Add configuration files and launch scripts for left and right arm RM75 teleoperation

xr_rm_bringup/config/single_arm_rm75.yaml

@@ -15,8 +15,11 @@ single_arm_velocity_teleop:
     max_linear_speed: 0.04
     enable_position_axes: [true, true, true]
 
-    workspace_min: [-0.50, -0.60, 0.10]
-    workspace_max: [0.50, -0.20, 0.50]
+    workspace_min: [-0.70, -0.60, 0.10]
+    workspace_max: [0.50, 0.40, 0.70]
+    cyl_radius_limit: [0.20, 0.60]
+    low_z_threshold: 0.20
+    low_z_min_radius: 0.21
 
     # 右臂 PICO/OpenXR 相对位移到 RM75 base 坐标的初始映射：
     # 机器人位移增量 = [手柄y, -手柄z, -手柄x]。
@@ -25,9 +28,21 @@ single_arm_velocity_teleop:
                          -1.0, 0.0, 0.0]
 
     use_mock: false
-    mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
+    mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
     robot_ip: 192.168.192.19
     robot_port: 8080
     avoid_singularity: 1
     frame_type: 1
     follow: false
+    configure_safety_limits: true
+    max_line_speed: 1.0
+    max_angular_speed: 1.5
+    max_line_acc: 1.0
+    max_angular_acc: 2.0
+    joint_max_speed: 180.0
+    joint_max_acc: 180.0
+    move_to_initial_pose_on_connect: false
+    initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
+    initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
+    init_move_speed: 20
+    debug_topic_prefix: /xr_rm