diff --git a/dual_arms/openarm_2/LICENSE.txt b/dual_arms/openarm_2/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd7dbc7322787d3fe5e0c5e8d0cf8aafc1cc47cd
--- /dev/null
+++ b/dual_arms/openarm_2/LICENSE.txt
@@ -0,0 +1,201 @@
+                                 Apache License
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+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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diff --git a/dual_arms/openarm_2/README.md b/dual_arms/openarm_2/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..92c6c17327c017116c3f8aae83b64dad72d62a09
--- /dev/null
+++ b/dual_arms/openarm_2/README.md
@@ -0,0 +1,20 @@
+# 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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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8121aefe063cb3524618f9a7831e9562ab9b0dca61600a6a843aed85989e4cba
+size 502881
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5afc156fcf800e5461add42c1c181e2583d9bd0
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/base_link_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d66f436adbbe66c3c9eb9753ea084cae8254cace1fb559a7b20a2bba28ee39a
+size 29003
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308371a4019453d3c5d4e1f08aace1a119595d2a
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88634d86cab2e96cac501a2f4737be32ebae33d2a3e209847f76fe06d1a2fa6f
+size 605384
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0fd774c09c1023b4eda1aee8e9e422ae1b4259
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0087c74c99d1e73fa58d64a48fc868ab428300af7d6ecde2fb2561c6cf45fb84
+size 39918
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b72c2b50b7428b1a41bd7556df32f53818f18e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link1_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5237cd1aaff673944a25cef65ea4aa3ab9fe43e7f4b1e1c749d6fc126ce961e8
+size 38198
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3c7233162e002c100957be3134f32d41334172
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0acc486fb35c6676580b28ccf214faef71d0026b85c95586f3ed9dde7e3d06
+size 269410
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f41472d6ebfffb21af6b6694ce5a15c47ec029
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fad2b72b8143c7bec0a46cf1ca338829f446b526130c756233cb0700c3ad5b
+size 69114
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8363fc72450d9b2816aa1e77632416ef9358f44b
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link2_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de76944dc0aa4845457c76d2d3eb66e5baa6ff9fb5e26fac81215a157de9be79
+size 41782
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64b27c5fba61acdfa1ea78aff6f9a71bedadb39
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea98a309b5ff1aef90dd1d6457b9fecd445f98590117308a37c60969fcfcef0c
+size 756953
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17799d09e17735e86b3d170e583102b2a8893ace
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e02051a0d7aaa06ff23b78982bbbdd25182b4fc6160f92c7eee2d8822183c2
+size 139216
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14ee0b9b9867f3c5ca2d90ebb4240eed13cb933
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link3_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276a291d4174cf14b8b6edfa1f71ff838de2312ab15953809cd13ad0055f0bd2
+size 56534
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9240292ae8b21b78d5d2ff13abb08d7b810c4030
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b04d3be1bbabdcab89c44ecce0959fb8105e3e8044a2aed598ccea1d0bda43c
+size 725868
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4b62264dca8ca5e61a181c9de0f24db88c6efb
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2b126121a794aea3e23ff669871873f70d4d02b4c7b1b99708030ae8a43bc4
+size 49708
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4881a461ca418889c77fa354a9286cea081ca2f
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link4_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f34012ceef299dd09fe9e2f347e02b61005af22e66d7d99587931c835484950
+size 86858
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899f27d38a05091766659c31bdc724988315d37c
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f53aa7e9ca5fe5e31c379970a901c8e56f1c9eb82e31b743e76e5e36d3e9e6
+size 773870
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462c67f2710f31d3b583790c9e9a5c1795c7fa88
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3300ca1f51f10f9fc949b6ab821bf69e3a43d0ba88048c3ad2051016c05ca0e
+size 51021
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547b7970f9dfe59dfb9a9f683686a6ec5cfe1901
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link5_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3d53f2a9b7d715d36dfe16905257eea590d0025cf3834e67f7f628cb3874bd
+size 131838
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a79de511153405452e080f065a1ab8efaa368be
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cde8f6bf6593122030cfcd2744060d41bb6cc249af6ec2320e6deba1ddb2582
+size 212499
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4db207d88de6f63a97ae3f92ff0ae9350390da
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642a33b2b4440013efe8ed831af43ef560ca7d122fefe0cca42831ee59bac06c
+size 89971
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f937c30e7be061b729e5f8fa925baa67642631
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/arm/link6_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d475e274c767b2b41772f331234e74e8fb68fff3fdbfe15cd0720e4667aeb9a
+size 91699
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0.stl b/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ec9fc424c3a5e7a9bbe83ab12638424db5e0772f
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ab0afa9a26bebbf5c6149894c41d96622caa649555ae7c5f0f2548f86148d91
+size 7955034
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0_5.obj b/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edacf71d00efd1bd55914922d651bdb7c9ae7695
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/body/body_link0_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af61bd9a223c2eade53074cd4ee4c7dc8a87bee8ca6555eb9fd470e81aefa2f0
+size 2363667
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eebbc8c9f45dc09c8b49b50a1fb386578b00521
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc93f69d2e693e62c5ba602158ec5a515841e6764f3fc8deea526cf0cf9d9cc
+size 1532399
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f92d7dd9125277db6b9cb3e7bb62dcc243d4ca6e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl metal_silver
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.650000 0.650000 0.650000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034dfdff3685d91699dbb5fbf900eb6b80a9282e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb7c8ba2ac387dd4a68689c519d1cc4fba832931fb0c1de7fee1ae0684613ef2
+size 35026
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae90a6391d65bf18d3c0673fee8d838f8aa12224
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/ee_base_link_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5d1948f08d764d0f585ca93041d6732112c9ec2e6278fa3a9d780abbd91bb6
+size 249126
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7fb0ef735c183fe8c0a4c7e9cd749f0f7c34dc
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af021d37d61971417bc9f57f051d855d61859cd304a2e5a6a12fd05c85dca60b
+size 121982
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42dbaf428edde032c7247e695c6c5f1c1d9c2c6
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6f997d77ca86956cc3798614e877a4efa3bab8e112ead74c5c8381621d546b
+size 171483
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75c9fa3082661e623e3aff9bb37f87d770a3ee1
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_inner_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95fad3566bcc110e3c27c19d599b4f2de950dab830270b076480e7dc9c70b64b
+size 64498
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9926a9b79ed1d76f7fd942283c149ea9c8cfbff7
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_00.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec237af8498effa0e4c6310a1248d16185473fb5cb82b2f360952ac48b5e285f
+size 121778
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6aaee53130bb627fdbaacb494353a28444cb42e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.mtl
@@ -0,0 +1,12 @@
+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl matte_black
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.247000 0.247000 0.247000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcaeebfeb5597416333ef55907886b84b28a00b
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_01.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbb535869ec80738eaea0c9cf08d0094375645651b7be618e668ae0fbb0355b
+size 172956
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.mtl b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd29d020268844a5075304523ae19c3098efaa96
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.mtl
@@ -0,0 +1,12 @@
+# 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
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.obj b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db91690f63631bce5ec985d7e59fef284e66e7ee
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/mujoco/visual/gripper/finger_outer_02.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a6ce28f644d795d2b687713a2d12178451490054286539a24819471e3905fd
+size 69311
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/base_link.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..aceccc8a43ca46049a4700d63c02475b14b02123
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/base_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795f96ece4db1f896ba2962314c6bda5a876eac2c3cb578b018b21985b57c158
+size 20084
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link1.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b1a8c33402b8be4a2acaac3f0a272cefdb1fd7f8
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link1.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fcc7bd6900fd115004f6d4553fae0602aa4b29d132b354728cca9510f701803
+size 69684
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link2.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ae5f0fbd79f475fba5d8c43ae4a8ee8fe432a8a4
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381f0c51a4d2bacb40a9782ecd9901877d5b32b9083329d39b741fc63a73a483
+size 41584
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link3.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6c2e693ce8b81ea5cad9eee595ad908a2e0e1b05
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link3.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ce0a23e5e65803c9a5d08d8bd915f5ccb4c5a285119183d461f73ab2f535b7
+size 42584
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link4.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link4.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5bd8bf7f0279a1987700cd8d7c89cf5248311f7f
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link4.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb42e669449020c05d5b17152fd22ea8d5737c831619d0f026cfeb2cf28e735
+size 62484
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link5.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link5.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bf3b427cba5a2a64b089d15a871499cd0685a841
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link5.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05a44d9ad9ca0e41fd04bf89363dd6d2a301bd90409553fa92e4be337759959
+size 29684
diff --git a/dual_arms/openarm_2/meshes/urdf/arm/collision/link6.stl b/dual_arms/openarm_2/meshes/urdf/arm/collision/link6.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3700f76142e6b63844fcf101f0ca0a1f67175e4e
--- /dev/null
+++ b/dual_arms/openarm_2/meshes/urdf/arm/collision/link6.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+<?xml version='1.0' encoding='utf-8'?>
+<!--
+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.
