fix: 修复mujoco仿真里左臂剪刀安装位置与实际位置不同

xr_rm_teleop/models/dual_rm75/Dual_arm.urdf

@@ -514,7 +514,7 @@
       <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 -1.5708" />
       <geometry>
         <mesh filename="meshes/scissor.stl" scale="1 1 1" />
       </geometry>
@@ -523,7 +523,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 -1.5708" />
       <geometry>
         <mesh filename="meshes/scissor.stl" scale="1 1 1" />
       </geometry>

xr_rm_teleop/test/test_placo_transforms.py

@@ -95,6 +95,17 @@ def test_dual_urdf_has_expected_joints_meshes_and_tcp_frames() -> None:
             assert joint.find("origin").attrib["xyz"] == xyz
 
 
+def test_left_scissor_mesh_matches_physical_mount_rotation() -> None:
+    root = ElementTree.parse(DUAL_URDF_PATH).getroot()
+    link = root.find("link[@name='scissor_scissor_link']")
+
+    assert link is not None
+    assert link.find("visual/origin").attrib["rpy"] == "0 0 -1.5708"
+    assert link.find("collision/origin").attrib["rpy"] == "0 0 -1.5708"
+    tcp_joint = root.find("joint[@name='scissor_scissor_tcp_fixed']")
+    assert tcp_joint.find("origin").attrib["rpy"] == "0 0 0"
+
+
 def _dual_placo_solver(
     arm: str,
     joint_degrees: list[float],