Add URDF model for RM75-B OmniPicker with detailed link and joint specifications

xr_rm_bringup/config/dual_arm_rm75.yaml

@@ -11,7 +11,7 @@ left_arm_teleop:
   ros__parameters:
     arm_name: left_rm75
     controller_topic: /xr/left_controller
-    control_rate_hz: 90.0
+    control_rate_hz: 125.0
     command_timeout_sec: 0.12
 
     # 位姿目标生成与平滑参数。
@@ -26,7 +26,7 @@ left_arm_teleop:
     enable_orientation_axes: [true, true, true]
     orientation_deadband_rad: 0.005
     orientation_filter_alpha: 0.65
-    max_orientation_speed: 0.6
+    max_orientation_speed: 0.5
     workspace_min: [-0.70, -0.60, 0.10]
     workspace_max: [0.70, 0.40, 0.70]
     cyl_radius_limit: [0.20, 0.60]
@@ -62,7 +62,7 @@ right_arm_teleop:
   ros__parameters:
     arm_name: right_rm75
     controller_topic: /xr/right_controller
-    control_rate_hz: 90.0
+    control_rate_hz: 125.0
     command_timeout_sec: 0.12
 
     scale: 0.75
@@ -76,7 +76,7 @@ right_arm_teleop:
     enable_orientation_axes: [true, true, true]
     orientation_deadband_rad: 0.005
     orientation_filter_alpha: 0.65
-    max_orientation_speed: 0.6
+    max_orientation_speed: 0.5
     workspace_min: [-0.70, -0.60, 0.10]
     workspace_max: [0.70, 0.40, 0.70]
     cyl_radius_limit: [0.20, 0.60]