+-->
+
+<mujoco model="openarm_v20">
+  <default>
+    <joint stiffness="0" ref="0.0" />
+    <default class="robot">
+      <default class="motor_DM8009">
+        <joint frictionloss="0.2" damping="1.0" armature="0.0081" limited="true" type="hinge" />
+        <position kp="200" kv="150" forcelimited="true" forcerange="-40 40" ctrllimited="true" />
+      </default>
+      <default class="motor_DM4340">
+        <joint frictionloss="0.1" damping="0.9" armature="0.1600" limited="true" type="hinge" />
+        <position kp="100" kv="30" forcelimited="true" forcerange="-27 27" ctrllimited="true" />
+      </default>
+      <default class="motor_DM4310">
+        <joint frictionloss="0.04" damping="0.9" armature="0.0100" limited="true" type="hinge" />
+        <position kp="200" kv="5" forcelimited="true" forcerange="-7 7" ctrllimited="true" />
+        <!-- Keep gripper-specific friction and damping; inherit DM4310 inertia and limits. -->
+        <default class="motor_finger">
+          <joint frictionloss="0" damping="2" />
+        </default>
+      </default>
+      <default class="collision">
+        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <!-- The fingertips grip with condim=4, which activates the torsional
+             friction coefficient (the second entry of friction) so a pinched
+             object cannot spin about the pinch axis.  0.01 m is the effective
+             radius of the pad's contact patch; rolling friction stays off. -->
+        <default class="fingertip">
+          <geom condim="4" />
+        </default>
+      </default>
+      <default class="visual">
+        <geom contype="0" conaffinity="0" group="2" />
+      </default>
+    </default>
+  </default>
+  <compiler angle="radian" meshdir="../meshes/mujoco" />
+
+  <!-- Grasping needs the elliptic friction cone: under the default pyramidal
+       cone a pinched object creeps out of the jaws under load however high the
+       friction coefficients are, and impratio raises the stiffness of the
+       friction constraints relative to the normal ones so a firmly held object
+       stops sliding on the pads.  <option> does not carry across <attach>, so
+       every scene repeats these two settings. -->
+  <option cone="elliptic" impratio="10"/>
+
+  <asset>
+    <material name="collision_material" rgba="0.8 0.2 0.2 0.5" />
+    <material name="pale_silver" rgba="0.752941 0.752941 0.752941 1" specular="1.0" shininess="0.9" reflectance="0.8" />
+    <material name="metal_silver" rgba="0.65 0.65 0.65 1.0" specular="1.0" shininess="0.9" reflectance="0.8" />
+    <material name="matte_black" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5" />
+
+    <mesh name="base_link_left_00" content_type="model/obj" file="visual/arm/base_link_00.obj" scale="1 -1 1" />
+    <mesh name="base_link_left_01" content_type="model/obj" file="visual/arm/base_link_01.obj" scale="1 -1 1" />
+    <mesh name="base_link_left_collision_00" content_type="model/stl" file="collision/base_link.stl" scale="1 -1 1" />
+    <mesh name="link1_left_00" content_type="model/obj" file="visual/arm/link1_00.obj" scale="1 -1 1" />
+    <mesh name="link1_left_01" content_type="model/obj" file="visual/arm/link1_01.obj" scale="1 -1 1" />
+    <mesh name="link1_left_02" content_type="model/obj" file="visual/arm/link1_02.obj" scale="1 -1 1" />
+    <mesh name="link1_left_collision_00" content_type="model/stl" file="collision/link1.stl" scale="1 -1 1" />
+    <mesh name="link2_left_00" content_type="model/obj" file="visual/arm/link2_00.obj" scale="1 -1 1" />
+    <mesh name="link2_left_01" content_type="model/obj" file="visual/arm/link2_01.obj" scale="1 -1 1" />
+    <mesh name="link2_left_02" content_type="model/obj" file="visual/arm/link2_02.obj" scale="1 -1 1" />
+    <mesh name="link2_left_collision_00" content_type="model/stl" file="collision/link2.stl" scale="1 -1 1" />
+    <mesh name="link3_left_00" content_type="model/obj" file="visual/arm/link3_00.obj" />
+    <mesh name="link3_left_01" content_type="model/obj" file="visual/arm/link3_01.obj" />
+    <mesh name="link3_left_02" content_type="model/obj" file="visual/arm/link3_02.obj" />
+    <mesh name="link3_left_collision_00" content_type="model/stl" file="collision/link3.stl" />
+    <mesh name="link4_left_00" content_type="model/obj" file="visual/arm/link4_00.obj" />
+    <mesh name="link4_left_01" content_type="model/obj" file="visual/arm/link4_01.obj" />
+    <mesh name="link4_left_02" content_type="model/obj" file="visual/arm/link4_02.obj" />
+    <mesh name="link4_left_collision_00" content_type="model/stl" file="collision/link4.stl" />
+    <mesh name="link5_left_00" content_type="model/obj" file="visual/arm/link5_00.obj" scale="1 -1 1" />
+    <mesh name="link5_left_01" content_type="model/obj" file="visual/arm/link5_01.obj" scale="1 -1 1" />
+    <mesh name="link5_left_02" content_type="model/obj" file="visual/arm/link5_02.obj" scale="1 -1 1" />
+    <mesh name="link5_left_collision_00" content_type="model/stl" file="collision/link5_part_00.stl" scale="1 -1 1" />
+    <mesh name="link5_left_collision_01" content_type="model/stl" file="collision/link5_part_01.stl" scale="1 -1 1" />
+    <mesh name="link5_left_collision_02" content_type="model/stl" file="collision/link5_part_02.stl" scale="1 -1 1" />
+    <mesh name="link6_left_00" content_type="model/obj" file="visual/arm/link6_00.obj" scale="1 -1 1" />
+    <mesh name="link6_left_01" content_type="model/obj" file="visual/arm/link6_01.obj" scale="1 -1 1" />
+    <mesh name="link6_left_02" content_type="model/obj" file="visual/arm/link6_02.obj" scale="1 -1 1" />
+    <mesh name="link6_left_collision_00" content_type="model/stl" file="collision/link6.stl" scale="1 -1 1" />
+    <mesh name="ee_base_link_left_00" content_type="model/obj" file="visual/gripper/ee_base_link_00.obj" scale="1 -1 1" />
+    <mesh name="ee_base_link_left_01" content_type="model/obj" file="visual/gripper/ee_base_link_01.obj" scale="1 -1 1" />
+    <mesh name="ee_base_link_left_02" content_type="model/obj" file="visual/gripper/ee_base_link_02.obj" scale="1 -1 1" />
+    <mesh name="ee_base_link_left_collision_00" content_type="model/stl" file="collision/ee_base_link.stl" scale="1 -1 1" />
+    <mesh name="finger_inner_left_00" content_type="model/obj" file="visual/gripper/finger_inner_00.obj" scale="1 -1 1" />
+    <mesh name="finger_inner_left_01" content_type="model/obj" file="visual/gripper/finger_inner_01.obj" scale="1 -1 1" />
+    <mesh name="finger_inner_left_02" content_type="model/obj" file="visual/gripper/finger_inner_02.obj" scale="1 -1 1" />
+    <mesh name="finger_inner_left_collision_00" content_type="model/stl" file="collision/finger_inner_part_00.stl" scale="1 -1 1" />
+    <mesh name="finger_inner_left_collision_01" content_type="model/stl" file="collision/finger_inner_part_01.stl" scale="1 -1 1" />
+    <mesh name="finger_inner_left_collision_02" content_type="model/stl" file="collision/finger_inner_part_02.stl" scale="1 -1 1" />
+    <mesh name="finger_inner_left_collision_03" content_type="model/stl" file="collision/finger_inner_part_03.stl" scale="1 -1 1" />
+    <mesh name="finger_outer_left_00" content_type="model/obj" file="visual/gripper/finger_outer_00.obj" scale="1 -1 1" />
