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")

xr_rm_teleop/test/test_act_episode_recorder.py

@@ -616,14 +616,19 @@ class _StatusPublisher:
 
 
 class _Logger:
-    def info(self, *_args, **_kwargs):
+    def __init__(self):
-        pass
+        self.infos = []
+        self.warnings = []
+        self.errors = []
 
-    def warn(self, *_args, **_kwargs):
+    def info(self, message, *_args, **_kwargs):
-        pass
+        self.infos.append(message)
 
-    def error(self, *_args, **_kwargs):
+    def warn(self, message, *_args, **_kwargs):
-        pass
+        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(