# Summary
The previous URDF directory structure used has a chained call from
**openarm.urdf.xacro** -> **openarm.xacro** ->
**openarm.ros2_control.xacro**.
**openarm.xacro** takes both robot hardware description and
control/communication configuration arguments but the file content is
only about robot description.
# Changes Made
- Renamed **openarm.xacro** to **openarm.robot.xacro**. This file now
contains only the robot's hardware description, including links, joints,
visuals, and inertial properties.
- **openarm.control.xacro** handles all ROS 2 control configurations,
including hardware interfaces, joint interfaces, and CAN device setup.
- Updated openarm.urdf.xacro (entry point)Calls both
**openarm.robot.xacro** and **openarm.control.xacro**.
This change should separates responsibilities and arguments for each
subsystem.
Have tested with bringup scripts for both single-arm and bimanual
configurations.
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