+    <mesh name="finger_outer_left_01" content_type="model/obj" file="visual/gripper/finger_outer_01.obj" scale="1 -1 1" />
+    <mesh name="finger_outer_left_02" content_type="model/obj" file="visual/gripper/finger_outer_02.obj" scale="1 -1 1" />
+    <mesh name="finger_outer_left_collision_00" content_type="model/stl" file="collision/finger_outer_part_00.stl" scale="1 -1 1" />
+    <mesh name="finger_outer_left_collision_01" content_type="model/stl" file="collision/finger_outer_part_01.stl" scale="1 -1 1" />
+    <mesh name="finger_outer_left_collision_02" content_type="model/stl" file="collision/finger_outer_part_02.stl" scale="1 -1 1" />
+    <mesh name="finger_outer_left_collision_03" content_type="model/stl" file="collision/finger_outer_part_03.stl" scale="1 -1 1" />
+    <mesh name="base_link_right_00" content_type="model/obj" file="visual/arm/base_link_00.obj" />
+    <mesh name="base_link_right_01" content_type="model/obj" file="visual/arm/base_link_01.obj" />
+    <mesh name="base_link_right_collision_00" content_type="model/stl" file="collision/base_link.stl" />
+    <mesh name="link1_right_00" content_type="model/obj" file="visual/arm/link1_00.obj" />
+    <mesh name="link1_right_01" content_type="model/obj" file="visual/arm/link1_01.obj" />
+    <mesh name="link1_right_02" content_type="model/obj" file="visual/arm/link1_02.obj" />
+    <mesh name="link1_right_collision_00" content_type="model/stl" file="collision/link1.stl" />
+    <mesh name="link2_right_00" content_type="model/obj" file="visual/arm/link2_00.obj" />
+    <mesh name="link2_right_01" content_type="model/obj" file="visual/arm/link2_01.obj" />
+    <mesh name="link2_right_02" content_type="model/obj" file="visual/arm/link2_02.obj" />
+    <mesh name="link2_right_collision_00" content_type="model/stl" file="collision/link2.stl" />
+    <mesh name="link3_right_00" content_type="model/obj" file="visual/arm/link3_00.obj" />
+    <mesh name="link3_right_01" content_type="model/obj" file="visual/arm/link3_01.obj" />
+    <mesh name="link3_right_02" content_type="model/obj" file="visual/arm/link3_02.obj" />
+    <mesh name="link3_right_collision_00" content_type="model/stl" file="collision/link3.stl" />
+    <mesh name="link4_right_00" content_type="model/obj" file="visual/arm/link4_00.obj" />
+    <mesh name="link4_right_01" content_type="model/obj" file="visual/arm/link4_01.obj" />
+    <mesh name="link4_right_02" content_type="model/obj" file="visual/arm/link4_02.obj" />
+    <mesh name="link4_right_collision_00" content_type="model/stl" file="collision/link4.stl" />
+    <mesh name="link5_right_00" content_type="model/obj" file="visual/arm/link5_00.obj" />
+    <mesh name="link5_right_01" content_type="model/obj" file="visual/arm/link5_01.obj" />
+    <mesh name="link5_right_02" content_type="model/obj" file="visual/arm/link5_02.obj" />
+    <mesh name="link5_right_collision_00" content_type="model/stl" file="collision/link5_part_00.stl" />
+    <mesh name="link5_right_collision_01" content_type="model/stl" file="collision/link5_part_01.stl" />
+    <mesh name="link5_right_collision_02" content_type="model/stl" file="collision/link5_part_02.stl" />
+    <mesh name="link6_right_00" content_type="model/obj" file="visual/arm/link6_00.obj" />
+    <mesh name="link6_right_01" content_type="model/obj" file="visual/arm/link6_01.obj" />
+    <mesh name="link6_right_02" content_type="model/obj" file="visual/arm/link6_02.obj" />
+    <mesh name="link6_right_collision_00" content_type="model/stl" file="collision/link6.stl" />
+    <mesh name="ee_base_link_right_00" content_type="model/obj" file="visual/gripper/ee_base_link_00.obj" />
+    <mesh name="ee_base_link_right_01" content_type="model/obj" file="visual/gripper/ee_base_link_01.obj" />
+    <mesh name="ee_base_link_right_02" content_type="model/obj" file="visual/gripper/ee_base_link_02.obj" />
+    <mesh name="ee_base_link_right_collision_00" content_type="model/stl" file="collision/ee_base_link.stl" />
+    <mesh name="finger_inner_right_00" content_type="model/obj" file="visual/gripper/finger_inner_00.obj" />
+    <mesh name="finger_inner_right_01" content_type="model/obj" file="visual/gripper/finger_inner_01.obj" />
+    <mesh name="finger_inner_right_02" content_type="model/obj" file="visual/gripper/finger_inner_02.obj" />
+    <mesh name="finger_inner_right_collision_00" content_type="model/stl" file="collision/finger_inner_part_00.stl" />
+    <mesh name="finger_inner_right_collision_01" content_type="model/stl" file="collision/finger_inner_part_01.stl" />
+    <mesh name="finger_inner_right_collision_02" content_type="model/stl" file="collision/finger_inner_part_02.stl" />
+    <mesh name="finger_inner_right_collision_03" content_type="model/stl" file="collision/finger_inner_part_03.stl" />
+    <mesh name="finger_outer_right_00" content_type="model/obj" file="visual/gripper/finger_outer_00.obj" />
+    <mesh name="finger_outer_right_01" content_type="model/obj" file="visual/gripper/finger_outer_01.obj" />
+    <mesh name="finger_outer_right_02" content_type="model/obj" file="visual/gripper/finger_outer_02.obj" />
+    <mesh name="finger_outer_right_collision_00" content_type="model/stl" file="collision/finger_outer_part_00.stl" />
+    <mesh name="finger_outer_right_collision_01" content_type="model/stl" file="collision/finger_outer_part_01.stl" />
+    <mesh name="finger_outer_right_collision_02" content_type="model/stl" file="collision/finger_outer_part_02.stl" />
+    <mesh name="finger_outer_right_collision_03" content_type="model/stl" file="collision/finger_outer_part_03.stl" />
+  </asset>
+  <worldbody>
+    <!-- arm origin site: pose origin for FK/IK, placed at the model root so it
+         lands on the attach frame wherever the bimanual arms are mounted
+         (group 4 = hidden by default) -->
+    <site name="arm_origin" pos="0 0 0" size="0.02" rgba="1 0.8 0 1" group="4"/>
+    <body name="openarm_left_base_link" pos="0 0.031 0">
+      <inertial pos="-0.00253124 0.0258186 -2.70658e-05" quat="-1.46856942085e-06 0.70739772103 0.706815721259 2.1457591538e-05" mass="1.14323" diaginertia="0.00159935 0.00113608 0.000750542" />
+      <geom name="base_link_left_00" type="mesh" mesh="base_link_left_00" class="visual" material="matte_black" quat="0 0 1 0" />
+      <geom name="base_link_left_01" type="mesh" mesh="base_link_left_01" class="visual" material="pale_silver" quat="0 0 1 0" />
+      <geom name="base_link_left_collision_00" type="mesh" mesh="base_link_left_collision_00" class="collision" quat="0 0 1 0" />
+      <body name="openarm_left_link1" pos="0 0.0625 0">
+        <inertial pos="0.00090035 0.044466 2.88441e-05" quat="0.999901 -0.000371041 -5.04627e-05 -0.0140338" mass="1.14167" diaginertia="0.00109459 0.000758935 0.000670659" />
+        <joint name="openarm_left_joint1" pos="0 0 0" axis="0 1 0" range="-3.4907 1.3963" actuatorfrcrange="-40 40" class="motor_DM8009" />
+        <geom name="link1_left_00" type="mesh" mesh="link1_left_00" class="visual" material="matte_black" />
+        <geom name="link1_left_01" type="mesh" mesh="link1_left_01" class="visual" material="pale_silver" />
+        <geom name="link1_left_02" type="mesh" mesh="link1_left_02" class="visual" material="metal_silver" />
