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

xr_rm_bringup/config/right_arm_rm75.yaml

@@ -5,7 +5,7 @@ single_arm_velocity_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: 0.7
@@ -20,9 +20,9 @@ single_arm_velocity_teleop:
     orientation_deadband_rad: 0.005
     orientation_filter_alpha: 0.65
     max_orientation_speed: 0.5
-    workspace_min: [-0.60, -0.60, 0.10]
-    workspace_max: [0.60, 0.70, 0.55]
-    cyl_radius_limit: [0.10, 0.70]
+    workspace_min: [-0.70, -0.70, 0.10]
+    workspace_max: [0.70, 0.70, 0.75]
+    cyl_radius_limit: [0.10, 0.80]
     low_z_threshold: 0.1
     low_z_min_radius: 0.1
 
@@ -35,7 +35,7 @@ single_arm_velocity_teleop:
     robot_ip: 192.168.192.19
     robot_port: 8080
     avoid_singularity: 1
-    follow: false
+    follow: False
     canfd_trajectory_mode: 2
     canfd_radio: 0
     configure_safety_limits: true
@@ -45,7 +45,7 @@ single_arm_velocity_teleop:
     max_angular_acc: 3.0
     joint_max_speed: 180.0
     joint_max_acc: 300.0
-    move_to_initial_pose_on_connect: True
+    move_to_initial_pose_on_connect: false
     initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm