Refactor and enhance XR-RM teleoperation functionality

xr_rm_bringup/config/right_arm_rm75.yaml

@@ -1,19 +1,21 @@
-# 右臂单独调试配置：XR 相对位移控制 RM75 TCP。
+# 右臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
 # 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
 
 single_arm_velocity_teleop:
   ros__parameters:
     arm_name: right_rm75
     controller_topic: /xr/right_controller
-    control_rate_hz: 50.0
+    control_rate_hz: 90.0
     command_timeout_sec: 0.12
 
-    scale: 1.0
-    kp_linear: 1.8
-    deadband_m: 0.002
-    low_pass_alpha: 0.7
-    max_linear_speed: 0.5
+    scale: 0.75
+    deadband_m: 0.001
+    target_filter_alpha: 0.65
+    target_filter_alpha_fast: 0.9
+    target_filter_fast_threshold_m: 0.03
+    max_linear_speed: 0.3
     enable_position_axes: [true, true, true]
+    current_pose_poll_hz: 10.0
 
     workspace_min: [-0.70, -0.60, 0.10]
     workspace_max: [0.70, 0.40, 0.70]
@@ -21,7 +23,7 @@ single_arm_velocity_teleop:
     low_z_threshold: 0.1
     low_z_min_radius: 0.1
 
-    # 现场模拟 XR 调试确认 X/Z 轴符号与原标定相反，因此翻转手柄 X、Z 两列。
+    # 映射关系：机器人位移增量 = [手柄y, 手柄z, 手柄x]。
     xr_to_robot_matrix: [0.0, 1.0, 0.0,
                          0.0, 0.0, 1.0,
                          1.0, 0.0, 0.0]
@@ -33,6 +35,8 @@ single_arm_velocity_teleop:
     avoid_singularity: 1
     frame_type: 1
     follow: false
+    canfd_trajectory_mode: 2
+    canfd_radio: 0
     configure_safety_limits: true
     max_line_speed: 1.0
     max_angular_speed: 1.5