+        <geom name="link1_left_collision_00" type="mesh" mesh="link1_left_collision_00" class="collision" />
+        <body name="openarm_left_link2" pos="0 0.06 0">
+          <inertial pos="-0.0247185 -7.60578e-08 -0.0312643" quat="0.999342 -6.47495e-06 -0.0362804 3.02331e-06" mass="0.277509" diaginertia="0.000153968 0.000113062 8.19211e-05" />
+          <joint name="openarm_left_joint2" pos="0 0 0" axis="-1 0 0" range="-3.3161 0.17453" actuatorfrcrange="-40 40" class="motor_DM8009" />
+          <geom name="link2_left_00" type="mesh" mesh="link2_left_00" class="visual" material="matte_black" />
+          <geom name="link2_left_01" type="mesh" mesh="link2_left_01" class="visual" material="metal_silver" />
+          <geom name="link2_left_02" type="mesh" mesh="link2_left_02" class="visual" material="pale_silver" />
+          <geom name="link2_left_collision_00" type="mesh" mesh="link2_left_collision_00" class="collision" />
+          <body name="openarm_left_link3" pos="0 0 -0.06625">
+            <inertial pos="-0.00300862 -0.000514813 -0.109368" quat="0.998906 -0.00891348 0.0458105 0.00280505" mass="1.07386" diaginertia="0.00129561 0.00114038 0.000553361" />
+            <joint name="openarm_left_joint3" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-27 27" class="motor_DM4340" />
+            <geom name="link3_left_00" type="mesh" mesh="link3_left_00" class="visual" material="matte_black" />
+            <geom name="link3_left_01" type="mesh" mesh="link3_left_01" class="visual" material="metal_silver" />
+            <geom name="link3_left_02" type="mesh" mesh="link3_left_02" class="visual" material="pale_silver" />
+            <geom name="link3_left_collision_00" type="mesh" mesh="link3_left_collision_00" class="collision" />
+            <body name="openarm_left_link4" pos="0 0 -0.15375">
+              <inertial pos="-0.00310326 -0.00136539 -0.0574601" quat="0.996952 0.00947325 0.00348083 0.0773554" mass="0.634853" diaginertia="0.000469894 0.000433114 0.000245134" />
+              <joint name="openarm_left_joint4" pos="0 0 0" axis="0 -1 0" range="0 2.4435" actuatorfrcrange="-27 27" class="motor_DM4340" />
+              <geom name="link4_left_00" type="mesh" mesh="link4_left_00" class="visual" material="matte_black" />
+              <geom name="link4_left_01" type="mesh" mesh="link4_left_01" class="visual" material="pale_silver" />
+              <geom name="link4_left_02" type="mesh" mesh="link4_left_02" class="visual" material="metal_silver" />
+              <geom name="link4_left_collision_00" type="mesh" mesh="link4_left_collision_00" class="collision" />
+              <body name="openarm_left_link5" pos="0 0 -0.0955">
+                <inertial pos="-0.000737189 0.000412407 -0.0470938" quat="0.685547 -0.0023482 -0.00297125 0.728019" mass="0.615659" diaginertia="0.000334799 0.00027946 0.000176657" />
+                <joint name="openarm_left_joint5" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                <geom name="link5_left_00" type="mesh" mesh="link5_left_00" class="visual" material="matte_black" />
+                <geom name="link5_left_01" type="mesh" mesh="link5_left_01" class="visual" material="pale_silver" />
+                <geom name="link5_left_02" type="mesh" mesh="link5_left_02" class="visual" material="metal_silver" />
+                <geom name="link5_left_collision_00" type="mesh" mesh="link5_left_collision_00" class="collision" />
+                <geom name="link5_left_collision_01" type="mesh" mesh="link5_left_collision_01" class="collision" />
+                <geom name="link5_left_collision_02" type="mesh" mesh="link5_left_collision_02" class="collision" />
+                <body name="openarm_left_link6" pos="0 0 -0.1205">
+                  <inertial pos="2.27438e-05 -0.000686496 5.44e-05" quat="0.999832 -0.0183155 0.000397003 -0.000757974" mass="0.475203" diaginertia="0.000179276 0.000136249 0.000135339" />
+                  <joint name="openarm_left_joint6" pos="0 0 0" axis="0 -1 0" range="-0.7854 0.7854" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                  <geom name="link6_left_00" type="mesh" mesh="link6_left_00" class="visual" material="matte_black" />
+                  <geom name="link6_left_01" type="mesh" mesh="link6_left_01" class="visual" material="metal_silver" />
+                  <geom name="link6_left_02" type="mesh" mesh="link6_left_02" class="visual" material="pale_silver" />
+                  <geom name="link6_left_collision_00" type="mesh" mesh="link6_left_collision_00" class="collision" />
+                  <body name="openarm_left_ee_base_link">
+                    <inertial pos="0.0137902 -0.0084073 -0.05938" quat="0.760121 0.648846 -0.0304587 -0.0169317" mass="0.52832" diaginertia="0.000219417 0.000166122 0.000155742" />
+                    <joint name="openarm_left_joint7" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                    <geom name="ee_base_link_left_00" pos="0.0205 0 0" quat="1 0 0 0" type="mesh" mesh="ee_base_link_left_00" class="visual" material="matte_black" />
+                    <geom name="ee_base_link_left_01" pos="0.0205 0 0" type="mesh" mesh="ee_base_link_left_01" class="visual" material="metal_silver" />
+                    <geom name="ee_base_link_left_02" pos="0.0205 0 0" type="mesh" mesh="ee_base_link_left_02" class="visual" material="pale_silver" />
+                    <geom name="ee_base_link_left_collision_00" pos="0.0205 0 0" quat="1 0 0 0" type="mesh" mesh="ee_base_link_left_collision_00" class="collision" />
+                    <camera name="camera_wrist_left" pos="0.023 0.0182 -0.10236" euler="-0.366519 0.22689 -1.5708" fovy="66" resolution="960 600"/>
+                    <site name="left_ee_control_point" pos="0 0 0.0" size="0.01" rgba="0 1 0 1" />
+                    <body name="openarm_left_ee_inner_finger" pos="-0.00143 -0.018 -0.068">
+                      <inertial pos="-0.0124991 -0.00176593 -0.0241663" quat="0.982638 0.0922084 -0.15927 -0.0235197" mass="0.125979" diaginertia="3.8543e-05 3.6883e-05 1.43942e-05" />
+                      <joint name="openarm_left_finger_joint1" pos="0 0 0" axis="-1 0 0" range="0 0.7854" actuatorfrcrange="-7 7" class="motor_finger" />
+                      <geom name="finger_inner_left_00" type="mesh" mesh="finger_inner_left_00" class="visual" material="matte_black" />
+                      <geom name="finger_inner_left_01" type="mesh" mesh="finger_inner_left_01" class="visual" material="matte_black" />
+                      <geom name="finger_inner_left_02" type="mesh" mesh="finger_inner_left_02" class="visual" material="pale_silver" />
+                      <geom name="finger_inner_left_collision_00" type="mesh" mesh="finger_inner_left_collision_00" class="fingertip" />
+                      <geom name="finger_inner_left_collision_01" type="mesh" mesh="finger_inner_left_collision_01" class="fingertip" />
+                      <geom name="finger_inner_left_collision_02" type="mesh" mesh="finger_inner_left_collision_02" class="fingertip" />
+                      <geom name="finger_inner_left_collision_03" type="mesh" mesh="finger_inner_left_collision_03" class="fingertip" />
+                    </body>
