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/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: