YikaiFu-cart/acRealman_xr
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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

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YikaiFu-cart
2026-08-13 16:58:54 +08:00
parent 2d89fe1820
commit 94e1bf9467
7 changed files with 102 additions and 14 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+2 -2
View File
@@ -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
+1 -1
View File
@@ -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
+1 -1
View File
@@ -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
+24
View File
@@ -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
+20 -2
View File
@@ -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
+26 -7
View File
@@ -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
+28 -1
View File
@@ -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(