DM-J8009P-2EC integrated geared actuator installed as OpenArm v2 joint 1. The example combines the motor datasheet interfaces and ratings, the unreflected OpenArm J1 kinematic configuration, and the exact named geometry in base_j1.glb. The fixed mount, external hard-stop sector, motor casing, driver, and connectors form one rigid stator component. The output rotor is the moving component. The included base_j1.glb is a modified derivative of Enactic's OpenArm description and is redistributed under Apache-2.0. Apache-2.0 https://github.com/enactic/openarm_description Fixed OpenArm J1 assembly containing the base mount, physical stop ring, DM-J8009P-2EC casing, integrated driver, crossed-roller-bearing output, and all external connectors. The motor manual specifies a 98 mm outside diameter, 61.7 mm height, approximately 930 g motor mass, 20 Nm rated torque, 40 Nm peak torque, 100 rpm rated speed, and maximum no-load speeds of 160 rpm at 24 V and 320 rpm at 48 V. It also specifies 20 A rated and 50 A peak phase current, 0.145 ohm phase resistance, 80 uH phase inductance, and 21 pole pairs. Mount and stop-ring geometry comes from base_j1.glb, not the motor manual. 16384 16384 80 21 mit position-velocity velocity Moving DM-J8009P-2EC output rotor. In a complete OpenArm assembly this component is the J1 output frame to which the first moving arm link is attached. Unreflected OpenArm v2 J1 configuration, used directly by the right arm and mirrored by the left arm. The parent visual named physical_stop_ring is the fixed external hard-stop sector. The supplied GLB does not separately identify the moving arm-side feature that contacts it. The limits below are OpenArm configured limits, not motor-datasheet or measured stop-contact limits. 9