diff --git a/v2/articulated_scene.xml b/v2/articulated_scene.xml
index 9b06bd8..5fc57f4 100644
--- a/v2/articulated_scene.xml
+++ b/v2/articulated_scene.xml
@@ -23,12 +23,6 @@ for either arm. (The turnable valve lives in valve_scene.xml.)
   <compiler meshdir="assets" angle="radian"/>
 
   <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2"/>
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01"/>
-    </default>
     <default class="fixture">
       <geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
     </default>
@@ -50,11 +44,7 @@ for either arm. (The turnable valve lives in valve_scene.xml.)
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"     scale="0.001 0.001 0.001"/>
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -64,12 +54,8 @@ for either arm. (The turnable valve lives in valve_scene.xml.)
     <camera name="tablecam" pos="0.30 0.0 1.30" xyaxes="1 0 0 0 1 0" fovy="60"/>
     <camera name="frontcam" pos="1.05 0.0 0.90" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material"/>
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision"/>
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
diff --git a/v2/balance_scene.xml b/v2/balance_scene.xml
index 2ecc4d8..8eaacdd 100644
--- a/v2/balance_scene.xml
+++ b/v2/balance_scene.xml
@@ -23,15 +23,6 @@ it at runtime after posing the arm.
 <mujoco model="openarm_v20_balance">
   <compiler meshdir="assets" angle="radian"/>
 
-  <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2"/>
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01"/>
-    </default>
-  </default>
-
   <statistic center="0.30 -0.05 0.60" extent="1.1" meansize="0.05"/>
   <option timestep="0.001"/>
 
@@ -48,11 +39,7 @@ it at runtime after posing the arm.
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"     scale="0.001 0.001 0.001"/>
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -62,12 +49,8 @@ it at runtime after posing the arm.
     <camera name="balancecam" pos="0.75 -0.40 0.95" xyaxes="0.5 0.866 0 -0.35 0.20 0.92" fovy="50"/>
     <camera name="topcam"     pos="0.30 -0.05 1.30" xyaxes="1 0 0 0 1 0" fovy="55"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material"/>
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision"/>
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
diff --git a/v2/bottle_scene.xml b/v2/bottle_scene.xml
index 716fb55..418b9f0 100644
--- a/v2/bottle_scene.xml
+++ b/v2/bottle_scene.xml
@@ -27,9 +27,6 @@ the cap let either arm grasp and unscrew it.
     <default class="visual">
       <geom contype="0" conaffinity="0" group="2"/>
     </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01"/>
-    </default>
     <default class="fixture">
       <geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
     </default>
@@ -51,11 +48,7 @@ the cap let either arm grasp and unscrew it.
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"     scale="0.001 0.001 0.001"/>
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -65,12 +58,8 @@ the cap let either arm grasp and unscrew it.
     <camera name="tablecam" pos="0.30 0.0 1.30" xyaxes="1 0 0 0 1 0" fovy="60"/>
     <camera name="frontcam" pos="1.05 0.0 0.90" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material"/>
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision"/>
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
diff --git a/v2/move_puck_scene.xml b/v2/move_puck_scene.xml
index ef1dee2..40bf383 100644
--- a/v2/move_puck_scene.xml
+++ b/v2/move_puck_scene.xml
@@ -23,15 +23,6 @@ puck can be pushed to a goal with the closed gripper, or grasped and placed
 <mujoco model="openarm_v20_move_puck">
   <compiler meshdir="assets" angle="radian"/>
 
-  <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2" />
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
-    </default>
-  </default>
-
   <statistic center="0 0 0.6" extent="1.1" meansize="0.05"/>
   <option timestep="0.001" />
 
@@ -48,11 +39,7 @@ puck can be pushed to a goal with the closed gripper, or grasped and placed
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"        scale="0.001 0.001 0.001" />
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl"    scale="0.001 0.001 0.001" />
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -62,12 +49,8 @@ puck can be pushed to a goal with the closed gripper, or grasped and placed
     <camera name="tablecam" pos="0.26 -0.18 1.15" xyaxes="1 0 0 0 1 0" fovy="60"/>
     <camera name="frontcam" pos="0.95 -0.18 0.85" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material" />
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
diff --git a/v2/openarm_pedestal.xml b/v2/openarm_pedestal.xml
new file mode 100644
index 0000000..fdb8a00
--- /dev/null
+++ b/v2/openarm_pedestal.xml
@@ -0,0 +1,56 @@
+<!--
+Copyright 2026 Enactic, Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+-->
+
+<!--
+Attachable component: the OpenArm bimanual arms mounted on the static
+pedestal. Scenes include it via
+  <asset><model name="arm_pedestal" file="openarm_pedestal.xml"/></asset>
+  <worldbody><attach model="arm_pedestal" prefix=""/></worldbody>
+Scene furniture (floor, lights, cameras, keyframes) stays in the scenes.
+-->
+<mujoco model="openarm_pedestal">
+  <compiler meshdir="assets" angle="radian"/>
+
+  <default>
+    <default class="pedestal_visual">
+      <geom contype="0" conaffinity="0" group="2" />
+    </default>
+    <default class="pedestal_collision">
+      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+    </default>
+  </default>
+
+  <asset>
+    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
+
+    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"     scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
+
+    <model name="bimanual" file="openarm_bimanual.xml"/>
+  </asset>
+
+  <worldbody>
+    <!-- static fixation base -->
+    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="pedestal_visual"    material="openarm_body_link0_material" />
+    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="pedestal_collision" />
+
+    <!-- arms attach at the pedestal top (z=0.698) -->
+    <frame pos="0 0 0.698">
+      <attach model="bimanual" prefix=""/>
+    </frame>
+  </worldbody>
+
+</mujoco>
diff --git a/v2/pedestal.xml b/v2/pedestal.xml
index ff57f0e..d0bf5d5 100644
--- a/v2/pedestal.xml
+++ b/v2/pedestal.xml
@@ -17,15 +17,6 @@ limitations under the License.
 <mujoco model="openarm_v20_pedestal">
   <compiler meshdir="assets" angle="radian"/>
 