+                    <body name="openarm_left_ee_outer_finger" pos="-0.00143 0.018 -0.068">
+                      <inertial pos="-0.012796 0.0020183 -0.026792" quat="0.982097 -0.0906989 -0.165079 0.00294117" mass="0.11372" diaginertia="3.70662e-05 3.60159e-05 1.33599e-05" />
+                      <joint name="openarm_left_finger_joint2" pos="0 0 0" axis="1 0 0" range="0 0.7854" actuatorfrcrange="-7 7" class="motor_finger" />
+                      <geom name="finger_outer_left_00" type="mesh" mesh="finger_outer_left_00" class="visual" material="matte_black" />
+                      <geom name="finger_outer_left_01" type="mesh" mesh="finger_outer_left_01" class="visual" material="matte_black" />
+                      <geom name="finger_outer_left_02" type="mesh" mesh="finger_outer_left_02" class="visual" material="pale_silver" />
+                      <geom name="finger_outer_left_collision_00" type="mesh" mesh="finger_outer_left_collision_00" class="fingertip" />
+                      <geom name="finger_outer_left_collision_01" type="mesh" mesh="finger_outer_left_collision_01" class="fingertip" />
+                      <geom name="finger_outer_left_collision_02" type="mesh" mesh="finger_outer_left_collision_02" class="fingertip" />
+                      <geom name="finger_outer_left_collision_03" type="mesh" mesh="finger_outer_left_collision_03" class="fingertip" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="openarm_right_base_link" pos="0 -0.031 0">
+      <inertial pos="-0.00253124 -0.0258186 -2.70658e-05" quat="2.1457591538e-05 0.706815721259 0.70739772103 -1.46856942085e-06" mass="1.14323" diaginertia="0.00159935 0.00113608 0.000750542" />
+      <geom name="base_link_right_00" type="mesh" mesh="base_link_right_00" class="visual" material="matte_black" quat="0 0 1 0" />
+      <geom name="base_link_right_01" type="mesh" mesh="base_link_right_01" class="visual" material="pale_silver" quat="0 0 1 0" />
+      <geom name="base_link_right_collision_00" type="mesh" mesh="base_link_right_collision_00" class="collision" quat="0 0 1 0" />
+      <body name="openarm_right_link1" pos="0 -0.0625 0">
+        <inertial pos="0.00090035 -0.044466 2.88441e-05" quat="0.999901 0.000371041 -5.04627e-05 0.0140338" mass="1.14167" diaginertia="0.00109459 0.000758935 0.000670659" />
+        <joint name="openarm_right_joint1" pos="0 0 0" axis="0 -1 0" range="-1.3963 3.4907" actuatorfrcrange="-40 40" class="motor_DM8009" />
+        <geom name="link1_right_00" type="mesh" mesh="link1_right_00" class="visual" material="matte_black" />
+        <geom name="link1_right_01" type="mesh" mesh="link1_right_01" class="visual" material="pale_silver" />
+        <geom name="link1_right_02" type="mesh" mesh="link1_right_02" class="visual" material="metal_silver" />
+        <geom name="link1_right_collision_00" type="mesh" mesh="link1_right_collision_00" class="collision" />
+        <body name="openarm_right_link2" pos="0 -0.06 0">
+          <inertial pos="-0.0247185 7.60578e-08 -0.0312643" quat="0.999342 6.47495e-06 -0.0362804 -3.02331e-06" mass="0.277509" diaginertia="0.000153968 0.000113062 8.19211e-05" />
+          <joint name="openarm_right_joint2" pos="0 0 0" axis="-1 0 0" range="-0.17453 3.3161" actuatorfrcrange="-40 40" class="motor_DM8009" />
+          <geom name="link2_right_00" type="mesh" mesh="link2_right_00" class="visual" material="matte_black" />
+          <geom name="link2_right_01" type="mesh" mesh="link2_right_01" class="visual" material="metal_silver" />
+          <geom name="link2_right_02" type="mesh" mesh="link2_right_02" class="visual" material="pale_silver" />
+          <geom name="link2_right_collision_00" type="mesh" mesh="link2_right_collision_00" class="collision" />
+          <body name="openarm_right_link3" pos="0 0 -0.06625">
+            <inertial pos="-0.00300862 -0.000514813 -0.109368" quat="0.998906 -0.00891348 0.0458105 0.00280505" mass="1.07386" diaginertia="0.00129561 0.00114038 0.000553361" />
+            <joint name="openarm_right_joint3" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-27 27" class="motor_DM4340" />
+            <geom name="link3_right_00" type="mesh" mesh="link3_right_00" class="visual" material="matte_black" />
+            <geom name="link3_right_01" type="mesh" mesh="link3_right_01" class="visual" material="metal_silver" />
+            <geom name="link3_right_02" type="mesh" mesh="link3_right_02" class="visual" material="pale_silver" />
+            <geom name="link3_right_collision_00" type="mesh" mesh="link3_right_collision_00" class="collision" />
+            <body name="openarm_right_link4" pos="0 0 -0.15375">
+              <inertial pos="-0.00310326 -0.00136539 -0.0574601" quat="0.996952 0.00947325 0.00348083 0.0773554" mass="0.634853" diaginertia="0.000469894 0.000433114 0.000245134" />
+              <joint name="openarm_right_joint4" pos="0 0 0" axis="0 -1 0" range="0 2.4435" actuatorfrcrange="-27 27" class="motor_DM4340" />
+              <geom name="link4_right_00" type="mesh" mesh="link4_right_00" class="visual" material="matte_black" />
+              <geom name="link4_right_01" type="mesh" mesh="link4_right_01" class="visual" material="pale_silver" />
+              <geom name="link4_right_02" type="mesh" mesh="link4_right_02" class="visual" material="metal_silver" />
+              <geom name="link4_right_collision_00" type="mesh" mesh="link4_right_collision_00" class="collision" />
+              <body name="openarm_right_link5" pos="0 0 -0.0955">
+                <inertial pos="-0.000737189 -0.000412407 -0.0470938" quat="0.728019 -0.00297125 -0.0023482 0.685547" mass="0.615659" diaginertia="0.000334799 0.00027946 0.000176657" />
+                <joint name="openarm_right_joint5" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                <geom name="link5_right_00" type="mesh" mesh="link5_right_00" class="visual" material="matte_black" />
+                <geom name="link5_right_01" type="mesh" mesh="link5_right_01" class="visual" material="pale_silver" />
+                <geom name="link5_right_02" type="mesh" mesh="link5_right_02" class="visual" material="metal_silver" />
+                <geom name="link5_right_collision_00" type="mesh" mesh="link5_right_collision_00" class="collision" />
+                <geom name="link5_right_collision_01" type="mesh" mesh="link5_right_collision_01" class="collision" />
+                <geom name="link5_right_collision_02" type="mesh" mesh="link5_right_collision_02" class="collision" />
+                <body name="openarm_right_link6" pos="0 0 -0.1205">
+                  <inertial pos="2.27438e-05 0.000686496 5.44e-05" quat="0.999832 0.0183155 0.000397003 0.000757974" mass="0.475203" diaginertia="0.000179276 0.000136249 0.000135339" />
+                  <joint name="openarm_right_joint6" pos="0 0 0" axis="0 1 0" range="-0.7854 0.7854" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                  <geom name="link6_right_00" type="mesh" mesh="link6_right_00" class="visual" material="matte_black" />
+                  <geom name="link6_right_01" type="mesh" mesh="link6_right_01" class="visual" material="metal_silver" />
+                  <geom name="link6_right_02" type="mesh" mesh="link6_right_02" class="visual" material="pale_silver" />
+                  <geom name="link6_right_collision_00" type="mesh" mesh="link6_right_collision_00" class="collision" />
+                  <body name="openarm_right_ee_base_link">
+                    <inertial pos="0.0137902 0.0084073 -0.05938" quat="0.648846 0.760121 0.0169317 0.0304587" mass="0.52832" diaginertia="0.000219417 0.000166122 0.000155742" />
+                    <joint name="openarm_right_joint7" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708" actuatorfrcrange="-7 7" class="motor_DM4310" />
+                    <geom name="ee_base_link_right_00" pos="0.0205 0 0" quat="1 0 0 0" type="mesh" mesh="ee_base_link_right_00" class="visual" material="matte_black" />
+                    <geom name="ee_base_link_right_01" pos="0.0205 0 0" type="mesh" mesh="ee_base_link_right_01" class="visual" material="metal_silver" />
+                    <geom name="ee_base_link_right_02" pos="0.0205 0 0" type="mesh" mesh="ee_base_link_right_02" class="visual" material="pale_silver" />
+                    <geom name="ee_base_link_right_collision_00" pos="0.0205 0 0" quat="1 0 0 0" type="mesh" mesh="ee_base_link_right_collision_00" class="collision" />
+                    <camera name="camera_wrist_right" pos="0.023 -0.0182 -0.10236" euler="0.366519 0.22689 -1.5708" fovy="66" resolution="960 600"/>
+                    <site name="right_ee_control_point" pos="0.0 0.0 0.0" size="0.01" rgba="1 0 0 1" />
+                    <body name="openarm_right_ee_inner_finger" pos="-0.00143 0.018 -0.068">
+                      <inertial pos="-0.0124991 0.00176593 -0.0241663" quat="0.982638 -0.0922084 -0.15927 0.0235197" mass="0.125979" diaginertia="3.8543e-05 3.6883e-05 1.43942e-05" />
+                      <joint name="openarm_right_finger_joint1" pos="0 0 0" axis="-1 0 0" range="-0.7854 0" actuatorfrcrange="-7 7" class="motor_finger" />
+                      <geom name="finger_inner_right_00" type="mesh" mesh="finger_inner_right_00" class="visual" material="matte_black" />
+                      <geom name="finger_inner_right_01" type="mesh" mesh="finger_inner_right_01" class="visual" material="matte_black" />
+                      <geom name="finger_inner_right_02" type="mesh" mesh="finger_inner_right_02" class="visual" material="pale_silver" />
+                      <geom name="finger_inner_right_collision_00" type="mesh" mesh="finger_inner_right_collision_00" class="fingertip" />
+                      <geom name="finger_inner_right_collision_01" type="mesh" mesh="finger_inner_right_collision_01" class="fingertip" />
+                      <geom name="finger_inner_right_collision_02" type="mesh" mesh="finger_inner_right_collision_02" class="fingertip" />
+                      <geom name="finger_inner_right_collision_03" type="mesh" mesh="finger_inner_right_collision_03" class="fingertip" />
+                    </body>
+                    <body name="openarm_right_ee_outer_finger" pos="-0.00143 -0.018 -0.068">
+                      <inertial pos="-0.012796 -0.0020183 -0.026792" quat="0.982097 0.0906989 -0.165079 -0.00294117" mass="0.11372" diaginertia="3.70662e-05 3.60159e-05 1.33599e-05" />
+                      <joint name="openarm_right_finger_joint2" pos="0 0 0" axis="1 0 0" range="-0.7854 0" actuatorfrcrange="-7 7" class="motor_finger" />
+                      <geom name="finger_outer_right_00" type="mesh" mesh="finger_outer_right_00" class="visual" material="matte_black" />
+                      <geom name="finger_outer_right_01" type="mesh" mesh="finger_outer_right_01" class="visual" material="matte_black" />
+                      <geom name="finger_outer_right_02" type="mesh" mesh="finger_outer_right_02" class="visual" material="pale_silver" />
+                      <geom name="finger_outer_right_collision_00" type="mesh" mesh="finger_outer_right_collision_00" class="fingertip" />
+                      <geom name="finger_outer_right_collision_01" type="mesh" mesh="finger_outer_right_collision_01" class="fingertip" />
+                      <geom name="finger_outer_right_collision_02" type="mesh" mesh="finger_outer_right_collision_02" class="fingertip" />
+                      <geom name="finger_outer_right_collision_03" type="mesh" mesh="finger_outer_right_collision_03" class="fingertip" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <equality>
+    <joint name="openarm_left_ee_finger_joint_mimic" joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint name="openarm_right_ee_finger_joint_mimic" joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <position name="left_joint1_ctrl" joint="openarm_left_joint1" class="motor_DM8009" kp="230" kv="2.7" ctrlrange="-3.49066 1.39626" />
+    <position name="left_joint2_ctrl" joint="openarm_left_joint2" class="motor_DM8009" kp="230" kv="2.7" ctrlrange="-3.31613 0.174533" />
+    <position name="left_joint3_ctrl" joint="openarm_left_joint3" class="motor_DM4340" kp="190" kv="2.2" ctrlrange="-1.5708 1.5708" />
+    <position name="left_joint4_ctrl" joint="openarm_left_joint4" class="motor_DM4340" kp="190" kv="2.2" ctrlrange="0 2.44346" />
+    <position name="left_joint5_ctrl" joint="openarm_left_joint5" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-1.5708 1.5708" />
+    <position name="left_joint6_ctrl" joint="openarm_left_joint6" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-0.785398 0.785398" />
+    <position name="left_joint7_ctrl" joint="openarm_left_joint7" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-1.5708 1.5708" />
+    <position name="left_finger1_ctrl" joint="openarm_left_finger_joint1" class="motor_finger" kp="30" kv="0.2" ctrlrange="0 0.7854" />
+    <position name="right_joint1_ctrl" joint="openarm_right_joint1" class="motor_DM8009" kp="230" kv="2.7" ctrlrange="-1.39626 3.49066" />
+    <position name="right_joint2_ctrl" joint="openarm_right_joint2" class="motor_DM8009" kp="230" kv="2.7" ctrlrange="-0.174533 3.31613" />
+    <position name="right_joint3_ctrl" joint="openarm_right_joint3" class="motor_DM4340" kp="190" kv="2.2" ctrlrange="-1.5708 1.5708" />
+    <position name="right_joint4_ctrl" joint="openarm_right_joint4" class="motor_DM4340" kp="190" kv="2.2" ctrlrange="0 2.44346" />
+    <position name="right_joint5_ctrl" joint="openarm_right_joint5" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-1.5708 1.5708" />
+    <position name="right_joint6_ctrl" joint="openarm_right_joint6" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-0.785398 0.785398" />
+    <position name="right_joint7_ctrl" joint="openarm_right_joint7" class="motor_DM4310" kp="30" kv="1.5" ctrlrange="-1.5708 1.5708" />
+    <position name="right_finger1_ctrl" joint="openarm_right_finger_joint1" class="motor_finger" kp="30" kv="0.2" ctrlrange="-0.7854 0" />
+  </actuator>
+  <contact>
+
+  </contact>
+</mujoco>
diff --git a/dual_arms/openarm_2/openarm_2.urdf b/dual_arms/openarm_2/openarm_2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fe782905c66d538afeb50b780b1c55fccb6e027f
--- /dev/null
+++ b/dual_arms/openarm_2/openarm_2.urdf
@@ -0,0 +1,841 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from openarm_v20.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+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.
+-->
+<robot name="openarm_v20">
+  <link name="world"/>
+  <link name="openarm_body_link0">
+    <visual name="openarm_body_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/body/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_body_link0_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="13.89"/>
+      <inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051"/>
+    </inertial>
+  </link>
+  <joint name="openarm_body_link0_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="world"/>
+    <child link="openarm_body_link0"/>
+  </joint>
+  <link name="openarm_left_base_link">
+    <visual name="openarm_left_base_link_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/base_link.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_base_link_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/base_link.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00253123748061566 0.0258185540330169 2.70658291858903e-05"/>
+      <mass value="1.1432284943239561"/>
+      <inertia ixx="0.00113607806226198" ixy="-3.81487993180929e-07" ixz="1.09161247709715e-08" iyy="0.00159935208714031" iyz="-2.7521421737084e-08" izz="0.000750541980863571"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_base_link_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.031 0.698"/>
+    <parent link="openarm_body_link0"/>
+    <child link="openarm_left_base_link"/>
+  </joint>
+  <link name="openarm_left_link1">
+    <visual name="openarm_left_link1_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link1.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link1_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link1.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000900350355624244 0.0444659716892874 2.88441021165683e-05"/>
+      <mass value="1.1416684646202298"/>
+      <inertia ixx="0.0010943212038551" ixy="-9.41628673674543e-06" ixz="4.53422182483102e-08" iyy="0.000759199728161993" iyz="-6.66755698859637e-08" izz="0.000670659201019629"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0625 0"/>
+    <parent link="openarm_left_base_link"/>
+    <child link="openarm_left_link1"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="40" lower="-3.4907" upper="1.3963" velocity="16.755"/>
+  </joint>
+  <link name="openarm_left_link2">
+    <visual name="openarm_left_link2_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link2.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link2_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link2.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0247184924346635 -7.60578399428002e-08 -0.0312643102292087"/>
+      <mass value="0.2775092746011571"/>
+      <inertia ixx="0.000153588833784759" ixy="2.94422592188677e-10" ixz="5.21056076779068e-06" iyy="0.000113062180225725" iyz="-3.75816911469744e-10" izz="8.22999351863579e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0600000000000001 0"/>
+    <parent link="openarm_left_link1"/>
+    <child link="openarm_left_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="40" lower="-3.3161" upper="0.17453" velocity="16.755"/>
+  </joint>
+  <link name="openarm_left_link3">
+    <visual name="openarm_left_link3_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link3.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link3_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434"/>
+      <mass value="1.073863338202347"/>
+      <inertia ixx="0.00128939636591746" ixy="-2.29951046666492e-07" ixz="-6.76161926984358e-05" iyy="0.00114018992179734" iyz="-1.06260802872572e-05" izz="0.000559765478676303"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.0662500000000008"/>
+    <parent link="openarm_left_link2"/>
+    <child link="openarm_left_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="27" lower="-1.5708" upper="1.5708" velocity="5.4454"/>
+  </joint>
+  <link name="openarm_left_link4">
+    <visual name="openarm_left_link4_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link4.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link4_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link4.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351"/>
+      <mass value="0.6348534566833373"/>
+      <inertia ixx="0.0004690036047182" ixy="5.63626910265645e-06" ixz="-1.77877991597693e-06" iyy="0.000433926270522842" iyz="3.41757797773822e-06" izz="0.000245211429759716"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.15375"/>
+    <parent link="openarm_left_link3"/>
+    <child link="openarm_left_link4"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="27" lower="0" upper="2.4435" velocity="5.4454"/>
+  </joint>
+  <link name="openarm_left_link5">
+    <visual name="openarm_left_link5_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link5.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link5_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link5.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000737188580130584 0.000412406544351845 -0.047093829077211"/>
+      <mass value="0.6156588026168502"/>
+      <inertia ixx="0.000279653368752989" ixy="-3.31745289972445e-06" ixz="7.68097311403736e-07" iyy="0.000334599623120095" iyz="1.49934409279756e-07" izz="0.000176662464388138"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.0955000000000005"/>
+    <parent link="openarm_left_link4"/>
+    <child link="openarm_left_link5"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
+  </joint>
+  <link name="openarm_left_link6">
+    <visual name="openarm_left_link6_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link6.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_link6_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link6.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.27438423593244e-05 -0.00068649602098908 5.44000494765995e-05"/>
+      <mass value="0.475202773187987"/>
+      <inertia ixx="0.000179275941446964" ixy="-6.58439346712228e-08" ixz="-3.37101167120887e-08" iyy="0.000136247512758587" iyz="-3.32253600295544e-08" izz="0.000135340695937386"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.120499999999998"/>
+    <parent link="openarm_left_link5"/>
+    <child link="openarm_left_link6"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
+  </joint>
+  <joint name="openarm_left_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="openarm_left_link6"/>
+    <child link="openarm_left_ee_base_link"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
+  </joint>
+  <!-- The base link is emitted inline because its naming and frame-shift behavior differ from the finger links. -->
+  <link name="openarm_left_ee_base_link">
+    <visual name="openarm_left_ee_base_link_visual">
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 -0.0 0.0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/ee_base_link.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_ee_base_link_collision">
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 -0.0 0.0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/ee_base_link.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0137902 -0.0084073 -0.05938"/>
+      <mass value="0.52832"/>
+      <inertia ixx="0.00021911" ixy="-4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="1.5124e-06" izz="0.0001659"/>
+    </inertial>
+  </link>
+  <link name="openarm_left_ee_link1">
+    <visual name="openarm_left_ee_link1_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/finger_inner.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_ee_link1_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/finger_inner.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0124990911725494 -0.00176592789915655 -0.0241663193888537"/>
+      <mass value="0.125979047366671"/>
+      <inertia ixx="3.61105363396623e-05" ixy="-1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="3.60343788693423e-06" izz="1.74958961632907e-05"/>
+    </inertial>
+  </link>
+  <link name="openarm_left_ee_link2">
+    <visual name="openarm_left_ee_link2_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/finger_outer.dae" scale="1 -1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_left_ee_link2_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/finger_outer.stl" scale="1 -1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012796 0.0020183 -0.026792"/>
+      <mass value="0.11372"/>
+      <inertia ixx="3.4565e-05" ixy="1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="-3.7172e-06" izz="1.6571e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_left_finger_joint1" type="revolute">
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 -0.0180000000000009 -0.0680000000000174"/>
+    <parent link="openarm_left_ee_base_link"/>
+    <child link="openarm_left_ee_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="7" lower="0" upper="0.7854" velocity="5"/>
+  </joint>
+  <joint name="openarm_left_finger_joint2" type="revolute">
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 0.0180000000000012 -0.0680000000000215"/>
+    <parent link="openarm_left_ee_base_link"/>
+    <child link="openarm_left_ee_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="7" lower="0" upper="0.7854" velocity="5"/>
+    <mimic joint="openarm_left_finger_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <link name="openarm_right_base_link">
+    <visual name="openarm_right_base_link_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/base_link.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_base_link_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/base_link.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00253123748061566 -0.0258185540330169 2.70658291858903e-05"/>
+      <mass value="1.1432284943239561"/>
+      <inertia ixx="0.00113607806226198" ixy="3.81487993180929e-07" ixz="1.09161247709715e-08" iyy="0.00159935208714031" iyz="2.7521421737084e-08" izz="0.000750541980863571"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_base_link_mount_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.031 0.698"/>
+    <parent link="openarm_body_link0"/>
+    <child link="openarm_right_base_link"/>
+  </joint>
+  <link name="openarm_right_link1">
+    <visual name="openarm_right_link1_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link1.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link1_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link1.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000900350355624244 -0.0444659716892874 2.88441021165683e-05"/>
+      <mass value="1.1416684646202298"/>
+      <inertia ixx="0.0010943212038551" ixy="9.41628673674543e-06" ixz="4.53422182483102e-08" iyy="0.000759199728161993" iyz="6.66755698859637e-08" izz="0.000670659201019629"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.0625 0"/>
+    <parent link="openarm_right_base_link"/>
+    <child link="openarm_right_link1"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="40" lower="-1.3963" upper="3.4907" velocity="16.755"/>
+  </joint>
+  <link name="openarm_right_link2">
