Add Placo IK solver and associated tests.

xr_rm_bringup/config/left_arm_rm75.yaml

@@ -1,4 +1,4 @@
-# 左臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
+# 左臂单独调试配置：XR TCP 目标经 Placo QP 转换为 RM75 关节目标。
 # 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
 
 single_arm_velocity_teleop:
@@ -21,8 +21,6 @@ single_arm_velocity_teleop:
     orientation_deadband_rad: 0.005
     orientation_filter_alpha: 0.65
     max_orientation_speed: 0.6
-    current_pose_poll_hz: 10.0
-
     workspace_min: [-0.70, -0.60, 0.10]
     workspace_max: [0.70, 0.40, 0.70]
     cyl_radius_limit: [0.20, 0.60]
@@ -35,11 +33,9 @@ single_arm_velocity_teleop:
                          -1.0, 0.0, 0.0]
 
     use_mock: false
-    mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
     robot_ip: 192.168.192.18
     robot_port: 8080
     avoid_singularity: 0
-    frame_type: 1
     follow: false
     canfd_trajectory_mode: 2
     canfd_radio: 0
@@ -50,7 +46,7 @@ single_arm_velocity_teleop:
     max_angular_acc: 2.0
     joint_max_speed: 180.0
     joint_max_acc: 180.0
-    move_to_initial_pose_on_connect: true
+    move_to_initial_pose_on_connect: false
     initial_joint_pose: [-79.55, -9.99, 71.01, 101.45, 95.07, -84.47, -74.52]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm