Add Placo IK solver and associated tests.

xr_rm_bringup/config/right_arm_rm75.yaml

@@ -1,4 +1,4 @@
-# 右臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
+# 右臂单独调试配置：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:
@@ -20,8 +20,6 @@ single_arm_velocity_teleop:
     orientation_deadband_rad: 0.005
     orientation_filter_alpha: 0.65
     max_orientation_speed: 0.5
-    current_pose_poll_hz: 10.0
-
     workspace_min: [-0.60, -0.60, 0.10]
     workspace_max: [0.60, 0.70, 0.55]
     cyl_radius_limit: [0.10, 0.70]
@@ -34,22 +32,20 @@ single_arm_velocity_teleop:
                          1.0, 0.0, 0.0]
 
     use_mock: false
-    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
     canfd_trajectory_mode: 2
     canfd_radio: 0
     configure_safety_limits: true
-    max_line_speed: 1.0
-    max_angular_speed: 1.5
-    max_line_acc: 1.0
-    max_angular_acc: 2.0
+    max_line_speed: 0.25
+    max_angular_speed: 0.6
+    max_line_acc: 1.3
+    max_angular_acc: 3.0
     joint_max_speed: 180.0
-    joint_max_acc: 180.0
-    move_to_initial_pose_on_connect: true
+    joint_max_acc: 300.0
+    move_to_initial_pose_on_connect: True
     initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm