fix: 更新 README 和配置文件，调整模式和工具设置

xr_rm_bringup/tools/launcher_ui.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 """XR-RM 桌面调试启动器。
 
-提供 Tkinter 图形界面，按“仿真/左臂/右臂/双臂/诊断”组织常用 ROS2
-launch、sample_udp_sender、topic 监控和环境检查命令，降低现场调试时的命令输入成本。
+提供 Tkinter 图形界面，按“仿真/MuJoCo/真机/诊断”组织常用 ROS2 launch、
+sample_udp_sender、topic 监控和环境检查命令，降低现场调试时的命令输入成本。
 """
 
 from __future__ import annotations
@@ -44,8 +44,6 @@ SAMPLE_SENDER_ARGS = (
 TERMINAL_TITLE_PREFIX = "XR-RM Terminal - "
 TOPIC_MONITOR_TITLE = "XR-RM Topic Monitor"
 TOPIC_MONITOR_ACTION = "__xr_rm_topic_monitor__"
-CMD_VEL_MONITOR_TITLE = "XR-RM Target Velocity Monitor"
-CMD_VEL_MONITOR_ACTION = "__xr_rm_cmd_vel_monitor__"
 ROS_GRAPH_MONITOR_TITLE = "XR-RM ROS Graph Monitor"
 ROS_GRAPH_MONITOR_ACTION = "__xr_rm_ros_graph_monitor__"
 
@@ -54,11 +52,6 @@ TOPIC_MONITORS = [
     ("Right Controller", "/xr/right_controller"),
 ]
 
-CMD_VEL_MONITORS = [
-    ("Left Target Vel", "/xr_rm/left_rm75/cmd_vel"),
-    ("Right Target Vel", "/xr_rm/right_rm75/cmd_vel"),
-]
-
 CONTROLLER_POSITION_MONITOR_TITLE = "XR-RM Controller Position Monitor"
 CONTROLLER_POSITION_MONITOR_ACTION = "__xr_rm_controller_position_monitor__"
 CONTROLLER_HZ_MONITOR_TITLE = "XR-RM Controller Hz Monitor"
@@ -81,9 +74,8 @@ ROS_GRAPH_MONITORS = [
 
 MODES = [
     "Simulation",
-    "Left Arm",
-    "Right Arm",
-    "Dual Arm",
+    "MuJoCo",
+    "Real Hardware",
     "Diagnostics",
 ]
 
@@ -177,21 +169,6 @@ def _source_lines(workspace_root: Path) -> list[str]:
     return lines
 
 
-def _one_click_mock(arm: str, hand: str) -> str:
-    sender_seconds = SAMPLE_SENDER_STAGGERED_SECONDS if hand == "both" else SAMPLE_SENDER_SECONDS
-    both_mode = "staggered" if hand == "both" else "synchronized"
-    return "\n".join([
-        f"ros2 launch xr_rm_bringup arm_debug.launch.py arm:={arm} use_mock:=true &",
-        "launch_pid=$!",
-        "sleep 2",
-        _sample_udp_sender_command(hand, sender_seconds, both_mode),
-        "echo",
-        "echo 'Sample sender finished. The launch process is still running in this terminal.'",
-        "echo 'Press Ctrl-C here, or use the cleanup button in the launcher, to stop it.'",
-        "wait \"$launch_pid\"",
-    ])
-
-
 def _diagnostic_commands() -> list[tuple[str, str]]:
     return [
         ("Open ROS Topic/Node List Monitor", ROS_GRAPH_MONITOR_ACTION),
@@ -202,14 +179,9 @@ def _topic_monitor_item() -> tuple[str, str]:
     return ("Open Controller Topic Monitor", TOPIC_MONITOR_ACTION)
 
 
-def _cmd_vel_monitor_item() -> tuple[str, str]:
-    return ("Open Target Velocity Monitor", CMD_VEL_MONITOR_ACTION)
-
-
 def _is_topic_monitor_action(action: str) -> bool:
     return action in (
         TOPIC_MONITOR_ACTION,
-        CMD_VEL_MONITOR_ACTION,
         CONTROLLER_POSITION_MONITOR_ACTION,
         CONTROLLER_HZ_MONITOR_ACTION,
     )
@@ -232,14 +204,6 @@ def _topic_monitor_spec(action: str) -> tuple[str, list[tuple[str, str]], str, s
             "xr_rm_controller_hz_monitor_",
             "controller hz topic",
         )
-    if action == CMD_VEL_MONITOR_ACTION:
-        return (
-            CMD_VEL_MONITOR_TITLE,
-            [(title, f"ros2 topic echo {topic}") for title, topic in CMD_VEL_MONITORS],
-            "xr_rm_cmd_vel_monitor",
-            "xr_rm_cmd_vel_monitor_",
-            "target velocity topic",
-        )
     return (
         TOPIC_MONITOR_TITLE,
         [(title, f"ros2 topic echo {topic}") for title, topic in TOPIC_MONITORS],
@@ -249,16 +213,10 @@ def _topic_monitor_spec(action: str) -> tuple[str, list[tuple[str, str]], str, s
     )
 
 
-def _finalize_items(
-    items: list[tuple[str, str]],
-    one_click: tuple[str, str] | None = None,
-) -> list[tuple[str, str]]:
+def _finalize_items(items: list[tuple[str, str]]) -> list[tuple[str, str]]:
     final_items = items + _diagnostic_commands() + [
         _topic_monitor_item(),
-        _cmd_vel_monitor_item(),
     ]
-    if one_click is not None:
-        final_items.append(one_click)
     return _with_index(final_items)
 
 
@@ -266,25 +224,64 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
     # UI 列表只维护命令模板；真正执行时统一套上工作空间 source 和终端包装。
     if mode == "Simulation":
         items = [
-            ("Left Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=true"),
-            ("Right Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=true"),
             ("Dual Arm Mock Launch", "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true"),
             ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
-            (
-                "Sample UDP Sender (Left, 30s)",
-                _sample_udp_sender_command("left"),
-            ),
-            (
-                "Sample UDP Sender (Right, 30s)",
-                _sample_udp_sender_command("right"),
-            ),
             (
                 "Sample UDP Sender (Both Staggered, 60s)",
                 _sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"),
             ),
-            ("One-Click Left Mock Demo", _one_click_mock("left", "left")),
-            ("One-Click Right Mock Demo", _one_click_mock("right", "right")),
-            ("One-Click Dual Mock Demo", _one_click_mock("both", "both")),
+            (
+                "Open Controller Hz Monitor",
+                CONTROLLER_HZ_MONITOR_ACTION,
+            ),
+        ]
+    elif mode == "MuJoCo":
+        items = [
+            (
+                "Dual Arm MuJoCo Mock Launch",
+                "ros2 launch xr_rm_bringup arm_debug.launch.py "
+                "arm:=both use_mock:=true use_mujoco:=true",
+            ),
+            (
+                "Dual Arm MuJoCo Real Hardware Launch",
+                "ros2 launch xr_rm_bringup arm_debug.launch.py "
+                "arm:=both use_mock:=false use_mujoco:=true",
+            ),
+            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
+            (
+                "Open Controller Hz Monitor",
+                CONTROLLER_HZ_MONITOR_ACTION,
+            ),
+        ]
+    elif mode == "Real Hardware":
+        items = [
+            ("Ping Left RM75", f"ping -c 4 {DEFAULT_LEFT_IP}"),
+            ("Ping Right RM75", f"ping -c 4 {DEFAULT_RIGHT_IP}"),
+            (
+                "Left Arm RealMan Launch",
+                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false",
+            ),
+            (
+                "Right Arm RealMan Launch",
+                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false",
+            ),
+            (
+                "Dual Arm RealMan Launch",
+                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false",
+            ),
+            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
+            ("Left Gripper Open", _tool_command("left", True)),
+            ("Left Gripper Close", _tool_command("left", False)),
+            ("Right Gripper Open", _tool_command("right", True)),
+            ("Right Gripper Close", _tool_command("right", False)),
+        ]
+    else:
+        items = [
+            ("ROS Doctor Report", "ros2 doctor --report"),
+            ("XR-RM Bringup Prefix", "ros2 pkg prefix xr_rm_bringup"),
+            ("XR-RM Input Prefix", "ros2 pkg prefix xr_rm_input"),
+            ("XR-RM Teleop Prefix", "ros2 pkg prefix xr_rm_teleop"),
+            ("XR-RM MuJoCo Prefix", "ros2 pkg prefix xr_rm_mujoco"),
             (
                 "Open Controller Position Monitor",
                 CONTROLLER_POSITION_MONITOR_ACTION,
@@ -294,64 +291,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
                 CONTROLLER_HZ_MONITOR_ACTION,
             ),
         ]
-        one_click = None
-    elif mode == "Left Arm":
-        items = [
-            ("Ping Left RM75", f"ping -c 4 {DEFAULT_LEFT_IP}"),
-            (
-                "Left Arm RealMan Launch",
-                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false",
-            ),
-            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
-            ("Left Tool Open", _tool_command("left", True)),
-            ("Left Tool Close", _tool_command("left", False)),
-            (
-                "Sample UDP Sender (Left, 30s)",
-                _sample_udp_sender_command("left"),
-            ),
-        ]
-        one_click = None
-    elif mode == "Right Arm":
-        items = [
-            ("Ping Right RM75", f"ping -c 4 {DEFAULT_RIGHT_IP}"),
-            (
-                "Right Arm RealMan Launch",
-                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false",
-            ),
-            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
-            ("Right Tool Open", _tool_command("right", True)),
-            ("Right Tool Close", _tool_command("right", False)),
-            (
-                "Sample UDP Sender (Right, 30s)",
-                _sample_udp_sender_command("right"),
-            ),
-        ]
-        one_click = None
-    elif mode == "Dual Arm":
-        items = [
-            ("Ping Left RM75", f"ping -c 4 {DEFAULT_LEFT_IP}"),
-            ("Ping Right RM75", f"ping -c 4 {DEFAULT_RIGHT_IP}"),
-            (
-                "Dual Arm RealMan Launch",
-                "ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false",
-            ),
-            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
-            (
-                "Sample UDP Sender (Both Staggered, 60s)",
-                _sample_udp_sender_command("both", SAMPLE_SENDER_STAGGERED_SECONDS, "staggered"),
-            ),
-        ]
-        one_click = None
-    else:
-        items = [
-            ("ROS Doctor Report", "ros2 doctor --report"),
-            ("XR-RM Bringup Prefix", "ros2 pkg prefix xr_rm_bringup"),
-            ("XR-RM Input Prefix", "ros2 pkg prefix xr_rm_input"),
-            ("XR-RM Teleop Prefix", "ros2 pkg prefix xr_rm_teleop"),
-            ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
-        ]
-        one_click = None
-    return _finalize_items(items, one_click)
+    return _finalize_items(items)
 
