setup.cfg b/waybionic_motion_test/setup.cfg
deleted file mode 100644
index 2f16cb3..0000000
--- a/waybionic_motion_test/setup.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-[develop]
-script_dir=$base/lib/waybionic_motion_test
-
-[install]
-install_scripts=$base/lib/waybionic_motion_test
diff --git a/waybionic_motion_test/setup.py b/waybionic_motion_test/setup.py
deleted file mode 100644
index 807515f..0000000
--- a/waybionic_motion_test/setup.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'waybionic_motion_test'
-
-setup(
-    name=package_name,
-    version='0.0.1',
-    packages=find_packages(),
-    data_files=[
-        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    description='RViz visual motion testing for the WayBionic robot.',
-    license='Apache-2.0',
-    entry_points={
-        'console_scripts': [
-            'motion_test = waybionic_motion_test.motion_test:main',
-        ],
-    },
-)
diff --git a/waybionic_motion_test/test/test_motion_test.py b/waybionic_motion_test/test/test_motion_test.py
deleted file mode 100644
index f2afc80..0000000
--- a/waybionic_motion_test/test/test_motion_test.py
+++ /dev/null
@@ -1,29 +0,0 @@
-"""Minimal tests for motion test module."""
-import unittest
-
-
-class TestMotionTest(unittest.TestCase):
-    """Test cases for MotionTest."""
-
-    def test_import(self):
-        """Test that the module can be imported."""
-        try:
-            from waybionic_motion_test import motion_test  # noqa: F401
-            self.assertTrue(True)
-        except ImportError:
-            self.fail("Failed to import motion_test")
-
-    def test_joint_names_match_old_arm_model(self):
-        """Joint states target the imported old-arm URDF joints."""
-        from waybionic_motion_test.motion_test import JOINT_NAMES
-
-        self.assertEqual(JOINT_NAMES, [
-            'old_arm_base_yaw_joint',
-            'old_arm_shoulder_pitch_joint',
-            'old_arm_elbow_pitch_joint',
-            'old_arm_wrist_roll_joint',
-        ])
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/waybionic_motion_test/waybionic_motion_test/__init__.py b/waybionic_motion_test/waybionic_motion_test/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/waybionic_motion_test/waybionic_motion_test/motion_test.py b/waybionic_motion_test/waybionic_motion_test/motion_test.py
deleted file mode 100644
index d1f2620..0000000
--- a/waybionic_motion_test/waybionic_motion_test/motion_test.py
+++ /dev/null
@@ -1,133 +0,0 @@
-import math
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-from std_msgs.msg import String
-
-
-JOINT_NAMES = [
-    'old_arm_base_yaw_joint',
-    'old_arm_shoulder_pitch_joint',
-    'old_arm_elbow_pitch_joint',
-    'old_arm_wrist_roll_joint',
-]
-JOINT_COUNT = len(JOINT_NAMES)
-HOME_PHYSICAL_DEGREES = [33.5, 112.5, 151.5, 27.5]
-SERVO_DIRECTIONS = [1.0, -1.0, 1.0, 1.0]
-
-
-def model_radians_from_physical(degrees):
-    """Convert calibrated Arduino servo angles into URDF model radians."""
-    return [
-        math.radians((physical - zero) / direction)
-        for physical, zero, direction in zip(
-            degrees, HOME_PHYSICAL_DEGREES, SERVO_DIRECTIONS)
-    ]
-
-
-def smoothstep(progress):
-    return 6.0 * progress**5 - 15.0 * progress**4 + 10.0 * progress**3
-
-
-class MotionTestNode(Node):
-    def __init__(self):
-        super().__init__('motion_test')
-
-        self.publisher = self.create_publisher(
-            JointState,
-            '/joint_states',
-            10,
-        )
-        self.command_subscription = self.create_subscription(
-            String,
-            '/old_arm_motion_test/command',
-            self.handle_command,
-            10,
-        )
-
-        self.declare_parameter('segment_duration', 3.0)
-        self.segment_duration = float(self.get_parameter('segment_duration').value)
-        if self.segment_duration <= 0.0:
-            raise ValueError('segment_duration must be positive')
-        self.home = model_radians_from_physical(HOME_PHYSICAL_DEGREES)
-        self.current = list(self.home)
-        self.start = list(self.home)
-        self.target = list(self.home)
-        self.segment_elapsed = 0.0
-        self.segment_active = False
-        self.sequence = [
-            model_radians_from_physical([60.0, 95.0, 125.0, 60.0]),
-            model_radians_from_physical([45.0, 75.0, 200.0, 100.0]),
-            model_radians_from_physical([15.0, 100.0, 130.0, 5.0]),
-            self.home,
-        ]
-        self.sequence_index = 0
-        self.timer = self.create_timer(0.02, self.update_trajectory)
-        self.publish_joint_state()
-
-        self.get_logger().info(
-            'Old-arm 4-DOF motion test started; publishing simulated commanded positions.')
-
-    def handle_command(self, message):
-        command = message.data.strip().upper()
-        if command == 'RUN':
-            self.sequence_index = 0
-            self.start_segment(self.sequence[self.sequence_index])
-        elif command == 'HOME':
-            self.start_segment(self.home)
-        elif command == 'STOP':
-            self.segment_active = False
-            self.target = list(self.current)
-            self.publish_joint_state()
-
-    def start_segment(self, target):
-        self.start = list(self.current)
-        self.target = list(target)
-        self.segment_elapsed = 0.0
-        self.segment_active = True
-
-    def update_trajectory(self):
-        if not self.segment_active:
-            return
-
-        self.segment_elapsed += 0.02
-        progress = min(self.segment_elapsed / self.segment_duration, 1.0)
-        blend = smoothstep(progress)
-        self.current = [
-            start + (target - start) * blend
-            for start, target in zip(self.start, self.target)
-        ]
-        self.publish_joint_state()
-
-        if progress >= 1.0:
-            self.current = list(self.target)
-            if self.sequence_index < len(self.sequence) - 1:
-                self.sequence_index += 1
-                self.start_segment(self.sequence[self.sequence_index])
-            else:
-                self.segment_active = False
-
-    def publish_joint_state(self):
-        message = JointState()
-        message.header.stamp = self.get_clock().now().to_msg()
-        message.name = JOINT_NAMES
-        message.position = self.current
-        self.publisher.publish(message)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = MotionTestNode()
-
-    try:
-        rclpy.spin(node)
-    finally:
-        node.destroy_node()
-
-        if rclpy.ok():
-            rclpy.shutdown()
-        
-if __name__ == '__main__':
-    main()