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"