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_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"
 

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(