Implemented V2+Cell URDF Config. Adjusted Joint limits and origins to match the official calibration configuration

CMakeLists.txt

@@ -35,4 +35,6 @@ foreach(install_dir assets launch rviz scripts)
   endif()
 endforeach()
 
+install(PROGRAMS script/export_urdf DESTINATION lib/${PROJECT_NAME})
+
 ament_package()

assets/robot/openarm_v2.0_cell/config/arm/control/control_gains.yaml

@@ -0,0 +1,41 @@
+# 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.
+
+joint1:
+  kp: 70.0
+  kd: 2.75
+
+joint2:
+  kp: 70.0
+  kd: 2.5
+
+joint3:
+  kp: 70.0
+  kd: 2.0
+
+joint4:
+  kp: 60.0
+  kd: 2.0
+
+joint5:
+  kp: 10.0
+  kd: 0.7
+
+joint6:
+  kp: 10.0
+  kd: 0.6
+
+joint7:
+  kp: 10.0
+  kd: 0.5

assets/robot/openarm_v2.0_cell/config/arm/inertials/nominal.yaml

@@ -0,0 +1,126 @@
+# 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.
+
+base_link:
+  origin:
+    x: 0.00253123748061566
+    y: -0.0258185540330169
+    z: 2.70658291858903e-05
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 1.1432284943239561
+  inertia:
+    xx: 0.00113607806226198
+    xy: 3.81487993180929e-07
+    xz: 1.09161247709715e-08
+    yy: 0.00159935208714031
+    yz: 2.7521421737084e-08
+    zz: 0.000750541980863571
+link1:
+  origin:
+    x: 0.000900350355624244
+    y: -0.0444659716892874
+    z: 2.88441021165683e-05
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 1.1416684646202298
+  inertia:
+    xx: 0.0010943212038551
+    xy: 9.41628673674543e-06
+    xz: 4.53422182483102e-08
+    yy: 0.000759199728161993
+    yz: 6.66755698859637e-08
+    zz: 0.000670659201019629
+link2:
+  origin:
+    x: -0.0247184924346635
+    y: 7.60578399428002e-08
+    z: -0.0312643102292087
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.2775092746011571
+  inertia:
+    xx: 0.000153588833784759
+    xy: -2.94422592188677e-10
+    xz: 5.21056076779068e-06
+    yy: 0.000113062180225725
+    yz: 3.75816911469744e-10
+    zz: 8.22999351863579e-05
+link3:
+  origin:
+    x: -0.00300861804638783
+    y: -0.000514813312550808
+    z: -0.109368241429434
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 1.073863338202347
+  inertia:
+    xx: 0.00128939636591746
+    xy: -2.29951046666492e-07
+    xz: -6.76161926984358e-05
+    yy: 0.00114018992179734
+    yz: -1.06260802872572e-05
+    zz: 0.000559765478676303
+link4:
+  origin:
+    x: -0.00310326243752606
+    y: -0.00136538979048502
+    z: -0.0574601379354351
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.6348534566833373
+  inertia:
+    xx: 0.0004690036047182
+    xy: 5.63626910265645e-06
+    xz: -1.77877991597693e-06
+    yy: 0.000433926270522842
+    yz: 3.41757797773822e-06
+    zz: 0.000245211429759716
+link5:
+  origin:
+    x: -0.000737188580130584
+    y: -0.000412406544351845
+    z: -0.047093829077211
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.6156588026168502
+  inertia:
+    xx: 0.000279653368752989
+    xy: 3.31745289972445e-06
+    xz: 7.68097311403736e-07
+    yy: 0.000334599623120095
+    yz: -1.49934409279756e-07
+    zz: 0.000176662464388138
+link6:
+  origin:
+    x: 2.27438423593244e-05
+    y: 0.00068649602098908
+    z: 5.44000494765995e-05
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.475202773187987
+  inertia:
+    xx: 0.000179275941446964
+    xy: 6.58439346712228e-08
+    xz: -3.37101167120887e-08
+    yy: 0.000136247512758587
+    yz: 3.32253600295544e-08
+    zz: 0.000135340695937386

assets/robot/openarm_v2.0_cell/config/arm/joint/joint_axes.yaml

@@ -0,0 +1,49 @@
+# 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.
+
+joint1:
+  axis:
+    x: 0
+    y: -1
+    z: 0
+joint2:
+  axis:
+    x: -1
+    y: 0
+    z: 0
+joint3:
+  axis:
+    x: 0
+    y: 0
+    z: -1
+joint4:
+  axis:
+    x: 0
+    y: -1
+    z: 0
+joint5:
+  axis:
+    x: 0
+    y: 0
+    z: -1
+joint6:
+  axis:
+    x: 0
+    y: 1
+    z: 0
+joint7:
+  axis:
+    x: 1
+    y: 0
+    z: 0

assets/robot/openarm_v2.0_cell/config/arm/joint/joint_limits.yaml

@@ -0,0 +1,56 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+joint1:
+  limit:
+    lower: -1.3963
+    upper: 3.4907
+    effort: 40
+    velocity: 16.755
+joint2:
+  limit:
+    lower: -0.74213 #-0.17453
+    upper: 2.7485 #3.3161
+    effort: 40
+    velocity: 16.755
+joint3:
+  limit:
+    lower: -0.01 #-1.5708
+    upper: 3.1415 #1.5708
+    effort: 27
+    velocity: 5.4454
+joint4:
+  limit:
+    lower: -1.6582 # 0
+    upper: 0.7853 # 2.4435-1.6582
+    effort: 27
+    velocity: 5.4454
+joint5:
+  limit:
+    lower: -1.5447 #-1.5708 
+    upper: 1.6 #1.5708
+    effort: 7
+    velocity: 20.944
+joint6:
+  limit:
+    lower: -0.3 #-0.7854
+    upper: 1.27 #0.7854
+    effort: 7
+    velocity: 20.944
+joint7:
+  limit:
+    lower: -3.138 #-1.5708
+    upper:  0.03 #1.5708
+    effort: 7
+    velocity: 20.944

assets/robot/openarm_v2.0_cell/config/arm/joint/joint_origins.yaml

@@ -0,0 +1,70 @@
+# 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.
+
+joint1:
+  origin:
+    x: 0
+    y: -0.0625
+    z: 0
+    roll: 0
+    pitch: -0
+    yaw: 0
+joint2:
+  origin:
+    x: 0
+    y: -0.0600000000000001
+    z: 0
+    roll: -0.5676 #0.5676
+    pitch: -0
+    yaw: 0
+joint3:
+  origin:
+    x: 0
+    y: 0
+    z: -0.06625000000000079
+    roll: 0
+    pitch: -0
+    yaw: 1.5708 #-1.5708
+joint4:
+  origin:
+    x: 0
+    y: 0
+    z: -0.15375
+    roll: 0
+    pitch: -1.6582 #-1.6582
+    yaw: 0
+joint5:
+  origin:
+    x: 0
+    y: 0
+    z: -0.0955000000000005
+    roll: 0
+    pitch: -0
+    yaw: -0.0644 #0.0644
+joint6:
+  origin:
+    x: 0
+    y: 0
+    z: -0.120499999999998
+    roll: 0
+    pitch: -0.4847
+    yaw: 0
+joint7:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.5677 #-1.5677
+    pitch: -0
+    yaw: 0