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/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")