 
 class LauncherApp:
@@ -608,7 +548,7 @@ class LauncherApp:
         else:
             warnings.append("[WARN] Could not identify x-terminal-emulator target.")
 
-        for package in ("xr_rm_bringup", "xr_rm_input", "xr_rm_teleop"):
+        for package in ("xr_rm_bringup", "xr_rm_input", "xr_rm_teleop", "xr_rm_mujoco"):
             if self._ros_package_available(package):
                 ok.append(f"[OK] ROS package available: {package}")
             else:
@@ -1254,7 +1194,6 @@ class LauncherApp:
         title_patterns = (
             TERMINAL_TITLE_PREFIX,
             TOPIC_MONITOR_TITLE,
-            CMD_VEL_MONITOR_TITLE,
             CONTROLLER_POSITION_MONITOR_TITLE,
             CONTROLLER_HZ_MONITOR_TITLE,
             ROS_GRAPH_MONITOR_TITLE,
@@ -1326,24 +1265,21 @@ class LauncherApp:
             *_xrobotoolkit_cleanup_patterns(stop_pc_service=stop_pc_service),
             TERMINAL_TITLE_PREFIX,
             TOPIC_MONITOR_TITLE,
-            CMD_VEL_MONITOR_TITLE,
             ROS_GRAPH_MONITOR_TITLE,
             "xr_rm_topic_monitor_",
-            "xr_rm_cmd_vel_monitor_",
             "xr_rm_controller_position_monitor_",
             "xr_rm_controller_hz_monitor_",
             "xr_rm_ros_graph_monitor_",
             "udp_controller_receiver",
             "sample_udp_sender",
             "single_arm_velocity_teleop",
+            "dual_arm_simulator",
             "ros2 topic echo /xr/left_controller --field pose.position",
             "ros2 topic echo /xr/right_controller --field pose.position",
             "ros2 topic echo /xr/left_controller",
             "ros2 topic echo /xr/right_controller",
             "ros2 topic hz /xr/left_controller",
             "ros2 topic hz /xr/right_controller",
-            "ros2 topic echo /xr_rm/left_rm75/cmd_vel",
-            "ros2 topic echo /xr_rm/right_rm75/cmd_vel",
             "ros2 topic list",
             "ros2 node list",
         ]