add urdf files.

aligh the function parameter names of qp and rm methods

kine_ctrl/rm75_mjc.py

@@ -18,7 +18,7 @@ class MuJoCoPositionController:
     No velocity commands, no forces - completely stable
     """
 
-    def __init__(self, urdf_path, smoothness=0.2, enable_viewer=True):
+    def __init__(self, urdf_path="./urdf_rm75/RM75-B.urdf", smoothness=0.05, enable_viewer=True):
         """
         Args:
             urdf_path: Path to URDF file
@@ -73,8 +73,7 @@ class MuJoCoPositionController:
                 print("Viewer launched")
             except Exception as e:
                 print(f"Viewer warning: {e}")
-
-        print("Robot controller ready - Pure Position Mode")
+        self.start()
 
     def start(self):
         """Start the simulation thread"""