+    <visual name="openarm_right_link2_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link2.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link2_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link2.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0247184924346635 7.60578399428002e-08 -0.0312643102292087"/>
+      <mass value="0.2775092746011571"/>
+      <inertia ixx="0.000153588833784759" ixy="-2.94422592188677e-10" ixz="5.21056076779068e-06" iyy="0.000113062180225725" iyz="3.75816911469744e-10" izz="8.22999351863579e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.0600000000000001 0"/>
+    <parent link="openarm_right_link1"/>
+    <child link="openarm_right_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="40" lower="-0.17453" upper="3.3161" velocity="16.755"/>
+  </joint>
+  <link name="openarm_right_link3">
+    <visual name="openarm_right_link3_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link3.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link3_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434"/>
+      <mass value="1.073863338202347"/>
+      <inertia ixx="0.00128939636591746" ixy="-2.29951046666492e-07" ixz="-6.76161926984358e-05" iyy="0.00114018992179734" iyz="-1.06260802872572e-05" izz="0.000559765478676303"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.0662500000000008"/>
+    <parent link="openarm_right_link2"/>
+    <child link="openarm_right_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="27" lower="-1.5708" upper="1.5708" velocity="5.4454"/>
+  </joint>
+  <link name="openarm_right_link4">
+    <visual name="openarm_right_link4_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link4.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link4_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link4.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351"/>
+      <mass value="0.6348534566833373"/>
+      <inertia ixx="0.0004690036047182" ixy="5.63626910265645e-06" ixz="-1.77877991597693e-06" iyy="0.000433926270522842" iyz="3.41757797773822e-06" izz="0.000245211429759716"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.15375"/>
+    <parent link="openarm_right_link3"/>
+    <child link="openarm_right_link4"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="27" lower="0" upper="2.4435" velocity="5.4454"/>
+  </joint>
+  <link name="openarm_right_link5">
+    <visual name="openarm_right_link5_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link5.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link5_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link5.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000737188580130584 -0.000412406544351845 -0.047093829077211"/>
+      <mass value="0.6156588026168502"/>
+      <inertia ixx="0.000279653368752989" ixy="3.31745289972445e-06" ixz="7.68097311403736e-07" iyy="0.000334599623120095" iyz="-1.49934409279756e-07" izz="0.000176662464388138"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.0955000000000005"/>
+    <parent link="openarm_right_link4"/>
+    <child link="openarm_right_link5"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
+  </joint>
+  <link name="openarm_right_link6">
+    <visual name="openarm_right_link6_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/arm/visual/link6.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_link6_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/arm/collision/link6.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05"/>
+      <mass value="0.475202773187987"/>
+      <inertia ixx="0.000179275941446964" ixy="6.58439346712228e-08" ixz="-3.37101167120887e-08" iyy="0.000136247512758587" iyz="3.32253600295544e-08" izz="0.000135340695937386"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.120499999999998"/>
+    <parent link="openarm_right_link5"/>
+    <child link="openarm_right_link6"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
+  </joint>
+  <joint name="openarm_right_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="openarm_right_link6"/>
+    <child link="openarm_right_ee_base_link"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
+  </joint>
+  <!-- The base link is emitted inline because its naming and frame-shift behavior differ from the finger links. -->
+  <link name="openarm_right_ee_base_link">
+    <visual name="openarm_right_ee_base_link_visual">
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 0.0 0.0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/ee_base_link.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_ee_base_link_collision">
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 0.0 0.0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/ee_base_link.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 -0.0 0.0" xyz="0.0137902 0.0084073 -0.05938"/>
+      <mass value="0.52832"/>
+      <inertia ixx="0.00021911" ixy="4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="-1.5124e-06" izz="0.0001659"/>
+    </inertial>
+  </link>
+  <link name="openarm_right_ee_link1">
+    <visual name="openarm_right_ee_link1_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/finger_inner.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_ee_link1_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/finger_inner.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0124990911725494 0.00176592789915655 -0.0241663193888537"/>
+      <mass value="0.125979047366671"/>
+      <inertia ixx="3.61105363396623e-05" ixy="1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="-3.60343788693423e-06" izz="1.74958961632907e-05"/>
+    </inertial>
+  </link>
+  <link name="openarm_right_ee_link2">
+    <visual name="openarm_right_ee_link2_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Preserve the mesh's embedded materials. -->
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/visual/finger_outer.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="openarm_right_ee_link2_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/urdf/pinch_gripper/collision/finger_outer.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012796 -0.0020183 -0.026792"/>
+      <mass value="0.11372"/>
+      <inertia ixx="3.4565e-05" ixy="-1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="3.7172e-06" izz="1.6571e-05"/>
+    </inertial>
+  </link>
+  <joint name="openarm_right_finger_joint1" type="revolute">
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174"/>
+    <parent link="openarm_right_ee_base_link"/>
+    <child link="openarm_right_ee_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="7" lower="-0.7854" upper="0" velocity="5"/>
+  </joint>
+  <joint name="openarm_right_finger_joint2" type="revolute">
+    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215"/>
+    <parent link="openarm_right_ee_base_link"/>
+    <child link="openarm_right_ee_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="7" lower="-0.7854" upper="0" velocity="5"/>
+    <mimic joint="openarm_right_finger_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <ros2_control name="openarm_left_hardware_interface" type="system">
+    <hardware>
+      <param name="arm_type">v20</param>
+      <plugin>mock_components/GenericSystem</plugin>
+      <param name="fake_sensor_commands">False</param>
+      <param name="state_following_offset">0.0</param>
+    </hardware>
+    <joint name="openarm_left_joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint2">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint3">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint4">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint5">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint6">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_joint7">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_left_finger_joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <!-- <joint name="openarm_${left_arm_prefix}finger_joint2">
+        <param name="mimic">openarm_${left_arm_prefix}finger_joint1</param>
+        <param name="multiplier">${left_finger_mimic_multiplier}</param>
+        <command_interface name="position"/>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+      </joint> -->
+  </ros2_control>
+  <ros2_control name="openarm_right_hardware_interface" type="system">
+    <hardware>
+      <param name="arm_type">v20</param>
+      <plugin>mock_components/GenericSystem</plugin>
+      <param name="fake_sensor_commands">False</param>
+      <param name="state_following_offset">0.0</param>
+    </hardware>
+    <joint name="openarm_right_joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint2">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint3">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint4">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint5">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint6">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_joint7">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="openarm_right_finger_joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <!-- <joint name="openarm_${right_arm_prefix}finger_joint2">
+        <param name="mimic">openarm_${right_arm_prefix}finger_joint1</param>
+        <param name="multiplier">${right_finger_mimic_multiplier}</param>
+        <command_interface name="position"/>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+      </joint> -->
+  </ros2_control>
+</robot>
diff --git a/dual_arms/openarm_2/openarm_2.xml b/dual_arms/openarm_2/openarm_2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f5dae8419754127794b2f39a43616781afcd368
--- /dev/null
+++ b/dual_arms/openarm_2/openarm_2.xml
@@ -0,0 +1,58 @@
+<!--
+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_2.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="meshes/mujoco" angle="radian"/>
+
+  <option cone="elliptic" impratio="10"/>
+
+  <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="mjcf/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/dual_arms/openarm_2/scene/scene.xml b/dual_arms/openarm_2/scene/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1d01f8a9b2add5387c138183c6322a87672c4b0
--- /dev/null
+++ b/dual_arms/openarm_2/scene/scene.xml
@@ -0,0 +1,53 @@
+<!--
+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.
+-->
+
+<mujoco model="openarm_v20_pedestal">
+  <compiler meshdir="../meshes/mujoco" angle="radian"/>
+
+  <statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
+  <option timestep="0.001" cone="elliptic" impratio="10" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="0" elevation="0"/>
+    <quality shadowsize="8192"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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"/>
+
+    <model name="arm_pedestal" file="../openarm_2.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"/>
+
+    <!-- bimanual arms mounted on the pedestal -->
+    <attach model="arm_pedestal" prefix=""/>
+  </worldbody>
+
+  <keyframe>
+    <key name="home"
+      qpos="0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
+            0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0" />
+  </keyframe>
+
+</mujoco>