diff --git a/xr_rm_bringup/config/dual_arm_rm75.yaml b/xr_rm_bringup/config/dual_arm_rm75.yaml index 60b85ff..c4c24ab 100755 --- a/xr_rm_bringup/config/dual_arm_rm75.yaml +++ b/xr_rm_bringup/config/dual_arm_rm75.yaml @@ -45,7 +45,7 @@ left_arm_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8089 realtime_push_cycle_ms: 5 - avoid_singularity: 1 + avoid_singularity: 0 follow: false canfd_trajectory_mode: 2 canfd_radio: 0 @@ -102,7 +102,7 @@ right_arm_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8090 realtime_push_cycle_ms: 5 - avoid_singularity: 1 + avoid_singularity: 0 follow: false canfd_trajectory_mode: 2 canfd_radio: 0 diff --git a/xr_rm_bringup/config/left_arm_rm75.yaml b/xr_rm_bringup/config/left_arm_rm75.yaml index 12de26d..dde1bc2 100644 --- a/xr_rm_bringup/config/left_arm_rm75.yaml +++ b/xr_rm_bringup/config/left_arm_rm75.yaml @@ -38,7 +38,7 @@ single_arm_velocity_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8089 realtime_push_cycle_ms: 5 - avoid_singularity: 1 + avoid_singularity: 0 follow: false canfd_trajectory_mode: 2 canfd_radio: 0 diff --git a/xr_rm_bringup/config/right_arm_rm75.yaml b/xr_rm_bringup/config/right_arm_rm75.yaml index 789480b..ad1c90f 100644 --- a/xr_rm_bringup/config/right_arm_rm75.yaml +++ b/xr_rm_bringup/config/right_arm_rm75.yaml @@ -37,7 +37,7 @@ single_arm_velocity_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8090 realtime_push_cycle_ms: 5 - avoid_singularity: 1 + avoid_singularity: 0 # 厂商 MovejCANFD 示例默认低跟随；高跟随仅在验证规划轨迹后单独开启。 follow: false canfd_trajectory_mode: 2 diff --git a/xr_rm_bringup/test/test_launcher_ui_cleanup.py b/xr_rm_bringup/test/test_launcher_ui_cleanup.py index 146eb2d..dfb0468 100644 --- a/xr_rm_bringup/test/test_launcher_ui_cleanup.py +++ b/xr_rm_bringup/test/test_launcher_ui_cleanup.py @@ -46,6 +46,14 @@ class LauncherCommandsTest(unittest.TestCase): "Open ROS Topic/Node List Monitor", "Open Controller Topic Monitor", ], + "ACT Data Collection": [ + "Right Arm ACT Data Collection Launch", + "XRobotoolkit UDP Bridge (90 Hz)", + "Open ACT Recording Status", + "Open Right Arm ACT Control Sample Hz", + "Open ROS Topic/Node List Monitor", + "Open Controller Topic Monitor", + ], "Diagnostics": [ "ROS Doctor Report", "XR-RM Bringup Prefix", @@ -79,6 +87,22 @@ class LauncherCommandsTest(unittest.TestCase): commands["2. Dual Arm MuJoCo Real Hardware Launch"], ) + def test_act_mode_uses_confirmed_right_hardware_topics(self) -> None: + commands = dict(launcher_ui.build_commands_by_mode("ACT Data Collection")) + + self.assertIn( + "arm:=right use_mock:=false record_act:=true", + commands["1. Right Arm ACT Data Collection Launch"], + ) + self.assertEqual( + commands["3. Open ACT Recording Status"], + "ros2 topic echo /act/recording_status", + ) + self.assertEqual( + commands["4. Open Right Arm ACT Control Sample Hz"], + "ros2 topic hz /xr_rm/right_rm75/act_control_sample", + ) + def test_cmd_vel_monitor_is_completely_removed(self) -> None: self.assertFalse(hasattr(launcher_ui, "CMD_VEL_MONITOR_ACTION")) for mode in launcher_ui.MODES: diff --git a/xr_rm_bringup/tools/launcher_ui.py b/xr_rm_bringup/tools/launcher_ui.py index 0c50052..afdaef0 100755 --- a/xr_rm_bringup/tools/launcher_ui.py +++ b/xr_rm_bringup/tools/launcher_ui.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 """XR-RM 桌面调试启动器。 -提供 Tkinter 图形界面，按“仿真/MuJoCo/真机/诊断”组织常用 ROS2 launch、 +提供 Tkinter 图形界面，按“仿真/MuJoCo/真机/ACT采集/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。 """ @@ -76,6 +76,7 @@ MODES = [ "Simulation", "MuJoCo", "Real Hardware", + "ACT Data Collection", "Diagnostics", ] @@ -275,6 +276,23 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]: ("Right Gripper Open", _tool_command("right", True)), ("Right Gripper Close", _tool_command("right", False)), ] + elif mode == "ACT Data Collection": + items = [ + ( + "Right Arm ACT Data Collection Launch", + "ros2 launch xr_rm_bringup arm_debug.launch.py " + "arm:=right use_mock:=false record_act:=true", + ), + ("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()), + ( + "Open ACT Recording Status", + "ros2 topic echo /act/recording_status", + ), + ( + "Open Right Arm ACT Control Sample Hz", + "ros2 topic hz /xr_rm/right_rm75/act_control_sample", + ), + ] else: items = [ ("ROS Doctor Report", "ros2 doctor --report"), @@ -329,7 +347,7 @@ class LauncherApp: mode_frame, textvariable=self.mode_var, values=MODES, - width=16, + width=20, state="readonly", ) self.mode_combo.grid(row=0, column=1, sticky="ew") diff --git a/xr_rm_teleop/test/test_act_episode_recorder.py b/xr_rm_teleop/test/test_act_episode_recorder.py index 948ce01..cf7d255 100644 --- a/xr_rm_teleop/test/test_act_episode_recorder.py +++ b/xr_rm_teleop/test/test_act_episode_recorder.py @@ -616,14 +616,19 @@ class _StatusPublisher: class _Logger: - def info(self, *_args, **_kwargs): - pass + def __init__(self): + self.infos = [] + self.warnings = [] + self.errors = [] - def warn(self, *_args, **_kwargs): - pass + def info(self, message, *_args, **_kwargs): + self.infos.append(message) - def error(self, *_args, **_kwargs): - pass + def warn(self, message, *_args, **_kwargs): + self.warnings.append(message) + + def error(self, message, *_args, **_kwargs): + self.errors.append(message) def _control_message(seq, control_ns, *, grip=True): @@ -705,7 +710,8 @@ def _recorder_for_test(tmp_path): recorder._status_pub = _StatusPublisher() recorder._now_ns = lambda: now_ns recorder._disk_usage = lambda _path: SimpleNamespace(free=5 * 1024**3) - recorder.get_logger = lambda: _Logger() + recorder._logger = _Logger() + recorder.get_logger = lambda: recorder._logger return recorder @@ -776,6 +782,14 @@ def test_end_to_end_fake_episode_saves_and_returns_idle(tmp_path): assert recorder.state is RecordingState.IDLE assert "SAVING" in recorder._status_pub.messages assert recorder._status_pub.messages[-2:] == ["SAVED", "IDLE"] + assert any( + "ACT录制状态：RECORDING，episode_0" in message + for message in recorder._logger.infos + ) + assert any( + "episode_0.hdf5（3 samples）" in message + for message in recorder._logger.infos + ) @requires_h5py @@ -791,6 +805,11 @@ def test_final_publish_rejects_allocated_episode_number_conflict(tmp_path): assert not (recorder._task_dir / "episode_1.hdf5").exists() rejected = list((recorder._task_dir / "rejected").glob("*.hdf5")) assert len(rejected) == 1 + assert any( + str(rejected[0]) in message + and "原因：episode_number_conflict" in message + for message in recorder._logger.warnings + ) with h5py.File(rejected[0], "r") as root: assert root.attrs["reject_reason"] == "episode_number_conflict" diff --git a/xr_rm_teleop/xr_rm_teleop/act_episode_recorder.py b/xr_rm_teleop/xr_rm_teleop/act_episode_recorder.py index dd76db8..b22b3ad 100644 --- a/xr_rm_teleop/xr_rm_teleop/act_episode_recorder.py +++ b/xr_rm_teleop/xr_rm_teleop/act_episode_recorder.py @@ -1142,6 +1142,13 @@ class ActEpisodeRecorder(Node): self._on_left_controller, 10, ) + self.get_logger().info( + f"ACT录制器已启动，输出目录：{self._task_dir}" + ) + self.get_logger().info( + "操作提示：右手B准备/结束录制；准备后握住右手Grip开始采样；" + "左手Y长按1秒丢弃；录制中不要按右手A" + ) self._publish_state(RecordingState.IDLE) @staticmethod @@ -1182,6 +1189,12 @@ class ActEpisodeRecorder(Node): message = String() message.data = state.value if not reason else f"{state.value}:{reason}" self._status_pub.publish(message) + episode = ( + f"，episode_{self._episode_index}" + if self._episode_index is not None + else "" + ) + self.get_logger().info(f"ACT录制状态：{message.data}{episode}") def _run_preflight(self) -> str | None: now_ns = self._now_ns() @@ -1557,6 +1570,10 @@ class ActEpisodeRecorder(Node): except FileExistsError: self._reject_closed_partial("episode_number_conflict") return + self.get_logger().info( + f"ACT数据已保存：{destination}" + f"（{report.metrics['sample_count']} samples）" + ) self._finish_result(RecordingState.SAVED) def _reject_closed_partial( @@ -1570,6 +1587,7 @@ class ActEpisodeRecorder(Node): root.attrs["episode_status"] = "rejected" root.attrs["reject_reason"] = reason root.attrs["interrupted"] = np.bool_(interrupted) + sample_count = int(root["action"].shape[0]) rejected = self._task_dir / "rejected" rejected.mkdir(exist_ok=True) safe_reason = re.sub(r"[^a-zA-Z0-9_-]", "_", reason) @@ -1581,6 +1599,10 @@ class ActEpisodeRecorder(Node): / f"episode_{episode_index}_{safe_reason}_{timestamp}.hdf5" ) publish_without_overwrite(self._partial_path, destination) + self.get_logger().warn( + f"ACT数据已拒绝：{destination}（{sample_count} samples，" + f"原因：{reason}）" + ) self._finish_result(RecordingState.REJECTED, reason) def _reject_current( @@ -1609,11 +1631,16 @@ class ActEpisodeRecorder(Node): def _discard_current(self) -> None: if self._partial_path is None: return + partial = self._partial_path if self._writer is not None: self._writer.finish() + sample_count = self._store.count if self._store is not None else 0 if self._store is not None: self._store.close() - discard_partial(self._partial_path) + discard_partial(partial) + self.get_logger().info( + f"ACT数据已丢弃：{partial}（{sample_count} samples）" + ) self._finish_result(RecordingState.DISCARDED) def _finish_result(