Support OpenArm 2.0

[abetomo]

Changes

openarm_description

• Add v20 arm support with new URDF/xacro structure
• Add pinch_gripper end-effector alongside existing parallel_link
• Reorganize config and mesh directories by arm/body/ee type

openarm_bringup

• Rename v10_controllers/ to controllers/ for version-agnostic structure
• Update launch files to support arm_type argument for v10/v20 switching

openarm_hardware

• Rename v10_simple_hardware to openarm_simple_hardware
• Add ee_type parameter to support parallel_link and pinch_gripper mapping
• Generalize gripper joint-to-motor conversion based on ee_type

openarm_bimanual_moveit_config

• Reorganize config into v10/ and v20/ subdirectories
• Add v20 SRDF with updated link structure and revolute gripper states
• Update launch files to switch config path based on arm_type argument

[abetomo]

Based on #87, with the dora nodes removed in preparation for moving them to a separate repository, and minor adjustments for release (e.g. adding license headers).

[abetomo]

I confirmed that RViz visualization with fake hardware works on Jazzy.

[kou]

It seems that the license header is removed.

[abetomo]

Oh, restored it.

[Copilot]

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