add openarm 2

dual_arms/openarm_2/LICENSE.txt

@@ -0,0 +1,201 @@
+                                 Apache License
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dual_arms/openarm_2/README.md

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+# OpenArm 2
+
+This directory vendors the OpenArm v2.0 bimanual robot with two pinch grippers
+and its fixed pedestal.
+
+The assets are sourced from the official Enactic repositories at these pinned
+commits:
+
+- URDF and meshes: [enactic/openarm_description](https://github.com/enactic/openarm_description), `main`, commit `14ff67b638ff1c738a1b9a6be8aaa5ce5ed2c831`
+- MuJoCo model and meshes: [enactic/openarm_mujoco](https://github.com/enactic/openarm_mujoco), `master`, commit `161039cd74ea8675fb8197836fe5674659825c75`
+
+`openarm_2.urdf` is the expanded v2.0 bimanual URDF. Its upstream
+`package://` mesh paths were rewritten to repository-relative paths under
+`meshes/urdf/`; the current expanded form preserves the materials embedded in
+the DAE visual meshes. `openarm_2.xml` is the MuJoCo pedestal component and
+loads the bimanual arm from `mjcf/openarm_bimanual.xml`. The complete pedestal
+scene is `scene/scene.xml`.
+
+Both upstream repositories publish these files under Apache-2.0. See
+`LICENSE.txt` for the license text.

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dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.mtl

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+# www.blender.org
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.obj

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+version https://git-lfs.github.com/spec/v1
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+size 56534

dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.mtl

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+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
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+newmtl matte_black
+Ns 250.000000
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.obj

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+version https://git-lfs.github.com/spec/v1
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.mtl

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+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl pale_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.752941 0.752941 0.752941
+Ks 0.500000 0.500000 0.500000
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.obj

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+version https://git-lfs.github.com/spec/v1
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.mtl

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+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
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dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.mtl

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+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
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+newmtl matte_black
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