feat: 更新右臂和左臂配置，禁用奇异性避免；增强ACT数据采集功能，添加日志记录

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

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

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

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:

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")