-  <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2" />
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
-    </default>
-  </default>
-
   <statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
   <option timestep="0.001" />
 
@@ -41,26 +32,16 @@ limitations under the License.
     <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
       markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"           scale="0.001 0.001 0.001" />
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl"   scale="0.001 0.001 0.001" />
 
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
     <light pos="0 0 2" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
 
-    <!-- static fixation base -->
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material" />
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />
-
-    <!-- arms attach at the pedestal top (z=0.698) -->
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
   </worldbody>
 
   <keyframe>
diff --git a/v2/peg_socket_scene.xml b/v2/peg_socket_scene.xml
index 3530e24..23fa5c0 100644
--- a/v2/peg_socket_scene.xml
+++ b/v2/peg_socket_scene.xml
@@ -24,15 +24,6 @@ it needs no yaw alignment.
 <mujoco model="openarm_v20_peg_socket">
   <compiler meshdir="assets" angle="radian"/>
 
-  <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2" />
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
-    </default>
-  </default>
-
   <statistic center="0 0 0.6" extent="1.1" meansize="0.05"/>
   <option timestep="0.001" />
 
@@ -49,11 +40,7 @@ it needs no yaw alignment.
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"        scale="0.001 0.001 0.001" />
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl"    scale="0.001 0.001 0.001" />
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -63,12 +50,8 @@ it needs no yaw alignment.
     <camera name="tablecam" pos="0.28 -0.22 1.15" xyaxes="1 0 0 0 1 0" fovy="55"/>
     <camera name="frontcam" pos="0.95 -0.22 0.85" xyaxes="0 -1 0 0.3 0 1" fovy="50"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material" />
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
diff --git a/v2/tool_scene.xml b/v2/tool_scene.xml
index 7a304fc..9e62b09 100644
--- a/v2/tool_scene.xml
+++ b/v2/tool_scene.xml
@@ -23,15 +23,6 @@ even farther goal marker.
 <mujoco model="openarm_v20_tool">
   <compiler meshdir="assets" angle="radian"/>
 
-  <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2" />
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
-    </default>
-  </default>
-
   <statistic center="0 0 0.6" extent="1.2" meansize="0.05"/>
   <option timestep="0.001" />
 
@@ -48,11 +39,7 @@ even farther goal marker.
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"        scale="0.001 0.001 0.001" />
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl"    scale="0.001 0.001 0.001" />
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -62,12 +49,8 @@ even farther goal marker.
     <camera name="tablecam" pos="0.34 -0.14 1.3" xyaxes="1 0 0 0 1 0" fovy="64"/>
     <camera name="frontcam" pos="1.05 -0.26 0.9" xyaxes="0 -1 0 0.3 0 1" fovy="58"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material" />
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents); wide enough
diff --git a/v2/valve_scene.xml b/v2/valve_scene.xml
index 532f3f7..ca44899 100644
--- a/v2/valve_scene.xml
+++ b/v2/valve_scene.xml
@@ -22,12 +22,6 @@ graspable knob at the lever tip and inactive grasp welds for either arm.
   <compiler meshdir="assets" angle="radian"/>
 
   <default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" group="2"/>
-    </default>
-    <default class="collision">
-      <geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01"/>
-    </default>
     <default class="fixture">
       <geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
     </default>
@@ -49,11 +43,7 @@ graspable knob at the lever tip and inactive grasp welds for either arm.
       markrgb="0.6 0.6 0.6" width="300" height="300"/>
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
 
-    <material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
-    <mesh name="body_link0"      content_type="model/stl" file="visual/body/body_link0.stl"     scale="0.001 0.001 0.001"/>
-    <mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-
-    <model name="bimanual" file="openarm_bimanual.xml"/>
+    <model name="arm_pedestal" file="openarm_pedestal.xml"/>
   </asset>
 
   <worldbody>
@@ -63,12 +53,8 @@ graspable knob at the lever tip and inactive grasp welds for either arm.
     <camera name="tablecam" pos="0.30 0.0 1.30" xyaxes="1 0 0 0 1 0" fovy="60"/>
     <camera name="frontcam" pos="1.05 0.0 0.90" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>
 
-    <geom name="openarm_body_link0_visual"    type="mesh" mesh="body_link0"      class="visual"    material="openarm_body_link0_material"/>
-    <geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision"/>
-
-    <frame pos="0 0 0.698">
-      <attach model="bimanual" prefix=""/>
-    </frame>
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
 
     <!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
          cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop