Version information

• RDK: v 1.4
• Robot software: 3.6
• OS: Ubuntu 22.04

Describe the bug
There are two issues:

1. In this commit, the Rizon4 URDF (flexiv_rizon4_kinematics.urdf) changed by >4 centimeters for the end-effector pose (see script to visualize)
2. Neither the new URDF nor the old URDF match are able to match the TCP pose reported by the robot.

For problem #2 above, are there hidden calibration parameters (i.e. a per-robot specific URDF) that we could have access to? Or is there some other cause for the discrepancy?

For problem #1 above, here is the visualization from the script. I also changed the alpha channel of the robot so that you can more easily see them overlaid

The specific line change that causes the difference is here.

Is the new URDF or the old URDF closer to correct? How do we match the TCP pose reported by the robot?

Steps to reproduce

1. Grab this script
2. pip install pybullet
3. get both the old and new URDFs into the right paths
4. Run the script

Expected behavior
URDF should match the robot, i.e. we should be able to take the measured joints and the URDF and calculate the same TCP pose reported by the robot.

Screenshots
See screenshot above.