Update mesh assets (#57)

## Summary

This PR refreshes the OpenArm v2.0 and pinch gripper mesh assets. The
main changes are improved collision meshes and corrected visual `.dae`
color/material data so the robot description is more accurate in both
simulation and visualization.

## Changes

- Updated OpenArm v2.0 arm collision meshes for `base_link` and `link1`
through `link6`.
- Updated split collision meshes for `link5`.
- Updated pinch gripper collision meshes for `ee_base_link`,
`finger_inner`, and `finger_outer`.
- Corrected visual `.dae` mesh color/material data for the arm and pinch
gripper.
- Added corrected `finger_outer` visual and collision mesh assets.
- Replaced stale `finger_outter` references with `finger_outer` in
gripper configs and generated URDF files.
- Cleaned up the CMake asset installation loop by using a clearer
variable name and removing the unused `docs` install entry.

Author: stevenaya

CMakeLists.txt

@@ -29,9 +29,9 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-foreach(asset_dir assets docs launch rviz scripts)
-  if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${asset_dir}")
-    install(DIRECTORY ${asset_dir} DESTINATION share/${PROJECT_NAME})
+foreach(install_dir assets launch rviz scripts)
+  if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${install_dir}")
+    install(DIRECTORY ${install_dir} DESTINATION share/${PROJECT_NAME})
   endif()
 endforeach()
 

assets/end_effector/pinch_gripper/config/link/collisions.yaml

@@ -49,7 +49,7 @@ link2:
     pitch: -0
     yaw: 0
   geometry:
-    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outter.stl"
+    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl"
     scale:
       x: 1
       y: 1

assets/end_effector/pinch_gripper/config/link/visuals.yaml

@@ -49,7 +49,7 @@ link2:
     pitch: -0
     yaw: 0
   geometry:
-    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outter.dae"
+    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae"
     scale:
       x: 1
       y: 1

assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml

@@ -16,15 +16,15 @@ links:
   canonical_to_original:
     base_link: ee_base_link
     link1: finger_inner
-    link2: finger_outter
+    link2: finger_outer
   original_to_canonical:
     ee_base_link: base_link
     finger_inner: link1
-    finger_outter: link2
+    finger_outer: link2
 joints:
   canonical_to_original:
     joint1: finger_inner_joint
-    joint2: finger_outter_joint
+    joint2: finger_outer_joint
   original_to_canonical:
     finger_inner_joint: joint1
-    finger_outter_joint: joint2
+    finger_outer_joint: joint2