feat: 添加双臂 MuJoCo 显示节点

xr_rm_mujoco/test/test_dual_arm_simulator.py

@@ -15,6 +15,9 @@ URDF_PATH = (
     SRC_DIR / "xr_rm_teleop" / "models" / "dual_rm75" / "Dual_arm.urdf"
 )
 DUAL_CONFIG_PATH = SRC_DIR / "xr_rm_bringup" / "config" / "dual_arm_rm75.yaml"
+MUJOCO_CONFIG_PATH = (
+    SRC_DIR / "xr_rm_bringup" / "config" / "dual_arm_mujoco.yaml"
+)
 
 
 def test_dual_urdf_loads_with_expected_joint_mapping() -> None:
@@ -60,6 +63,13 @@ def test_yaml_initial_poses_populate_both_arms() -> None:
     assert simulation.ready
 
 
+def test_mujoco_config_contains_only_render_parameters() -> None:
+    with MUJOCO_CONFIG_PATH.open(encoding="utf-8") as stream:
+        parameters = yaml.safe_load(stream)["dual_arm_simulator"]["ros__parameters"]
+
+    assert parameters == {"render_rate_hz": 60.0}
+
+
 @pytest.mark.parametrize(
     ("names", "positions", "match"),
     [